A portable drone mounting device for detecting zero-value insulators

Abstract

A portable drone mounting device for detecting zero-value insulators includes a telescopic rod, a pod and an electric field sensor array. The telescopic rod adopts a multi-section structure. The connecting end of each two telescopic rods is provided with a coaxial electrode, and each telescopic rod is provided with a wire connecting the coaxial electrodes. A lithium battery is installed at one end of the telescopic rod near the pod as a power source for the electric field sensor array. The electric field sensor array can rotate 360 ​​degrees at the other end of the telescopic rod. During detection, the pod drives the telescopic rod to move horizontally to adjust the detection distance of the electric field sensor array. After reaching the detection distance, when detecting a suspension insulator string, the pod drives the electric field sensor array to rotate perpendicular to the direction of the telescopic rod, and when detecting a tension insulator string, the pod drives the electric field sensor array to rotate parallel to the direction of the telescopic rod. The telescopic rod is used to supply the electric energy of the lithium battery to the electric field sensor array. The device has the characteristics of being detachable and portable, and performs zero-value detection on suspension, tension and other insulator strings.

Description

Technical Field

[0001] The present invention relates to the technical field of insulation detection devices for power equipment, and more specifically, to a portable drone mounting device for detecting zero-value insulators. Background Art

[0002] As an important part of the power system, insulators are widely distributed at the connection between transmission lines and towers, and they play the role of supporting transmission lines and electrical insulation. Under the influence of long-term climate environment, temperature, humidity, etc., coupled with mechanical loads, electromechanical loads, and hot and cold changes during operation, the mechanical and insulation properties of the insulator string will be significantly reduced, resulting in degraded insulators, which become an important hidden danger of flashover, string drop, explosion and brittle fracture accidents. According to statistics, the annual degradation rate of transmission and transformation suspension insulators is about 0.3% on average, which is equivalent to an average of about one zero value per base of a 220kV tension tower. Considering the reliability of actual engineering applications and the complexity of the outdoor operating environment, the insulation resistance method and the spark gap method are still mainly used to detect zero value insulators. Both of these detection methods are contact methods, requiring operators to carry instruments and equipment to climb the tower for operation, which is labor-intensive and inefficient. The insulation resistance method also requires the line to be shut down, so it cannot meet the current needs of power grid operation units for digital intelligent operation and maintenance.

[0003] Prior art 1 (CN113125912A) "An airborne zero-value insulator detection device and method" includes a detection sensor, a pod, and a handheld terminal; the detection sensor is used to measure the distance and detect the electric field in the space around the insulator; the pod is equipped with a driving device, the output end of the driving device is connected to the detection sensor through a telescopic rod, and the telescopic rod is driven by the driving device to move horizontally to adjust the detection distance of the detection sensor; the handheld terminal is connected to the detection sensor and the driving device. Prior art 1 can be used with commercial drones commonly used on the market in a hot-swappable manner. However, the pod provided by prior art 1 is arranged with a long electrical connection line inside. When the telescopic rod is moved forward and backward, the connection line will be stuck and entangled, causing inconvenience in use; and the detection sensor array is arranged longitudinally, which can be used to detect the suspended insulator string. If the horizontally arranged tension insulator string is to be detected, the detection sensor and the telescopic rod connected thereto need to be rotated, which will also cause the electrical connection line to be stuck and entangled, affecting use. In addition, the telescopic rod of the pod in prior art 1 does not have a disassembly function, which is inconvenient to install and carry, affecting use.

[0004] Prior art 2 (CN107608375B) "Degraded insulator detection system and method based on drone" includes: a guide cover; a connecting rod fixed on the guide cover. The drone is fixed on the connecting rod, and is used to drive the guide cover to move up and down along the insulator string; the detector is fixed on the guide cover, including an electric field sensor and a photoelectric sensor, the electric field sensor is used to measure the axial electric field strength of the insulator string, and the photoelectric sensor is used to locate and collect the position information of the degraded insulator detection system; the wireless transmission module includes a measuring end wireless transceiver unit and a ground end wireless transceiver unit; the electric field analysis module is connected to the ground end wireless transceiver unit, which establishes the electric field distribution curve of the insulator string according to the axial electric field strength and position information, and analyzes whether there is a degraded insulator according to the electric field distribution curve. Similarly, prior art 2 can be used to detect suspended insulator strings. If a laterally arranged tension insulator string is to be detected, the detector and the connecting rod connected to it need to be rotated, which will also cause the electrical connection line to become stuck and entangled, affecting its use.

