CN117833095A

CN117833095A - Inspection equipment

Info

Publication number: CN117833095A
Application number: CN202311647842.1A
Authority: CN
Inventors: 梅红伟; 叶开鹏
Original assignee: Shenzhen International Graduate School of Tsinghua University
Current assignee: Shenzhen International Graduate School of Tsinghua University
Priority date: 2023-12-01
Filing date: 2023-12-01
Publication date: 2024-04-05

Abstract

The application is applicable to the technical field of power engineering, provides a patrol equipment, include: a flying device; one or more functional modules; the one or more functional modules comprise one or more of a hanging ground wire module and a tension tube detection module; a mechanical arm; the mechanical arm is connected with the flying device and is used for clamping one or more functional modules. The inspection equipment consisting of the flying device, the mechanical arm and the functional module is used for carrying out the inspection task of the power transmission line, the flying device can be used as a working platform, the mechanical arm and the functional module are carried to a working position, and therefore the inspection equipment can be used for inspecting the power transmission line in complex scenes such as offshore and high altitude, manual boarding or manual boarding can be avoided, labor cost is saved, and the inspection operation efficiency of the power transmission line is improved.

Description

Inspection equipment

Technical Field

The application belongs to the technical field of power engineering, and relates to inspection equipment.

Background

The traditional power transmission line inspection mode is to carry out operation by carrying lifting equipment on site by workers, and the working mode is difficult to be applied to the scenes of high-altitude operation or offshore operation. The inspection operation of the power transmission line is divided into a plurality of types, and each type needs to adopt different working equipment or different inspection means for operation. Therefore, at present, there is a problem of low working efficiency due to a complex working scene in the inspection of the power transmission line.

Disclosure of Invention

The embodiment of the application provides inspection equipment which can be used for inspection operation of a power transmission line in complex operation scenes such as offshore and high altitude, so that inspection operation cost is saved, and inspection operation efficiency is improved.

The embodiment of the application provides inspection equipment, which comprises:

a flying device; one or more functional modules; the one or more functional modules comprise one or more of a hanging ground wire module and a tension tube detection module; a mechanical arm; the mechanical arm is connected with the flying device and is used for clamping one or more functional modules.

In the implementation process, the inspection equipment consisting of the flying device, the mechanical arm and the functional module is used for conducting the inspection task of the power transmission line, the flying device can be used as a working platform, the mechanical arm and the functional module are carried to a working position, so that the inspection equipment can be used for inspecting the power transmission line in complex scenes such as offshore and high altitude, manual boarding or manual boarding can be avoided, labor cost is saved, and the inspection operation efficiency of the power transmission line is improved.

In one possible implementation, the hanging ground wire module may include:

a hitching device; the hanging device comprises a hanging wire head and a grounding wire; an absorbing member; the absorption part is detachably connected with the flying device and used for absorbing or releasing the hanging wire ends, and the absorption end of the absorption part is clamped by the mechanical arm.

In the implementation process, the ground wire hanging module can be used for hanging the ground wire of the power transmission line through the inspection equipment, the wire hanging head is adsorbed through the adsorption piece, and the wire hanging head is released when the wire hanging head reaches the hanging position so as to hang the wire hanging head on the power transmission line, so that the operation of hanging the ground wire is completed, the ground wire of the power transmission line can be hung in a mode of replacing manual operation, and the safety of hanging the ground wire of the power transmission line is improved.

In one possible implementation manner of the first aspect, the tension tube detection module may include:

the detection medium emission source is detachably connected with the flying device, or clamped by the mechanical arm and used for emitting detection medium to the tension tube of the power transmission line; and the detection result acquisition device is clamped by the mechanical arm and used for receiving the detection medium to obtain a detection result representing the internal structure of the tension tube.

In the implementation process, the tension tube detection module is carried by the inspection equipment so as to detect the tension tube, the detection result representing the internal structure of the tension tube can be obtained to judge whether the crimping state of the tension tube is normal, the tension tube detection module is carried by the flight device so as to detect the tension tube, complex detection scenes can be dealt with, and the detection efficiency of the tension tube of the power transmission line is improved.

