CN117949773A - Unmanned aerial vehicle-based power transmission hardware fitting X-ray detection mounting device and method - Google Patents
Unmanned aerial vehicle-based power transmission hardware fitting X-ray detection mounting device and method Download PDFInfo
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Abstract
The invention discloses an unmanned aerial vehicle-based power transmission hardware fitting X-ray detection mounting device and method, which belong to the technical field of ray detection. Utilize the line ware of pressing from both sides to cooperate with unmanned aerial vehicle, carry X ray detection instrument to detect the wire, make this device in the use, can keep safe distance and keep relatively stable positional relationship with the wire, overcome prior art device motion and destroy or lead to the poor problem of detection effect because of relative position is unstable to the wire.
Description
Technical Field
The invention relates to the technical field of ray detection, in particular to a power transmission hardware X-ray detection mounting device and method based on an unmanned aerial vehicle.
Background
As an important component of power transmission, the safe operation of the transmission line is critical to the stable operation of the power grid. The strain clamp and the splicing sleeve are used as important connecting devices of the circuit and bear the tension and load of the electric wire, and the state of the strain clamp and the splicing sleeve directly affects the stability and the safety of the circuit.
For the inspection of the transmission hardware fittings on the line, the traditional inspection scheme of the transmission line of the unmanned aerial vehicle can only detect surface defects, such as the loss of connecting bolts, surface cracks and the like, through visible light. Most of the strain clamp adopts the crimping mode based on hydraulic pressure in the installation, and the quality of crimping can't detect through traditional mode of patrolling and examining, if just installing crimping quality and not accord with the standard, after a period of operation, can appear the condition such as wire drops in crimping department, causes the incident, for discovery strain clamp defect in order to avoid taking place the accident as early as possible, traditional strain clamp radiographic inspection generally needs personnel to carry radiographic inspection equipment to ascend a tower and detects, has following problem:
1. Risk of personnel ascending operation: conventional strain clamp nondestructive testing typically requires a worker to step up a transmission tower or ladder for operation, which increases the risk of overhead operations. The staff may face the accident risks such as falling, electric shock, etc., and threatens the personal safety of the staff;
2. The portable equipment is inconvenient: conventional nondestructive testing devices are typically bulky, heavy and inconvenient for personnel to carry and operate. Auxiliary equipment such as pulleys and ropes are required to be used for conveying equipment to an operation position, so that the work difficulty and the time cost are increased;
3. The working efficiency is low: since the conventional method requires a person to manually operate the apparatus, the working speed is relatively slow. Meanwhile, operators need to repeatedly climb and adjust the positions, so that time is wasted;
4. security and stability challenges: in the process of working aloft, the equipment is easy to shake and difficult to operate due to the influence of factors such as wind power, weather and the like, and in addition, the maintenance of balance and stability of the equipment is a challenge, and errors and inaccurate detection results may be caused if the equipment is not firmly fixed.
In the patent with the application number of CN201820495424.3, a technical scheme for detecting the defects in the overhead transmission line crimping pipe is provided by using an unmanned aerial vehicle suspension X-ray detection device;
The patent with the application number of CN202223163845.1 discloses a digital imaging detection device based on unmanned aerial vehicle live detection, specifically discloses "make image acquisition mechanism when detecting strain clamp, fix on the cable, buffer image acquisition mechanism's influence …" by wind-force through the gravity and the tension of cable.
But above scheme does not possess unmanned aerial vehicle and fastener combination's device and method, and when unmanned aerial vehicle was close to the cable of detection, the unmanned aerial vehicle of flight all probably impacted the wire with the frock that unmanned aerial vehicle carried at the in-process of motion, influences the normal use of cable, the stability of device and unmanned aerial vehicle's safety.
Based on the research, the device and the method for enabling the unmanned aerial vehicle mounted ray detection tool to keep a safe distance from the lead in the using process are the problems to be solved in the current emergency.