[0005] In summary, it is necessary to study the UAV mounting device for zero-value insulator detection. Summary of the invention

[0006] In order to solve the deficiencies in the prior art, the purpose of the present invention is to provide a portable UAV mounting device for detecting zero-value insulators, which is detachable and portable. When used in conjunction with a front-end detection device, the front-end detector can be rotated at different angles according to the arrangement of the insulator string to be detected, thereby being able to perform zero-value detection on insulator strings with different arrangements such as suspended and horizontal.

[0007] The present invention adopts the following technical solution.

[0008] A portable UAV mounting device for detecting zero-value insulators. The UAV mounting device comprises a telescopic rod, a pod and an electric field sensor array. The pod is fixed at one end of the telescopic rod, and the electric field sensor array is installed at the other end of the telescopic rod. The pod is used to drive the telescopic rod to perform horizontal displacement and thus adjust the detection distance of the electric field sensor array. The electric field sensor array is used to detect the electric field in the space around the insulator.

[0009] The telescopic rod adopts a detachable multi-section structure. The connecting ends of every two telescopic rods are provided with coaxial electrodes. A wire is provided inside each telescopic rod to connect the coaxial electrodes at both ends of the telescopic rod. A lithium battery is installed at the end of the telescopic rod near the pod as the power source of the electric field sensor array.

[0010] The electric field sensor array at the other end of the telescopic rod can rotate 360°;

[0011] During detection, the pod drives the telescopic rod to move horizontally and thus adjust the detection distance of the electric field sensor array; when the detection distance is reached, when the suspension insulator string is detected, the pod drives the electric field sensor array to rotate perpendicular to the direction of the telescopic rod; when the tension insulator string is detected, the pod drives the electric field sensor array to rotate parallel to the direction of the telescopic rod; the telescopic rod is used to supply the electric field sensor array with electrical energy from the lithium battery.

[0012] Preferably, every two sections of the telescopic rods are rotatably fixed by the threads of the coaxial electrodes.

[0013] Preferably, the length of each telescopic rod is in the range of 50-80 cm.

[0014] Preferably, a voltage conversion module is installed in the pod, and the voltage conversion module is connected to the UAV power supply to convert the UAV power supply into multiple different DC voltages; the DC voltage includes: a 5V DC voltage supplied to the servo and the limit mechanism, a 3.3V DC voltage supplied to the wireless control module, and a 12V DC voltage supplied to the wireless charging module.

[0015] Preferably, a wireless charging module is installed in the pod, the voltage conversion module supplies power to the wireless charging module, and the wireless charging module wirelessly charges the lithium battery.

[0016] Preferably, the lithium battery is installed in a telescopic rod for fixing the pod, and the positive and negative electrodes of the lithium battery are electrically connected to the coaxial electrodes at the connecting end of the telescopic rod.

[0017] Preferably, a wireless control module and a steering gear are installed in the pod; when the wireless control module receives a remote action instruction, it sends a rotation signal to the steering gear; after the steering gear rotates, it drives the telescopic rod to move horizontally.

[0018] Preferably, the steering gear comprises a front steering gear and a rear steering gear, wherein the front steering gear is arranged at the front of the pod and located at the upper part of the telescopic rod, and the rear steering gear is arranged at the rear of the pod and located at the lower part of the telescopic rod.

[0019] Preferably, the wireless control module sends a trigger signal to the front steering gear and the rear steering gear respectively, so as to control the front steering gear and the rear steering gear to rotate forward or reverse simultaneously.

[0020] Preferably, the front steering gear includes a front roller and a front free roller, and the rear steering gear includes a rear roller and a rear free roller;

[0021] When the front servo rotates, it drives the front roller to rotate. The friction between the front roller and the telescopic rod causes the telescopic rod to move forward horizontally, and the front free roller rotates accordingly.

