An overhead transmission line X-ray inspection device based on a UAV platform

Abstract

An overhead transmission line X-ray inspection device based on a UAV platform relates to the technical field of circuit inspection, comprising an X-ray machine and an imaging plate, the X-ray machine and the imaging plate are arranged on an angle adjusting mechanism, the angle adjusting mechanism slides in a bearing mechanism, the angle adjusting mechanism is driven by a power mechanism, the angle adjusting mechanism drives the power mechanism and rotates the X-ray machine and the imaging plate around the transmission line under the guidance of the bearing mechanism, that is, the transmission line is photographed at different angles. In order to avoid the situation that the damage of the connecting hardware or the transmission line is not found due to single-angle shooting in the non-destructive testing process of the connecting hardware and the transmission line by using the UAV and the X-ray machine.

Description

Technical Field

[0001] This invention relates to the field of circuit inspection technology, specifically to an X-ray inspection device for overhead power transmission lines based on an unmanned aerial vehicle (UAV) platform. Background Technology

[0002] The continuous growth in electricity demand and the uneven distribution of energy resources have driven the rapid development of long-distance, inter-regional power transmission. Strengthening the construction of intelligent power transmission networks is a prerequisite for long-distance, inter-regional power transmission. Overhead transmission lines form the "skeleton" and "veins" of these networks. Connecting hardware is an essential component for connecting transmission lines or ground wires to towers, insulators, and other devices to form a robust transmission network. Connecting hardware, in conjunction with other components, clamps and secures the conductors and ground wires. To adapt to complex line conditions, there are many types and categories of connecting hardware, each with different functions, and their feedback after being put into operation varies. In particular, the increasing number of line faults caused by hardware failure in recent years has significantly hindered the normal operation of transmission lines and the continuous supply of power. Non-destructive testing methods for hardware defects mainly include X-ray testing, ultrasonic testing, magnetic testing, and eddy current testing. Among them, X-ray testing is widely used due to its high testing efficiency, intuitive test results, and the professional requirements for maintenance personnel. Currently, it plays an important role in the investigation of hidden dangers and accident analysis of power transmission lines in various power companies.

[0003] Currently, X-ray inspection of power transmission lines or connecting fittings is mainly conducted manually by climbing towers. This method is extremely difficult in harsh conditions, such as crossing rivers or high mountains, not only due to high labor intensity and difficult working conditions, but also because the inspection efficiency is extremely low. Furthermore, because X-rays are highly radioactive, inspectors must wear special radiation protection suits for working at heights, which is quite dangerous. With the development of drone technology, drones have been applied to power line inspections, and some power companies have also carried out related drone inspection projects. This inspection method is fast, efficient, and unaffected by geographical location. However, drone inspections can only observe the external condition of the lines and cannot detect the internal components of the power transmission lines or connecting fittings, thus the accuracy of the inspection cannot be guaranteed. Therefore, a technology combining drones with X-ray digital imaging devices has emerged to inspect connecting fittings.

[0004] However, current technologies combining drones and X-ray digital imaging devices for inspecting connecting fittings mostly only allow for X-ray flaw detection from a single angle of the fittings or power lines. Because the X-ray source emits linear rays, internal damage to the fittings or power lines may not be clearly visible in the images. This can lead to undetected damage to the wiring within the fittings, resulting in delayed replacement of the fittings and power lines. Ultimately, this damage can cause the power lines or ground wires to separate from the towers and other components. When damage to the fittings or power lines leads to the separation of the power lines or ground wires from the towers and other components, it significantly hinders the normal operation of the power transmission lines and the continuous supply of power. It also impacts the environment and wildlife at the location of the damage and increases the workload for subsequent maintenance. Summary of the Invention

[0005] The present invention aims to provide an X-ray inspection device for overhead power transmission lines based on a drone platform, so as to avoid the situation where damage to connecting hardware or power transmission lines is not detected due to single-angle shooting during the non-destructive testing of connecting hardware and power transmission lines using drones and X-ray machines. This will prevent the phenomenon of connecting hardware or power transmission lines not being replaced in time, which will greatly hinder the normal operation of power transmission lines and the continuous and uninterrupted power supply.

[0006] To solve the above technical problems, the specific solution adopted by the present invention is as follows: an X-ray inspection device for overhead power transmission lines based on a drone platform, including an X-ray machine and an imaging plate. The X-ray machine and the imaging plate are both mounted on an angle adjustment mechanism. The angle adjustment mechanism slides within a supporting mechanism and is driven by a power mechanism. The angle adjustment mechanism is used to drive the power mechanism and, under the guidance of the supporting mechanism, cause the X-ray machine and the imaging plate to rotate synchronously around the power transmission line, that is, to inspect the power transmission line by taking pictures at different angles.

[0007] The angle adjustment mechanism includes a C-shaped angle guide bar and a transmission bar fixed on the outer periphery of the angle guide bar. The two ends of the angle guide bar are respectively connected to the X-ray machine and the imaging plate, and the transmission bar is connected to the power mechanism for transmission.

[0008] The support mechanism includes a C-shaped support guide that can be connected to the UAV platform. The support guide has a sliding ring groove, which is slidably connected to the angle guide bar. The sliding ring groove is used to stabilize the rotation of the X-ray machine and the imaging plate.

[0009] As a further optimization of the X-ray inspection device for overhead power transmission lines based on the UAV platform of the present invention, the center of the arc portion of the bearing guide is open to reduce the weight of the bearing guide. A limiting ring groove is provided inside the bearing guide, which is connected to the sliding ring groove. A limiting ring block slides in the limiting ring groove and is connected to the angle guide bar. The limiting ring block is used to maintain the connection between the angle guide bar and the bearing guide.

