Power line monitoring device based on infrared remote sensing

Abstract

The invention relates to a power line monitoring device based on infrared remote sensing, which comprises two main bodies with symmetrical structures, and is characterized in that each main body is provided with a walking clamping assembly, an overturning transposition assembly and an infrared probe; the infrared probes are respectively carried on the two main bodies; the supporting frame is installed in the body in a sliding mode, and the clamping set is fixed to the end of the supporting frame and extends outwards to the front side of the body. The spline shafts on the two main bodies are sleeved with overturning rods in a matched mode respectively, the ends of the two overturning rods are connected together in a staggered mode through a limiting rod, and the two overturning rods can slide front and back along the limiting rod; the device can automatically walk along a power line, and when encountering an obstacle, the device can realize the front and back position exchange of the two main bodies and the non-contact crossing of the obstacle through the turnover transposition assembly, thereby avoiding the problem of great shaking caused by rolling a spacer, and ensuring the monitoring continuity and coverage range.

Description

Technical Field

[0001] The invention relates to the technical field of high-voltage line monitoring equipment, and in particular to a power line monitoring device based on infrared remote sensing. Background Art

[0002] Power line monitoring is a method that uses modern sensing technology and information communication technology to conduct real-time monitoring and data analysis of the operating status of high-voltage transmission lines. Its main purpose is to promptly discover and deal with potential faults and safety hazards of high-voltage transmission lines to ensure the stable and safe operation of the power system. The more common line monitoring method currently available is to carry a line patrol robot on the line, use the infrared probe on the robot, and take infrared images of the power system while driving it along the line to help staff quickly and accurately locate the fault point and improve the efficiency of line detection. However, in high-voltage power systems, the accuracy of the distance between wires plays a very important role in preventing line faults and defects. Therefore, in order to maintain the correct distance between the wires and prevent them from colliding or getting too close, spacers are installed on high-voltage lines to ensure that the distance between the wires does not change due to changes in the external environment, thereby maintaining stable power supply to the line.

[0003] However, when the current line inspection robots are walking on high-voltage lines, they cannot effectively pass over the spacers, but instead directly roll over them. When the walking wheels directly press over the spacers, the equipment will shake and vibrate. Since the infrared probes and other monitoring sensors carried by the inspection robots are sensitive to vibration, large shakes will cause the infrared images to be blurred and the data to be distorted during the monitoring process, thereby reducing the accuracy and reliability of monitoring, leading to false alarms or missed faults; it may even interfere with the normal operation of the robot system, causing walking positioning errors, causing the robot to derail and fail to complete the inspection task.

[0004] Patent "CN113030161B" discloses an intelligent monitoring device for power lines based on infrared remote sensing. Four groups of support members are installed at intervals on the device body, and the first support member 6 and the third support member 62 are arranged horizontally and vertically, and the second support member 61 and the fourth support member 63 are arranged at an angle. When the device is driven along the high-voltage line, since there are intervals between each support member, the spacer bar on the high-voltage line will most likely exist between the two support members, thereby avoiding the problem of traditional monitoring equipment inevitably crushing the spacer bar when passing through it and causing shaking.

[0005] However, this solution relies on fixed spacing between supports to avoid running over spacer bars. However, for lines of different lengths and spacer bars in different positions, this solution cannot flexibly adjust the spacing between supports according to actual conditions, and thus cannot ensure that the spacer bars can be avoided every time you walk. Moreover, since the distance between supports is certain, the travel distance of each movement is fixed. If the position of the spacer bars does not match the fixed spacing of the supports, the monitoring equipment may still run over the spacer bars. Moreover, in the case of complex terrain and irregular line layout, supports with fixed spacing and fixed travel are more difficult to adapt to actual conditions, which may cause the equipment to frequently encounter obstacles such as spacer bars, thereby affecting the monitoring effect and accuracy.

[0006] Based on this, it is necessary to study a power line monitoring device that can easily cross obstacles such as spacers. Summary of the invention

[0007] In view of this, the purpose of the present invention is to provide a power line monitoring device based on infrared remote sensing, which effectively solves the problems of low efficiency of existing manual inspection and monitoring of high-voltage power lines, poor environmental adaptability and insufficient flexibility of most inspection robots, and easy crushing of spacer bars when passing through spacer bars, causing the line to shake.