Disclosure of Invention
The invention aims to provide a power transmission hardware fitting X-ray detection mounting device and method based on an unmanned aerial vehicle, which utilize a wire clamping device to be matched with the unmanned aerial vehicle and carry an X-ray detection instrument to detect a wire, so that the device can keep a safe distance with the wire and maintain a relatively stable position relation in the use process, and the problem of poor detection effect caused by damage to the wire or unstable relative position due to movement of the device in the prior art is solved.
The aim of the invention is mainly realized by the following technical scheme: the X-ray detection mounting device of the power transmission hardware fitting based on the unmanned aerial vehicle comprises the unmanned aerial vehicle, an X-ray detection instrument suspended on the unmanned aerial vehicle through a lifting rope and a wire clamping device;
The wire clamping device is of a rigid rod-shaped structure with the length adjustable through extension, the X-ray detection instrument is fixed relative to one end of the wire clamping device, the other end of the wire clamping device further comprises a wire clamping mechanism used for clamping a power transmission line or a hardware fitting on the power transmission line, and the wire clamping device can be extended and contracted to enable the power transmission hardware fitting to be located in a detection area of the X-ray detection instrument.
In the prior art, an unmanned aerial vehicle is used for mounting an X-ray detection instrument through a lifting rope to detect a power transmission hardware fitting on a power transmission line, a wire approaching is needed in the use process, when the unmanned aerial vehicle is used for electric power inspection, obstacles such as the power transmission line are required to be avoided, however, although a sensing and obstacle avoidance unit is arranged in a flight control module of the existing unmanned aerial vehicle, when the X-ray detection instrument is suspended, the overall size of a flying body (comprising the unmanned aerial vehicle, the lifting rope and the X-ray detection instrument) is large, the flexibility of the lifting rope also causes the swing of the X-ray detection instrument, the position stability and the controllability of the flying body in the middle and the stability control performance of the unmanned aerial vehicle are unfavorable, misjudgment can occur or the situation that the unmanned aerial vehicle cannot avoid the obstacle in time can be caused, and the unmanned aerial vehicle and the electric power equipment can be caused, in the process, the air flow generated by the rotation of a propeller of the unmanned aerial vehicle makes a detection tool not stable, and the damage to the wire and a connecting assembly in the power transmission line can be caused, the telescopic wire clamp is arranged on the basis of the X-ray detection instrument, when the unmanned aerial vehicle is used for mounting the X-ray detection instrument, the cable is prevented from being excessively damaged when the cable is extended, and the cable is relatively near the cable is mounted, and the cable is prevented from being damaged;
When the extending end of the wire clamp approaches the wire, the wire can be clamped, then the X-ray detection instrument is brought to approach the wire and detect the power transmission hardware fitting through the contraction of the wire clamp, so that the situation that the device collides with the wire or is difficult to approach the wire due to the fact that unmanned aerial vehicle operation is not standard or the wire is rocked due to cyclone interference of a propeller of the unmanned aerial vehicle, and the detection of the power transmission hardware fitting by the X-ray detection instrument is not facilitated is effectively prevented;
In the fixed-point detection process of the device, the wire clamping device can clamp the wire, so that the X-ray detection instrument and the wire keep a stable position relation, the influence of horizontal force such as wind force and longitudinal force such as gravity on the device is reduced to a certain extent, and the detection effect is poor;
When the device changes the detection point, the wire clamp can be stretched to bring the device away, the unmanned aerial vehicle can not be adjusted again in the position adjustment of the short-distance detection point, the position relation of the unmanned aerial vehicle, the wire clamp and the X-ray detection instrument relative to the cable can be adjusted again after the position of the short-distance detection point is reached, the loss of manpower, test pieces and electric power caused by the adjustment of the device during displacement is reduced, the whole device tends to be in a stable state during displacement, the possibility of damage to the cable is reduced, and the safety of personnel and electric power is ensured;
After the detection of the power transmission hardware fitting is finished, the wire clamping device can be stretched first, so that the whole device is taken away from the vicinity of the cable, then the wire clamping device is retracted, the unmanned aerial vehicle is started to fly to the next detection position or fly back to the ground, the influence of the unmanned aerial vehicle activity or an X-ray detection instrument mounted on the unmanned aerial vehicle on a wire can be reduced, the damage to the device or the wire is caused, and the domestic electricity is influenced.
