Power transmission line tower attitude monitoring device and method based on center frame difference method

Abstract

The invention relates to the technical field of power transmission line tower attitude monitoring, in particular to a power transmission line tower attitude monitoring device and method based on a center frame difference method.The power transmission line tower attitude monitoring device comprises a collection box, a detection rod is fixedly connected to the bottom end of the collection box, and an adjusting protection cover is fixedly connected to the bottom end of the detection rod; an adjusting seat is arranged in the adjusting protective cover, a mounting rod is fixedly connected to the bottom end of the adjusting seat, an acquisition camera is arranged in the acquisition box, a distance detection sensor is arranged at the bottom end of the acquisition box, and a driving mechanism is arranged in the acquisition box and used for driving the acquisition camera to rotate. The device does not need to manually carry instruments for field measurement, so that the workload of a user is reduced, the device is particularly suitable for routing inspection of power transmission lines in mountainous areas, the working time and difficulty are greatly reduced, and inaccurate data acquisition caused by deviation and inclination due to long-time use of the device is avoided; the data acquisition accuracy of the device is further improved; and the monitoring error is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of transmission line tower posture monitoring, and in particular to a transmission line tower posture monitoring device and method based on a center frame difference method. Background Art

[0002] The monitoring of the posture of transmission line towers and the distance between trees and lines is one of the important links for State Grid Corporation of China to improve the intelligent operation and maintenance level of transmission lines, and plays a positive role in promoting the construction of my country's new power system. In recent years, with the increasing scale of my country's power grid, transmission lines are inevitably erected in mountainous areas with complex terrain. Affected by factors such as earthquakes, geological vibrations in mining areas and extreme weather, transmission towers may experience slight tilt and displacement; and as trees grow year by year, the distance between trees and lines gradually decreases, which is easy to cause hidden faults such as discharge of wires to trees. The main technology used for monitoring the posture of transmission line towers and the distance between trees and lines is machine vision technology. The center frame difference method is a method of monitoring the displacement of moving targets by differentiating the displacement of target pixels in the current frame image and the initial frame image in the video sequence. The basic idea is: the initial frame image collected and stored in advance is used as a background model, and the current frame image is differentiated from the background model to extract the displacement of the moving target; When monitoring the posture of transmission line towers and the distance from tree lines, the traditional monitoring method requires manual on-site measurement with instruments, which results in a large workload for users and is time-consuming and labor-intensive. Manual inspections of transmission lines in mountainous areas further increase the difficulty of monitoring and the high cost of monitoring. Summary of the invention

[0003] The purpose of the present invention is to provide a transmission line tower posture monitoring device and method based on the center frame difference method, so as to solve the problem proposed in the above background technology that when monitoring the transmission line tower posture and tree-line distance, the traditional monitoring method needs to rely on manual on-site measurement of instruments, which makes the user's workload large, time-consuming and labor-intensive. Manual inspection of transmission lines in mountainous areas further increases the difficulty of monitoring and the monitoring cost is high. Through this solution, there is no need to rely on manual on-site measurement of instruments, thereby reducing the user's workload and improving the user's work efficiency. It is particularly suitable for inspection of transmission lines in mountainous areas, greatly reducing working time and difficulty, and can also reduce monitoring costs. At the same time, the device can also clean the lens of the acquisition camera to avoid inaccurate data caused by unclear data collected by the acquisition camera, reduce errors, and improve the monitoring accuracy of the device. At the same time, the device can also automatically self-adjust to avoid inaccurate data collection caused by offset and tilt of the device due to long-term use, further improving the accuracy of data collection by the device and reducing monitoring errors.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a transmission line tower posture monitoring device and method based on the center frame difference method, the device comprises a collection box, the bottom end of the collection box is fixedly connected to a detection rod, the bottom end of the detection rod is fixedly connected to an adjustment protective cover, an adjustment seat is arranged inside the adjustment protective cover, the bottom end of the adjustment seat is fixedly connected to a mounting rod, a collection camera is arranged in the collection box, a collection port matched with the collection camera is opened on the box body of the collection box, the collection camera is connected to the collection port through an elastic sealing member, a controller is arranged in the collection box for controlling the operation of the device and data transmission, a first rotating rod is fixedly connected to the middle of one side of the collection camera, a second rotating rod is fixedly connected to the middle of the other side of the collection camera, an angle detector is arranged in the middle of the second rotating rod, a distance detection sensor is arranged at the bottom end of the collection box, and a driving mechanism is arranged inside the collection box for driving the collection camera to rotate.

[0005] Preferably, it also includes a driving mechanism, which includes a first worm wheel, a first worm and a first motor. The inner wall of one end of the collection box is provided with a first motor, the output end of the first motor is fixedly connected to the first worm, and one end of the first worm is connected to the inner wall of the collection box through a bearing, the middle part of the first rotating rod is fixedly connected to the first worm wheel, and the first worm wheel is meshed with the first worm, and one end of the first rotating rod and the second rotating rod are both connected to the inner wall of the collection box through bearings, so as to facilitate the adjustment of the collection camera.

[0006] Preferably, a battery is provided on the inner wall of the bottom end of the collection box, and a photovoltaic charging panel is provided on the top end of the collection box. The output end of the photovoltaic charging panel is electrically connected to the battery through a controller, and the control ends of the collection camera, the first motor, the angle detector and the distance detection sensor are all electrically connected to the controller, so as to facilitate the automatic operation of the device and provide power for the device.

[0007] Preferably, a correction mechanism is also included, and the correction mechanism includes a first ball groove, a first ball rod, a mounting groove, a second ball groove, a first electric push rod, a second ball rod, a detection groove, a partition plate, a detection plate, a wire reel, a pull wire and a contact. The top of the adjusting seat is provided with a first ball groove, the interior of the first ball groove is rotatably connected to the first ball rod, and the top of the first ball rod is fixedly connected to the inner wall of the top of the adjusting protective cover. The top of the adjusting seat is evenly provided with eight groups of mounting grooves, the inner wall of the bottom end of the mounting groove is provided with a second ball groove, the interior of the second ball groove is rotatably connected to the second ball rod, the interior of the mounting groove is provided with a first electric push rod, and the bottom ends of the first electric push rods are respectively fixedly connected to the tops of the second ball rods, and the output ends of the first electric push rods are connected to the adjusting The inner wall of the top of the section protective cover is connected, the eight groups of mounting grooves correspond to eight directions respectively, a detection groove is opened in the middle of the detection rod, and a partition plate is fixedly connected to the middle and upper part of the detection groove, and eight groups of detection plates are evenly arranged on the inner wall of the detection groove, and the detection plates correspond to eight directions respectively, and the detection plates correspond to the first electric push rod respectively, and the upper part of the detection groove is connected with a wire drum through a bearing, a pull wire is arranged in the middle of the wire drum, and the pull wire can be slidably passed through the partition plate, and a contact is arranged at the bottom end of the pull wire, and a power component is arranged on the upper part of the detection groove, and the power component is transmission-connected to the wire drum, for driving the wire drum to rotate to wind the pull wire, so as to facilitate the automatic correction work of the device and avoid inaccurate data collection of the device due to offset and tilt.

