Flying device

Abstract

This application relates to a flight device, comprising a flight body for flying to one side of an electric power line along a first direction; a clamping mechanism including a first clamping component and a second clamping component disposed on the flight body; the first clamping component and the second clamping component clamping the electric power line respectively along a second direction; the first clamping component and the second clamping component being movable relative to each other along the second direction; a support component located between the first clamping component and the second clamping component, the support component including a support member; and a first detection mechanism disposed on the flight body and located on the side of the clamping mechanism away from the support component along the first direction; by clamping the electric power line with the first clamping component and the second clamping component respectively and moving closer to each other along the second direction, the support member abutting against the electric power line to bend the electric power line, and the first detection mechanism being able to perform visual inspection of the electric power line. This application can improve the detection effect of electric power lines and reduce electrical safety risks.

Description

Technical Field

[0001] This application relates to the field of power detection technology, and in particular to a flying device for power line inspection. Background Technology

[0002] Because power lines operate outdoors for extended periods and are affected by the external environment, problems such as insulation aging, damage, or line faults may occur, leading to safety hazards and the risk of power outages. Summary of the Invention

[0003] Based on this, a flying device is provided for inspecting power lines, which improves the detection effect of power lines and reduces power safety risks.

[0004] According to one aspect of this application, a flight device is provided, comprising:

[0005] The flight body is used to fly to one side of the power line along a first direction; the flight body includes a first support member and a second support member, with the second support member disposed on the first support member;

[0006] The clamping mechanism includes a first clamping assembly and a second clamping assembly disposed on a first carrier member; the first clamping assembly is used to clamp at least a portion of the electric line along a second direction, and the second clamping assembly is used to clamp at least another portion of the electric line along the second direction; the first clamping assembly and the second clamping assembly are movable relative to each other along the second direction.

[0007] A support assembly is located between the first clamping assembly and the second clamping assembly; the support assembly includes a support member for moving along a first direction toward the power line to abut against the power line; and

[0008] The first testing mechanism is located on the second bearing member and is situated on the side of the clamping mechanism away from the support assembly along the first direction;

[0009] The flight device has a first state; in the first state, the second direction is parallel to or intersects with the extension direction of the electric line, the first clamping component and the second clamping component clamp the electric line respectively and move closer to each other along the second direction, the support member abuts against the electric line to make the electric line bend, and the first detection mechanism can perform visual inspection on the electric line.

[0010] The first direction and the second direction are perpendicular to each other.

[0011] In one embodiment, the first clamping assembly includes a first clamping member and a second clamping member connected to the first carrier member, the first clamping member and the second clamping member being movable toward or away from each other along a third direction; and / or

[0012] The second clamping assembly includes a third clamping member and a fourth clamping member connected to the first carrier member, and the third clamping member and the fourth clamping member can move closer to or further away from each other along a third direction;

[0013] The third direction, the second direction, and the first direction are perpendicular to each other.

[0014] In one embodiment, the flight device further includes:

[0015] A first driving member is disposed on a first supporting member; the first driving member is used to drive the first clamping assembly and the second clamping assembly to move closer to or further away from each other along a second direction.

[0016] The second driving member is connected to the first driving member and is located between the first clamping assembly and the second clamping assembly; the second driving member is used to drive the support member to reciprocate along the first direction.

[0017] In one embodiment, both the first clamping assembly and the second clamping assembly are positioned to be movable toward the power line in a first direction; the flight device also includes a third drive member disposed on the first support member and connected to the first drive member; the third drive member is used to drive the first drive member to reciprocate in the first direction, so that the first clamping assembly, the second clamping assembly and the support member reciprocate in the first direction.

[0018] In one embodiment, the flight device further includes a first pressing member and a second pressing member connected to the first detection mechanism; the first pressing member and the second pressing member are spaced apart along a second direction and located between the first clamping assembly and the second clamping assembly; in a first state, a support member is located between the first pressing member and the second pressing member, and the first pressing member and the second pressing member are capable of abutting against the power line along the first direction; and / or

[0019] The flight device also includes a first slider and a second slider; the first slider is disposed on the side of the second support member close to the first clamping assembly along the second direction, and the second slider is disposed on the side of the second support member close to the second clamping assembly along the second direction; the first slider and the second slider are configured to be slidably connected to the sidewall of the power line along the second direction.

[0020] In one embodiment, the first detection mechanism includes a first camera; in a first state, the first camera is capable of visually detecting one side of the surface where the power line bends along a first direction.

[0021] In one embodiment, the first detection mechanism further includes a second camera located on one side of the first camera along a third direction; in a first state, the second camera is capable of visually detecting the power line along the sidewall of the third direction; the third direction is perpendicular to the second direction; and / or

[0022] The flight device also includes a thermal imaging detection element disposed on the side of the second carrier along the second direction near either the first clamping assembly or the second clamping assembly; and / or

[0023] The flight device also includes a leakage current detection element disposed on the side of the second carrier along the second direction near either the first clamping assembly or the second clamping assembly; and / or

[0024] The flight device also includes a vision sensor located on the flight body, enabling the flight body to fly to the side of the power line along the first direction by means of the vision sensor.

[0025] In one embodiment, the flight device further includes a repair component disposed on the flight body, the repair component having an output port located on the side of the second carrier close to either the first clamping component or the second clamping component along a second direction;

[0026] The repair component is able to output repair adhesive droplets onto the surface of the power line in response to the test results of the first testing agency.

[0027] In one embodiment, the flight device further includes a plurality of spiral assemblies connected to the first carrier; each spiral assembly includes a fourth drive member, a fifth drive member, and a spiral member;

[0028] The fourth driving component is used to drive the propeller so that the propeller can rotate on the first reference plane and move the flight device along the first direction.

[0029] The fifth driving component is used to drive the fourth driving component so that the propeller can rotate on the second reference plane and move the flight device in the second direction;

[0030] The first reference plane is a plane perpendicular to the first direction; the second reference plane is a plane parallel to both the first and second directions.

[0031] In one embodiment, the second carrier includes:

[0032] A first support portion and a second support portion are arranged at relative intervals along a third direction; a first detection mechanism is located in either the first support portion or the second support portion; the first support portion and the second support portion are respectively controllably rotatably connected to the first support member;

[0033] The first airfoil structure has a first surface and is disposed on the first load-bearing part; and

[0034] The second airfoil structure has a second surface and is located in the second load-bearing part;

[0035] During the movement of the first and second bearing parts, the second bearing member has an unfolded state and a folded state;

[0036] In the deployed state, the first surface of the first airfoil structure and the second surface of the second airfoil structure are both planes perpendicular to the first direction, and the first detection mechanism is located on the side of the first carrier member along the third direction.

[0037] In the folded state, the first surface of the first airfoil structure and the second surface of the second airfoil structure are both planes perpendicular to a third direction; the first detection mechanism is used to perform visual inspection of the power lines;

[0038] The third direction, the second direction, and the first direction are perpendicular to each other.

