Overhead transmission line helicopter live-line combined detection device and method

Abstract

The application discloses an overhead transmission line helicopter live-line combined detection device and method, which comprises a control terminal and an execution terminal connected in communication, wherein the execution terminal is provided with at least one U-shaped skeleton, an X-ray machine and a detector for detecting defects of the transmission line are installed on the skeleton, and a control electric box electrically connected with the X-ray machine, the detector and a first servo motor is further provided; the control electric box is further electrically connected with a spherical camera for checking the clamping condition of the transmission line and a binocular distance measuring camera for checking the distance between the transmission line and the skeleton. The first pulley set and the second pulley set can be driven according to different working conditions, the detection device can move on the transmission line, the actual detection position can be determined by combining the real-time picture collected by the spherical camera, and the detection accuracy is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of live detection of overhead transmission lines, in particular to the technical field of overhead transmission line equipotential detection device and method based on loadable aircraft, and specifically relates to a kind of overhead transmission line helicopter live combined detection device and method. BACKGROUND

[0002] Due to the characteristics of high voltage and high altitude of overhead transmission lines, it is inconvenient to detect defects. The main means of existing transmission line defect detection is still based on X-ray detection. This technology is relatively mature and reliable, can clearly present the defect, and can distinguish the defect type. However, due to the large preparation quality of X-ray detection equipment, it is difficult to detect by manual tower. Therefore, in December 6, 2018, the live operation team of Guangdong Power Transmission and Transformation Engineering Co., Ltd. organized by the Guangdong Power Grid Machine Patrol Operation Center of China Southern Power Grid carried out the first domestic overhead transmission line helicopter live X-ray non-destructive detection operation. However, the detection by helicopter in this case is to detect the transmission line by hoisting equipment and personnel on the helicopter. Similarly, the operator still has the safety hazards of electric arc injury, ionizing radiation and X-ray radiation.

[0003] After summarizing the experience of existing helicopter hoisting detection, the applicant developed the first generation of helicopter detection technology on June 30, 2022. For details, see the invention application with application numbers 2022107579984 and 202210759539X. In actual application process, the applicant found that for local defect detection, the stability of the equipment is not high enough, especially in ice-cold environment, windy environment, and large transmission line disturbance, which will cause the equipment to not maintain stable relative stillness on the transmission line, which is not conducive to the detection work. At the same time, when moving the equipment, it is not convenient, and in special cases, it may be difficult to align. Therefore, the applicant has improved the related technology and formed the second generation of helicopter detection technology. SUMMARY

[0004] In order to solve the technical problems in the existing helicopter combined detection technology that the operator needs to be hoisted with the detection equipment to the overhead transmission line for live detection at high altitude, the detection personnel are at risk of falling from a high altitude, electric arc ionization injury and radiation injury, and the detection equipment cannot move autonomously on the transmission line, the present application provides an overhead transmission line helicopter live combined detection device and method, which is used to realize the operation of the operator without going online, and eliminates the electric arc ionization injury and radiation injury of the operator. At the same time, the first roller set and / or the second roller set provided on the detection device can make the detection device move and adjust the position automatically to achieve accurate detection.

[0005] To achieve the above object, the technical scheme adopted by the present application is:

[0006] An overhead power transmission line helicopter live-line combined detection device, comprising a control terminal and an execution terminal connected in communication, the execution terminal having at least one U-shaped skeleton, an X-ray machine and a detector for detecting defects of the power transmission line installed on the skeleton, one end of the skeleton being fixedly connected with an arm, the free end of the arm being provided with a first pulley block for clamping the power transmission line and driving the detection device to move along the power transmission line, the first pulley block being drivingly connected with a first servo motor, the skeleton further being provided with a second pulley block for clamping the power transmission line, the first pulley block and the second pulley block being installed in parallel, the axis of the first pulley block and the second pulley block being located in a plane between the detector and the X-ray machine and parallel to the plane where the surface of the detector is located;

[0007] Further comprising a control electric box electrically connected with the X-ray machine, the detector and the first servo motor, the control electric box further being electrically connected with a spherical camera for viewing the clamping condition of the power transmission line and a binocular range-finding camera for viewing the distance between the power transmission line and the skeleton.

