A large-span inspection device and method for transmission lines based on image acquisition

Abstract

The present invention discloses a large-span transmission line inspection device and method based on image acquisition, comprising an image acquisition component, a first drive component, a connecting component, a second drive component, and a support component. The image acquisition component includes an inspection box and a walking mechanism disposed thereon, the inspection box acquires images of the transmission line, and the walking mechanism travels along the transmission line. The connecting component includes a swing arm and a mounting rod rotatably connected thereto, the swing arm being rotatably connected to the inspection box, and the mounting rod being connected to the support component. The first drive component is disposed on the inspection box, and its driving end drives the connecting component to rotate, thereby driving the support component to abut or detach from the transmission line. The second drive component is disposed on the mounting rod, and its driving end drives the swing arm to rotate, thereby driving the walking mechanism to detach from or abut the transmission line. The support component is hung on the transmission line when the walking mechanism detaches from the transmission line. The present invention can cross large-span node obstacles, thereby improving its adaptability to node obstacles.

Description

Technical Field

[0001] The present invention relates to the technical field of transmission line inspection, and specifically to a transmission line large-span inspection device and method based on image acquisition. Background Art

[0002] Transmission lines are an important part of the power system. Due to long-term exposure to the wild, after being eroded by wind and rain, transmission lines often suffer from damage such as broken strands, wear and corrosion, which can affect the normal operation of the power system and cause serious economic losses and safety accidents. Therefore, it is necessary to regularly inspect and troubleshoot transmission lines to ensure normal power transmission and prevent accidents. Traditional transmission line inspections are mostly done manually, but manual inspections are highly dangerous and inefficient. To solve the above problems, self-propelled inspection devices are currently used. They mainly set guide wheels to travel on the transmission line and then use the inspection box and image acquisition device to monitor.

[0003] Because overhead lines require multiple overhead supports, there are connection nodes between the lines and the overhead supports, and inspection devices need to cross the nodes. For example, CN114261511A discloses a transmission line inspection robot, which includes a housing, a crawling assembly, and a flying assembly. The crawling assembly includes a sliding housing slidably connected to the lower portion of the housing and a wire-pressing wheel rotatably connected within the sliding housing. The flying assembly includes an arm rotatably connected within the housing, a flight motor mounted on the arm, and a propeller fixedly connected to the output shaft of the flight motor. A switching motor is installed within the housing. When flying, the propeller's rotating shaft is arranged longitudinally, and the thrust generated by the propeller drives the housing to fly. When inspecting, the propeller's rotating shaft is arranged in the front-to-back direction, and the thrust generated by the propeller drives the housing to slide along the conductor. Although the robot is equipped with inspection equipment to inspect transmission lines, can remotely fly to the transmission lines and mount on them, and can automatically cross obstacles on the transmission lines, the mechanism for crossing node obstacles is complex and the cost is high. In addition, the device can only cross obstacles with small spans, and cannot meet the requirements when the node obstacle has a large span or has large undulations. That is, the existing device is not highly adaptable to node obstacles.

[0004] Therefore, how to provide a patrol inspection device with high adaptability to node obstacles is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0005] In response to the above-mentioned defects in the prior art, the present invention provides a large-span inspection device and method for transmission lines based on image acquisition, which can cross large-span node obstacles, thereby improving adaptability to node obstacles.

[0006] In a first aspect, the present invention provides a large-span inspection device for transmission lines based on image acquisition, comprising an image acquisition component, a first driving member, a connecting component, a second driving member, and a supporting component;

[0007] The image acquisition component includes an inspection box and a walking mechanism provided on the inspection box. The inspection box collects images of the transmission line, and the walking mechanism moves along the transmission line.

[0008] The connecting assembly includes a swing arm and a mounting rod rotatably connected to the swing arm, an end of the swing arm away from the mounting rod is rotatably connected to the inspection box, and an end of the mounting rod away from the swing arm is connected to the support assembly;

[0009] The first driving member is provided on the inspection box, and its driving end acts on one end of the swing arm to drive the connecting assembly to rotate, thereby driving the supporting assembly to resist or separate from the power transmission line;

[0010] The second driving member is provided on the mounting rod, and its driving end acts on the other end of the swing arm to drive the swing arm to rotate, thereby driving the walking mechanism to separate from or abut against the power transmission line;

[0011] The support assembly is hung on the transmission line when the traveling mechanism is separated from the transmission line.

[0012] Furthermore, image collectors are provided on the sides and bottom of the inspection box, a control component is provided inside the inspection box, and a wireless transceiver component connected to the image collector is also provided at the bottom of the inspection box.

