C-configuration crimping hardware X-ray inspection robot, inspection method and navigation method

Abstract

The present invention belongs to the technical field of electric robots. A C-configuration crimping hardware X-ray detection robot, detection method and navigation method are provided, including: a walking mechanism, a vertical lifting mechanism and an X-ray detection mechanism; the X-ray detection mechanism includes a support frame, a receiving plate located at the top of the support frame and a transmitter located at the bottom of the support frame, the receiving plate is connected to the support frame through a horizontal moving mechanism, and the receiving plate can move in a direction perpendicular to the walking direction of the walking mechanism under the drive of the horizontal moving mechanism; the vertical lifting mechanism is fixed on the connecting frame of the walking mechanism, and the end of the push rod of the vertical lifting mechanism is connected to the push rod connecting plate on the support frame; the present invention greatly improves the environmental adaptability of the robot.

Description

Technical Field

[0001] The present invention relates to the technical field of electric power robots, and in particular to an X-ray detection robot, a detection method and a navigation method for C-configuration crimping hardware. Background Art

[0002] The statements in this section merely provide background art related to the present invention and do not necessarily constitute prior art.

[0003] The main purpose of X-ray inspection of crimping fittings is to find defects inside crimping fittings and in the crimping process, such as undervoltage, leakage, empty pressure, crimping misalignment, cracks, etc., to ensure that the crimping quality meets the standard requirements and to ensure the safe and stable operation of the transmission line. X-ray inspection of crimping fittings is based on X-ray fluoroscopic imaging technology. When X-rays penetrate crimping fittings, due to the different thickness and density inside the crimping fittings, the absorption capacity of X-rays will also vary. After the X-rays pass through the crimping fittings, a transillumination image with different intensity difference distributions will be formed. The detector then displays the difference in X-rays in the form of an image, thereby achieving non-destructive testing and high-precision imaging.

[0004] Patent No. CN118088860A discloses a transmission line crimping tube X-ray detection device, system and operation method, which provides a "door" type X-ray detection robot solution, the X-ray transmitter can move up and down, and the X-ray transmitter and the receiving plate can rotate synchronously, ensuring a larger detection range. However, the existing X-ray detection solution still has the following problems in real scenarios:

[0005] (1) When there are lateral drainage lines or downward drainage lines on the double-split conductors or quad-split conductors of the transmission line, the front crossbeam of the robot will interfere with the drainage lines, making it impossible to detect the crimping hardware; (2) The adjustment plate of the quad-split conductor of the transmission line is arranged horizontally, and the adjustment plate on the lower conductor of the quad-split conductor is likely to interfere with the X-ray transmitter, making it impossible for the robot to continue walking; (3) In the case of the double-split conductor with side outlets, the adjustment plate is arranged vertically, and the driving wheel of the X-ray inspection robot cannot cross it, making it impossible to inspect the crimping hardware; (4) Currently, most robots on transmission lines are controlled by remote control, and cannot perform adaptive navigation based on real-time detection of the conductors and hardware on the conductors. In addition, due to the influence and accumulation of multiple complex factors such as the error in the size of the robot's four wheels and the slippage of one wheel, the robot is usually unable to move forward according to the predetermined driving posture for a long time, and the robot is prone to deviate, which affects the stability and safety of the robot's operation. Summary of the invention

[0006] In order to address the deficiencies in the prior art, the present invention provides a C-configuration crimping fittings X-ray inspection robot, inspection method and navigation method, which solves the problem that the current "gate-type" structure X-ray inspection robot cannot detect double-split and quad-split drainage line crimping fittings, so that the robot can avoid the obstruction of the drainage line and then advance to a position that can cover the front-end crimping fittings, thereby greatly improving the environmental adaptability.

[0007] In order to achieve the above object, the present invention adopts the following technical solution:

[0008] In a first aspect, the present invention provides a C-configuration crimping hardware X-ray inspection robot.

[0009] A C-configuration crimping hardware X-ray detection robot, comprising: a walking mechanism, a vertical lifting mechanism and an X-ray detection mechanism;

[0010] The X-ray detection mechanism includes a support frame, a receiving plate located at the top of the support frame, and a transmitter located at the bottom of the support frame. The receiving plate is connected to the support frame through a horizontal moving mechanism. The receiving plate can move in a direction perpendicular to the walking direction of the walking mechanism under the drive of the horizontal moving mechanism.

[0011] The vertical lifting mechanism is fixed on the connecting frame of the walking mechanism, and the end of the push rod of the vertical lifting mechanism is connected to the push rod connecting plate on the supporting frame.

[0012] As a further limitation of the first aspect of the present invention, the transmitter is fixed on a base plate at the bottom of the support frame.

[0013] As a further limitation of the first aspect of the present invention, the push rod connecting plate is fixed at a position of the support frame close to the transmitter.

[0014] As a further limitation of the first aspect of the present invention, the horizontal movement mechanism is a rack and pinion transmission mechanism, and the rack and pinion transmission mechanism includes: a driving motor, a supporting slide rail, a gear and a rack;

[0015] The driving motor is fixed on the supporting frame, the output shaft of the driving motor is connected to the gear, the gear is meshed with the rack, the rack is fixedly connected to the receiving plate, and the receiving plate is slidably connected to the supporting slide rail via a sliding member.

