CN117353466A - Distribution network power equipment fault detection device and detection method based on image recognition - Google Patents
Distribution network power equipment fault detection device and detection method based on image recognition Download PDFInfo
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- CN117353466A CN117353466A CN202311659728.0A CN202311659728A CN117353466A CN 117353466 A CN117353466 A CN 117353466A CN 202311659728 A CN202311659728 A CN 202311659728A CN 117353466 A CN117353466 A CN 117353466A
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- 238000001514 detection method Methods 0.000 title claims abstract description 144
- 238000009826 distribution Methods 0.000 title claims abstract description 34
- 230000033001 locomotion Effects 0.000 claims abstract description 79
- 238000004891 communication Methods 0.000 claims abstract description 50
- 230000005540 biological transmission Effects 0.000 claims abstract description 49
- 210000001503 joint Anatomy 0.000 claims description 15
- 238000007789 sealing Methods 0.000 claims description 8
- 238000005096 rolling process Methods 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 5
- 238000000034 method Methods 0.000 claims description 5
- 241000309551 Arthraxon hispidus Species 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 238000002360 preparation method Methods 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 abstract description 5
- 238000003745 diagnosis Methods 0.000 abstract description 2
- 238000011156 evaluation Methods 0.000 abstract description 2
- 238000012544 monitoring process Methods 0.000 abstract description 2
- 238000003032 molecular docking Methods 0.000 description 11
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 10
- 229910052742 iron Inorganic materials 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 238000007781 pre-processing Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
- H02J13/00002—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by monitoring
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
- F16M11/425—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels along guiding means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
- F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/50—Testing of electric apparatus, lines, cables or components for short-circuits, continuity, leakage current or incorrect line connections
- G01R31/54—Testing for continuity
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/50—Testing of electric apparatus, lines, cables or components for short-circuits, continuity, leakage current or incorrect line connections
- G01R31/58—Testing of lines, cables or conductors
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
- H02J13/00006—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment
- H02J13/00022—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment using wireless data transmission
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S10/00—Systems supporting electrical power generation, transmission or distribution
- Y04S10/50—Systems or methods supporting the power network operation or management, involving a certain degree of interaction with the load-side end user applications
- Y04S10/52—Outage or fault management, e.g. fault detection or location
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Quality & Reliability (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Theoretical Computer Science (AREA)
- Remote Monitoring And Control Of Power-Distribution Networks (AREA)
Abstract
The invention relates to the technical field of power monitoring, in particular to a distribution network power equipment fault detection device based on image recognition, which comprises an equipment platform, wherein the equipment platform comprises a support frame arranged on a power transmission tower, and the support frame is provided with a main controller for controlling the whole operation of equipment and a first wireless communication module for performing wireless communication. The detection equipment designed by the invention can complete refitting based on the existing transmission tower by additionally installing the simple main guide rail and the auxiliary guide rail, namely, corresponding detection instructions can be issued to the main controller by utilizing the remote terminal, the main motion device and the auxiliary motion device transport the detection device to a specified detection area along the main guide rail and the auxiliary guide rail to collect image signals, and then the collected image signals are subjected to image recognition or manual recognition at the remote terminal to complete detection diagnosis of faults or evaluation of fault risks, so that the trouble that maintenance personnel need to arrive at site personally to perform such detection is effectively avoided.
Description
Technical Field
The invention relates to the technical field of power monitoring, in particular to a distribution network power equipment fault detection device and a detection method thereof based on image recognition.
Background
The power distribution network mainly bears the power distribution task, the power distribution network generally adopts a power transmission tower to erect a power transmission cable for power transmission, meanwhile, a plurality of corresponding power transformation devices or detection devices are also arranged for maintaining the normal operation of the power distribution network, and when the power distribution network devices are required to be overhauled, corresponding maintenance personnel are required to climb the power transmission tower for high-altitude operation. However, in practice, a large amount of maintenance operations are simpler, and the problems of cable breakage, part falling and the like are generally only needed to be checked, so that professional detection equipment is not needed, and only image acquisition is needed to be carried out and then whether a fault risk exists is identified.
At present, an unmanned aerial vehicle is adopted to collect images of iron towers, then whether faults occur or not and whether the mode of fault risk exists are confirmed based on image recognition, constructors still need to arrive at the site, and a large number of power distribution iron towers in China are constructed in areas such as mountains and the like which are not easy to reach, so that the burden of maintenance personnel cannot be completely relieved.
If the invention is a device which can automatically collect images of cables and power equipment on a power distribution iron tower through remote control and can perform remote fault detection through combining the existing image recognition technology, the problem can be effectively solved, and therefore the device and the method for detecting the faults of the power equipment of the power distribution network based on image recognition are provided.
Disclosure of Invention
The invention aims to provide a distribution network power equipment fault detection device and a detection method thereof based on image recognition so as to solve the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions: distribution network power equipment fault detection device based on image recognition includes:
the equipment platform comprises a support frame arranged on the power transmission tower, and a main controller for controlling the whole operation of equipment and a first wireless communication module for performing wireless communication are arranged on the support frame;
the main guide rail is arranged on the power transmission tower along the vertical direction, and a transverse guide rail capable of changing the installation position is arranged on the main guide rail through a locking device;
the main motion device comprises a first movable seat, the bottom of the first movable seat is clamped with the main guide rail through a limiting guide device for changing the connection state between the first movable seat and the main guide rail, a first driving motor is fixedly installed on the first movable seat, the output end of the first driving motor is meshed with a rack on the main guide rail through a first driving gear, the upper end and the lower end of the first movable seat are both provided with auxiliary motion devices which can slide in a matched manner with the transverse guide rail so that the main motion device can perform horizontal motion, the auxiliary motion devices are provided with pushing devices capable of determining whether the locking devices lock the transverse guide rail, the first movable seat is provided with a detection device for performing fault detection on a cable and power equipment through collected images, and the first movable seat is provided with a second wireless communication module for performing wireless communication with the first wireless communication module and an auxiliary controller electrically connected with the second wireless communication module and the first driving motor.
