Device and method for detecting state of insulator of power transmission line

Abstract

The invention discloses a power transmission line insulator state detection device and method, and the device comprises a double-layer long hollow-square-shaped cross beam, the top end of the double-layer long hollow-square-shaped cross beam is provided with a suspension cage used for being connected with an unmanned plane in a hanging manner, and the interior of the double-layer long hollow-square-shaped cross beam is provided with a belt walking structure used for moving. A rotation driving module used for driving the belt walking structure to work is installed on one side of the top end of the double-layer long concentric-square-shaped cross beam, and a first semi-open type arc-shaped end plate and a second semi-open type arc-shaped end plate are fixed to the two ends of the double-layer long concentric-square-shaped cross beam respectively. According to the invention, the main camera shoots the top picture of the insulator chain downwards, and the following type rocking visual detection modules on the left and right sides both obtain a part of rotation power of the belt walking structure to act in the walking process so as to continuously carry out visual detection on the side wall and the bottom wall of the insulator chain; therefore, stable hoisting, single-power precise stress application clamping, stable walking and multi-angle visual detection of the device are realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of insulator detection, in particular to a device and method for detecting the state of insulators on a power transmission line. BACKGROUND

[0002] The device is used for close observation and state evaluation of high-altitude equipment, timely detection of abnormal conditions such as cracks, dirt, aging, and shedding on the surface of insulators, and thus provides a scientific basis for maintenance and repair, avoiding power interruption and safety accidents caused by insulator failure. The structural design of the device usually includes a walking mechanism, a visual detection unit, a control system, and a power supply part. During detection, the device is first safely lifted by a drone to the vicinity of the insulator string of the target power transmission line. During lifting, the stability of the device needs to be ensured to avoid poor contact between the device and the insulator due to wind or drone vibration. After reaching the target position, the walking mechanism is started, and the device slowly moves along the insulator string and stops at each insulator one by one. At this time, the visual detection unit starts to work and captures the appearance image of the insulator. Through multi-angle and multi-light source shooting, the overall coverage of the details on the surface of the insulator is ensured. The collected image data is transmitted in real time to the ground control center or the processing unit on the drone, and image processing algorithms are used for defect identification, such as crack detection, stain analysis, and color difference judgment. After detection is completed, the device continues to move to the next insulator until the entire string of insulators is detected. As disclosed in a high-voltage transmission line insulator safety detection device with authorization announcement No. CN118962254B, a rack is provided with a hoisting assembly, a first motor is fixedly connected in the rack, a first bidirectional threaded rod is fixedly connected to the output end of the first motor, a first guide rod is fixedly connected in the rack, two movable seats are slidably connected in the rack, a nut seat is fixedly connected inside the movable seat, the nut seat is threadedly connected with the first bidirectional threaded rod, the first guide rod penetrates through the movable seat, and a spacing adjustment assembly is arranged at the bottom of the movable seat. After being wrapped by the arc-shaped frame, the spacing adjustment assembly walks under the support of the walking assembly, so that it can walk on the vertical insulator string or the horizontal insulator string. During the walking process, the detection assembly detects the resistance of the insulator. It can be seen that the above technical solution mainly relies on multiple walking assemblies arranged on the side to enable the detection device to have walking capability. However, when walking is adjusted according to the outer diameter specification of the insulator string, multiple motors are required for the spacing adjustment assembly, the walking assembly, and the support assembly. The multiple motor system has a high demand for power supply, which increases the weight and energy consumption of the device, greatly affecting the endurance of the device and the load limit of the unmanned aerial vehicle. Moreover, during the walking and visual detection process, the visual detection module mainly detects the top wall or the left and right side walls of the insulator string, that is, the lower half of the device needs to be arranged in an open state to facilitate the device to be placed on the insulator string after being lifted by the unmanned aerial vehicle. This “open” design sacrifices the integrity of the detection to facilitate the lifting and placement of the unmanned aerial vehicle, resulting in the complete absence of inspection of the key area. SUMMARY

[0003] The purpose of the present application is to provide a detection device and method for the state of a transmission line insulator. The unmanned aerial vehicle lifts the device to the insulator string of the high-altitude transmission line through a cage and a double-layer long back-shaped beam. At this time, the belt walking structure in the double-layer long back-shaped beam is in contact with the top wall of the insulator string due to its own weight. The operator transmits a control signal to the remote control module through the control end, and then the single-source wide-format force module causes the left and right self-collapse belt walking modules to move towards the outer wall of the insulator string until they are clamped. After the device is stable, the rotating drive module drives the belt walking structure to work, and the left and right self-collapse belt walking modules assist in walking. The main camera captures the top picture of the insulator string, and the left and right follow-up swing type visual detection modules obtain part of the rotating power of the belt walking structure to move, thereby continuously detecting the side wall and bottom wall of the insulator string, thereby solving the problems raised in the background art.

[0004] To achieve the above-mentioned purpose, the present application provides the following technical solution: a detection device for the state of a transmission line insulator, comprising: The utility model provides a double -deck long back -shaped crossbeam, the top end of double -deck long back -shaped crossbeam is equipped with the cage for and unmanned plane hitch, the inside of double -deck long back -shaped crossbeam is equipped with the belt walking structure for moving, one side of double -deck long back -shaped crossbeam top end is equipped with the rotary drive module for driving belt walking structure work, and the both ends of double -deck long back -shaped crossbeam are fixed with half -open formula arc end plate no. The utility model provides a double -deck long back -shaped crossbeam, the top end of double -deck long back -shaped crossbeam is equipped with the cage for and unmanned plane hitch, the inside of double -deck long back -shaped crossbeam is equipped with the belt walking structure for moving, one side of double -deck long back -shaped crossbeam top end is equipped with the rotary drive module for driving belt walking structure work, and the both ends of double -deck long back -shaped crossbeam are fixed with half -open formula arc end plate no.