[0039] The aforementioned flying device is used for inspecting power lines. The device includes at least a flying body for flying to one side of the power line along a first direction. A first clamping assembly, a second clamping assembly, and a support assembly are mounted on a second carrier of the flying body. The support assembly is located between the first and second clamping assemblies. This allows the first and second clamping assemblies to clamp the power line at different positions along the second direction. The first and second clamping assemblies are then brought closer together, while the support member of the support assembly is moved along the first direction to abut against the power line, causing it to bend. A first detection mechanism located on the first carrier then performs visual inspection of the surface at the bend. This allows for quality inspection of the power line at a certain degree of bending, such as detecting cracks or discoloration, improving the inspection effect and reducing power safety risks. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the structure of a flight device in one embodiment of this application.

[0041] Figure 2 for Figure 1 A schematic diagram of a part of the structure.

[0042] Figure 3 for Figure 1 Another structural diagram in the diagram.

[0043] Figure 4 for Figure 3 A schematic diagram of the components.

[0044] Figure 5 This is a schematic diagram of the structure of a flight device in another embodiment of this application.

[0045] Figure 6 for Figure 5 A schematic diagram of the components.

[0046] Figure 7 for Figure 2 A schematic diagram of a part of the structure.

[0047] Figure 8 This is a schematic diagram of the structure of the flight device in another embodiment of this application.

[0048] Figure 9 for Figure 8 A schematic diagram of a part of the structure.

[0049] Figure 10 for Figure 8 Another structural diagram in the diagram.

[0050] Explanation of icon numbers:

[0051] Power line 100;

[0052] Flight device 10;

[0053] Flight body 11, first support member 111, opening 111a; second support member 112, first support part 1121, second support part 1122, first sub-connecting part L1, second sub-connecting part L2; first airfoil structure 1123, second airfoil structure 1124, first surface a1, second surface a2; first locking part 1125, first sub-locking part w1, second sub-locking part w2, second locking part 1126, groove m1, electromagnetic lock m2, sleeve m21, third spring m22, pin m23, first electromagnet m24, second electromagnet m25, third locking part 1127, first damping structure 1128, first damping rod g11, first spring g12, first mounting base g13, first connecting rod g14, second connecting rod g15, first support rod g16, first mounting plate g17, first pressure plate g18, second damping structure 1129;

[0054] Clamping mechanism 12, first clamping assembly 121, first clamping member 121a, second clamping member 121b, first fixing seat 121c, first electric cylinder 121d, guide post 121e, first fixing member 121f, second clamping assembly 122, third clamping member 122a, fourth clamping member 122b, second fixing member 122c;

[0055] Support component 13, support member 131, first telescopic member 132, base 133, first connector 134, second connector 135;

[0056] First testing agency 14, first photographic document 141, second photographic document 142;

[0057] Repair component 15, output port 15a, storage tank 151, tank body 151a, cover 151b, filter screen 151c, delivery pipe 152, pump body 153;

[0058] Spiral assembly 16, fourth drive component 161, fifth drive component 162, spiral component 163, frame 164, and fixing bracket 165;

[0059] First driving component P1, bidirectional lead screw P11, slider P111, motor P12;

[0060] Second drive unit P2, second electric cylinder P21;

[0061] Third drive component P3, third electric cylinder P31, second telescopic component P32, third telescopic component P33;

[0062] First pressing component A1, second pressing component A2;

[0063] First slider B1, second slider B2;

[0064] Controller s1, signal transmitter s2, signal receiver s3, visual sensor s4;

[0065] Thermal imaging detection component Q1, leakage current detection component Q2;

[0066] First direction F1, second direction F2, third direction F3. Detailed Implementation

[0067] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0068] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0069] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0070] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0071] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0072] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0073] Power lines are an indispensable infrastructure in modern society, and their safety and reliability are crucial to socio-economic development. However, due to long-term operation and the influence of the external environment, power line equipment may experience problems such as insulation aging, damage, or line faults, leading to safety hazards and power outages. Therefore, it is necessary to conduct regular inspections and tests on power lines.

[0074] In related technologies, inspection equipment typically uses cameras and infrared scanning to inspect the surface of wires. However, aging can only be judged by observing the appearance integrity or color of the wire insulation layer. But the aging rate of power lines is not absolute and is closely related to the quality of the wire, the thickness of the wire, the installation environment, and the usage environment. Therefore, judging whether the insulation layer is aging based on the service life of the wire or a simple observation of the surface is unreliable and not convenient for detecting the insulation layer of the wire to predict its aging degree and service life in advance.

[0075] Based on this, embodiments of this application provide a flight device that improves the detection effect of power lines and reduces power safety risks.

[0076] Figure 1 A schematic diagram of the structure of a flight device according to an embodiment of this application is shown. Figure 2 It shows Figure 1 A partial structural diagram. See also... Figure 1 and Figure 2 An embodiment of this application provides a flight device 10, including a flight body 11, a clamping mechanism 12, a support assembly 13, and a first detection mechanism 14. The flight body 11 is used to fly to one side of the power line 100 along a first direction F1. The flight body 11 includes a first support member 111 and a second support member 112, with the second support member 112 disposed on the first support member 111. The clamping mechanism 12 includes a first clamping assembly 121 and a second clamping assembly 122 disposed on the first support member 111. The first clamping assembly 121 is used to clamp at least a portion of the power line 100 along a second direction F2, and the second clamping assembly 122 is used to clamp at least another portion of the power line 100 along the second direction F2. The first clamping assembly 121 and the second clamping assembly 122 are movable relative to each other along the second direction F2. The support assembly 13 is located between the first clamping assembly 121 and the second clamping assembly 122. The support assembly 13 includes a support member 131, which is moved along a first direction F1 toward the power line 100 to abut against the power line 100. A first detection mechanism 14 is disposed on the second carrier member 112 and is located on the side of the clamping mechanism 12 away from the support assembly 13 along the first direction F1.

[0077] The flight device 10 has a first state. In the first state, the second direction F2 is parallel to or intersects the extension direction of the electric field line 100. The first clamping assembly 121 and the second clamping assembly 122 clamp the electric field line 100 and move closer to each other along the second direction F2. The support member 131 abuts against the electric field line 100 to bend it. The first detection mechanism 14 can perform visual inspection on the electric field line 100. The first direction F1 and the second direction F2 are perpendicular to each other. In this embodiment, the electric field line 100 generally refers to a single electric field line 100 with an insulating layer on its outer surface.

[0078] The first carrier 111 refers to a carrier capable of supporting the second carrier 112 and other related components. Specifically, the first carrier 111 can be constructed as a box structure. The first carrier 111 can accommodate related control components or drive components. It should be noted that in this embodiment, the flight device 10 also includes supporting hardware such as a controller s1, a signal transmitter s2, a signal receiver s3, a visual sensor s4, and a locator (not shown in the figure). The visual sensor s4 and the locator acquire corresponding environmental images and position information and send them to the controller s1. The controller s1 then transmits the information back to the manual control console via the signal transmitter s2. In this way, the flight body 11 can be remotely controlled to fly accurately to one side of the power line 100 along the first direction F1. The first direction F1 generally refers to the vertical direction. In this embodiment, the flight body 11 is specifically capable of flying to a position below the power line 100 along the first direction F1 (i.e., the vertical direction).

[0079] The second support member 112 refers to a component used at least to support the first detection mechanism 14. The second support member 112 is disposed on the first support member 111, and can be generally considered as a frame. In some embodiments, such as Figure 1 As shown, the second support member 112 can be fixed relative to the first support member 111. In some other embodiments, the second support member 112 can be movable relative to the first support member 111. The specific configuration can be made according to actual needs, and this embodiment does not limit it.