In one possible implementation, the detection medium emission source may be an X-ray emission device for emitting X-rays; the detection result obtaining device can be an imaging plate and is used for receiving the X-rays penetrating through the tension tube so as to obtain an image representing the internal structure of the tension tube.

In one possible implementation, the tension tube detection module may include:

the resistance measuring instrument is detachably connected with the flying device and is used for measuring the resistance value of the tension tube of the power transmission line; the first probe and the second probe of the resistance measuring instrument are clamped by the mechanical arm, the first probe of the resistance measuring instrument is connected with the first end of the tension tube, and the second probe of the resistance measuring instrument is connected with the second end of the tension tube.

In the implementation process, the inspection equipment is used for carrying the resistance measuring instrument to detect the state of the tension Guan Yajie, the crimping state of the tension tube can be judged according to the measured contact resistance value of the tension tube, the resistance measuring instrument is carried by the flying device and can be used for detecting the tension tube in a complex scene, and the detection efficiency of the tension tube is improved.

In one possible implementation, the inspection device may further include a smart hand module, the smart hand module including:

a plurality of joint structures; for performing one or more of gripping, holding, rotating, releasing actions; a sensor; the sensor is connected with the plurality of joint structures and is used for detecting the motion states of the plurality of joint structures; a controller; the controller is respectively connected with the plurality of joint structures and the sensor and is used for receiving detection information sent by the sensor and sending control instructions to the plurality of joint structures based on the detection information.

In the implementation process, the flight device can be carried with the smart hand module to carry out equipment maintenance and other inspection work of the power transmission line, the complex working conditions of inspection of the power transmission line can be dealt with, various inspection tasks are completed, and the operation efficiency of inspection of the power transmission line can be improved.

In one possible implementation, the inspection device may further include:

an image sensor for acquiring an image of an object; and the identification module is used for controlling the mechanical arm to grasp the object according to the image.

In the implementation process, the recognition module is used for recognizing the object and controlling the mechanical arm to grasp based on the recognition result, so that the position of the object can be accurately recognized, and then the mechanical arm is controlled to grasp based on the position of the object, so that the accuracy of grasping of the mechanical arm can be improved, and the working accuracy and the working efficiency of the inspection task based on the mechanical arm can be improved.

In one possible implementation, the inspection device may further include:

the communication module is respectively connected with the flying device and the mechanical arm and is used for sending a control instruction generated by the flying device to the mechanical arm; or the communication module provides a network signal to the mechanical arm so that the mechanical arm receives the control instruction.

In the implementation process, the control instruction can be sent to the mechanical arm based on the communication module or a network signal can be provided for the mechanical arm, so that the communication distance of the mechanical arm can be expanded, and the applicability and reliability of the inspection equipment are improved.

In one possible implementation, the inspection device may further include:

the motion control module is used for detecting the pose of the object and controlling the mechanical arm to grasp the object based on the pose; the method comprises the steps of determining a grabbing route and grabbing gesture of the mechanical arm based on the pose, and sending a motion control instruction to the mechanical arm based on the grabbing route and grabbing gesture.

In the implementation process, the motion control module is used for controlling the mechanical arm to grasp the object based on the pose of the detected object, so that the gravity center change caused by the motion of the mechanical arm can be analyzed, the influence of the grasping motion of the mechanical arm on the flying device and other mechanical arm operations is reduced, and the grasping accuracy and the grasping efficiency of the mechanical arm can be improved.

In one possible implementation, the flying device may comprise an unmanned aerial vehicle.

Compared with the prior art, the embodiment of the application has the beneficial effects that: the inspection equipment consisting of the flight device, the mechanical arm and the functional module is used for inspecting the transmission line, and can be used for inspecting the transmission line in complex operation scenes such as offshore and high altitude, so that the inspection operation cost is saved, and the inspection operation efficiency is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following description will briefly introduce the drawings that are needed in the embodiments or the description of the prior art, it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of a patrol equipment according to an embodiment of the present application;

fig. 2 is a schematic diagram of an inspection device configured with a ground wire module according to an embodiment of the present application;

fig. 3 is a schematic diagram of an inspection device configured with a tension tube detection module according to an embodiment of the present application;

fig. 4 is a schematic diagram of an inspection device configured with a resistance measuring instrument according to an embodiment of the present application;

fig. 5 is a network structure diagram of YOLOv5 algorithm.

