Attitude-controllable suspension mounting device for power station line inspection

Abstract

The invention discloses a posture-controllable suspension mounting device for power station line inspection, and the device comprises a bag body which is used for providing buoyancy; the multiple driving rotor wings are arranged, and the driving rotor wings are evenly distributed in the circumferential direction of the capsule body; and the multi-sensing comprehensive detector is hung below the bag body through a connecting piece. The six-degree-of-freedom maneuvering ability is achieved through the buoyancy characteristic of the helium bag body carrier platform and the eight-rotor-wing propelling system with the eight driving rotor wings, the device can easily reach the position near overhead lines in complex terrain areas such as mountainous areas and river-crossing sections, and the constraint of the terrain on routing inspection work is eliminated; meanwhile, the flight height can be flexibly adjusted, lines with different erection heights can be close to each other in a short distance, a detection blind area formed due to the fact that traditional manual inspection cannot reach is effectively eliminated, and the space coverage rate of line inspection is greatly increased.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of power inspection device, and particularly relates to a posture controllable suspension mounting device for power line inspection. BACKGROUND

[0002] As an important part of the power system, the safe and stable operation of overhead lines is directly related to the reliability of power supply. Partial discharge is an important early warning signal of potential faults of overhead lines, and timely and accurate detection of partial discharge conditions is of great significance to line operation and fault prevention. Currently, the detection of partial discharge of overhead lines mainly relies on the manual detection of handheld devices. However, this traditional inspection mode has many limitations that are difficult to overcome in practical application. On the one hand, due to the height of the overhead line, it is difficult for the handheld device to capture the partial discharge signal at close range and accurately, resulting in low detection accuracy and easy to miss or misjudge. On the other hand, the overhead line often passes through complex terrain areas such as mountainous areas and river sections, and the inspection personnel cannot reach the effective detection position below or near the line, resulting in insufficient inspection coverage and forming a large number of detection blind areas.

[0003] More prominent is that in the disaster environment or bad weather conditions such as heavy rain, high wind and high temperature, the difficulty and safety risk of manual inspection increase significantly. The work efficiency of the inspection personnel decreases significantly, which not only cannot complete the inspection task in time and cannot guarantee the rapid response to line faults, but also may face the safety hazards of high-altitude falling and harsh environment. At the same time, the traditional manual inspection mode needs to invest a lot of labor cost, including the salary, training cost of the inspection personnel and the expenditure of protective equipment and logistics support for ensuring the safety of operation in complex environment, resulting in high comprehensive operation cost. With the continuous advancement of modern power grid construction, the scale of power grid continues to expand, and higher requirements are put forward for the efficiency, accuracy and intelligent level of overhead line inspection. The traditional manual handheld device inspection method cannot meet the development needs of intelligent operation and maintenance of power grid, and a new type of partial discharge inspection technology scheme is needed to break through the terrain and height restrictions, improve the detection accuracy and coverage, reduce the labor cost and ensure the safety of operation. SUMMARY

[0004] The purpose of the present application is to provide a posture controllable suspension mounting device for power line inspection to solve the above problems.

[0005] The present application achieves the above-mentioned purpose by the following technical solutions: The posture controllable suspension mounting device for power line inspection comprises: a capsule for providing buoyancy; a plurality of driving rotors, which are uniformly distributed in the circumference of the capsule; The multi-sensing comprehensive detector is hung below the capsule body through the connecting piece.

[0006] As preferred, the capsule body is a spherical helium capsule body. The plurality of driving rotors are evenly arranged along the equatorial plane of the helium capsule body.

[0007] As preferred, the driving rotors are provided in eight groups, including four groups of Z-direction power rotors providing Z-direction ascending or descending, two groups of X-direction power rotors providing X-direction movement, and two groups of Y-direction power rotors providing Y-direction movement.

[0008] As preferred, the driving rotors are evenly arranged along the equatorial plane of the capsule body in the order of X-direction power rotor, Z-direction power rotor, Y-direction power rotor, Z-direction power rotor, X-direction power rotor, Z-direction power rotor, Y-direction power rotor, and Z-direction power rotor.

[0009] As preferred, the driving rotors include helical blades, an annular shell, and a hollow cup motor, the annular shell is provided with a plurality of support rods in the shell along the circumferential direction, the support rods are connected to the center of the annular shell to form a support position, the hollow cup motor is installed above the support position, and the annular shell is connected to the capsule body below.

[0010] As preferred, the helical blades are provided in plurality along the circumferential direction, and the helical blades are connected to the hollow cup motor.

[0011] As preferred, a plurality of connecting seats are provided below the capsule body, and the connecting seats are connected to the multi-sensing comprehensive detector through connecting pieces.

[0012] As preferred, the connecting seat and the connecting piece are each provided with four. The connecting piece includes an integrally formed disc and a connecting rod, the lower end of the connecting rod is connected to the multi-sensing comprehensive detector through a bolt, and the upper end of the connecting rod is connected to the connecting seat through the disc in a bolted manner.

