CN117416510A - Imaging plate mounting device, control method and transmission line strain clamp detection system - Google Patents
Imaging plate mounting device, control method and transmission line strain clamp detection system Download PDFInfo
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- CN117416510A CN117416510A CN202311266994.7A CN202311266994A CN117416510A CN 117416510 A CN117416510 A CN 117416510A CN 202311266994 A CN202311266994 A CN 202311266994A CN 117416510 A CN117416510 A CN 117416510A
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- 238000003384 imaging method Methods 0.000 title claims abstract description 86
- 238000001514 detection method Methods 0.000 title claims abstract description 23
- 230000005540 biological transmission Effects 0.000 title claims abstract description 20
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000004804 winding Methods 0.000 claims abstract description 48
- 238000004891 communication Methods 0.000 claims abstract description 5
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 230000000007 visual effect Effects 0.000 claims description 3
- 230000000712 assembly Effects 0.000 claims 1
- 238000000429 assembly Methods 0.000 claims 1
- 230000001276 controlling effect Effects 0.000 description 6
- 230000009194 climbing Effects 0.000 description 4
- 230000007547 defect Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8806—Specially adapted optical and illumination features
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D9/00—Equipment for handling freight; Equipment for facilitating passenger embarkation or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
- B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/40—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable
- B65H75/42—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable attached to, or forming part of, mobile tools, machines or vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/44—Constructional details
- B65H75/4481—Arrangements or adaptations for driving the reel or the material
- B65H75/4486—Electric motors
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/30—Handled filamentary material
- B65H2701/35—Ropes, lines
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
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- Mechanical Engineering (AREA)
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- Microelectronics & Electronic Packaging (AREA)
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- Analysing Materials By The Use Of Radiation (AREA)
Abstract
The invention discloses an imaging plate mounting device, a control method and a transmission line strain clamp detection system, wherein the mounting device comprises a first unmanned aerial vehicle, an imaging plate, an image acquisition unit and an intelligent terminal, wherein the image acquisition unit is arranged on the first unmanned aerial vehicle and is used for acquiring image information of the imaging plate and the strain clamp; the first unmanned aerial vehicle is provided with a winding assembly, the winding assembly is connected with the imaging plate through an insulating rope, and the winding assembly is used for carrying out winding or paying-off operation on the insulating rope so as to adjust the position of the imaging plate; the intelligent terminal is respectively in communication connection with the first unmanned aerial vehicle, the image acquisition unit and the winding assembly, and is used for adjusting the position of the first unmanned aerial vehicle according to the image information shot by the image acquisition unit and controlling the winding assembly to take up or pay off so as to adjust the position between the imaging plate and the strain clamp. The invention has the advantages of simple structure, safe and reliable operation and the like.
Description
Technical Field
The invention mainly relates to the technical field of power equipment, in particular to an imaging plate mounting device, a control method and a transmission line strain clamp detection system.
Background
The connection part of the ground wire and the hardware fitting of the power transmission line is subjected to fracture faults, firstly, the stress level of the connection part of the hardware fitting of the power transmission line is higher than that of other positions, and as time goes on, the stress concentration effect is accumulated locally; secondly, the connection position of the conductive wire, such as a splicing sleeve, a ship-shaped wire clamp and the like, wraps the wire inside the splicing sleeve, so that the damage in the pipe and the abrasion between the wire clamp opening and the wire cannot be found by conventional inspection, and the timely finding and replacing are difficult to achieve. The conventional hardware internal defect detection of the electric power department adopts an X-ray technology, the conventional line detection or treatment needs line power failure treatment or manual live-line tower climbing operation, and the existing problems are mainly concentrated in: the power failure maintenance of the circuit has great influence on the operation of the circuit; the operation intensity is high, and the weight of an X-ray imaging device which needs to be carried in tower climbing operation is more than twenty kilograms; the risk of manual live-line tower climbing operation is high, and particularly the manual live-line tower climbing operation is specific to a line with the voltage of more than 220 kV.
The unmanned aerial vehicle is applied to transmission line inspection and is mature, and a light multi-rotor unmanned aerial vehicle is mostly adopted, and no load is basically generated. The DR device is configured on the heavy-duty unmanned aerial vehicle by adopting an unmanned aerial vehicle and mechanical arm mode to detect the defects of the power transmission line hardware fitting, which is a research hot spot in recent years of the power department.