[0080] Both the first clamping assembly 121 and the second clamping assembly 122 are components capable of clamping and releasing the electric field line 100. The first clamping assembly 121 and the second clamping assembly 122 can be constructed as a wrapping structure, respectively wrapping around and clamping two positions of the electric field line 100. It should be noted that when the flight body 11 reaches the side of the electric field line 100 along the first direction F1, the flight body 11 can be finely adjusted using components such as the visual sensor s4, so that the first clamping assembly 121 and the second clamping assembly 122 are respectively aligned with the lower surface of the electric field line 100 along the first direction F1, so as to clamp the electric field line 100. Furthermore, the first clamping assembly 121 and the second clamping assembly 122 can move at intervals along the second direction F2.

[0081] Support assembly 13 refers to a component that can movably abut against the power line 100. The support member 131 of support assembly 13 is movable along a first direction F1. First detection mechanism 14 refers to a component for performing visual inspection. First detection mechanism 14 is provided on second support member 112 so that first detection mechanism 14 can view and photograph the power line 100 from above.

[0082] Specifically, the flight device 10 has a first state. This first state refers to the state in which the flight device 10 is ready to detect the power line 100. In the first state, the second direction F2 is parallel to or intersects the extension direction of the power line 100. The second direction F2 is the horizontal direction. Generally, the extension direction of the power line 100 is parallel to the horizontal direction, or it is slightly tilted due to gravity, but this does not affect the clamping operation of the first clamping assembly 121 and the second clamping assembly 122. By clamping the power line 100 with the first clamping assembly 121 and the second clamping assembly 122 respectively and bringing them closer to each other along the second direction F2, the power line 100 is driven to contract and bend. At the same time, the support member 131 of the support assembly 13 is controlled to move along the first direction F1 and approach the power line 100 to make the power line 100 bend upward. Thus, the first detection mechanism 14 performs visual inspection on the bent top surface of the power line 100.

[0083] In this embodiment, the first clamping assembly 121 and the second clamping assembly 122 clamp the power line 100 at different positions along the second direction F2, respectively. Then, the first clamping assembly 121 and the second clamping assembly 122 are brought closer together, while the support member 131 is moved along the first direction F1 to abut against the power line 100, causing the power line 100 to bend. The first detection mechanism 14 located on the second support member 112 then performs visual inspection on the surface of the bent portion of the power line 100. This allows for quality inspection of the power line 100 at a certain degree of bending, such as checking for cracks or discoloration. Furthermore, based on the degree of bending at this point, the aging degree of the insulation layer of the power line 100 can be predicted, reducing the risk of power failure caused by severe insulation aging, improving the effectiveness of early detection and prediction, and lowering power safety risks.

[0084] Continue reading Figure 2 and combined Figure 3 In some embodiments, the first clamping assembly 121 includes a first clamping member 121a and a second clamping member 121b connected to the first carrier member 111. The first clamping member 121a and the second clamping member 121b can move closer to or further away from each other along a third direction F3. The third direction F3, the second direction F2, and the first direction F1 are perpendicular to each other. Further, the second clamping assembly 122 includes a third clamping member 122a and a fourth clamping member 122b connected to the first carrier member 111. The third clamping member 122a and the fourth clamping member 122b can move closer to or further away from each other along a third direction F3.

[0085] Specifically, the first clamping member 121a and the second clamping member 121b can be constructed as a clamping block structure. The two opposing surfaces between the first clamping member 121a and the second clamping member 121b are arc-shaped surfaces to facilitate the clamping of the cylindrical electric wire 100. It should be noted that the first clamping assembly 121 also includes a first fixing seat 121c and two first electric cylinders 121d. The first fixing seat 121c is provided with a groove, and the first fixing seat 121c extends through both sides along the second direction F2, with the first clamping member 121a and the second clamping member 121b located within the groove. The two first electric cylinders 121d are located on both sides of the first fixing seat 121c along the third direction F3. One of the first electric cylinders 121d passes through one side wall of the first fixing seat 121c along the third direction F3 and is connected to the first clamping member 121a, while the other passes through the other side wall of the first fixing seat 121c along the third direction F3 and is connected to the second clamping member 121b.

[0086] Furthermore, the first clamping assembly 121 also includes two guide posts 121e. One guide post 121e passes through one side wall of the first fixed base 121c arranged in the third direction F3 and is connected to the first clamping member 121a, for guiding the first clamping member 121a. The other guide post 121e passes through the other side wall of the first fixed base 121c arranged in the third direction F3 and is connected to the second clamping member 121b, for guiding the second clamping member 121b. One first electric cylinder 121d can respond to the control command of the controller s1 to drive the first clamping member 121a, and the other first electric cylinder 121d can respond to the control command of the controller s1 to drive the second clamping member 121b, so that the first clamping member 121a and the second clamping member 121b can move closer or further apart from each other in the third direction F3. In addition, the setting principle of the second clamping assembly 122 is the same as that of the first clamping assembly 121, which will not be described in detail here.

[0087] In this way, the first clamping component 121 can clamp the side wall of the power line 100 or release the power line 100, and the second clamping component 122 can clamp the side wall of the power line 100 or release the power line 100, which helps to detect the bending of the power line 100.

[0088] Continue reading 2 and Figure 3 and combined Figure 4In some embodiments, the flight device 10 further includes a first drive member P1 and a second drive member P2. The first drive member P1 is disposed on the first support member 111. The first drive member P1 is used to drive the first clamping assembly 121 and the second clamping assembly 122 to move closer or further apart from each other along a second direction F2. The second drive member P2 is connected to the first drive member P1 and is located between the first clamping assembly 121 and the second clamping assembly 122. The second drive member P2 is used to drive the support member 131 to reciprocate along the first direction F1.

[0089] Specifically, the first driving component P1 can be constructed as a matching structure of a bidirectional lead screw P11 and a motor P12. The bidirectional lead screw P11 is provided with a housing, and the motor P12 passes through the housing and is connected to one end of the bidirectional lead screw P11. The bidirectional lead screw P11 has two sliders P111. The first clamping assembly 121 also includes a first fixing member 121f, and the second clamping assembly 122 also includes a second fixing member 122c. The first fixing member 121f of the first clamping assembly 121 is connected to one of the sliders P111, and the second fixing member 122c of the second clamping assembly 122 is connected to the other slider P111, so that the motor P12 drives the bidirectional lead screw P11 to move the first clamping assembly 121 and the second clamping assembly 122 closer together or further apart. It should be noted that the first driving component P1 can be fixed relative to the first support member 111, or it can be movable relative to the first support member 111, which can be set according to actual needs, and this embodiment does not impose any limitations.

[0090] Furthermore, the second driving member P2 includes a second electric cylinder P21. The second driving member P2 is connected to the housing of the first driving member P1 to realize the installation of the second driving member P2 and to position the second driving member P2 between the first clamping assembly 121 and the second clamping assembly 122. Thus, after the first clamping assembly 121 and the second clamping assembly 122 tighten and retract the power line 100, the second driving member P2 drives the support member 131 to move towards the power line 100 along the first direction F1, so that the support member 131 can lift the power line 100 and make it bend, which facilitates the detection of the circuit line when the circuit line has a certain degree of bending.

