CN212391413U - Electric power X ray digital imaging unmanned aerial vehicle detection device and system - Google Patents
Electric power X ray digital imaging unmanned aerial vehicle detection device and system Download PDFInfo
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- CN212391413U CN212391413U CN202020775279.1U CN202020775279U CN212391413U CN 212391413 U CN212391413 U CN 212391413U CN 202020775279 U CN202020775279 U CN 202020775279U CN 212391413 U CN212391413 U CN 212391413U
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Abstract
The utility model provides an electric power X ray digital imaging unmanned aerial vehicle detection device and system, include: the cable detection device comprises an unmanned aerial vehicle body and a detection frame device, wherein the detection frame device comprises an unmanned aerial vehicle mounting assembly and two positioning guide assemblies, any one of the positioning guide assemblies comprises a positioning rack and two guide frames, a gap is formed between the two guide frames, and a cable linearly penetrates through the gap between the two positioning guide assemblies; two sides of the two positioning guide assemblies are respectively connected with an X-ray flaw detection back plate and an X-ray flaw detector. The utility model discloses a design two location direction subassemblies that have the interval on the testing stand device for unmanned aerial vehicle is when high altitude flight operation, and the cable is worn to establish within two intervals, thereby can restrict the cable between two leading framves, makes its influence that does not receive unmanned aerial vehicle air current or unmanned aerial vehicle to rock in the testing process, and then makes testing process more stable, is favorable to improving the accuracy of testing result.
Description
Technical Field
The utility model belongs to the technical field of transmission line detects technique and specifically relates to an electric power X ray digital imaging unmanned aerial vehicle detection device and system are related to.
Background
In an overhead transmission line, a large number of crimping type electric power fittings, linear splicing sleeves and strain clamps are adopted for connecting a lead and a ground wire, and a disconnection accident can be caused by the problems of unsatisfactory crimping quality of the crimping sleeves in a heavy-load operation or a construction process. The traditional mode is inspected through equipment through manual work on the tower pole, need go on and dangerous higher under the outage condition, and daily inspection and construction acceptance work degree of difficulty are big.
In order to realize the intelligent inspection of the power transmission line, an unmanned aerial vehicle and airborne equipment are generally used for inspection under the condition of no power failure. The unmanned aerial vehicle is used for the inspection work of the ultrahigh voltage transmission line, the simplest mode is that a small-sized video camera, a camera or an infrared temperature measuring device is fixed in an aircraft holder, when a lead and an insulator string are shot in the middle of flying, only one person is needed to operate the aircraft, the whole line shooting or hovering is carried out, the shooting and sampling are carried out on key positions and discovered defects, the defect cause is analyzed through amplifying images, and the maintenance scheme is formulated. The unmanned helicopter used at present can quickly analyze and identify the obvious phenomena of pole tower collapse, inclination, line breakage, insulator falling, tree line collision and the like, and not only solves the problems of too far distance of a ground line patrol team group and too small observation field angle.
To metal parts accessible instrument audio-visual perspective such as strain clamp, splicing sleeve detect out its inside quality hidden danger that exists, prior art's detecting system carries on the detection frame in unmanned aerial vehicle bottom generally, sets up the appearance of detecting a flaw and shows the control panel in the frame, and through X ray irradiation cable and above part, utilize the projection to judge whether there is the problem.
But at unmanned aerial vehicle at high altitude flight in-process, inevitable can receive the influence of air current, and the cable also can receive unmanned aerial vehicle air current influence and appear rocking, rocking the in-process, and the projected position all can appear changing with the distance, and then can influence the accuracy of throwing, has also increaseed later stage image analysis's the degree of difficulty.
SUMMERY OF THE UTILITY MODEL
The embodiment of the utility model provides an electric power X ray digital imaging unmanned aerial vehicle detection device and system to solve current unmanned aerial vehicle and receive the air current influence when detecting transmission line to lead to the lower technical problem of stability, thereby improve the stability of unmanned aerial vehicle when detecting transmission line.
In order to solve the technical problem, the embodiment of the utility model provides an electric power X ray digital imaging unmanned aerial vehicle detection device, include:
the unmanned aerial vehicle detection device comprises an unmanned aerial vehicle body and a detection frame device, wherein the detection frame device comprises an unmanned aerial vehicle installation component and two positioning guide components, and the unmanned aerial vehicle body is installed at the top of the unmanned aerial vehicle installation component;
any one positioning guide assembly comprises a positioning rack and two guide frames arranged on the positioning rack, the positioning rack is arranged at the bottom of the unmanned aerial vehicle mounting assembly, a gap is formed between the two guide frames, and a cable linearly penetrates through the gap between the two positioning guide assemblies;
two the location frame of location direction subassembly corresponds one side and is connected with X ray inspection backplate, two the location frame of location direction subassembly corresponds the opposite side and is connected with X ray inspection machine, just X ray inspection machine aligns the X ray inspection backplate.
