A four-split conductor X-ray detection robot based on drone and detection method

Abstract

A four-split conductor X-ray detection robot based on an unmanned aerial vehicle and a detection method, the robot includes a frame hung on the split conductor and walking along the split conductor, the frame includes a frame body and a frame arranged in the middle on the frame body. In the present invention, by sliding the imaging plate on a vertical guide rail whose height is longer than the spacing between the highest position branch conductor and the lowest position branch conductor of the split conductor to be detected, the imaging plate and any branch conductor in the split conductor can be at the same horizontal plane height, and at the same time, the ray machine is rotated so that it can rotate with the imaging plate and the angle, so that the ray end of the ray machine can always correspond to the imaging plate, and by controlling the movement of the imaging plate and the rotation of the ray machine, the tension clamps on all branch conductors in the split conductor can be located between the imaging plate and the ray machine for imaging detection, so that the tension clamps on all branch conductors in the split conductor can be detected, thereby improving the detection efficiency.

Description

Technical Field

[0001] The present invention and the field of line detection technology specifically relate to a four-split conductor X-ray detection robot based on an unmanned aerial vehicle and a detection method. Background Art

[0002] Split conductor refers to a conductor installation method adopted by ultra-high voltage transmission lines to suppress corona discharge and reduce line reactance. That is, each phase conductor is composed of several branch conductors with smaller diameters, and each branch conductor is spaced a certain distance apart and arranged in a symmetrical polygon, and arranged at the vertices of the regular polygon. The number of split conductors of ordinary split conductors generally does not exceed 4, and it is mainly used in lines with voltages of 220 kV and above. Usually, split conductors are connected to elevated towers through tension clamps, but because the span between elevated towers is too large, the stress on the tension clamps will be very large. At the same time, in the case of long-term outdoor use, the tension clamps may crack, loosen, deform, and other problems. In order to ensure the stability of power transmission, it is necessary to inspect the tension clamps frequently.

[0003] In order to facilitate the rapid and safe detection of tension clamps in the prior art, drones are usually used to perform DR imaging detection on them. However, most of the devices are devices for detecting tension clamps on single-line clamps or multi-line clamps. When detecting split conductor lines, due to the long spacing between the split conductors of each phase, the commonly used drone DR imaging detection robot can only detect the tension clamps on some of the split conductors at a time. If all of them need to be detected, they need to be hung on different conductors for multiple times for detection, and the detection efficiency is low. Summary of the invention

[0004] The purpose of the present invention is to provide a four-split conductor X-ray detection robot and detection method based on an unmanned aerial vehicle, which can detect all the tension clamps on the split conductors at one time, thereby improving the detection efficiency.

[0005] In order to solve the deficiencies of the above technical problems, the technical solution adopted by the present invention is: a four-split-conductor X-ray detection robot based on a drone, comprising a frame and a ray machine kit and an imaging plate kit hoisted at both ends of the frame, a moving mechanism capable of being hung on the split conductors and moving along the split conductors is provided in the middle of the frame, the imaging plate kit comprises an imaging plate and a lifting mechanism capable of controlling the vertical movement of the imaging plate, the lifting mechanism comprises two vertical guide rails, the imaging plate is located between the two vertical guide rails, and its side portions are slidably arranged in the slide grooves of the corresponding vertical guide rails, the ends of the two vertical guide rails are connected by a transmission rod arranged for horizontal rotation, and gears are sleeved at both ends of the transmission rod, one of the vertical guide rails is provided with a power source for driving the transmission rod to rotate, and the two gears on the same side are connected by a toothed belt transmission, and the two sides of the imaging plate are fixedly connected to the inner sides of the parts of the two toothed belts on the same plane;

[0006] The X-ray machine kit includes a X-ray machine and an adjustment mechanism capable of controlling the X-ray machine to adjust the irradiation angle as the imaging plate is raised or lowered, the adjustment mechanism includes an axle seat, a drive compartment with a power source inside, and two vertical arms arranged side by side on the frame, the axle seat is arranged at the lower end of one vertical arm, the drive compartment is arranged at the lower end of the other vertical arm, one side of the X-ray machine is rotatably connected to the axle seat through a rotating shaft, and the other side of the X-ray machine is rotatably connected to the drive compartment through a rotating shaft, the rotating shaft is rotatably inserted into the drive compartment and is transmission-connected to the power source in the drive compartment;