Preferably, the support frame is provided with a transformer rectifier electrically connected with a cable on the power transmission tower, the transformer rectifier is electrically connected with the main controller, a standby power supply electrically connected with the auxiliary controller is fixedly installed on the first movable seat, a charging seat electrically connected with the standby power supply is fixedly installed on the first movable seat, a charging butt joint push rod electrically connected with the main controller is fixedly installed at the bottom of the support frame, a charging butt joint head correspondingly inserted with the charging seat is arranged at the bottom of the charging butt joint push rod, and the charging butt joint head is electrically connected with the transformer rectifier.
Preferably, the detection device comprises a connecting seat fixedly installed with the first movable seat, a first angle adjusting motor is fixedly installed on the connecting seat, a first adjusting push rod is driven by the output end of the first angle adjusting motor, a second adjusting push rod vertically arranged with the first adjusting push rod is driven by the output end of the first adjusting push rod, a second angle adjusting motor is driven by the output end of the second adjusting push rod, a third adjusting push rod vertical to the second adjusting push rod is driven by the output end of the second angle adjusting motor, a third angle adjusting motor is driven by the output end of the third adjusting push rod, a rotating table is driven by the output end of the third angle adjusting motor, a camera used for collecting images is arranged on the rotating table, an illuminating lamp, a camera, the third adjusting push rod, the second angle adjusting motor, the second adjusting push rod, the first adjusting push rod and the first angle adjusting motor are electrically connected with the auxiliary controller.
Preferably, the support frame is fixedly provided with a rotary sealing motor electrically connected with the main controller, and the output end of the rotary sealing motor is driven with a sealing cover for sealing the upper end of the support frame.
Preferably, be provided with the detection unmanned aerial vehicle on the support frame, the detection unmanned aerial vehicle is through establishing communication with first wireless communication module, then carries out motion control through main control unit to utilize the image acquisition equipment on the detection unmanned aerial vehicle to treat detecting power equipment and detect, be provided with fixed push rod on the support frame, and fixed unmanned aerial vehicle is detected through supplementary interfacing apparatus is fixed to the output of fixed push rod and is established with the detection unmanned aerial vehicle and charge and communication connection.
Preferably, the auxiliary docking device comprises a rear push plate fixedly mounted with the output end of the fixed push rod, a front push plate used for clamping the detection unmanned aerial vehicle is slidably mounted on the rear push plate, a top pressure spring is arranged between the rear push plate and the front push plate, a cable docking seat used for being inserted into a corresponding socket on the detection unmanned aerial vehicle and carrying out charging and data transmission on the detection unmanned aerial vehicle is fixedly mounted on the rear push plate, and the cable docking seat is electrically connected with the main controller.
Preferably, the limit guiding device comprises a first fine tuning push rod fixedly connected with the supporting frame, the output end of the first fine tuning push rod is driven to be provided with a top moving table, a sliding rod is slidably mounted on the top moving table, the lower end of the sliding rod is fixedly provided with a bottom moving table, the bottom moving table is rotatably provided with a first roller rolling along a main guide rail side guiding groove, the bottom moving table is connected with the top moving table through a reset spring, and the first fine tuning push rod is electrically connected with the auxiliary controller.
Preferably, the auxiliary movement device comprises a connecting table fixedly mounted with the support frame, a lifting adjusting push rod is fixedly mounted on the connecting table, a second moving seat is driven at the output end of the lifting adjusting push rod, a second fine adjusting push rod is fixedly mounted on the second moving seat, a connecting rod is driven at the output end of the second fine adjusting push rod, a second roller rolling along a side guide groove of the transverse guide rail is rotatably mounted at the tail end of the connecting rod, a second driving motor is fixedly mounted on the second moving seat, a second driving gear meshed with a rack on the transverse guide rail is driven at the output end of the second driving motor, and the lifting adjusting push rod, the second fine adjusting push rod and the second driving motor are electrically connected with the auxiliary controller.
Preferably, the locking device comprises a sliding butt seat which slides along the main guide rail and is fixed with the transverse guide rail, a mounting sleeve is fixedly mounted on the sliding butt seat, a plug rod which is fixedly inserted into a positioning hole on the main guide rail is mounted in the mounting sleeve, the tail end of the plug rod is fixedly provided with a clamping butt joint block, the plug rod is fixedly provided with a push plate in an area which is positioned in the mounting sleeve, the push plate is connected with the sliding butt seat through a tightening spring, the pushing device comprises a height fine adjustment push rod fixedly mounted with a connecting table, the output end of the height fine adjustment push rod is driven with a horizontal push rod, the output end of the horizontal push rod is driven with a pushing sleeve which can be sleeved outside the mounting sleeve, the upper end of the pushing sleeve is fixedly provided with a limit adjustment push rod, and the output end of the limit adjustment push rod is driven with a limit block which can be inserted into the clamping butt joint block, and the horizontal push rod, the limit adjustment push rod and the height fine adjustment push rod are electrically connected with the auxiliary controller.