[0010] As a further optimization of the X-ray inspection device for overhead power transmission lines based on an unmanned aerial vehicle platform of the present invention, the supporting guide is provided with a transmission groove and a storage cavity. The transmission groove is connected to a sliding ring groove. The storage cavity is provided with a power mechanism and a battery. The power mechanism includes a dual-axis stepper motor and an angle gear. The angle gear is located in the transmission groove and is meshed with the transmission bar. The transmission bar is a rack. The dual-axis stepper motor is located in the storage cavity. Both output shafts of the dual-axis stepper motor drive transmission shafts. The transmission shafts pass through the storage cavity and the transmission groove and are connected to the angle gear. The dual-axis stepper motor is used to transmit power to the transmission bar to control the X-ray machine and the imaging plate to rotate at a certain angular velocity.

[0011] As a further optimization of the overhead transmission line X-ray inspection device based on the UAV platform of the present invention, the angle guide bar is connected to the imaging plate and the X-ray machine through a quick-release mechanism. The quick-release mechanism includes a compression plate, which is an elastic corrugated frame. Both ends of the compression plate are connected to elastic plates. The elastic plates are connected to the imaging plate and the connecting body. The opposite ends of the two elastic plates are fixedly connected to clips. The connecting body is connected to the X-ray machine. The clips are equipped with a first clip groove and a second clip groove. The first clip groove is opened on the inner wall of the quick-release shell, and the quick-release shell is connected to the angle guide bar. The second clip groove is opened on the stabilizing frame, and the stabilizing frame is connected to the angle guide bar.

[0012] As a further optimization of the X-ray inspection device for overhead power transmission lines based on the UAV platform of the present invention, the X-ray machine is an XRS-3 pulse X-ray machine, the imaging plate is a 3543A wireless flat panel detector, and the connecting body is an electrically controlled stabilizing gimbal with a CNC7075 aviation aluminum frame, an HT100 gimbal motor, and a Simple BGC 32-bit microcontroller version B control system.

[0013] As a further optimization of the X-ray inspection device for overhead power transmission lines based on an unmanned aerial vehicle platform of the present invention, a distance adjustment mechanism is fixedly provided on the bearing guide. The distance adjustment mechanism includes two rotating seats fixedly provided on the bearing guide. Both rotating seats are rotatably connected to the middle of the control connecting plate. Connecting rollers and hinge plates are respectively connected to both ends of the control connecting plate. The connecting rollers are used to connect the power transmission line. A telescopic cylinder is fixedly connected to the center of the hinge plate. A limiting spring is provided between the telescopic cylinder and the bearing guide. The limiting spring limits the position of the hinge plate, so that the connecting rollers are limited to the horizontal position of the center of the bearing guide.

[0014] As a further optimization of the X-ray inspection device for overhead power transmission lines based on an unmanned aerial vehicle platform of the present invention, a pull ring is fixedly provided on the telescopic cylinder, and a telescopic column slides inside the telescopic cylinder. One end of the telescopic column extends out of the telescopic cylinder and connects to the bearing guide frame. A limiting spring is sleeved on the outer periphery of the telescopic column. A matching long groove is provided at the connection between the hinge plate and the control connecting plate. The matching long groove allows the corresponding end of the control connecting plate to slide and connect. The matching long groove is used to enable the hinge plate to control the rotation of the connecting plate to adjust the distance between the X-ray machine and the power transmission line.

[0015] As a further optimization of the X-ray inspection device for overhead power transmission lines based on the UAV platform of the present invention, the distance from the control plate to the rotating seat and the connecting roller is less than the distance from the rotating seat to the hinge plate, so that the control plate and the rotating seat form a rocker, allowing the hinge plate to control the position of the connecting roller with less effort.

[0016] As a further optimization of the X-ray inspection device for overhead power transmission lines based on an unmanned aerial vehicle (UAV) platform of the present invention, the control plate is provided with a connection hole, and a stabilizing mechanism is provided in the connection hole. The stabilizing mechanism includes a stabilizing column and a linkage column disposed in the connection hole. Adaptive grooves are provided inside both ends of the stabilizing column, and an adapting guide column is fixedly provided in the adapting groove. An adapting slider is slidably connected to both the adapting groove and the adapting guide column. An adapting spring is provided between the adapting slider and the inner wall of the adapting groove. The linkage column is fixedly connected to the adapting slider. A protective clamping sleeve and a guide clamp are provided on the linkage column. The protective clamping sleeve is used to clamp the power transmission line to stabilize its own position. The guide clamp is an L-shaped elastic plastic sheet used to guide the connected power transmission line.

[0017] As a further optimization of the X-ray inspection device for overhead power transmission lines based on a drone platform of the present invention, a stabilizing plate is provided on the outer periphery of the stabilizing column. One end of the stabilizing plate is rotatably connected to the linkage column through a second connecting column. An adaptation groove is opened at the other end of the stabilizing plate. A guide column is fixedly provided in the adaptation groove. A first connecting column is slidably connected to both the adaptation groove and the guide column. A stabilizing spring is provided between the first connecting column and the inner wall of the adaptation groove. A connecting seat is rotatably connected to the first connecting column. The connecting seat is fixedly connected to the stabilizing column. The stabilizing spring and the stabilizing plate are used to increase the stability of the linkage column.

[0018] The advantages of this invention over the prior art are as follows:

[0019] 1) This invention uses a power mechanism to rotate an angle adjustment mechanism. During this rotation, a supporting mechanism guides the mechanism, causing it to rotate around the power transmission line. This rotation, in turn, drives the X-ray machine and imaging plate to rotate around the power transmission line. The X-ray machine and imaging plate then capture X-ray images of the power transmission line at different angles, which are transmitted to a ground receiver for viewing and storage. This avoids the situation where damage to the connecting hardware or power transmission line goes undetected due to single-angle imaging during non-destructive testing of the connection hardware and power transmission line using drones and X-ray machines. This prevents the failure to replace the connecting hardware or power transmission line in a timely manner, which could significantly hinder the normal operation of the power transmission line and ensure continuous power supply. Furthermore, the use of drones to transport the connection to the power transmission line and the transmission of control information changes the traditional method of requiring manual tower climbing and power outages for inspection.

