Overhead line ground wire corrosion detection device, drone and application method

Abstract

The present invention discloses an overhead line ground wire corrosion detection device, a drone and an application method, the device comprises a body and a connecting plate, the body is connected to an external drone through the connecting plate, the body comprises an arc-shaped track, a connecting mechanism and a three-dimensional scanning device, the connecting mechanism is slidably arranged along the track, and the track is connected to the three-dimensional scanning device through the connecting mechanism, the track is arranged along the circumference of the overhead line ground wire to be detected, so that when the connecting mechanism slides along the track, the three-dimensional scanning device is driven to scan along the circumference of the overhead line ground wire to be detected. The present invention can be applicable to the detection requirements of overhead line ground wires, with low control complexity and low cost.

Description

Technical Field

[0001] The present invention relates to the field of electrical maintenance, and in particular to an overhead line ground wire corrosion detection device, an unmanned aerial vehicle and an application method. Background Art

[0002] At present, the ground wire of overhead lines often uses good conductors such as steel-core aluminum stranded wire and galvanized steel stranded wire, which are responsible for transmitting electric energy from the power supply side to the power load center. Because the overhead transmission ground wire is directly exposed to the atmospheric environment, it reacts with media such as moisture, oxygen, and salt substances in the air to cause corrosion, which leads to reduced tensile strength and increased safety risks. Wire breakage and line running accidents caused by rust problems occur from time to time, seriously affecting the safety of power transmission. Therefore, it is of great significance to detect the corrosion of the ground wire. However, the different degrees of corrosion of the steel core inside the conductor cannot be judged through routine inspections. The conventional method is to observe through tangent sampling. This method has a long detection cycle and low efficiency, and only uses the power outage window period for line detection, which is difficult to meet the growing power demand.

[0003] Laser 3D scanning technology is a fully automatic, high-precision, non-contact scanning technology. It uses high-speed laser scanning measurement to quickly obtain sampling points on the surface of the object being measured. The sampling points can be used to construct the 3D coordinate data of the object surface with high resolution, and obtain a complex structure in a real-world 3D visualization model. Since laser 3D scanning technology can obtain data sampling points of the object being measured over a large area, it has achieved a technological breakthrough in surface measurement compared to traditional single-point measurement. Laser 3D scanning technology can be used to establish a 3D point cloud model of the ground wire in a non-contact manner, but how to conveniently and accurately achieve 3D scanning under energized conditions is a technical problem that needs to be solved urgently.

[0004] In the prior art, patent CN202011542190.1 discloses a UAV detection system based on radar scanning and visual coverage, in which an electric circular guide rail and a camera are arranged at the bottom of the UAV, so that the camera moves circumferentially along the electric circular guide rail. However, this solution can only adjust the detection viewing angle in the horizontal direction and is not well suitable for the detection of overhead line ground wires. Patent CN201510820742.3 discloses an imaging method based on a scanning imaging system of a rotorcraft UAV, in which a three-axis brushless cloud platform is arranged at the bottom of the UAV to control the rotation of the scanning imaging system. However, the process control of this solution is complex and the mechanical structure cost is relatively high. Summary of the invention

[0005] The technical problem to be solved by the present invention is: in response to the technical problems existing in the prior art, the present invention provides an overhead line ground wire rust detection device, a drone and an application method, which can be applicable to the detection requirements of overhead line ground wires, have low control complexity and low cost.

[0006] In order to solve the above technical problems, the technical solution proposed by the present invention is:

[0007] A device for detecting corrosion of an overhead line ground wire comprises a main body and a connecting plate, wherein the main body is connected to an external drone via the connecting plate, the main body comprises an arc-shaped track, a connecting mechanism and a three-dimensional scanning device, the connecting mechanism is arranged to slide along the track, and the track is connected to the three-dimensional scanning device via the connecting mechanism, the track is arranged along the circumference of the overhead line ground wire to be detected, so that when the connecting mechanism slides along the track, the three-dimensional scanning device is driven to scan along the circumference of the overhead line ground wire to be detected.

[0008] Furthermore, the track includes a pair of arc guide rails arranged in parallel in the horizontal direction, the connecting mechanism includes a first connecting rod and a second connecting rod, both ends of the first connecting rod are provided with walking mechanisms, and the walking mechanisms are respectively coordinated with the corresponding arc guide rails, and the first connecting rod is connected to the three-dimensional scanning device through the second connecting rod.