[0005] Preferably, the belt walking structure includes a I-beam axle carrier fixedly installed inside the double-deck long back-shaped crossbeam, a front pulley shaft and a rear pulley shaft rotatably installed at both ends inside the I-beam axle carrier, and a transmission belt sleeved between the front pulley shaft and the rear pulley shaft. Both ends of the rear pulley shaft penetrate through the outside of the double-deck long back-shaped crossbeam and are connected with the power input end of the follow-up swing type visual detection module.

[0006] Preferably, the rotary drive module is composed of a stepper motor, a synchronous wheel transmission structure, and a belt cover. The stepper motor is installed at one side of the top end of the double-deck long back-shaped crossbeam. The synchronous wheel transmission structure is installed between one end of the front pulley shaft and the output shaft of the stepper motor. The belt cover is installed on the outer wall of one side of the double-deck long back-shaped crossbeam and is used for protecting the synchronous wheel transmission structure. The input end of the stepper motor is electrically connected with the output end of the remote control module.

[0007] Preferably, the single-source pair of width type forced module comprises double-layer shaft supports fixed on both sides of the top end of the semi-open arc-shaped end plate one, rotatingly installed rotating shafts in the double-layer shaft supports, and four-gear synchronous transmission structure for synchronously and reversely rotating the two rotating shafts, installed on the outer wall of one side of the semi-open arc-shaped end plate one, a motor base is fixed on the outer wall of one side of the semi-open arc-shaped end plate one, and a servo motor one is installed on the top end of the motor base, a bevel gear reversing transmission structure for driving the four-gear synchronous transmission structure to work is installed on the lower end of the output shaft of the servo motor one.

[0008] Preferably, two groove type swing arms are hingedly connected on the outer wall of one side of the semi-open arc-shaped end plate one and the semi-open arc-shaped end plate two, a beam plate is fixed between the two groove type swing arms in the same length direction, the self-destroying belt walking module is installed on the beam plate, one end of the rotating shaft penetrates to the outside of the semi-open arc-shaped end plate one and is fixed with a rotary arm, and a pulley is rotatably installed on one end of the rotary arm and located in the groove type swing arm.

[0009] Preferably, the self-destroying belt walking module comprises a hydraulic damper installed on the outer wall of one side of the beam plate, two Y-shaped yokes hingedly installed on the outer wall of one side of the beam plate, and a caterpillar electric walking device installed on the upper ends of the two Y-shaped yokes, a connecting rod is hingedly connected on the outer wall of the shell of the caterpillar electric walking device, a sliding seat is slidingly installed on the outer wall of one side of the beam plate, the outer wall of one side of the sliding seat is hingedly connected with one end of the connecting rod, and the other outer wall of the sliding seat is fixedly connected with the top end of the piston rod of the hydraulic damper.

[0010] Preferably, the following type swing visual detection module comprises an L-shaped support frame fixed on the outer wall of one side of the semi-open arc-shaped end plate two, a disc-shaped cam integrated shaft rotatably installed on the upper position in the L-shaped support frame, and a rotary push arm hingedly installed on the outer wall of the L-shaped support frame below the disc-shaped cam integrated shaft, the disc-shaped cam integrated shaft is used to top the rotary push arm to swing downward, one end of the disc-shaped cam integrated shaft is powerfully connected with one end of the rear belt wheel shaft, a hook arm is hingedly connected on the lower position of the surface of the L-shaped support frame, a limit switch is installed on the outer wall of one side of the L-shaped support frame of the hook arm, the output end of the limit switch is electrically connected with the input end of the remote control module, a swing handle is hingedly connected on the outer wall of the L-shaped support frame below the limit switch, the lower end of the swing handle is hingedly connected with a connecting arm, and one end of the connecting arm is hingedly connected with the lower end of the hook arm.

[0011] Preferably, a bevel gear shaft is rotatably installed on the upper position of the surface of the L-shaped support frame, a belt wheel transmission structure is installed between the bevel gear shaft and the disc-shaped cam integrated shaft, main bevel gears are fixed on both ends of the rear belt wheel shaft, the main bevel gears are engaged with the bevel gear shaft, one end of the rotary push arm is hingedly connected with a fish-eye connecting rod, the lower end of the fish-eye connecting rod is hingedly connected with the upper end of the hook arm, a tension spring is fixed on one side of the surface of the L-shaped support frame, and the lower end of the tension spring is fixedly connected with the upper end of the hook arm.

[0012] Preferably, the bottom end of the connecting arm is fixed with a rod adjusting frame, one side of the surface of the rod adjusting frame is provided with a servo motor two, and the output shaft end of the servo motor two is provided with a secondary camera, and the input end of the secondary camera is electrically connected with the output end of the remote control module.

[0013] The application also provides a detection method for the state of a power transmission line insulator, using the detection device for the state of a power transmission line insulator. S101: The operator controls the unmanned aerial vehicle to take off, and the detection device is stably lifted by the cage, flies to the position of the target insulator string, and after reaching the operation airspace, the operator finely controls the unmanned aerial vehicle, so that the belt walking structure accurately falls on the top end of the insulator string, and under the action of the self-weight of the device, the belt walking structure naturally contacts the top wall of the insulator string; S102: After the device is stably suspended on the insulator string, the ground staff sends an instruction to the remote control module through the control end, and the signal triggers the single-source width-type force adding module to start working, and the single-source width-type force adding module serves as a core power source and synchronously transmits power to the self-collapse type belt walking modules on the left and right sides, so that the self-collapse type belt walking modules on the left and right sides stably approach and finally tightly clamp the outer wall of the insulator string like two mechanical arms, and after the device is connected with the insulator string, the staff sends an instruction again to start the rotary driving module to drive the belt walking structure at the top end to work, so that the whole device moves stably along the length direction of the insulator string, and at the same time, the self-collapse type belt walking modules on the left and right sides also assist in walking to ensure the stability of the running track, and in the walking process, the main camera continuously shoots downward to clearly capture the surface state of the top wall of the insulator string to detect whether there is a crack, a stain, a scale or other abnormalities; S103: The left and right side follow-up type visual detection modules automatically obtain rotary power from the belt walking structure in the process of walking, and the follow-up type visual detection modules make the camera parts thereof continuously change positions below and on the side of the insulator string, so that the lower half of the side wall and the most critical bottom wall which are difficult to reach in the traditional scheme are continuously and dead-angle-free scanned and shot, and all the captured pictures of the main camera and the follow-up type visual detection modules are transmitted to the control end on the ground in real time through the remote control module. S104: When the device completes the traversal detection of the whole insulator string, the instruction single-source width-type force adding module releases the clamping state, the self-collapse type belt walking modules on the left and right sides are retracted, and the unmanned aerial vehicle flies back, re-connects with the cage and hoists the whole device, and returns to the ground safely.