[0091] Continue reading Figure 2 and Figure 4In some embodiments, the support assembly 13 further includes a first telescopic member 132, a seat 133, a first connecting member 134, and a second connecting member 135. The first telescopic member 132 is connected to the housing of the first driving member P1, and one end of the first telescopic member 132 away from the first driving member P1 along the first direction F1 is connected to the seat 133. One side of the seat 133 along the second direction F2 is rotatably connected to one end of the first connecting member 134, and the other end of the first connecting member 134 is rotatably connected to the first fixing member 121f. The other side of the seat 133 along the second direction F2 is rotatably connected to one end of the second connecting member 135, and the other end of the second connecting member 135 is rotatably connected to the second fixing member 122c. The second driving member P2 is disposed on the seat 133, and one end of the second driving member P2 away from the seat 133 is connected to the support member 131.

[0092] Specifically, as the first clamping assembly 121 and the second clamping assembly 122 approach each other along the second direction F2, the first telescopic member 132 can be moved upward by the first connecting member 134 and the second connecting member 135, so that the support member 131 can approach or contact the power line 100. Thus, the second driving member P2 can drive the support member 131 to lift the power line 100, causing it to bend, so that the first detection mechanism 14 can detect whether the power line 100 has cracks, fissures, or discoloration. It should be noted that the bending detection of the power line 100 is performed within the safe range of the bending degree of the power line 100; the bending degree should not be too large or too small.

[0093] Continue reading Figure 2 and Figure 3 In some embodiments, both the first clamping assembly 121 and the second clamping assembly 122 are positioned to be movable along the first direction F1 toward the power line 100. The flight device 10 also includes a third drive member P3 disposed on the first support member 111, and the third drive member P3 is connected to the first drive member P1. The third drive member P3 is used to drive the first drive member P1 to reciprocate along the first direction F1, so that the first clamping assembly 121, the second clamping assembly 122, and the support member 131 reciprocate along the first direction F1.

[0094] It should be noted that in this embodiment, in the first state, the first detection mechanism 14 performs micro-detection on the power line 100. Therefore, the first detection mechanism 14 is relatively close to the power line 100 along the first direction F1. Consequently, the distance between the first detection mechanism 14 and the first clamping member 121a / second clamping member 121b in the first direction F1 is relatively small. Therefore, when the flight body 11 is located below the power line 100, it is necessary to adjust the positions of the first clamping component 121 and the second clamping component 122. Both the first clamping component 121 and the second clamping component 122 can reciprocate along the first direction F1 so that the first clamping component 121 and the second clamping component 122 can avoid the power line 100, so that the power line 100 is close to the first detection mechanism 14. Then, the first clamping component 121 and the second clamping component 122 are moved to get closer to the power line 100, thereby facilitating the clamping of the power line 100.

[0095] Specifically, the first support member 111 has an opening 111a and a receiving cavity (not shown in the figure) communicating with the opening 111a. The third drive member P3 can be located inside the receiving cavity of the first support member 111, and one end of the third drive member P3 along the first direction F1 is connected to the bottom wall of the housing of the first drive member P1. The third drive member P3 can be constructed as a third electric cylinder P31. The first drive member P1 can be raised and lowered within the first support member 111 through the opening 111a of the first support member 111, which is beneficial for achieving a compact arrangement of the components.

[0096] Furthermore, in this embodiment, the flight device 10 also includes a second telescopic member P32 and a third telescopic member P33 disposed within the first support member 111. Both the second telescopic member P32 and the third telescopic member P33 are fixed to the inner bottom wall of the receiving cavity of the first support member 111. One end of the second telescopic member P32, along the first direction F1 away from the inner bottom wall, is connected to the outer bottom wall of the housing of the first drive member P1. The other end of the third telescopic member P33, along the first direction F1 away from the inner bottom wall, is connected to the outer bottom wall of the housing of the first drive member P1, so that the first drive member P1 can maintain balance. The third drive member P3 drives the first drive member P1, thereby causing the first clamping assembly 121, the second clamping assembly 122, and the support member 131 connected to the first drive member P1 to reciprocate along the first direction F1. In this way, the positions of the first clamping assembly 121, the second clamping assembly 122, and the support member 131 can be adjusted, facilitating relevant avoidance operations, and also facilitating the bending detection of the power line 100.

[0097] In other embodiments, the first driving member P1 can be fixed relative to the first bearing member 111 so that the first clamping assembly 121 / second clamping assembly 122 can be fixed relative to the first detection mechanism 14. The distance between the first detection mechanism 14 and the first clamping assembly 121 / second clamping assembly 122 in the first direction F1 is set to be large, so no relevant avoidance operation is required. In this way, the power line 100 can be detected in high definition by the first detection mechanism 14.

[0098] Continue reading Figure 2 and Figure 4 In some embodiments, the support member 131 may be configured as a support wheel. The electric field line 100 is less prone to slippage due to the engagement between the concave surface of the support member 131 and the surface of the electric field line 100. This facilitates the support member 131 in smoothly supporting the electric field line 100 and allowing the electric field line 100 to bend.

[0099] Continue reading Figure 2 and Figure 3 In some embodiments, the flight device 10 further includes a first pressing member A1 and a second pressing member A2 connected to the first detection mechanism 14. The first pressing member A1 and the second pressing member A2 are spaced apart along a second direction F2 and located between the first clamping assembly 121 and the second clamping assembly 122. In a first state, the support member 131 is located between the first pressing member A1 and the second pressing member A2, and the first pressing member A1 and the second pressing member A2 can abut against the power line 100 along the first direction F1.

[0100] Specifically, both the first pressing member A1 and the second pressing member A2 can be constructed as pressing rollers. The concave surfaces of the first pressing member A1 and the second pressing member A2 respectively engage with the surface of the power line 100, preventing the power line 100 from slipping. Thus, during the process of the power line 100 being lifted by the support member 131, the first pressing member A1 and the second pressing member A2 press on the other side, causing the power line 100 to be lifted between the first pressing member A1 and the second pressing member A2 and exhibit a certain degree of bending. This allows the first detection mechanism 14 to detect whether the surface of the power line 100 at the bend exhibits cracks, fissures, or discoloration, improving the detection effect of the power line 100 and enhancing the fault diagnosis capability.

[0101] Continue reading Figure 2 In some embodiments, the flight device 10 further includes a first slider B1 and a second slider B2. The first slider B1 is disposed on the side of the second support member 112 along the second direction F2 near the first clamping assembly 121, and the second slider B2 is disposed on the side of the second support member 112 along the second direction F2 near the second clamping assembly 122. The first slider B1 and the second slider B2 are configured to be slidably connected to the sidewall of the power line 100 along the second direction F2.