[0022] When the rear servo rotates, the rear roller is driven to rotate, and the friction between the rear roller and the telescopic rod causes the telescopic rod to move horizontally backward, and the rear free roller rotates accordingly.

[0023] Preferably, the trigger signal includes a positive PWM signal and a negative PWM signal;

[0024] The positive PWM signal is used to control the front and rear servos to rotate forward at the same time. When the front and rear servos rotate forward at the same time, the telescopic rod moves forward horizontally. The negative PWM signal is used to control the front and rear servos to reverse at the same time. When the front and rear servos reverse at the same time, the telescopic rod moves backward horizontally.

[0025] Preferably, the wireless control module sends a positive PWM signal to the front steering gear through the positive signal bus and the first positive signal branch line; the wireless control module sends a positive PWM signal to the rear steering gear through the positive signal bus and the second positive signal branch line;

[0026] The wireless control module sends a negative PWM signal to the front servo via the negative signal bus and the first negative signal branch line; the wireless control module sends a negative PWM signal to the rear servo via the negative signal bus and the second negative signal branch line;

[0027] Wherein, a first limiting mechanism is connected in series to the positive signal bus, and a second limiting mechanism is connected in series to the negative signal bus.

[0028] Preferably, when the telescopic rod moves forward horizontally and exceeds the forward mark, the switch contact in the first limit mechanism is disconnected, cutting off the positive signal bus between the wireless control module and the front and rear servos, the front and rear servos stop rotating forward, and the telescopic rod no longer moves forward horizontally;

[0029] When the telescopic rod moves backward horizontally and exceeds the rear mark, the switch contact in the second limit mechanism is disconnected, cutting off the negative signal bus between the wireless control module and the front and rear servos, the front and rear servos stop reversing, and the telescopic rod no longer moves backward horizontally.

[0030] Preferably, the forward mark is a magnet installed at the horizontal forward limit position of the telescopic rod, and the backward mark is a magnet installed at the horizontal backward limit position of the telescopic rod;

[0031] The switch contact in the first limiting mechanism is disconnected under the attraction of the magnet marked in the front row; the switch contact in the second limiting mechanism is disconnected under the attraction of the magnet marked in the rear row.

[0032] Preferably, the voltage conversion module supplies power to the wireless control module.

[0033] The beneficial effects of the present invention are as follows:

[0034] 1. The limit mechanism is used to control the extension and retraction of the telescopic rod, which solves the problem of heating and loss caused by idling of the servo when physical limit is used before;

[0035] 2. The threaded connection method is used to make the telescopic rod detachable, which is easy to install and carry, and is conducive to on-site use;

[0036] 3. The telescopic rod adopts the conductive method of coaxial electrodes and built-in wires in each section to transmit electrical energy to the electric field sensor array at the front end of the telescopic rod, avoiding the need to lay power supply lines for the electric field sensor array along the telescopic rod. When the electric field sensor array rotates freely and the telescopic rod moves horizontally freely, there will be no problems such as jamming and entanglement of the connecting wires, thus improving the use efficiency.

[0037] 4. The electric field sensor array rotates freely. When it rotates to be perpendicular to the telescopic rod, it is suitable for detecting the suspended insulator string. When it rotates to be parallel to the telescopic rod, it is suitable for detecting the horizontally arranged tension insulator string, thereby realizing zero value detection of insulator strings with different arrangements, with a wider range of applications.

[0038] 5. A lithium battery is installed at one end of the telescopic rod near the pod as the power source of the electric field sensor array, and a wireless charging module is set in the pod to realize wireless charging of the lithium battery, avoiding the electrical line connection between the telescopic rod and the pod and improving the flexibility of the telescopic rod in movement and rotation. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 This is a schematic structural diagram of a portable UAV mounting device for detecting zero-value insulators in one embodiment of the present invention;

[0040] Figure 2 is a schematic structural diagram of a telescopic rod in an embodiment of the present invention;

[0041] Figure 3 It is a front view of a real drone mounting device in one embodiment of the present invention;

[0042] Figure 4 This is a side view of a real drone mounting device in an embodiment of the present invention. In this figure, the electric field sensor array is rotated to be perpendicular to the direction of the telescopic rod, which is suitable for detecting the suspended insulator string;