Preferably, any one of the guide frames comprises an inclined part and a vertical part, one end of the inclined part is connected with the support rod of the positioning frame, the other end of the inclined part is connected with one end of the vertical part, and the other end of the vertical part is connected with the support beam of the positioning frame;
on the same positioning frame, the vertical parts of the two guide frames are parallel to each other and form the interval.
As the preferred scheme, arbitrary location guide assembly still includes two buffer beam, the slip intracavity of the bracing piece that corresponds is located to the elastic component telescopic through the one end of buffer beam, just the buffer beam other end is connected with and fills up the foot.
As a preferred scheme, a fixed sleeve is arranged in a sliding cavity of the supporting rod, and one end of the buffer rod penetrates through the fixed sleeve;
be equipped with position sleeve, spring, spacing ring on the buffer beam, the position sleeve is located fixed cover with between the spacing ring, just the one end of position sleeve is passed through the spring with fixed cover is connected.
As a preferred scheme, the unmanned aerial vehicle mounting assembly comprises a beam assembly mounted on the tops of the two positioning frames, the beam assembly comprises a first beam, a second beam and a third beam, and the second beam is located between the first beam and the third beam;
the bottom of the first cross beam is connected with a distance meter and a camera;
the surface of the second cross beam and the surface of the third cross beam are both connected with adapter seats, and the tops of the adapter seats are connected with the bottom of the unmanned aerial vehicle body through bolts.
According to the preferable scheme, the other corresponding side of the positioning rack of the two positioning guide assemblies is fixedly connected with a supporting frame, a mounting seat is arranged on the supporting frame, and the top of the mounting seat is connected with the X-ray flaw detector through an adjustable fixing frame.
As preferred scheme, the unmanned aerial vehicle organism includes organism core cabin, the side in organism core cabin is connected with brushless motor through the horn, just the fixed surface of brushless motor output shaft is connected with the screw.
As a preferred scheme, the machine body core cabin comprises an IMU module, an SINS resolving module, a barometer, a GPS locator, a magnetometer, a radar sensor, a multi-sensor information fusion module and a combined navigation output module; the IMU module includes a gyroscope and an accelerometer.
As a preferred scheme, the output end of the IMU module is connected with the input end of the SINS calculation module, the output end of the SINS calculation module is connected with the input end of the integrated navigation output module, the data end of the SINS calculation module is connected with the data end of the multi-sensor information fusion module, and the output end of the barometer, the output end of the GPS locator, the output end of the magnetometer, and the output end of the radar sensor are all connected with the input end of the multi-sensor information fusion module.
In order to solve the same technical problem, the utility model also provides an unmanned detecting system of electric power X ray digital imaging, including control platform, unmanned aerial vehicle remote controller and arbitrary electric power X ray digital imaging unmanned aerial vehicle detection device.
Compared with the prior art, the utility model discloses following beneficial effect has:
through two location direction subassemblies that have the interval of design on the test stand device, make unmanned aerial vehicle when high altitude flight operation, the cable is worn to establish within two intervals, thereby can restrict the cable between two leading framves, make it not receive unmanned aerial vehicle air current or the influence that unmanned aerial vehicle rocked in the testing process, and then make the testing process more stable, be favorable to improving the accuracy of testing result, and the leading frame entangles the cable and loosens the cable and all comparatively simple light.