[0020] 2) This invention reduces the weight of the support guide by making the center of its arc-shaped section open, thus facilitating its transport by drones and its connection to power lines. Simultaneously, the transmission bar is configured with rack and pinion gears, and the dual-axis stepper motor is a motor with controllable rotation angle, allowing the X-ray machine and imaging plate to rotate at a certain angular velocity during operation. This enables personnel to rotate the X-ray machine and imaging plate to different angles as needed, corresponding to different angles of the power lines for imaging and inspection, thereby facilitating high-quality power line inspection by personnel using control.

[0021] 3) This invention uses an XRS-3 pulse X-ray machine to facilitate transport by UAVs and connection to power lines. The main connection body is an electrically controlled stabilizing gimbal with a CNC7075 aviation aluminum frame, an HT100 gimbal motor, and a Simple BGC 32-bit microcontroller version B control system, thereby providing a stable shooting angle for the X-ray machine.

[0022] 4) This invention facilitates drone connection by incorporating a pull-out ring and two guide clamps that connect to the power transmission line. These guide clamps then guide the power transmission line to the connecting rollers. Two protective clamping sleeves further secure the power transmission line, aiding in efficient docking between the drone and the line. The invention also stabilizes the positions of the angle adjustment mechanism and the supporting mechanism on the power transmission line. Furthermore, by incorporating adaptable springs and sliders, the invention allows the linkage column to adapt to power transmission lines of different sizes, and can accommodate connecting fittings or power transmission lines of varying inner diameters within a certain range. This ensures the stability of the X-ray machine and imaging plate during the inspection and imaging of the power transmission line.

[0023] 5) This invention utilizes the downward thrust of a drone to move the pull ring downwards. During this process, the power transmission line connected by two connecting rollers serves as support, causing the telescopic cylinder to overcome the elasticity of the limiting spring and move the hinge plate downwards. As the hinge plate moves downwards, it drives the control plate to rotate, supported by a rotating seat. This allows the positions of the two connecting rollers to be adjusted. Adjusting the position of the connecting rollers adjusts the distance between the power transmission line and the X-ray machine, enabling the taking of X-ray images of different ranges of the power transmission line for preliminary rough inspection and subsequent fine inspection, thereby improving the efficiency of non-destructive testing to a certain extent.

[0024] 6) This invention clamps the power transmission line with two protective clamping sleeves and connects the upper end face of the power transmission line using connecting rollers. This allows for a stable connection between the angle adjustment mechanism and the load-bearing mechanism and the power transmission line. A drone can then be used as a power source to move the angle adjustment mechanism and the load-bearing mechanism along the power transmission line. This enables non-destructive testing of different locations on the power transmission line and connecting hardware, as well as different locations on the power transmission line itself, thus achieving the goal of efficiently inspecting different parts of a long power transmission line. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the first three-dimensional structure of the present invention;

[0026] Figure 2 This is a schematic diagram of the second three-dimensional structure of the present invention;

[0027] Figure 3 This is a schematic cross-sectional view of the load-bearing mechanism of the present invention;

[0028] Figure 4 This is a three-dimensional structural diagram of the bearing mechanism of the present invention;

[0029] Figure 5 This is a three-dimensional structural diagram of the angle adjustment mechanism of the present invention;

[0030] Figure 6 This is a three-dimensional structural diagram of the distance adjustment mechanism of the present invention;

[0031] Figure 7 This is a schematic cross-sectional view of the distance adjustment mechanism of the present invention;

[0032] Figure 8 This is a three-dimensional structural diagram of the stabilizing mechanism of the present invention;

[0033] Figure 9 This is a schematic cross-sectional view of the stabilizing mechanism of the present invention;

[0034] Figure 10 This is a cross-sectional structural diagram of the quick-release mechanism of the present invention.

[0035] Reference numerals: 1. Power mechanism; 11. Dual-axis stepper motor; 12. Angle gear; 13. Drive shaft; 2. Connecting body; 3. X-ray machine; 4. Bearing mechanism; 41. Sliding ring groove; 42. Restricting ring groove; 43. Bearing guide; 44. Transmission through groove; 45. Storage cavity; 5. Angle adjustment mechanism; 51. Stabilizing frame; 52. Transmission bar; 53. Restricting ring block; 54. Angle guide bar; 6. Stabilizing mechanism; 61. Stabilizing column; 62. Connecting seat; 63. Stabilizing plate; 64. Adapting groove; 65. Guide column; 66. First connecting column; 67. Stabilizing spring; 68. Adapting slider; 69. 610. Linkage column, 611. Protective clamping sleeve, 612. Guide clamp, 613. Adaptive guide column, 614. Adaptive slide, 615. Second connecting column, 7. Power transmission line, 8. Distance adjustment mechanism, 81. Connecting roller, 82. Connecting hole, 83. Rotating seat, 84. Control connecting plate, 85. Matching long slot, 86. Pull-out ring, 87. Telescopic cylinder, 88. Hinge plate, 89. Restricting spring, 810. Telescopic column, 91. Quick release mechanism, 92. Quick release shell, 93. Elastic plate, 94. Compression plate, 95. Snap-fit ​​clamp, 96. First snap-fit ​​groove, 10. Imaging plate. Detailed Implementation

[0036] The technical solution of the present invention will be further described in detail below with reference to specific embodiments. Parts not explained in the following embodiments of the present invention, such as how to select the types and models of the dual-axis stepper motor 11, battery, limiting spring 89, adapting spring 613, stabilizing spring 67, connecting body 2, X-ray machine 3 and imaging plate 10, how the dual-axis stepper motor 11 operates, how the X-ray machine 3 emits X-rays and operates, how the imaging plate 10 cooperates with the X-ray machine 3 to form and transmit X-ray films, and how the connecting body 2 adjusts the angle of the X-ray machine 3 and helps to maintain its stability, should all be understood as prior art known or should be known by those skilled in the art.