[0008] Preferably, the power assembly includes a second worm gear, a second worm and a second motor, one end of the wire drum is fixedly connected to the second worm gear, the inner wall of the top of the detection slot is provided with a second motor, the output end of the second motor is fixedly connected to the second worm, and the bottom end of the second worm is connected to the top of the partition plate through a bearing, the second worm is meshed with the second worm gear, the control end of the second motor is electrically connected to the controller, and the control ends of the first electric push rod are electrically connected to the controller through the detection plate and the contacts, respectively, to facilitate the driving of the wire drum to rotate to wind the pull wire, and also to facilitate the automatic operation of the device.

[0009] Preferably, it also includes a protective cleaning mechanism, and the protective cleaning mechanism includes a protective cleaning cover, a second electric push rod, a cleaning water tank, a hot air blower, a cleaning sleeve, a liquid level sensor, an air chamber, an air hole, an air pipe, a liquid chamber, a water spray hole, a first water pipe, a first water pump, a water collecting tank, a filter screen, a second water pipe and a second water pump, one end of the collection box is connected to the protective cleaning cover through a rotating shaft, the inner wall of the top end of the collection box is connected to the second electric push rod through a rotating shaft, and one end of the second electric push rod is connected to one end of the protective cleaning cover through a rotating shaft, the inner wall of one end of the collection box is fixedly connected to the cleaning water tank, and the cleaning water tank is located at the top of the angle detector, a hot air blower is arranged at the bottom end of one side of the cleaning water tank, a cleaning sleeve is arranged in the middle of the protective cleaning cover, the inner wall of the bottom end of the cleaning water tank is arranged with a liquid level sensor, and the middle of the cleaning sleeve is arranged A rotating brush mechanism is provided for rotating and brushing the lens of the acquisition camera. A liquid tank is provided in the middle of the cleaning sleeve. Water spray holes are evenly provided on the inner wall of one end of the liquid tank, and one end of the water spray holes all point to the cleaning brush. A first water pipe is connected to one end of the liquid tank, and one end of the first water pipe passes through the acquisition box and extends to the inside of the cleaning water tank. A first water pump is provided at one end of the first water pipe. A water collecting tank is fixedly connected to one end of the collection box, and a filter is fixedly connected to the top of the water collecting tank. A second water pipe is connected to the middle and lower part of one side of the water collecting tank, and one end of the second water pipe passes through the collection box and is connected to the cleaning water tank. A second water pump is provided in the middle of the second water pipe. A drying mechanism for drying the lens of the acquisition camera is also provided on the collection box to facilitate the cleaning of the acquisition camera and ensure the accuracy of data collection.

[0010] Preferably, the rotating brush mechanism includes a third motor and a cleaning brush, the third motor is provided in the middle of the cleaning cover, the bottom end of the cleaning cover is rotatably connected to the cleaning brush, and the middle part of the cleaning brush is fixedly connected to the output end of the third motor, after the protective cleaning cover is closed, the cleaning cover fits with the lens of the acquisition camera, the height of the center of the cleaning brush is lower than the height at its edge, the bottom end of the second water pipe is five centimeters away from the inner wall of the bottom end of the water collecting tank to prevent the sediment at the bottom of the water collecting tank from being sucked away, the control end of the second water pump is electrically connected to the controller through a liquid level sensor, and the control ends of the second electric push rod, the third motor and the first water pump are all electrically connected to the controller to improve the cleaning effect.

[0011] Preferably, the drying mechanism includes a hot air blower, an air bin, air holes and an air pipe, an air bin is opened in the middle of the cleaning sleeve, the inner diameter of the liquid bin is larger than the outer diameter of the air bin, the air bin is located in the middle of the liquid bin, the inner wall of one end of the air bin is evenly opened with air holes, and one end of the air holes points to the cleaning brush respectively, one end of the air bin is connected to the air pipe, and one end of the air pipe passes through the collection box and is connected to the output end of the hot air blower, and the control end of the hot air blower is electrically connected to the controller, so as to facilitate the drying of the lens of the collection camera.

[0012] The monitoring method of the device: Step 1: Angle adjustment. The user first installs the device at the desired position. At this time, the height of the acquisition camera can be monitored by the distance detection sensor, the battery can be charged by the photovoltaic charging panel, and the data can be transmitted and the device can be controlled by the controller. The first motor enables the first worm to drive the first worm wheel, the first rotating rod, the acquisition camera, the second rotating rod and the angle detector to rotate; Step 2: Data collection: The data of the transmission line tower posture and tree-line distance can be collected through the collection camera, and then the data is transmitted to the main control console through the controller for data analysis; Step 3: Collect rainwater. When it rains, the filter net can filter out the debris in the rainwater, and the filtered rainwater is stored inside the water collection tank; Step 4: Cleaning work. When the video or photo captured by the acquisition camera is unclear, the acquisition camera is placed in a horizontal state by the first motor, and the cleaning sleeve in the middle of the protective cleaning cover is put on the lens of the acquisition camera by shortening the second electric push rod. Then, the clean water in the cleaning water tank is input into the liquid tank, and finally sprayed to one end of the acquisition camera through the water spray hole. The lens of the acquisition camera is cleaned by the third motor and the cleaning brush. Step 5: Drying: After cleaning, the hot air generated by the hot air blower is input into the air chamber through the air pipe, and finally sprayed to one end of the acquisition camera through the air hole, thereby drying one end of the acquisition camera; Step 6: Prepare the water source. When the liquid level sensor detects that the water level of the clean water in the clean water tank is too low, the clean water in the middle and upper part of the water collecting tank is input into the clean water tank through the second water pump and the second water pipe for next use. Step 7: Self-adjustment. If the device is offset and tilted, the contact moves in the direction of the offset and tilt. The contact and the detection plate can make the corresponding first electric push rod work. The extension of the first electric push rod can push the bottom of the corresponding collection box upward, so that the contact is between the detection plates, ensuring that the contact is no longer in contact with the detection plate, and ensuring that the data collected by the collection camera is within the processing error range; Step 8: Flexibility adjustment. The user controls the second motor to rotate the wire drum through the second worm and the second worm gear. By controlling the length of the pull wire, the height of the contact can be controlled, thereby controlling the sensitivity of monitoring the deviation and tilt of the device.