[0016] As a further limitation of the first aspect of the present invention, the supporting rails are two parallel rails.

[0017] As a further limitation of the first aspect of the present invention, the vertical lifting mechanism includes a three-section push rod, and the ends of the three-section push rod are fixedly connected to the push rod connecting plate.

[0018] As a further limitation of the first aspect of the present invention, the walking mechanism includes four drive wheels, namely a first front drive wheel and a second front drive wheel located at the front of the walking mechanism and a first rear drive wheel and a second rear drive wheel located at the rear of the walking mechanism, and the wheel diameters of the first front drive wheel and the second front drive wheel are smaller than the wheel diameters of the first rear drive wheel and the second rear drive wheel.

[0019] As a further limitation of the first aspect of the present invention, the first front drive wheel and the second front drive wheel are arranged symmetrically along the center line of the connecting frame, and the first rear drive wheel and the second rear drive wheel are arranged symmetrically along the center line of the connecting frame;

[0020] The driving motor of the first front driving wheel is connected to one end of the first middle supporting square tube through the first adjusting square tube through the first latch, the driving motor of the second front driving wheel is connected to the other end of the first middle supporting square tube through the second adjusting square tube through the second latch, and the first middle supporting square tube is connected to the connecting frame;

[0021] The driving motor of the first rear driving wheel is connected to one end of the second intermediate supporting square tube through the third adjusting square tube through the third pin, the driving motor of the second rear driving wheel is connected to the other end of the second intermediate supporting square tube through the fourth adjusting square tube through the fourth pin, and the second intermediate supporting square tube is connected to the connecting frame.

[0022] As a further limitation of the first aspect of the present invention, the first front drive wheel and the second front drive wheel have the same structure, and both include:

[0023] A front drive hub, a front support hub, a front rubber wheel and an outwardly extending nylon roller, wherein the front rubber wheel is respectively covered on the outside of the front drive hub and the front support hub, the front drive hub is relatively fixedly connected with the front support hub and forms a first V-shaped structure, the front drive hub is used to be connected with a corresponding drive motor through a motor adapter flange, and the front support hub is connected with the outwardly extending nylon roller;

[0024] The first rear drive wheel and the second rear drive wheel have the same structure and both include:

[0025] A rear drive hub, a rear support hub and a rear rubber wheel, wherein the rear rubber wheel is respectively covered on the outer sides of the rear drive hub and the rear support hub, the rear drive hub is relatively fixedly connected to the rear support hub and forms a second V-shaped structure, the rear drive hub is used to be connected to the corresponding drive motor through a motor adapter flange, and the inner angle of the second V-shaped structure is smaller than the inner angle of the first V-shaped structure.

[0026] In a second aspect, the present invention provides an X-ray detection method for C-configuration crimping fittings of power transmission lines.

[0027] A method for X-ray inspection of C-configuration crimping fittings for power transmission lines, using the C-configuration crimping fitting X-ray inspection robot described in the first aspect of the present invention, comprises the following steps:

[0028] The walking mechanism drives the X-ray detection mechanism to move to the working position;

[0029] When inspecting the crimping fittings on the left, the receiving plate is moved to the left end through the horizontal moving mechanism, and the transmitter emits X-rays to complete the inspection of the crimping fittings on the left;

[0030] When inspecting the crimping fittings on the right side, the receiving plate is moved to the right end through the horizontal moving mechanism, and the transmitter emits X-rays to complete the inspection of the crimping fittings on the right side;

[0031] When it is necessary to detect the crimping fittings on the lower conductor of the four-split conductor, the X-ray detection mechanism is lowered to the position of the lower conductor through the vertical lifting mechanism to perform X-ray detection of the crimping fittings on the left or right.

[0032] In a third aspect, the present invention provides a navigation method for a C-configuration crimping hardware X-ray inspection robot.

[0033] A navigation method for a C-configuration crimping hardware X-ray inspection robot, using the C-configuration crimping hardware X-ray inspection robot described in the first aspect of the present invention, comprises the following process:

[0034] According to the laser radar detection data carried by the robot, the direction and position of the power transmission line in front of the robot and the size and position of the hardware on the power transmission line are obtained in real time;

[0035] According to the posture sensor data carried by the robot, the current posture data of the robot is obtained. According to the relative position relationship between the robot's four wheels and the laser radar, the position of the power transmission line is integrated with the position of the robot's four wheels to obtain the relative position relationship between the robot body and the power transmission line.

[0036] According to the size and position of the hardware on the transmission line and the relative position relationship between the hardware and the four wheels of the robot, the relative position relationship between the robot's forward direction space and the robot body is determined in combination with the direction of the transmission line;

[0037] Adaptive navigation is performed based on the robot's current posture data, the relative position relationship between the robot body and the transmission line, and the relative position relationship between the robot's forward direction space and the robot body.