Further, the X-ray detection instrument comprises a searchlight and a display panel;
The searchlight is connected with the display panel through a connecting rod, and the included angle formed by the connecting rod and the searchlight and the included angle formed by the display panel are adjustable;
The detector and the display panel are connected through a connecting rod, so that the detector and the display panel can keep a relatively stable position relationship in the detection process and the detection angle adjustment process, and can be mutually restrained;
The included angle formed by the connecting rod and the searchlight and the included angle formed by the display panel are adjustable, when the detection angle of the X-ray detection instrument is adjusted through the lifting rope, the hinging relation is convenient for the connecting rod to change along with the change of the detection angle of the X-ray detection instrument, and the angle relation between the connecting rod and the searchlight and the display panel is adjusted, so that the X-ray detection instrument can adjust any detection angle, and meanwhile, the hinging relation enables the X-ray detection instrument to be good in stability in the adjustment process and smooth in the adjustment process.
Further, the device also comprises a lifting rope lifting device;
The wire clamp and the X-ray detection instrument are combined to form a detection tool of the device, and the detection tool comprises a movable part with adjustable form and a fixed part with fixed form;
One end of the lifting rope lifting device is connected to different positions of the fixing part through a plurality of lifting ropes, and the lifting rope lifting device can control lifting of the lifting ropes so as to adjust the position and the posture of the detection tool;
The detector emits X-rays to the lead wires and projects the result onto the display panel, when the device is actually used, the single detection angle of the detection tool is difficult to adapt to all the power transmission hardware because of the difference of the positions of the power transmission hardware, the connection relation with the lead wires and the like, one end of the lifting rope lifting device is connected at different positions of the fixed part through a plurality of lifting ropes, the lifting rope lifting device can control lifting of the lifting rope so as to adjust the position and the gesture of the detection tool, and the lifting rope lifting device is used for controlling stretching of the lifting rope, so that the detection angle is adjusted by moving the display panel and the searchlight, and the detection angle can be adjusted at will, so that the detection tool is suitable for various scenes.
Further, the unmanned aerial vehicle lifting device further comprises a control mechanism, wherein the control mechanism is used for controlling lifting of the lifting rope lifting device, and is linked with a flight control mechanism of the unmanned aerial vehicle, for example, after the unmanned aerial vehicle is matched with a correct unmanned aerial vehicle space position, the lifting of the lifting rope lifting device is controlled through the control mechanism under the condition that the unmanned aerial vehicle hovers;
The control mechanism comprises the lifting rope lifting device, a controller of the wire clamping device, a sensor and a control mechanism for unmanned aerial vehicle flight.
Further, the wire clamp is connected to the X-ray detection instrument;
because the wire clamping device of the device needs to be matched with an X-ray detection instrument for use, if the wire clamping device is far away from the X-ray detection instrument, the device structure is possibly overlarge, the linkage is poor, and meanwhile, the material is wasted.
Still further, still include control the visual control mechanism that the line ware realizes accurate, independently hanging wire, visual control mechanism includes:
the image acquisition unit is used for capturing, transmitting, identifying and analyzing the image of the line hanging area and can extract and analyze the characteristics of the grabbing points;
An image processing unit: identifying the extracted characteristics according to preset line grabbing rules and criteria, and positioning the characteristics such as line grabbing points, wire shapes or textures;
A calculation unit: calculating the distance, angle and position deviation between the line grabbing point and the equipment according to the identified characteristics and the positioning information, and generating a line hanging instruction for adjusting the line grabbing position;
and a control unit: the calculation unit transmits the wire hanging instruction to the automatic control mechanism, so that the wire clamping device accurately reaches the wire hanging position according to the wire hanging instruction and provides feedback and guiding information for an operator through a display interface;
The device needs manual operation in the flight of an unmanned plane and the telescopic movement of the wire clamping device, but the device cannot fully exert the best effect due to limited operation capability of different operators;
The image acquisition and processing unit is arranged in the vision control mechanism, the detection area is photographed and identified by the image, the image characteristics are calculated by the calculation unit, the detection area is found, the proper grabbing point is judged, grabbing information is converted into a grabbing instruction, and the grabbing action is realized by controlling the wire clamping device through the braking of the control unit, so that the grabbing action of the wire clamping device is automatic, efficient and accurate.