[0008] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a power line monitoring device based on infrared remote sensing, including two symmetrical main bodies, each of which is provided with a walking clamping assembly, a flipping and positioning assembly and an infrared probe; the infrared probes are respectively mounted on the two main bodies; the walking clamping assembly includes a support frame, a clamping group, a wheel frame and a walking wheel, the support frame is slidably installed in the main body, the clamping group is fixed at the end of the support frame and extends outward to the front side of the main body; the walking wheel is correspondingly arranged on the clamping group guard plate through the wheel frame, and the groove on the walking wheel is tangent to the power line, so that the front clamping group and the rear walking wheel form a walking cavity through which the power line passes; the flipping and positioning assembly includes a flipping motor, a flipping rod, a spline shaft, a turntable and A pull rod is provided in each of the two main bodies, one end of the spline shaft is transmission-connected to the flip motor, and the other end extends longitudinally toward the outer rear side of the main body; and the spline shafts on the two main bodies are respectively adapted to be equipped with flip rods, the ends of the two flip rods are staggeredly connected together by limit rods, and both flip rods can slide back and forth along the limit rods; the turntable is fixedly mounted on the spline shaft, and a cylinder is provided between the turntable and the flip rod, a pull rod is provided between the main body and the flip rod, and the inner end of the pull rod extends into the main body and is fixed to the support frame. When the flip rod is controlled to slide back and forth along the spline shaft by driving the cylinder, the walking clamping assembly can be driven back and forth through the connecting rod at the same time.

[0009] Furthermore, an upper cavity and a lower cavity are vertically spaced apart on the inner side of the main body, and the support frame is fixed in the two cavities respectively; a middle cavity is respectively provided on the two main bodies between the upper cavity and the lower cavity, and the flip motor is fixed in the middle cavity; the three cavities are not connected to each other, and a clamping group is provided on the side of the upper cavity and the lower cavity opening toward the power line, and an opening is provided on the side of the middle cavity away from the power line.

[0010] Furthermore, the top and bottom of the upper cavity and the lower cavity are respectively provided with longitudinal slide grooves, and the top and bottom of the support frame are respectively provided with sliders matching the slide grooves; when the flip rod is driven by the cylinder to move back and forth on the spline shaft, it can simultaneously drive the support frame to slide longitudinally back and forth in the upper cavity or the lower cavity of the main body along the extension direction of the slide groove.

[0011] Furthermore, the cylinder is arranged between the turntable and the flip rod, and the rear side of the cylinder is fixed to the flip rod, and the front side of the cylinder is fixed to the side wall of the turntable.

[0012] Furthermore, the clamping group structures on the support frame are all the same, and the clamping group includes a clamping frame, a clamping motor, a guard plate, a front connecting rod, a rear connecting rod, a worm, a worm wheel, an upper arm and a lower arm, wherein the rear side of the clamping frame is fixed on the support frame, and the guard plate is symmetrically installed on the clamping frame, and the clamping motor is fixed on the inner side of the support frame, and its output end is connected to the worm transmission, and the worm is arranged between the front and rear guard plates, and the upper and lower ends of the worm are respectively engaged with the worm wheel, and the upper and lower worm wheels are respectively hinged to the upper arm and the lower arm through the rear connecting rod, and the rear connecting rod is respectively hinged to the middle part of the upper arm and the lower arm, and the end thereof is hinged to the guard plate, and the ends of the upper arm and the lower arm are provided with arc-shaped cavities, and when the two are closed, a circular clamping space is formed to allow the power line to pass through.

[0013] Furthermore, a traveling cavity is formed between the upper arm and the lower arm arranged opposite to each other and the traveling wheel, and a sponge layer or a rubber body is provided on the inner wall of the upper arm and the lower arm in the traveling cavity, and a sawtooth structure is provided at the distal end of the two, so that the power line is tightly held in the traveling cavity.

[0014] Furthermore, a wheel frame is installed on one side of the guard plate through a locking assembly. The wheel frame is a U-shaped structure with its opening facing the direction of the power line. The walking wheel is rotatably mounted in the wheel frame, and a walking motor is fixed on the wheel frame. The output end of the walking motor is transmission-connected to the rotating shaft of the walking wheel.

[0015] Furthermore, the locking assembly is arranged on the guard plate on the rear side of the wheel frame, and the locking assembly includes a shell, a locking block, a slide groove and a locking push rod. The slide groove is longitudinally arranged on the side wall of the slide plate, and the locking block is slidably installed in the slide groove, and the outer side of the locking block is fixed to the wheel frame, and the inner side is fixedly connected to the output end of the locking push rod; when the locking push rod is driven to extend or retract, the wheel frame and the walking wheel can be driven to approach or move away from the power line through the locking block at the same time.