[0043] Figure 5 This is a side view of a real drone mounting device in an embodiment of the present invention. In this figure, the electric field sensor array is rotated to be parallel to the direction of the telescopic rod, which is suitable for detecting a laterally arranged tension insulator string;

[0044] Figure 6 is a schematic diagram of a control circuit in one embodiment of the present invention;

[0045] Figure 7 is a schematic diagram of the telescopic principle of the telescopic rod in one embodiment of the present invention;

[0046] Figures 1 to 7The reference numerals in the drawings are described as follows:

[0047] 1-telescopic rod; 2-servo; 3-voltage conversion module; 4-wireless control module; 5-wireless charging module; 6-lithium battery; 7-pod; 8a-first limit mechanism; 8b-second limit mechanism; 9-electric field sensor array; 21-coaxial electrode; 22-wire; 41-front servo; 42-rear servo; 43-front roller; 44-rear roller; 45-drone power supply. DETAILED DESCRIPTION

[0048] The present application is further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present application.

[0049] like Figure 1 A portable UAV mounting device for detecting zero-value insulators. The UAV mounting device includes a telescopic rod 1, a pod 7 and an electric field sensor array 9. The pod 7 is fixed at one end of the telescopic rod 1, and the electric field sensor array 9 is installed at the other end of the telescopic rod 1; the pod 7 is used to drive the telescopic rod 1 to perform horizontal displacement and thereby adjust the detection distance of the electric field sensor array 9, and the electric field sensor array 9 is used to detect the electric field in the space around the insulator.

[0050] like Figure 2 The telescopic rod 1 adopts a detachable multi-section structure, and the connecting end of each two telescopic rod sections is provided with a coaxial electrode 21, and a wire 22 is provided inside each telescopic rod section to connect the coaxial electrodes 21 at both ends of the telescopic rod section; a lithium battery 6 is installed at one end of the telescopic rod 1 near the pod 7 as a power source for the electric field sensor array 9. In a preferred embodiment of the present invention, the telescopic rod can be detached into three sections, and each two telescopic rod sections are electrically connected through coaxial electrodes, and a wire is provided inside each section to connect the positive and negative electrodes of the coaxial electrodes at the head and tail to transmit electrical energy.

[0051] Specifically, between each two telescopic rods, the coaxial electrode threads are rotated and fixed. Considering the stability of flight and the operability of on-site detection, the length of each telescopic rod ranges from 50 to 80 cm.

[0052] It is worth noting that the length range of each telescopic rod in the preferred embodiment of the present invention is a non-restrictive and preferred choice. Technical personnel in the relevant field can determine the length range of each telescopic rod according to the flight characteristics of the UAV, the implementation requirements of the maintenance site and the operating space.

[0053] like Figures 3 to 5The electric field sensor array at the other end of the telescopic rod can rotate 360 ​​degrees. The front end of the telescopic rod is equipped with an electric field sensor array, which can rotate freely without any jamming of the internal lines and structures, so that insulator strings with different arrangements such as suspension strings and tension strings can be easily detected.

[0054] During detection, the pod drives the telescopic rod to move horizontally and thus adjust the detection distance of the electric field sensor array; when the detection distance is reached, when the suspension insulator string is detected, the pod drives the electric field sensor array to rotate perpendicular to the direction of the telescopic rod; when the tension insulator string is detected, the pod drives the electric field sensor array to rotate parallel to the direction of the telescopic rod; the telescopic rod is used to supply the electric field sensor array with electrical energy from the lithium battery.

[0055] like Figure 6 , a voltage conversion module 3 is installed in the pod 7, and the voltage conversion module 3 is connected to the drone power supply 45, and is used to convert the drone power supply into a plurality of different DC voltages; the DC voltage includes: a 5V DC voltage for supplying the steering gear and the limit mechanism, a 3.3V DC voltage for supplying the wireless control module, and a 12V DC voltage for supplying the wireless charging module. In a preferred embodiment of the present invention, the voltage conversion module converts the voltage of the external drone battery into DC voltages of different magnitudes to power the steering gear, the limit mechanism, the wireless control module, and the wireless charging module, so that the drone power supply provides working power to these modules.