[0102] Specifically, both the first sliding member B1 and the second sliding member B2 can be constructed as pulleys, so that the power line 100 can be engaged in the groove of the pulley. The first sliding member B1 is located on the side of the second support member 112 along the second direction F2 near the first clamping assembly 121, and the second sliding member B2 is located on the side of the second support member 112 along the second direction F2 near the second clamping assembly 122. Thus, when the flight body 11 flies to the side of the power line 100 along the first direction F1, the first sliding member B1 and the second sliding member B2 are engaged with the power line 100 respectively, so that the flight body 11 can hover and be positioned, and then the first clamping assembly 121, the second clamping assembly 122 and the support member 131 are driven to rise to perform bending detection on the power line 100. After the detection is completed, the power line 100 can be released by the first clamping assembly 121 and the second clamping assembly 122, or the clamping mechanism 12 and the support assembly 13 can be lowered, so that the flight body 11 can move along the extension direction of the power line 100 by means of the first slider B1 and the second slider B2 to detect the next position of the power line 100.

[0103] Referring again to FIG3, in some embodiments, the first detection mechanism 14 includes a first camera 141. In a first state, the first camera 141 is capable of visually inspecting one side of the surface where the power line 100 bends along the first direction F1.

[0104] Specifically, the first camera 141 can perform visual inspection on the surface of the power line 100 that bends along the first direction F1, that is, to take a macro-level image of the surface at the bend of the power line 100. The captured image is then transmitted back to the manual control console via the controller s1 for worker observation, or the image can be directly input into the power line 100 image recognition system to identify whether cracks, fissures, or discoloration have appeared on the bend surface of the power line 100. In this way, the efficiency of fault detection of the power line 100 can be improved, and the risk of power safety can be reduced.

[0105] In some embodiments, the first detection mechanism 14 further includes a second camera 142 located on the side of the first camera 141 along the third direction F3. In a first state, the second camera 142 is capable of visually detecting the power line 100 along the sidewall of the third direction F3. The third direction F3 is perpendicular to the second direction F2.

[0106] Specifically, in this embodiment, two second cameras 142 can be provided. One second camera 142 is located on the side of the first camera 141 along the third direction F3, and the other second camera 142 is located on the other side of the first camera 141 along the third direction F3. Furthermore, the shooting angle of the second camera 142 towards the side wall of the power line 100 can be set to an oblique shooting angle or a vertical shooting angle, without limitation. Thus, by using the second camera 142 to assist in shooting the side wall of the power line 100, it is easier for manual observation and investigation of potential safety hazards of the power line 100.

[0107] Continue reading Figure 2 In some embodiments, the flight device 10 further includes a thermal imaging detection element Q1, which is disposed on the side of the second support member 112 along the second direction F2 near either the first clamping assembly 121 or the second clamping assembly 122. Specifically, the thermal imaging detection element Q1 is also a thermal imager, a common technology for temperature detection, which will not be described further here. Distributing the thermal imaging detection element Q1 on the side of the second support member 112 along the second direction F2 near either the first clamping assembly 121 or the second clamping assembly 122 means that the thermal imaging detection element Q1 is positioned near the first sliding member B1 or near the second sliding member B2. When the first sliding member B1 and the second sliding member B2 contact the power line 100, the thermal imaging detection element Q1 is positioned near the power line 100. Thus, in the first state or during the movement of the flight body 11 along the extension direction of the power line 100, the thermal imaging detection element Q1 can be used to detect the temperature of the power line 100, identify hot spot faults, and reduce electrical safety risks.

[0108] In some embodiments, the flight device 10 further includes a leakage current detection element Q2, which is disposed on the side of the second support member 112 along the second direction F2 near either the first clamping assembly 121 or the second clamping assembly 122. It should be noted that the leakage current detection element Q2 is also known as a leakage current detector, a common technology for circuit testing, which will not be described in detail here. Specifically, the leakage current detection element Q2 is disposed on the side of the second support member 112 along the second direction F2 near either the first clamping assembly 121 or the second clamping assembly 122. That is, the leakage current detection element Q2 can be disposed near either the first sliding member B1 or the second sliding member B2. When the first sliding member B1 and the second sliding member B2 contact the power line 100, the leakage current detection element Q2 can also contact the power line 100. Thus, in the first state or during the movement of the flight body 11 along the extension direction of the power line 100, the leakage current detection element Q2 can be used to detect leakage current in the power line 100, troubleshoot circuit faults, and reduce electrical safety risks.

[0109] Continue reading Figure 1In some embodiments, the flight device 10 further includes a visual sensor s4 disposed on the flight body 11, enabling the flight body 11 to fly to the side of the power line 100 along the first direction F1 by means of the visual sensor s4. It should be noted that the visual sensor s4 is constructed as a camera and is equipped with a transparent protective cover. In this embodiment, the number of visual sensors s4 may be two; in other embodiments, the number of visual sensors s4 may be three or four, etc., and is not limited here.

[0110] Specifically, two visual sensors s4 can be installed on the surface of the housing of the first carrier 111, and the visual directions of the two visual sensors s4 are parallel to the first direction F1. In this way, when the flight body 11 flies near the power line 100, it can obtain the image above the flight body 11 in real time through the visual sensors s4 to perceive the orientation of the power line 100, thereby facilitating the control and adjustment of the position of the flight body 11 so that the flight body 11 flies to a position below (directly below) the power line 100.

[0111] See Figure 5 In some embodiments, the flight device 10 further includes a repair assembly 15 disposed on the flight body 11. The repair assembly 15 has an output port 15a located on the side of the second carrier 112 along the second direction F2 near either the first clamping assembly 121 or the second clamping assembly 122. The repair assembly 15 is capable of outputting repair adhesive droplets onto the surface of the power line 100 in response to the detection result of the first detection mechanism 14.

[0112] It should be noted that the repair component 15 refers to the component used to output the repair adhesive. The repair adhesive refers to the adhesive used to bond the power lines 100. In this embodiment, the repair adhesive may be mixed with pigments that do not affect the bonding effect, so as to improve the recognizability of the damaged location of the power lines 100.

[0113] Specifically, the repair component 15 can be disposed on the housing surface of the first support member 111. The output port 15a of the repair component 15 is located on the side of the second support member 112 along the second direction F2, close to either the first clamping component 121 or the second clamping component 122. That is, the output port 15a can be disposed close to the first sliding member B1 or close to the second sliding member B2, as long as in the first state, the output port 15a faces the upper surface of the power line 100. The repair component 15 can respond to the detection results of the first detection mechanism 14 by outputting repair adhesive droplets onto the surface of the power line 100. That is, according to the image captured by the first detection mechanism 14, if cracks, fissures, or discoloration are detected in the insulation layer on the surface of the power line 100, the bending operation of the power line 100 is immediately stopped, the clamping mechanism 12 releases the power line 100, the flight body 11 moves along the extension direction of the power line 100, and at the same time, the controller s1 controls the repair component 15 to output repair adhesive droplets onto the upper surface of the power line 100. The repair adhesive flows downward along the surface of the power line 100, thereby using the repair adhesive to temporarily repair different locations on the surface of the power line 100, so as to delay the aging of the power line 100 and reduce the risk of electrical safety.

[0114] See Figure 6 and combined Figure 5 In some embodiments, the repair assembly 15 includes a storage tank 151, a delivery pipe 152, and a pump body 153. The storage tank 151 stores the repair adhesive. The storage tank 151 is disposed on the surface of the first support member 111 near the second support member 112. The delivery pipe 152 communicates with the storage tank 151 and has an outlet 15a. The pump body 153 is connected to the delivery pipe 152 and is used to deliver the repair adhesive from the storage tank 151 to the outlet 15a through the delivery pipe 152.