The current unmanned aerial vehicle-mounted X-ray imaging detection system mainly comprises a cold cathode X-ray source, a digital flat panel detector and an unmanned aerial vehicle suspended nacelle 3. The total mass of the whole equipment is 9kg, and the flight load requirement of most of the load unmanned aerial vehicle is met. Or a DR emission device and an imaging plate are integrated into a single unmanned aerial vehicle detection mode, and actual tests are carried out on a 110kV line.
However, the DR transmitting device of the unmanned aerial vehicle mounting DR detecting system is rigidly connected with the imaging plate, the unmanned aerial vehicle needs to be controlled by flying hands in the detecting process to enable the hardware fitting to be detected to fall between the DR transmitting device and the imaging plate, the mode is only suitable for 110kV power transmission lines with the most relaxed electromagnetic environment considering the safety of the unmanned aerial vehicle flying near the power transmission lines, and the operation difficulty of the unmanned aerial vehicle-based DR detecting system is high and difficult to safely work for lines with higher voltage levels, particularly hardware fitting near multiple split conductors.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems existing in the prior art, the invention provides the imaging plate mounting device, the control method and the transmission line strain clamp detection system which are simple in structure and safe and reliable to operate.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
the imaging plate mounting device is used for realizing X-ray detection of a strain clamp on a transmission line and comprises a first unmanned aerial vehicle, an imaging plate, an image acquisition unit and an intelligent terminal, wherein the image acquisition unit is arranged on the first unmanned aerial vehicle and is used for acquiring image information of the imaging plate and the strain clamp; the first unmanned aerial vehicle is provided with a winding assembly, the winding assembly is connected with the imaging plate through an insulating rope, and the winding assembly is used for carrying out winding or paying-off operation on the insulating rope so as to adjust the position of the imaging plate; the intelligent terminal is respectively in communication connection with the first unmanned aerial vehicle, the image acquisition unit and the winding assembly, and is used for adjusting the position of the first unmanned aerial vehicle according to the image information shot by the image acquisition unit and controlling the winding assembly to take up or pay off so as to adjust the position between the imaging plate and the strain clamp.
As a further improvement of the above technical scheme:
the wire winding subassembly is the winder, and quantity is a pair of, installs respectively in the bottom of first unmanned aerial vehicle, and wherein the one end of two insulating ropes links to each other with corresponding winder respectively, and the other end of two insulating ropes is then connected with the both sides of imaging plate respectively.
The wire winder is internally provided with a wire winding clamping groove, and the insulating rope is wound in the wire winding clamping groove.
The first unmanned aerial vehicle is a rotor unmanned aerial vehicle.
The image acquisition unit is a binocular camera.
The image acquisition unit is installed on the first unmanned aerial vehicle through a cradle head.
The invention also discloses a control method based on the imaging plate mounting device, which comprises the following steps:
controlling the first unmanned aerial vehicle to move to the position above the strain clamp to be detected, slowly descending, and ensuring that the imaging plate is positioned on one side of the strain clamp to be detected;
the horizontal distance between the imaging plate and the strain clamp is acquired through the image acquisition unit, and the horizontal movement of the first unmanned aerial vehicle is controlled, so that the horizontal distance between the imaging plate and the strain clamp is kept within 1 meter;
the intelligent terminal carries out target detection on the visual signal of the strain clamp obtained by the image acquisition unit, and obtains the vertical distance D between the image acquisition unit and the strain clamp to be detected in real time;
comparing the vertical distance D between the image acquisition unit and the strain clamp to be detected with the initial length L0 of the insulating rope to obtain the required displacement delta L in the vertical direction when the imaging plate reaches the working state;
and the winding assembly performs winding and paying-off operation on the insulating rope according to the displacement information, and controls the imaging plate to move to the target position.
The invention further discloses a transmission line strain clamp detection system, which comprises a second unmanned aerial vehicle, an X-ray unit and the imaging plate mounting device, wherein the X-ray unit is positioned on the second unmanned aerial vehicle.