[0007] The other end of the frame is provided with two vertical arms standing side by side, wherein the lower end of one of the vertical arms is provided with a driving compartment with a power source inside, and the lower end of the other vertical arm is provided with an axle seat, the X-ray machine is located between the driving compartment and the axle seat, and the side of the X-ray machine corresponding to the axle seat is rotatably connected to the axle seat through a rotating shaft, and the side of the X-ray machine corresponding to the driving compartment is rotatably connected to the driving compartment through a rotating shaft, and the rotating shaft is rotatably penetrated into the driving compartment and is transmission-connected to the power source in the driving compartment.

[0008] As a further optimization of the four-split wire X-ray detection robot based on an unmanned aerial vehicle of the present invention, the moving mechanism includes a rectangular hanger fixed on a frame and positioning parts arranged at the four corners of the lower end of the rectangular hanger, and a rotating rod is rotatably passed through the two positioning parts at the front end and the two positioning parts at the rear end, one end of the rotating rod is sleeved with a walking wheel, and the other end of the rotating rod is sleeved with a walking roller whose outer circle side is at the same horizontal height as the bottom side of the walking wheel wire groove, and a power source for driving the rotating rod to rotate is provided on the rectangular hanger.

[0009] As a further optimization of the drone-based four-split wire X-ray inspection robot of the present invention, a crossbeam is provided on one side of the rotating rod, a limiting wheel and a power source for driving the limiting wheel to rotate are rotatably provided on the crossbeam, and the wire groove of the walking wheel is located in the rotation path of the limiting wheel.

[0010] As a further optimization of the drone-based four-split wire X-ray detection robot of the present invention, the frame includes two cross bars arranged side by side, one side end of the two cross bars is connected by a suspension rod, the upper ends of the two vertical arms are both arranged on the suspension rod, the upper end surface of the rectangular hanger is connected to the middle part of the two cross bars, and the upper ends of the two vertical guide rails are connected to the other side ends of the two cross bars in a one-to-one correspondence.

[0011] As a further optimization of the drone-based four-split-conductor X-ray inspection robot of the present invention, a plurality of reinforcing ribs are arranged between the two vertical guide rails.

[0012] As a further optimization of the drone-based four-split wire X-ray inspection robot of the present invention, an arc hole coaxial with the rotating shaft is provided on one side of the driving warehouse corresponding to the X-ray machine, a limit column slidably arranged in the arc hole is provided on the X-ray machine, and limit sensors are provided at both ends of the arc hole.

[0013] As a further optimization of the drone-based four-split wire X-ray detection robot of the present invention, anti-slip rings are sleeved on both ends of the circumferential side of the gear, and the toothed belt is located between the two anti-slip rings.

[0014] As a further optimization of the drone-based four-split wire X-ray detection robot of the present invention, the frame is provided with a hanging frame for hanging on the drone.

[0015] As a further optimization of the drone-based four-split wire X-ray inspection robot of the present invention, the hanging frame includes a vertical part arranged in the middle of the two horizontal bars and a horizontal part located above the two vertical parts. The length of the horizontal part is smaller than the spacing between the two vertical parts, and the end of the horizontal part is connected to the corresponding upper end of the vertical part through a transition part.

[0016] A method for detecting defects in crimping of four-split wires, characterized in that the above-mentioned detection robot is used to perform defect detection on the split wires, comprising the following steps:

[0017] 1) The rack is hoisted by a drone and hung on the uppermost branch conductor among the split conductors;

[0018] 2) Control the frame to move to the position of the point to be tested;

[0019] 3) Control the lifting and lowering of the imaging plate, and adjust the irradiation angle of the X-ray machine following the imaging plate, and gradually complete the detection of the tension clamps of multiple branch conductors;

[0020] 4) After the inspection is completed, the rack is lifted off the transmission cable by a drone, completing the inspection of this section of the line.