[0008] Preferably, the first pulley block comprises a sleeve fixedly connected with the arm, a rotating shaft being fixedly installed in the sleeve through a bearing, one end of the rotating shaft being drivingly connected with the first servo motor, the other end of the rotating shaft being fixedly connected with a plurality of steel hubs which are fixedly connected in sequence and detachable, two adjacent steel hubs being connected through a connecting head provided on one of the steel hubs, a wheel disc made of rubber being fixedly sleeved on the outer wall of any steel hub, a groove for clamping the power transmission line being formed between two adjacent wheel discs.

[0009] Preferably, the binocular range-finding camera is fixedly installed on the skeleton, the center line of the field of view of the binocular range-finding camera being spatially perpendicular to the central ray of the X-ray machine; the spherical camera is fixedly installed on the skeleton and the center line of the field of view of the spherical camera in the initial position is spatially parallel to the central ray of the X-ray machine.

[0010] Preferably, the second pulley block is further drivingly connected with a second servo motor, the structure of the second pulley block being the same as that of the first pulley block, the outer diameter of the wheel disc in the second pulley block being smaller than that of the wheel disc in the first pulley block.

[0011] Preferably, the detector is connected with the skeleton through a rotating arm rotatably connected with the skeleton, the skeleton further being provided with a deflection mechanism for driving the rotating arm to rotate.

[0012] Preferably, the deflection mechanism comprises a sleeve assembly arranged on the framework, a third servo motor fixedly connected to the sleeve assembly and an arm, the output shaft of the third servo motor being threadedly connected to the arm through a screw rod; the sleeve assembly comprises a plurality of 8-shaped sleeves and a connecting rod rotatably connected between the plurality of 8-shaped sleeves, and a spiral structure arranged on the framework, the spiral structure being adapted to the inner wall of the 8-shaped sleeve connected to the arm, the arm being deflected along the framework by driving the screw rod through the third servo motor.

[0013] Preferably, a protection mechanism for avoiding contact between the power transmission line and the deflection mechanism is further arranged between the arm and the framework provided with the sleeve assembly, one end of the protection mechanism being fixedly connected to the arm and the other end being fixedly connected to a sleeve ring rotatably arranged on the framework.

[0014] The application also provides a helicopter live-line combined detection method for overhead transmission lines, which is implemented by the above-mentioned helicopter live-line combined detection device for overhead transmission lines and specifically comprises the following steps.

[0015] In step STP100, the equipment is powered on for detection, an operator establishes a communication connection with the control box in a wire control or wireless communication manner on the helicopter, and detects the working states of the X-ray machine, the detector, the first roller set, the second roller set, the spherical camera and the binocular distance measuring camera.

[0016] In step STP200, the equipment is installed in position, the X-ray equipment for detection is hoisted and hung on the power transmission line by the helicopter, whether the installation of the detection device is completed according to the preset position is determined by the picture transmitted back to the control terminal by the spherical camera, if the installation is not completed to the preset detection position, the position is readjusted, if the installation is completed, the next step is performed; in step STP210, the direction is aligned, the U-shaped structure opening side of the framework is directed to the power transmission line to be detected, the power transmission line to be detected is made to enter the photographing range of the binocular distance measuring camera by raising or lowering the helicopter, the binocular distance measuring camera is gradually approached to the power transmission line after the power transmission line enters the photographing range, and the helicopter is controlled as much as possible to make the center line of the field of view of the binocular distance measuring camera keep the same level as the power transmission line and approach the power transmission line at a uniform speed until the helicopter is kept hovering after the power transmission line is measured by the binocular distance measuring camera to be less than 30 cm.

[0017] In step STP220, the equipment is installed, when the power transmission line can be clamped by the first roller set and the second roller set at the same time, the detection device is hung on the power transmission line by lowering the helicopter to complete the equipment installation.

[0018] Step STP300, by controlling the electric box, the first servo motor drives the first pulley group to drive the entire detection device to move along the power transmission line, and the spherical camera is used to judge whether the preset detection position is reached, and the detection device is stopped when the preset position is reached; it also includes the steps of driving the second servo motor to drive the second pulley group to rotate and push the entire detection device to move along the power transmission line.

[0019] Step STP400, turn on the X-ray machine to perform transillumination according to the preset energy value, and obtain the corresponding X-ray image through the detector;

[0020] Step STP500, continue to execute step STP300-step STP400 until the preset detection potential is completed.

[0021] Beneficial effects:

[0022] The first pulley group and the second pulley group can be driven according to different working conditions, so that the detection device can move on the power transmission line, and the real-time picture collected by the spherical camera is used to determine the actual detection position, so that the accuracy of detection is ensured.