[0056] from Figure 6 It can be seen that the wireless charging module 5 is installed in the pod 7 , the voltage conversion module 3 supplies power to the wireless charging module 5 , and the wireless charging module 5 wirelessly charges the lithium battery 6 .

[0057] Furthermore, the lithium battery 6 is installed in a section of the telescopic rod for fixing the pod, and the positive and negative electrodes of the lithium battery are electrically connected to the coaxial electrodes at the connecting end of the section of the telescopic rod.

[0058] Specifically, a wireless control module 4, a front servo 41, and a rear servo 42 are installed in the pod 7; when the wireless control module 4 receives a remote action command, it sends a rotation signal to the front servo 41 and the rear servo 42; after the front servo 41 and the rear servo 42 rotate, they drive the telescopic rod 1 to move horizontally.

[0059] like Figure 7 The servo 2 includes a front servo 1 and a rear servo 2, wherein the front servo is arranged at the front of the pod 7 and located at the upper part of the telescopic rod 1, and the rear servo is arranged at the rear of the pod 7 and located at the lower part of the telescopic rod 1.

[0060] Specifically, the wireless control module 4 sends a trigger signal to the front steering gear 1 and the rear steering gear 2 respectively, so as to control the front steering gear 1 and the rear steering gear 2 to rotate forward or reverse at the same time.

[0061] like Figure 7 , the front servo 1 includes a front roller 3 and a front free roller, and the rear servo includes a rear roller 4 and a rear free roller;

[0062] When the front servo 1 rotates, the front roller 3 is driven to rotate, and the friction between the front roller 3 and the telescopic rod 1 causes the telescopic rod to move forward horizontally, and the front free roller rotates accordingly;

[0063] When the rear steering gear 2 rotates, the rear roller 4 is driven to rotate, and the friction between the rear roller 4 and the telescopic rod causes the telescopic rod to move backward horizontally, and the rear free roller rotates accordingly.

[0064] In the preferred embodiment of the present invention, a servo is installed at each front and rear position in the pod, i.e., a front servo and a rear servo. The two servos are arranged crosswise at the upper and lower parts of the telescopic rod, with a certain distance between the two servos, and they rotate forward or reverse in the same direction when in motion, so as to keep the telescopic rod moving forward and backward steadily without tilting forward and backward. The telescopic rod moves forward and backward relying on the friction generated by the rollers installed on the servo, i.e., the front roller 3 and the rear roller 4. In addition to the rollers installed on the servo, a freely rotatable roller is also installed at the upper part of the telescopic rod symmetrical to the servo roller. When the telescopic rod moves forward and backward, the free roller will rotate with it, which plays a role in reducing friction and controlling the vertical position of the telescopic rod.

[0065] Further, the trigger signal includes a positive PWM signal and a negative PWM signal;

[0066] The positive PWM signal is used to control the front servo 1 and the rear servo 2 to rotate forward at the same time. When the front servo 1 and the rear servo 2 rotate forward at the same time, the telescopic rod 1 moves forward horizontally. The negative PWM signal is used to control the front servo 1 and the rear servo 2 to reverse at the same time. When the front servo 1 and the rear servo 2 reverse at the same time, the telescopic rod 1 moves backward horizontally.

[0067] Specifically, the wireless control module 4 sends a positive PWM signal to the front servo 1 through the positive signal bus and the first positive signal branch line; the wireless control module 4 sends a positive PWM signal to the rear servo 2 through the positive signal bus and the second positive signal branch line;

[0068] The wireless control module 4 sends a negative PWM signal to the front servo 1 through the negative signal bus and the first negative signal branch line; the wireless control module 4 sends a negative PWM signal to the rear servo 2 through the negative signal bus and the second negative signal branch line;

[0069] The first limiting mechanism 8a is connected in series to the positive signal bus, and the second limiting mechanism 8b is connected in series to the negative signal bus.

[0070] Specifically, when the telescopic rod moves forward horizontally and exceeds the forward mark, the switch contact in the first limit mechanism is disconnected, cutting off the positive signal bus between the wireless control module and the front and rear servos, the front and rear servos stop rotating forward, and the telescopic rod no longer moves forward horizontally;

[0071] When the telescopic rod moves backward horizontally and exceeds the rear mark, the switch contact in the second limit mechanism is disconnected, cutting off the negative signal bus between the wireless control module and the front and rear servos, the front and rear servos stop reversing, and the telescopic rod no longer moves backward horizontally.