Detailed Description

Embodiments of the technical solutions of the present application will be described in detail below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical solutions of the present application, and thus are only examples, and are not intended to limit the scope of protection of the present application.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having" and any variations thereof in the description and claims of the present application and in the description of the figures above are intended to cover non-exclusive inclusions.

In the description of the embodiments of the present application, the technical terms "first," "second," etc. are used merely to distinguish between different objects and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated, a particular order or a primary or secondary relationship. In the description of the embodiments of the present application, the meaning of "plurality" is two and more, unless explicitly defined otherwise.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.

In the description of the embodiments of the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured" and the like are to be construed broadly and may, for example, be fixedly connected, detachably connected, or be integrated; or may be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the embodiments of the present application will be understood by those of ordinary skill in the art according to the specific circumstances.

In order to solve the problem that the operation efficiency is low due to complex operation scenes in the inspection of the power transmission line, the application provides inspection equipment which is used for coping with different inspection tasks in various operation scenes in the inspection of the power transmission line by configuring a mechanical arm and a functional module on a flying device. In the use process of the inspection equipment, the mechanical arm can clamp one or more functional modules or clamp one or more parts of the functional modules to finish inspection tasks, such as power transmission line grounding wire hanging, tension tube detection, power transmission line instrument overhaul and the like.

In the embodiment of the application, the power transmission line may be an overhead power transmission line located at high altitude or at sea. The power transmission line may be a high-voltage line having a voltage of 1kV or more, or may be a low-voltage line having a voltage of 1kV or less.

Because overhead transmission line arranges in open-air operation for a long time, each component of transmission line apart from receiving normal electrical load and mechanical load effect, still receives the influence of natural conditions such as wind, rain, ice, snow, atmospheric pollution, thunderbolt, consequently can use the equipment of patrolling and examining that this application provided to carry out the inspection to overhead transmission line.

Referring to fig. 1, fig. 1 is a schematic structural diagram of an inspection apparatus according to an embodiment of the present application. The inspection apparatus 10 may include:

a flying device 11, one or more functional modules 12, and a robotic arm 13. Wherein, the functional module 12 may include one or more of a hanging ground wire module 121 and a tension tube detection module 122; the robot arm 13 is connected to the flying device 11, the robot arm 13 being adapted to hold one or more functional modules 12. For ease of understanding, the following embodiments of the present application will be described with reference to the case where one functional module 12 is connected to the flying device 11, and when a plurality of functional modules 12 are connected to the flying device 11, the operations may be performed with reference to the embodiment of connecting one functional module 12, respectively.

In this embodiment, the flying device 11 may be an unmanned aerial vehicle, which may be a rotary-wing unmanned aerial vehicle, a fixed-wing unmanned aerial vehicle, a helicopter unmanned aerial vehicle, or other kinds of unmanned aerial vehicles. In the following embodiments, the flying device 11 is a quadrotor unmanned plane.

In this embodiment, the functional module 12 may be clamped by the mechanical arm 13 or detachably connected to the flying device 11, so as to realize the inspection function, and the specific implementation manner may be referred to the following description, which is not further described herein. The function module 12 may be detachably connected to the flying device 11 by a snap connection, a screw connection, a pin connection, or the like.

In this embodiment, one or more mechanical arms 13 may be disposed on the flying device 11, and the mechanical arms 13 may be installed below the flying device 11 and take a "Z" shape as an initial posture of the mechanical arms. The robot arm 13 may be a 6-degree-of-freedom robot arm, and 6 joints are combined to realize 6-degree-of-freedom motions of the tip. The 6 degrees of freedom include rotation (S axis), lower arm (L axis), upper arm (U axis), wrist rotation (R axis), wrist swing (B axis) and wrist swing (T axis), and can receive a control signal transmitted from the flying apparatus 11 or the terminal device to perform a motion. In addition, the robot arm 13 may also select a robot arm with more degrees of freedom or less degrees of freedom according to the actual budget or the requirement of the inspection task.