[0009] Furthermore, the first connecting rod is a tubular structure, a control unit is provided in the inner hole of the first connecting rod, the walking mechanism includes a driving unit and a roller, the arc guide rail is provided with a guide groove, the control unit is connected to the control end of the driving unit, the rotating shaft of the driving unit is connected to the roller, and the roller is arranged in the guide groove, so that the driving unit controls the driving roller to move along the guide groove.

[0010] Furthermore, limit blocks are respectively provided at both ends of the guide groove, so that the sliding range of the first connecting rod on the arc guide rail is limited.

[0011] Furthermore, a reversing adjustment unit is provided at the top end of the second connecting rod, and the second connecting rod is connected to the first connecting rod via the reversing adjustment unit.

[0012] Furthermore, a fixing unit is provided at the bottom end of the second connecting rod, and the second connecting rod is connected to the three-dimensional scanning device via the fixing unit.

[0013] Furthermore, brackets are provided at both ends of the track, and the track and the brackets surround a space for accommodating the three-dimensional scanning equipment and the overhead line ground wire to be detected, and the top end distance between the brackets is smaller than the bottom end distance.

[0014] Furthermore, a clamp for connecting to an external drone is provided on the top of the connecting plate.

[0015] The present invention also provides an unmanned aerial vehicle, the bottom of which is equipped with the overhead line ground wire rust detection device.

[0016] The present invention also proposes an application method of the overhead line ground wire corrosion detection device, comprising the following steps:

[0017] 1) Connect the overhead line ground wire corrosion detection device to the drone through a clamp and adjust the reversing adjustment unit to a suitable angle;

[0018] 2) Start the drone to take off and hover above the overhead line ground wire, control the drone to fly along the overhead line ground wire, and control the connecting mechanism to reciprocate along the track, driving the three-dimensional scanning device to scan circumferentially along the overhead line ground wire;

[0019] 3) Obtain scanned image data and compare it with preset feature information to determine the corrosion condition and wire breakage risk.

[0020] Compared with the prior art, the advantages of the present invention are:

[0021] 1. The present invention is carried by a drone and can carry out corrosion detection of overhead line ground wires without power outages. The track of the main body is arranged along the circumference of the ground wire, so that the connecting mechanism can drive the three-dimensional scanning device to scan along the circumference of the ground wire when the track slides, so as to obtain the size information and structural information of the scanning surface. Therefore, it is suitable for the application scenario of overhead line ground wires, which is convenient for operators to timely and comprehensively grasp the corrosion condition of the ground wire.

[0022] 2. The track of the present invention adopts a pair of arc guide rails arranged in parallel, and the connecting mechanism adopts the form of a walking mechanism installed at both ends of the first connecting rod to slide on the arc guide rails. On the one hand, the structural strength is increased, and on the other hand, multiple walking mechanisms are adopted to increase the reliability of the equipment. At the same time, the first connecting rod is connected to the three-dimensional scanning equipment through the reversing adjustment unit and the second connecting rod, and the three-dimensional scanning equipment can be adjusted at multiple angles to realize scanning and detecting the circumferential corrosion of the ground wire from different angles according to actual needs during the measurement process.

[0023] 3. The present invention provides brackets at both ends of the track, and the top distance between the two brackets is smaller than the bottom distance, forming a stable triangular structure. On the one hand, the device of the present invention is placed firmly on the ground, can bear the weight of the drone on the top, and avoid the track and the three-dimensional scanning equipment from colliding with the ground. On the other hand, it can play a limiting role during detection, avoiding the drone being too far away from the ground wire or the wrong position, resulting in failure to obtain ideal detection results. A trumpet-shaped opening is formed between the two brackets, which makes it easier to bring the ground wire into the space between the track and the bracket for detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 The invention is a schematic diagram of the installation of an overhead line ground wire corrosion detection device and a drone according to an embodiment of the present invention.

[0025] Figure 2 The figure is a schematic diagram of the working principle of the overhead line ground wire corrosion detection device according to an embodiment of the present invention.

[0026] Figure 3 It is a structural diagram of an overhead line ground wire corrosion detection device according to an embodiment of the present invention.

[0027] Figure 4 FIG. 1 is a top view of a drone according to an embodiment of the present invention.

[0028] Legend: 1-bracket, 2-arc guide rail, 3-first connecting rod, 4-coupling, 5-limit block, 6-second connecting rod, 7-clamp, 8-3D scanning equipment, 9-clamp, 10-connecting plate. DETAILED DESCRIPTION

[0029] The present invention is further described below in conjunction with the accompanying drawings and specific preferred embodiments, but the protection scope of the present invention is not limited thereby.