[0013] Furthermore, a connecting shaft is fixed to one end of the swing arm close to the mounting rod, and the swing arm is rotatably connected to the mounting rod through the connecting shaft. One end of the connecting shaft extends to the inside of the mounting rod and is fixed with a driven gear. A driving gear that rotates and meshes with the driven gear is provided on one side of the mounting rod, and the driving end of the second driving member is connected to the driving gear.

[0014] Furthermore, the swing arm includes a first swing arm and a second swing arm with one end mounted outside the first swing arm. The end of the first swing arm away from the second swing arm is rotatably connected to the inspection box, and the end of the second swing arm away from the first swing arm is rotatably connected to the mounting rod. A sixth driving component is fixed in the second swing arm, and the output end of the sixth driving component is fixed to the first swing arm.

[0015] Furthermore, a slideway is provided within the second swing arm, and one end of the first swing arm is slidably disposed within the slideway. A guide groove is provided on a side wall of the first swing arm, and the length of the guide groove is parallel to the length of the slideway. The second swing arm is provided with a limit slider located within the slideway, and the limit slider is slidably disposed within the guide groove. When the first swing arm slides to a maximum distance along the bottom of the slideway, the limit slider abuts against the wall of the guide groove, thereby preventing the first swing arm from sliding beyond the maximum distance.

[0016] Furthermore, the support assembly includes a third driving member, a telescopic frame, and a plurality of hanging wheels provided on the telescopic frame. The third driving member is fixed to an end of the mounting rod away from the swing arm. The driving end of the third driving member is connected to the telescopic frame to drive the telescopic frame to drive the hanging wheels toward or away from the mounting rod.

[0017] The telescopic frame includes a threaded sleeve, an end plate, a first guide column and an angle block. The driving end of the third driving member passes through the mounting rod and is fixed with a threaded column. The end of the threaded column away from the third driving member is threadedly connected to the threaded sleeve. The hanging wheel is installed at the end of the threaded sleeve away from the threaded column. The end sleeve is fixed on the threaded sleeve. The first guide column is fixed on one side of both ends of the end plate facing the mounting rod. The angle block is fixed on the mounting rod. The first guide column passes through the angle block and is slidably connected to it.

[0018] Furthermore, the walking mechanism includes a mounting base provided on the top of the inspection box, a walking component provided on the mounting base, and a fourth driving component provided on the mounting base;

[0019] A side plate is provided on the top of the mounting base, and the walking component includes a mounting frame, a fifth driving member and a walking wheel. The fourth driving member is fixed to the side plate, and a screw rod is fixed to the driving end of the fourth driving member. The screw rod passes through the mounting frame and is threadedly connected to the mounting frame. Second guide columns are respectively fixed on both sides of one side of the mounting frame. The second guide columns pass through the side plate and are slidably connected to the side plate. Fifth driving members are respectively fixed at both ends of the mounting frame, and the driving end of the fifth driving member is fixed to the walking wheel;

[0020] The second driving member drives the swing arm to rotate, so as to drive the traveling wheel to separate from or abut against the power transmission line.

[0021] Furthermore, the walking mechanism also includes multiple groups of positioning components arranged on the mounting seat, the positioning components include a torsion frame fixed on the side plate and a positioning wheel rotatably fixed on the torsion frame, all the positioning wheels are located in the same plane, and a torsion spring is installed between the torsion frame and the side plate.

[0022] Furthermore, the inspection device further includes a limit guide assembly provided at the bottom of the walking mechanism and a guide connection assembly connected to the limit guide assembly, wherein the walking mechanism has an initial position close to the inspection box and a sliding position away from the inspection box through the limit guide assembly, and the guide connection assembly is provided between the first driving member and the swing arm;

[0023] The traveling wheel is against the transmission line, the traveling mechanism is in a sliding position, and the first driving member is fixedly connected to the swing arm through a guide connection assembly; the traveling wheel is separated from the transmission line, the traveling mechanism is in an initial position, and the first driving member is disconnected from the swing arm.

[0024] Furthermore, the position where the swing arm is rotatably connected to the inspection box is located above the center of gravity of the image acquisition component, and the plane formed by the position where the swing arm is rotatably connected to the inspection box and the center of gravity of the image acquisition component is perpendicular to the vertical plane where the walking wheels on the transmission line are located.

[0025] Furthermore, the limit guide assembly includes a cross bar, a limit rod and a plurality of slide columns. The cross bar is fixed to the bottom of the mounting seat. One end of the limit rod slide column is fixed to the top of the inspection box, and the other end passes through the cross bar and is fixed to the limit rod. A buffer spring is sleeved on each slide column and is arranged between the cross bar and the limit rod.