[0023] The first pulley group and the second pulley group can be flexibly combined according to requirements, and multi-groove clamping is realized, and since the skeleton always fixes the relative positions of the detector and the X-ray machine, the clarity of transillumination can be ensured.

[0024] The deflection mechanism can deflect the detector by 180° when the detection device is installed, so that the detector is away from the side of the power transmission line, and the detector is prevented from being damaged due to the contact between the power transmission line and the detector caused by the shaking of the detection device due to sudden strong wind.

[0025] The first pulley group is made of rubber material, which can effectively prevent the detection device from abnormally sliding under the condition of disturbance and ice and snow coverage, and cannot accurately shoot. DETAILED DESCRIPTION

[0026] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0027] Figure 1 It is the main view of the detection device structure of the present application.

[0028] Figure 2 It is Figure 1 The sectional view along the symbol A-A in the middle.

[0029] Figure 3 is Figure 1 a perspective view of the axis of the drawing.

[0030] Figure 4 is Figure 1 another perspective view of the axis of the drawing.

[0031] Figure 5 is Figure 4 an enlarged view of the structure of the B area in

[0032] Figure 6 is Figure 1 a left view of the drawing.

[0033] Figure 7 is a schematic view of the detection device of the present application from one perspective.

[0034] Figure 8 is a schematic view of the detection device of the present application from another perspective.

[0035] In the figure: 1 - skeleton; 2 - X-ray machine; 3 - detector; 4 - spherical camera; 5 - binocular range-finding camera; 6 - control electric box; 7 - first servo motor; 8 - first roller set; 9 - second servo motor; 10 - second roller set; 11 - deflection mechanism; 12 - rotating arm; 13 - support arm; 14 - protection mechanism; 81 - sleeve; 82 - steel hub; 83 - connecting head; 84 - wheel disc; 111 - third servo motor; 112 - screw rod; 113 - 8-shaped shaft sleeve; 114 - connecting rod; 115 - screw structure; 116 - sleeve ring. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings can be arranged and designed in various different configurations.

[0037] Therefore, the detailed description of the embodiments of the present application provided below in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without making creative efforts are within the scope of protection of the present application.

[0038] It should be noted that: similar reference numbers and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0039] In the description of the present application, it should be noted that if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, or the orientation or positional relationship of the product of the present application when it is usually placed, and are only used to facilitate the description of the present application and simplify the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, if the terms "first", "second" and the like appear in the description of the present application, they are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0040] In addition, if the terms "horizontal", "vertical" and the like appear in the description of the present application, they do not mean that the component must be absolutely horizontal or vertical, but can be slightly inclined. For example, "horizontal" only means that its direction is relatively more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0041] In the description of the present application, it should also be noted that unless otherwise explicitly specified and limited, if the terms "provided", "mounted", "connected", "linked" appear, they should be understood in a broad sense, for example, can be fixedly connected, can be detachably connected, or integrally connected; can be mechanically connected, can be electrically connected; can be directly connected, can be indirectly connected through an intermediate medium, or can be connected inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0042] Example 1:

[0043] In conjunction with the drawings accompanying the description Figures 1-4 , Figures 7-8The shown overhead power transmission line helicopter live-line combined detection device comprises a control terminal and an execution terminal connected in communication, the execution terminal has at least one U-shaped skeleton 1, an X-ray machine 2 and a detector 3 for detecting defects of the power transmission line are installed on the skeleton 1, one end of the skeleton 1 is fixedly connected with a support arm 13, a first pulley set 8 for clamping the power transmission line and driving the detection device to move along the power transmission line is installed at the free end of the support arm 13, the first pulley set 8 is drivingly connected with a first servo motor 7, a second pulley set 10 for clamping the power transmission line is also installed on the skeleton 1, the first pulley set 8 and the second pulley set 10 are installed in parallel, the axis plane of the first pulley set 8 and the second pulley set 10 is located between the detector 3 and the X-ray machine 2 and is parallel to the plane where the surface of the detector 3 is located, further comprising a control electric box 6 electrically connected with the X-ray machine 2, the detector 3 and the first servo motor 7, the control electric box 6 is further electrically connected with a spherical camera 4 for checking the clamping condition of the power transmission line and a binocular distance measuring camera 5 for checking the distance between the power transmission line and the skeleton 1.