[0014] Compared with the prior art, the power transmission line insulator state detection device and method have the advantages that the device is hoisted to the insulator string of the high-altitude power transmission line through the cage and the double-layer long reverse-shaped cross beam, the belt walking structure in the double-layer long reverse-shaped cross beam is in contact with the top wall surface of the insulator string under the action of the self-weight, the staff sends a control signal to the remote control module through the control end, the single-source and width type force adding module drives the self-collapse type belt walking modules on the left and right sides to move towards the outer wall of the insulator string until clamping, the rotating drive module drives the belt walking structure to work, and the self-collapse type belt walking modules on the left and right sides assist walking, the main camera shoots the top picture of the insulator string, and the following type visual detection modules on the left and right sides obtain part of the rotating power of the belt walking structure to move, so that the side wall and the bottom wall of the insulator string are continuously detected, and the stable hoisting, single-power precise force adding clamping, smooth walking and multi-angle visual detection of the device are realized. The single-source and width type force adding module can control the synchronous movement of the self-collapse type belt walking modules on the left and right sides through one power source, the mechanical transmission structure and the electrical control system are greatly simplified compared with the previous mode of driving by multiple motors, the overall weight of the device is effectively reduced, the requirement for the load of the unmanned aerial vehicle is reduced, more importantly, the number of independent execution elements is reduced, so that the overall reliability of the device is directly improved, the following type visual detection modules on the left and right sides can obtain the rotating power from the belt walking structure, continuously scan and shoot the side wall and the bottom wall of the insulator string, so that the bottom wall of the insulator string is included in the continuous detection range during the whole walking process of the device along the insulator string, that is, the main camera is responsible for the top wall visual detection, the following type visual detection modules cover the side wall and the bottom wall, and the two work cooperatively, so that the complete surface image of each element constituting the insulator string can be finally collected, and the accuracy and reliability of defect identification are improved. Finally, the hoisting mode of the double-layer long reverse-shaped cross beam and the cage provides a stable initial dropping posture, the belt walking structure is pressed on the upper surface of the insulator string by the self-weight of the device, the self-collapse type belt walking modules have the characteristics of overload protection and flexible retreat, so that the device can better adapt to insulator strings of different specifications, which may have certain manufacturing tolerances or deformations, and the motion coordination and anti-lateral interference ability of the device are effectively enhanced due to the formation of multi-point support and power output, so that the walking is more stable and reliable. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 The three-dimensional structure of the present application is shown in the figureFigure One ; Figure 2 Schematic diagram of the three-dimensional structure of the present application Figure Two ; Figure 3 Schematic diagram of the three-dimensional structure of the present application Figure Three ; Figure 4 Schematic diagram of the three-dimensional structure of the present application Figure Four ; Figure 5 Schematic diagram of the front view of the structure of the present application; Figure 6 Schematic diagram of the three-dimensional structure of the present application Figure 7 Schematic diagram of the three-dimensional structure of the present application Figure One ; Figure 8 Schematic diagram of the three-dimensional structure of the present application Figure Two ; Figure 9 Schematic diagram of the three-dimensional structure of the present application Figure 10 Schematic diagram of the three-dimensional structure of the present application Figure 9 ; Figure 11 Schematic diagram of the three-dimensional structure of the present application Figure 12 Schematic diagram of the three-dimensional structure of the present application Figure One ; Figure 13 Schematic diagram of the three-dimensional structure of the present application Figure Two .