[0026] The guide connection assembly includes a first connecting rod, a second connecting rod, a clutch sleeve and a circumferential limit piece. One end of the first connecting rod is hinged to the cross rod, and the other end is hinged to one end of the second connecting rod. The other end of the second connecting rod is rotatably sleeved on the clutch sleeve through a swivel. The clutch sleeve is sleeved on the circumferential limit piece. An end of the clutch sleeve away from the circumferential limit piece is provided with a plug-in structure that cooperates with the driving end of the first driving member. The circumferential limit piece is fixed to the swing arm.

[0027] The traveling mechanism moves from the initial position to the sliding position, and the clutch sleeve moves along its axial direction toward the driving end of the first driving member; the traveling mechanism moves from the sliding position to the initial position, and the clutch sleeve moves away from the driving end of the first driving member along its axial direction.

[0028] Furthermore, the circumferential limiting member includes a rotating column, a limiting groove provided along the axial direction of the rotating column, and a limiting block fixed on the inner wall of the clutch sleeve, wherein the limiting block is slidably provided in the limiting groove along the axial direction of the rotating column;

[0029] A limiting protrusion is provided on the driving end of the first driving member, and the plug-in structure includes a receiving groove adapted to the driving end and a bayonet adapted to the limiting protrusion.

[0030] In a second aspect, the present invention further provides a large-span inspection method for transmission lines based on image acquisition, using the above-mentioned large-span inspection device for transmission lines based on image acquisition, the inspection method comprises the following steps:

[0031] The walking mechanism is hung on the inspection starting point of the transmission line, and the walking mechanism moves along the transmission line, and the inspection box collects images of the transmission line;

[0032] When the traveling mechanism moves to one side of the node obstacle, the first driving member drives the connecting assembly to drive the supporting member to abut against the transmission line on the other side of the node obstacle;

[0033] The second driving member drives the swing arm to drive the traveling mechanism to separate from the power transmission line, and continuously drives the swing arm to drive the traveling mechanism to move and hold the traveling mechanism against the power transmission line on the other side of the node obstacle;

[0034] The connecting assembly is driven by the first driving member to drive the supporting member away from the power transmission line;

[0035] After the traveling mechanism travels along the transmission line to the inspection end point, the transmission line inspection is completed.

[0036] The present invention provides a large-span inspection device and method for power transmission lines based on image acquisition, which has at least the following beneficial effects:

[0037] (1) Through the cooperation of the first driving member, the connecting assembly and the supporting assembly, the image acquisition device can be moved from one side of the node obstacle to the other side, and through the cooperation of the second driving member, the connecting assembly and the walking mechanism, the image acquisition assembly after crossing the node obstacle can be hung on the transmission line, thereby ensuring that the inspection device can continuously complete the inspection of the transmission line.

[0038] (2) By setting the swing arm, the inspection device can take care of crossing node obstacles. Compared with the existing inspection device that sets a specific structure so that the device can complete the line-obstacle-line movement, when the span of the node obstacle is large or the transmission line is discontinuous, the existing inspection device cannot achieve accurate crossing and switching. That is, the inspection device of the present invention can quickly and accurately cross large-span node obstacles or discontinuous transmission lines.

[0039] (3) In order to avoid interference between the hanging wheel and the transmission line when the hanging wheel is hung on the transmission line on the other side of the node obstacle, the hanging wheel can be retracted by setting the third driving member, the telescopic frame and the hanging wheel so that the hanging wheel can be smoothly hung on the transmission line.

[0040] (4) In order to avoid interference between the walking mechanism and the transmission line when the walking mechanism is moved from one side of the node obstacle to the other side, the walking wheel can be retracted by setting the mounting seat, the walking component and the fourth driving component, so that the walking wheel can smoothly cross the node obstacle and be hung on the transmission line.

[0041] (5) By setting the positioning wheel and the torsion spring, the positioning wheel can have a certain buffering effect on the transmission line, so that when the walking mechanism is moved to the transmission line on the other side of the node obstacle, the second driving member driving transition is avoided, which causes the inspection box to affect the transmission line.