[0038] As a further limitation of the third aspect of the present invention, the horizontal distance between the robot body and the two wires is obtained in real time, and whether the robot body deviates from the wires is determined based on the constructed robot driving safety zone and the horizontal distance. When the robot's walking wheels deviate from the wires, an alarm message is generated.

[0039] As a further limitation of the third aspect of the present invention, when the robot is located at the edge of the safety area and issues an alarm message, the robot posture is automatically adjusted, including:

[0040] The two driving wheels on the left side of the walking mechanism move in opposite directions to the two driving wheels on the right side of the walking mechanism to adjust the angle between the robot's forward axis and the power transmission line;

[0041] When the angle is greater than the set angle, the two driving wheels on the left side of the traveling mechanism and the two driving wheels on the right side of the traveling mechanism move forward in the same direction, so that the robot moves left and right on the transmission line;

[0042] When the robot moves left or right to a suitable position, the two driving wheels on the left side of the walking mechanism and the two driving wheels on the right side of the walking mechanism move in opposite directions to adjust the angle between the robot's forward axis and the transmission line back to zero.

[0043] As a further limitation of the third aspect of the present invention, when the robot is located at the edge of the safety area and issues an alarm message, the robot ends autonomous control and adjusts the robot posture by remote control, including:

[0044] The two driving wheels on the left side of the walking mechanism move in opposite directions to the two driving wheels on the right side of the walking mechanism to adjust the angle between the robot's forward axis and the power transmission line;

[0045] When the angle is greater than the set angle, the two driving wheels on the left side of the traveling mechanism and the two driving wheels on the right side of the traveling mechanism move forward in the same direction, so that the robot moves left and right on the transmission line;

[0046] When the robot moves left or right to a suitable position, the two driving wheels on the left side of the walking mechanism and the two driving wheels on the right side of the walking mechanism move in opposite directions, and the angle between the robot's forward axis and the power transmission line is adjusted back to zero;

[0047] The robot continues to drive autonomously.

[0048] As a further limitation of the third aspect of the present invention, the set angle is any angle between 5° and 15°.

[0049] As a further limitation of the third aspect of the present invention, a lightweight detection model is used to perform real-time detection of crimping hardware defects based on the acquired X-ray detection data to detect obvious defects; and a large defect detection model is used to perform background detection of crimping hardware defects.

[0050] Compared with the prior art, the present invention has the following beneficial effects:

[0051] The present invention innovatively develops a C-configuration crimping fittings X-ray inspection robot, which solves the problem that the current "gate-type" structure inspection robot cannot inspect double-split and quad-split drainage wire crimping fittings, allowing the robot to avoid the obstruction of the drainage wire, and then move forward to a position that can cover the front-end crimping fittings, greatly improving environmental adaptability; the walking mechanism adopts a layout of small front wheels and large rear wheels, which can adapt to the inspection of anti-loosening and crimping fittings with shunt reinforcement lines; combined with the vertical lifting mechanism, it can realize the inspection of the lower layer of the quad-split conductors, making the robot suitable for different application scenarios.

[0052] The present invention innovatively proposes a navigation method for a C-configuration crimping hardware X-ray inspection robot, which integrates laser radar data, robot posture data, and ultrasonic distance data for multi-sensor data fusion perception, thereby realizing the robot's adaptive navigation on the conductor; and innovatively proposes an online posture adjustment method for a power transmission line robot, which realizes the robot's left and right deflection and on-the-spot turning through four-wheel differential, compensates for the initial posture error of the drone hoisting robot when it goes online, corrects the accumulated posture error during the robot's operation, and improves the safety of the robot's walking.

[0053] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0055] Figure 1 A schematic diagram of a C-shaped crimping fitting X-ray inspection robot provided by the present invention;

[0056] Figure 2 A schematic diagram of an X-ray detection mechanism provided by the present invention;

[0057] Figure 3 A schematic diagram of the detection of the left side compression tube provided by the present invention;

[0058] Figure 4 A schematic diagram of the detection of the right crimping tube provided by the present invention;

[0059] Figure 5 A schematic diagram of the detection of the lower left conductor crimping tube provided by the present invention;

[0060] Figure 6 A schematic diagram of the lower right conductor crimping tube detection provided by the present invention;

[0061] Figure 7 A schematic diagram of the detection of the double-split side outlet anti-loosening type compression tube provided by the present invention;

[0062] Figure 8 A front view of a walking structure suitable for multiple scenarios provided by the present invention;

[0063] Fig. 9 A top view of a walking structure suitable for multiple scenarios provided by the present invention;

[0064] Fig.10 An assembly diagram of the front walking mechanism provided by the present invention;

[0065] Fig.11 A structural diagram of the front drive wheel provided by the present invention;

[0066] Fig.12 A top view of the rear walking mechanism provided by the present invention;

[0067] Fig.13 A cross-sectional view of the rear walking mechanism provided by the present invention;

[0068] Fig.14 A schematic diagram of the rear drive wheel structure provided by the present invention;