The detection method of the distribution network power equipment fault detection device based on image identification comprises the following steps:
s1, detection preparation: if the transmission network fails and a possible problem needs routine detection, the external remote control terminal sends corresponding detection instructions to the distribution network power equipment failure detection devices on each transmission tower in the form of wireless signals, the distribution network power equipment failure detection devices on each transmission tower are sequentially adopted to detect according to a preset detection sequence, the instructions and detection data in the detection process are transmitted interactively with the remote control terminal through a first wireless communication module, and when the transmission network fails, the current detection equipment which is arranged on each transmission tower and is electrically connected with a corresponding main controller is used for detecting whether corresponding cables on the transmission tower can be normally electrified or not, so that the transmission towers which are likely to fail can be deduced, and then the transmission towers are subjected to failure detection;
s2, position adjustment: when the corresponding main controller receives a detection instruction, the position of the main movement device is changed by using the first driving motor, the position of the transverse guide rail on the main guide rail is changed by using the pushing device, then the auxiliary movement device is fixed with the transverse guide rail, and then the main movement device is separated from the main guide rail through the limit guide device, and at the moment, the auxiliary movement device can be used for driving the main movement device to move to a detection position along the transverse guide rail;
s3, fault detection: when the detection device is driven to a detection position by the main motion device and the auxiliary motion device, an image acquisition device positioned on the detection device is adopted to acquire images of cables or power equipment in a detection area, the angle of the image acquisition is changed according to a preset program or the angle of the image acquisition is changed by an operator of a remote terminal through sending corresponding operation signals, acquired image data is sent to the auxiliary controller by the image acquisition device in the detection device and then is sent to the first wireless communication module by the second wireless communication module, and then the image data is sent to the remote terminal by the first wireless communication module again after being subjected to simple preprocessing by the main controller, and fault recognition is carried out by corresponding image recognition programs in the remote terminal or manual recognition is carried out by corresponding operators;
s4, resetting: after the images of the cable and the electric equipment in one detection area are acquired, the detection device is reset to a non-working position, then the auxiliary movement device conveys the main movement device to a position aligned with the main guide rail, then the main movement device enters a matching state with the main guide rail again through the limiting guide device, the auxiliary movement device is separated from the matching state with the transverse guide rail, and then the detection device is pushed to the next area on the power transmission tower to be detected or pushed to the lower part of the supporting frame to be standby under the driving of the main movement device according to whether the next area needs to be detected by the equipment.
Compared with the prior art, the invention has the beneficial effects that: the detection equipment designed by the invention can complete refitting based on the existing transmission tower by additionally installing the simple main guide rail and the auxiliary guide rail, then the corresponding detection instruction can be issued to the main controller by utilizing the remote terminal, the main motion device and the auxiliary motion device transport the detection device to the appointed detection area along the main guide rail and the auxiliary guide rail to collect the image signals, and then the collected image signals are subjected to image recognition or manual recognition at the remote terminal to complete detection diagnosis of faults or evaluation of fault risks, thereby effectively avoiding the trouble that maintenance personnel need to go to the site in person to perform such detection, and having high practical value.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of the structure of the equipment platform of the present invention;
FIG. 3 is a side view of the equipment platform of the present invention;
FIG. 4 is a schematic view of the installation of the primary and cross rails of the present invention;
FIG. 5 is an enlarged view of a cut-away of the structure of the locking device of the present invention;
FIG. 6 is a schematic diagram of the connection of the primary and secondary exercise devices of the present invention;
FIG. 7 is a schematic view of the main motion device of the present invention;
FIG. 8 is a schematic diagram of the structure of the detecting device of the present invention;
FIG. 9 is a schematic view of the installation of the auxiliary movement device and the pushing device of the present invention;
fig. 10 is a schematic structural view of the auxiliary docking device of the present invention.
In the figure: 1. iron tower for power transmission; 2. an equipment platform; 201. a closing cap; 202. a rotary closed motor; 203. a support frame; 3. an auxiliary movement device; 301. lifting and adjusting the push rod; 302. a connection station; 303. a second drive gear; 304. a second fine tuning push rod; 305. a second driving motor; 306. a second roller; 307. a second movable seat; 4. a detection device; 401. a third angle adjustment motor; 402. a lighting lamp; 403. a camera; 404. a rotating table; 405. a third adjustment push rod; 406. a second angle adjustment motor; 407. a second adjustment push rod; 408. a first adjustment push rod; 409. a first angle adjustment motor; 410. a connecting seat; 5. an auxiliary docking device; 501. a front push plate; 502. a pressing spring; 503. a cable docking cradle; 504. a rear push plate; 6. a main movement device; 601. a first driving motor; 602. a first drive gear; 603. a first movable seat; 7. a limit guide device; 701. a slide bar; 702. a first fine tuning push rod; 703. a top mobile station; 704. a return spring; 705. a bottom mobile station; 706. a first roller; 8. a locking device; 801. clamping the butt joint block; 802. a rod; 803. a push plate; 804. tightening the spring; 805. a mounting sleeve; 806. sliding the butt joint seat; 9. a pushing device; 901. a horizontal push rod; 902. limiting and adjusting the push rod; 903. a limiting block; 904. pushing the sleeve; 905. a height fine adjustment push rod; 10. a main guide rail; 11. a transverse guide rail; 12. a charging stand; 13. a second wireless communication module; 14. a standby power supply; 15. an auxiliary controller; 16. a first wireless communication module; 17. a main controller; 18. a transformer rectifier; 19. fixing the push rod; 20. detecting an unmanned aerial vehicle; 21. charging butt joint push rod; 22. and charging the butt joint.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. Based on the technical solutions of the present invention, all other embodiments obtained by a person skilled in the art without making any creative effort fall within the protection scope of the present invention.