[0044] Working and structure principle elaboration:

[0045] The skeleton 1 is a support structure of the detection device, used for fixing and limiting the fixed structure including the X-ray machine 2 and the detector 3, so that the X-ray machine 2 and the detector 3 always maintain a predetermined relative position and distance, thereby ensuring the definition of the obtained X-ray image. When detecting, since the power transmission line is clamped between the first pulley set 8 and the second pulley set 10, as long as the X-ray machine 2 is turned on to radiate, the detector 3 can always receive the X-ray image of the corresponding position of the power transmission line, the current power transmission line condition within the range of the detector 3 can be checked in real time through the spherical camera 4, to confirm whether the current position is the position requiring detection, thereby ensuring the accuracy of the shooting position. After completing the shooting of one position, the control terminal located in the hand of the helicopter operator sends instructions to the first servo motor 7 through the control electric box 6 to drive the first pulley set 8 to rotate forward / reverse, so that the detection device reciprocally moves on the power transmission line to detect different positions.

[0046] Embodiment 2:

[0047] This embodiment is further improved on the basis of embodiment 1, in this embodiment, the description of the accompanying drawings is further combined Figure 1 and Figure 2As shown, the first pulley set 8 includes a sleeve 81 fixedly connected with the branch 13, a rotating shaft is fixedly installed in the sleeve 81 through a bearing, one end of the rotating shaft is drivingly connected with the first servo motor 7, the other end of the rotating shaft is fixedly connected with a plurality of steel hubs 82 which are sequentially and detachably fixedly connected, two adjacent steel hubs 82 are connected through a connecting head 83 arranged on one of the steel hubs 82, a wheel disc 84 made of rubber is fixedly sleeved on the outer side wall of any steel hub 82, and a groove for clamping the power transmission line is formed between two adjacent wheel discs 84.

[0048] In this embodiment, in order to ensure that the binocular distance measuring camera 5 and the spherical camera 4 can capture the preset ideal area picture as accurately as possible, timely guide the accurate action of the helicopter in the hoisting process and the detection device in the moving process, and provide reliable video reference, the binocular distance measuring camera 5 is fixedly installed on the framework 1, and the visual field center line of the binocular distance measuring camera 5 is perpendicular to the central ray of the X-ray machine 2 in space; the spherical camera 4 is fixedly installed on the framework 1 and the visual field center line of the initial position is parallel to the central ray of the X-ray machine 2 in space, and details are shown in the accompanying drawings. Figures 3-6

[0049] In this embodiment, the second pulley set 10 is also drivingly connected with the second servo motor 9, the structure of the second pulley set 10 is the same as that of the first pulley set 8, and the outer diameter of the wheel disc in the second pulley set 10 is smaller than that of the first pulley set 8. The purpose of this arrangement is that generally, in most cases, only the first pulley set 8 needs to be driven, and the second pulley set 10 is in a driven or stationary state; only in relatively special cases, such as in the extremely cold northern region, the surface of the power transmission line is frozen or snowed, and the second pulley set 10 needs to be driven.

[0050] In this embodiment, in order to avoid the problem that the power transmission line contacts the detector 3 when the detection device is installed in place, causing the detector 3 to be abnormally damaged, in this embodiment, the detector 3 is connected with the framework 1 through the rotating arm 12 rotatingly connected to the framework 1, and the framework 1 is also provided with a deflection mechanism 11 for driving the rotating arm 12 to rotate. The deflection mechanism 11 includes a shaft sleeve assembly arranged on the framework 1, a third servo motor 111 and the rotating arm 12 fixedly connected to the shaft sleeve assembly, and a screw rod 112 threadedly connected with the rotating arm 12 through an output shaft of the third servo motor 111; the shaft sleeve assembly includes a plurality of 8-shaped shaft sleeves 113 and a connecting rod 114 rotatingly connected between the plurality of 8-shaped shaft sleeves 113, and a spiral structure 115 arranged on the framework 1, the spiral structure 115 is adapted to the inner wall of the 8-shaped shaft sleeve 113 connecting the rotating arm 12, and the rotating arm 12 is deflected along the framework 1 by driving the screw rod 112 through the third servo motor 111.​Figures 4-5 As shown, when the helicopter hoists the detection device, first, the third servo motor 111 rotates the pen 12 by 180°, so that the detector 3 is located on the side away from the power line, thereby avoiding the power line from contacting the detector 3 and preventing the detector 3 from being abnormally damaged, especially in the case of sudden crosswind causing the helicopter to be unstable during installation.