[0069] Among them, 1. walking mechanism; 2. X-ray detection mechanism; 3. vertical lifting mechanism; 4. support frame; 5. push rod connecting plate; 6. transmitter; 7. electric control box; 8. antenna; 9. lifting mechanism; 10. receiving plate; 11. first sliding member; 12. second sliding member; 13. connecting member; 14. bottom plate; 15. driving motor; 16. gear; 17. rack; 18. first supporting slide rail; 19. second supporting slide rail; 20. connecting plate; 21. front driving wheel; 211. first front driving wheel; 212. second front driving wheel; 22. rear driving wheel; 221. first rear driving wheel; 222. second rear driving wheel; 23. connecting frame; 24. first driving motor; 25. second driving motor; 26 , the first intermediate supporting square tube; 27, the first adjusting square tube; 28, the second adjusting square tube; 29, the first latch; 30, the second latch; 31, the first drive motor outlet shielding cover; 32, the second drive motor outlet shielding cover; 33, the front supporting hub; 34, the front driving hub; 35, the extended nylon roller; 36, the motor adapter flange; 37, the second intermediate supporting square tube; 38, the third adjusting square tube; 39, the fourth adjusting square tube; 40, the third drive motor; 41, the fourth drive motor; 42, the third latch; 43, the fourth latch; 44, the third drive motor outlet shielding cover; 45, the fourth drive motor outlet shielding cover; 46, the rear supporting hub; 47, the rear driving hub; 48, the screw. DETAILED DESCRIPTION

[0070] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0071] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0072] In this implementation, a C-shaped crimping fitting X-ray inspection robot is proposed. The crimping fitting of this implementation can be a crimping tube or a connecting tube. This implementation is introduced by taking the crimping tube as an example. Figure 1 As shown, it includes: a walking mechanism 1, a vertical lifting mechanism 3 and an X-ray detection mechanism 2;

[0073] The X-ray detection mechanism 2 includes a support frame 4 (the present implementation is preferably made of carbon fiber), a receiving plate 10 located at the top of the support frame 4, and a transmitter 6 located at the bottom of the support frame 4. The receiving plate 10 is connected to the support frame 4 through a horizontal moving mechanism. The receiving plate 10 can be driven by the horizontal moving mechanism to move in a direction perpendicular to the walking direction of the walking mechanism 1;

[0074] The vertical lifting mechanism 3 is fixed on the connecting frame 23 of the walking mechanism 1, the end of the push rod of the vertical lifting mechanism 3 is connected to the push rod connecting plate 5 on the support frame 4, and the electric control box 7, antenna 8 and lifting mechanism 9 are all fixed on the connecting frame 23 of the walking mechanism 1.

[0075] In this implementation, the vertical lifting mechanism 3 uses a three-section push rod to realize the vertical lifting of the robot detection part, so as to adapt to the X-ray detection of the crimping tube on the lower side wire of the four-split wire. The center distance between the upper and lower wires of the four-split wire is 450mm, leaving a margin of 50mm. Therefore, in this implementation, the moving stroke of the vertical lifting mechanism 3 is preferably determined to be 500mm.

[0076] In this implementation, optionally, the transmitter 6 is fixed on a bottom plate 14 at the bottom of the support frame 4 , and the bottom plate 14 is fixedly connected to the support frame 4 .

[0077] In this implementation, optionally, the push rod connecting plate 5 is fixed at a position of the support frame 4 close to the transmitter 6 .

[0078] In this implementation, optional, such as Figure 2 As shown, the horizontal moving mechanism is a gear rack transmission mechanism, which includes: a driving motor 15, a supporting slide rail, a gear 16 and a rack 17, and the driving motor 15 is connected to the supporting frame 4 through a connecting plate 20.

[0079] The drive motor 15 is fixed on the support frame 4, the output shaft of the drive motor 15 is connected to the gear 16, the gear 16 is meshed with the rack 17, the rack 17 is fixedly connected to the receiving plate 10, and the receiving plate 10 is slidably connected to the supporting slide rail through a sliding member. In this implementation, preferably, the horizontal movement range of the receiving plate 10 is ±170 mm.

[0080] In this implementation, optionally, the supporting rails are two parallel rails, namely a first supporting rail 18 and a second supporting rail 19. The receiving plate 10 is connected to the first sliding member 11 and the second sliding member 12 respectively through a connecting member 13. The first sliding member 11 is slidably connected to the first supporting rail 18, and the second sliding member 12 is slidably connected to the second supporting rail 19.

[0081] In this implementation, optionally, the vertical lifting mechanism 3 includes a three-section push rod, and the ends of the three-section push rod are fixedly connected to the push rod connecting plate 5.

[0082] In this implementation, optional, such as Figure 8 , Fig. 9 , Fig.10 , Fig.11 , Fig.12 , Fig.13 and Fig.14 As shown, the walking mechanism 1 includes four driving wheels, namely a first front driving wheel 211 and a second front driving wheel 212 located at the front of the walking mechanism 1, and a first rear driving wheel 221 and a second rear driving wheel 222 located at the rear of the walking mechanism 1. The wheel diameters of the first front driving wheel 211 and the second front driving wheel 212 are smaller than the wheel diameters of the first rear driving wheel 221 and the second rear driving wheel 222.