[0037] like Figure 1 and 2As shown, when inspecting the power transmission line 7, the power transmission line 7 with connecting hardware, and the connecting hardware, the drone is first connected to the carrier mechanism 4. Then, the carrier mechanism 4 drives the angle adjustment mechanism 5 to move, which in turn drives the X-ray machine 3 and the imaging plate 10 connected to the angle adjustment mechanism 5 to move synchronously. Afterwards, the drone's hovering function aligns the imaging position between the X-ray machine 3 and the imaging plate 10 with the power transmission line 7, allowing the X-ray machine 3 and the imaging plate 10 to inspect the power transmission line 7. During this process, the power mechanism 1, driven by the angle adjustment mechanism 5, can also rotate the angle adjustment mechanism 5 under the guidance of the carrier mechanism 4, causing the X-ray machine 3 and the imaging plate 10 to rotate at different angles, thus allowing for inspection of the power transmission line 7 from different angles. This avoids the situation where damage to the connecting hardware or transmission line 7 goes undetected due to single-angle shooting during the non-destructive testing of the connecting hardware and transmission line 7 using drones and X-ray machines 3. This also avoids the situation where the connecting hardware or transmission line 7 is not replaced in time, thus avoiding the phenomenon of greatly hindering the normal operation of the transmission line 7 and the continuous uninterrupted power supply.

[0038] like Figure 4 As shown, the supporting mechanism 4 includes a supporting guide 43, which is C-shaped. A sliding annular groove 41 is provided inside the supporting guide 43, and the arc-shaped middle part of the supporting guide 43 is open. Figure 5 As shown, the angle adjustment mechanism 5 includes a C-shaped angle guide bar 54 adapted to the bearing guide frame 43, and the angle guide bar 54 is connected to a transmission bar 52. Figure 3 As shown, the angle guide bar 54 and the transmission bar 52 are slidably connected within the sliding annular groove 41. The transmission bar 52 drives the power mechanism 1. When the power mechanism 1 operates, it drives the angle guide bar 54 to rotate via the transmission bar 52. During rotation, the angle guide bar 54 is guided by the sliding annular groove 41, thereby causing the X-ray machine 3 and imaging plate 10 connected to the angle guide bar 54 to rotate. This rotation then causes the X-ray machine 3 and imaging plate 10 to rotate around the power transmission line 7 or power transmission line 7 with connecting hardware. This allows staff to obtain X-ray images of the power transmission line 7 or connecting hardware at different angles as needed. This greatly reduces the risk of incomplete non-destructive testing of the power transmission line 7 or connecting hardware, which could lead to undetected gaps and breakage of the power transmission line 7. Furthermore, it prevents the power transmission line 7 from being significantly hindered from normal operation and continuous power supply due to the failure to replace or maintain the connecting hardware or power transmission line 7 in a timely manner. The open design in the arc-shaped middle part of the support guide 43 can reduce the weight of the support guide 43, thereby facilitating the connection of the UAV for transport and corresponding with the power transmission line 7 to achieve the purpose of non-destructive inspection.

[0039] A limiting ring groove 42 is provided inside the bearing guide 43, which communicates with the sliding ring groove 41. A limiting ring block 53 is provided on the side of the end of the angle guide bar 54, and the limiting ring block 53 is slidably connected in the limiting ring groove 42. The cooperation between the limiting ring block 53 and the limiting ring groove 42 can maintain the connection between the bearing guide 43 and the angle guide bar 54, thereby preventing the bearing guide 43 and the angle guide bar 54 from separating at the transmission line 7, which would cause the equipment to fall from a height and injure personnel. It will also prevent the angle guide bar 54 from circulating in the sliding ring groove 41. Meanwhile, the arc range of both the support guide 43 and the angle guide 54 is greater than 180 degrees, thereby further preventing the support guide 43 from separating from the angle guide 54. At the same time, when the angle guide 54 drives the X-ray machine 3 and the imaging plate 10 to rotate, the part of the angle guide 54 connected to the support guide 43 is relatively large, or the rotating end is connected to the end of the support guide 43, thereby maintaining the stability of the angle guide 54 in driving the X-ray machine 3 and the imaging plate 10 to rotate.

[0040] like Figure 1 and 2 As shown, X-ray machine 3 is the XRS-3 lightweight pulsed X-ray machine. The pulsed X-rays generate high-intensity X-ray energy, i.e., burst pulses, within a very short time, i.e., 15 ns. The output dose of each burst pulse, measured 12 inches in front of the X-ray machine, is approximately 5 μSv. The XRS-3 lightweight pulsed X-ray machine can penetrate steel plates nearly 2 inches thick. Pulsed X-ray technology offers advantages over traditional constant-potential X-ray machines or radiation sources for on-site operation, including portability, light weight, and low radiation.

[0041] Imaging board 10 is a 3543A wireless flat panel detector. The 3543A is a high-performance, cartridge-sized wireless flat panel detector with a battery life of at least 10 hours. Its unique wireless transmission technology allows for the transmission of a full-resolution image within 2 seconds, and even in the worst-case scenario, it will not exceed 5 seconds. The detector boasts high DQE and high resolution, along with high sensitivity and automatic exposure detection capabilities, allowing for easy connection and synchronization with all high-voltage generators.