Drawings
Fig. 1 is a schematic structural diagram of an electric power X-ray digital imaging unmanned aerial vehicle detection device according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a detection frame device according to a first embodiment of the present invention;
fig. 3 is a schematic view of a partial structure of a positioning frame according to a first embodiment of the present invention;
fig. 4 is a schematic structural view of a beam assembly according to a first embodiment of the present invention;
fig. 5 is a schematic view illustrating a connection between the unmanned aerial vehicle body and the detection frame device according to the first embodiment of the present invention;
wherein the reference numbers in the drawings of the specification are as follows:
1. an unmanned aerial vehicle body; 2. a test stand device; 3. positioning the frame; 4. a guide frame; 5. mounting blocks; 6. an X-ray inspection back plate; 7. a support frame; 8. a mounting seat; 9. an adjustable fixing frame; 10. an X-ray flaw detector; 11. a buffer rod; 12. fixing a sleeve; 13. a positioning sleeve; 14. a spring; 15. a limiting ring; 16. a beam assembly; 17. a range finder; 18. a camera; 19. a transfer seat; 20. a machine body core cabin; 21. a horn; 22. a brushless motor; 23. a propeller; 32. and (5) a foot pad.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
Please refer to fig. 1-5, an embodiment of the present invention provides an electric power X-ray digital imaging unmanned aerial vehicle detection apparatus, including:
the unmanned aerial vehicle detection device comprises an unmanned aerial vehicle body 1 and a detection frame device 2, wherein the detection frame device 2 comprises an unmanned aerial vehicle installation component and two positioning guide components, and the unmanned aerial vehicle body 1 is installed at the top of the unmanned aerial vehicle installation component;
any one of the positioning guide assemblies comprises a positioning rack 3 and two guide frames 4 arranged on the positioning rack 3, the positioning rack 3 is arranged at the bottom of the unmanned aerial vehicle mounting assembly, a gap is formed between the two guide frames 4, and a cable linearly penetrates through the gap between the two positioning guide assemblies;
two one side that corresponds of location frame 3 of location direction subassembly is connected with X ray inspection backplate 6, two the opposite side that corresponds of location frame 3 of location direction subassembly is connected with X ray inspection machine 10, just X ray inspection machine 10 aligns X ray inspection backplate 6.
In the embodiment of the present invention, the unmanned aerial vehicle body 1 includes a body core cabin 20, a brushless motor 22 is fixedly connected to the side surface of the body core cabin 20 through a horn 21, and a propeller 23 is fixedly connected to the surface of an output shaft of the brushless motor 22; the machine body core cabin 20 comprises an IMU module, an SINS resolving module, a barometer, a GPS locator, a magnetometer, a radar sensor, a multi-sensor information fusion module and a combined navigation output module; the IMU module comprises a gyroscope and an accelerometer, the output end of the IMU module is connected with the input end of the SINS resolving module, the output end of the SINS resolving module is connected with the input end of the integrated navigation output module, the SINS resolving module is in bidirectional connection with the multi-sensor information fusion module, and the output end of the barometer, the output end of the GPS locator, the output end of the magnetometer and the output end of the radar sensor are connected with the input end of the multi-sensor information fusion module. Utilize the cooperation of sensors such as barometer, GPS locator, magnetometer, radar sensor, gyroscope and accelerometer and instrument, can control the position of unmanned aerial vehicle self and with the interval of cable accurately, be convenient for accurate control detect, can improve the accuracy of detecting data equally.
In the embodiment of the utility model, the positioning frame 3 is a U-shaped frame, two sets of U-shaped frames are arranged at the front and the back of the U-shaped frame, three sets of beam assemblies 16 are fixedly connected between the tops of the two sets of U-shaped frames, the bottom of the left side beam is fixedly connected with a distance measuring instrument 17 and a camera 18 in sequence from front to back, the surfaces of the two sets of right side beams are fixedly connected with an adapter 19, the top of the adapter 19 is fixedly connected with the bottom of the unmanned aerial vehicle body 1 through bolts, the inner sides of the two sets of U-shaped frames are fixedly connected with guide frames 4, two guide frames 4 are a set and are symmetrically arranged at two sides in the U-shaped frame, a gap is left between the two guide frames 4, an X-ray backboard 6 is fixedly connected between the left sides of the two sets of U-shaped frames through a mounting block 5, a support frame 7 is fixedly connected, and the top of the mounting seat 8 is fixedly connected with an X-ray flaw detector 10 through an adjustable fixing frame 9. The X-ray flaw detection back plate 6 and the X-ray flaw detector 10 are respectively arranged on the left side and the right side of the U-shaped framework, so that nondestructive flaw detection can be carried out on the cable connecting piece by utilizing X-rays. And both sides set up leading truck 4 around through the U type framework, can with the cable restriction about between two sets of leading trucks 4, make it not receive unmanned aerial vehicle air current or the influence that unmanned aerial vehicle rocked in the testing process, and then make testing process more stable, the testing result is more accurate.