[0016] Furthermore, the infrared probe is mounted on the top of the two main bodies through a fixing seat and can rotate in any direction in the fixing seat. Furthermore, the output end of the flip motor extends out of the main body and is connected to the spline shaft through a coupling. When the flip motor is controlled to work, it can simultaneously drive the rotation of the spline shaft, thereby driving the flip rod mounted on the spline shaft to rotate; the far end of the spline shaft is also provided with a limit stop.

[0017] The beneficial effect of the above technical solution is that the power line monitoring device based on infrared remote sensing provided by the present invention records high-voltage line information in real time through an infrared probe and transmits the data remotely to the terminal device, thereby realizing all-round and real-time monitoring of the power line. This ensures that the operating status of the power line is accurately reflected, potential faults and risks are discovered in a timely manner, and the reliability and safety of line operation are improved.

[0018] The device enables it to automatically walk along the power line, and the front and rear positions of the two main bodies are exchanged through the flipping and positioning components, thus ensuring the continuity and coverage of monitoring. It can also quickly and efficiently perform flipping operations when encountering obstacles to achieve the exchange of the front and rear positions of the main body, that is, it can climb over obstacles without contact through the flipping function, thus avoiding the problem of large shaking caused by rolling over the spacer rods, and then significantly improving the adaptability and stability of the monitoring equipment in complex line environments, and ensuring the continuity and coverage of monitoring, and greatly improving the stability and accuracy of monitoring.

[0019] By driving the device of the present invention to autonomously walk along the power line and conduct real-time monitoring, a large number of professionals are not required to operate on site, thereby greatly reducing labor costs. At the same time, since the need for personnel to directly participate in high-altitude operations is reduced, safety risks are also significantly reduced. The device has stronger environmental adaptability and longer battery life, and can work stably for a long time under harsh environmental conditions, providing reliable technical support for the operation and maintenance of power lines. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is one of the isometric views of an implementation structure of the present invention; Figure 2 This is the second isometric view of an implementation structure of the present invention; Figure 3 It is a schematic diagram of the main body side structure; Figure 4 It is a schematic diagram of the internal cross-sectional structure of the main body; Figure 5 It is a schematic diagram of a top view of an implementation structure; Figure 6 It is a structural schematic diagram of the walking clamping assembly; Figure 7 A schematic diagram of a working state of an implementation method; Figure 8 is a schematic diagram of the structure of the locking assembly; Fig. 9 This is a schematic diagram of the installation position structure of different infrared probes.

[0021] Figure markings: 1-main body, 11-upper cavity, 12-lower cavity, 13-middle cavity, 2-travel clamping assembly, 21-support frame, 22-clamping group, 221-clamping frame, 222-guard plate, 223-upper arm, 224-lower arm, 225-worm gear, 226-worm, 227-front connecting rod, 228-rear connecting rod, 229-travel cavity, 23-travel wheel, 24-wheel frame, 25-locking assembly, 251-housing, 252-locking push rod, 253-locking block, 26-travel motor, 27-pull rod, 28-clamping motor, 3-flipping positioning assembly, 31-flipping motor, 32-coupling, 33-turntable, 34-flipping rod, 35-spline shaft, 36-limit stopper, 4-limiting rod, 5-infrared probe, 6-fixed seat, 7-cylinder. DETAILED DESCRIPTION

[0022] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments: Embodiment 1, this embodiment aims to provide a power line monitoring device based on infrared remote sensing, which is used to monitor power lines. At present, the monitoring of high-voltage lines mainly relies on manual inspection and inspection by drones equipped with infrared probes. However, manual inspection requires professionals to conduct on-site inspections of power lines regularly, which is time-consuming and labor-intensive, and is limited by environmental conditions and the technical level of personnel; although drone inspection can improve efficiency, it also has problems such as short flight time and poor environmental adaptability, and it is difficult to work stably for a long time. In addition, some intelligent inspection equipment cannot effectively pass through the spacer when walking along the high-voltage line, and will inevitably roll over the spacer, which can easily cause the equipment to shake significantly and reduce its stability and monitoring accuracy. Based on the above problems, this embodiment provides a power line monitoring device based on infrared remote sensing, which can walk along the power line, and when encountering obstacles, it can drive the flipping and switching components to exchange the front and rear positions of the two main bodies, so as to achieve contactless climbing over the obstacles, thereby crossing the obstacles and ensuring the continuity and coverage of monitoring; the application of infrared remote sensing technology enables the monitoring equipment to work stably under various environmental conditions, significantly improve the monitoring efficiency and accuracy, and reduce labor costs and safety risks.