In this embodiment, the number of the functional modules 12 disposed on the flying device 11 may be determined according to a specific inspection task. For example, if the current inspection task is a ground wire hanging task, only one ground wire hanging module may be provided on the flying device 11 for hanging a ground wire for the power transmission line. The current task is to add a tension tube detection task to the hanging ground wire, and then the hanging ground wire module and the tension tube detection module can be simultaneously arranged on the flying device 11.

In an alternative embodiment, the functional module 12 may be a ground-connection module, and after the power transmission line is powered off, the remaining charges on the line need to be put into the ground by connecting the ground connection to the power transmission line, so as to prevent potential safety hazards caused by power transmission errors, and therefore the ground connection module may be used as the ground connection of the power transmission line.

Referring to fig. 2 on the basis of fig. 1, fig. 2 is a schematic diagram of an inspection apparatus configured with a hanging ground wire module according to an embodiment of the present application, where the hanging ground wire module 121 may include:

a hitching device; the hitching means comprises a hitching head 1211 and a grounding wire 1212;

an adsorbing member 1213; the adsorbing member 1213 is detachably connected with the flying device 11 and is used for adsorbing or releasing the hanging wire end 1211, and the adsorbing end of the adsorbing member 1213 is clamped by the mechanical arm 13.

In the above embodiment, one end of the grounding wire 1212 is connected to the hanging wire head 1211, the other end is the grounding end, and when the grounding wire is hung, the flying device 11 firstly places the grounding end of the grounding wire 1212 at the grounding point, and then flies above the power transmission line to hang the hanging wire head on the power transmission line.

In the above embodiment, the adsorbing member 1213 may be an electromagnet, the connection end of the electromagnet is detachably connected with the flying device 11, and the flying device 11 supplies power to the electromagnet, when the electromagnet is powered on, a magnetic force may be generated to adsorb the wire hanging head 1211, and when the electromagnet is powered off, the wire hanging head is released to hang the wire hanging head on the power transmission line. The suction end of the suction member 1213 is held by the mechanical arm 13, and a third party vision module may be provided in the mechanical arm 13 to assist in aligning the hooking position of the power transmission line, so as to hook the wire-hanging head 1211 at the hooking position.

In some embodiments, when the ground wire is hung on the offshore power transmission line, the flying device 11 firstly places the ground end of the ground wire 1212 on the special ground conductor, and then flies above the power transmission line to hang the hanging wire head on the power transmission line.

In an alternative embodiment, the absorbing member may also be a vacuum chuck, and when the absorbing member is a vacuum chuck, the wire connector is correspondingly provided with an absorbing member for absorbing by the vacuum chuck, and the connecting end of the vacuum chuck is detachably connected with the flying device 11. The vacuum chuck can adsorb the adsorption piece of connector lug by the adsorption end when the circular telegram, also can release the connector lug and will hang the line head and articulate on the power transmission line when the outage.

In an alternative embodiment, the functional module 12 may be a tension tube detection module 122, where the tension tube detection module 122 is a device for fixing a wire of a power transmission line to bear tension of the wire. The tension tube is in a state of being tightly connected with the wires of the power transmission line through crimping, and the tension tube which is not in accordance with the crimping is easy to cause the damage to the wires due to the fact that the local heating temperature of the power transmission line is too high, so that the connection strength is reduced, or the wires are dropped due to insufficient crimping grip. Therefore, the crimping state of the tension tube and the lead can be detected based on the tension tube detection module.

Referring to fig. 3 on the basis of fig. 1, fig. 3 is a schematic diagram of an inspection apparatus configured with a tension tube detection module according to an embodiment of the present application, and the tension tube detection module 122 may include:

the detecting medium emitting source 1221, the detecting medium emitting source 1221 is detachably connected with the flying device 11, or the detecting medium emitting source 1221 is clamped by the mechanical arm 13, and the detecting medium emitting source is used for emitting the detecting medium to the tension tube of the power transmission line;

the detection result obtaining device 1222, where the detection result obtaining device 1222 may be clamped by the mechanical arm 13, for receiving a detection medium to obtain a detection result characterizing the internal structure of the tension tube.