[0083] The driving motor of the first front driving wheel 211 (i.e., the first driving motor 24) is connected to one end of the first intermediate supporting square tube 26 through the first adjusting square tube 27 through the first latch 29, the driving motor of the second front driving wheel 212 (i.e., the second driving motor 25) is connected to the other end of the first intermediate supporting square tube 26 through the second adjusting square tube 28 through the second latch 30, and the first intermediate supporting square tube 26 is connected to the connecting frame 23;

[0084] The driving motor of the first rear driving wheel 221 (i.e., the third driving motor 40) is connected to one end of the second intermediate supporting square tube 37 through the third adjusting square tube 38 via the third latch 42, the driving motor of the second rear driving wheel 222 (i.e., the fourth driving motor 41) is connected to the other end of the second intermediate supporting square tube 37 through the fourth adjusting square tube 39 via the fourth latch 43, and the second intermediate supporting square tube 37 is connected to the connecting frame 23.

[0085] In this implementation, preferably, the first latch 29 and the second latch 30 are arranged symmetrically along the longitudinal center line of the first intermediate supporting square tube 26, and the third latch 42 and the fourth latch 43 are arranged symmetrically along the longitudinal center line of the second intermediate supporting square tube 37. The first latch 29 and the second latch 30 are used to achieve quick release and positioning.

[0086] In this implementation, preferably, the first front drive wheel 211 and the second front drive wheel 212 have the same structure and both include:

[0087] The front driving hub 34, the front supporting hub 33, the front rubber wheel (to increase friction) and the extended nylon roller 35, the front rubber wheel is respectively covered on the outside of the front driving hub 34 and the front supporting hub 33, the front driving hub 34 and the front supporting hub 33 are relatively fixedly connected and form a first V-shaped structure, the first V-shaped structure adopts a shallow V-shaped structure, the front driving hub 34 is used to connect with the corresponding driving motor through the motor adapter flange 36, the front supporting hub 33 is connected with the extended nylon roller 35, and can easily cross the anti-vibration hammer, the anti-loosening type compression pipe and the horizontally arranged adjustment plate. Because the width of the entire front driving wheel 21 is large and the shallow V-shaped structure is adopted, the wire with the shunt reinforcement line can pass through, and it will not fall out of the wire when it deviates from the moving direction.

[0088] In this implementation, preferably, the front driving hub 34 and the front supporting hub 33 are fixedly connected by screws.

[0089] In this implementation, preferably, the first rear drive wheel 221 and the second rear drive wheel 222 have the same structure and both include:

[0090] The rear drive hub 47, the rear support hub 46 and the rear rubber wheel (to increase friction), the rear rubber wheel is respectively covered on the outside of the rear drive hub 47 and the rear support hub 46, the rear drive hub 47 and the rear support hub 46 are relatively fixedly connected and form a second V-shaped structure, the rear drive hub 47 is used to connect to the corresponding drive motor through the motor adapter flange, and the rear drive wheel 22 adopts a deep V-shaped structure, which can play a guiding role.

[0091] In this implementation, the inner angle of the second V-shaped structure is smaller than the inner angle of the first V-shaped structure, that is, the first V-shaped structure is a shallow V-shaped structure, and the second V-shaped structure is a deep V-shaped structure. The shallow V-shaped widened front drive wheel 21 is combined with the deep V-shaped rear drive wheel 22. Under the premise of ensuring the guidance of the walking mechanism 1, the robot's passing ability is improved, the deviation of the walking direction is avoided, and the deficiency that the robot under the current walking mechanism 1 cannot detect anti-loosening type compression tubes and compression tubes with diversion reinforcement lines is compensated.

[0092] In this implementation, for the four split conductors of the transmission line, the adjustment plate is arranged horizontally. To avoid interference between the adjustment plate and the transmitter 6, the bottom surface of the entire X-ray inspection robot should be located above the adjustment plate when retracted, that is, the overall height of the robot should be as small as possible.

[0093] In this implementation, preferably, the rear driving hub 47 and the rear supporting hub 46 are fixedly connected by screws 48 .

[0094] In this implementation, preferably, the wheel diameter of the rear drive wheel 22 is larger than the wheel diameter of the front drive wheel 21 .

[0095] In this implementation, preferably, the wheelbase of the first front driving wheel 211 and the second front driving wheel 212 is adjusted by the first adjustment square tube 27, the first latch 29, the second adjustment square tube 28 and the second latch 30, and the wheelbase adjustment range is 400mm, 450mm and 500mm;

[0096] The wheel tracks of the first rear driving wheel 221 and the second rear driving wheel 222 are adjusted by the third adjusting square tube 38, the third latch 42, the fourth adjusting square tube 39 and the fourth latch 43, and the wheel track adjustment range is 400 mm, 450 mm and 500 mm.