[0013] The beneficial effects are that the application realizes six-degree-of-freedom maneuvering capability through the buoyancy characteristics of the helium capsule carrier platform and the eight-rotor propulsion system of the eight driving rotors, the device can easily reach the overhead line near complex terrain areas such as mountainous areas and river sections, and is free from the constraints of terrain on inspection operations; at the same time, the flight height can be flexibly adjusted, the line of different erection heights can be closely approached, the detection blind area formed by the traditional manual inspection due to the inability to reach is effectively eliminated, and the spatial coverage rate of line inspection is greatly improved. BRIEF DESCRIPTION OF DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings described below only constitute some of the embodiments of the present application, and all other embodiments obtained by those of ordinary skill in the art without creative effort based on these drawings also belong to the scope of protection of the present application.

[0015] Figure 1 is the front view of the suspension mounting device of the present application; Figure 2 is the structure enlarged view of A part of Figure 1 Figure 3 is the bottom view of the suspension mounting device of the present application; Figure 4 is the perspective view of the suspension mounting device of the present application; Figure 5 is the structure enlarged view of B part of Figure 4 Figure 6 is the perspective view of the multi-sensing comprehensive detector of the suspension mounting device of the present application; Figure 7 is the bottom view of the multi-sensing comprehensive detector of the suspension mounting device of the present application.

[0016] The following is the explanation of the reference signs: 1, capsule; 2, driving rotor; 201, X-direction power rotor; 202, Y-direction power rotor; 203, Z-direction power rotor; 2A, annular shell; 2B, spiral blade; 2C, hollow cup motor; 2D, connecting frame; 2E, support rod; 3, multi-sensing comprehensive detector; 4, connecting seat; 5, connecting piece; 501, disc; 502, connecting rod. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solutions and advantages of the present application more clear, the technical solutions of the present application will be described in detail below. Obviously, the described embodiments only constitute some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort belong to the scope of protection of the present application.

[0018] Referring to Figures 1-7 , the present application provides a posture-controllable suspension mounting device for power station line inspection, which comprises a capsule 1 for providing buoyancy, a driving rotor 2 and a multi-sensing comprehensive detector 3. The driving rotor 2 is provided in plurality and uniformly distributed in the circumference of the capsule 1; the capsule 1 is a spherical helium capsule 1; the plurality of driving rotors 2 are uniformly arrayed along the equatorial plane of the helium capsule 1. ​​

[0019] The multi-sensor comprehensive detector 3 is suspended below the capsule 1 through the connecting piece 5.

[0020] The multi-sensor comprehensive detector 3 described above is an intelligent partial discharge detector integrating acoustic imaging and infrared thermal imaging detection, and cooperates with the built-in 4G / GPS module, anemometer and high-precision air pressure sensor to realize real-time feedback of detection data, accurate positioning of spatial coordinates and dynamic calculation of flight height. The built-in 4G / GPS dual-mode positioning module, combined with the high-dynamic anemometer and air pressure sensor, realizes accurate spatial positioning and rapid abnormal capture of partial discharge defects of power equipment, and improves the detection efficiency and reliability under complex working conditions.

[0021] Among them, the capsule 1 adopts a spherical design with a diameter of 1 meter, and the buoyancy is realized by expelling the gravity of air. According to the buoyancy formula Ffloat=Gobject=pobjectgVobject, the net lift is about 5.7N, the self-weight of the capsule 1 is about 150g, and the weight of the multi-sensor comprehensive detector 3 carried is about 450g. This design has both functionality and stability. First, as a connecting carrier for driving the rotor 2 and the multi-sensor comprehensive detector 3, compared with the traditional unmanned aerial vehicle mounting, the physical isolation of this structure can effectively reduce the interference of rotor noise on acoustic detection, significantly improve the detection accuracy of discharge defects, and rely on its own basic lift to reduce rotor energy consumption, providing support for the load demand and endurance of the equipment. Compared with other carrying platforms, the helium capsule 1 has better safety and economy. Helium has stable chemical properties and no risk of combustion and explosion, and the basic lift enables it to maintain a slow descent or hover when the power is interrupted or the power is low, avoiding the risk of emergency landing due to battery depletion; the operation technical threshold is low, only simple training is required, and the equipment maintenance is simple, with a lower failure rate than multi-rotor unmanned aerial vehicles.

[0022] The above structure uses the capsule 1 as a carrier, and eight groups of evenly distributed drive rotors 2 along the equatorial plane as driving force, realizes six-degree-of-freedom maneuvering capability, carries the integrated sensing device to realize the multi-sensor comprehensive detector 3 of insulation discharge defect, and can accurately position and rapidly detect.