[0051] In this embodiment, the rotating arm 12 and the framework 1 provided with the shaft sleeve assembly are further provided with a protection mechanism 14 for avoiding the power line from contacting the deflection mechanism 11, one end of the protection mechanism 14 is fixedly connected with the rotating arm 12, and the other end is fixedly connected with the sleeve ring 116 rotatably sleeved on the framework 1.

[0052] Embodiment 3:

[0053] The application also provides an overhead power line helicopter live-line combined detection method, which is realized by the above-mentioned overhead power line helicopter live-line combined detection device, and specifically includes the following steps,

[0054] Step STP100, equipment power-on detection, the operator establishes a communication connection with the control box in a line control or wireless communication manner on the helicopter, and detects the working states of the X-ray machine 2, the detector 3, the first roller set 8, the second roller set 10, the spherical camera 4 and the binocular distance measuring camera 5;

[0055] Step STP200, equipment installation in place, the X-ray equipment for detection is hoisted by the helicopter and hung on the power line, whether the detection device is installed according to the preset position is judged by the picture transmitted back to the control terminal by the spherical camera 4, if not installed to the preset detection position, the position is adjusted again, if the installation is completed, the next step is performed; Step STP210, direction alignment, the U-shaped structure opening side of the framework 1 faces the power line to be detected, the power line to be detected enters the photographing range of the binocular distance measuring camera 5 by the helicopter lifting or lowering, and the helicopter is controlled as much as possible to make the center line of the field of view of the binocular distance measuring camera 5 and the power line keep the same level and approach the power line at a uniform speed after the power line enters the photographing range of the binocular distance measuring camera 5, until the binocular distance measuring camera 5 measures that the current distance of the power line is less than 30 cm, and then the helicopter is kept hovering;

[0056] Step STP220, equipment installation, when the power line can be clamped by the first pulley set 8 and the second pulley set 10 at the same time, the detection device is hung on the power line by lowering the helicopter to complete the equipment installation.

[0057] Step STP300, through the control of the electric box 6, the first servo motor 7 drives the first pulley group 8 to drive the entire detection device to move along the power transmission line, and the spherical camera 4 is used to determine whether the preset detection position is reached, and the detection device is stopped when the preset position is reached; it also includes the step of driving the second servo motor 9 to rotate the second pulley group 10 to drive the entire detection device to move along the power transmission line through the control of the electric box 6.

[0058] Step STP400, turn on the X-ray machine 2 to perform transillumination according to the preset energy value, and obtain the corresponding X-ray image through the detector 3.

[0059] Step STP500, continue to execute steps STP300-Step STP400 until the preset detection potential is completed.

[0060] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Those skilled in the art can make various changes and modifications to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A helicopter-mounted joint inspection device for overhead power transmission lines, wherein the inspection device is hoisted from below a helicopter and suspended on the power transmission line for inspection, specifically comprising a control terminal and an execution terminal connected by communication, wherein the execution terminal has at least a U-shaped frame (1), the opening side of the U-shaped structure of the frame (1) facing the power transmission line to be inspected, and an X-ray machine (2) and a detector (3) for detecting defects in the power transmission line are installed on the frame (1), characterized in that: A support arm (13) is fixedly connected to one end of the frame (1). A first pulley group (8) for clamping the transmission line and driving the detection device to move along the transmission line is installed on the free end of the support arm (13). The first pulley group (8) is driven and connected to a first servo motor (7). A second pulley group (10) for clamping the transmission line is also installed on the frame (1). The first pulley group (8) and the second pulley group (10) are installed in parallel. The plane where the axis of the first pulley group (8) and the second pulley group (10) is located is between the detector (3) and the X-ray machine (2) and is parallel to the plane where the surface of the detector (3) is located. The frame (1) includes a control box (6) that is electrically connected to the X-ray machine (2), the detector (3) and the first servo motor (7). The control box (6) is also electrically connected to a spherical camera (4) for determining whether the preset detection position has been reached and a binocular ranging camera (5) for viewing the distance between the transmission line and the frame (1). The first pulley block (8) includes a sleeve (81) fixedly connected to the support arm (13). A rotating shaft is fixedly installed inside the sleeve (81) by bearings. One end of the rotating shaft is driven and connected to the first servo motor (7). The other end of the rotating shaft is fixedly connected to a plurality of steel hubs (82) that are detachably and fixedly connected in sequence. Two adjacent steel hubs (82) are connected by a connector (83) set on one of the steel hubs (82). A wheel disc (84) made of rubber is fixedly sleeved on the outer side wall of any steel hub (82). A groove for clamping the power transmission line is formed between two adjacent wheel discs (84). The binocular ranging camera (5) is fixedly mounted on the frame (1), and the center line of the field of view of the binocular ranging camera (5) is spatially perpendicular to the center ray of the X-ray machine (2); the spherical camera (4) is fixedly mounted on the frame (1) and the center line of the field of view of the initial position is spatially parallel to the center ray of the X-ray machine (2). The detector (3) is connected to the frame (1) by a rotating arm (12) rotatably connected to the frame (1). The frame (1) is also provided with a deflection mechanism (11) for driving the rotating arm (12) to rotate. The deflection mechanism (11) drives the detector (3) to deflect at an angle of 180°.