[0097] In this implementation, preferably, the driving motor of the first front driving wheel 211 (i.e., the first driving motor 24) is connected to the first adjusting square tube 27, and a first driving motor outlet shielding cover 31 is provided at the connecting portion; the driving motor of the second front driving wheel 212 (i.e., the second driving motor 25) is connected to the second adjusting square tube 28, and a second driving motor outlet shielding cover 32 is provided at the connecting portion;

[0098] The driving motor of the first rear driving wheel 221 (i.e., the third driving motor 40) is connected to the third adjusting square tube 38, and a third driving motor outlet shielding cover 44 is provided at the connecting position; the driving motor of the second rear driving wheel 222 (i.e., the fourth driving motor 41) is connected to the fourth adjusting square tube 39, and a fourth driving motor outlet shielding cover 45 is provided at the connecting position.

[0099] This implementation also proposes a transmission line C-configuration crimping fittings X-ray detection method, using the C-configuration crimping fittings X-ray detection robot, including the following process:

[0100] The walking mechanism 1 drives the X-ray detection mechanism 2 to move to the working position;

[0101] like Figure 3 As shown, when the left crimp tube is detected, the receiving plate 10 is moved to the left end by the horizontal moving mechanism, and the transmitter 6 emits X-rays to complete the detection of the left crimp tube;

[0102] like Figure 4 As shown, when the crimping tube on the right is detected, the receiving plate 10 is moved to the right end by the horizontal moving mechanism, and the transmitter 6 emits X-rays to complete the detection of the crimping tube on the right;

[0103] When it is necessary to inspect the crimping tube on the lower conductor of the four-split conductor, the X-ray inspection mechanism 2 is lowered to the position of the lower conductor by the vertical lifting mechanism 3 to perform X-ray inspection of the left crimping tube or the right crimping tube, such as Figure 5 and Figure 6 shown.

[0104] like Figure 7 As shown, it is a schematic diagram of the detection of the double-split side-outlet anti-loosening type crimping tube. As mentioned above, the walking mechanism 1 of the present implementation is a four-wheel drive structure, that is, the four walking wheels are all driving wheels, and the walking mechanism 1 adopts an arrangement form in which the front wheel is small and the rear wheel is large. Due to the double-split side-outlet situation, the adjustment plate is arranged vertically and the driving wheel cannot cross over. Therefore, the receiving plate 10 should be arranged as forward as possible, and the front driving wheel 21 needs to be as small as possible. At this time, the front driving wheel 21 can continue to move forward for a distance, and the large wheel of the rear driving wheel 22 can always maintain the walking direction of the robot, thereby realizing the detection of the double-split side-outlet anti-loosening type crimping tube.

[0105] Optionally, the present implementation also proposes a navigation method based on the above-mentioned C-configuration crimping hardware X-ray inspection robot, and the robot can have two modes of autonomous operation and remote control operation.

[0106] The autonomous operation mode uses the laser radar carried by the robot to scan the status of the transmission line in real time, and uses the attitude sensor carried by the robot to perceive the robot's own status. It integrates the laser radar data, the robot's attitude data, and the ultrasonic distance data (the distance between the robot body and the two wires respectively) to perform multi-sensor data fusion perception to achieve adaptive operation navigation.

[0107] For ultra-complex scenarios, such as climbing shock-absorbing hammers and adjusting plates, remote control can be used for fine-tuning. To address problems such as robot deviation caused by complex scenarios, an innovative method for adjusting the posture of the power transmission line robot is proposed. The robot can be deflected left and right and turned on the spot through four-wheel differential, which makes up for the posture error of the drone hoisting robot in the initial state of the line and corrects the cumulative posture error of the robot during operation. Specifically, it includes:

[0108] The robot is equipped with a laser radar, which can scan the direction and position of the power transmission line in front of the robot, as well as the size and position of the hardware on the power transmission line in real time; the posture sensor carried by the robot can obtain the current three-axis position relationship of the robot, mainly including the X-axis angle, Y-axis angle and Z-axis angle, and then obtain the robot posture data; using the position relationship between the robot's four wheels (i.e., four driving wheels) and the laser radar as a bridge, the transmission line position information is integrated with the robot's four-wheel position information to obtain the relative position relationship between the robot body and the transmission line, as well as the position relationship between the robot's forward direction space and the robot body; adaptive navigation is performed based on the above position relationship and the robot's posture data; at the same time, the distance sensor is used to construct the operation alarm boundary range and set a safety zone to achieve safe and reliable autonomous navigation.

[0109] In summary, the robot uses the fusion of three-dimensional laser data and robot posture sensor data to realize the robot's relative posture perception, adaptive operation state planning and navigation on the transmission line.

[0110] As mentioned earlier, the robot can perform adaptive navigation based on multi-data fusion, but is subject to the influence and accumulation of multiple complex factors such as errors in the size of the four wheels and slippage of one wheel. Under normal circumstances, the robot cannot move forward according to the predetermined driving posture for a long time, so it will go off the line. At this time, the robot will be at the edge of the safety area constructed by the ultrasonic distance sensor and issue an alarm message.