[0013] Compared with the prior art, the present invention has the following beneficial effects: 1) Data transmission and control of the device can be performed through the controller. The protective cleaning cover can be opened by extending the second electric push rod. The protective cleaning cover can be used to shade the acquisition camera to ensure that the acquisition camera can collect videos and photos and reduce the impact of sunlight on the acquisition camera. The user controls the first motor to rotate the first worm, the first worm wheel, the first rotating rod, the acquisition camera, the second rotating rod and the angle detector. The angle detector can monitor the rotation direction and angle of the acquisition camera. After the user uses the first motor, the first worm, the first worm wheel and the first rotating rod to make the acquisition camera at a suitable angle, the acquisition camera can collect data on the transmission line tower posture and the tree line distance. Then, the controller transmits the data to the main control console for data analysis, so as to determine whether the monitored transmission line tower posture is within the normal range, so as to determine whether it affects power transmission. When monitoring the transmission line tower posture and the tree line distance, there is no need to rely on manual on-site measurement of instruments, thereby reducing the user's workload and improving the user's work efficiency. It is particularly suitable for inspection of transmission lines in mountainous areas, greatly reducing working time and difficulty, and also reducing monitoring costs; 2) When it rains, the filter net can filter out the debris in the rainwater, and the filtered rainwater is stored inside the water collection tank. When the video or photo collected by the acquisition camera is unclear, the user controls the first motor and the second electric push rod to work, and the acquisition camera is in a horizontal state through the first motor, and then the cleaning sleeve in the middle of the protective cleaning cover is put on the lens of the acquisition camera, so that the cleaning brush fits with one end of the acquisition camera, and the clean water in the cleaning water tank is input into the liquid tank through the first water pump and the first water pipe, and finally sprayed to one end of the acquisition camera through the water spray hole, and the cleaning brush is driven to rotate by the third motor, and the cleaning brush can clean one end of the acquisition camera, thereby cleaning the dirt on one end of the acquisition camera; 3) The hot air generated by the hot air blower is input into the air chamber through the air pipe, and finally sprayed to one end of the acquisition camera through the air hole, so as to dry one end of the acquisition camera, avoid water stains adhering to one end of the acquisition camera, which will cause unclear data collection of the acquisition camera again, reduce errors, and improve accuracy. After cleaning and drying, the protective cleaning cover is opened by extending the second electric push rod, and the sunshade work is performed on one end of the acquisition camera again; 4) When the liquid level sensor detects that the water level of the clean water tank is too low, the liquid level sensor controls the second water pump to work, and the clean water in the middle and upper part of the water collecting tank is input into the clean water tank through the second water pump and the second water pipe for the next use, so as to ensure that the device does not need to worry about the water source problem after using the device for a long time; 5) When the device is offset and tilted, the contact moves in the direction of the offset and tilt. When the contact fits the detection plate, the first electric push rod corresponding to the detection plate works. The first electric push rod is extended to push the bottom end of the corresponding collection box upward, so that the contact is between the detection plates, ensuring that the contact is no longer in contact with the detection plates, thereby ensuring that the detection rod, the collection box and the collection camera are always in a vertical state, ensuring that the data collected by the collection camera is within the error range of processing. The first ball groove and the first ball rod can increase the activity space between the detection rod and the installation rod, and improve its self-adjustment flexibility. The second ball groove and the second ball rod can ensure the flexibility of the first electric push rod during adjustment, making the operation of the first electric push rod more convenient. 6) The user controls the second motor to work, and the second worm and the second worm gear can make the wire drum rotate. By controlling the length of the wire, the height of the contact can be controlled, and then the sensitivity of the offset and tilt monitoring device can be controlled. The user can adjust the sensitivity of the self-offset and tilt adjustment of the device according to the use environment and use requirements, further improving the scope of use of the device; This device does not need to rely on manual on-site measurement of instruments, thereby reducing the user's workload and improving the user's work efficiency. It is particularly suitable for inspection of power transmission lines in mountainous areas, greatly reducing working time and difficulty, and can also reduce monitoring costs. At the same time, this device can also clean the camera lens to avoid inaccurate data caused by unclear data collected by the camera, reduce errors, and improve the monitoring accuracy of this device. At the same time, this device can also automatically self-adjust to avoid inaccurate data collection caused by deviation and tilt due to long-term use of the device, further improving the accuracy of data collected by this device and reducing monitoring errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a three-dimensional schematic diagram of the present invention; Figure 2 It is a cross-sectional perspective schematic diagram of the present invention; Figure 3 It is a cross-sectional stereoscopic schematic diagram of the collection box and the water collection box in the present invention; Figure 4 It is a cross-sectional stereoscopic schematic diagram of the clean water tank and the water collecting tank in the present invention; Figure 5 It is a cross-sectional stereoscopic schematic diagram of the adjustment seat and the adjustment protection cover in the present invention; Figure 6 It is a cross-sectional stereoscopic schematic diagram of the detection rod and the detection slot in the present invention; Figure 7 It is a cross-sectional stereoscopic schematic diagram of the gas bin and the liquid bin in the present invention.