Referring to fig. 1 to 10, the present invention provides a technical solution:
distribution network power equipment fault detection device based on image recognition includes:
referring to fig. 1 to 3, an equipment platform 2 includes a support frame 203 mounted on a power transmission tower 1, a main controller 17 for controlling the overall operation of equipment and a first wireless communication module 16 for performing wireless communication are provided on the support frame 203, the first wireless communication module 16 may be a 4G communication module or a 5G communication module, the main controller 17 may be a single-chip controller or a PLC controller, a rotary closed motor 202 electrically connected with the main controller 17 is fixedly mounted on the support frame 203, an output end of the rotary closed motor 202 is driven with a closed cover 201 for closing an upper end of the support frame 203, and the closed cover 201 performs seal protection on equipment located on the support frame 203 through an upper end of the closed support frame 203;
a main rail 10, referring to fig. 1 and 4, the main rail 10 is installed on the pylon 1 in a vertical direction, and a transverse rail 11 capable of changing an installation position is installed on the main rail 10 through a locking device 8;
referring to fig. 1, 4, 6 and 7, the main movement device 6 includes a first moving seat 603, the bottom of the first moving seat 603 is clamped with the main rail 10 by a limiting guide device 7 for changing the connection state with the main rail 10, a first driving motor 601 is fixedly installed on the first moving seat 603, the output end of the first driving motor 601 is engaged with a rack on the main rail 10 through a first driving gear 602, the upper and lower ends of the first moving seat 603 are respectively provided with an auxiliary movement device 3 capable of sliding in cooperation with the transverse rail 11 to enable the main movement device 6 to horizontally move, the auxiliary movement device 3 is provided with a pushing device 9 capable of determining whether the locking device 8 locks the transverse rail 11, the first moving seat 603 is provided with a detection device 4 for fault detection of a cable and a power device through image acquisition, the first moving seat 603 is provided with a second wireless communication module 13 in wireless communication with a first wireless communication module 16 and an auxiliary controller 15G electrically connected with the second wireless communication module 13 and the first motor 601, and the second wireless communication module or the auxiliary controller G4 is a single-chip controller communication module or a PLC controller 15;
referring to fig. 1, 2 and 7, a transformer rectifier 18 electrically connected with a cable on a power transmission tower 1 is arranged on a support frame 203, the transformer rectifier 18 is electrically connected with a main controller 17, the transformer rectifier 18 is used for providing low-voltage direct current for other devices in a power distribution network power device fault detection device, a standby power supply 14 electrically connected with an auxiliary controller 15 is fixedly arranged on a first movable seat 603, the standby power supply 14 is a lithium battery pack or a storage battery pack, so that electric equipment connected with the first movable seat 603 can directly supply power from the standby power supply 14 or can supply power without adopting a cable between the transformer rectifier 18 and the devices, a charging seat 12 electrically connected with the standby power supply 14 is fixedly arranged on the first movable seat 603, a charging butt-joint push rod 21 electrically connected with the main controller 17 is fixedly arranged at the bottom of the support frame 203, a charging butt-joint 22 corresponding to the charging seat 12 is arranged at the bottom of the charging butt-joint push rod 21, the charging butt-joint 22 is electrically connected with the transformer rectifier 18, the standby power supply 14 is arranged below the corresponding support frame 203, electric equipment can directly charge from the standby power supply 14 or can supply power, if the main controller 17 is required to be fully charged by the main controller, and a wireless power supply is required to be fully charged into the charging area through the main control device, and the main controller 17 is required to be fully charged by the main power supply controller, if the main power supply is required to be fully charged, and the main power supply is fully charged in the charging area through the main power supply controller, and the main power supply is required to be fully charged by the main power supply controller, and the main power supply device is required to be fully charged by the main power supply controller;
referring to fig. 6 and 8, the detecting device 4 includes a connecting seat 410 fixedly mounted with the first moving seat 603, a first angle adjusting motor 409 is fixedly mounted on the connecting seat 410, an output end of the first angle adjusting motor 409 drives a first adjusting push rod 408, an output end of the first adjusting push rod 408 drives a second adjusting push rod 407 vertically arranged with the first adjusting push rod 408, an output end of the second adjusting push rod 407 drives a second angle adjusting motor 406, an output end of the second angle adjusting motor 406 drives a third adjusting push rod 405 vertically arranged with the second adjusting push rod 407, an output end of the third adjusting push rod 405 drives a third angle adjusting motor 401, an output end of the third angle adjusting motor 401 drives a rotating table 404, a camera 403 for collecting images is arranged on the rotating table 404, an illuminating lamp 402 is fixedly mounted on the rotating table 404, the third angle adjusting motor 401, the illuminating lamp 402, the camera 403, the third adjusting push rod 405 and the second angle adjusting motor 406 are all driven by the output end of the second adjusting push rod 407, the first angle adjusting motor 408 and the first angle adjusting motor 409, and the second angle adjusting motor 409 are all connected with an auxiliary controller 15, and the camera 403 can be electrically connected with a corresponding camera terminal for remote control to a remote position of the detecting device to change the position of the camera;