As a further improvement of the above technical scheme:
the second unmanned aerial vehicle is provided with a binocular camera, and the binocular camera is in communication connection with the intelligent terminal.
The second unmanned aerial vehicle is a rotor unmanned aerial vehicle.
Compared with the prior art, the invention has the advantages that:
according to the invention, the flexible connection between the first unmanned aerial vehicle and the imaging plate is realized by adopting the insulating rope, so that the flight stability of the unmanned aerial vehicle is ensured (if rigid connection is adopted, the unmanned aerial vehicle cannot realize stable control when the imaging plate is placed); in addition, the insulating rope is coiled and paid-out through the coiling assembly, so that the position of the imaging plate is adjusted under the condition that the first unmanned aerial vehicle is static, the adjustment of the position of the first unmanned aerial vehicle is reduced, the operation difficulty of a flying hand is reduced, and the operation safety is improved. The invention has simple integral structure, can respectively realize coarse adjustment and fine adjustment of the position of the imaging plate through the first unmanned aerial vehicle and the wire winding assembly, reduces the difficulty of realizing the working condition that the X-ray unit is arranged, the strain clamp to be tested and the imaging plate are on the same straight line in the operation process of the first unmanned aerial vehicle, improves the safety of the electrified detection mode, and lightens the working intensity of a flying hand.
Drawings
Fig. 1 is a schematic structural diagram of an imaging board mounting device according to an embodiment of the present invention.
Fig. 2 is a flowchart of a control method according to an embodiment of the present invention.
Legend description: 1. a first drone; 2. an imaging plate; 3. a coil winding assembly; 4. an insulating rope; 5. and an image acquisition unit.
Detailed Description
The invention is further described below with reference to the drawings and specific examples.
As shown in fig. 1, the imaging board mounting device in the embodiment of the present invention is configured to implement X-ray detection on a strain clamp on a power transmission line, and includes a first unmanned aerial vehicle 1, an imaging board 2, an image acquisition unit 5 (such as a binocular camera) and an intelligent terminal (not shown in the figure, such as disposed on a ground control platform), where the image acquisition unit 5 is mounted on the first unmanned aerial vehicle 1, and is configured to acquire image information in front of the first unmanned aerial vehicle 1; the first unmanned aerial vehicle 1 is provided with a winding assembly 3, the imaging plate 2 is connected with the winding assembly 3 through an insulating rope 4, and the winding assembly 3 is used for carrying out winding or paying-off operation on the insulating rope 4 so as to adjust the position of the imaging plate 2; the intelligent terminal is respectively connected with the first unmanned aerial vehicle 1, the image acquisition unit 5 and the wire winding assembly 3, and is used for adjusting the position of the first unmanned aerial vehicle 1 according to the image information shot by the image acquisition unit 5, controlling the wire winding assembly 3 to carry out wire winding or paying-off operation so as to adjust the position between the imaging plate 2 and the strain clamp, and finally enabling the centers of the X-ray unit, the strain clamp and the imaging plate 2 to be positioned on the same straight line, thereby detecting the strain clamp.
Because the imaging plate 2 is required to be finally placed on the strain clamp, the flexible connection between the first unmanned aerial vehicle 1 and the imaging plate 2 is realized by adopting the insulating rope 4, so that the flying stability of the unmanned aerial vehicle is ensured (for example, the unmanned aerial vehicle cannot realize stable control when the imaging plate 2 is placed by adopting rigid connection); in addition, the insulating rope 4 is coiled and paid-out through the coiling assembly 3, so that the position of the imaging plate 2 is adjusted under the condition that the first unmanned aerial vehicle 1 is static, the adjustment of the position of the first unmanned aerial vehicle 1 is reduced, the operation difficulty of a flying hand is reduced, and the operation safety is improved. The invention has simple integral structure, can respectively realize coarse adjustment and fine adjustment of the position of the imaging plate 2 through the first unmanned aerial vehicle 1 and the wire winding assembly 3, reduces the difficulty of realizing the working condition that an X-ray unit, a strain clamp to be tested and the imaging plate 2 are on the same straight line in the operation process of the first unmanned aerial vehicle 1, improves the safety of the electrified detection mode, and lightens the working intensity of a flying hand.