[0042] The LD-GY5010 drone can be used, featuring an industrial-grade flight controller, CNC machined metal parts, and a carbon fiber fuselage. It utilizes electric landing gear to extend the unobstructed downward field of view. Powered by four 22000mAh lithium batteries, the LD-GY5010 offers over 40 minutes of flight time, a standard payload of 15 kg, a maximum payload of 25 kg, wind resistance up to level 6, and a maximum speed of 15 meters per second. Equipped with a D-RTK GNSS system, the LD-GY5010 achieves high-precision positioning. Through real-time dynamic differential technology, it improves 3D positioning accuracy to centimeter-level, integrating positioning, altitude hold, and direction finding functions, overcoming the shortcomings of traditional GPS, barometers, and compasses. It also remains stable and reliable in complex electromagnetic environments, providing a precise and reliable flight platform for high-precision applications.

[0043] like Figure 5 As shown, the angle adjustment mechanism 5 includes an angle guide 54 on which a stabilizing frame 51 is fixed. Both the angle guide 54 and the stabilizing frame 51 are connected to the imaging plate 10 and the connecting body 2 via a quick-release mechanism 9. The connecting body 2 is connected to the X-ray machine 3. The quick-release mechanism 9 includes a compression plate 93, with elastic plates 92 fixedly connected to both ends of the compression plate 93. Each of the two elastic plates 92 has a snap-fit ​​clip 94 at its opposite ends. The snap-fit ​​clip 94 is adapted to snap into the first snap-fit ​​groove 95 and the second snap-fit ​​groove 96. The first snap-fit ​​groove 95 is opened inside the quick-release housing 91, and the second snap-fit ​​groove 96 is opened on the stabilizing frame 51. The compression plate 93 is a corrugated rubber square tube. The compression plate 93 helps the two elastic plates 92 maintain a vertical position, allowing the two clamping clips 94 to stably connect with the first clamping slot 95 and the second clamping slot 96, thus maintaining the stability of the connection between the angle guide strip 54 and the imaging plate 10. Simultaneously, the connecting body 2 and the stabilizing frame 51 ensure a stable connection between the angle guide strip 54 and the X-ray machine 3. When it is necessary to disassemble the X-ray machine 3 and the imaging plate 10 for transport, the corresponding clamping clip 94 can be pressed to separate from the first clamping slot 95 or the second clamping slot 96. This causes the two elastic plates 92 to overcome the elastic support force of the compression plate 93 and move closer together, allowing the first clamping slot 95 or the second clamping slot 96 to completely separate. Then, the imaging plate 10 and the X-ray machine 3 can be separated from the angle guide strip 54. The equipment can then be categorized and placed in the transport box, facilitating easy transport by staff after testing, enabling them to conduct inspections at different power lines 7. The main body 2 is an electronically controlled gimbal with a CNC7075 aviation aluminum frame. It is equipped with an HT100 gimbal motor and a Simple BGC 32-bit microcontroller version B control system to provide a stable shooting angle for the X-ray machine 3.

[0044] The transmission bar 52 is a rack and pinion, and the transmission bar 52 drives the power mechanism 1. The lower end of the bearing guide 43 has a storage cavity 45 and a transmission slot 44, and the power mechanism 1 is located in the storage cavity 45. The power mechanism 1 includes a dual-axis stepper motor 11 and an angle gear 12. The two output shafts of the dual-axis stepper motor 11 each drive a transmission shaft 13. The angle gear 12 is fixedly installed at one end of the two opposite ends of the transmission shafts 13, which passes through the storage cavity 45 and the transmission slot 44, and the angle gear 12 drives the transmission bar 52. The dual-axis stepper motor 11 is a stepper motor, so its rotation can be controlled. This allows the operator to control the angle gear 12 to rotate by different amounts as needed. Then, the rack and pinion mechanism of the transmission bar 52 can drive the angle guide bar 54 to rotate at different angles. This allows the operator to find the location of suspected damage after taking and observing an X-ray film from a single angle. Then, the angle guide bar 54 is used to make the X-ray machine 3 and the imaging plate 10 rotate around the power line 7 at the location of the connecting hardware. This allows the operator to perform non-destructive inspection of the power line 7 based on the location of suspected damage, thereby improving the quality of the operator's inspection of the power line 7 or connecting hardware.

[0045] The transmission bar 52, bearing guide 43, angle guide bar 54, and power mechanism 1 provided in this embodiment can be replaced with other shapes and models, as long as their shapes and models can achieve the required effect.

[0046] The storage cavity 45 is equipped with a battery that can provide auxiliary power to the dual-axis stepper motor 11, imaging plate 10, drone and X-ray machine 3, thereby further improving the equipment's battery life, i.e. reducing the number of times the power storage device needs to be charged or replaced, thus improving the efficiency of inspecting the internal damage of the power transmission line 7 and connecting hardware.

[0047] As shown in Figures 1 and 2, when inspecting the power transmission line 7, the power transmission line 7 with connecting hardware, and the connecting hardware, the drone is first connected to the distance adjustment mechanism 8. Then, the distance adjustment mechanism 8 drives the carrying mechanism 4, the angle adjustment mechanism 5, and the X-ray machine 3 and imaging plate 10 connected to the angle adjustment mechanism 5 to move synchronously. The distance adjustment mechanism 8 then assists the drone in aligning the imaging position between the X-ray machine 3 and the imaging plate 10 with the power transmission line 7. Simultaneously, the distance adjustment mechanism 8, in conjunction with the power transmission line 7 and the drone's hovering function, positions the X-ray machine 3 and the imaging plate 10. Afterward, the X-ray machine 3 and the imaging plate 10 can be used for imaging and inspection. During this process, the angle adjustment mechanism 5 can also be driven by the power mechanism 1, causing it to rotate under the guidance of the carrying mechanism 4, thus rotating the X-ray machine 3 and the imaging plate 10 at different angles, allowing for imaging and inspection of the power transmission line 7 from different angles. This avoids situations where damage to the connecting hardware or power transmission line 7 goes undetected due to single-angle imaging during non-destructive testing using drones and X-ray machines 3. This prevents the connection hardware or power transmission line 7 from being left unrepaired, thus avoiding significant disruptions to the normal operation and continuous power supply of the power transmission line 7. Furthermore, the distance between the X-ray machine 3 and the power transmission line 7 can be adjusted using the distance adjustment mechanism 8 and the vertical displacement of the drone. This allows for the taking of X-ray images of the connecting hardware or power transmission line 7 from different angles, depending on the needs of the personnel, thus assisting in both detailed and simplified inspections.