Still further, a support structure is included for providing overall stability and rigidity of the device;
the device is unified by adopting the structures such as the bracket and the connector, has enough stability and rigidity, is used for supporting the interference of gravity, tension, windage and the like, keeps the stability of the device, and detects the power transmission hardware fitting.
The method is based on the power transmission hardware X-ray detection mounting device based on the unmanned aerial vehicle, and comprises the following steps:
S1, suspending an X-ray detection device and a wire clamp for flying through an unmanned aerial vehicle, and adjusting the wire clamp to an extending state before the wire clamp clamps a power transmission line or a hardware fitting on the power transmission line in the S2, for example, in order to facilitate the controllability of the unmanned aerial vehicle for flying, the wire clamp is in a contracted state or an incompletely opened state in the process of moving on an aerial line;
s2, when the wire clamp is arranged at a position capable of clamping the power transmission line or the hardware fitting on the power transmission line, the wire clamp clamps the power transmission line or the hardware fitting on the power transmission line;
S3, contracting the wire clamp, configuring the relative position of the X-ray detection device relative to the power transmission hardware fitting to be detected, and configuring the unmanned aerial vehicle at a flight safety position through angle and/or length change of the lifting rope;
the unmanned aerial vehicle is controlled to fly and carry the X-ray detection device and the wire clamping device to be close to the cable, and the wire clamping device stretches out in the process, so that the device can keep a certain safety distance from the cable when being close to the cable, and the device is prevented from damaging the cable;
after the device is close to a cable, a control mechanism drives a lifting rope lifting device to lift an X-ray detection instrument to a proper position, and the relative position relation between the searchlight and the display panel is adjusted to enable the device to reach a specified detection angle;
photographing, identifying and calculating a detection area by using a visual control mechanism, and automatically adjusting the telescopic length and clamping the lead according to the calculated result;
The X-ray detection instrument carries out ray detection on the power transmission hardware fitting;
The control mechanism is controlled, so that the wire clamping device loosens the clamping of the wire and retracts to the original position, the lifting rope lifting device adjusts the tool to a proper position, and then the unmanned aerial vehicle mounting detection tool is controlled to fly back to the ground.
In summary, compared with the prior art, the invention has the following beneficial effects:
(1) The telescopic wire clamping device is matched with the unmanned aerial vehicle, and an X-ray detection instrument is carried to detect the power transmission hardware fitting, so that the device can keep a certain safety distance and a relatively stable position relation with a cable in the use process, and the safety and the accuracy of the device are improved;
(2) The application is provided with a lifting rope lifting device which is used for controlling the mounting length of the unmanned aerial vehicle to the detection device so as to adjust the position and the detection angle of the X-ray detection instrument;
(3) The wire clamping device is provided with a visual control mechanism, so that the telescopic grabbing action of the wire clamping device is automatic and standardized.
Drawings
The accompanying drawings, which are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings:
FIG. 1 is a schematic diagram of the overall structure of the present application;
The names corresponding to the reference numerals are:
1. Unmanned plane; 2. a lifting rope lifting device; 201. a hanging rope; 3. a wire clip; 301. a wire clamping mechanism; 4. an X-ray detecting instrument; 401. a display panel; 402. a connecting rod; 403. a probe.
Detailed Description
For the purpose of making apparent the objects, technical solutions and advantages of the present invention, the present invention will be further described in detail with reference to the following examples and the accompanying drawings, wherein the exemplary embodiments of the present invention and the descriptions thereof are for illustrating the present invention only and are not to be construed as limiting the present invention.