[0072] Specifically, the forward mark is a magnet installed at the horizontal forward limit position of the telescopic rod, and the backward mark is a magnet installed at the horizontal backward limit position of the telescopic rod;

[0073] The switch contact in the first limiting mechanism is disconnected under the attraction of the magnet of the front mark; the switch contact in the second limiting mechanism is disconnected under the attraction of the magnet of the rear mark, thereby limiting the position of the telescopic rod.

[0074] Specifically, the voltage conversion module supplies power to the wireless control module.

[0075] The beneficial effects of the present invention are as follows:

[0076] 1. The limit mechanism is used to control the extension and retraction of the telescopic rod, which solves the problem of heating and loss caused by idling of the servo when physical limit is used before;

[0077] 2. The threaded connection method is used to make the telescopic rod detachable, which is easy to install and carry, and is conducive to on-site use;

[0078] 3. The telescopic rod adopts the conductive method of coaxial electrodes and built-in wires in each section to transmit electrical energy to the electric field sensor array at the front end of the telescopic rod, avoiding the need to lay power supply lines for the electric field sensor array along the telescopic rod. When the electric field sensor array rotates freely and the telescopic rod moves horizontally freely, there will be no problems such as jamming and entanglement of the connecting wires, thus improving the use efficiency.

[0079] 4. The electric field sensor array rotates freely. When it rotates to be perpendicular to the telescopic rod, it is suitable for detecting the suspended insulator string. When it rotates to be parallel to the telescopic rod, it is suitable for detecting the horizontally arranged tension insulator string, thereby realizing zero value detection of insulator strings with different arrangements, with a wider range of applications.

[0080] 5. A lithium battery is installed at one end of the telescopic rod near the pod as the power source of the electric field sensor array, and a wireless charging module is set in the pod to realize wireless charging of the lithium battery, avoiding the electrical line connection between the telescopic rod and the pod and improving the flexibility of the telescopic rod in movement and rotation.

[0081] The applicant of the invention has made a detailed explanation and description of the implementation examples of the present invention in conjunction with the drawings in the specification. However, those skilled in the art should understand that the above implementation examples are only preferred implementation schemes of the present invention, and the detailed description is only to help readers better understand the spirit of the present invention, but not to limit the scope of protection of the present invention. On the contrary, any improvements or modifications based on the inventive spirit of the present invention should fall within the scope of protection of the present invention.