[0021] The present invention has the following beneficial effects: the height of the vertical guide rail in the present invention is greater than the spacing between the highest position branch conductor and the lowest position branch conductor of the split conductor to be detected, and by sliding the imaging plate on the vertical guide rail, the imaging plate and any branch conductor in the split conductor can be at the same horizontal plane height, and at the same time, the X-ray machine is rotated so that it can rotate at an angle following the lifting and lowering of the imaging plate, so that the X-ray end of the X-ray machine can always correspond to the imaging plate, and by controlling the movement of the imaging plate and the rotation of the X-ray machine, the tension clamps on all branch conductors in the split conductor can be located between the imaging plate and the X-ray machine for imaging detection, thereby being able to detect the tension clamps on all branch conductors in the split conductor, thereby improving the detection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is an overall schematic diagram of the detection robot of the present invention;

[0023] Figure 2 The local structure diagram of the detection robot of the present invention is shown in FIG. Figure 1 ;

[0024] Figure 3 The local structure diagram of the detection robot of the present invention is shown in FIG. Figure 2 ;

[0025] Figure 4 for Figure 3 A cross-sectional schematic diagram of a local structure;

[0026] Figure 5 for Figure 4 A schematic diagram of the partially enlarged structure at center A;

[0027] Figure 6 The local structure diagram of the detection robot of the present invention is shown in FIG. Figure 3 ;

[0028] Figure 7 for Figure 6 A cross-sectional schematic diagram of a local structure;

[0029] Figure numerals: 1. cross bar, 2. hanging rod, 3. vertical arm, 4. driving chamber, 5. X-ray machine, 6. walking roller, 7. rotating rod, 8. transmission arm, 9. limiting wheel, 10. reinforcing rib, 11. imaging plate, 12. vertical guide rail, 13. walking wheel, 14. rectangular hanger, 15. axle seat, 16. toothed belt, 17. limiting sensor, 18. limiting column, 19. arc-shaped limiting hole, 20. transmission rod, 21. anti-slip ring, 22. gear, 23. cross beam, 24. hanging frame. Specific embodiments

[0030] The following will be combined with the attached embodiment of the present invention Figure 1-7, clearly and completely describe the technical solutions in the embodiments of the present invention. Parts not explained in the embodiments of the present invention, such as the setting, control and power supply of the power source, imaging plate 11, X-ray machine 5 and limit sensor 17 are all prior art, and are regarded as prior art known or should be known to those skilled in the art. In the present invention, the power source is a reduction motor, and the specifications and types of the reduction motor are selected based on the functions implemented by those skilled in the art.

[0031] The present invention provides a four-split conductor X-ray inspection robot based on an unmanned aerial vehicle, which can inspect the tension clamps on all branch conductors in the split conductor by hanging once, thereby improving the inspection efficiency. The inspection robot comprises a frame and a ray machine kit and an imaging plate kit hoisted at both ends of the frame, a moving mechanism capable of being hung on the split conductor and moving along the split conductor is provided in the middle of the frame, and the ray machine kit and the imaging plate kit form a defect imaging inspection space below the frame.

[0032] In this embodiment, the imaging plate kit includes an imaging plate 11 and a lifting mechanism capable of controlling the vertical movement of the imaging plate 11, the lifting mechanism includes two vertical guide rails 12 arranged side by side and with opposite slide grooves, the length of the vertical guide rail 12 is longer than the spacing between the highest position branch conductor and the lowest position branch conductor of the split conductor to be detected, and the upper end of the vertical guide rail 12 is located above the highest position branch conductor. The imaging plate 11 is located between the two vertical guide rails 12, and the side ends of the imaging plate 11 are slidably arranged in the slide grooves of the corresponding vertical guide rails 12. By sliding the imaging plate 11 along the vertical guide rails 12, the imaging plate 11 can be lifted and lowered to the branch conductors at different height positions of the split conductor to be detected, so as to facilitate imaging detection of the branch conductors at different height positions.

[0033] In this embodiment, the X-ray machine kit is arranged correspondingly to the imaging plate kit. The X-ray machine kit includes a X-ray machine 5 and an adjustment mechanism capable of controlling the X-ray machine 5 to adjust the irradiation angle as the imaging plate 11 is raised or lowered. The adjustment mechanism includes two vertical arms 3 arranged side by side, wherein a driving chamber 4 having a power source inside is arranged at the lower end of one vertical arm 3, and an axle seat 15 is arranged at the lower end of the other vertical arm 3. The X-ray machine 5 is located between the driving chamber 4 and the axle seat 15. The side of the X-ray machine 5 corresponding to the axle seat 15 is rotatably connected to the axle seat 15 through a rotating shaft, and the side of the X-ray machine 5 corresponding to the driving chamber 4 is rotatably connected to the driving chamber 4 through a rotating shaft, and the rotating shaft is rotatably penetrated into the driving chamber 4 and is transmission-connected to the power source in the driving chamber 4. The rotation of the rotating shaft is controlled by the power source, thereby controlling the irradiation angle of the X-ray machine 5 to change.