In the above embodiment, a mechanical arm 13 may be disposed on the flying device 11 for holding the detection result obtaining device 1222, and the detection medium emission source 1221 may be disposed on the flying device 11 through a detachable connection, and in addition, two mechanical arms 13 may be disposed on the flying device 11 for holding the detection medium emission source 1221 and the detection result obtaining device 1222 respectively.

Fig. 3 illustrates an operation state of the two mechanical arms 13 provided in the embodiment of the present application, which respectively hold the detection medium emission source 1221 and the detection result obtaining device 1222. The detecting medium emitting source 1221 is an X-ray emitting source, the detecting result obtaining device 1222 is an imaging plate, and the X-ray emitting source can be aligned with the tension tube under the clamping of a mechanical arm 13 and emits X-rays. The X-ray penetrates through the tension tube and then generates an image on the imaging plate, and the internal structure of the tension tube can be detected according to the penetration condition of the X-ray, the color, the density and other characteristics of the image.

In some embodiments, the detection medium emitting source 1221 may be an ultrasonic generator, which may be held by the mechanical arm 13, or may be detachably connected to the underside of the flying device 11, and the detection result obtaining device 1222 may be an ultrasonic sensor, which is held by the mechanical arm 13, for receiving an ultrasonic signal. Ultrasonic waves can be emitted to the tension tube through the ultrasonic generator, the ultrasonic waves emitted by the ultrasonic sensor are received by the ultrasonic sensor, and the detection result representing the internal structure of the tension tube can be obtained by converting the received ultrasonic signals into electric signals and processing the electric signals and then reconstructing the images.

In other embodiments, the detecting medium emitting source 1221 may also be a magnetic powder emitter for applying a magnetic field to the surface of the tension tube and spraying magnetic powder, and the detecting result obtaining device 1222 may be an image sensor for obtaining an image of the distribution of magnetic powder on the surface of the tension tube. The internal structure of the tension tube can be detected by detecting the distribution condition of the magnetic powder on the surface.

In the above embodiment, for the obtained detection result, such as an image generated on the imaging plate after the X-ray penetrates through the tension tube, a received ultrasonic wave, an image of the distribution situation of the magnetic powder on the surface of the tension tube, and the like, the detection result may be processed by a processor in the unmanned aerial vehicle, or may be sent to the terminal device for processing by the unmanned aerial vehicle.

In an alternative embodiment, the tension tube detection module 122 may also be a resistance measuring instrument, and referring to fig. 4, fig. 4 is a schematic diagram of a patrol device configured with the resistance measuring instrument according to an embodiment of the present application.

In fig. 4, the resistance measuring instrument can be detachably connected to the flying device 11 for measuring the contact resistance value of the strain tube of the transmission line. The resistance measuring instrument can be arranged below the flying device 11 and powered by the flying device 11, two probes are arranged on the resistance measuring instrument and are respectively a first probe and a second probe, the first probe and the second probe are respectively clamped by different mechanical arms, the first probe is connected with the first end of the tension tube, and the second probe is connected with the second end of the tension tube. The resistance measuring instrument may be a tension Guan Shijia current, and the pressure-bonding state of the tension tube may be determined according to the measured contact resistance value, and in general, a tension tube with a smaller contact resistance indicates that the pressure-bonding is good, and a tension Guan Ke with a larger contact resistance may have a problem of poor pressure-bonding.

In an alternative embodiment, the inspection device 10 may further be provided with a smart hand module, and specifically, the smart hand module may include:

a plurality of joint structures; for performing one or more of gripping, holding, rotating, releasing actions;

a sensor; the sensor is connected with the plurality of joint structures and is used for detecting the motion states of the plurality of joint structures;

a controller; the controller is respectively connected with the plurality of joint structures and the sensor and is used for receiving detection information sent by the sensor and sending control instructions to the plurality of joint structures based on the detection information.