[0023] like Figure 1-3As shown, the power line monitoring device based on infrared remote sensing includes two symmetrical main bodies 1, and the two main bodies are staggeredly assembled through a flip rod 34, and the two main bodies are enabled to move along the high-voltage power line through the walking wheels on each main body. Each main body is provided with a walking clamping component 2, a flip positioning component 3 and an infrared probe 4.

[0024] Specifically, Figure 1 and Figure 4 As shown, an upper cavity 11, a lower cavity 12 and a middle cavity 13 are arranged vertically from top to bottom inside each main body, and the three cavities are not connected to each other, and the openings of the upper cavity and the lower cavity face one side of the high-voltage line, wherein the support frame in the walking clamping assembly is respectively arranged in the upper cavity and the lower cavity, and the opening of the middle cavity is opposite to the openings of the upper and lower cavities, and the flipping motor of the flipping and positioning assembly is fixed in the middle cavity, and the device is clamped on the high-voltage line by the walking clamping assembly, and is controlled by the controller to move smoothly along the extension direction of the high-voltage line, and when encountering a spacer bar, the flipping and positioning assembly is used to exchange the positions of the two main bodies, so that the device can flip over from the side of the spacer bar, so as to achieve no contact with obstacles and reduce the probability of shaking of the line monitoring device when passing through the spacer bar, further improving the flexibility and monitoring accuracy of the monitoring device.

[0025] like Figure 4-6 As shown, the travel clamping assembly 2 includes a support frame 21, a clamping group 22, a travel wheel 23, a wheel frame 24, a travel motor 26 and a clamping motor 28, wherein the top and bottom of the support frame 21 are respectively fixedly installed in the upper cavity and the lower cavity by bolts, and the clamping group 22 is installed at the front end of the support frame and extends outside the main body for clamping outside the high-voltage line.

[0026] Furthermore, if Figure 4 As shown by the dotted line in the middle, the top and bottom of the upper cavity and the lower cavity are respectively provided with longitudinal slide grooves, and the top and bottom of the support frame are respectively provided with sliders matching the slide grooves (this sliding matching structure is a prior art and will not be elaborated on in detail); when the flip rod is driven by the cylinder to move back and forth on the spline shaft, it can simultaneously drive the support frame to slide back and forth longitudinally in the upper cavity or the lower cavity of the main body along the extension direction of the slide groove.

[0027] like Figure 6 As shown, the clamping group in this embodiment includes a clamping frame 221, a guard plate 222, an upper arm 223, a lower arm 224, a worm wheel 225, a worm 226, a front connecting rod 227 and a rear connecting rod 228, wherein the rear side of the clamping frame 221 is fixed to the support frame 21, and the left and right sides of the clamping frame are symmetrically provided with guard plates 222 by bolts, and an installation interval is formed between the left and right guard plates. Figure 4 and Figure 6As shown, the clamping motor 28 is fixedly mounted on the support frame 21, and its output end extends into the installation interval between the two guard plates, and is connected to a worm 226 on its output shaft, and the upper and lower sides of the worm are engaged with a transmission worm wheel 225, and the upper and lower worm wheels are rotatably connected to the upper arm 223 and the lower arm 224 through a rear connecting rod 228, and the middle parts of the upper and lower arms are also hinged with front connecting rods 227, and the free ends of the front connecting rods are respectively hinged to the guard plates on both sides, and the front ends of the upper and lower clamping arms can extend to the upper and lower sides of the high-voltage line.

[0028] The clamping group in this embodiment is arranged in this way. When the clamping motor 28 is driven to work by the controller, it can simultaneously drive the upper arm and the lower arm to move toward or away from each other through the transmission of the worm gear, and arc-shaped cavities are symmetrically provided on the adjacent sides of the upper arm 223 and the lower arm 224. When the two are closed, a circular clamping space is formed, so that the high-voltage line can be clamped in the clamping space.