[0111] At this point, you can take over the robot's online automatic navigation operation through remote control, and adjust the robot's posture through remote control. The specific steps are:

[0112] Step (1): The two driving wheels on the left side of the walking mechanism 1 and the two driving wheels on the right side of the walking mechanism 1 move in opposite directions to adjust the angle between the robot's forward axis and the power transmission line;

[0113] Step (2): When the angle is greater than 10° (it can be any angle between 5° and 15°, including 5° and 15°), the two driving wheels on the left side of the walking mechanism 1 and the two driving wheels on the right side of the walking mechanism 1 move forward in the same direction, so that the robot can move left and right on the transmission line;

[0114] Step (3): After the robot moves left or right to a suitable position, the two driving wheels on the left side of the walking mechanism 1 and the two driving wheels on the right side of the walking mechanism 1 move in the opposite direction to adjust the angle between the robot's forward axis and the power transmission line back to zero, thereby adjusting the robot's posture and position;

[0115] Step (4): Continue to start the autonomous navigation module and the robot continues to drive autonomously.

[0116] It is understandable that in some other implementations, remote control may not be used, and the robot may automatically perform the above steps (1), (2), (3) and (4), which will not be described in detail here.

[0117] Optionally, in this implementation, it is innovatively proposed to use large models and small models for non-destructive testing defect identification. Through the integrated application of large models and small models, the efficiency and accuracy of defect identification are ensured. According to the established transmission line crimping pipe and joint pipe defect sample library, a lightweight on-site analysis model based on YOLOv8 (i.e., a lightweight detection model) is trained. The ground station is equipped with this model to conduct a preliminary analysis of the detection data, quickly and roughly select serious defects, and guide the operation and maintenance personnel to conduct re-inspection; the background of the transmission operation center adopts a transmission line inspection algorithm based on a large visual model, and uses the established sample library and the DINO large model algorithm to train the model to form a large model (i.e., a defect detection large model). The stage inspection data can be imported into the large model of the background of the transmission operation center for analysis, focusing on suspected defects and other defects that require long-term observation and tracking, and conducting further refined analysis to form an artificial intelligence detection strategy that cooperates and complements on-site and background, rough inspection and fine inspection.

[0118] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A C-shaped crimping fitting X-ray inspection robot, characterized in that: include: Walking mechanism, vertical lifting mechanism and X-ray detection mechanism; The X-ray detection mechanism includes a support frame, a receiving plate located at the top of the support frame, and a transmitter located at the bottom of the support frame. The receiving plate is connected to the support frame through a horizontal moving mechanism. The receiving plate can move in a direction perpendicular to the walking direction of the walking mechanism under the drive of the horizontal moving mechanism. The walking mechanism includes four driving wheels, namely a first front driving wheel and a second front driving wheel located at the front of the walking mechanism, and a first rear driving wheel and a second rear driving wheel located at the rear of the walking mechanism, wherein the wheel diameters of the first front driving wheel and the second front driving wheel are smaller than the wheel diameters of the first rear driving wheel and the second rear driving wheel; The first front drive wheel and the second front drive wheel have the same structure and both include: A front drive hub, a front support hub, a front rubber wheel and an outwardly extending nylon roller, wherein the front rubber wheel is respectively covered on the outside of the front drive hub and the front support hub, the front drive hub is relatively fixedly connected with the front support hub and forms a first V-shaped structure, the front drive hub is used to be connected with a corresponding drive motor through a motor adapter flange, and the front support hub is connected with the outwardly extending nylon roller; The first rear drive wheel and the second rear drive wheel have the same structure and both include: A rear drive hub, a rear support hub and a rear rubber wheel, wherein the rear rubber wheel is respectively covered on the outer sides of the rear drive hub and the rear support hub, the rear drive hub is relatively fixedly connected with the rear support hub and forms a second V-shaped structure, the rear drive hub is used to be connected to the corresponding drive motor through a motor adapter flange, and the inner angle of the second V-shaped structure is smaller than the inner angle of the first V-shaped structure; The vertical lifting mechanism is fixed on the connecting frame of the walking mechanism, and the end of the push rod of the vertical lifting mechanism is connected to the push rod connecting plate on the supporting frame; The vertical lifting mechanism comprises a three-section push rod, the ends of which are fixedly connected to a push rod connecting plate; For the four-split conductors of the transmission line, the adjustment plate is arranged horizontally to avoid interference between the adjustment plate and the transmitter. The bottom surface of the entire X-ray inspection robot is located above the adjustment plate when it is retracted; The walking mechanism drives the X-ray detection mechanism to move to the working position; When inspecting the crimping fittings on the left, the receiving plate is moved to the left end through the horizontal moving mechanism, and the transmitter emits X-rays to complete the inspection of the crimping fittings on the left; When inspecting the crimping fittings on the right side, the receiving plate is moved to the right end through the horizontal moving mechanism, and the transmitter emits X-rays to complete the inspection of the crimping fittings on the right side; When it is necessary to detect the crimping fittings on the lower conductor of the four-split conductor, the X-ray detection mechanism is lowered to the position of the lower conductor through the vertical lifting mechanism to perform X-ray detection of the crimping fittings on the left or right.

2. The C-shaped crimping fitting X-ray inspection robot according to claim 1, characterized in that: The transmitter is fixed on a bottom plate at the bottom of the support frame.