In this embodiment of the application, when patrolling and examining transmission line, can carry out the shaft tower inspection through the dexterous hand module, exemplarily, can carry out work such as inspection, tightening of elasticity bolt, adjustment of shaft tower signboard of shaft tower part through the snatch and the action of gripping of dexterous hand module. The wire inspection can be performed by the dexterous hand module, and illustratively, the tightness, breakage, bending or damage of the wire can be inspected and necessary repair and replacement can be performed by the grabbing and holding actions of the dexterous hand module. The adjustment of the signboards can also be performed by the dexterous hand module, and the position and angle of the signboards can be adjusted by the holding and releasing actions of the dexterous hand module, so that the signboards can be clearly seen.

In some embodiments, two or more functional modules 12 may be mounted on the flying device 11 for processing two or more inspection tasks based on the inspection tasks, and the functional modules 12 may be a ground wire hanging module, a tension tube detection module, or a smart hand module in the above embodiments, and specifically, the tension tube detection module may be an X-ray emission source and an imaging plate for detecting X-rays, an ultrasonic generator and an ultrasonic sensor for detecting ultrasonic waves, a magnetic powder emitter and an image sensor for detecting magnetic powder, or a resistance measuring instrument. The corresponding inspection task performed by the functional module 12 can be referred to the description in the above embodiment, and will not be described herein.

In an alternative embodiment, the inspection apparatus 10 may further include:

an image sensor for acquiring an image of an object;

and the identification module is used for controlling the mechanical arm 13 to grasp the object according to the image.

In this embodiment of the present application, the image sensor may be disposed on the flying device 11 or may be disposed on the mechanical arm 13, for acquiring an image of an object when the mechanical arm 13 is used for capturing the object.

In this embodiment of the present application, a YOLOv5s model may be mounted in the identification module, please refer to fig. 5, and fig. 5 is a network structure diagram of the YOLOv5 algorithm. By adaptively configuring the YOLOv5s model for target detection of the gripping objects, the model predicts the type and position of each detected object and controls the robot arm 13 to perform an accurate gripping action based on the target detection result and the position information of the target.

In addition, the training method for the YOLOv5s model may include:

images for training and corresponding object labels, such as the images of the adsorbing member, the images of the detecting medium emitting source, or the images of the detecting result acquiring device in the above-described embodiments, are collected and labeled. Ensuring that the image contains the object to be grabbed and annotating the position and class of the object using an annotating tool. The data set is divided into a training set, a validation set and a test set. The training set is used for training the model, the verification set is used for adjusting the super parameters and evaluating the performance of the model, and the test set is used for finally evaluating the accuracy of the model. The selected YOLOv5s model is trained using a training set. In the training process, the model continuously optimizes the loss function, and adjusts the weight and parameters of the model so as to improve the accuracy of target detection. And evaluating the trained model by using the verification set, and calculating performance indexes of the model on a target detection task, such as accuracy, recall rate, AP and the like. And (5) optimizing the model according to the model evaluation result. Attempts may be made to adjust model hyper-parameters, data enhancement methods, loss functions, etc. to improve the performance of the model. And when the model evaluation result characterizes the model to complete training, determining to obtain the YOLOv5s model carried by the identification module in the implementation process.

In an alternative embodiment, the inspection apparatus 10 may further include:

the communication module is respectively connected with the flying device 11 and the mechanical arm 13 and is used for sending a control instruction generated by the flying device 11 to the mechanical arm 13; alternatively, the communication module provides a network signal to the robot arm 13 to cause the robot arm 13 to receive the control instruction.

The conventional mechanical arm has a short remote control distance, so that a control instruction generated by the flying device 11 can be sent to the mechanical arm 13 based on the communication module to realize remote operation of the mechanical arm, specifically, the communication module can be used for connecting the flying device 11 with a communication interface of the mechanical arm 13, receiving a control signal to a flying device end based on the existing communication system of the flying device 11, and the flying device end sends a specific json instruction to a controller of the mechanical arm 13 through the communication module after receiving the control signal and controls the mechanical arm 13 to complete corresponding actions.

In some embodiments, the communication module may also be a wireless network card, which is configured to provide a network to the controller of the mechanical arm 13, where the controller of the mechanical arm 13 may directly receive the control signal and control the mechanical arm 13 to complete the corresponding action.