[0029] More preferably, a sponge or a flexible rubber body may be respectively provided in the arc-shaped cavity on the adjacent sides of the upper arm and the lower arm, so that the clamping group can tightly hold the high-voltage line without interfering with the movement of the monitoring device on the power line, and as the monitoring device moves on the power line, these soft materials can absorb and disperse the clamping force to prevent scratches or indentations on the line surface, effectively reducing friction and damage to the high-voltage line; in addition, as the monitoring device moves along the line, the vibration transmission of the device to the line can also be reduced to a certain extent, thereby protecting the safety of the monitoring equipment and the line.

[0030] A serrated structure is provided at the end of the upper arm 223 and the lower arm 224 on the side close to the high-voltage line, so that when the upper arm and the lower arm are matched and snapped together, the tooth structures at their ends can match and bite together, so that the clamping group can tightly clamp and hold the high-voltage line, preventing the monitoring equipment from detaching from the high-voltage power line during movement.

[0031] like Figure 3 As shown, a wheel frame 24 is also provided on the guard plate of the above-mentioned clamping group, and the wheel frame is installed on the side wall of the guard plate through a locking assembly. The wheel frame can be driven to slide forward and backward along the longitudinal direction on the guard plate 222 through a locking assembly 25 arranged on the guard plate. In this embodiment, the wheel frames 24 on the same main body are all arranged on the same side of the guard plate. In actual application, wheel frames and running wheels can also be arranged on both sides of the guard plate.

[0032] Furthermore, in this embodiment, the wheel frame has a U-shaped structure with its opening facing the high-voltage line side. A travel motor 26 is fixed on the wheel frame. The output end of the travel motor extends into the wheel frame and fixes the set travel wheel 23, that is, the travel wheels on each main body wheel frame are arranged horizontally, and the grooves on each travel wheel are tangent to the high-voltage line, so that under the drive of the travel motor, the travel wheels on the two main bodies can be used to drive the monitoring device to move along the high-voltage line.

[0033] like Figure 6 As shown, the upper arm 223 and the lower arm 224 arranged opposite to each other form a traveling cavity 229 with the traveling wheel. Specifically, when the upper arm and the lower arm are interlocked and engaged with each other, the high-voltage line can be embraced in the circular clamping space formed by the two, and then the traveling wheel can be moved forward by the locking assembly on the rear side of the wheel frame, and the groove on the traveling wheel is pressed against the rear side of the high-voltage line, so that the two clamping arms on the front side and the traveling wheel on the rear side form a traveling cavity, so as to ensure that it can fit tightly and hold the high-voltage line, and can also move smoothly along the line.

[0034] like Figure 3-5 As shown, the flipping and positioning assembly 3 includes a flipping motor 31, a rotating disk 33, a flipping rod 34, a spline shaft 35 and a pull rod 27, etc., wherein the flipping motor is fixed in the middle cavity of the main body, and its output end faces the outside of the middle cavity. The inner end of the spline shaft is connected to the flipping motor, and the other end extends longitudinally to the outer rear side of the main body. The spline shafts of the two main bodies are respectively equipped with flipping rods 34, and the rod body parts of the two flipping rods are both arranged in the transverse direction, and the ends of the two are staggered and connected together through the limit rod 4 (in actual application, the limit rod can be key-connected and assembled with the two flipping rods respectively). In this way, by driving the flipping rod on one main body to rotate, the flipping rod on the other main body can be driven to rotate at the same time, and there is a gap between the two flipping rods, so that the two flipping rods can slide forward and backward along the limit rod.

[0035] like Figure 5 As shown, the turntable 33 is fixedly mounted on the spline shaft, and there is a margin of movement between the turntable and the main body. The cylinder 7 is arranged between the turntable and the flip rod. The bottom of the cylinder is fixed on the side wall of the turntable, and its output end extends toward the flip rod and is fixed to the inner side wall of the flip rod, so that the flip rod can be driven to move forward and backward on the spline shaft through the cylinder. In this embodiment, two cylinders are symmetrically arranged on the turntable of each main body. In actual use, the number of cylinders can be adaptively reduced or increased according to actual conditions.