[0015] In the figure: 1, collection box; 2, adjustment seat; 3, detection rod; 4, collection port; 5, collection camera; 6, elastic seal; 7, battery; 8, controller; 9, photovoltaic charging panel; 10, first rotating rod; 11, first worm gear; 12, first worm; 13, first motor; 14, second rotating rod; 15, angle detector; 16, adjustment protection cover; 17, distance detection sensor; 18, first ball groove; 19, first ball rod; 20, installation groove; 21, second ball groove; 22, first electric push rod; 23, second ball rod; 24, detection groove; 25, partition plate; 26 , detection board; 27, wire drum; 28, pull wire; 29, contact; 30, second worm gear; 31, second worm; 32, second motor; 33, protective cleaning cover; 34, second electric push rod; 35, clean water tank; 36, hot air blower; 37, cleaning cover; 38, liquid level sensor; 39, third motor; 40, cleaning brush; 41, air chamber; 42, air hole; 43, air pipe; 44, liquid chamber; 45, water spray hole; 46, first water pipe; 47, first water pump; 48, water collecting tank; 49, filter screen; 50, second water pipe; 51, second water pump; 52, installation rod. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0017] See also Figure 1-Figure 7 , an embodiment provided by the present invention: A transmission line tower posture monitoring device and method based on the center frame difference method, the device includes a collection box 1, the bottom end of the collection box 1 is fixedly connected to a detection rod 3, the bottom end of the detection rod 3 is fixedly connected to an adjustment protection cover 16, an adjustment seat 2 is arranged inside the adjustment protection cover 16, the bottom end of the adjustment seat 2 is fixedly connected to a mounting rod 52, a collection camera 5 is arranged in the collection box 1, a collection port 4 adapted to the collection camera 5 is opened on the box body of the collection box 1, the collection camera 5 is connected to the collection port 4 through an elastic seal 6, a controller 8 is arranged in the collection box 1 for controlling the operation of the device and data transmission, a first rotating rod 10 is fixedly connected to the middle of one side of the collection camera 5, a second rotating rod 14 is fixedly connected to the middle of the other side of the collection camera 5, an angle detector 15 is arranged in the middle of the second rotating rod 14, a distance detection sensor 17 is arranged at the bottom end of the collection box 1, and a driving motor is arranged inside the collection box 1 The structure is used to drive the acquisition camera 5 to rotate. The user first installs the device at the required position. At this time, the height of the acquisition camera 5 can be monitored by the distance detection sensor 17. After the user uses the first motor 13, the first worm 12, the first worm wheel 11 and the first rotating rod 10 to make the acquisition camera 5 at a suitable angle, the acquisition camera 5 can collect data on the transmission line tower posture and the tree line distance. Then, the controller 8 transmits the data to the main control console for data analysis, so as to determine whether the monitored transmission line tower posture is within the normal range, so as to determine whether it affects power transmission. When monitoring the transmission line tower posture and the tree line distance, there is no need to rely on manual on-site measurement of instruments, thereby reducing the user's workload and improving the user's work efficiency. It is particularly suitable for inspection of transmission lines in mountainous areas, greatly reducing working time and difficulty, and also reducing monitoring costs; See also Figure 2 and Figure 3 In this embodiment, a driving mechanism is also included, and the driving mechanism includes a first worm gear 11, a first worm 12 and a first motor 13. The inner wall of one end of the collection box 1 is provided with a first motor 13, and the output end of the first motor 13 is fixedly connected to the first worm 12, and one end of the first worm 12 is connected to the inner wall of the collection box 1 through a bearing. The middle part of the first rotating rod 10 is fixedly connected to the first worm gear 11, and the first worm gear 11 is meshed with the first worm 12. One end of the first rotating rod 10 and the second rotating rod 14 are both connected to the inner wall of the collection box 1 through a bearing. The user controls the first motor 13 to work, so that the first worm 12 rotates, and the first worm gear 11 can rotate by rotating the first worm 12. The rotating first worm gear 11 drives the first rotating rod 10 to rotate, and the first rotating rod 10 drives the collection camera 5, the second rotating rod 14 and the angle detector 15 to rotate. The angle detector 15 can monitor the rotation direction and angle of the collection camera 5, so as to facilitate the adjustment of the collection camera. See also Figure 2 , Figure 5 and Figure 6 In this embodiment, a correction mechanism is also included, and the correction mechanism includes a first ball groove 18, a first ball rod 19, a mounting groove 20, a second ball groove 21, a first electric push rod 22, a second ball rod 23, a detection groove 24, a partition plate 25, a detection plate 26, a wire reel 27, a pull wire 28 and a contact 29. The top of the adjustment seat 2 is provided with a first ball groove 18, the interior of the first ball groove 18 is rotatably connected with the first ball rod 19, and the top of the first ball rod 19 is fixedly connected to the inner wall of the top of the adjustment protection cover 16. The top of the adjustment seat 2 is evenly provided with eight groups of mounting grooves 20, and the inner walls of the bottom ends of the mounting grooves 20 are all provided with second ball grooves 21, and the interiors of the second ball grooves 21 are all rotatably connected with the second ball rods 23. The inside of the installation groove 20 is provided with a first electric push rod 22, and the bottom end of the first electric push rod 22 is fixedly connected to the top of the second ball rod 23, and the output end of the first electric push rod 22 is connected to the inner wall of the top of the adjustment protection cover 16 through a rotating shaft. The eight groups of installation grooves 20 correspond to eight directions respectively. A detection groove 24 is opened in the middle of the detection rod 3, and a partition plate 25 is fixedly connected to the middle and upper part of the detection groove 24. Eight groups of detection plates 26 are evenly arranged on the inner wall of the detection groove 24, and the detection plates 26 correspond to eight directions respectively. The detection plates 26 correspond to the first electric push rod 22 respectively. The upper part of the detection groove 24 is connected to a wire drum 27 through a bearing, and a pull wire 28 is arranged in the middle of the wire drum 27. The pull wire 28 is slidably arranged in the partition plate 25, and a contact 29 is arranged at the bottom end of the pull wire 28. A power assembly is arranged at the upper part of the detection groove 24, and the power assembly is connected with the wire drum 27 for driving the wire drum 27 to rotate so as to wind the pull wire 28, so as to facilitate the automatic correction work of the device. After using the device for a long time, the device appears to be offset and tilted. At this time, the contact 29 moves in the direction of the offset and tilt. When the contact 29 is in contact with the detection plate 26, the first electric push rod 22 corresponding to the detection plate 26 works. The first electric push rod 22 is extended to push the bottom end of the collection box 1 in the corresponding position upward, so that the contact 29 is between the detection plates 26, ensuring that the contact 29 is no longer Contact with the detection plate 26, so as to ensure that the detection rod 3, the collection box 1 and the collection camera 5 are always in a vertical state, and the data collected by the collection camera 5 is ensured to be within the error range of data processing. The first ball groove 18 and the first ball rod 19 can increase the activity space between the detection rod 3 and the mounting rod 52, and improve its self-adjustment flexibility. The second ball groove 21 and the second ball rod 23 can ensure the flexibility of the first electric push rod 22 during adjustment, which is more convenient for the operation of the first electric push rod 22. The user can adjust the sensitivity of the self-offset tilt adjustment of the device according to the use environment and use requirements, further improve the use range of the device, and avoid inaccurate data collection of the device due to offset tilt; See also Figure 6In this embodiment, the power assembly includes a second worm gear 30, a second worm 31 and a second motor 32. One end of the wire drum 27 is fixedly connected to the second worm gear 30. The inner wall of the top of the detection slot 24 is provided with a second motor 32. The output end of the second motor 32 is fixedly connected to the second worm 31, and the bottom end of the second worm 31 is connected to the top of the partition plate 25 through a bearing. The second worm 31 is meshed with the second worm gear 30. The user controls the second motor 32 to work. The wire drum 27 can be rotated by the second worm 31 and the second worm gear 30. By controlling the length of the pull wire 28, the height of the contact 29 can be controlled, and then the sensitivity of the deviation and inclination of the monitoring device can be controlled. The control end of the second motor 32 is electrically connected to the controller 8, and the control end of the first electric push rod 22 is electrically connected to the controller 8 through the detection plate 26 and the contact 29, respectively, so as to facilitate the rotation of the wire drum 27 to wind the pull wire 28, and also facilitate the automatic operation of the device. See also Figure 2 , Figure 3 , Figure 4 and Figure 7In this embodiment, a protective cleaning mechanism is also included, and the protective cleaning mechanism includes a protective cleaning cover 33, a second electric push rod 34, a cleaning water tank 35, a hot air blower 36, a cleaning sleeve 37, a liquid level sensor 38, an air bin 41, an air hole 42, an air pipe 43, a liquid bin 44, a water spray hole 45, a first water pipe 46, a first water pump 47, a water collecting tank 48, a filter screen 49, a second water pipe 50 and a second water pump 51. One end of the collection box 1 is connected to the protective cleaning cover 33 through a rotating shaft, the inner wall of the top of the collection box 1 is connected to the second electric push rod 34 through a rotating shaft, and one end of the second electric push rod 34 is connected to one end of the protective cleaning cover 33 through a rotating shaft, the inner wall of one end of the collection box 1 is fixedly connected to the cleaning water tank 35, and the cleaning water tank 35 is located at the angle detector 1. 