[0048] It also facilitates staff to locate suspected damage areas by observing a large-scale X-ray image from a single angle. Then, using the angle guide bar 54, the X-ray machine 3 and the imaging plate 10 are rotated around the power transmission line 7 at the location of the connecting hardware. At the same time, the distance adjustment mechanism 8 is used to adjust the distance, which allows staff to perform a detailed non-destructive inspection of the power transmission line 7 based on the location of suspected damage, thereby improving the efficiency of staff in inspecting the power transmission line 7 or connecting hardware.

[0049] like Figure 4 As shown, the supporting mechanism 4 includes a supporting guide 43, which is C-shaped, and a sliding annular groove 41 is formed inside the supporting guide 43. Figure 5 As shown, the angle adjustment mechanism 5 includes a C-shaped angle guide bar 54 adapted to the bearing guide frame 43, and the angle guide bar 54 is connected to a transmission bar 52. Figure 3As shown, the angle guide bar 54 and the transmission bar 52 are slidably connected in the sliding ring groove 41. The bearing mechanism 4 is connected to the distance adjustment mechanism 8, which includes a rotating seat 83. The rotating seat 83 is fixedly mounted on the bearing guide frame 43. The rotating seat 83 is rotatably connected to a control connecting plate 84. The two ends of the control connecting plate 84 are respectively connected to a connecting roller 81 and a hinge plate 88. The connecting roller 81 is adapted to connect the power transmission line 7. A telescopic cylinder 87 is fixedly provided at the center of the hinge plate 88. The two ends of the telescopic cylinder 87 are respectively connected to a pull ring 86 and one end of a limiting spring 89. The other end of the limiting spring 89 is located on the bearing guide frame 43. The pull ring 86 facilitates the attachment of the UAV for transportation. The connecting roller 81 can connect to the power transmission line 7 to assist the UAV in positioning the power transmission line 7 at the imaging position between the X-ray machine 3 and the imaging plate 10. The limiting spring 89 can limit the height position of the hinge plate 88 through the telescopic cylinder 87, thereby controlling the rotation of the control plate 84, that is, controlling the two connecting rollers 81 to be in the horizontal plane of the center of the bearing guide 43 during the drone attachment process, thereby further assisting the drone to perform non-destructive inspection work on the imaging position between the power transmission line 7 and the X-ray machine 3 and the imaging plate 10.

[0050] A telescopic column 810 is slidably connected inside the telescopic cylinder 87. The telescopic column 810 is fixedly connected to the bearing guide 43. The telescopic column 810 can work with the limiting spring 89 to further stabilize and control the position of the two connecting rollers 81, so that the connecting rollers 81 are in the horizontal plane of the center of the bearing guide 43 during the drone attachment process, thereby assisting the drone to perform non-destructive inspection work on the imaging position between the power transmission line 7 and the X-ray machine 3 and the imaging plate 10.

[0051] like Figure 6 As shown, a matching groove 85 is provided at the connection between the hinge plate 88 and the control plate 84. The matching groove 85 is connected to the control plate 84, thereby enabling the control plate 84 to adjust the rotation of its end. Then, the two connecting rollers 81 can be rotated by different amounts with the rotating seat 83 as the center of rotation, that is, the connecting rollers 81 can be adjusted to different horizontal planes. This, in conjunction with the traction force of the power transmission line 7 and the UAV, adjusts the distance between the X-ray machine 3 and the power transmission line 7. Subsequently, X-ray films of different ranges of connecting hardware or power transmission line 7 can be taken according to the needs of the staff, that is, to assist the staff in performing detailed or simple X-ray inspections. The distance from the control plate 84 to the hinge plate 88 to the rotating seat 83 is greater than the distance from the connecting roller 81 to the rotating seat 83. This makes the rocker arm formed by the control plate 84 with the rotating seat 83 as the fulcrum longer, thereby reducing the force required to adjust the distance between the X-ray machine 3 and the power transmission line 7 by adjusting the height position of the control hinge plate 88. This makes it easier for staff to operate the drone in conjunction with the limiting spring 89 for control.

[0052] A connection hole 82 is provided at one end of the control plate 84 near the connecting roller 81. A stabilizing mechanism 6 is fixedly provided in the connection hole 82. The stabilizing mechanism 6 includes a stabilizing column 61 and a linkage column 69. Both ends of the stabilizing column 61 are provided with an adaptation groove 614. An adaptation guide column 612 is provided in the adaptation groove 614. An adaptation slider 68 is slidably connected to both the adaptation guide column 612 and the adaptation groove 614. An adaptation spring 613 is provided between the adaptation slider 68 and the inner wall of the adaptation groove 614. The linkage column 69 is fixedly connected to the adaptation slider 68. A protective clamping sleeve 610 and a guide clamp 611 are provided on the linkage column 69. The adapting spring 613 pushes the adapting slider 68 to slide on the adapting groove 614 and the adapting guide post 612, which in turn drives the connecting post 69 to move closer to the center of the stabilizing post 61. This, in conjunction with the protective clamping sleeve 610, allows for clamping of power lines 7 or connecting hardware of different inner diameters within a certain range. When the two protective clamping sleeves 610 clamp the power lines 7 or connecting hardware, they form a stable triangle with the connecting roller 81, providing a stable connection to the power lines 7. This stabilizes the relative positions of the X-ray machine 3 and the imaging plate 10 on the power lines 7, enabling high-quality non-destructive testing of the power lines 7, connecting hardware, and the power lines 7 within the connecting hardware. The guide clamp 611 is an inverted L-shape, with the two guide clamps forming a triangle with the wide side facing down. This assists the drone in guiding the power lines 7 into the connecting roller 81 for connection, further stabilizing the relative positions of the X-ray machine 3 and the imaging plate 10 on the power lines 7.