[0036] like Figure 4As shown, in this embodiment, the pull rod 27 is arranged between the flip rod and the main body, and a connecting frame is also arranged on the support frame 21 of the upper cavity and the lower cavity. The connecting frame is mounted outside the clamping motor, and one end of the pull rod is respectively fixed to the side wall of the flip rod, and the other end extends to the upper cavity and the lower cavity of the main body, and is fixedly connected to the connecting frame on the support frame in the corresponding chamber. Therefore, when the cylinder drives the flip rod to slide forward and backward along the spline shaft, the pull rod 27 can simultaneously drive the corresponding clamping group in the main body to slide accordingly, so that it moves toward or away from the turntable, thereby driving the front side walking clamping assembly to move forward or backward on the side of the high-voltage line, avoiding the problem of interference with the high-voltage line in the walking cavity during the flipping process of the main body. In addition, a limit stop 36 is also arranged at the far end of the spline shaft to prevent the flip rod from moving out of the spline shaft during the forward sliding process.

[0037] like Figure 1 and Figure 2 As shown, in this embodiment, each main body is equipped with an infrared probe 5, and each infrared probe is arranged on the top of the main body through a fixing seat 6, and each probe can be rotated in any direction in the fixing seat, and is used to take real-time photos of the high-voltage line, and judge the load operation status of the power circuit by detecting the infrared radiation energy on the surface of the line, accurately reflect its operation status, achieve the purpose of monitoring the power line, and remotely transmit the detection data to the terminal equipment, so as to monitor the condition of the high-voltage line (this is the existing technology, no more details are given here).

[0038] Working principle description: The power line monitoring device based on infrared remote sensing provided in this embodiment, when actually working, see Figure 7 First, according to the monitoring requirements, select a suitable starting position on the high-voltage line to ensure that there are no obstacles and it is convenient for the device to be placed. While keeping the clamping group open, use auxiliary tools such as manual or robotic arms to slowly move the two main bodies of the device closer to the side of the high-voltage line until the opening of the clamping group is roughly aligned with the high-voltage line.

[0039] The controller controls the clamping motor 28 to move the upper arm 223 and the lower arm 224 toward each other until they are closed, and the high-voltage line is tightly held in the clamping space. Since the arc-shaped cavities of the upper arm and the lower arm are provided with a sponge or a flexible rubber body, and the sawtooth structure at the end, the high-voltage line is firmly clamped without damaging the high-voltage line and the interference device can run normally.

[0040] After the clamping groups on each main body hold the high-voltage line tightly, adjust the position of the wheel frame 24 through the locking assembly 25 so that the groove of the walking wheel 23 fits tightly with the high-voltage line, preparing for subsequent walking; after confirming that the device has been stably fixed on the high-voltage line, start the walking motor 26 to drive the walking wheel 23 to rotate, thereby driving the entire monitoring device to move along the high-voltage line.

[0041] During the walking process, the infrared probe records the high-voltage line information in real time. When encountering obstacles (the spacer rod is used as an example in this embodiment), Figure 7 For example, subject a first encounters an obstacle, so the two subjects are stopped near the obstacle, and then subject a is used as a fixed support point and subject b is used as a flipping point to perform a flipping action, as follows: 1) Control the travel motors of the two main bodies to stop working, so that the upper and lower clamping groups of the main body a and the corresponding travel wheels are always tightly fitted and held tightly to the high-voltage line; 2) By driving the clamping motor 28 on the main body b, the upper arm and the lower arm on each clamping group are released from the fixed clamping of the high-voltage line, and the travel wheel is moved away from the high-voltage line, that is, the travel clamping assembly on the main body b is released from the tight grip on the high-voltage line; 3) Then, the cylinder 7 on the main body b is driven to move the flip rod along the spline shaft 35 and the limit rod 8 in the direction away from the high-voltage line. At the same time, the pull rod 27 on the main body b drives the walking clamping assembly on the front side of the main body b to synchronously retreat in the direction away from the high-voltage line until the clamping assembly on the main body b is completely separated from the high-voltage line. At this time, the two walking wheels are in a dislocated state; 4) Drive the flip motor on the main body a to work, and at the same time, the flip rod on the main body a is flipped toward the spacer bar through the spline shaft. Since the flip rod on the main body a is connected with the flip rod on the main body b, the main body b can be driven to flip as a whole synchronously. After the main body b is flipped 180 degrees, the main body b is located in front of the main body a, and the spacer bar is located between the main body a and the main body b; 5) Then drive the cylinder on the main body b to retract, and at the same time drive the clamping group on the main body b to reset. At this time, the clamping group returns to the side of the high-voltage line, and the high-voltage line is sheathed in the running cavity; 6) Drive the clamping motor on the main body b to drive the clamping group to hold the high-voltage line tightly, and make the walking wheels on the main body b press against the line tightly, and make the main body b serve as a fixed support point; 7) After the main body B is tightly attached to the line, the main body A is used as the turning point. The operation steps are the same as the above steps for driving the main body B to turn over. After the main body A is turned 180 degrees to the front side of the main body B, it can be reset. At this point, the monitoring device can pass over the side of the obstacle of the power line, and then it can continue to be driven to walk along the line for monitoring.