Example 1:
as shown in fig. 1, the power transmission hardware fitting X-ray detection mounting device based on the unmanned aerial vehicle comprises the unmanned aerial vehicle 1, an X-ray detection instrument 4 suspended on the unmanned aerial vehicle 1 through a lifting rope 201, and a wire clamping device 3;
The wire clamp 3 is of a rigid rod-shaped structure with adjustable length through extension and retraction, the X-ray detection instrument 4 is fixed relative to one end of the wire clamp 3, the other end of the wire clamp 3 also comprises a wire clamping mechanism 301 for clamping a power transmission wire or a hardware fitting on the power transmission wire, and the wire clamp 3 can be extended and retracted to enable the power transmission hardware fitting to be located in a detection area of the X-ray detection instrument 4;
In the prior art, the unmanned aerial vehicle 1 is used for carrying the X-ray detection instrument 4 through the lifting rope 201 to detect the power transmission hardware fitting on the power transmission line, the X-ray detection instrument 4 needs to be close to a wire in the use process, so that the power transmission hardware fitting can be detected by the X-ray detection instrument 4, in the process, the air flow generated by the rotation of the propeller of the unmanned aerial vehicle 1 and the detection tool carried below the unmanned aerial vehicle 1 can possibly damage the wire and the connection assembly in the power transmission line, and the telescopic wire clamp 3 is arranged on the basis of carrying the X-ray detection instrument 4 by the unmanned aerial vehicle 1;
when the extending end of the wire clamp 3 approaches to the wire, the wire can be clamped, then the X-ray detection instrument 4 is brought to approach to the wire and the power transmission hardware fitting is detected by the contraction of the wire clamp 3, so that the situation that the device collides with the wire or is difficult to approach the wire due to the fact that the operation of the unmanned aerial vehicle 1 is not standard or the wire is rocked due to the cyclone interference of a propeller of the unmanned aerial vehicle 1 is effectively prevented, and the detection of the power transmission hardware fitting by the X-ray detection instrument 4 is not facilitated;
In the fixed-point detection process of the device, the wire clamp 3 can clamp the wire, so that the X-ray detection instrument 4 and the wire maintain a relatively stable position relationship, the influence of horizontal force such as wind force and longitudinal force such as gravity on the device is reduced to a certain extent, and the detection effect is poor;
When the device changes the detection point, the wire clamp 3 can be stretched to bring the device away, the unmanned aerial vehicle 1 can not be adjusted again in the adjustment of a short distance, and the position relation of the unmanned aerial vehicle 1, the wire clamp 3 and the X-ray detection instrument 4 relative to the cable can be adjusted again after the new detection point is reached, so that the loss of manpower, test pieces and electric power caused by the adjustment of the device is reduced when the device is shifted, the whole device tends to be in a stable state when the device is shifted, the possibility of damaging the cable is reduced, and the safety of personnel and electric power is ensured;
After the detection of the power transmission hardware fitting is finished, the wire clamp 3 can be stretched first, so that the whole device is taken away from the vicinity of the cable, then the wire clamp 3 is retracted, the unmanned aerial vehicle 1 is started to fly to the next detection position or fly back to the ground, the influence of the activity of the unmanned aerial vehicle 1 or the influence of the X-ray detection instrument 4 mounted on the unmanned aerial vehicle 1 on the wire can be reduced, the damage to the device or the wire is caused, and the domestic electricity is influenced.
Further, the X-ray detecting instrument 4 includes a probe 403 and a display panel 401;
the searchlight 403 is connected with the display panel 401 through a connecting rod 402, and an included angle formed by the connecting rod 402 and the searchlight 403 and an included angle formed by the display panel 401 are adjustable;
The searchlight 403 and the display panel 401 are connected through the connecting rod 402, so that the two can keep a relatively stable position relationship in the detection process and the detection angle adjustment process, meanwhile, the two can be mutually restrained, under the condition that the distance and the position relationship adjusted by the lifting rope 201 do not meet the current optimal requirement, the connecting rod 402 can restrain the distance between the searchlight 403 and the display panel 401, the integrity and the stability of the X-ray detection instrument 4 are ensured, and meanwhile, the safety of the device is also enhanced due to the fact that one connection positioning limit is additionally added;
The connecting rod 402 is hinged with the searchlight 403 and the display panel 401, when the detection angle of the X-ray detection instrument 4 is adjusted by the lifting rope 201, the hinged relation is convenient for the connecting rod 402 to change along with the change of the detection angle of the X-ray detection instrument 4, and the angle relation between the adjustment and the searchlight 403 and the display panel 401 enables the X-ray detection instrument 4 to adjust any detection angle, and meanwhile the stability of the X-ray detection instrument 4 in the adjustment process is good, and the adjustment process is smooth.