[0053] Both ends of the stabilizing column 61 are fixedly provided with connecting seats 62. The connecting seats 62 are rotatably connected to the first connecting column 66. Both ends of the first connecting column 66 are provided with stabilizing plates 63. The end of the stabilizing plate 63 away from the first connecting column 66 is connected to the second connecting column 615. The second connecting column 615 is rotatably connected to the linkage column 69. The end of the stabilizing plate 63 near the first connecting column 66 is provided with an adaptation groove 64. The adaptation groove 64 is provided with a guide column 65. The guide column 65 and the adaptation groove 64 are slidably connected to the first connecting column 66. A stabilizing spring 67 is provided between the inner wall of the first connecting column 66 and the end of the adaptation groove 64 near the second connecting column 615. The stabilizing spring 67 pushes the first connecting post 66, which is rotatably connected to the connecting seat 62. This, in turn, cooperates with the stabilizing post 61, the second connecting post 615, and the connecting post 69 to form a stabilizing triangle. This stabilizes the relative position of the connecting post 69, clamping the power transmission line 7 or connecting hardware, and thus stabilizing the relative position of the X-ray machine 3 and the imaging plate 10 on the power transmission line 7, enabling high-quality non-destructive inspection of the power transmission line 7 and connecting hardware. The stabilizing spring 67 pushes the first connecting post 66, which is rotatably connected to the connecting seat 62. Simultaneously, it connects with the second connecting post 615 and the connecting post 69 via the stabilizing plate 63. The stabilizing plate 63 moves with the connecting post 69 as it adapts to power transmission lines 7 or connecting hardware of different inner diameters within a certain range. During this movement, it always cooperates with the connecting post 69 and the stabilizing post 61 to form a triangle. In other words, during the clamping process of power transmission lines 7 or connecting hardware of different inner diameters within a certain range, the stabilizing plate 63 maintains an auxiliary stabilizing function for the connecting post 69.

[0054] Furthermore, a drone can be used as a power source to secure the connection between the connecting roller 81 and the two protective clamping sleeves 610 arranged in a triangular shape with the power transmission line 7. This allows the X-ray machine 3 and the imaging plate 10 to move on the power transmission line 7. Subsequently, the locations on the power transmission line 7 that may be damaged are aligned with the X-ray machine 3 and the imaging plate 10, thereby facilitating the adjustment and control of the X-ray machine 3 and the imaging plate 10 to different positions on the power transmission line 7 for efficient and high-quality non-destructive testing of the power transmission line 7 or connecting hardware.

[0055] As can be seen from the above embodiments, the X-ray machine 3 and the imaging plate 10 can be aligned with the power transmission line 7 using the unmanned frame via the support mechanism 4 and the angle adjustment mechanism 5. At the same time, the angle adjustment mechanism 5 can be rotated under the support and guidance of the support mechanism 4 via the power mechanism 1, thereby adjusting the angle of the X-ray machine 3 and the imaging plate 10 corresponding to the power transmission line 7 or the connecting hardware. This provides an effective solution to the problem that damage to the connecting hardware or the power transmission line 7 may go undetected due to single-angle shooting during non-destructive testing of the connecting hardware and the power transmission line 7 using the UAV and X-ray machine 3, resulting in the failure to replace the connecting hardware or the power transmission line 7 in time, which greatly hinders the normal operation of the power transmission line 7 and the problem of uninterrupted power supply.

[0056] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. An X-ray inspection device for overhead power transmission lines based on an unmanned aerial vehicle (UAV) platform, comprising an X-ray machine (3) and an imaging plate (10), characterized in that: The X-ray machine (3) and the imaging plate (10) are both mounted on the angle adjustment mechanism (5). The angle adjustment mechanism (5) slides within the bearing mechanism (4). The angle adjustment mechanism (5) drives the power mechanism (1). The angle adjustment mechanism (5) is used to drive the power mechanism (1) and, under the guidance of the bearing mechanism (4), make the X-ray machine (3) and the imaging plate (10) rotate synchronously around the power transmission line (7), that is, to take pictures and inspect the power transmission line (7) at different angles. The angle adjustment mechanism (5) includes a C-shaped angle guide bar (54) and a transmission bar (52) fixed on the outer periphery of the angle guide bar (54). The two ends of the angle guide bar (54) are respectively connected to the X-ray machine (3) and the imaging plate (10), and the transmission bar (52) is connected to the power mechanism (1) for transmission. The support mechanism (4) includes a support guide (43) that can be connected to the UAV platform in a corresponding C shape. A sliding ring groove (41) is provided in the support guide (43). The sliding ring groove (41) is slidably connected to the angle guide bar (54). The sliding ring groove (41) is used to stabilize the rotation of the X-ray machine (3) and the imaging plate (10). The bearing guide (43) is fixedly provided with a distance adjustment mechanism (8). The distance adjustment mechanism (8) includes two rotating seats (83) fixedly provided on the bearing guide (43). The two rotating seats (83) are rotatably connected to the middle of the control connecting plate (84). The two ends of the control connecting plate (84) are respectively connected to a connecting roller (81) and a hinge plate (88). The connecting roller (81) is used to connect the power transmission line (7). A telescopic cylinder (87) is fixedly connected to the center of the hinge plate (88). A limiting spring (89) is provided between the telescopic cylinder (87) and the bearing guide (43). The limiting spring (89) limits the position of the hinge plate (88) so that the connecting roller (81) is limited to the horizontal position of the center of the bearing guide (43). A pull ring (86) is fixedly provided on the telescopic cylinder (87). A telescopic column (810) slides inside the telescopic cylinder (87). One end of the telescopic column (810) passes through the telescopic cylinder (87) and is connected to the bearing guide (43). A limiting spring (89) is sleeved on the outer periphery of the telescopic column (810). A matching long groove (85) is provided at the connection between the hinge plate (88) and the control connecting plate (84). The matching long groove (85) allows the corresponding end of the control connecting plate (84) to slide and connect. The matching long groove (85) is used to make the hinge plate (88) rotate in conjunction with the control connecting plate (84) to adjust the distance between the X-ray machine (3) and the power transmission line (7).