[0023] In this embodiment, reference is made to Figure 3As shown, the driving rotor 2 is provided with eight groups, including four groups of Z-direction power rotors 203 providing Z-direction lifting or lowering, two groups of X-direction power rotors 201 providing X-direction movement, and two groups of Y-direction power rotors 202 providing Y-direction movement. Along the equatorial plane of the capsule 1, the X-direction power rotors 201, the Z-direction power rotors 203, the Y-direction power rotors 202, the Z-direction power rotors 203, the X-direction power rotors 201, the Z-direction power rotors 203, the Y-direction power rotors 202, and the Z-direction power rotors 203 are sequentially and uniformly arranged in the circumferential direction. The eight groups of driving rotors 2 uniformly distributed along the equatorial plane endow the device with six degrees of freedom of maneuverability, can quickly and accurately position detection points at various positions, and have strong environmental adaptability. The hollow cup motor 2C is arranged in each group of rotors as a power core, and the end directly interfaces with the comprehensive detector to realize the dual functions of power supply and instruction transmission.

[0024] As a preferred embodiment of the present application, refer to Figure 5 As shown, the driving rotor 2 includes a helical blade 2B, an annular shell 2A, and a hollow cup motor 2C. The annular shell 2A is uniformly provided with a plurality of support rods 2E along the circumferential direction, and the support rods 2E are connected to the center of the annular shell 2A to form a support position. The hollow cup motor 2C is mounted above the support position, and the lower part is connected with the capsule 1. The helical blade 2B is provided with a plurality of helical blades 2B along the circumferential direction, and the helical blade 2B is connected with the hollow cup motor 2C. The hollow cup motor 2C is arranged in each group of rotors as a power core. The motor adopts a sealed design to prevent rain and dust. In sandy and high-humidity areas, the rotor can switch to a low-speed mode to cooperate with the buoyancy to hover, reducing the wear of the motor by sand particles. In the event of sudden gusts, the rotor can also disperse wind pressure through autonomous rotation and oscillation to reduce local stress, and the flexible deformation characteristic enables it to maintain structural integrity in gusty environments.

[0025] In order to facilitate connection and disassembly, a plurality of connection seats 4 are arranged below the capsule 1, and the connection seats 4 are connected with the multi-sensor comprehensive detector 3 through connecting pieces 5. In the embodiment, the connection seat 4 and the connecting piece 5 are both provided with four; the connecting piece 5 includes an integrally formed disc 501 and a connecting rod 502, the lower end of the connecting rod 502 is connected with the multi-sensor comprehensive detector 3 through bolts, and the upper end is connected with the connection seat 4 through the disc 501 in a bolted manner. The design of this structure makes the comprehensive detector firmly fixed to the bottom of the helium capsule 1, and has the characteristics of easy disassembly, firm connection, stability and reliability.

[0026] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A levitation-mounted device with controllable attitude for power station line inspection, characterized in that, include: The capsule is used to provide buoyancy; A drive rotor, wherein multiple drive rotors are provided and are evenly distributed around the circumference of the capsule; A multi-sensor integrated detector is suspended below the capsule via a connector.

2. The attitude-controllable suspended mounting device for power station line inspection according to claim 1, characterized in that: The capsule is a spherical helium capsule; Multiple drive rotors are evenly distributed in a circumferential array along the equatorial plane of the helium gas bladder.

3. The attitude-controllable suspended mounting device for power station line inspection according to claim 2, characterized in that: The drive rotor is provided with eight sets, including four sets of Z-axis powered rotors that provide Z-axis upward or downward movement, two sets of X-axis powered rotors that provide X-axis movement, and two sets of Y-axis powered rotors that provide Y-axis movement.

4. The attitude-controllable suspended mounting device for power station line inspection according to claim 3, characterized in that: Along the equatorial plane of the capsule, the rotors are arranged in a uniform sequence of X-axis powered rotors, Z-axis powered rotors, Y-axis powered rotors, Z-axis powered rotors, X-axis powered rotors, Z-axis powered rotors, Y-axis powered rotors, and Z-axis powered rotors.

5. The attitude-controllable suspended mounting device for power station line inspection according to any one of claims 1-4, characterized in that: The drive rotor includes a helical blade, an annular shell, and a hollow cup motor. Multiple support rods are evenly arranged circumferentially inside the annular shell. These support rods are connected to the center of the annular shell to form a support position. The hollow cup motor is installed above the support position and connected to the capsule below.

6. The attitude-controllable suspended mounting device for power station line inspection according to claim 5, characterized in that: The spiral blades are arranged in multiple circumferential directions, and the spiral blades are connected to the hollow cup motor.

7. The attitude-controllable suspended mounting device for power station line inspection according to claim 6, characterized in that: The lower part of the capsule is provided with multiple connecting seats, which are connected to the multi-sensor integrated detector through connectors.

8. The attitude-controllable suspended mounting device for power station line inspection according to claim 7, characterized in that: Four of each of the connecting seats and the connecting members are provided; The connector includes an integrally formed disc and a connecting rod. The lower end of the connecting rod is connected to the multi-sensor integrated detector by bolts, and the upper end is connected to the connecting seat by bolts through the disc.

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