Claims

1. A portable drone mounting device for detecting zero-value insulators, the drone mounting device comprising a telescopic rod, a pod and an electric field sensor array, the pod being fixed at one end of the telescopic rod, and the electric field sensor array being installed at the other end of the telescopic rod; the pod being used to drive the telescopic rod to perform horizontal displacement and thereby adjust the detection distance of the electric field sensor array, and the electric field sensor array being used to detect the electric field in the space around the insulator, It is characterized in that The telescopic rod adopts a detachable multi-section structure. The connecting ends of every two telescopic rods are provided with coaxial electrodes. A wire is provided inside each telescopic rod to connect the coaxial electrodes at both ends of the telescopic rod. A lithium battery is installed at the end of the telescopic rod near the pod as the power source of the electric field sensor array. The coaxial electrodes are screwed and fixed between every two telescopic rods. The electric field sensor array at the other end of the telescopic rod can rotate 360°; During detection, the pod drives the telescopic rod to move horizontally to adjust the detection distance of the electric field sensor array; when the detection distance is reached, when the suspension insulator string is detected, the pod drives the electric field sensor array to rotate perpendicular to the direction of the telescopic rod; when the tension insulator string is detected, the pod drives the electric field sensor array to rotate parallel to the direction of the telescopic rod; the telescopic rod is used to supply the electric field sensor array with electric energy from the lithium battery; A wireless control module and servo are installed in the pod; When the wireless control module receives the remote action command, it sends a rotation signal to the steering gear; after the steering gear rotates, it drives the telescopic rod to move horizontally; the steering gear includes a front steering gear and a rear steering gear, wherein the front steering gear is arranged at the front of the pod and located at the upper part of the telescopic rod, and the rear steering gear is arranged at the rear of the pod and located at the lower part of the telescopic rod; the wireless control module sends a trigger signal to the front steering gear and the rear steering gear respectively, so as to control the front steering gear and the rear steering gear to rotate forward or reverse at the same time; Among them, the front steering gear includes a front roller and a front free roller, and the rear steering gear includes a rear roller and a rear free roller; when the front steering gear rotates, it drives the front roller to rotate, and the friction between the front roller and the telescopic rod causes the telescopic rod to move forward horizontally, and the front free roller rotates accordingly; when the rear steering gear rotates, it drives the rear roller to rotate, and the friction between the rear roller and the telescopic rod causes the telescopic rod to move backward horizontally, and the rear free roller rotates accordingly; the front free roller is installed at the upper part of the telescopic rod symmetrical to the front roller, and the rear free roller is installed at the upper part of the telescopic rod symmetrical to the rear roller; The trigger signal includes a positive PWM signal and a negative PWM signal; the positive PWM signal is used to control the front servo and the rear servo to rotate forward at the same time. When the front servo and the rear servo rotate forward at the same time, the telescopic rod moves forward horizontally; the negative PWM signal is used to control the front servo and the rear servo to reverse at the same time. When the front servo and the rear servo reverse at the same time, the telescopic rod moves backward horizontally; the wireless control module sends a positive PWM signal to the front servo through the positive signal bus and the first positive signal branch line; the wireless control module sends a positive PWM signal to the rear servo through the positive signal bus and the second positive signal branch line; the wireless control module sends a negative PWM signal to the front servo through the negative signal bus and the first negative signal branch line; the wireless control module sends a negative PWM signal to the rear servo through the negative signal bus and the second negative signal branch line; Wherein, a first limit mechanism is connected in series on the positive signal bus, and a second limit mechanism is connected in series on the negative signal bus; When the telescopic rod moves forward horizontally and exceeds the forward mark, the switch contact in the first limit mechanism is disconnected, cutting off the positive signal bus between the wireless control module and the front and rear servos, the front and rear servos stop forward rotation, and the telescopic rod no longer moves forward horizontally; when the telescopic rod moves backward horizontally and exceeds the backward mark, the switch contact in the second limit mechanism is disconnected, cutting off the negative signal bus between the wireless control module and the front and rear servos, the front and rear servos stop reverse rotation, and the telescopic rod no longer moves backward horizontally; The forward mark is a magnet installed at the horizontal forward limit position of the telescopic rod, and the rearward mark is a magnet installed at the horizontal rearward limit position of the telescopic rod; the switch contact in the first limit mechanism is disconnected under the magnetic attraction of the forward mark; the switch contact in the second limit mechanism is disconnected under the magnetic attraction of the rearward mark.

2. The portable drone mounting device for detecting zero-value insulators according to claim 1, It is characterized in that The length of each telescopic rod ranges from 50 to 80 cm.

3. The portable drone mounting device for detecting zero-value insulators according to claim 1, It is characterized in that A voltage conversion module is installed in the pod, and the voltage conversion module is connected to the drone power supply to convert the drone power supply into a plurality of DC voltages of different magnitudes; The DC voltage includes: 5V DC voltage for the servo and limit mechanism, 3.3V DC voltage for the wireless control module and 12V DC voltage for the wireless charging module.

4. The portable drone mounting device for detecting zero-value insulators according to claim 3, It is characterized in that A wireless charging module is installed in the pod, the voltage conversion module supplies power to the wireless charging module, and the wireless charging module wirelessly charges the lithium battery.

5. The portable drone mounting device for detecting zero-value insulators according to claim 4, It is characterized in that The lithium battery is installed in a telescopic rod for fixing the pod, and the positive and negative electrodes of the lithium battery are electrically connected to the coaxial electrodes at the connecting end of the telescopic rod.

6. The portable drone mounting device for detecting zero-value insulators according to claim 1, It is characterized in that The voltage conversion module supplies power to the wireless control module.

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