In one embodiment, the winding assembly 3 includes two winding machines, which are driven to rotate by respective driving motors. Wherein one end of the insulating rope 4 is tied on the imaging plate 2, and the other end is arranged on the coiling machine. The winding machine is internally provided with a winding wire clamping groove, so that the insulating rope 4 is ensured not to be knotted and cross-wound in the winding process. The coil winding assembly 3 has simple structure, simple and convenient operation and easy realization.
As shown in fig. 2, the embodiment of the invention further discloses a control method of the imaging plate mounting device, which specifically includes the steps of:
controlling the first unmanned aerial vehicle 1 to move to the position above the strain clamp to be detected, slowly descending, and ensuring that the imaging plate 2 is positioned on one side of the strain clamp to be detected; at this time, the corresponding detection units and imaging plates 2 are respectively positioned at two sides of the strain clamp to be detected;
the horizontal distance between the imaging plate 2 and the strain clamp is acquired through the image acquisition unit 5, and the horizontal movement of the first unmanned aerial vehicle 1 is controlled, so that the horizontal distance between the imaging plate 2 and the strain clamp is kept within 1 meter;
the intelligent terminal carries out target detection on the visual signal of the strain clamp obtained by the image acquisition unit 5, and obtains the vertical distance D between the image acquisition unit 5 and the strain clamp to be detected in real time;
comparing the vertical distance D between the image acquisition unit 5 and the strain clamp to be detected with the initial length L0 of the insulating rope 4 to obtain the displacement delta L in the vertical direction required by the imaging plate 2 when the imaging plate reaches the working state;
the winding assembly 3 performs winding and unwinding operations on the insulation rope 4 according to the displacement amount deltal, and controls the imaging plate 2 to move to a target position.
Specifically, the initial length L0 of the insulating rope 4 is known, the position between the image acquisition unit 5 and the winding assembly 3 is fixed, the distance is L1, and the relationship between the distances is: d=l1+l0+Δl; further, Δl=d-L1-L0 can be obtained; when DeltaL >0, the wire coiling assembly 3 needs wire paying-off operation, and the imaging plate 2 is adjusted downwards; when Δl <0, the reel assembly 3 requires a reeling operation to adjust the imaging plate 2 upward.
The embodiment of the invention also discloses a system for detecting the strain clamp of the transmission line, which comprises a second unmanned aerial vehicle (the same as the first unmanned aerial vehicle in structure, such as a rotor unmanned aerial vehicle), an X-ray unit and the imaging plate mounting device, wherein the X-ray unit is positioned on the second unmanned aerial vehicle. And the second unmanned aerial vehicle is provided with a binocular camera, and the binocular camera is communicated with the intelligent terminal. The structure of the second unmanned aerial vehicle and the X-ray unit is the same as that of the prior art. The tension clamp detection system for the power transmission line comprises the imaging plate mounting device, and also has the advantages described by the imaging plate mounting device.
When the method is specifically applied, the first unmanned aerial vehicle 1 and the second unmanned aerial vehicle are controlled to fly to two sides above the detected strain clamp, then a real-time image of the detected strain clamp is obtained through a binocular camera on the first unmanned aerial vehicle 1, the extending direction surface of the detected strain clamp is obtained based on the real-time image, and the position of the imaging plate 2 is adjusted through regulating and controlling the winding assembly 3, so that the imaging plate 2 is parallel to the extending direction surface; then, acquiring a real-time image of the detected strain clamp through a binocular camera on the second unmanned aerial vehicle, acquiring an extending direction surface of the detected strain clamp based on the real-time image, and adjusting the second unmanned aerial vehicle to enable the ray direction of the X-ray unit to be perpendicular to the imaging plate 2, wherein the centers of the X-ray unit, the detected strain clamp and the imaging plate 2 are positioned on the same straight line, and the ray direction of the X-ray unit is on the straight line; and controlling the X-ray unit to emit X-rays to obtain an X-ray image of the strain clamp to be detected.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to the invention without departing from the principles thereof are intended to be within the scope of the invention as set forth in the following claims.