5, a hot air blower 36 is arranged at the bottom end of one side of the cleaning water tank 35, a cleaning sleeve 37 is arranged in the middle of the protective cleaning cover 33, a liquid level sensor 38 is arranged on the inner wall of the bottom end of the cleaning water tank 35, a rotating brush mechanism for rotating and brushing the lens of the acquisition camera 5 is arranged in the middle of the cleaning sleeve 37, a liquid tank 44 is opened in the middle of the cleaning sleeve 37, water spray holes 45 are evenly opened on the inner wall of one end of the liquid tank 44, and one end of the water spray holes 45 all point to the cleaning brush 40, one end of the liquid tank 44 is connected to a first water pipe 46, and one end of the first water pipe 46 passes through the collection box 1 and extends to the inside of the cleaning water tank 35, one end of the first water pipe 46 is provided with a first water pump 47, one end of the collection box 1 is fixedly connected to a water collecting tank 48, and the top of the water collecting tank 48 is fixedly connected to A filter screen 49 is connected, a second water pipe 50 is connected to the middle and lower part of one side of the water collecting box 48, and one end of the second water pipe 50 passes through the collection box 1 and is connected to the clean water tank 35. A second water pump 51 is arranged in the middle of the second water pipe 50. The collection box 1 is also provided with a drying mechanism for drying the lens of the collection camera 5. The protective cleaning cover 33 can be opened by extending the second electric push rod 34. The collection camera 5 can be shaded by the protective cleaning cover 33 to ensure that the collection camera 5 can collect videos and photos and reduce the influence of sunlight on the collection camera 5. When it rains, the debris in the rainwater can be filtered out by the filter screen 49, and the filtered rainwater is stored inside the water collecting box 48. When the video or photo collected by the collection camera 5 is unclear When the user controls the first motor 13 and the second electric push rod 34 to work, the first motor 13 drives the first worm 12 to rotate, the first worm 12 drives the first worm wheel 11 and the first rotating rod 10 to rotate, and the first rotating rod 10 drives the acquisition camera 5 to rotate. The user rotates the acquisition camera 5 to a horizontal state, and at the same time shortens the second electric push rod 34 to reset the protective cleaning cover 33, so that the cleaning sleeve 37 in the middle of the protective cleaning cover 33 is sleeved on the lens of the acquisition camera 5, so that the cleaning brush 40 is in contact with one end of the acquisition camera 5. At this time, the first water pump 47 is started, and the clean water in the cleaning water tank 35 is input into the liquid tank 44 through the first water pump 47 and the first water pipe 46, and finally sprayed to one end of the acquisition camera 5 through the water spray hole 45.It is convenient to clean the acquisition camera and ensure the accuracy of data acquisition. When the liquid level sensor 38 detects that the water level of the clean water in the clean water tank 35 is too low, the liquid level sensor 38 controls the second water pump 51 to work, and the clean water in the middle and upper part of the water collection tank 48 is input into the clean water tank 35 through the second water pump 51 and the second water pipe 50 for the next use, so as to ensure that the device does not need to worry about the water source problem; See also Figure 3 and Figure 7 In this embodiment, the rotating brush mechanism includes a third motor 39 and a cleaning brush 40. The third motor 39 is provided in the middle of the cleaning sleeve 37. The bottom end of the cleaning sleeve 37 is rotatably connected with the cleaning brush 40, and the middle of the cleaning brush 40 is fixedly connected to the output end of the third motor 39. After the protective cleaning cover 33 is closed, the cleaning sleeve 37 fits the lens of the acquisition camera 5, and the cleaning brush 40 is driven to rotate by the third motor 39. The rotating cleaning brush 40 and the sprayed clean water can clean one end of the acquisition camera 5, thereby cleaning the dirt on one end of the acquisition camera 5. The height of the center of the cleaning brush 40 is lower than the height at its edge. The bottom end of the second water pipe 50 is five centimeters away from the inner wall of the bottom end of the water collecting tank 48 to prevent the sediment at the bottom of the water collecting tank 48 from being sucked away. The control end of the second water pump 51 is electrically connected to the controller 8 through the liquid level sensor 38, and the control ends of the second electric push rod 34, the third motor 39 and the first water pump 47 are all electrically connected to the controller 8 to improve the cleaning effect. See also Figure 3 , Figure 4 and Figure 7 In this embodiment, the drying mechanism includes a hot air blower 36, an air bin 41, air holes 42 and an air pipe 43. The middle part of the cleaning sleeve 37 is provided with an air bin 41. The inner diameter of the liquid bin 44 is larger than the outer diameter of the air bin 41. The air bin 41 is located in the middle part of the liquid bin 44. The inner wall of one end of the air bin 41 is evenly provided with air holes 42, and one end of the air holes 42 points to the cleaning brush 40 respectively. One end of the air bin 41 is connected with an air pipe 43, and one end of the air pipe 43 passes through the collection box 1 and is connected to the output end of the hot air blower 36. The hot air generated by the hot air blower 36 is input into the interior of the air bin 41 through the air pipe 43, and finally sprayed to one end of the collection camera 5 through the air hole 42, so as to dry one end of the collection camera 5, avoid water stains adhering to one end of the collection camera 5 and cause unclear data collection of the collection camera 5 again, reduce errors and improve accuracy. The control end of the hot air blower 36 is electrically connected to the controller 8, which is convenient for drying the lens of the collection camera 5. It should be noted that a battery 7 is provided on the inner wall at the bottom of the collection box 1, and a photovoltaic charging panel 9 is provided at the top of the collection box 1. The output end of the photovoltaic charging panel 9 is electrically connected to the battery 7 through the controller 8. The control ends of the collection camera 5, the first motor 13, the angle detector 15 and the distance detection sensor 17 are all electrically connected to the controller 8. The photovoltaic charging panel 9 can charge the battery 7, thereby improving the battery life of the device, facilitating the automatic operation of the device and providing power for the device. The device operates as follows: Step 1: Angle adjustment. The user first installs the device at the desired position. At this time, the height of the acquisition camera 5 can be monitored by the distance detection sensor 17, the battery 7 can be charged by the photovoltaic charging panel 9, and the data transmission and control of the device can be performed by the controller 8. The first motor 13 enables the first worm 12 to drive the first worm wheel 11, the first rotating rod 10, the acquisition camera 5, the second rotating rod 14 and the angle detector 15 to rotate; Step 2: Data collection: the data of the transmission line tower posture and the tree-line distance can be collected by the collection camera 5, and then the data is transmitted to the main control console through the controller 8 for data analysis; Step 3: Collect rainwater. When it rains, the filter 49 can filter out debris in the rainwater, and the filtered rainwater is stored inside the water collection tank 48; Step 4: cleaning work. When the video or photo captured by the acquisition camera 5 is unclear, the acquisition camera 5 is placed in a horizontal state by the first motor 13, and the cleaning sleeve 37 in the middle of the protective cleaning cover 33 is shortened by the second electric push rod 34 so that the cleaning sleeve 37 in the middle of the protective cleaning cover 33 is covered on the lens of the acquisition camera 5. Then, the clean water in the cleaning water tank 35 is input into the liquid tank 44, and finally sprayed to one end of the acquisition camera 5 through the water spray hole 45. The lens of the acquisition camera 5 is cleaned by the third motor 39 and the cleaning brush 40; Step 5: Drying. After cleaning, the hot air generated by the hot air blower 36 is input into the interior of the air chamber 41 through the air pipe 43, and finally sprayed toward one end of the acquisition camera 5 through the air hole 42, thereby drying the one end of the acquisition camera 5; Step 6: Prepare water source. When the liquid level sensor 38 detects that the water level of the clean water in the clean water tank 35 is too low, the clean water in the middle and upper part of the water collecting tank 48 is input into the clean water tank 35 through the second water pump 51 and the second water pipe 50 for next use. Step 7: Self-adjustment. If the device is offset and tilted, the contact 29 moves in the direction of the offset and tilt. The contact 29 and the detection plate 26 can make the corresponding first electric push rod 22 work. The first electric push rod 22 is extended to push the bottom end of the corresponding position of the collection box 1 upward, so that the contact 29 is between the detection plates 26, ensuring that the contact 29 is no longer in contact with the detection plate 26, and ensuring that the data collected by the collection camera 5 is within the processing error range; Step eight: flexibility adjustment, the user controls the second motor 32 to work, and the wire drum 27 can be rotated through the second worm 31 and the second worm wheel 30, and the height of the contact 29 can be controlled by controlling the length of the pull wire 28, thereby controlling the sensitivity of the deviation and tilt of the monitoring device.