2. The overhead transmission line helicopter live-line joint detection device according to claim 1, characterized in that: The second pulley group (10) is also connected to a second servo motor (9). The structure of the second pulley group (10) is the same as that of the first pulley group (8). The outer diameter of the wheel in the second pulley group (10) is smaller than that of the wheel in the first pulley group (8).

3. The overhead transmission line helicopter live-line joint detection device according to claim 2, characterized in that: The deflection mechanism (11) includes a bushing assembly mounted on the frame (1), a third servo motor (111) and a rotating arm (12) fixedly connected to the bushing assembly, the output shaft of the third servo motor (111) being threadedly connected to the rotating arm (12) via a lead screw (112); the bushing assembly includes a plurality of figure-eight bushings (113) and a connecting rod (114) rotatably connected between the plurality of figure-eight bushings (113), and a spiral structure (115) mounted on the frame (1), the spiral structure (115) being adapted to the inner wall of the figure-eight bushing (113) connecting the rotating arm (12), and the rotating arm (12) being deflected along the frame (1) by the lead screw (112) driven by the third servo motor (111).

4. The overhead transmission line helicopter live-line joint detection device according to claim 3, characterized in that: A protective mechanism (14) is provided between the rotating arm (12) and the frame (1) on which the bushing assembly is provided to prevent the power transmission line from contacting the deflection mechanism (11). One end of the protective mechanism (14) is fixedly connected to the rotating arm (12), and the other end is fixedly connected to the collar (116) that is rotatably sleeved on the frame (1).

5. A method for joint live-line testing of overhead transmission lines using helicopters, characterized in that: This is achieved using the helicopter-based live-line testing device for overhead power transmission lines as described in claim 4, specifically including the following steps. Step STP100, Equipment power-on test: The operator establishes a communication connection with the control box on the helicopter via wired or wireless communication to test the working status of the X-ray machine (2), detector (3), first roller group (8), second roller group (10), spherical camera (4) and binocular ranging camera (5); Step STP200: Equipment placement and installation. The X-ray equipment for inspection is lifted by helicopter and suspended on the power line. The image transmitted back to the control terminal by the spherical camera (4) is used to determine whether the inspection device has been installed in the preset position. If it is not installed in the preset inspection position, the position is readjusted. If the installation is completed, the next step is performed. Step STP200 also includes the following steps: Step STP210, Orientation Alignment, the U-shaped structure opening side of the skeleton (1) faces the power line to be detected, the helicopter is raised or lowered so that the power line to be detected enters the imaging range of the binocular ranging camera (5), when the power line enters the imaging range of the binocular ranging camera (5) gradually approaches the power line, and the helicopter is controlled as much as possible so that the center line of the field of view of the binocular ranging camera (5) is at the same level as the power line and moves towards the power line at a constant speed until the binocular ranging camera (5) measures the current distance of the power line to be less than 30cm, then the helicopter is kept hovering. Step STP220, equipment installation: When the ball camera (4) confirms that the power transmission line can be clamped by the first pulley group (8) and the second pulley group (10) at the same time, the detection device is suspended on the power transmission line by a descending helicopter to complete the equipment installation. In step STP300, the first servo motor (7) is driven by the control box (6) to drive the first roller group (8) to move the entire detection device along the transmission line. The spherical camera (4) determines whether the preset detection position has been reached. When the preset position is reached, the device stops. Step STP400: Turn on the X-ray machine (2) and perform radiography according to the preset energy value, and obtain the corresponding X-ray image through the detector (3); Step STP500, continue with steps STP300-STP400 until all preset detection potentials are completed.

6. The method for joint live-line testing of overhead transmission lines by helicopter according to claim 5, characterized in that: The step STP300 also includes the step of driving the second servo motor (9) to rotate the second pulley group (10) by controlling the electrical box (6), thereby moving the entire detection device along the power transmission line.

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