referring to fig. 1, 2 and 10, a support frame 203 is provided with a detection unmanned aerial vehicle 20, the detection unmanned aerial vehicle 20 establishes communication with a first wireless communication module 16, and then performs motion control through a main controller 17, so as to detect power equipment to be detected by using image acquisition equipment on the detection unmanned aerial vehicle 20, the support frame 203 is provided with a fixed push rod 19, an output end of the fixed push rod 19 is used for fixing the detection unmanned aerial vehicle 20 through an auxiliary docking device 5 and establishing charging and communication connection with the detection unmanned aerial vehicle 20, the auxiliary docking device 5 comprises a rear push plate 504 fixedly installed with the output end of the fixed push rod 19, a front push plate 501 for clamping the detection unmanned aerial vehicle 20 is slidably installed on the rear push plate 504, a pressing spring 502 is arranged between the rear push plate 504 and the front push plate 501, and the rear push plate 504 is fixedly provided with a cable docking seat 503 which is used for plugging a corresponding socket on the detection unmanned aerial vehicle 20 and carrying out charging and data transmission on the detection unmanned aerial vehicle 20, the cable docking seat 503 is electrically connected with the main controller 17, the detection unmanned aerial vehicle 20 adopts a traditional four-rotor unmanned aerial vehicle, can be vertically started and stopped on the supporting frame 203, and the weapon detection unmanned aerial vehicle 20 is provided with a high-definition camera capable of acquiring images and a corresponding communication module capable of carrying out wireless communication with the first wireless communication module 16, so as to transmit image signals into the main controller 17 or receive control signals from the main controller 17, the detection unmanned aerial vehicle 20 can fly to the nearby electric equipment to be detected for carrying out image acquisition, when the detection unmanned aerial vehicle 20 is parked on the supporting frame 20, the auxiliary docking device 5 is pushed by the fixed push rod 19 to fix the detection unmanned aerial vehicle 20, in the pushing process, the front push plate 501 is firstly contacted with the detection unmanned aerial vehicle 20 to push the position to a designated position, then the rear push plate 504 is utilized to butt-joint the cable butt-joint seat 503 with a corresponding interface on the detection unmanned aerial vehicle 20, and the cable butt-joint seat 503 can adopt a USB-C interface to carry out data transmission or charge the detection unmanned aerial vehicle 20;
referring to fig. 6 and 9, the limit guiding device 7 includes a first fine tuning push rod 702 fixedly connected to the supporting frame 203, wherein the output end of the first fine tuning push rod 702 drives a top moving platform 703, a sliding rod 701 is slidably mounted on the top moving platform 703, a bottom moving platform 705 is fixedly mounted at the lower end of the sliding rod 701, a first roller 706 rolling along a side guiding groove of the main guiding rail 10 is rotatably mounted on the bottom moving platform 705, the bottom moving platform 705 is connected with the top moving platform 703 through a return spring 704, the first fine tuning push rod 702 is electrically connected with the auxiliary controller 15, when the main moving device 6 needs to be separated from the main guiding rail 10, the first fine tuning push rod 702 drives the first roller 706 to be separated from the guiding groove on the main guiding rail 10, otherwise, the first roller 706 is fed into the guiding groove of the main guiding rail 10, and when the first roller 706 is positioned in the guiding groove and the main moving device 6 needs to pass through a bending part at the top of the main guiding rail 10, the return spring 704 adaptively changes the height of the first roller 706, so that the first roller 706 is effectively prevented from being blocked;
referring to fig. 1, 4, 5, 6 and 9, the auxiliary movement device 3 includes a connection platform 302 fixedly mounted on the support frame 203, a lifting adjustment push rod 301 is fixedly mounted on the connection platform 302, an output end of the lifting adjustment push rod 301 is driven by a second moving seat 307, a second fine adjustment push rod 304 is fixedly mounted on the second moving seat 307, an output end of the second fine adjustment push rod 304 is driven by a connecting rod, a second roller 306 rolling along a side guide groove of the transverse guide rail 11 is rotatably mounted at a tail end of the connecting rod, a second driving motor 305 is fixedly mounted on the second moving seat 307, an output end of the second driving motor 305 is driven by a second driving gear 303 engaged with a rack on the transverse guide rail 11, and the lifting adjustment push rod 301, the second fine adjustment push rod 304 and the second driving motor 305 are all electrically connected with the auxiliary controller 15, the second roller 306 is sent into or out of the guide groove on the transverse guide rail 11 through the second fine adjustment push rod 304, so that the auxiliary movement device 3 can enter into or depart from the matching state with the transverse guide rail 11, when the auxiliary movement device 3 enters into the matching state with the transverse guide rail 11, the auxiliary movement device 3 can be driven to move along the transverse guide rail 11 through the second driving motor 305, when the main movement device 6 is matched with the main guide rail 10 and the auxiliary movement device 3 is separated from the transverse guide rail 11, the auxiliary movement device 3 can be lifted up to the non-working position through the lifting adjustment push rod 301, and when the auxiliary movement device 3 is driven down, the auxiliary movement device 3 can be driven to the position matched with the transverse guide rail 11, similarly, when the auxiliary movement device 3 is matched with the transverse guide rail 11 and the main movement device 6 is not matched with the main guide rail 10, the main movement device 6 can be lifted up to the non-working position through the lifting adjusting push rod 301, and the main movement device 6 can be driven downwards to enable the main movement device 6 to enter the position matched with the main guide rail 10;
referring to fig. 1, 4, 5, 6 and 9, the locking device 8 includes a sliding butt seat 806 sliding along the main guide rail 10 and fixed with the transverse guide rail 11, a mounting sleeve 805 is fixedly mounted on the sliding butt seat 806, a plug rod 802 fixed with a positioning hole on the main guide rail 10 is mounted in the mounting sleeve 805 in a plug manner, a clamping butt block 801 is fixedly mounted at the end of the plug rod 802, a push plate 803 is fixedly mounted in a region in the mounting sleeve 805 of the plug rod 802, the push plate 803 is connected with the sliding butt seat 806 through a tightening spring 804, the pushing device 9 includes a height fine adjustment push rod 905 fixedly mounted with the connecting table 302, the output end of the height fine adjustment push rod 905 drives a horizontal push rod 901, the output end of the horizontal push rod 901 drives a push sleeve 904 capable of being sleeved outside the mounting sleeve 805, and the upper end of the push sleeve 904 is fixedly provided with a limit adjustment push rod 902, the output end of the limit adjustment push rod 902 is driven with a limit block 903 which can be inserted into the clamping butt joint block 801, the horizontal push rod 901, the limit adjustment push rod 902 and the height fine adjustment push rod 905 are electrically connected with the auxiliary controller 15, under the normal state, the insert rod 802 is driven by the tightening spring 804 to be inserted into a positioning hole in the main guide rail 10, so that the transverse guide rail 11 is fixed at a