[0115] It should be noted that, in this embodiment, the storage tank 151 includes a tank body 151a and a cover body 151b connected to each other. The cover body 151b has a through hole for feeding (not shown in the figure). The cover body 151b is provided with a filter screen 151c at the through hole, so that the repair adhesive is filtered by the filter screen 151c during the feeding process into the tank body 151a.

[0116] Specifically, the storage tank 151 is located on the surface of the housing of the first support member 111, the pump body 153 can be located on the second support member 112, the delivery pipe 152 is connected to the storage pipe 151 and passes through the pump body 153, and the output port 15a is fixed to one side of the first sliding member B1 / second sliding member B2. According to the image captured by the first detection mechanism 14, if cracks, fissures or discoloration are detected on the surface insulation layer of the power line 100, the bending operation of the power line 100 is immediately stopped. The controller s1 controls the pump body 153 to discharge the repair adhesive in the storage tank 151 through the delivery pipe 152 and the output port 15a and drip it onto the upper surface of the power line 100. At the same time, the flight body 11 can be moved along the power line 100 to cover more of the surface of the power line 100, thereby achieving temporary repair of the power line 100.

[0117] Continue reading Figure 2 and combined Figure 7 In some embodiments, the flight device 10 further includes a plurality of helical assemblies 16 connected to the first support member 111. Each helical assembly 16 includes a fourth drive member 161, a fifth drive member 162, and a helical member 163. The fourth drive member 161 drives the helical member 163 to rotate on a first reference plane and to move the flight device 10 along a first direction F1. The fifth drive member 162 drives the fourth drive member 161 to rotate the helical member 163 on a second reference plane and to move the flight device 10 along a second direction F2. The first reference plane is a plane perpendicular to the first direction F1. The second reference plane is a plane parallel to both the first direction F1 and the second direction F2.

[0118] It should be noted that four spiral assemblies 16 are provided, and the four spiral assemblies 16 are respectively installed at the four corners of the housing edge of the first support member 111 to achieve dynamic balance. Each spiral assembly 16 also includes a frame 164 and a fixing frame 165. The fifth drive member 162 is disposed on the frame 164, the fourth drive member 161 is disposed on the fixing frame 165, the output end of the fifth drive member 162 is connected to the fixing frame 165, and the output end of the fourth drive member 161 is connected to the spiral member 163, i.e., the propeller. In this embodiment, both the fourth drive member 161 and the fifth drive member 162 are constructed as motors P12. The first reference plane can be regarded as a horizontal plane, and the second reference plane can be regarded as a vertical plane.

[0119] Specifically, during the flight of the flight body 11 to the power line 100, the fourth drive component 161 can drive the auger component 163 to rotate on the first reference plane, i.e., the horizontal plane, so that the flight body 11 can ascend along the first direction F1. After the flight body 11 detects the power line 100, when it is necessary to repair the power line 100 or to detect the next position of the power line 100, the fifth drive component 162 can drive the fixed frame 165 to rotate, causing the fourth drive component 161 and the auger component 163 to rotate on the second reference plane, i.e., the vertical plane, so that the flight body 11 can move along the second direction F2 (parallel to or approximately parallel to the extension direction of the power line 100), thereby improving the detection effect of the power line 100 and reducing the electrical safety risk.

[0120] See Figure 8 In some embodiments, the second support member 112 includes a first support portion 1121, a second support portion 1122, a first airfoil structure 1123, and a second airfoil structure 1124. The first support portion 1121 and the second support portion 1122 are arranged at a relative interval along a third direction F3. The first detection mechanism 14 is located at either the first support portion 1121 or the second support portion 1122. The first support portion 1121 and the second support portion 1122 are respectively controllably rotatably connected to the first support member 111. The first airfoil structure 1123 has a first surface a1 and is disposed on the first support portion 1121. The second airfoil structure 1124 has a second surface a2 and is disposed on the second support portion 1122. During the movement of the first support portion 1121 and the second support portion 1122, the second support member 112 has an unfolded state and a folded state. In the deployed state, the first surface a1 of the first airfoil structure 1123 and the second surface a2 of the second airfoil structure 1124 are both planes perpendicular to the first direction F1, and the first detection mechanism 14 is located on the side of the first carrier member 111 along the third direction F3. In the folded state, the first surface a1 of the first airfoil structure 1123 and the second surface a2 of the second airfoil structure 1124 are both planes perpendicular to the third direction F3. The first detection mechanism 14 is used to perform visual inspection of the power line 100. The third direction F3, the second direction F2, and the first direction F1 are perpendicular to each other.

[0121] It should be noted that, in this embodiment, the second support member 112 is movable relative to the first support member 111. The first airfoil structure 1123 and the second airfoil structure 1124 can be roughly regarded as spoilers. The first surface a1 and the second surface a2 refer to the surfaces used for airflow disturbance.

[0122] Specifically, the second support member 112 includes a first support portion 1121 and a second support portion 1122 arranged at intervals along a third direction F3. The first support portion 1121 has two first sub-connecting portions L1 arranged opposite each other along a second direction F2, and the two first sub-connecting portions L1 are respectively hinged to the housing surface of the first support member 111. A first airfoil structure 1123 is connected between the two first sub-connecting portions L1 and is located on the side of the two first sub-connecting portions L1 away from the first support member 111. The second support member 112 has two second sub-connecting portions L2 arranged opposite each other along the second direction F2, and the two second sub-connecting portions L2 are respectively hinged to the housing surface of the first support member 111. A second airfoil structure 1124 is connected between the two second sub-connecting portions L2 and is located on the side of the two second sub-connecting portions L2 away from the first support member 111. The first detection mechanism 14 can be located in either the first support portion 1121 or the second support portion 1122. In the folded state, the first detection mechanism 14 is located between the first support portion 1121 and the second support portion 1122, so that the first detection mechanism 14 can perform visual inspection on the power line 100.

[0123] In addition, please continue to refer to Figure 8 In this embodiment, the first slider B1 is composed of two parts divided by a pulley, and the second slider B2 is also composed of two parts divided by a pulley. A portion of the first slider B1 is disposed on a first sub-connecting portion L1 of the first support portion 1121, and the other portion of the first slider B1 is disposed on another first sub-connecting portion L1 of the first support portion 1121. A portion of the second slider B2 is disposed on a second sub-connecting portion L2 of the second support portion 1122, and the other portion of the second slider B2 is disposed on another second sub-connecting portion L2 of the second support portion 1122. Thus, in the folded state, the first support portion 1121 and the second support portion 1122 are folded together, the two portions of the first slider B1 and the two portions of the second slider B2 are engaged with each other, so that the first slider B1 and the second slider B2 can respectively engage with the power line 100. During the movement of the flight body 11 along the power line 100, the first slider B1 and the second slider B2 respectively slide along the power line 100.