[0042] (6) Through the coordinated action of the limiting guide assembly and the guide connection assembly, when the walking mechanism is against the transmission line, the first driving member and the swing arm can be ensured to be in a connected state, and when the walking mechanism is separated from the transmission line, the first driving member and the swing arm can be ensured to be in a separated state; when the walking mechanism is separated from the transmission line, the first driving member and the swing arm are in a separated state, and the inspection box can rotate relative to the swing arm; when the walking mechanism is against the transmission line, the first driving member and the swing arm are in a connected state, and the inspection box and the swing arm are relatively fixed; when moving to the node obstacle, the swing arm can be driven by the first driving member, and finally the support assembly is driven to move and against the transmission line on the other side of the node obstacle. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 A three-dimensional schematic diagram of a transmission line large-span inspection device based on image acquisition provided by the present invention;

[0044] Figure 2 Another side perspective schematic diagram of an inspection device according to an embodiment of the present invention;

[0045] Figure 3 A partial cross-sectional schematic diagram of an inspection device according to an embodiment of the present invention;

[0046] Figure 4 A three-dimensional schematic diagram of a walking mechanism according to an embodiment of the present invention;

[0047] Figure 5 A partial perspective schematic diagram of a walking mechanism of an embodiment provided by the present invention;

[0048] Figure 6 A schematic structural diagram of a connecting assembly and a supporting assembly according to an embodiment of the present invention;

[0049] Figure 7 A schematic diagram of a guide connection assembly according to an embodiment of the present invention;

[0050] Figure 8 A partial schematic diagram of a guide connection assembly according to an embodiment of the present invention.

[0051] Explanation of the reference numerals: 1-inspection box, 2-image collector, 3-cross bar, 4-mounting seat, 5-travel wheel, 6-fifth drive member, 7-positioning wheel, 8-mounting frame, 9-fourth drive member, 10-side plate, 11-swing arm, 12-mounting rod, 13-hanging wheel, 14-second drive member, 15-third drive member, 16-limiting rod, 17-mounting notch, 18-connecting block, 19-threaded column, 20-threaded sleeve, 21-electric Machine bracket, 22-clutch sleeve, 23-first driving member, 24-wireless transceiver assembly, 25-buffer spring, 26-sliding column, 27-first connecting rod, 28-torque frame, 29-screw rod, 30-end plate, 31-first guide column, 32-angle block, 33-driving gear, 34-driven gear, 35-swivel, 36-drive shaft, 37-second connecting rod, 38-bayonet, 39-limiting groove, 40-rotating column, 41-limiting protrusion. DETAILED DESCRIPTION

[0052] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0053] The terms used in the embodiments of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The singular forms "a," "an," "the," and "the" used in the embodiments of the present invention and the appended claims are also intended to include plural forms, and unless the context clearly indicates otherwise, "a plurality" generally includes at least two.

[0054] It should also be noted that the terms "include," "comprises," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a product or device comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such product or device. In the absence of further limitations, an element defined by the phrase "comprises a..." does not exclude the presence of other identical elements in the product or device comprising the element.

[0055] The present invention provides a large-span transmission line inspection device based on image acquisition, comprising an inspection box 1, with a mounting frame 8 provided on top. A fifth drive member 6 is mounted at each end of the mounting frame 8, and a travel wheel 5 is fixed to the output end of each of the fifth drive member 6. A crossbar 3 is provided on the inspection box 1, with mounting seats 4 fixed to each end of the crossbar 3's upper portion. A side plate 10 is fixed between the two mounting seats 4. A fourth drive member 9 is fixed to one side of the side plate 10, and a screw rod 29 is fixed to the output end of the fourth drive member 9. The screw rod 29 passes through the mounting frame 8 and is threadedly connected thereto. A second guide post is fixed to each end of one side of the mounting frame 8, and the second guide post passes through the side plate 10 and is slidably connected thereto. When the fourth drive member 9 is activated, the screw rod 29 drives the mounting frame 8 backward, causing the travel wheel 5 to deviate from the transmission line. This means that the fourth drive member 9 can adjust the horizontal position of the mounting frame 8.

[0056] A swing arm 11 is rotatably provided on one side of the inspection box 1, and a first driving member 23 that drives one end of the swing arm 11 to rotate is installed on one side of the inspection box 1. A clutch mechanism is provided between the first driving member 23 and the swing arm 11, and a mounting rod 12 is rotatably provided on the other end of the swing arm 11, and a second driving member 14 is fixed on one side of the mounting rod 12. The second driving member 14 is used to drive the other end of the swing arm 11 to rotate, and a hanging pulley 13 is provided on the end of the mounting rod 12 away from the swing arm 11. Preferably, two hanging pulleys 13 are provided, and a rubber anti-slip sleeve is provided on the hanging pulley 13. The mounting rod 12 is provided with a third driving member 15 fixed at one end of a hanging wheel 13, and the output end of the third driving member 15 passes through the mounting rod 12 and is fixed with a threaded column 19, and the other end of the threaded column 19 is threadedly connected to a threaded sleeve 20, and the hanging wheel 13 is fixedly installed at the other end of the threaded sleeve 20, and an end plate 30 is fixed at one end of the threaded sleeve 20, and a first guide column 31 is fixed at both ends of the end plate 30. Two corner blocks 32 are fixed at one end of the mounting rod 12, and the two first guide columns 31 respectively pass through the two corner blocks 32 and are slidably connected thereto. The third driving member 15 can adjust the horizontal position of the hanging wheel 13. After driving the swing arm 11, the hanging wheel 13 can be swung to the transmission line on the other side of the node obstacle for hanging, and then the inspection box 1 can be driven to follow up, and the node crossing speed is fast and the efficiency is high.