[0018] Working principle: When the user uses the device, the user first installs the device at the desired position. At this time, the height of the acquisition camera 5 can be monitored through the distance detection sensor 17, and the battery 7 can be charged through the photovoltaic charging panel 9 to improve the battery life of the device. The controller 8 can transmit data and control the operation of the device. The protective cleaning cover 33 can be opened by extending the second electric push rod 34. The protective cleaning cover 33 can be used to shade the acquisition camera 5 to ensure that the acquisition camera 5 can collect videos and photos and reduce the impact of sunlight on the acquisition camera 5. The user controls the first motor 13 to work, so that the first worm 12 rotates, and the rotating first worm 12 can make the first worm wheel 11 rotate, and the rotating first worm 12 can make the first worm wheel 11 rotate. The wheel 11 drives the first rotating rod 10 to rotate, and the first rotating rod 10 drives the acquisition camera 5, the second rotating rod 14 and the angle detector 15 to rotate. The angle detector 15 can monitor the rotation direction and angle of the acquisition camera 5. After the user uses the first motor 13, the first worm 12, the first worm wheel 11 and the first rotating rod 10 to make the acquisition camera 5 at a suitable angle, the acquisition camera 5 can collect data on the transmission line tower posture and the tree line distance, and then transmit the data to the main control console for data analysis through the controller 8, so as to determine whether the monitored transmission line tower posture is within the normal range, so as to determine whether it affects power transmission, and then when monitoring the transmission line tower posture and the tree line distance, there is no need to rely on manual carrying of instruments. On-site measurement reduces the user's workload and improves the user's work efficiency. It is especially suitable for inspection of power transmission lines in mountainous areas, greatly reducing working time and difficulty, and also reducing monitoring costs. When it rains, the filter 49 can filter out debris in the rainwater, and the filtered rainwater is stored inside the water collection tank 48. When the video or photo collected by the acquisition camera 5 is unclear, the user controls the first motor 13 and the second electric push rod 34 to work, and the first motor 13 drives the first worm 12 to rotate, and the first worm 12 drives the first worm wheel 11 and the first rotating rod 10 to rotate, and the first rotating rod 10 drives the acquisition camera 5 to rotate. The user rotates the acquisition camera 5 to a horizontal state, and at the same time shortens the second electric push rod 34 to make the protection clean. The cover 33 is reset, so that the cleaning sleeve 37 in the middle of the protective cleaning cover 33 is sleeved on the lens of the acquisition camera 5, so that the cleaning brush 40 is in contact with one end of the acquisition camera 5. At this time, the first water pump 47 is started, and the clean water in the cleaning water tank 35 is input into the liquid tank 44 through the first water pump 47 and the first water pipe 46, and finally sprayed to one end of the acquisition camera 5 through the water spray hole 45. The cleaning brush 40 is driven to rotate by the third motor 39, and the rotating cleaning brush 40 and the sprayed clean water can clean one end of the acquisition camera 5, so as to clean the dirt on one end of the acquisition camera 5. After cleaning, the hot air generated by the hot air blower 36 is input into the air tank 41 through the air pipe 43, and finally sprayed to one end of the acquisition camera 5 through the air hole 42.Thereby, one end of the acquisition camera 5 is dried to prevent water stains from adhering to one end of the acquisition camera 5 and causing unclear data collection by the acquisition camera 5 again, thereby reducing errors and improving accuracy. After cleaning and drying, the second electric push rod 34 is extended to open the protective cleaning cover 33, and one end of the acquisition camera 5 is shaded again. When the liquid level sensor 38 detects that the water level of the clean water in the cleaning water tank 35 is too low, the liquid level sensor 38 controls the second water pump 51 to work, and the clean water in the middle and upper part of the water collecting tank 48 is input into the inside of the clean water tank 35 through the second water pump 51 and the second water pipe 50 for next use, thereby ensuring the There is no need to worry about the water source problem. After using the device for a long time, the device will be offset and tilted. At this time, the contact 29 moves in the direction of the offset and tilt. When the contact 29 is in contact with the detection plate 26, the first electric push rod 22 corresponding to the detection plate 26 works. The first electric push rod 22 is extended to push the bottom end of the collection box 1 in the corresponding position upward, so that the contact 29 is between the detection plates 26, ensuring that the contact 29 is no longer in contact with the detection plates 26, thereby ensuring that the detection rod 3, the collection box 1 and the collection camera 5 are always in a vertical state, ensuring that the data collected by the collection camera 5 is within the error range of processing, and through the first ball groove 18 and the first ball The rod 19 can increase the activity space between the detection rod 3 and the installation rod 52, and improve the flexibility of its self-adjustment. The second ball groove 21 and the second ball rod 23 can ensure the flexibility of the first electric push rod 22 during adjustment, which is more convenient for the operation of the first electric push rod 22. The user controls the second motor 32 to work, and the second worm 31 and the second worm wheel 30 can make the wire drum 27 rotate. By controlling the length of the pull wire 28, the height of the contact 29 can be controlled, and then the sensitivity of the deviation and tilt of the device can be controlled. The user can adjust the sensitivity of the self-deflection and tilt adjustment of the device according to the use environment and use requirements, and further improve the use of the device. The device does not need to rely on manual on-site measurement of instruments, thereby reducing the workload of users and improving the work efficiency of users. It is especially suitable for inspection of power transmission lines in mountainous areas, greatly reducing working time and difficulty, and can also reduce monitoring costs. At the same time, the device can also clean the lens of the acquisition camera 5 to avoid inaccurate data caused by unclear data collected by the acquisition camera 5, reduce errors, and improve the monitoring accuracy of the device. At the same time, the device can also automatically adjust itself to avoid inaccurate data collection caused by the device's deviation and tilt due to long-term use, further improving the accuracy of data collection by the device and reducing monitoring errors.