3. The C-shaped crimping fitting X-ray inspection robot according to claim 1, characterized in that: The push rod connecting plate is fixed on the support frame at a position close to the transmitter.

4. The C-configuration crimping fitting X-ray inspection robot according to claim 1, characterized in that: The horizontal movement mechanism is a gear rack transmission mechanism, and the gear rack transmission mechanism includes: a driving motor, a supporting slide rail, a gear and a rack; The driving motor is fixed on the supporting frame, the output shaft of the driving motor is connected to the gear, the gear is meshed with the rack, the rack is fixedly connected to the receiving plate, and the receiving plate is slidably connected to the supporting slide rail via a sliding member.

5. The C-configuration crimping fitting X-ray inspection robot according to claim 4, characterized in that: The supporting slide rails are two parallel to each other.

6. The C-configuration crimping fitting X-ray inspection robot according to claim 1, characterized in that: The first front driving wheel and the second front driving wheel are arranged symmetrically along the center line of the connecting frame, and the first rear driving wheel and the second rear driving wheel are arranged symmetrically along the center line of the connecting frame; The driving motor of the first front driving wheel is connected to one end of the first middle supporting square tube through the first adjusting square tube through the first latch, the driving motor of the second front driving wheel is connected to the other end of the first middle supporting square tube through the second adjusting square tube through the second latch, and the first middle supporting square tube is connected to the connecting frame; The driving motor of the first rear driving wheel is connected to one end of the second intermediate supporting square tube through the third adjusting square tube through the third pin, the driving motor of the second rear driving wheel is connected to the other end of the second intermediate supporting square tube through the fourth adjusting square tube through the fourth pin, and the second intermediate supporting square tube is connected to the connecting frame.

7. A navigation method for a C-configuration crimping fitting X-ray inspection robot, characterized in that: Using the C-shaped crimping fitting X-ray inspection robot according to any one of claims 1 to 6, The process includes: According to the laser radar detection data carried by the robot, the direction and position of the power transmission line in front of the robot and the size and position of the hardware on the power transmission line are obtained in real time; According to the posture sensor data carried by the robot, the current posture data of the robot is obtained. According to the relative position relationship between the robot's four wheels and the laser radar, the position of the power transmission line is integrated with the position of the robot's four wheels to obtain the relative position relationship between the robot body and the power transmission line. According to the size and position of the hardware on the transmission line and the relative position relationship between the hardware and the four wheels of the robot, the relative position relationship between the robot's forward direction space and the robot body is determined in combination with the direction of the transmission line; Adaptive navigation is performed based on the robot's current posture data, the relative position relationship between the robot body and the transmission line, and the relative position relationship between the robot's forward direction space and the robot body.

8. The navigation method of the C-shaped crimping fitting X-ray inspection robot according to claim 7, characterized in that: The horizontal distance between the robot body and the two wires is obtained in real time. According to the constructed robot driving safety zone and the horizontal distance, it is judged whether the robot body deviates from the wires. When the robot's running wheels deviate from the wires, an alarm message is generated.

9. The navigation method of the C-shaped crimping fitting X-ray inspection robot according to claim 8, characterized in that: When the robot is at the edge of the safety zone and issues an alarm, the robot's posture is automatically adjusted, including: The two driving wheels on the left side of the walking mechanism move in opposite directions to the two driving wheels on the right side of the walking mechanism to adjust the angle between the robot's forward axis and the power transmission line; When the angle is greater than the set angle, the two driving wheels on the left side of the traveling mechanism and the two driving wheels on the right side of the traveling mechanism move forward in the same direction, so that the robot moves left and right on the transmission line; When the robot moves left or right to a suitable position, the two driving wheels on the left side of the walking mechanism and the two driving wheels on the right side of the walking mechanism move in opposite directions to adjust the angle between the robot's forward axis and the transmission line back to zero.

10. The navigation method of the C-configuration crimping fitting X-ray inspection robot according to claim 8, characterized in that: When the robot is at the edge of the safety zone and issues an alarm, the robot ends autonomous control and adjusts its posture by remote control, including: The two driving wheels on the left side of the walking mechanism move in opposite directions to the two driving wheels on the right side of the walking mechanism to adjust the angle between the robot's forward axis and the power transmission line; When the angle is greater than the set angle, the two driving wheels on the left side of the traveling mechanism and the two driving wheels on the right side of the traveling mechanism move forward in the same direction, so that the robot moves left and right on the transmission line; When the robot moves left or right to a suitable position, the two driving wheels on the left side of the walking mechanism and the two driving wheels on the right side of the walking mechanism move in opposite directions, and the angle between the robot's forward axis and the power transmission line is adjusted back to zero; The robot continues to drive autonomously.

11. The navigation method of the C-shaped crimping fitting X-ray inspection robot according to claim 9 or 10, characterized in that: The set angle is any angle between 5° and 15°.

12. The navigation method of the C-shaped crimping fitting X-ray inspection robot according to any one of claims 7 to 10, characterized in that: A lightweight detection model is used to perform real-time detection of crimping hardware defects based on the acquired X-ray detection data to detect obvious defects; A large defect detection model is used to perform background detection of crimping hardware defects.

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