[0057] Image collectors 2 are installed at the bottom and one side wall of the inspection box 1, and a control component is provided inside the inspection box 1. A wireless transceiver component 24 is also provided at the bottom of the inspection box 1. The operator can operate the ground remote control to remotely control the inspection device through the wireless transceiver component 24.

[0058] A plurality of sliding posts 26 are fixed to the top of the inspection box 1. These sliding posts 26 all penetrate the crossbar 3 and are slidably connected thereto. A common limiting rod 16 is fixed to the top of each of the sliding posts 26. A buffer spring 25 is sleeved on the end of each sliding post 26 near the limiting rod 16. The crossbar 3, limiting rod 16, and sliding posts 26 constitute a limiting and guiding assembly, which limits and guides the mounting base 4 and the structure thereon. This allows the mounting base 4 and the structure thereon to have an initial position close to the inspection box 1 and a sliding position away from the inspection box 1. When the running wheels 5 abut against the power transmission line, the mounting base 4 is in the sliding position; when the running wheels 5 are detached from the power transmission line, the mounting base 4 is in the initial position.

[0059] The clutch mechanism includes a clutch sleeve 22, a mounting slot 17 is opened on one side of the inspection box 1, a motor bracket 21 is provided in the mounting slot 17, a first driving member 23 is fixed to the motor bracket 21, and the output end of the first driving member 23 passes through the motor bracket 21 and is fixed with a drive shaft 36, the drive shaft 36 has a plurality of limiting protrusions 41 along its outer wall, a connecting block 18 is also fixed on one side of the mounting slot 17, a rotating column 40 is provided on the connecting block 18, one end of the swing arm 11 is fixed to one end of the rotating column 40, and the clutch sleeve The 22 sliding sleeve is arranged at the other end of the rotating column 40, and a plurality of bayonet holes 38 are opened along the inner wall of one end of the clutch sleeve 22, and the limiting protrusion 41 is adapted to the bayonet hole 38. The clutch sleeve 22 is rotatably connected to the rotating ring 35, and a second connecting rod 37 is fixed to one side of the rotating ring 35. The first connecting rod 27 is hinged to one side of the cross bar 3, and one end of the first connecting rod 27 is hinged to one end of the second connecting rod 37. When the walking wheel 5 is hung on the transmission line, the cross bar 3 slides to the uppermost end of the sliding column 26 (the mounting seat 4 is located on the sliding seat 4) under the action of the gravity of the inspection box 1. 37 is moved to the shift position), at this time, the first link 27 and the second link 37 are both pulled by the cross bar 3 (the end of the first link 27 hinged to the cross bar 3 moves up, so that the first link 27 becomes tilted, that is, the horizontal length of the first link 27 becomes shorter, causing the second link 37 hinged therewith to move toward the cross bar 3), so that the clutch sleeve 22 is inserted into the drive shaft 36, and the bayonet 38 is relatively engaged with the limiting protrusion 41, so that when the drive shaft 36 rotates, the rotating column 40 can be driven to rotate. Similarly, the walking wheel 5 and the transmission line After the road is separated, the gravity of the inspection box 1 no longer acts on the walking path 5, causing the crossbar 3 to move under the action of the buffer spring 25 (with the mounting base 4 in the initial position), pushing the first connecting rod 27 and the second connecting rod 37 to move, thereby separating the clutch sleeve 22 from the drive shaft 36. At this time, the swing arm 11 is in a free rotation state, causing the second drive member 14 to rotate in the opposite direction. When the swing arm 11 drives the inspection box 1 to flip to the other side of the power transmission line, the inspection box 1 always maintains its normal upward position under the action of its own gravity. A limit slot 39 is defined on the outer wall of one side of the rotating column 40, and a limit block is fixed on the inner wall of the clutch sleeve 22, which slides within the limit slot 39.

[0060] The inspection device also includes a central processing module and a standard image library. The image collector 2 collects images and imports them into the central processing module. The central processing module can compare the collected images with the standard image library for defects.