[0030] like Figure 1 As shown, this embodiment provides an overhead line ground wire corrosion detection device, including a body and a connecting plate 10, the body is connected to an external drone through the connecting plate 10, as shown in FIG. Figure 2 As shown, the body in this embodiment includes an arc-shaped track, a connecting mechanism and a three-dimensional scanning device 8. The connecting mechanism is slidably arranged along the track, and the track is connected to the three-dimensional scanning device 8 through the connecting mechanism. Figure 2 The shaded circular part is the cross section of the overhead line ground conductor being detected. The track in this embodiment is arranged along the circumference of the overhead line ground conductor being detected, so that when the connecting mechanism slides along the track, it drives the three-dimensional scanning device 8 to scan along the circumference of the overhead line ground conductor being detected.

[0031] The three-dimensional scanning device 8 in this embodiment is a laser three-dimensional scanning device. Since the three-dimensional scanning device 8 can obtain the structural information in the area of ​​its projection direction, and when the three-dimensional scanning device 8 is located directly above the overhead line ground wire, it can basically detect the upper half of the overhead line ground wire. Therefore, in this embodiment, the track arc is set to 180°. Figure 2 As shown, when the three-dimensional scanning device 8 slides to both ends of the track with the connecting mechanism, it can basically detect the left half and the right half of the overhead line ground wire. By integrating all the area information and structural information of the overhead line ground wire obtained by the three-dimensional scanning device 8 sliding from one end of the track to the other end, the circumferential area information and structural information of the current section of the overhead line ground wire can be obtained.

[0032] The track and connecting mechanism in this embodiment can have various forms. For example, the track can adopt a single arc-shaped guide rail, a traveling mechanism is arranged at the top of the connecting mechanism, and the bottom end is connected to the three-dimensional scanning device 8, the traveling mechanism cooperates with the guide rail, and the traveling mechanism reciprocates on the guide rail. Alternatively, the track can adopt a single arc-shaped guide rail, with the axial direction of the overhead line ground wire as the X-axis and the radial plane as the YZ plane. A cable is sheathed along the YZ plane on the outside of the arc-shaped guide rail, and a cable driving wheel is arranged at one end and a cable guide wheel is arranged at the other end. One end of the connecting mechanism is fixed on the cable and the other end is connected to the three-dimensional scanning device 8, and the cable driving wheel drives the cable to drive the connecting mechanism to reciprocate.

[0033] In order to increase the structural strength and movement reliability, such as Figure 3 As shown, the track of this embodiment includes a pair of arc guide rails 2 arranged in parallel in the horizontal direction, and the connecting mechanism includes a first connecting rod 3 and a second connecting rod 6. Both ends of the first connecting rod 3 are provided with walking mechanisms, and the walking mechanisms are respectively coordinated with the corresponding arc guide rails 2. The first connecting rod 3 is connected to the three-dimensional scanning device 8 through the second connecting rod. The use of multiple walking mechanisms increases the reliability of the equipment.

[0034] The first connecting rod 3 in this embodiment is a tubular structure, and a control unit is provided in the inner hole of the first connecting rod 3. The walking mechanism includes a driving unit and a roller. The arc guide rail 2 is provided with a guide groove. The driving unit is specifically a stepper motor or a servo motor. The control unit is connected to the control end of the stepper motor or the servo motor, and the rotating shaft of the stepper motor or the servo motor is connected to the roller. The roller is arranged in the guide groove, so that the stepper motor or the servo motor is controlled to drive the roller to reciprocate along the guide groove.

[0035] In this embodiment, limit blocks 5 are respectively provided at both ends of the guide groove, so that the sliding range of the first connecting rod 3 on the arc guide rail 2 is limited and the first connecting rod 3 is prevented from colliding with both ends of the arc guide rail 2 to cause damage.

[0036] In this embodiment, a reversing adjustment unit 4 is provided at the top of the second connecting rod 6, and the second connecting rod 6 is connected to the first connecting rod 3 through the reversing adjustment unit 4. A fixing unit 7 is provided at the bottom of the second connecting rod 6, and the second connecting rod 6 is connected to the three-dimensional scanning device 8 through the fixing unit 7.

[0037] Specifically, the reversing adjustment unit 4 of this embodiment adopts a universal coupling. By adjusting the direction of the universal coupling, the three-dimensional scanning equipment 8 can perform multi-directional and multi-angle scanning, so as to realize scanning and detecting the circumferential corrosion of the ground wire from different angles according to actual needs during the measurement process.

[0038] Specifically, the fixing unit 7 of this embodiment adopts a clamp adapted to the three-dimensional scanning device 8, and a rubber strip is installed on the inside of the clamp to reduce the vibration generated by the drone during operation, so that the scanning result of the three-dimensional scanning device 8 is more accurate.