Preferably, any one of the guide frames 4 includes an inclined portion and a vertical portion, one end of the inclined portion is connected to the support rod of the positioning frame 3, the other end of the inclined portion is connected to one end of the vertical portion, and the other end of the vertical portion is connected to the support beam of the positioning frame 3;
on the same positioning frame 3, the vertical portions of the two guide frames 4 are parallel to each other and form the space. The bottom of the guide frame 4 forms a large opening shape, so that the cable can enter the space easily, and the guide frame 4 sleeves the cable and loosens the cable easily.
The bottom sliding connection at U type frame both ends has buffer beam 11, and the bottom fixedly connected with pad foot 32 of buffer beam 11, the surface of buffer beam 11 just is located the fixed cover 12 of the inside fixedly connected with of U type frame, the slip intracavity of U type frame both ends bracing piece just is located the equal fixedly connected with position sleeve 13 in below of fixed cover 12, and the internal surface of position sleeve 13 and the surface sliding connection of buffer beam 11, the surface of buffer beam 11 just is located the cover and is equipped with spring 14 between position sleeve 13 and the fixed cover 12, just be located the below fixedly connected with spacing ring 15 of fixed cover 12 on the buffer beam 11, all set up buffer beam 11 and pad foot 32 through the four corners at two sets of U type frames, utilize inside spring 14 cooperation position sleeve 13 and fixed cover 12, can reach the effect of buffering, reducible impact when unmanned aerial vehicle descends, and then avoid damaging the equipment.
In order to solve the same technical problem, the utility model also provides an unmanned detecting system of electric power X ray digital imaging, including control platform, unmanned aerial vehicle remote controller and arbitrary electric power X ray digital imaging unmanned aerial vehicle detection device.
Based on above-mentioned scheme, for better understanding the utility model provides an electric power X ray digital imaging unmanned aerial vehicle detection device and system, the following illustration that carries out:
when the unmanned aerial vehicle remote controller works, the unmanned aerial vehicle is remotely controlled to fly up through the unmanned aerial vehicle remote controller and fly to a cable to be detected, sensors and instruments such as a barometer, a GPS (global positioning system) positioner, a magnetometer, a radar sensor, a gyroscope, an accelerometer and the like are simultaneously started, the barometer detects the flying height, the magnetometer judges the navigation direction, the GPS positioner and the radar sensor monitor the position and the speed, the gyroscope and the accelerometer monitor the levelness and the acceleration of the unmanned aerial vehicle, a plurality of groups of detection data are gathered through a multi-sensor information fusion module, are output through a combined navigation output module after being resolved by an SINS resolving module and are remotely transmitted to a control platform, after the unmanned aerial vehicle is controlled to be close to the cable to be detected, the cable is carefully covered by the detection frame device 2, the cable to be detected is positioned in the detection frame device 2, the cable is limited between guide frames 4 in the descending, x-rays emitted by the flaw detector irradiate the cable to be detected, the cable is projected to the X-ray flaw detection backboard 6 for storage and recording, and the recorded images are analyzed and processed in the later period.
The foregoing is a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements and decorations can be made without departing from the principle of the present invention, and these improvements and decorations are also considered as the protection scope of the present invention.
Claims (10)
1. An electric power X-ray digital imaging unmanned aerial vehicle detection device, comprising:
the unmanned aerial vehicle detection device comprises an unmanned aerial vehicle body and a detection frame device, wherein the detection frame device comprises an unmanned aerial vehicle installation component and two positioning guide components, and the unmanned aerial vehicle body is installed at the top of the unmanned aerial vehicle installation component;
any one positioning guide assembly comprises a positioning rack and two guide frames arranged on the positioning rack, the positioning rack is arranged at the bottom of the unmanned aerial vehicle mounting assembly, a gap is formed between the two guide frames, and a cable linearly penetrates through the gap between the two positioning guide assemblies;
two the location frame of location direction subassembly corresponds one side and is connected with X ray inspection backplate, two the location frame of location direction subassembly corresponds the opposite side and is connected with X ray inspection machine, just X ray inspection machine aligns the X ray inspection backplate.
2. The electric power X-ray digital imaging unmanned aerial vehicle detection device of claim 1, wherein any one of the guide frames comprises an inclined portion and a vertical portion, one end of the inclined portion is connected with a support rod of the positioning frame, the other end of the inclined portion is connected with one end of the vertical portion, and the other end of the vertical portion is connected with a support beam of the positioning frame;
on the same positioning frame, the vertical parts of the two guide frames are parallel to each other and form the interval.