[0061] Two torque racks 28 are provided on one side of the side panel 10 for rotation, and a positioning wheel 7 is installed at the other end of the torque rack 28. Torsion springs are installed between the torque rack 28 and the side panel 10. When the inspection box 1 is driven to a certain height by the second drive member 14, interference between the inspection box 1 and the transmission line is avoided. At the same time, the buffering effect of the torsion spring can provide a certain degree of protection for the transmission line. In addition, when the inspection box 1 is rotated to the other side of the node obstacle, the support of the positioning wheel 7 can ensure that the walking wheel 5 can accurately contact the transmission line while avoiding interference between the inspection box 1 and the transmission line caused by excessive drive of the second drive member 14.

[0062] A connecting shaft is fixed at one end of the swing arm 11, and the swing arm 11 is rotatably connected to the mounting rod 12 through the connecting shaft. One end of the connecting shaft extends to the inside of the mounting rod 12 and is fixed with a driven gear 34. A driving gear 33 is rotatably provided on one side of the mounting rod 12. The output end of the second driving member 14 is connected to the driving gear 33, and the driving gear 33 is engaged with the driven gear 34.

[0063] The present invention also provides a method for using a large-span inspection device for power transmission lines based on image acquisition, comprising the following steps:

[0064] Step 1: Two traveling wheels 5 are hung on the power transmission line. The staff operates the ground remote control to remotely control the inspection device through the wireless transceiver component 24, and activates the two fifth driving members 6 so that the traveling wheels 5 drive the entire device to move on the power transmission line. The two image collectors 2 capture images of the power transmission line and compare them with the system's preset standard images to analyze defects and troubleshoot faults.

[0065] When the first drive member 23 is in motion, the first drive member 23 is rotated to move the first arm 11 so that the second drive member 23 can move the first arm 11 and the second drive member 23 together.

[0066] Step 3: After the hanging wheel 13 passes the obstacle and is hung on the transmission line on the other side, the second driving member 14 is driven to drive the other end of the swing arm 11 to rotate, so that one end of the swing arm 11 lifts the inspection box 1 a certain distance, so that the two running wheels 5 are separated from the previous section of the transmission line, and at the same time the fourth driving member 9 is controlled to start, and the mounting frame 8 is driven to move backward through the screw rod 29, so that the running wheels 5 are misaligned with the transmission line. At this time, the second driving member 14 is driven to rotate in the opposite direction, so that the swing arm 11 drives the inspection box 1 to flip to the transmission line on the other side. At this time, the fourth driving member 9 is driven to push the two running wheels 5 back to their position, and then the second driving member 14 is driven to reverse a certain angle, so that the two running wheels 5 are overlapped on the transmission line on the other side to complete the crossing of the node obstacle;

[0067] After the two running wheels 5 are connected to the transmission line on the other side, the gravity of the inspection box 1 continues to act on the running wheels 5, and the cross bar 3 continues to squeeze the buffer spring 25 to move upward; the clutch sleeve 22 is again put on the drive shaft 36 through the first connecting rod 27 and the second connecting rod 37, and the first driving member 23 is driven again to drive the swing arm 11 to rotate, so that the hanging wheel 13 is separated from the transmission line.