[0016] In the diagram: 1. Double-layer long U-shaped crossbeam; 2. Hoist cage; 3. Power supply module; 4. Remote control module; 5. Belt-driven structure; 501. I-beam axle support frame; 502. Front pulley axle; 503. Rear pulley axle; 504. Transmission belt; 6. Rotary drive module; 7. Semi-open arc-shaped end plate one; 8. Semi-open arc-shaped end plate two; 9. Main camera; 10. Single-source amplitude-shifting force-adding module; 1001. Double-layer axle support frame; 1002. Rotating shaft; 1003. Four-gear synchronous transmission structure; 1004. Motor base; 1005. Servo motor one; 1006. Bevel gear reversing transmission structure; 1007. Grooved swing arm; 1008. Beam plate; 1009. Swing arm; 1010. Pulley ; 11. Self-collapsing belt-driven walking module; 1101. Hydraulic damper; 1102. Y-shaped fork; 1103. Tracked electric walker; 1104. Connecting rod; 1105. Slide; 12. Follow-type rocker-positioning vision inspection module; 1201. L-shaped support frame; 1202. Disc cam integrated shaft; 12021. Rotary push arm; 1203. Bevel gear shaft; 1204. Pulley drive structure; 1205. Main bevel gear; 1206. Fisheye connecting rod; 1207. Hook arm; 1208. Tension spring; 1209. Swing handle; 1210. Connecting arm; 1211. Rod-type adjustment frame; 1212. Servo motor II; 1213. Secondary camera; 1214. Limit switch. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0018] Example 1, by Figures 1 to 6 The present invention includes a double-layer long loop-shaped crossbeam 1, a cage 2 for attaching to a drone is installed at the top of the double-layer long loop-shaped crossbeam 1, a belt-driven structure 5 for movement is installed inside the double-layer long loop-shaped crossbeam 1, a rotary drive module 6 for driving the belt-driven structure 5 is installed on one side of the top of the double-layer long loop-shaped crossbeam 1, and a semi-open arc-shaped end plate 7 and a semi-open arc-shaped end plate 8 are fixed at both ends of the double-layer long loop-shaped crossbeam 1, respectively. The semi-open arc-shaped end plate 7 and the semi-open arc-shaped end plate 8 are located at the front and rear ends of the double-layer long loop-shaped crossbeam 1, respectively. The design is open arc-shaped to facilitate the device to be smoothly inserted into the insulator string, while also achieving good coverage and support, and providing a platform for the subsequent single-source amplitude-type force-adding module 10 and the following-type position-type visual inspection module 12. The double-layer long meander-shaped cross beam 1 serves as a main load-bearing framework and has the ability to resist torsion and bending, so that the device can be stably placed on the top of the insulator string; the cage 2 serves as a lifting and load-bearing structure of the device and has good load-bearing capacity and safety guarantee, so that the entire detection device can be safely transported to the high-altitude insulator string position by the unmanned aerial vehicle, ensuring that the equipment remains balanced and stable during lifting, thereby reducing the risk of high-altitude operation; The main camera 9 is installed on the outer wall of the semi-open arc-shaped end plate two 8 away from the double-layer long meander-shaped cross beam 1 to shoot the top wall picture of the insulator string from top to bottom; the self-ruin type belt walking modules 11 are arranged on the left and right sides below the double-layer long meander-shaped cross beam 1; the single-source width-expanding force module 10 is installed on the outer wall of the semi-open arc-shaped end plate one 7 to drive the two self-ruin type belt walking modules 11 on the left and right sides to move towards each other and approach the outer wall of the insulator string; The two follow-up type visual detection modules 12 are mirror-symmetrically installed on the outer wall of the semi-open arc-shaped end plate two 8 away from the double-layer long meander-shaped cross beam 1; the power input end of the follow-up type visual detection module 12 is in power connection with the belt walking structure 5; the follow-up type visual detection module 12 is used to shoot the side wall and bottom wall picture of the insulator string; the power supply module 3 is installed in the cage 2 to supply power to the rotating drive module 6, the main camera 9, the self-ruin type belt walking module 11, the single-source width-expanding force module 10, and the follow-up type visual detection module 12; the power supply module 3 provides continuous and stable power support to ensure that the electrical components in the device work normally, so as to ensure uninterrupted power supply during long-time detection of the equipment; The remote control module 4 is installed at the top end of the double-layer long meander-shaped cross beam 1 on one side of the power supply module 3; the output end of the remote control module 4 is electrically connected with the input ends of the rotating drive module 6, the main camera 9, the single-source width-expanding force module 10, the self-ruin type belt walking module 11, and the follow-up type visual detection module 12; The belt walking structure 5 includes a I-beam shaft carrier 501 fixedly installed in the double-layer long meander-shaped cross beam 1, a front belt pulley shaft 502 and a rear belt pulley shaft 503 rotatably installed at both ends of the I-beam shaft carrier 501, and a transmission belt 504 sleeved between the front belt pulley shaft 502 and the rear belt pulley shaft 503; both ends of the rear belt pulley shaft 503 penetrate through the outer wall of the double-layer long meander-shaped cross beam 1 and are connected with the power input end of the follow-up type visual detection module 12; The rotating drive module 6 is composed of a stepping motor, a synchronous wheel transmission structure and a belt cover. The stepping motor is installed on one side of the top end of the double-layer long back-shaped cross beam 1. The synchronous wheel transmission structure is installed between one end of the front belt wheel shaft 502 and the output shaft of the stepping motor. The belt cover is installed on the outer wall of one side of the double-layer long back-shaped cross beam 1 and is used for protecting the synchronous wheel transmission structure. The input end of the stepping motor is electrically connected with the output end of the remote control module 4. The output end of the rotating drive module 6 drives the front belt wheel shaft 502 to rotate, and the rear belt wheel shaft 503 rotates together under the driving of the transmission belt 504. The continuous transmission belt 504 can closely adhere to the surface of the insulator string, adapt to the curve and slight unevenness, realize stable movement, and the flexibility and friction force of the transmission belt 504 ensure the gripping force of the device and reduce the risk of slipping.