[0019] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A transmission line tower posture monitoring device based on the center frame difference method, characterized in that: The invention comprises a collection box (1), wherein the bottom end of the collection box (1) is fixedly connected to a detection rod (3), the bottom end of the detection rod (3) is fixedly connected to an adjustment protection cover (16), an adjustment seat (2) is arranged inside the adjustment protection cover (16), the bottom end of the adjustment seat (2) is fixedly connected to a mounting rod (52), a collection camera (5) is arranged inside the collection box (1), a collection port (4) adapted to the collection camera (5) is opened on the body of the collection box (1), and the collection camera (5) and the collection port (4) are connected via an elastic sealing member ( 6) connection, a controller (8) is arranged inside the acquisition box (1) for controlling the operation of the device and data transmission, a first rotating rod (10) is fixedly connected to the middle of one side of the acquisition camera (5), a second rotating rod (14) is fixedly connected to the middle of the other side of the acquisition camera (5), an angle detector (15) is arranged in the middle of the second rotating rod (14), a distance detection sensor (17) is arranged at the bottom end of the acquisition box (1), and a driving mechanism is arranged inside the acquisition box (1) for driving the acquisition camera (5) to rotate.

2. The transmission line tower posture monitoring device based on the center frame difference method according to claim 1 is characterized in that: The invention also comprises a driving mechanism, the driving mechanism comprising a first worm wheel (11), a first worm (12) and a first motor (13); the inner wall of one end of the collection box (1) is provided with the first motor (13); the output end of the first motor (13) is fixedly connected to the first worm (12), and one end of the first worm (12) is connected to the inner wall of the collection box (1) via a bearing; the middle part of the first rotating rod (10) is fixedly connected to the first worm wheel (11), and the first worm wheel (11) is meshed with the first worm (12); one end of each of the first rotating rod (10) and the second rotating rod (14) is connected to the inner wall of the collection box (1) via a bearing.

3. The transmission line tower posture monitoring device based on the center frame difference method according to claim 2 is characterized in that: A battery (7) is arranged on the inner wall of the bottom end of the collection box (1), and a photovoltaic charging panel (9) is arranged on the top end of the collection box (1). The output end of the photovoltaic charging panel (9) is electrically connected to the battery (7) through a controller (8), and the control ends of the collection camera (5), the first motor (13), the angle detector (15) and the distance detection sensor (17) are all electrically connected to the controller (8).

4. The transmission line tower posture monitoring device based on the center frame difference method according to claim 1 is characterized in that: The adjusting seat (2) further comprises a correction mechanism, and the correction mechanism comprises a first ball groove (18), a first ball rod (19), a mounting groove (20), a second ball groove (21), a first electric push rod (22), a second ball rod (23), a detection groove (24), a partition plate (25), a detection plate (26), a wire reel (27), a pull wire (28) and a contact (29), wherein the top end of the adjusting seat (2) is provided with a first ball groove (18), the interior of the first ball groove (18) is rotatably connected to the first ball rod (19), and The top of the first ball rod (19) is fixedly connected to the inner wall of the top of the adjustment protection cover (16); the top of the adjustment seat (2) is evenly provided with eight groups of mounting grooves (20); the inner wall of the bottom of the mounting groove (20) is provided with a second ball groove (21); the inside of the second ball groove (21) is rotatably connected to the second ball rod (23); the inside of the mounting groove (20) is provided with a first electric push rod (22); and the bottom of the first electric push rod (22) is respectively connected to the top of the second ball rod (23). The detection rod (3) is fixedly connected, the output end of the first electric push rod (22) is connected to the inner wall of the top of the adjustment protection cover (16) through a rotating shaft, the eight groups of mounting grooves (20) correspond to eight directions respectively, a detection groove (24) is opened in the middle of the detection rod (3), a partition plate (25) is fixedly connected to the middle and upper part of the detection groove (24), and eight groups of detection plates (26) are evenly arranged on the inner wall of the detection groove (24), and the detection plates (26) correspond to eight directions respectively, and the detection plates (26) Each of them corresponds to the first electric push rod (22), the upper part of the detection slot (24) is connected to a wire drum (27) via a bearing, a pull wire (28) is arranged in the middle of the wire drum (27), and the pull wire (28) is slidably arranged in the partition plate (25), a contact (29) is arranged at the bottom end of the pull wire (28), and a power assembly is arranged at the upper part of the detection slot (24), and the power assembly is in transmission connection with the wire drum (27) for driving the wire drum (27) to rotate so as to wind the pull wire (28).

5. The transmission line tower posture monitoring device based on the center frame difference method according to claim 4 is characterized in that: The power assembly comprises a second worm wheel (30), a second worm (31) and a second motor (32); one end of the wire drum (27) is fixedly connected to the second worm wheel (30); the inner wall of the top end of the detection slot (24) is provided with a second motor (32); the output end of the second motor (32) is fixedly connected to the second worm (31); the bottom end of the second worm (31) is connected to the top end of the partition plate (25) via a bearing; the second worm (31) is meshed with the second worm wheel (30); the control end of the second motor (32) is electrically connected to the controller (8); and the control end of the first electric push rod (22) is electrically connected to the controller (8) via the detection plate (26) and the contact (29), respectively.