[0068] Working principle: hang two walking wheels 5 on the transmission line, the staff operates the ground remote control, remotely controls the inspection device through the wireless transmitter module and the wireless transceiver component 24, starts the two fifth driving members 6, and makes the walking wheels 5 drive the whole to walk on the transmission line. The two image collectors 2 collect images of the transmission line, compare them with the system preset standard images, analyze defects and troubleshoot faults. When it is necessary to cross the node obstacle, first control the first driving member 23 to drive the swing arm 11 to rotate (when the walking wheel 5 is hung on the transmission line, the gravity of the inspection box 1 causes the cross bar 3 to slide to the upper end of the sliding column 26. At this time, the first connecting rod 27 and the second connecting rod 37 are both pulled by the cross bar 3, so that the clutch sleeve 22 is inserted into the drive shaft 36, and the card The opening 38 is relatively engaged with the limiting protrusion 41, so that when the driving shaft 36 rotates, the rotating column 40 can be driven to rotate). When the swing arm 11 rotates, it drives the mounting rod 12 and the hanging wheel 13 to swing to the other side of the node obstacle. At the same time, the third driving member 15 is started to drive the hanging wheel 13 to retract a certain distance through the threaded column 19 and the threaded sleeve 20. Then, after the hanging wheel 13 swings over the node obstacle to the power transmission line on the other side, the third driving member 15 is reversed to make the hanging wheel 13 extend again. At this time, the first driving member 23 is driven to reverse a certain angle, so that the hanging wheel 13 is first hung on the power transmission line on the other side. After the hanging wheel 13 passes the obstacle and is hung on the power transmission line on the other side, the second driving member 14 is driven to drive the other end of the swing arm 11 to rotate, so that one end of the swing arm 11 is The inspection box 1 is lifted up a certain distance, so that the two walking wheels 5 are separated from the previous section of the transmission line. At the same time, the fourth driving member 9 is controlled to start, and the mounting frame 8 is driven to move backward through the screw rod 29. The walking wheel 5 is misaligned with the transmission line. At this time, the second driving member 14 is driven to rotate in the opposite direction, so that the swing arm 11 drives the inspection box 1 to flip to the other side of the transmission line. After the walking wheel 5 is separated from the previous section of the transmission line, the gravity of the inspection box 1 no longer acts on the walking path 5, so that the cross bar 3 moves under the action of the buffer spring 25, pushing the first connecting rod 27 and the second connecting rod 37 to move, thereby separating the clutch sleeve 22 from the drive shaft 36. At this time, the swing arm 11 is in a free rotation state, so that the second driving member 14 rotates in the opposite direction so that the swing arm 11 drives the inspection box When the inspection box 1 is flipped over to the other side of the transmission line, the inspection box 1 always maintains a normal upward state under the action of its own gravity, ensuring that the two running wheels are still on the upper side when the inspection box 1 is flipped over to the other side of the transmission line. At this time, the fourth driving member 9 is driven to push the two running wheels 5 back to their positions, and then the second driving member 14 is driven to reverse a certain angle, so that the two running wheels 5 are connected to the transmission line on the other side to complete the crossing of the node obstacle. At this time, the gravity of the inspection box 1 continues to act on the running wheels 5, and the cross bar 3 continues to squeeze the buffer spring 25 to move upward; the clutch sleeve 22 is again put onto the drive shaft 36 through the first connecting rod 27 and the second connecting rod 37. At this time, the first driving member 23 is driven to drive the swing arm 11 to rotate, so that the hanging wheel 13 is separated from the transmission line.

[0069] Although preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they are aware of the basic inventive concepts. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the invention. Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the invention. Thus, the present invention is intended to include such changes and modifications as fall within the scope of the claims and their equivalents.

Claims

1. A large-span inspection device for power transmission lines based on image acquisition, characterized in that: It includes an image acquisition component, a first driving member, a connecting component, a second driving member and a supporting component; The image acquisition component includes an inspection box and a walking mechanism provided on the inspection box. The inspection box collects images of the transmission line, and the walking mechanism moves along the transmission line. The connecting assembly includes a swing arm and a mounting rod rotatably connected to the swing arm, an end of the swing arm away from the mounting rod is rotatably connected to the inspection box, and an end of the mounting rod away from the swing arm is connected to the support assembly; The first driving member is provided on the inspection box, and its driving end acts on one end of the swing arm to drive the connecting assembly to rotate, thereby driving the supporting assembly to resist or separate from the power transmission line; The second driving member is provided on the mounting rod, and its driving end acts on the other end of the swing arm to drive the swing arm to rotate, thereby driving the walking mechanism to separate from or abut against the power transmission line; The supporting assembly is hung on the transmission line when the walking mechanism is detached from the transmission line, and the supporting assembly includes a third driving member, a telescopic frame and a plurality of hanging wheels arranged on the telescopic frame, the third driving member is fixed to one end of the mounting rod away from the swing arm, and the driving end of the third driving member is connected to the telescopic frame to drive the telescopic frame to drive the hanging wheel to move closer to or away from the mounting rod; the telescopic frame includes a threaded sleeve, an end plate, a first guide column and an angle block, the driving end of the third driving member passes through the mounting rod and is fixed with a threaded column, and one end of the threaded column away from the third driving member is threadedly connected to the threaded sleeve, the hanging wheel is installed at one end of the threaded sleeve away from the threaded column, and the end sleeve is fixed on the threaded sleeve, and both ends of the end plate are fixed with the first guide column on one side facing the mounting rod, the angle block is fixed on the mounting rod, the first guide column passes through the angle block and is slidably connected thereto, the third driving member adjusts the horizontal position of the hanging wheel, and after the first driving member drives the swing arm, the hanging wheel is swung to the transmission line on the other side of the node obstacle for hanging; The walking mechanism includes a mounting base provided on the top of the inspection box, a walking component provided on the mounting base, and a fourth driving component provided on the mounting base; A side plate is provided on the top of the mounting base, and the walking component includes a mounting frame, a fifth driving member and a walking wheel. The fourth driving member is fixed to the side plate, and a screw rod is fixed to the driving end of the fourth driving member. The screw rod passes through the mounting frame and is threadedly connected to the mounting frame. Second guide columns are respectively fixed on both sides of one side of the mounting frame. The second guide columns pass through the side plate and are slidably connected to the side plate. Fifth driving members are respectively fixed at both ends of the mounting frame, and the driving end of the fifth driving member is fixed to the walking wheel; The second driving member drives the swing arm to rotate, so as to drive the traveling wheel to separate from or abut against the power transmission line.