Further, the device also comprises a lifting rope lifting device 2;
the wire clamp 3 and the X-ray detection instrument 4 are combined to form a detection tool of the device, and the detection tool comprises a movable part with adjustable form and a fixed part with fixed form;
One end of the lifting rope lifting device 2 is connected to different positions of the fixing part through a plurality of lifting ropes 201, and the lifting rope lifting device 2 can control lifting of the lifting ropes 201 so as to adjust the position and the posture of the detection tool;
The application makes the unmanned aerial vehicle 1 respectively connected with the searchers 403 and the display panel 401 through different lifting ropes 201, and changes the ray emission angle of the searchers 403 by adjusting the lengths of the lifting ropes 201 between the unmanned aerial vehicle 1 and the searchers 403 and the display panel 401, and controls the expansion and contraction of the lifting ropes 201 through the lifting rope lifting device 2, so that the positions of the display panel 401 and the searchers 403 are moved to adjust the detection angle, thus the application can randomly adjust the detection angle and is suitable for various scenes.
Further, the device also comprises a control mechanism, wherein the control mechanism is used for controlling the lifting of the lifting rope lifting device 2, and is linked with the flight control mechanism of the unmanned aerial vehicle 1;
the control mechanism comprises a controller, a sensor and a control mechanism for the unmanned aerial vehicle 1 to fly, wherein the controller and the sensor of the lifting rope lifting device 2 and the wire clamping device 3.
Further, the wire clamp 3 is located on the X-ray detection instrument 4;
Because the wire clamp 3 of the device needs to be matched with the X-ray detection instrument 4, if the wire clamp 3 is far away from the X-ray detection instrument 4, the device structure is possibly oversized, the linkage is poor, and meanwhile, the material is wasted.
Still further, still include the visual control mechanism that control the line clamp 3 realizes accurate, independently hanging wire, visual control mechanism includes:
the image acquisition unit is used for capturing, transmitting, identifying and analyzing the image of the line hanging area and can extract and analyze the characteristics of the grabbing points;
An image processing unit: identifying the extracted characteristics according to preset line grabbing rules and criteria, and positioning the characteristics such as line grabbing points, wire shapes or textures;
A calculation unit: calculating the distance, angle and position deviation between the line grabbing point and the equipment according to the identified characteristics and the positioning information, and generating a line hanging instruction for adjusting the line grabbing position;
And a control unit: the calculation unit transmits the wire hanging instruction to the automatic control mechanism, so that the wire clamping device 3 accurately reaches the wire hanging position according to the wire hanging instruction and provides feedback and guiding information for operators through a display interface;
The device needs manual operation in the flight of the unmanned aerial vehicle 1 and the telescopic movement of the wire clamp 3, but the operation capability of different operators on the device is limited, so that the device can not fully exert the best effect;
An image acquisition and processing unit is arranged in the vision control mechanism, the detection area is photographed and identified by the image, the image characteristics are calculated by a calculation unit, the detection area is found, the proper grabbing point is judged, grabbing information is converted into a grabbing instruction, and the grabbing action is realized by controlling the wire clamp 3 through the braking of the control unit, so that the grabbing action of the wire clamp 3 is automatic, efficient and accurate.
Still further, a support structure is included for providing overall stability and rigidity of the device;
the device is unified by adopting the structures such as the bracket and the connector, has enough stability and rigidity, is used for supporting the interference of gravity, tension, windage and the like, keeps the stability of the device, and detects the power transmission hardware fitting.
The scheme is implemented in particular:
Installing a lifting rope lifting device 2 on the unmanned aerial vehicle 1, and ensuring the firmness and stability of connection, so that the lifting rope lifting device 2 is provided with a detection device which is sufficient for supporting the lower lifting and is not separated from the unmanned aerial vehicle 1;
Two lifting ropes 201 are led out from the lifting rope lifting device 2 and connected to the X-ray detection instrument 4;
the wire clamping mechanism 301 is mounted on the wire clamp 3, and the wire clamp 3 is mounted on the X-ray detecting instrument 4.