In an alternative embodiment, the inspection apparatus 10 may further include:

the motion control module is used for detecting the pose of an object and controlling the mechanical arm 13 to grasp the object based on the pose;

wherein, the grasping route and grasping gesture of the mechanical arm 13 are determined based on the pose, and a motion control instruction is sent to the mechanical arm 13 based on the grasping route and grasping gesture.

In this embodiment, when two or more mechanical arms 13 are mounted on the flying device 11, the gravity center of the flying device 11 is changed due to the cooperative action of the mechanical arms 13, so that a depth camera can be set on the flying device 11 or the mechanical arms 13, the pose of an object is detected by the depth camera, the grabbing route and grabbing pose of the mechanical arms 13 are determined based on the pose, and a motion control instruction is sent to the mechanical arms 13 based on the grabbing route and grabbing pose to control the mechanical arms 13 to grab in the optimal route and pose. In addition, the plurality of mechanical arms can be controlled to perform symmetrical movement so as to reduce gravity center change caused by the action of the mechanical arms.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.

Further, the units described as separate units may or may not be physically separate, and units displayed as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

Furthermore, functional modules in various embodiments of the present application may be integrated together to form a single portion, or each module may exist alone, or two or more modules may be integrated to form a single portion.

Alternatively, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the present invention, in whole or in part.

The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another, for example, by wired (e.g., coaxial cable, optical fiber, digital Subscriber Line (DSL)), or wireless (e.g., infrared, wireless, microwave, etc.).

In this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.

The foregoing is merely exemplary embodiments of the present application and is not intended to limit the scope of the present application, and various modifications and variations may be suggested to one skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. An inspection apparatus, the inspection apparatus comprising:

a flying device;

one or more functional modules; the one or more functional modules comprise one or more of a hanging ground wire module and a tension tube detection module;

a mechanical arm; the mechanical arm is connected with the flying device and is used for clamping the one or more functional modules.

2. The inspection apparatus of claim 1, wherein the ground wire hooking module comprises:

a hitching device; the hanging device comprises a hanging wire head and a grounding wire;

an absorbing member; the adsorption piece is detachably connected with the flying device and used for adsorbing or releasing the hanging wire head, and the adsorption end of the adsorption piece is clamped by the mechanical arm.

3. The inspection apparatus of claim 1, wherein the tension tube detection module comprises:

the detection medium emission source is detachably connected with the flying device, or clamped by the mechanical arm and used for emitting detection medium to a tension tube of the power transmission line;

and the detection result acquisition device is clamped by the mechanical arm and is used for receiving the detection medium to obtain a detection result representing the internal structure of the tension tube.

4. A patrol apparatus according to claim 3 wherein the detection medium emission source is an X-ray emission device for emitting X-rays;

the detection result acquisition device is an imaging plate and is used for receiving the X-rays penetrating through the tension tube so as to obtain images representing the internal structure of the tension tube.

5. The inspection apparatus of claim 1, wherein the tension tube detection module comprises:

the resistance measuring instrument is detachably connected with the flying device and is used for measuring the resistance value of the tension tube of the power transmission line;

the first probe and the second probe of the resistance measuring instrument are clamped by the mechanical arm, the first probe of the resistance measuring instrument is connected with the first end of the tension tube, and the second probe of the resistance measuring instrument is connected with the second end of the tension tube.

6. The inspection apparatus of claim 1, further comprising a dexterous hand module, the dexterous hand module comprising:

7. The inspection apparatus of claim 1, further comprising:

an image sensor for acquiring an image of an object;

and the identification module is used for controlling the mechanical arm to grasp the object according to the image.

8. The inspection apparatus of claim 1, further comprising:

the communication module is respectively connected with the flying device and the mechanical arm and is used for sending a control instruction generated by the flying device to the mechanical arm; or the communication module provides a network signal to the mechanical arm so that the mechanical arm receives a control instruction.

9. The inspection apparatus of claim 1, further comprising:

the motion control module is used for detecting the pose of an object and controlling the mechanical arm to grasp the object based on the pose;

and determining a grabbing route and grabbing gesture of the mechanical arm based on the pose, and sending a motion control instruction to the mechanical arm based on the grabbing route and the grabbing gesture.

10. The inspection apparatus of any one of claims 1-9, wherein the flying device comprises an unmanned aerial vehicle.