2. The inspection device according to claim 1, characterized in that: Image collectors are provided on the sides and bottom of the inspection box, a control component is provided inside the inspection box, and a wireless transceiver component connected to the image collector is also provided at the bottom of the inspection box.

3. The inspection device according to claim 1, characterized in that: A connecting shaft is fixed to one end of the swing arm close to the mounting rod, and the swing arm is rotatably connected to the mounting rod through the connecting shaft. One end of the connecting shaft extends to the inside of the mounting rod and is fixed with a driven gear. A driving gear that meshes with the driven gear is rotatably provided on one side of the mounting rod, and the driving end of the second driving member is connected to the driving gear.

4. The inspection device according to claim 1, characterized in that: The walking mechanism also includes multiple groups of positioning components arranged on the mounting seat. The positioning components include a torsion frame fixed on the side plate and a positioning wheel rotatably fixed on the torsion frame. All the positioning wheels are located in the same plane. A torsion spring is installed between the torsion frame and the side plate.

5. The inspection device according to claim 1, characterized in that: The inspection device further includes a limit guide assembly provided at the bottom of the walking mechanism and a guide connection assembly connected to the limit guide assembly. The walking mechanism has an initial position close to the inspection box and a sliding position away from the inspection box through the limit guide assembly. The guide connection assembly is provided between the first driving member and the swing arm. The traveling wheel is against the transmission line, the traveling mechanism is in a sliding position, and the first driving member is fixedly connected to the swing arm through a guide connection assembly; the traveling wheel is separated from the transmission line, the traveling mechanism is in an initial position, and the first driving member is disconnected from the swing arm.

6. The inspection device according to claim 5, characterized in that: The limit guide assembly includes a cross bar, a limit rod and multiple slide columns. The cross bar is fixed to the bottom of the mounting seat. One end of the limit rod slide column is fixed to the top of the inspection box, and the other end passes through the cross bar and is fixed to the limit rod. Each slide column is provided with a buffer spring, which is arranged between the cross bar and the limit rod. The guide connection assembly includes a first connecting rod, a second connecting rod, a clutch sleeve and a circumferential limit piece. One end of the first connecting rod is hinged to the cross rod, and the other end is hinged to one end of the second connecting rod. The other end of the second connecting rod is rotatably sleeved on the clutch sleeve through a swivel. The clutch sleeve is sleeved on the circumferential limit piece. An end of the clutch sleeve away from the circumferential limit piece is provided with a plug-in structure that cooperates with the driving end of the first driving member. The circumferential limit piece is fixed to the swing arm. The traveling mechanism moves from the initial position to the sliding position, and the clutch sleeve moves along its axial direction toward the driving end of the first driving member; the traveling mechanism moves from the sliding position to the initial position, and the clutch sleeve moves away from the driving end of the first driving member along its axial direction.

7. The inspection device according to claim 6, characterized in that: The circumferential limiting member includes a rotating column, a limiting groove opened along the axial direction of the rotating column, and a limiting block fixed on the inner wall of the clutch sleeve, and the limiting block is slidably arranged in the limiting groove along the axial direction of the rotating column; A limiting protrusion is provided on the driving end of the first driving member, and the plug-in structure includes a receiving groove adapted to the driving end and a bayonet adapted to the limiting protrusion.

8. A large-span inspection method for transmission lines based on image acquisition, characterized in that: Using the large-span inspection device for power transmission lines based on image acquisition according to any one of claims 1 to 7, the inspection method comprises the following steps: The walking mechanism is hung on the inspection starting point of the transmission line, and the walking mechanism moves along the transmission line, and the inspection box collects images of the transmission line; When the traveling mechanism moves to one side of the node obstacle, the first driving member drives the connecting assembly to drive the supporting member to abut against the transmission line on the other side of the node obstacle; The second driving member drives the swing arm to drive the traveling mechanism to separate from the power transmission line, and continuously drives the swing arm to drive the traveling mechanism to move and hold the traveling mechanism against the power transmission line on the other side of the node obstacle; The connecting assembly is driven by the first driving member to drive the supporting member away from the power transmission line; After the traveling mechanism travels along the transmission line to the inspection end point, the transmission line inspection is completed.

Images