corresponding position of the main guide rail 10, when the position of the transverse guide rail 11 needs to be changed, firstly, the push sleeve 904 is sleeved outside the mounting sleeve 805 through the height fine adjustment push rod 905 and the horizontal push rod 901, then the limit block 903 is pushed to the position inserted into the clamping butt joint block 801 by the limit adjustment push rod 902, then the insert rod 903 is driven to move outwards through the horizontal push rod 901 so as to separate the insert rod 802 from the positioning hole in the main guide rail 10, at the moment, the push sleeve 904 and the mounting sleeve 805 are still in the sleeved state, the transverse guide rail 11 is separated from the fixing state of the main guide rail 10, the main movement device 6 is used for driving the transverse guide rail 11 to move to a new matching position, at the moment, the horizontal push rod 901 is used for reinserting the inserting rod 802 into a positioning hole of the main guide rail 10 at the position, the transverse guide rail 11 can be repositioned, then the pushing device 9 is used for moving back to the non-working position, and the main guide rail 10 and the transverse guide rail 11 in the scheme are simple in structure and suitable for being refitted and paved on the existing power transmission iron tower 1.
The detection method of the distribution network power equipment fault detection device based on image identification comprises the following steps:
s1, detection preparation: if the transmission network fails and a possible problem needs routine detection, the external remote control terminal sends corresponding detection instructions to the distribution network power equipment failure detection devices on each transmission tower 1 in the form of wireless signals, the distribution network power equipment failure detection devices on each transmission tower 1 are sequentially adopted to detect according to a preset detection sequence, the instructions and detection data in the detection process are transmitted interactively with the remote control terminal through the first wireless communication module 16, and when the transmission network fails, the current detection devices which are arranged on each transmission tower 1 and are electrically connected with the corresponding main controller 17 detect whether corresponding cables on the transmission tower 1 can be normally electrified, so that the transmission towers 1 which are likely to fail are deduced, and then the transmission towers 1 are subjected to failure detection;
s2, position adjustment: when the corresponding main controller 17 receives a detection instruction, the position of the main movement device 6 is changed by using the first driving motor 601, the position of the transverse guide rail 11 on the main guide rail 10 is changed by using the pushing device 9, then the auxiliary movement device 3 is fixed with the transverse guide rail 11, then the main movement device 6 is separated from the main guide rail 10 by the limit guide device 7, and at the moment, the auxiliary movement device 3 can be used for driving the main movement device 6 to move to a detection position along the transverse guide rail 11;
s3, fault detection: when the detection device 4 is driven to a detection position by the main motion device 6 and the auxiliary motion device 3, an image acquisition device positioned on the detection device 4 is adopted to acquire images of cables or power equipment in a detection area, the angle of the image acquisition is changed according to a preset program or the angle of the image acquisition is changed by an operator of a remote terminal by sending corresponding operation signals, acquired image data is sent to the first wireless communication module 16 through the second wireless communication module 13 after being sent to the auxiliary controller 15 by the image acquisition device in the detection device 4, and then the image data is sent to the remote terminal through the first wireless communication module 16 again after being subjected to simple preprocessing by the main controller 17, and fault recognition is carried out by the corresponding image recognition program in the remote terminal or manual recognition is carried out by the corresponding operator;
s4, resetting: after the image is acquired on the cable and the electric equipment in one detection area, the detection device 4 is reset to the non-working position, then the auxiliary movement device 3 conveys the main movement device 6 to the position aligned with the main guide rail 10, then the main movement device 6 is in a matched state with the main guide rail 10 again through the limit guide device 7, the auxiliary movement device 3 is out of the matched state with the transverse guide rail 11, and then the detection device 4 is pushed to the next area on the power transmission tower 1 for detection or the detection device 4 is pushed to the lower part of the supporting frame 203 for standby according to whether the next area needs to be detected by the equipment under the driving of the main movement device 6.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. Distribution network power equipment fault detection device based on image recognition, characterized by comprising:
the equipment platform (2), the equipment platform (2) comprises a support frame (203) arranged on a power transmission tower (1), and a main controller (17) for controlling the whole operation of equipment and a first wireless communication module (16) for performing wireless communication are arranged on the support frame (203);
the main guide rail (10) is arranged on the power transmission tower (1) along the vertical direction, and the transverse guide rail (11) capable of changing the installation position is arranged on the main guide rail (10) through the locking device (8);
the device comprises a main motion device (6), the main motion device (6) comprises a first movable seat (603), the bottom of the first movable seat (603) is used for limiting and clamping with a main guide rail (10) through a limiting guide device (7) used for changing the connection state between the main motion device and the main guide rail (10), a first driving motor (601) is fixedly installed on the first movable seat (603), the output end of the first driving motor (601) is meshed with a rack on the main guide rail (10) through a first driving gear (602), the upper end and the lower end of the first movable seat (603) are respectively provided with an auxiliary motion device (3) which can slide along with the transverse guide rail (11) in a matched mode, so that the main motion device (6) can perform horizontal motion, a pushing device (9) which can determine whether a locking device (8) locks the transverse guide rail (11) or not is arranged on the first movable seat (603), a detection device (4) used for performing fault detection on a cable and power equipment through an acquisition image is arranged on the first movable seat (603), and the first movable seat (603) is provided with a first wireless communication module (13) and a second wireless communication module (13) which are connected with a wireless communication module (13).