[0034] The present invention is provided with an imaging plate 11 that can be raised and lowered so that the imaging plate 11 can be at the same horizontal height as any branch conductor in the split conductor. At the same time, the X-ray machine 5 is arranged to rotate so that the irradiation angle of the X-ray machine 5 can rotate along with the movement of the imaging plate 11 so that they are always corresponding. By controlling the movement of the imaging plate 11 and the rotation of the X-ray machine 5, the tension clamps on all branch conductors in the split conductor can be located between the imaging plate 11 and the X-ray machine for imaging detection, thereby improving the detection efficiency.

[0035] In this embodiment, the opposite ends of the two vertical guide rails 12 are connected by a transmission rod 20, and the ends of the transmission rod 20 are rotatably connected to the inner wall of the corresponding vertical guide rail 12 slot. The ends of the transmission rod 20 located in the slot are sleeved with gears 22, and the two gears 22 located in the same slot are connected by transmission through a toothed belt 16. The plate body of the imaging board 11 located in the slot is located in the toothed belt 16 and is fixedly connected to the inner side of the toothed belt 16. A power source for driving the transmission rod 20 to rotate is provided on one of the vertical guide rails 12. The corresponding transmission rod 20 is controlled to rotate by the power source, and the rotation of the transmission rod 20 causes the gear 22 and the toothed belt 16 to mesh and transmit, thereby driving the toothed belt 16 to rotate. Because the inner side of the toothed belt 16 is fixedly connected to the plate body of the imaging board 11, the rotation stroke of the toothed belt 16 is controlled, and the imaging board 11 can be controlled to be raised or lowered to a specified position.

[0036] In this embodiment, in order to prevent the toothed belt 16 from falling off the gear 22, anti-slip rings 21 are sleeved on both ends of the circumference of the gear 22, and the toothed belt 16 is located between the two anti-slip rings 21. In this embodiment, a plurality of reinforcing ribs 10 are provided between the two vertical guide rails 12, and the reinforcing ribs 10 are used to improve the stability of the vertical guide rails 12.

[0037] In this embodiment, the frame includes two cross bars 1 arranged side by side, one side end of the two cross bars 1 is fixedly connected together by a hanging rod 2, the upper ends of two vertical arms 3 are fixedly set on the hanging rod 2, the middle parts of the two cross bars 1 are fixedly connected to the upper end surface of the rectangular hanger 14, and the upper ends of the two vertical guide rails 12 are fixedly connected to the other side ends of the two cross bars 1 in a one-to-one correspondence.

[0038] The moving mechanism in this embodiment includes a rectangular hanger 14 fixed on the frame and positioning parts arranged at the four corners of the lower end of the rectangular hanger 14. Two positioning parts that are opposite and parallel to the frame are rotatably penetrated with a rotating rod 7. One end of the rotating rod 7 is provided with a walking wheel 13. One end of the rotating rod 7 is provided with a walking roller 6. The walking roller 6 is relatively long and has anti-skid patterns evenly distributed on its circumference. The rectangular hanger 14 is provided with a power source for driving the rotating rod 7 to rotate. The rotating rod 7 is controlled to rotate by the power source, so that the walking roller 6 and the walking wheel 13 can be controlled to rotate. The walking wheel 13 and the walking wheel 13 rely on the friction generated by contact with the branch conductor during the rotation process to carry the rectangular hanger 14 along the branch conductor. What is different from the prior art is that, under normal circumstances, walking wheels 13 should be set at both ends of the rotating rod 7. However, because there is a deviation in the distance between two branch conductors at the same horizontal height in split conductors of different specifications, in order to make the use of this device wider and to be able to be hung on split conductors of different specifications, this embodiment sets a longer walking roller 6 at one end of the rotating rod 7 to adapt to the detection scenario where there is a deviation in the distance between the branch conductors at the same horizontal height of the split conductors.