[0124] Furthermore, the first support portion 1121 and the second support portion 1122 are respectively controllably rotatably connected to the first support member 111. During the movement of the first support portion 1121 and the second support portion 1122, the second support member 112 has an deployed state and a folded state. In the deployed state, the first surface a1 of the first airfoil structure 1123 and the second surface a2 of the second airfoil structure 1124 are both planes perpendicular to the first direction F1, and the first detection mechanism 14 is located on the side of the first support member 111 along the third direction F3. That is, the first airfoil structure 1123 and the second airfoil structure 1124 are in a horizontally deployed state, which helps to reduce airflow disturbance and make the flight device 10 fly more smoothly. In the folded state, the first surface a1 of the first airfoil structure 1123 and the second surface a2 of the second airfoil structure 1124 are both planes perpendicular to the third direction F3. The first inspection mechanism 14 is used to perform visual inspection of the power line 100. That is, the first airfoil structure 1123 and the second airfoil structure 1124 are in a vertically folded state to facilitate bending inspection of the power line 100 and perform inspection tasks.

[0125] Continue reading Figure 8 and combined Figure 9 In some embodiments, the second carrier 112 further includes a first locking portion 1125, a second locking portion 1126, and a third locking portion 1127. The first locking portion 1125 includes a first sub-locking portion w1 and a second sub-locking portion w2. The first sub-locking portion w1 is disposed on the surface of the first sub-carrier portion away from the first carrier 111, and the second sub-locking portion w2 is disposed on the surface of the second sub-carrier portion away from the first carrier 111. In the folded state, the first sub-locking portion w1 and the second sub-locking portion w2 can be controlled to lock relative to each other. The second locking portion 1126 and the third locking portion 1127 are both disposed on the first carrier 111. The second locking portion 1126 is used to lock or release the first carrier portion 1121, and the third locking portion 1127 is used to lock or release the second carrier portion 1122.

[0126] It should be noted that both the first sub-locking part w1 and the second sub-locking part w2 are constructed as electromagnets controllable by the controller s1. The second locking part 1126 and the third locking part 1127 are both provided on the housing surface of the first support member 111. In this embodiment, two of the second locking part 1126 and the third locking part 1127 may be provided. In other embodiments, one, three, or four of the second locking part 1126 and the third locking part 1127 may be provided.

[0127] Specifically, in the folded state, the first sub-locking part w1 and the second sub-locking part w2 are fixed to each other by magnetic attraction. When the second carrier 112 needs to be adjusted from the folded state to the unfolded state, the first sub-locking part w1 and the second sub-locking part w2 respond to the control command of the controller s1, and generate magnetic repulsion between the first sub-locking part w1 and the second sub-locking part w2, thereby realizing the binding and release of the first carrier part 1121 and the second carrier part 1122 in the folded state. Furthermore, the first carrier part 1121 and the second carrier part 1122 can be controlled to rotate relative to the first carrier part 111 to unfold the first carrier part 1121 and the second carrier part 1122 to a horizontal state, respectively. The first carrier part 1121 is fixed to the first carrier part 111 by the second locking part 1126, and the second carrier part 1122 is fixed to the first carrier part 111 by the third locking part 1127. In this way, the second carrier part 112 in the unfolded state can be less affected by wind and sway, which is conducive to the more stable flight of the flight device 10.

[0128] Continue reading Figure 9 and combined Figure 10 In some embodiments, the second locking part 1126 includes a groove m1 and an electromagnetic lock m2. The groove m1 is disposed on the first support member 111. The electromagnetic lock m2 includes a sleeve m21, a third spring m22, a pin m23, a first electromagnet m24, and a second electromagnet m25. The sleeve m21 is disposed on the side wall of the groove m1. The third spring m22 and at least part of the wedge block are located inside the sleeve m21. The third spring m22 is connected between the inner wall of the sleeve m21 and the pin m23, and the pin m23 passes through the side wall of the groove m1. A slot is opened in the side wall of the sleeve m21. The first electromagnet m24 passes through the slot and is connected to the pin m23. The second electromagnet m25 is disposed outside the side wall of the sleeve m21, and the first electromagnet m24 and the second electromagnet m25 are movable at intervals.

[0129] It should be noted that the second locking part 1126 and the third locking part 1127 operate on the same principle; the second locking part 1126 will be used as an example for explanation. Specifically, the groove m1 of the second locking part 1126 is located on the surface of the housing of the first support member 111. The pin m23 has a wedge-shaped surface near the groove m1. During the unfolding of the first support member 1121, the first support member 1121 can automatically fall into the groove m1 under the influence of gravity, and with the help of the third spring m22 and the wedge-shaped surface of the pin m23, at least a portion of the first support member 1121 is engaged in the groove m1, thus fixing the first support member 1121 to the first support member 111. Furthermore, when the second carrier 112 needs to be adjusted from the folded state to the unfolded state, the first electromagnet m24 responds to the control command of the controller s1 to generate a magnetic attraction between itself and the second electromagnet m25, so that the pin m23 retracts into the sleeve m21 by means of the magnetic attraction, thereby realizing the automatic unlocking function, which is beneficial for the first carrier 1121 to perform the unfolding operation.

[0130] Continue reading Figure 8 and Figure 9 In some embodiments, the second support member 112 further includes a first damping structure 1128 and a second damping structure 1129. The first damping structure 1128 is connected between a first sub-connecting portion L1 and a second sub-connecting portion L2 located on one side of the first support member 111 along the second direction F2, and the second damping structure 1129 is connected between another first sub-connecting portion L1 and another second sub-connecting portion L2 located on the other side of the first support member 111 along the second direction F2. At least a portion of the first damping structure 1128 and at least a portion of the second damping structure 1129 are disposed within the receiving cavity of the first support member 111 through the opening 111a of the first support member 111.

[0131] It should be noted that the first damping structure 1128 and the second damping structure 1129 operate on the same principle. The first damping structure 1128 will be used as an example for explanation; the specific structure of the first damping structure 1127 is not shown in the figure. The first damping structure 1128 includes a first damping rod g11, a first spring g12, a first mounting base g13, a first connecting rod g14, a second connecting rod g15, a first support rod g16, a first mounting plate g17, and a first pressure plate g18. The second damping structure 1128 includes a first damping rod, a first spring, a first mounting base, a first connecting rod, a second connecting rod, a first support rod, a first mounting plate, and a first pressure plate.

[0132] Specifically, the first damping rod g11 and the first spring g12 are both disposed on the bottom wall of the receiving cavity of the first bearing member 111. The first spring g12 is sleeved on the outside of the first damping rod g11, and the end of the first spring g12 away from the bottom wall is connected to the first mounting base g13. The first mounting base g13 is rotatably connected to one end of the first connecting rod g14 along the third direction F3, and the other end of the first connecting rod g14 is rotatably connected to a first sub-connecting part L1. The first mounting base g13 is rotatably connected to one end of the second connecting rod g15 along the third direction F3, and the other end of the second connecting rod g15 is rotatably connected to a second sub-connecting part L2. Further, the first damping structure 1128 also includes a first support rod g16, a first mounting plate g17, and a first pressure plate g18. The first support rod g16 is connected between the first mounting base g13 and the first mounting plate g17 along the first direction F1. The first pressure plate g18 is disposed on the surface of the first mounting plate g17, and a pressure sensor (not shown in the figure) is provided inside the first pressure plate g18, which is connected to the first pressure plate g18.