2. The distribution network power equipment fault detection device based on image recognition according to claim 1, wherein: be provided with on support frame (203) with transmission tower (1) on cable electric connection's vary voltage rectifier (18), and vary voltage rectifier (18) and main control unit (17) electric connection, fixed mounting has stand-by power supply (14) with auxiliary control unit (15) electric connection on first movable seat (603), and fixed mounting has charging seat (12) with stand-by power supply (14) electric connection on first movable seat (603), the bottom fixed mounting of support frame (203) has charge butt joint push rod (21) with main control unit (17) electric connection, and the bottom of charge butt joint push rod (21) is provided with charge butt joint head (22) with charging seat (12) correspondence grafting, charge butt joint head (22) and vary voltage rectifier (18) electric connection.
3. The distribution network power equipment fault detection device based on image recognition according to claim 1, wherein: the detection device (4) comprises a connecting seat (410) fixedly installed with a first movable seat (603), a first angle adjusting motor (409) is fixedly installed on the connecting seat (410), a first adjusting push rod (408) is driven by the output end of the first angle adjusting motor (409), a second adjusting push rod (407) vertically arranged with the first adjusting push rod (408) is driven by the output end of the first adjusting push rod (408), a second angle adjusting motor (406) is driven by the output end of the second adjusting push rod (407), a third adjusting push rod (405) vertical to the second adjusting push rod (407) is driven by the output end of the second angle adjusting motor (406), a third angle adjusting motor (401) is driven by the output end of the third adjusting push rod (405), a rotating table (404) is driven by the output end of the third angle adjusting motor (401), a camera (403) for collecting images is arranged on the rotating table (404), an illuminating lamp (402) is fixedly installed on the rotating table (404), and the third angle adjusting motor (403), the third angle adjusting motor (401), the second illuminating lamp (403) and the second angle adjusting push rod (405) are driven by the third angle adjusting motor (401) The first adjusting push rod (408) and the first angle adjusting motor (409) are electrically connected with the auxiliary controller (15).
4. The distribution network power equipment fault detection device based on image recognition according to claim 1, wherein: the rotary sealing motor (202) which is electrically connected with the main controller (17) is fixedly arranged on the supporting frame (203), and a sealing cover (201) for sealing the upper end of the supporting frame (203) is driven by the output end of the rotary sealing motor (202).
5. The distribution network power equipment fault detection device based on image recognition according to claim 1, wherein: be provided with on support frame (203) and detect unmanned aerial vehicle (20), detect unmanned aerial vehicle (20) through establish communication with first wireless communication module (16), then carry out motion control through main control unit (17) to utilize the image acquisition equipment on detecting unmanned aerial vehicle (20) to treat detecting power equipment and detect, be provided with fixed push rod (19) on support frame (203), and the output of fixed push rod (19) is through supplementary interfacing apparatus (5) fixed detection unmanned aerial vehicle (20) and establish charge and communication connection with detection unmanned aerial vehicle (20).
6. The image recognition-based distribution network power equipment fault detection device according to claim 5, wherein: the auxiliary butt joint device (5) comprises a rear push plate (504) fixedly mounted with the output end of the fixed push rod (19), a front push plate (501) used for clamping the detection unmanned aerial vehicle (20) is slidably mounted on the rear push plate (504), a top pressure spring (502) is arranged between the rear push plate (504) and the front push plate (501), a cable butt joint seat (503) used for being inserted into a corresponding socket on the detection unmanned aerial vehicle (20) and carrying out charging and data transmission on the detection unmanned aerial vehicle (20) is fixedly mounted on the rear push plate (504), and the cable butt joint seat (503) is electrically connected with the main controller (17).