[0039] like Figure 3 As shown, H-shaped brackets 1 are provided at both ends of the track in this embodiment, and the track and brackets 1 surround a space for accommodating the three-dimensional scanning device 8 and the overhead line ground wire to be detected, and the top distance between the brackets 1 is smaller than the bottom distance. On the one hand, the device of this embodiment is placed firmly on the ground, can bear the weight of the drone on the top, and prevent the track and the three-dimensional scanning device 8 from colliding with the ground. On the other hand, it can play a role of limiting when performing detection, avoiding the drone being too far away from the ground wire or the wrong position, resulting in failure to obtain ideal detection results, and a trumpet-shaped opening is formed between the two brackets 1, which makes it easier to put the ground wire into the space between the track and the bracket 1 for detection.

[0040] In this embodiment, a clamp 9 for connecting to an external drone is provided on the top of the connecting plate 10 .

[0041] In this embodiment, the connecting plate 10 is made of a shock-absorbing alloy plate, and the bracket 1 is made of a shock-resistant bracket. The shock-resistant bracket is connected to the shock-absorbing alloy plate by welding, so that the structure is firm and not easy to shake, which effectively reduces the interference of the vibration generated by the drone during work on the scanning effect of the three-dimensional scanning equipment 8, and is stable and reliable.

[0042] In this embodiment, the anti-seismic bracket and the arc guide rail 2 are both made of aluminum alloy. In addition, other metals or polymer composite materials can be used as needed, so that the weight of the entire device is lighter, which reduces the load of the drone in actual applications and increases the flight time.

[0043] This embodiment also provides a drone, such as Figure 4 As shown, the overhead line ground wire rust detection device of this embodiment is installed at the bottom of the drone.

[0044] This embodiment also provides an application method of the overhead line ground wire corrosion detection device according to this embodiment, comprising the following steps:

[0045] 1) Connect the overhead line ground wire corrosion detection device to the drone through the clamp 9, and adjust the reversing adjustment unit 4 to a suitable angle;

[0046] 2) Start the drone to take off and hover above the overhead line ground wire, formulate a flight route according to the target line, control the drone to fly along the overhead line ground wire, and control the connecting mechanism to reciprocate along the track, drive the three-dimensional scanning device 8 to scan along the circumference of each section of the overhead line ground wire, so as to obtain the circumferential size information and structural information of each section of the overhead line ground wire;

[0047] 3) Obtain the scanned image data and compare the preset feature information to determine the corrosion situation and the risk of wire breakage. In this embodiment, the preset feature information includes feature information corresponding to five corrosion levels divided according to the evolution law of metal corrosion characteristics, where:

[0048] Grade I (no rust): It is characterized by new galvanized steel strands, and no white rust has yet occurred;

[0049] Level II (slight rust): characterized by the appearance of zinc salt white rust and the darkening of the zinc coating;

[0050] Level III (general rust): characterized by brown rust appearing at the blackened position of the local galvanized layer and a rough surface;

[0051] Level IV (heavy rust): The surface of the galvanized steel strand is covered with yellow rust, but the rust expansion does not exceed 8%. There is a certain safety risk at this time.

[0052] Grade V (severe corrosion): The surface of the galvanized steel strand is completely covered with yellow rust and the degree of rust expansion exceeds 8%, or burrs are produced due to the peeling of rust products. At this time, the risk of wire breakage is very high and it should be replaced immediately.

[0053] In the case of severe rust or the late stage of rust, the rust further develops to form millimeter-level obvious pits, the surface is obviously uneven, and finally the rust becomes reddish brown or dark red ferric oxide and connects into pieces, loosely expands into granular or peels off layer by layer, and the cross-sectional area and volume of the ground wire will decrease. Therefore, in addition to comparing the preset characteristic information, this embodiment uses whether the radius change rate of the overhead line ground wire exceeds 8% as a criterion as the standard for replacing the steel strand.

[0054] The model of the overhead line ground wire used in the test in this embodiment is G50 steel stranded wire, whose wire core structure is 6+1, single wire diameter is 3.2mm, and theoretical cross-sectional area is 56.3mm. 2 , then the change rate of the overhead line ground wire radius is based on the threshold of 8%, and the cross-sectional area is less than 47.6mm 2 Or larger than 65.6mm 2 When the overhead line ground wire needs to be replaced.