The X-ray detection method of the power transmission hardware fitting based on the unmanned aerial vehicle 1 comprises the following steps:
S1, suspending an X-ray detection device and a wire clamp 3 to fly through an unmanned aerial vehicle 1, and adjusting the wire clamp 3 to be in an extending state before the wire clamp clamps a power transmission line or hardware fitting on the power transmission line in S2;
S2, when the wire clamp 3 is arranged at a position capable of clamping the power transmission line or the hardware fitting on the power transmission line, the wire clamp 3 clamps the power transmission line or the hardware fitting on the power transmission line;
S3, the wire clamp 3 is contracted, the relative position of the X-ray detection device relative to the power transmission fitting to be detected is configured, and the unmanned aerial vehicle 1 is configured at a flight safety position through the angle and/or length change of the lifting rope 201.
The unmanned aerial vehicle 1 is controlled to fly and carry the X-ray detection device and the wire clamp 3 to be close to the cable, and the wire clamp 3 stretches out in the process, so that the device can keep a certain safety distance from the cable when being close to the cable, and the device is prevented from damaging the cable;
after the device approaches the cable, the control mechanism drives the lifting rope lifting device 2 to lift the X-ray detection instrument 4 to a proper position, and adjusts the relative position relationship between the searchlight 403 and the display panel 401 to enable the device to reach a specified detection angle;
photographing, identifying and calculating a detection area by using a visual control mechanism, and automatically adjusting the telescopic length and clamping the lead according to the calculated result;
The X-ray detection instrument 4 carries out ray detection on the power transmission hardware fitting;
The control mechanism is controlled, so that the wire clamping mechanism 301 releases the clamping of the wire and retracts to the original position, the lifting rope lifting device 2 adjusts the tool to a proper position, and then the unmanned aerial vehicle 1 is controlled to mount the detection tool and fly back to the ground.
The method is specifically used as follows:
a starting device: starting a control mechanism of the device to ensure that the control mechanism operates normally;
Ray detection initialization: performing system test and inspection before flying to ensure that each part of the device works normally;
controlling the unmanned aerial vehicle 1 to take off: starting the unmanned aerial vehicle 1 and controlling the unmanned aerial vehicle to take off;
Adjusting the detection angle: the lifting rope 201 on the lifting device 2 is controlled to do lifting movement through a remote controller or a flight control mechanism of the unmanned aerial vehicle 1, the position of a lifting tool is adjusted according to the requirement, and the angle of the X-ray detection instrument 4 is changed;
the wire is clamped by using the wire clamp 3: the wire clamping device 3 clamps the wire through the operation of the control mechanism, so that the contact stability and the accuracy of the wire and the X-ray detection instrument 4 are ensured;
and (3) performing ray detection: according to actual needs, in the hovering or flying process of the unmanned aerial vehicle 1, multi-angle ray detection is carried out;
and (3) monitoring data in real time: monitoring the ray detection data in real time through related equipment or a ground control station, and recording or processing the data;
ending the task: after the ray detection task is completed, controlling the unmanned aerial vehicle 1 to safely land;
Closing means: and a control mechanism for closing the device.
The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the invention, and is not meant to limit the scope of the invention, but to limit the invention to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (8)
1. Power transmission fitting X-ray detection mounting type device based on unmanned aerial vehicle, including unmanned aerial vehicle (1) and hang X-ray detection instrument (4) on unmanned aerial vehicle (1) through lifting rope (201), its characterized in that: also comprises a wire clamp (3);
The wire clamping device (3) is of a rigid rod-shaped structure with adjustable length through extension, the X-ray detection instrument (4) is fixed relative to one end of the wire clamping device (3), the other end of the wire clamping device (3) further comprises a wire clamping mechanism (301) used for clamping a power transmission line or a fitting on the power transmission line, and the wire clamping device (3) can extend and retract to enable the power transmission fitting to be located in a detection area of the X-ray detection instrument (4).