[0039] In this embodiment, in order to prevent the travel wheel 13 from falling off from the power transmission cable, a crossbeam 23 is provided between two positioning parts that are opposite and parallel to the frame. An extension rod 8 that can approach the travel wheel 13 and a power source that drives the extension rod 8 to rotate are rotatably provided on the crossbeam 23. The extension rod 8 is L-shaped, and one end of the extension rod 8 is rotatably connected through the rotating shaft crossbeam 23. A limiting wheel 9 is provided at the end of the extension rod 8 away from the crossbeam 23, and the wire groove of the travel wheel 13 is located in the rotation path of the limiting wheel 9. After the power transmission cable is located in the wire groove of the travel wheel 13, the limiting wheel 9 is controlled to rotate by the power source so that the limiting wheel 9 is located below the travel wheel 13 and moves to the wire groove of the travel wheel 13 to prevent the travel wheel 13 from falling off from the power transmission cable.

[0040] In order to prevent the X-ray machine 5 from over-rotating, an arc-shaped limit hole 19 coaxial with the rotating shaft of the X-ray machine 5 is provided on the side of the driving chamber 4 corresponding to the X-ray machine 5, and a limit column 18 slidably arranged in the arc-shaped limit hole 19 is provided on the X-ray machine 5. Limit sensors 17 are provided at both ends of the arc-shaped limit hole 19. When the limit column 18 contacts the trigger end of the limit sensor 17, the power source driving the X-ray machine 5 to rotate is powered off and stops working.

[0041] In order to enable the drone to suspend the device, a suspension frame 24 is provided on the upper end surface of the rectangular suspender 14. The suspension frame 11 includes a horizontal portion and two vertical portions arranged side by side on the upper end surface of the rectangular suspender 14, the horizontal portion is located above between the two vertical portions, the length of the horizontal portion is less than the spacing between the two vertical portions, and the end of the horizontal portion is connected to the upper end of the corresponding vertical portion through a transition portion.

[0042] The present invention also provides a method for detecting crimping defects of four-split conductors, which uses the above-mentioned detection robot to perform defect detection on the tension clamps on all branch conductors in the split conductor, including the following steps:

[0043] 1) The horizontal part of the hanging frame 11 is hung on the hook of the drone, and the detection robot is lifted by controlling the drone to be lifted above the split conductor to be detected, and finally the walking wheels 13 and the walking rollers 6 of the detection robot are hung on the transmission wire adjacent to the top of the split conductor;

[0044] 2) After the installation is completed, the rotating rod 7 is controlled to rotate, so that the walking wheel 13 and the walking roller 6 rub against the power transmission wire, and the frame is moved to the position of the point to be detected;

[0045] 3) After moving to the position to be detected, according to the height position of the wire clamp to be detected, the transmission rod 20 is controlled to rotate, and the gear 22 on the transmission rod 20 is meshed with the toothed belt 16 for transmission, thereby controlling the imaging plate 11 to rise and fall, so that it is at the same level as the wire clamp to be detected, and then controlling the rotation of the X-ray machine 5 so that its irradiation end corresponds to the moved imaging plate 11, and imaging detection is performed after the correspondence is completed;

[0046] 4) After the detection is completed, if there are other points to be detected in the split conductor, proceed from steps 2) to 4). If there are no other points to be detected, the detection robot is lifted off the transmission cable by the drone to end the detection.

[0047] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art may make various modifications or variations within the scope of the claims, which will not affect the essence of the present invention.