[0055] It can be seen from the above content that this embodiment has the following advantages compared with the prior art:

[0056] 1. The device has a reasonable structure and is easy to install. The 3D laser scanning device can be mounted on a drone and can be clearly imaged while hovering in the air. The 3D laser scanning device can be driven by the motor of the first connecting rod 3 to slide on the arc guide rail 2, thereby realizing multi-angle scanning to detect the corrosion of the ground wire and obtain interface size information, pit size and depth and other structural information.

[0057] 2. It is a non-destructive testing technology, which breaks the limitation of conventional testing methods that require power outage and line sectioning for sampling. It has the characteristics of simple operation and high testing efficiency. It is suitable for the detection of ground wires of overhead lines. It can timely grasp the rust condition of the ground wires, and whether there are safety hazards such as broken strands and broken wires.

[0058] 3. It belongs to the live detection technology. The live detection device for the corrosion of the overhead line ground wire can be operated fully automatically by a drone. It can realize the normalized assessment of the corrosion degree of the overhead line ground wire without power outage, filling the gap that the corrosion of the ground wire cannot be detected live and non-destructively, and has great potential for engineering application value.

[0059] The above is only a preferred embodiment of the present invention, and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment, it is not intended to limit the present invention. Therefore, any simple modification, equivalent change and modification made to the above embodiment according to the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the scope of protection of the technical solution of the present invention.

Claims

1. An overhead line ground wire corrosion detection device, characterized in that: The invention comprises a body and a connecting plate (10), wherein the body is connected to an external drone via the connecting plate (10), the body comprises an arc-shaped track, a connecting mechanism and a three-dimensional scanning device (8), the connecting mechanism is arranged to slide along the track, and the track is connected to the three-dimensional scanning device (8) via the connecting mechanism, the track is arranged along the circumference of the overhead line ground wire to be detected, so that when the connecting mechanism slides along the track, the three-dimensional scanning device (8) is driven to scan along the circumference of the overhead line ground wire to be detected, the track comprises a pair of arc-shaped guide rails (2) arranged in parallel in the horizontal direction, the connecting mechanism comprises a first connecting rod (3) and a second connecting rod (6), both ends of the first connecting rod (3) are provided with a walking mechanism, and the walking mechanism is respectively connected to the corresponding arc-shaped guide rails (2). The arc-shaped guide rail (2) is matched with the first connecting rod (3), the first connecting rod (3) is connected to the three-dimensional scanning device (8) through the second connecting rod, the first connecting rod (3) is a tubular structure, a control unit is arranged in the inner hole of the first connecting rod (3), the walking mechanism comprises a driving unit and a roller, the arc-shaped guide rail (2) is provided with a guide groove, the control unit is connected to the control end of the driving unit, the rotating shaft of the driving unit is connected to the roller, the roller is arranged in the guide groove, so that the driving unit controls the driving roller to move along the guide groove, brackets (1) are respectively arranged at both ends of the track, the track and the brackets (1) surround a space for accommodating the three-dimensional scanning device (8) and the overhead line ground wire to be detected, and the top distance between the brackets (1) is smaller than the bottom distance.

2. The overhead line ground wire corrosion detection device according to claim 1, characterized in that: Limit blocks (5) are respectively provided at both ends of the guide groove, so that the sliding range of the first connecting rod (3) on the arc-shaped guide rail (2) is limited.

3. The overhead line ground wire corrosion detection device according to claim 1, characterized in that: A reversing adjustment unit (4) is provided at the top end of the second connecting rod (6), and the second connecting rod (6) is connected to the first connecting rod (3) via the reversing adjustment unit (4).

4. The overhead line ground wire corrosion detection device according to claim 1, characterized in that: A fixing unit (7) is provided at the bottom end of the second connecting rod (6), and the second connecting rod (6) is connected to the three-dimensional scanning device (8) via the fixing unit (7).

5. The overhead line ground wire corrosion detection device according to claim 1, characterized in that: A clamp (9) for connecting to an external drone is provided on the top of the connection plate (10).

6. A drone, characterized in that: The bottom of the drone is equipped with an overhead line ground wire corrosion detection device as described in any one of claims 1 to 5.

7. An application method of the overhead line ground wire corrosion detection device according to any one of claims 1 to 5, characterized in that: The following steps are involved: 1) Connecting the overhead line ground wire corrosion detection device to the drone via a clamp (9), and adjusting the reversing adjustment unit (4) to a suitable angle; 2) starting the drone to take off and hover above the overhead line ground wire, controlling the drone to fly along the overhead line ground wire, and controlling the connecting mechanism to reciprocate along the track, driving the three-dimensional scanning device (8) to scan along the circumference of the overhead line ground wire; 3) Obtain scanned image data and compare it with preset feature information to determine the corrosion condition and wire breakage risk.

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