2. The unmanned aerial vehicle-based power transmission hardware X-ray detection mounting device of claim 1, wherein: the X-ray detection instrument (4) comprises a searchlight (403) and a display panel (401);
The detector (403) is connected with the display panel (401) through a connecting rod (402), and the included angle formed by the connecting rod (402) and the detector (403) and the included angle formed by the display panel (401) are adjustable.
3. The unmanned aerial vehicle-based power transmission hardware X-ray detection mounting device of claim 1, wherein: the lifting rope lifting device (2) is also included;
The wire clamp (3) and the X-ray detection instrument (4) are combined to form a detection tool of the device, and the detection tool comprises a movable part with adjustable form and a fixed part with fixed form;
The lifting rope lifting device (2) is connected to different positions of the fixing part through a plurality of lifting ropes (201), and the lifting rope lifting device (2) can control lifting of the lifting ropes (201), so that the position and the gesture of the detection tool are adjusted.
4. The unmanned aerial vehicle-based power transmission hardware X-ray detection mounting device of claim 1, wherein: the unmanned aerial vehicle further comprises a control mechanism, wherein the control mechanism is used for controlling lifting of the lifting rope lifting device (2), and the control mechanism is linked with a flight control mechanism of the unmanned aerial vehicle (1).
5. The unmanned aerial vehicle-based power transmission hardware X-ray detection mounting device of claim 1, wherein: the wire clamp (3) is connected to the X-ray detection instrument (4).
6. The unmanned aerial vehicle-based power transmission hardware X-ray detection mounting device of claim 1, wherein: the device also comprises a visual control mechanism for controlling the wire hanging of the wire clamp (3), and the visual control mechanism comprises:
The image acquisition unit is used for capturing, transmitting, identifying and analyzing the image of the line hanging area, and the image acquisition unit can extract and analyze the characteristics of the grabbing points;
An image processing unit: identifying the extracted characteristics according to preset line grabbing rules and criteria, and positioning line grabbing points, wire shapes or texture characteristics;
A calculation unit: calculating the distance, angle and position deviation between the line grabbing point and the equipment according to the identified characteristics and the positioning information, and generating a line hanging instruction for adjusting the line grabbing position;
And a control unit: the calculation unit transmits the wire hanging instruction to the automatic control mechanism, so that the wire clamping device (3) reaches the wire hanging position according to the wire hanging instruction and provides feedback and guiding information for an operator through the display interface.
7. The unmanned aerial vehicle-based power transmission hardware X-ray detection mounting device of claim 1, wherein: also included is a support structure for providing overall stability and rigidity of the device.
8. The power transmission hardware X-ray detection method based on the unmanned aerial vehicle is characterized by comprising the following steps of:
s1, suspending an X-ray detection device and a wire clamp (3) to fly through an unmanned aerial vehicle (1), and adjusting the wire clamp (3) to an extending state before the wire clamp (3) clamps a power transmission line or a fitting on the power transmission line in S2;
s2, when the wire clamp (3) is arranged at a position capable of clamping the power transmission line or the hardware fitting on the power transmission line, the wire clamp (3) clamps the power transmission line or the hardware fitting on the power transmission line;
S3, the wire clamp (3) is contracted, the relative position of the X-ray detection device relative to the power transmission fitting to be detected is configured, and the unmanned aerial vehicle (1) is configured at a flight safety position through the angle and/or length change of the lifting rope (201).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311872432.7A CN117949773A (en) | 2023-12-29 | 2023-12-29 | Unmanned aerial vehicle-based power transmission hardware fitting X-ray detection mounting device and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311872432.7A CN117949773A (en) | 2023-12-29 | 2023-12-29 | Unmanned aerial vehicle-based power transmission hardware fitting X-ray detection mounting device and method |
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| CN117949773A true CN117949773A (en) | 2024-04-30 |
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| CN202311872432.7A Pending CN117949773A (en) | 2023-12-29 | 2023-12-29 | Unmanned aerial vehicle-based power transmission hardware fitting X-ray detection mounting device and method |
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| Country | Link |
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| CN (1) | CN117949773A (en) |
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- 2023-12-29 CN CN202311872432.7A patent/CN117949773A/en active Pending
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