[0019] The detection method of the power transmission line insulator state of the embodiment uses the detection device of the power transmission line insulator state, and includes the following steps: S101: The operator controls the unmanned aerial vehicle to take off, drives the suspended detection device to stably ascend through the cage 2, flies to the position where the target insulator string is located, finely controls the unmanned aerial vehicle after reaching the operation airspace, so that the belt walking structure 5 accurately falls on the top end of the insulator string. Under the action of the self-weight of the device, the belt walking structure 5 naturally contacts the top wall of the insulator string; S102: After the device is stably suspended on the insulator string, the ground worker sends an instruction to the remote control module 4 through the control end. The signal triggers the single-source opposite-amplitude force adding module 10 to start working. The single-source opposite-amplitude force adding module 10 serves as a core power source and synchronously transmits power to the self-collapse type belt walking modules 11 on the left and right sides, so as to drive the self-collapse type belt walking modules 11 on the left and right sides to stably approach and finally tightly clamp the outer wall of the insulator string like two mechanical arms. After the device is connected with the insulator string, the worker sends an instruction again to start the rotating drive module 6 to drive the belt walking structure 5 located at the top end to work, so as to drive the whole device to stably move along the length direction of the insulator string. At the same time, the self-collapse type belt walking modules 11 on the left and right sides which have been clamped also assist in moving, so as to ensure the stability of the running track. In the walking process, the main camera 9 continuously shoots downward to clearly capture the surface state of the top wall of the insulator string and detect whether there is crack, stain, scale or other abnormalities. S103: The following type of visual detection module 12 on the left and right sides automatically obtains rotating power from the belt walking structure 5 in the process of moving. The following type of visual detection module 12 makes the camera part thereof continuously change positions at the lower side and the side of the insulator string, so as to realize continuous and dead-angle-free scanning and shooting of the lower half of the side wall and the most critical bottom wall which are difficult to reach in the traditional scheme. All the captured pictures of the main camera 9 and the following type of visual detection module 12 are transmitted to the control end on the ground in real time through the remote control module 4. S104: When the device completes the entire string of insulator detection, the single-source pair of width forced module 10 is instructed to release the clamping state, the left and right sides of the self-collapse type belt walking module 11 is retracted, and the unmanned aerial vehicle flies back to the cage 2 and is reconnected to the cage 2. The entire device is lifted and returned to the ground safely.

[0020] In example two, on the basis of example one, the single-source pair of width forced module 10 is given by Figure 7 、 Figure 8 、 Figure 9 and Figure 10 The single-source pair of width forced module 10 includes a double-layer shaft support 1001 fixed on both sides of the top end of the half-open arc-shaped end plate 7, a rotating shaft 1002 rotatably installed inside the double-layer shaft support 1001, and a four-gear synchronous transmission structure 1003 installed on one side of the outer wall of the half-open arc-shaped end plate 7 for synchronously and reversely rotating the two rotating shafts 1002. A motor seat 1004 is fixed on one side of the outer wall of the half-open arc-shaped end plate 7, and a servo motor 1005 is installed on the top end of the motor seat 1004. A bevel gear reversing transmission structure 1006 is installed on the output shaft of the servo motor 1005 for driving the four-gear synchronous transmission structure 1003 to work; The half-open arc-shaped end plate 7 and the half-open arc-shaped end plate 8 are hinged with two slotted swing arms 1007 on one side of the outer wall, and a beam plate 1008 is fixed between the two slotted swing arms 1007 in the same length direction. The self-collapse type belt walking module 11 is installed on the beam plate 1008. One end of the rotating shaft 1002 penetrates to the outside of the half-open arc-shaped end plate 7 and is fixed with a rotating arm 1009. One end of the rotating arm 1009 is rotatably installed with a pulley 1010 in the slotted swing arm 1007. When the single-source pair of width forced module 10 drives the left and right self-collapse type belt walking modules 11 to move towards each other to clamp the insulator string, the ground control end sends a control signal to the remote control module 4, and then the remote control module 4 controls the servo motor 1005 to work according to the set direction, speed, angle, and response time. The servo motor 1005 drives the two rotating shafts 1002 inside the half-open arc-shaped end plate 7 to synchronously and reversely rotate through the bevel gear reversing transmission structure 1006 and the four-gear synchronous transmission structure 1003, i.e. the rotating shaft 1002 drives the rotating arm 1009 to rotate; Since the rotating arm 1009 rotates around the central axis of the rotating shaft 1002, and the pulley 1010 is located in the slotted swing arm 1007, the rotating arm 1009 forces the slotted swing arm 1007, the beam plate 1008, and the self-collapse belt walking module 11 to swing through the pulley 1010, so as to make the self-collapse belt walking module 11 close to the outer wall of the insulator string. The single-source width-expanding force module 10 uniformly distributes the force to the self-collapse belt walking modules 11 on both sides through a single power source and mechanical structure, so that the self-collapse belt walking modules 11 firmly clamp the insulator string, the structure is simplified, the power is concentrated, the energy consumption and the fault points are reduced, and the precise control of the clamping force is realized. The self-collapse belt walking module 11 includes a hydraulic damper 1101 installed on one side of the outer wall of the beam plate 1008, two Y-shaped yokes 1102 hingedly installed on one side of the outer wall of the beam plate 1008, and a caterpillar electric walking device 1103 installed on the upper end of the two Y-shaped yokes 1102. The caterpillar electric walking device 1103 works according to the instructions of the remote control module 4 and uses the caterpillar electric walking device 1103 auxiliary device to walk. The caterpillar electric walking device 1103 is hingedly connected to a connecting rod 1104 on the outer wall of the shell, a sliding seat 1105 is slidingly installed on one side of the outer wall of the beam plate 1008, one side of the outer wall of the sliding seat 1105 is hingedly connected to one end of the connecting rod 1104, and the other side of the outer wall of the sliding seat 1105 is fixedly connected to the top end of the piston rod of the hydraulic damper 1101. When the beam plate 1008 and the self-collapse belt walking module 11 approach the outer wall of the insulator string, the caterpillar electric walking device 1103 will be forced to swing the Y-shaped yoke 1102 under the continuous force, and when the two Y-shaped yokes 1102 swing towards the hydraulic damper 1101, the shell of the caterpillar electric walking device 1103 pushes the sliding seat 1105 to slide through the connecting rod 1104, and then the hydraulic damper 1101 is compressed. The hydraulic damper 1101 provides a reverse force to ensure that the self-collapse belt walking module 11 and the insulator string have sufficient contact pressure.