[0133] Furthermore, when the flight body 11 flies near the power line 100, the first pressure plate g18 and the second pressure plate of the first damping structure 1128 are brought closer to the power line 100. When the first pressure plate g18 and the second pressure plate are subjected to pressure from the power line 100, the corresponding pressure sensor transmits a signal to the controller s1, which controls the second locking part 1126 and the third locking part 1127 to unlock. At the same time, the flight body 11 continues to rise slightly to increase the pressure of the power line 100 on the first... The pressure of the pressure plate g18 and the second pressure plate causes the first support rod g16 in the first damping structure 1128 to compress the first spring g12 and the first damping rod g11 downwards, and the second support rod in the second damping structure 1129 to compress the second spring and the second damping rod downwards, thereby causing the first bearing part 1121 and the second bearing part 1122 to gradually fold up until they are in a vertical state. At the same time, the first locking part 1125 is controlled to lock the first bearing part 1121 and the second bearing part 1122 to realize the folding operation of the second bearing member 112.

[0134] After detecting the power line 100, the controller s1 controls the first locking part 1125 to unlock. Simultaneously, the first pressure plate g18 and the second pressure plate move away from the power line 100. Under the action of their own gravity and the restoring force of the corresponding first spring g12 and second spring, the first supporting part 1121 and the second supporting part 1122 gradually open, as do the first connecting rod g14 and the second connecting rod g15. The third connecting rod and the fourth connecting rod also gradually open until the first supporting part 1121 falls into the second locking part 1126 and is locked, and the second supporting part 1122 falls into the third locking part 1127 and is locked, thus realizing the unfolding operation of the second supporting member 112. In this way, through the folding and unfolding operation of the second supporting member 112, the bending detection of the power line 100 can be realized, while also helping to improve the stability of the flight device 10.

[0135] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0136] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A flight device, characterized in that, include: The flight body is used to fly to one side of the power line along a first direction; the flight body includes a first support member and a second support member, the second support member being disposed on the first support member; The clamping mechanism includes a first clamping assembly and a second clamping assembly disposed on the first carrier member; the first clamping assembly is used to clamp at least a portion of the electric field line along a second direction, and the second clamping assembly is used to clamp at least another portion of the electric field line along the second direction; the first clamping assembly and the second clamping assembly are movable relative to each other along the second direction. A support assembly is located between the first clamping assembly and the second clamping assembly; the support assembly includes a support member for moving along the first direction toward the power line to abut against the power line; and The first detection mechanism is located on the second carrier and on the side of the clamping mechanism away from the support assembly along the first direction; The flight device has a first state; in the first state, the second direction is parallel to or intersects with the extension direction of the electric line, the first clamping assembly and the second clamping assembly clamp the electric line respectively and move closer to each other along the second direction, the support member abuts against the electric line to bend the electric line, and the first detection mechanism is able to perform visual inspection on the electric line. The second carrier includes: A first support portion and a second support portion are arranged at relative intervals along a third direction; the first detection mechanism is located in either the first support portion or the second support portion; the first support portion and the second support portion are respectively controllably rotatably connected to the first support member; A first airfoil structure has a first surface and is disposed on the first supporting portion; and The second airfoil structure has a second surface and is disposed on the second load-bearing part; During the movement of the first and second bearing parts, the second bearing member has an unfolded state and a folded state; In the deployed state, the first surface of the first airfoil structure and the second surface of the second airfoil structure are both planes perpendicular to the first direction, and the first detection mechanism is located on one side of the first carrier along the third direction; In the folded state, the first surface of the first airfoil structure and the second surface of the second airfoil structure are both planes perpendicular to the third direction; the first detection mechanism is used to perform visual inspection of the power lines; The third direction, the second direction, and the first direction are perpendicular to each other.

2. The flight device according to claim 1, characterized in that, The first clamping assembly includes a first clamping member and a second clamping member connected to the first carrier member, the first clamping member and the second clamping member being able to move closer to or further away from each other along a third direction; and / or The second clamping assembly includes a third clamping member and a fourth clamping member connected to the first carrier member, wherein the third clamping member and the fourth clamping member can move closer to or further away from each other in a third direction.

3. The flight device according to claim 1, characterized in that, The flight device also includes: A first driving member is disposed on the first bearing member; the first driving member is used to drive the first clamping assembly and the second clamping assembly to move closer to or further away from each other along the second direction; The second driving member is connected to the first driving member and is located between the first clamping assembly and the second clamping assembly; the second driving member is used to drive the support member to reciprocate along the first direction.

4. The flight device according to claim 3, characterized in that, Both the first clamping assembly and the second clamping assembly are configured to move toward the power line along the first direction; the flight device further includes a third drive member disposed on the first carrier member, the third drive member being connected to the first drive member; the third drive member is used to drive the first drive member to reciprocate along the first direction, so that the first clamping assembly, the second clamping assembly, and the support member reciprocate along the first direction.

5. The flight device according to claim 1, characterized in that, The flight device further includes a first pressing member and a second pressing member connected to the first detection mechanism; the first pressing member and the second pressing member are spaced apart along the second direction and located between the first clamping assembly and the second clamping assembly; in the first state, the support member is located between the first pressing member and the second pressing member, and the first pressing member and the second pressing member are capable of abutting against the power line along the first direction; and / or The flight device further includes a first slider and a second slider; the first slider is disposed on the side of the second support member close to the first clamping assembly along the second direction, and the second slider is disposed on the side of the second support member close to the second clamping assembly along the second direction; the first slider and the second slider are configured to be slidably connected to the sidewall of the power line along the second direction.

6. The flight device according to any one of claims 1-5, characterized in that, The first detection mechanism includes a first camera; in the first state, the first camera is capable of visually inspecting one side of the surface where the power line bends along the first direction.

7. The flight device according to claim 6, characterized in that, The first detection mechanism further includes a second camera, located on one side of the first camera along a third direction; in the first state, the second camera is capable of visually inspecting the power line along the sidewall of the third direction; the third direction is perpendicular to the second direction; and / or The flight device further includes a thermal imaging detection element disposed on a side of the second carrier member along the second direction near either the first clamping assembly or the second clamping assembly; and / or The flight device further includes a leakage current detection element disposed on a side of the second carrier member along the second direction near either the first clamping assembly or the second clamping assembly; and / or The flight device also includes a visual sensor disposed on the flight body, so that the flight body can fly to one side of the power line along the first direction by means of the visual sensor.

8. The flight device according to any one of claims 1-5, characterized in that, The flight device further includes a repair component disposed on the flight body, the repair component having an output port located on the side of the second carrier close to either the first clamping component or the second clamping component along the second direction; The repair component is capable of outputting repair adhesive droplets onto the surface of the power line in response to the detection result of the first detection agency.

9. The flight device according to any one of claims 1-5, characterized in that, The flight device further includes a plurality of spiral assemblies connected to the first carrier; each spiral assembly includes a fourth drive member, a fifth drive member, and a spiral member; The fourth driving member is used to drive the spiral member so that the spiral member can rotate on the first reference plane and move the flight device along the first direction; The fifth driving member is used to drive the fourth driving member so that the propeller can rotate on the second reference plane and the flight device can move along the second direction; The first reference plane is a plane perpendicular to the first direction; the second reference plane is a plane parallel to both the first direction and the second direction.

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