7. The distribution network power equipment fault detection device based on image recognition according to claim 1, wherein: the limiting guide device (7) comprises a first fine adjustment push rod (702) fixedly connected with the support frame (203), a top moving table (703) is driven by the output end of the first fine adjustment push rod (702), a sliding rod (701) is slidably mounted on the top moving table (703), a bottom moving table (705) is fixedly mounted at the lower end of the sliding rod (701), a first roller (706) rolling along a side guide groove of the main guide rail (10) is rotatably mounted on the bottom moving table (705), the bottom moving table (705) is connected with the top moving table (703) through a reset spring (704), and the first fine adjustment push rod (702) is electrically connected with the auxiliary controller (15).
8. The distribution network power equipment fault detection device based on image recognition according to claim 1, wherein: the auxiliary movement device (3) comprises a connecting table (302) fixedly installed with the supporting frame (203), a lifting adjusting push rod (301) is fixedly installed on the connecting table (302), a second moving seat (307) is driven by the output end of the lifting adjusting push rod (301), a second fine adjusting push rod (304) is fixedly installed on the second moving seat (307), a connecting rod is driven by the output end of the second fine adjusting push rod (304), a second roller (306) rolling along a side guide groove of the transverse guide rail (11) is rotatably installed at the tail end of the connecting rod, a second driving motor (305) is fixedly installed on the second moving seat (307), a second driving gear (303) meshed and connected with a rack on the transverse guide rail (11) is driven by the output end of the second driving motor (305), and the lifting adjusting push rod (301), the second fine adjusting push rod (304) and the second driving motor (305) are electrically connected with the auxiliary controller (15).
9. The distribution network power equipment fault detection device based on image recognition according to claim 8, wherein: the locking device (8) comprises a sliding butt seat (806) which slides along a main guide rail (10) and is fixed with a transverse guide rail (11), a mounting sleeve (805) is fixedly mounted on the sliding butt seat (806), a plug rod (802) which is fixedly inserted into a positioning hole on the main guide rail (10) is mounted in the mounting sleeve (805), a clamping butt block (801) is fixedly mounted at the tail end of the plug rod (802), a push plate (803) is fixedly mounted in an area positioned in the mounting sleeve (805), the push plate (803) is connected with the sliding butt seat (806) through a tightening spring (804), the pushing device (9) comprises a height fine-tuning push rod (905) fixedly mounted with a connecting table (302), the output end of the height fine-tuning push rod (905) is driven with a horizontal push rod (901), the output end of the horizontal push rod (901) is driven with a push sleeve (904) which can be sleeved outside the mounting sleeve (805), the upper end of the push sleeve (904) is fixedly mounted with a limit adjustment push rod (902), the limit block (903) is fixedly mounted on the upper end of the push rod (902), and the limit block (801) can be driven with the limit block (801) to be plugged with the limit block (801) The limit adjusting push rod (902) and the height fine adjusting push rod (905) are electrically connected with the auxiliary controller (15).
10. A detection method of a distribution network power equipment fault detection device based on image recognition as claimed in any one of claims 1 to 9, comprising the steps of:
s1, detection preparation: if the transmission network fails and a possible problem needs routine detection, the external remote control terminal sends corresponding detection instructions to the distribution network power equipment failure detection devices on each transmission tower (1) in the form of wireless signals, the distribution network power equipment failure detection devices on each transmission tower (1) are sequentially adopted to detect according to a preset detection sequence, the instructions and detection data in the detection process are transmitted interactively with the remote control terminal through a first wireless communication module (16), and when the transmission network fails, the transmission towers (1) which are likely to fail are firstly detected through current detection devices which are arranged on each transmission tower (1) and are electrically connected with a corresponding main controller (17), whether corresponding cables on the transmission towers (1) can be normally electrified or not is detected, so that the transmission towers (1) which are likely to fail are deduced, and then the transmission towers (1) are likely to fail are detected;
s2, position adjustment: after the corresponding main controller (17) receives a detection instruction, the position of the main movement device (6) is changed by using the first driving motor (601), the position of the transverse guide rail (11) on the main guide rail (10) is changed by using the pushing device (9), then the auxiliary movement device (3) is fixed with the transverse guide rail (11), and then the main movement device (6) is separated from the main guide rail (10) through the limit guide device (7), and the auxiliary movement device (3) can be used for driving the main movement device (6) to move to the detection position along the transverse guide rail (11);
s3, fault detection: when the detection device (4) is driven to a detection position by the main movement device (6) and the auxiliary movement device (3), an image acquisition device positioned on the detection device (4) is adopted to acquire an image of a cable or power equipment in a detection area, the angle of the image acquisition is changed according to a preset program or the angle of the image acquisition is changed by an operator of a remote terminal by sending a corresponding operation signal, acquired image data is sent to the auxiliary controller (15) by the image acquisition device in the detection device (4) and then is sent to the first wireless communication module (16) by the second wireless communication module (13), and then the image data is sent to the remote terminal by the first wireless communication module (16) after the image is simply preprocessed by the main controller (17), and fault identification is carried out by a corresponding image identification program in the remote terminal or manual identification is carried out by a corresponding operator;
s4, resetting: after the images of the cable and the electric equipment in one detection area are acquired, the detection device (4) is reset to a non-working position, then the auxiliary movement device (3) conveys the main movement device (6) to a position aligned with the main guide rail (10), then the main movement device (6) enters a matching state with the main guide rail (10) again through the limit guide device (7), the auxiliary movement device (3) is separated from the matching state with the transverse guide rail (11), and then the detection device (4) is pushed to the next area on the power transmission tower (1) to be detected or the detection device (4) is pushed to the lower part of the support frame (203) to be standby under the driving of the main movement device (6) according to the need of detecting the next area.
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