[0021] In example three, on the basis of example one, Figure 11 , Figure 12 and Figure 13The follow-up type visual detection module 12 comprises an L-shaped support frame 1201 fixed on the outer wall of one side of the semi-open arc-shaped end plate 8, a disc-shaped cam integrated shaft 1202 rotatably installed at the upper position inside the L-shaped support frame 1201, and a rotating push arm 12021 hingedly installed on the outer wall of the L-shaped support frame 1201 below the disc-shaped cam integrated shaft 1202, the disc-shaped cam integrated shaft 1202 is used for driving the rotating push arm 12021 to swing downward, one end of the disc-shaped cam integrated shaft 1202 and one end of the rear pulley shaft 503 are in power connection, a hook arm 1207 is hingedly installed on the lower position of the surface of the L-shaped support frame 1201, a limit switch 1214 is installed on the outer wall of the L-shaped support frame 1201 at one side of the hook arm 1207, the output end of the limit switch 1214 is in electrical connection with the input end of the remote control module 4, a swing handle 1209 is hingedly installed on the outer wall of the L-shaped support frame 1201 below the limit switch 1214, and the lower end of the swing handle 1209 is hingedly connected with a connecting arm 1210, one end of the connecting arm 1210 is hingedly connected with the lower end of the hook arm 1207; A bevel gear shaft 1203 is rotatably installed on the upper position of the surface of the L-shaped support frame 1201, a pulley transmission structure 1204 is installed between the bevel gear shaft 1203 and the disc-shaped cam integrated shaft 1202, main bevel gears 1205 are fixed on both ends of the rear pulley shaft 503, the main bevel gears 1205 and the bevel gear shaft 1203 are in meshing connection, one end of the rotating push arm 12021 is hingedly connected with a fisheye connecting rod 1206, the lower end of the fisheye connecting rod 1206 is hingedly connected with the upper end of the hook arm 1207, a tension spring 1208 is fixed on one side of the surface of the L-shaped support frame 1201, the lower end of the tension spring 1208 is fixedly connected with the upper end of the hook arm 1207, when the rear pulley shaft 503 rotates, both ends of the rear pulley shaft 503 drive the bevel gear shaft 1203 to rotate through the main bevel gears 1205, and then the disc-shaped cam integrated shaft 1202 rotates together with the bevel gear shaft 1203 under the drive of the pulley transmission structure 1204, the disc-shaped cam integrated shaft 1202 continuously drives the rotating push arm 12021 to swing downward in the rotating process, and the tension spring 1208 is stretched at this time; The bottom end of the connecting arm 1210 is fixedly connected with a rod type adjusting frame 1211, one side of the surface of the rod type adjusting frame 1211 is installed with a servo motor 2 1212, and the output shaft end of the servo motor 2 1212 is installed with a secondary camera 1213, and the input end of the secondary camera 1213 is in electrical connection with the output end of the remote control module 4; The end of the rotating arm 12021 forces the hook arm 1207 to rotate through the fisheye connecting rod 1206, and the lower end of the hook arm 1207 will make the rod type adjusting frame 1211 swing a distance under the driving of the connecting arm 1210 and the handle 1209. At this time, the arch part of the hook arm 1207 will contact the limit switch 1214, the limit switch 1214 obtains a position signal and transmits it to the remote control module 4, the remote control module 4 drives the servo motor two 1212 to work, and the sub-camera 1213 is rotated by the servo motor two 1212 until the lens of the sub-camera 1213 is in a horizontal state. At this time, the sub-camera 1213 performs visual detection on the appearance of the insulator string at the side position; When the convex part of the disc-shaped cam integrated shaft 1202 is separated from the rotating arm 12021, the tension spring 1208 provides power for the reset of the hook arm 1207, the rotating arm 12021 and the fisheye connecting rod 1206, that is, the hook arm 1207 is reset, the limit switch 1214 cannot obtain a position signal, and then the servo motor two 1212 drives the sub-camera 1213 to reset. At this time, the sub-camera 1213 performs visual detection from the bottom of the insulator string, thereby continuously scanning and shooting the bottom wall and the side wall of the insulator which cannot be reached by the traditional scheme, and eliminating the detection blind area. The following type of visual detection module 12 obtains a part of the rotating power from the belt walking structure 5, and converts it into the swing action of the module itself, that is, the sub-camera 1213 executes the pre-designed regular swing track, and the mechanical power reuse does not need an additional motor, greatly simplifying the structure and control logic.

[0022] In use, the embodiment of the present application first checks the unmanned aerial vehicle, the cage 2 and the detection device below as a whole, confirms that the power supply module 3 has sufficient power, each mechanical structure is normal, the operator controls the unmanned aerial vehicle to take off, drives the suspended detection device through the cage 2 to ascend smoothly, flies to the position of the target insulator string, and after reaching the operation airspace, the operator finely controls the unmanned aerial vehicle, at this time, the lower half of the semi-open arc-shaped end plate one 7 and the semi-open arc-shaped end plate two 8 leaves enough space for the insulator string entering device, so that the belt walking structure 5 accurately falls on the top end of the insulator string, and under the action of the self-weight of the device, the belt walking structure 5 naturally contacts the top wall of the insulator string, completing the preliminary positioning; after the device is stably suspended on the insulator string, the ground worker sends an instruction to the remote control module 4 through the control end, and the signal triggers the single-source width-type force module 10 to start working, the single-source width-type force module 10 as a core power source synchronously transmits power to the self-collapse belt walking modules 11 on the left and right sides, and drives the self-collapse belt walking modules 11 on the left and right sides to stably approach the outer wall of the insulator string and finally tightly clamp, which ensures that the device and the insulator string form a stable and reliable connection, which is sufficient to resist the interference of high-altitude wind, and provides a solid foundation for subsequent walking; after the device is connected with the insulator string, the worker sends an instruction again to start the rotary drive module 6 to drive the belt walking structure 5 at the top to work, and drive the whole device to move smoothly along the length direction of the insulator string, at the same time, the self-collapse belt walking modules 11 on the left and right sides which have been clamped also assist in walking, ensuring the stability of the running track, in the walking process, the main camera 9 continuously shoots downward to clearly capture the surface state of the top wall of the insulator string, and detect whether there is a crack, stain, scale or other abnormalities; the following type of visual detection module 12 on the left and right sides automatically obtains rotary power from the belt walking structure 5 in the process of walking, and the following type of visual detection module 12 makes the camera part thereof continuously change position below and on the side of the insulator string, so as to realize continuous and dead-angle-free scanning and shooting of the lower half of the side wall and the most critical bottom wall which are difficult to reach in the traditional scheme, and all the captured pictures of the main camera 9 and the following type of visual detection module 12 are transmitted to the control end on the ground in real time through the remote control module 4; when the device completes the traversal detection of the whole insulator string, the instruction single-source width-type force module 10 releases the clamping state, the self-collapse belt walking modules 11 on the left and right sides are retracted, and the unmanned aerial vehicle flies back, re-docks with the cage 2 and hoists the whole device, and returns to the ground safely.