6. The transmission line tower posture monitoring device based on the center frame difference method according to claim 1 is characterized in that: The collection box (1) further comprises a protective cleaning mechanism, and the protective cleaning mechanism comprises a protective cleaning cover (33), a second electric push rod (34), a cleaning water tank (35), a hot air blower (36), a cleaning sleeve (37), a liquid level sensor (38), an air bin (41), an air hole (42), an air pipe (43), a liquid bin (44), a water spray hole (45), a first water pipe (46), a first water pump (47), a water collecting tank (48), a filter screen (49), a second water pipe (50) and a second water pump (51). One end of the collection box (1) is connected to the protective cleaning cover (33) via a rotating shaft. 33), the inner wall at the top of the collection box (1) is connected to a second electric push rod (34) via a rotating shaft, and one end of the second electric push rod (34) is connected to one end of the protective cleaning cover (33) via the rotating shaft, the inner wall at one end of the collection box (1) is fixedly connected to a clean water tank (35), and the clean water tank (35) is located at the top of the angle detector (15), a hot air blower (36) is arranged at the bottom end of one side of the clean water tank (35), a cleaning sleeve (37) is arranged in the middle of the protective cleaning cover (33), and the inner wall at the bottom end of the clean water tank (35) is provided A liquid level sensor (38) is arranged, a rotating brush mechanism for rotating and brushing the lens of the acquisition camera (5) is arranged in the middle of the cleaning sleeve (37), a liquid tank (44) is arranged in the middle of the cleaning sleeve (37), water spray holes (45) are evenly arranged on the inner wall of one end of the liquid tank (44), and one end of the water spray holes (45) are all directed to the cleaning brush (40), one end of the liquid tank (44) is connected to a first water pipe (46), and one end of the first water pipe (46) passes through the acquisition box (1) and extends to the inside of the cleaning water tank (35), and the first water pipe (46) A first water pump (47) is provided at one end of the collection box (46), a water collecting box (48) is fixedly connected to one end of the collection box (1), a filter screen (49) is fixedly connected to the top of the water collecting box (48), a second water pipe (50) is connected to the middle and lower part of one side of the water collecting box (48), and one end of the second water pipe (50) passes through the collection box (1) and is connected to the clean water tank (35), a second water pump (51) is provided in the middle part of the second water pipe (50), and a drying mechanism for drying the lens of the collection camera (5) is also provided on the collection box (1).

7. The transmission line tower posture monitoring device based on the center frame difference method according to claim 6 is characterized in that: The rotating brush mechanism comprises a third motor (39) and a cleaning brush (40). The third motor (39) is arranged in the middle of the cleaning sleeve (37). The bottom end of the cleaning sleeve (37) is rotatably connected to the cleaning brush (40), and the middle of the cleaning brush (40) is fixedly connected to the output end of the third motor (39). After the protective cleaning cover (33) is closed, the cleaning sleeve (37) fits the lens of the acquisition camera (5). The height of the center of the cleaning brush (40) is lower than the height at its edge. The bottom end of the second water pipe (50) is five centimeters away from the inner wall of the bottom end of the water collecting tank (48) to prevent the sediment at the bottom of the water collecting tank (48) from being sucked away. The control end of the second water pump (51) is electrically connected to the controller (8) through the liquid level sensor (38). The control ends of the second electric push rod (34), the third motor (39) and the first water pump (47) are all electrically connected to the controller (8).

8. The transmission line tower posture monitoring device based on the center frame difference method according to claim 6 is characterized in that: The drying mechanism comprises a hot air blower (36), an air bin (41), air holes (42) and an air pipe (43); the cleaning sleeve (37) is provided with an air bin (41) in the middle; the inner diameter of the liquid bin (44) is larger than the outer diameter of the air bin (41); the air bin (41) is located in the middle of the liquid bin (44); the inner wall of one end of the air bin (41) is evenly provided with air holes (42); one end of the air holes (42) respectively points to the cleaning brush (40); one end of the air bin (41) is connected to an air pipe (43); one end of the air pipe (43) passes through the collection box (1) and is connected to the output end of the hot air blower (36); and the control end of the hot air blower (36) is electrically connected to the controller (8).

9. A monitoring method for a transmission line tower posture monitoring device based on a center frame difference method according to any one of claims 1 to 8, characterized in that: Step 1: Angle adjustment. The user first installs the device at a desired position. At this time, the height of the acquisition camera (5) can be monitored through the distance detection sensor (17), the battery (7) can be charged through the photovoltaic charging panel (9), and the controller (8) can perform data transmission and control the operation of the device. The first motor (13) causes the first worm (12) to drive the first worm wheel (11), the first rotating rod (10), the acquisition camera (5), the second rotating rod (14) and the angle detector (15) to rotate; Step 2: Data collection: the data of the transmission line tower posture and the tree line distance can be collected by using the collection camera (5), and then the data is transmitted to the main control console through the controller (8) for data analysis; Step 3: Collect rainwater. When it rains, the filter (49) can filter out debris in the rainwater, and the filtered rainwater is stored inside the water collection tank (48); Step 4: cleaning work. When the video or photo captured by the acquisition camera (5) is unclear, the acquisition camera (5) is placed in a horizontal state by means of the first motor (13). The cleaning sleeve (37) in the middle of the protective cleaning cover (33) is shortened by means of the second electric push rod (34) so ​​that the cleaning sleeve (37) is placed on the lens of the acquisition camera (5). Then, clean water in the cleaning water tank (35) is input into the liquid tank (44). Finally, the clean water is sprayed toward one end of the acquisition camera (5) through the water spray hole (45). The lens of the acquisition camera (5) is cleaned by means of the third motor (39) and the cleaning brush (40). Step 5: Drying: After the cleaning is completed, the hot air generated by the hot air blower (36) is input into the interior of the air bin (41) through the air pipe (43), and finally sprayed toward one end of the acquisition camera (5) through the air hole (42), thereby drying the one end of the acquisition camera (5); Step 6: Prepare a water source. When the liquid level sensor (38) detects that the water level of the clean water in the clean water tank (35) is too low, the clean water in the middle and upper part of the water collecting tank (48) is input into the clean water tank (35) through the second water pump (51) and the second water pipe (50) for next use. Step 7: Self-adjustment. The device is tilted and deflected. At this time, the contact (29) moves in the direction of the tilt. The contact (29) and the detection plate (26) can make the corresponding first electric push rod (22) work. The first electric push rod (22) is extended to push the bottom end of the corresponding collection box (1) upward, so that the contact (29) is located between the detection plates (26), ensuring that the contact (29) is no longer in contact with the detection plate (26), ensuring that the data collected by the collection camera (5) is within the processing error range; Step 8: Flexibility adjustment. The user controls the second motor (32) to work, and the wire drum (27) can be rotated through the second worm (31) and the second worm wheel (30). By controlling the length of the pull wire (28), the height of the contact (29) can be controlled, thereby controlling the sensitivity of the deviation and tilt of the monitoring device.

Images