2. The X-ray inspection device for overhead transmission lines based on an unmanned aerial vehicle platform according to claim 1, characterized in that: The center of the arc portion of the bearing guide (43) is open to reduce the weight of the bearing guide (43). A limiting ring groove (42) is provided inside the bearing guide (43). The limiting ring groove (42) is connected to the sliding ring groove (41). A limiting ring block (53) slides inside the limiting ring groove (42). The limiting ring block (53) is connected to the angle guide bar (54). The limiting ring block (53) is used to maintain the connection between the angle guide bar (54) and the bearing guide (43).

3. The X-ray inspection device for overhead transmission lines based on an unmanned aerial vehicle platform according to claim 1, characterized in that: The bearing guide (43) is provided with a transmission slot (44) and a storage cavity (45). The transmission slot (44) is connected to the sliding ring groove (41). The storage cavity (45) is provided with a power mechanism (1) and a battery. The power mechanism (1) includes a dual-axis stepper motor (11) and an angle gear (12). The angle gear (12) is located in the transmission slot (44) and is meshed with the transmission bar (52) for transmission. The transmission bar (52) is a rack and pinion, and the dual-axis stepper motor (11) is located in the storage cavity (45). Both output shafts of the dual-axis stepper motor (11) are driven by transmission shafts (13). The transmission shafts (13) pass through the storage cavity (45) and the transmission through slot (44) and are connected to the angle gear (12). The dual-axis stepper motor (11) is used to transmit power to the transmission bar (52) to control the X-ray machine (3) and the imaging plate (10) to rotate at a certain angular velocity.

4. The X-ray inspection device for overhead transmission lines based on an unmanned aerial vehicle platform according to claim 1, characterized in that: The angle guide (54) is connected to the imaging plate (10) and the X-ray machine (3) through the quick-release mechanism (9). The quick-release mechanism (9) includes a compression plate (93), which is an elastic corrugated frame. Both ends of the compression plate (93) are connected to elastic plates (92). The elastic plates (92) are connected to the imaging plate (10) and the connecting body (2). The two elastic plates (92) are fixedly connected to the opposite ends of the two elastic plates (92) with snap clips (94). The connecting body (2) is connected to the X-ray machine (3). The snap clips (94) are adapted to a first snap groove (95) and a second snap groove (96). The first snap groove (95) is opened on the inner wall of the quick-release shell (91). The quick-release shell (91) is connected to the angle guide (54). The second snap groove (96) is opened on the stabilizing frame (51). The stabilizing frame (51) is connected to the angle guide (54).

5. The X-ray inspection device for overhead transmission lines based on an unmanned aerial vehicle platform according to claim 4, characterized in that: The X-ray machine (3) is an XRS-3 pulsed X-ray machine, the imaging plate (10) is a 3543A wireless flat panel detector, and the connecting body (2) is an electrically controlled stabilizing gimbal with a CNC7075 aviation aluminum frame, an HT100 gimbal motor, and a Simple BGC32-bit microcontroller version B control system.

6. The X-ray inspection device for overhead transmission lines based on an unmanned aerial vehicle platform according to claim 1, characterized in that: The distance from the control plate (84) to the rotating seat (83) to the connecting roller (81) is less than the distance from the rotating seat (83) to the hinge plate (88), so that the control plate (84) and the rotating seat (83) can form a rocker, so that the hinge plate (88) can control the position of the connecting roller (81) with less effort.

7. The X-ray inspection device for overhead transmission lines based on an unmanned aerial vehicle platform according to claim 1, characterized in that: The control plate (84) has a connection hole (82), and a stabilizing mechanism (6) is provided in the connection hole (82). The stabilizing mechanism (6) includes a stabilizing column (61) and a linkage column (69) provided in the connection hole (82). Both ends of the stabilizing column (61) have an adaptation groove (614). An adaptation guide column (612) is fixedly provided in the adaptation groove (614). An adaptation slider (68) is slidably connected to the adaptation groove (614) and the adaptation guide column (612). An adaptation spring (613) is provided between the adaptation slider (68) and the inner wall of the adaptation groove (614). The linkage column (69) is fixedly connected to the adaptation slider (68). A protective clamping sleeve (610) and a guide clamp (611) are provided on the linkage column (69). The protective clamping sleeve (610) is used to clamp the power transmission line (7) to stabilize its own position. The guide clamp (611) is an L-shaped elastic plastic sheet used to guide the connection of the power transmission line (7).

8. The X-ray inspection device for overhead transmission lines based on an unmanned aerial vehicle platform according to claim 7, characterized in that: The stabilizing column (61) is provided with a stabilizing plate (63) on its outer periphery. One end of the stabilizing plate (63) is rotatably connected to the linkage column (69) through a second connecting column (615). The other end of the stabilizing plate (63) is provided with an adaptation groove (64). A guide column (65) is fixedly provided in the adaptation groove (64). The adaptation groove (64) and the guide column (65) are slidably connected to a first connecting column (66). A stabilizing spring (67) is provided between the first connecting column (66) and the inner wall of the adaptation groove (64). A connecting seat (62) is rotatably connected to the first connecting column (66). The connecting seat (62) is fixedly connected to the stabilizing column (61). The stabilizing spring (67) and the stabilizing plate (63) are used to increase the stability of the linkage column (69).

Images