3. The unmanned aerial vehicle detection device for digital imaging of electric power X-ray as claimed in claim 1, wherein any one of said positioning guide assemblies further comprises two buffer rods, one end of said buffer rod is telescopically disposed in the sliding cavity of the corresponding support rod through an elastic member, and the other end of said buffer rod is connected with a foot pad.
4. The electrical X-ray digital imaging unmanned aerial vehicle detection device of claim 3, wherein a fixing sleeve is disposed in the sliding cavity of the support rod, and one end of the buffer rod passes through the fixing sleeve;
be equipped with position sleeve, spring, spacing ring on the buffer beam, the position sleeve is located fixed cover with between the spacing ring, just the one end of position sleeve is passed through the spring with fixed cover is connected.
5. The electric power X-ray digital imaging unmanned aerial vehicle detection device of claim 1, wherein the unmanned aerial vehicle mounting assembly comprises a beam assembly mounted on top of two of the positioning frames, the beam assembly comprising a first beam, a second beam, a third beam, the second beam being located between the first beam and the third beam;
the bottom of the first cross beam is connected with a distance meter and a camera;
the surface of the second cross beam and the surface of the third cross beam are both connected with adapter seats, and the tops of the adapter seats are connected with the bottom of the unmanned aerial vehicle body through bolts.
6. The unmanned aerial vehicle detection device of claim 1, wherein a support frame is fixedly connected to the other corresponding side of the positioning frame of the two positioning guide assemblies, a mounting seat is arranged on the support frame, and the top of the mounting seat is connected with the X-ray flaw detector through an adjustable fixing frame.
7. The electric power X-ray digital imaging unmanned aerial vehicle detection device of claim 1, wherein the unmanned aerial vehicle body comprises a body core cabin, a brushless motor is connected to the side surface of the body core cabin through a horn, and a propeller is fixedly connected to the surface of an output shaft of the brushless motor.
8. The electric X-ray digital imaging unmanned aerial vehicle detection device of claim 7, wherein the body core cabin comprises an IMU module, an SINS solution module, a barometer, a GPS locator, a magnetometer, a radar sensor, a multi-sensor information fusion module, and a combined navigation output module; the IMU module includes a gyroscope and an accelerometer.
9. The apparatus according to claim 8, wherein an output of the IMU module is connected to an input of the SINS module, an output of the SINS module is connected to an input of the integrated navigation output module, a data terminal of the SINS module is connected to a data terminal of the multi-sensor information fusion module, and an output of the barometer, an output of the GPS locator, an output of the magnetometer, and an output of the radar sensor are connected to an input of the multi-sensor information fusion module.
10. An electric power X-ray digital imaging unmanned detection system, which is characterized by comprising a control platform, an unmanned aerial vehicle remote controller and the electric power X-ray digital imaging unmanned detection device as claimed in any one of claims 1-9.
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CN112924478A (en) * | 2021-01-29 | 2021-06-08 | 上海科技大学 | Overhead cable detection system based on dual-energy digital X-ray imaging |
CN112924476A (en) * | 2021-01-29 | 2021-06-08 | 上海科技大学 | X-ray imaging and online electricity taking system of overhead cable |
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CN112924478A (en) * | 2021-01-29 | 2021-06-08 | 上海科技大学 | Overhead cable detection system based on dual-energy digital X-ray imaging |
CN112924476A (en) * | 2021-01-29 | 2021-06-08 | 上海科技大学 | X-ray imaging and online electricity taking system of overhead cable |
CN113218971A (en) * | 2021-04-09 | 2021-08-06 | 国网浙江海盐县供电有限公司 | But electrified operation's portable cable and connecting piece nondestructive test device |
CN113218971B (en) * | 2021-04-09 | 2024-04-19 | 国网浙江海盐县供电有限公司 | Portable cable capable of being electrified and connecting piece nondestructive flaw detection device |
CN113916909A (en) * | 2021-10-29 | 2022-01-11 | 贵州贵飞飞机设计研究院有限公司 | Nondestructive testing system and method for moving type aerial high-voltage cable |
CN113866194A (en) * | 2021-11-01 | 2021-12-31 | 太仓阿尔法数字科技有限公司 | In-service power equipment remote flaw detector |
CN113866194B (en) * | 2021-11-01 | 2024-04-30 | 太仓阿尔法数字科技有限公司 | Remote flaw detector for in-service power equipment |
CN114088743A (en) * | 2021-11-18 | 2022-02-25 | 国网湖南省电力有限公司 | Multi-split conductor splicing sleeve live-line flaw detection system and application method thereof |
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