[0023] It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting; it is not intended to exclude myriad other embodiments of the present application that other inventors can develop based on the same general inventive concepts embodied by the described embodiments. That is, although the present application is described in terms of particular embodiments and illustrative figures, it should be apparent that the scope of the present application is not limited to these specific embodiments.

[0024] While the embodiments of the application have been shown and described herein, it will be understood by those skilled in the art that many changes, modifications, substitutions and alterations to these embodiments can be made without departing from the principles and spirits of the application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A device for detecting the state of a power transmission line insulator, characterized by comprising: Include: Double long back-shaped crossbeam (1), the top end of the double long back-shaped crossbeam (1) is provided with a cage (2) for hanging with a drone, the inside of the double long back-shaped crossbeam (1) is provided with a belt walking structure (5) for moving, one side of the top end of the double long back-shaped crossbeam (1) is provided with a rotary drive module (6) for driving the belt walking structure (5) to work, the two ends of the double long back-shaped crossbeam (1) are respectively fixed with a half-open arc-shaped end plate one (7) and a half-open arc-shaped end plate two (8), the outer wall of the side of the half-open arc-shaped end plate two (8) away from the double long back-shaped crossbeam (1) is provided with a main camera (9) for shooting the top wall picture of the insulator string from top to bottom, the left and right sides below the double long back-shaped crossbeam (1) are both provided with a self-ruin type belt walking module (11), the outer wall of the half-open arc-shaped end plate one (7) is provided with a single-source width-increasing force module (10) for driving the two self-ruin type belt walking modules (11) on the left and right sides to move towards each other and close to the outer wall of the insulator string; The follow-up type visual detection module (12) is installed on the outer wall of the side of the half-open arc-shaped end plate two (8) away from the double long back-shaped crossbeam (1) in a mirror image symmetry, the power input end of the follow-up type visual detection module (12) is connected with the belt walking structure (5), the follow-up type visual detection module (12) is used for shooting the side wall and the bottom wall picture of the insulator string, the inside of the cage (2) is provided with a power supply module (3) for supplying power to the rotary drive module (6), the main camera (9), the self-ruin type belt walking module (11), the single-source width-increasing force module (10) and the follow-up type visual detection module (12), the top end of the double long back-shaped crossbeam (1) on the side of the power supply module (3) is provided with a remote control module (4), and the output end of the remote control module (4) is electrically connected with the input end of the rotary drive module (6), the main camera (9), the single-source width-increasing force module (10), the self-ruin type belt walking module (11) and the follow-up type visual detection module (12).

2. A device for detecting the state of a power transmission line insulator according to claim 1, characterized in that: The belt walking structure (5) comprises a I-shaped shaft carrier (501) fixedly installed in the inside of the double long back-shaped crossbeam (1), a front pulley shaft (502) and a rear pulley shaft (503) rotatably installed at the two ends of the inside of the I-shaped shaft carrier (501) respectively, and a transmission belt (504) sleeved between the front pulley shaft (502) and the rear pulley shaft (503), the two ends of the rear pulley shaft (503) penetrate through the outside of the double long back-shaped crossbeam (1) and are connected with the power input end of the follow-up type visual detection module (12).

3. A device for detecting the state of a power transmission line insulator according to claim 2, characterized in that: The rotating drive module (6) is composed of a stepping motor, a synchronous wheel transmission structure and a belt cover, the stepping motor is installed on one side of the top end of the double-layer long back-shaped cross beam (1), the synchronous wheel transmission structure is installed between one end of the front belt wheel shaft (502) and the output shaft of the stepping motor, the belt cover is installed on the outer wall of one side of the double-layer long back-shaped cross beam (1) and is used for protecting the synchronous wheel transmission structure, and the input end of the stepping motor is electrically connected with the output end of the remote control module (4).

4. A device for detecting the state of a power transmission line insulator according to claim 1, characterized in that: The single-source width-increasing force module (10) comprises double-layer shaft supports (1001) fixed on both sides of the top end of the half-open arc-shaped end plate one (7), rotating shafts (1002) rotatably installed in the double-layer shaft supports (1001), and four-gear synchronous transmission structures (1003) installed on the outer wall of one side of the half-open arc-shaped end plate one (7) and used for synchronously and reversely rotating the two rotating shafts (1002), a motor base (1004) is fixed on the outer wall of one side of the half-open arc-shaped end plate one (7), a servo motor one (1005) is installed on the top end of the motor base (1004), and a bevel gear reversing transmission structure (1006) for driving the four-gear synchronous transmission structure (1003) to work is installed on the lower end of the output shaft of the servo motor one (1005).

5. A device for detecting the state of a power transmission line insulator according to claim 4, characterized in that: The half-open arc-shaped end plate one (7) and the half-open arc-shaped end plate two (8) are hingedly connected with two slotted swing arms (1007) on the outer walls of the sides close to each other, a beam plate (1008) is fixed between the two slotted swing arms (1007) in the same length direction, the self-collapse belt walking module (11) is installed on the beam plate (1008), one end of the rotating shaft (1002) penetrates to the outside of the half-open arc-shaped end plate one (7) and is fixed with a rotary arm (1009), and a pulley (1010) is rotatably installed on one end of the rotary arm (1009) in the slotted swing arm (1007).