[0042] After the above steps, the monitoring device can be driven to achieve contactless obstacle crossing operation, which not only improves the monitoring efficiency and safety, but also reduces labor risks and maintenance costs. The controllable obstacle avoidance function of the flip-positioning component can ensure that the device can effectively avoid obstacles during walking, which not only reduces the probability of shaking and vibration, but also improves the walking stability and monitoring accuracy of the equipment.

[0043] Embodiment 2: Based on Embodiment 1, this embodiment further illustrates the installation structure of the locking assembly.

[0044] like Figure 8 As shown, the locking assembly 25 is arranged on the guard plate on the rear side of the wheel frame, and the locking assembly includes a shell 251, a locking push rod 252, a slide groove and a locking block 253. The slide groove is longitudinally arranged on the side wall of the slide plate, and the locking block is slidably installed in the slide groove, and the outer side of the locking block is fixed to the wheel frame, and the inner side is fixedly connected to the output end of the locking push rod; when the locking push rod is driven to extend or retract, the wheel frame and the running wheel can be driven to approach or move away from the power line through the locking block at the same time.

[0045] Embodiment 3: Based on the above embodiments 1 and 2, this embodiment further illustrates the installation structure of the infrared probe.

[0046] like Fig. 9 As shown, the infrared probe can be arranged at the top or the bottom of the two main bodies, and the monitoring body can be arranged at different line positions of the power line accordingly, so that when it is arranged at the top, the line above the monitoring device can be monitored with high precision, and when it is arranged at the bottom, the line below the monitoring device can be detected with high precision, and with the continuous flipping of the two main bodies on the line, different monitoring orientations can be continuously switched, so as to achieve full coverage of the lines around the monitoring device, reduce monitoring blind spots, improve the comprehensiveness and reliability of monitoring, and further reduce costs. And because the infrared probe is rotatably arranged in the fixed seat, it can rotate with multiple degrees of freedom, so that no matter where it is arranged on the monitoring body, it can achieve full detection of each line by controlling its active rotation and passive flipping, thereby effectively reducing the number of infrared probes installed and further reducing costs.

[0047] The embodiments of the present invention described above do not constitute a limitation on the protection scope of the present invention. The basic concept of the present invention is to enable the monitoring device to move smoothly along the line without obstacles, and to record the high-voltage line information in real time through the infrared probe, so as to facilitate the remote monitoring and analysis of the power line status. When encountering obstacles, the front and rear positions of the two main bodies are exchanged to achieve contactless crossing, thereby ensuring that the continuity and coverage of monitoring are not affected, effectively improving the monitoring efficiency and accuracy, and reducing labor costs and safety risks. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A power line monitoring device based on infrared remote sensing, characterized in that: It includes two main bodies with symmetrical structures, each of which is provided with a walking clamping component, a flipping and positioning component and an infrared probe; The infrared probes are respectively mounted on the two main bodies; The walking clamping assembly includes a support frame, a clamping group, a wheel frame and a walking wheel. The support frame is slidably installed in the main body, the clamping group is fixed at the end of the support frame and extends outward to the front side of the main body; the running wheel is correspondingly arranged on the clamping group guard plate through the wheel frame, and the groove on the running wheel is tangent to the power line, so that the front side clamping group and the rear side running wheel form a running cavity through which the power line passes; The flipping and shifting assembly comprises a flipping motor, a flipping rod, a spline shaft, a rotating disk and a pull rod. A flip motor is provided in each of the two main bodies, one end of the spline shaft is transmission-connected to the flip motor, and the other end extends longitudinally toward the outer rear side of the main body; and the spline shafts on the two main bodies are respectively adapted to be equipped with flip rods, the ends of the two flip rods are staggeredly connected together by limiting rods, and the two flip rods can slide back and forth along the limiting rods; the turntable is fixedly mounted on the spline shaft, and a cylinder is provided between the turntable and the flip rod, a pull rod is provided between the main body and the flip rod, and the inner end of the pull rod extends into the main body and is fixed to the support frame, when the flip rod is controlled to slide back and forth along the spline shaft by driving the cylinder, the walking clamping assembly can be simultaneously driven to move back and forth through the connecting rod.