Claims

1. A four-split conductor X-ray inspection robot based on an unmanned aerial vehicle, comprising a frame and a ray machine kit and an imaging plate kit suspended at both ends of the frame, a moving mechanism capable of hanging on the split conductor and walking along the split conductor is provided in the middle of the frame, and the characteristics are: The imaging plate kit comprises an imaging plate (11) and a lifting mechanism capable of controlling the vertical movement of the imaging plate (11), the lifting mechanism comprising two vertical guide rails (12), the imaging plate (11) being located between the two vertical guide rails (12), the side portions of which are slidably arranged in the slide grooves of the corresponding vertical guide rails (12), the ends of the two vertical guide rails (12) being connected by a transmission rod (20) arranged to rotate transversely, the two ends of the transmission rod (20) being sleeved with gears (22), one of the vertical guide rails (12) being provided with a power source for driving the transmission rod (20) to rotate, the two gears (22) located on the same side being connected by transmission via a toothed belt (16), and the inner sides of the parts of the two sides of the imaging plate (11) and the two toothed belts (16) that are located on the same plane are fixedly connected; The ray machine kit comprises a ray machine (5) and an adjustment mechanism capable of controlling the ray machine (5) to adjust the irradiation angle as the imaging plate (11) is raised or lowered, the adjustment mechanism comprising an axle seat (15), a drive chamber (4) having a power source inside, and two vertical arms (3) arranged side by side on a frame, the axle seat (15) being arranged at the lower end of one vertical arm (3), the drive chamber (4) being arranged at the lower end of the other vertical arm (3), one side of the ray machine (5) being rotatably connected to the axle seat (15) via a rotating shaft, and the other side of the ray machine (5) being rotatably connected to the drive chamber (4) via a rotating shaft, the rotating shaft being rotatably inserted into the interior of the drive chamber (4) and being transmission-connected to the power source in the drive chamber (4); The driving chamber (4) is provided with an arc-shaped hole (19) coaxial with the rotating shaft on one side corresponding to the X-ray machine (5); the X-ray machine (5) is provided with a limit column (18) slidably arranged in the arc-shaped hole (19); and limit sensors (17) are provided at both ends of the arc-shaped hole (19); The moving mechanism comprises a rectangular hanger (14) fixed on the frame and positioning parts arranged at four corners of the lower end of the rectangular hanger (14); a rotating rod (7) is rotatably inserted between the two positioning parts at the front end and the two positioning parts at the rear end; one end of the rotating rod (7) is sleeved with a walking wheel (13); the other end of the rotating rod (7) is sleeved with a walking roller (6) whose outer circumferential side is at the same horizontal height as the bottom side of the line groove of the walking wheel (13); and a power source for driving the rotating rod (7) to rotate is provided on the rectangular hanger (14); The frame comprises two cross bars (1) arranged side by side, one end of the two cross bars (1) is connected by a hanging rod (2), the upper ends of the two vertical arms (3) are arranged on the hanging rod (2), the upper end surface of the rectangular hanger (14) is connected to the middle of the two cross bars (1), and the upper ends of the two vertical guide rails (12) are connected to the other end of the two cross bars (1) in a one-to-one correspondence.

2. The four-split wire X-ray inspection robot based on a drone according to claim 1, characterized in that: A crossbeam (23) is provided on one side of the rotating rod (7), a limiting wheel (9) and a power source for driving the limiting wheel (9) to rotate are rotatably provided on the crossbeam (23), and a wire groove of the walking wheel (13) is located in the rotation path of the limiting wheel (9).

3. The four-split wire X-ray inspection robot based on a drone according to claim 1, characterized in that: A plurality of reinforcing ribs (10) are arranged between the two vertical guide rails (12).

4. The UAV-based four-split wire X-ray inspection robot according to claim 1, characterized in that: Anti-slip rings (21) are sleeved on both ends of the circumferential side of the gear (22), and the toothed belt (16) is located between the two anti-slip rings (21).

5. The four-split wire X-ray inspection robot based on a drone according to claim 1, characterized in that: The frame is provided with a hanging frame (24) for hanging on the drone.

6. The UAV-based four-split wire X-ray inspection robot according to claim 5, characterized in that: The hanging frame (24) comprises a vertical portion arranged in the middle of the two cross bars (1) and a horizontal portion located above the two vertical portions, the length of the horizontal portion is smaller than the spacing between the two vertical portions, and the end of the horizontal portion is connected to the upper end of the corresponding vertical portion through a transition portion.

7. A method for detecting defects in crimping of four-split wires, characterized in that: Using the detection robot according to any one of claims 1 to 6 to perform defect detection on the tension clamps on all branch conductors in the split conductor comprises the following steps: 1) The rack is hoisted by a drone and hung on the uppermost branch conductor among the split conductors; 2) Control the frame to move to the position of the point to be tested; 3) controlling the imaging plate (11) to rise and fall, and adjusting the irradiation angle of the ray machine (5) to follow the imaging plate (11), thereby gradually completing the detection of the tension clamps of the plurality of branch conductors; 4) After the inspection is completed, the rack is lifted off the power transmission line by a drone to end the inspection.

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