6. A device for detecting the state of a power transmission line insulator according to claim 5, characterized in that: The self-collapse belt walking module (11) comprises a hydraulic damper (1101) installed on the outer wall of one side of the beam plate (1008), two Y-shaped yokes (1102) hingedly installed on the outer wall of one side of the beam plate (1008), and track-type electric walkers (1103) installed on the upper ends of the two Y-shaped yokes (1102), a connecting rod (1104) is hingedly connected to the outer wall of the shell of the track-type electric walker (1103), a sliding seat (1105) is slidingly installed on the outer wall of one side of the beam plate (1008), the outer wall of one side of the sliding seat (1105) is hingedly connected with one end of the connecting rod (1104), and the other outer wall of the sliding seat (1105) is fixedly connected with the top end of the piston rod of the hydraulic damper (1101).

7. A device for detecting the state of a power transmission line insulator according to claim 2, characterized by: The following follows the type of visual detection module (12) shaking includes fixed in half open type arc-shaped end plate two (8) one side outer wall on L type support frame (1201), L type support frame (1201) inside upper position rotatory installation disc-shaped cam integrated shaft (1202) and disc-shaped cam integrated shaft (1202) below L type support frame (1201) outer wall hinged installation of rotating push arm (12021), disc-shaped cam integrated shaft (1202) for top push rotating push arm (12021) downward deflection, the one end of the disc-shaped cam integrated shaft (1202) and the one end of the rear pulley shaft (503) keep power connection, the lower position of the surface of the L type support frame (1201) is hinged with a hook arm (1207), a limit switch (1214) is installed on the outer wall of the L type support frame (1201) on one side of the hook arm (1207), the output end of the limit switch (1214) is electrically connected with the input end of the remote control module (4), the outer wall of the L type support frame (1201) below the limit switch (1214) is hinged with a swing handle (1209), and the lower end of the swing handle (1209) is hinged with a connecting arm (1210), one end of the connecting arm (1210) and the lower end of the hook arm (1207) are hinged with each other.

8. A device for detecting the state of a power transmission line insulator according to claim 7, characterized in that: The surface of the L type support frame (1201) is rotatably installed with a bevel gear shaft (1203), a pulley transmission structure (1204) is installed between the bevel gear shaft (1203) and the disc-shaped cam integrated shaft (1202), both ends of the rear pulley shaft (503) are fixed with main bevel gears (1205), the main bevel gears (1205) and the bevel gear shaft (1203) are meshed, one end of the rotating push arm (12021) is hinged with a fisheye connecting rod (1206), the lower end of the fisheye connecting rod (1206) and the upper end of the hook arm (1207) are hinged with each other, one side of the surface of the L type support frame (1201) is fixed with a tension spring (1208), and the lower end of the tension spring (1208) is fixedly connected with the upper end of the hook arm (1207).

9. A device for detecting the state of a power transmission line insulator according to claim 8, characterized in that: The bottom end of the connecting arm (1210) is fixed with a rod type adjusting frame (1211), one side of the surface of the rod type adjusting frame (1211) is installed with a servo motor two (1212), and the output shaft end of the servo motor two (1212) is installed with a secondary camera (1213), the input end of the secondary camera (1213) is electrically connected with the output end of the remote control module (4).

10. A method for detecting the state of a power transmission line insulator using the power transmission line insulator state detecting apparatus according to any one of claims 1 to 9, characterized by: The following steps are included: S101: the operator controls the unmanned aerial vehicle to take off, drives the suspended detection device to rise stably through the cage (2), flies to the position where the target insulator string is located, after reaching the operation airspace, the operator finely controls the unmanned aerial vehicle, so that the belt walking structure (5) accurately falls on the top of the insulator string, and under the action of the self weight of the device, the belt walking structure (5) naturally contacts the top wall surface of the insulator string; S102: After the device is stably hung on the insulator string, the ground worker sends an instruction to the remote control module (4) through the control end, and the signal triggers the single-source pair of width type force module (10) to start working. The single-source pair of width type force module (10) as a core power source synchronously transmits power to the self-collapse belt walking module (11) on the left and right sides, drives the self-collapse belt walking module (11) on the left and right sides like two mechanical arms, and finally tightly clamps the outer wall of the insulator string. After the device is connected with the insulator string, the worker sends an instruction again to start the rotary drive module (6) to drive the belt walking structure (5) at the top to work, and drive the whole device to move stably along the length direction of the insulator string. At the same time, the self-collapse belt walking module (11) on the left and right sides which has been clamped also assists in walking to ensure the stability of the running track. In the walking process, the main camera (9) continuously shoots downward to clearly capture the surface state of the top wall of the insulator string, and detect whether there are cracks, stains, dirt or other abnormalities; S103: The left and right side follow-up type visual detection module (12) automatically obtains rotary power from the belt walking structure (5) during walking. The follow-up type visual detection module (12) makes the camera part of itself continuously change position under and beside the insulator string, so as to realize continuous and dead angle-free scanning and shooting of the lower half of the side wall and the most critical bottom wall which are difficult to reach by the traditional scheme. All the pictures captured by the main camera (9) and the follow-up type visual detection module (12) are transmitted to the ground control end in real time through the remote control module (4); S104: When the device completes the traversal detection of the whole insulator string, the instruction single-source pair of width type force module (10) releases the clamping state, so that the self-collapse belt walking module (11) on the left and right sides is retracted, and the unmanned aerial vehicle flies back to the ground. Reconnect with the cage (2) and hoist the whole device to return to the ground safely.

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