2. The power line monitoring device based on infrared remote sensing according to claim 1 is characterized in that: An upper cavity and a lower cavity are vertically spaced apart on the inner side of the main body, and the support frame is fixed in the two cavities respectively; a middle cavity is respectively provided on the two main bodies between the upper cavity and the lower cavity, and the flip motor is fixed in the middle cavity; the three cavities are not connected to each other, and a clamping group is provided on the side of the upper cavity and the lower cavity opening toward the power line, and an opening is provided on the side of the middle cavity away from the power line.

3. The power line monitoring device based on infrared remote sensing according to claim 2 is characterized in that: The top and bottom of the upper cavity and the lower cavity are respectively provided with longitudinal slide grooves, and the top and bottom of the support frame are respectively provided with sliders matching the slide grooves; the support frame can slide back and forth longitudinally in the upper cavity or the lower cavity of the main body along the extension direction of the slide groove.

4. The power line monitoring device based on infrared remote sensing according to claim 1 is characterized in that: The cylinder is arranged between the rotating disk and the turning rod, and the rear side of the cylinder is fixed to the turning rod, and the front side of the cylinder is fixed to the side wall of the rotating disk.

5. The power line monitoring device based on infrared remote sensing according to claim 1 is characterized in that: The clamping group structures on the support frame are all the same, and the clamping group includes a clamping frame, a clamping motor, a guard plate, a front connecting rod, a rear connecting rod, a worm, a worm wheel, an upper arm and a lower arm, wherein the rear side of the clamping frame is fixed on the support frame, and the guard plate is symmetrically installed on the clamping frame, and the clamping motor is fixed on the inner side of the support frame, and its output end is connected to the worm transmission, and the worm is arranged between the front and rear guard plates, and the upper and lower ends of the worm are respectively engaged with the worm wheel, and the upper and lower worm wheels are respectively hinged to the upper arm and the lower arm through the rear connecting rod, and the rear connecting rod is respectively hinged to the middle part of the upper arm and the lower arm, and the end thereof is hinged to the guard plate, and the ends of the upper arm and the lower arm are provided with arc-shaped cavities, and when the two are closed, a circular clamping space is formed for the power line to pass through.

6. The power line monitoring device based on infrared remote sensing according to claim 5 is characterized in that: A running cavity is formed between the upper arm and the lower arm which are arranged opposite to each other and the running wheel, and a sponge layer or a flexible rubber body is respectively arranged on the inner wall of the upper arm and the lower arm in the running cavity, and a sawtooth structure is arranged at the distal end of the two arms.

7. The power line monitoring device based on infrared remote sensing according to claim 5 is characterized in that: A wheel frame is installed on one side of the guard plate through a locking assembly. The wheel frame is a U-shaped structure with its opening facing the direction of the power line. The walking wheel is rotatably mounted in the wheel frame, and a walking motor is fixed on the wheel frame. The output end of the walking motor is transmission-connected to the rotating shaft of the walking wheel.

8. The power line monitoring device based on infrared remote sensing according to claim 7 is characterized in that: The locking assembly is arranged on the guard plate on the rear side of the wheel frame, and the locking assembly includes a shell, a locking block, a slide groove and a locking push rod. The slide groove is arranged on the side wall of the slide plate in the longitudinal direction, and the locking block is slidably installed in the slide groove, and the outer side of the locking block is fixed to the wheel frame, and the inner side is fixedly connected to the output end of the locking push rod; when the locking push rod is driven to extend or retract, the wheel frame and the running wheel can be driven to approach or move away from the power line through the locking block at the same time.

9. The power line monitoring device based on infrared remote sensing according to claim 1 is characterized in that: The infrared probe is installed on the top of the two main bodies through a fixing seat and can rotate in any direction in the fixing seat.

10. The power line monitoring device based on infrared remote sensing according to claim 1, characterized in that: The output end of the flip motor extends out of the main body and is connected to the spline shaft through a coupling. When the flip motor is controlled to work, it can simultaneously drive the rotation of the spline shaft, thereby driving the flip rod mounted on the spline shaft to rotate; the distal end of the spline shaft is also provided with a limit stop.

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