Claims (10)
1. The imaging plate mounting device is used for realizing X-ray detection of a strain clamp on a transmission line and is characterized by comprising a first unmanned aerial vehicle (1), an imaging plate (2), an image acquisition unit (5) and an intelligent terminal, wherein the image acquisition unit (5) is arranged on the first unmanned aerial vehicle (1) and is used for acquiring image information of the imaging plate and the strain clamp; the first unmanned aerial vehicle (1) is provided with a winding assembly (3), the winding assembly (3) is connected with the imaging plate (2) through an insulating rope (4), and the winding assembly (3) is used for carrying out winding or paying-off operation on the insulating rope (4) so as to adjust the position of the imaging plate (2); the intelligent terminal is respectively in communication connection with the first unmanned aerial vehicle (1), the image acquisition unit (5) and the wire winding assembly (3), and is used for adjusting the position of the first unmanned aerial vehicle (1) according to the image information shot by the image acquisition unit (5) and controlling the wire winding assembly (3) to take up or pay off so as to adjust the position between the imaging plate (2) and the strain clamp.
2. Imaging plate mounting device according to claim 1, characterized in that the winding assemblies (3) are a pair of winding machines, and are respectively mounted at the bottom of the first unmanned aerial vehicle (1), wherein one ends of two insulating ropes (4) are respectively connected with the corresponding winding machines, and the other ends of the two insulating ropes (4) are respectively connected with two sides of the imaging plate (2).
3. Imaging plate mounting device according to claim 2, characterized in that the coiling machine is internally provided with a coiling clamping groove, and the insulating rope (4) is coiled in the coiling clamping groove.
4. An imaging plate mounting device according to claim 1 or 2 or 3, characterized in that the first drone (1) is a rotary-wing drone.
5. An imaging plate mounting device according to claim 1 or 2 or 3, characterized in that the image acquisition unit (5) is a binocular camera.
6. Imaging plate mounting device according to claim 5, characterized in that the image acquisition unit (5) is mounted on the first unmanned aerial vehicle (1) by means of a pan-tilt.
7. A control method based on the imaging board mounting device according to any one of claims 1 to 6, characterized by comprising the steps of:
controlling the first unmanned aerial vehicle (1) to move to the position above the strain clamp to be detected, slowly descending, and ensuring that the imaging plate (2) is positioned on one side of the strain clamp to be detected;
the horizontal distance between the imaging plate (2) and the strain clamp is obtained through the image acquisition unit (5), and the horizontal movement of the first unmanned aerial vehicle (1) is controlled, so that the horizontal distance between the imaging plate (2) and the strain clamp is kept within 1 meter;
the intelligent terminal carries out target detection on the visual signal of the strain clamp obtained by the image acquisition unit (5), and acquires the vertical distance D between the image acquisition unit (5) and the strain clamp to be detected in real time;
comparing the vertical distance D between the image acquisition unit (5) and the strain clamp to be detected with the initial length L0 of the insulating rope (4) to obtain the displacement delta L in the vertical direction required by the imaging plate (2) when the imaging plate reaches the working state;
the winding assembly (3) performs winding and paying-off operation on the insulating rope (4) according to the displacement delta L, and controls the imaging plate (2) to move to a target position.
8. A transmission line strain clamp detection system comprising a second unmanned aerial vehicle, an X-ray unit and an imaging plate mounting device according to any one of claims 1 to 6, wherein the X-ray unit is located on the second unmanned aerial vehicle.
9. The transmission line strain clamp detection system of claim 8, wherein the second unmanned aerial vehicle is provided with a binocular camera, and the binocular camera is in communication connection with the intelligent terminal.
10. The transmission line strain clamp detection system of claim 8, wherein the second drone is a rotary wing drone.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311266994.7A CN117416510A (en) | 2023-09-27 | 2023-09-27 | Imaging plate mounting device, control method and transmission line strain clamp detection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311266994.7A CN117416510A (en) | 2023-09-27 | 2023-09-27 | Imaging plate mounting device, control method and transmission line strain clamp detection system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117416510A true CN117416510A (en) | 2024-01-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311266994.7A Pending CN117416510A (en) | 2023-09-27 | 2023-09-27 | Imaging plate mounting device, control method and transmission line strain clamp detection system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117416510A (en) |
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- 2023-09-27 CN CN202311266994.7A patent/CN117416510A/en active Pending
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