Power transmission line magnetic detection inspection structure and sensor position self-adaptive adjustment method thereof

Abstract

The invention relates to the technical field of automation, in particular to a power transmission line magnetic detection polling structure and a sensor position self-adaptive adjustment method thereof, and the polling structure comprises a frame structure module composed of a fixed support, a magnet fixing rod, a sensor fixing rod, a cable-stayed connecting rod and a fixed shaft; the detection structure module is composed of a detection magnet and a magnetic sensor array; the radial moving structure module is composed of a supporting wheel, a pressing wheel and a sensor position adjusting wheel; the adjusting structure module is composed of a cable-stayed connecting rod spring and a sensor fixing connecting rod spring; the adjustment parameter calculation module is composed of a cable-stayed connecting rod gear and an encoder; the cable-stayed connecting rod spring is matched with the cable-stayed connecting rod and the pinch roller to form a lever structure, so that radial force borne by the pinch roller can be amplified, the spring can be stretched more easily, and the whole mechanism can pass through an area where the diameter of a power transmission line is increased suddenly more easily. The device has the advantages of being high in precision, simple in structure and capable of automatically adapting to detection targets.

Description

Technical Field

[0001] The invention relates to the field of automation technology, in particular to a transmission line magnetic detection inspection structure and a sensor position adaptive adjustment method thereof. Background Art

[0002] With the continuous development of power systems, ensuring the safety and reliability of transmission lines has become a core concern of the power industry. Regular inspection of transmission lines is a key step to ensure the stable operation of power systems. At present, the detection of internal structural defects of transmission lines mainly relies on X-ray detection technology, which takes X-ray photos of transmission lines and uses image analysis methods to identify defects and their types. However, this detection method has some limitations, such as large equipment size, heavy weight, radiation risks, and slow detection speed, which limit its integrated application with automated inspection robots.

[0003] As an alternative, magnetic detection technology provides an effective means of detecting internal structural defects in transmission lines. Grid maintenance personnel can use these detection results to assess the safety status of transmission lines, thereby improving the overall safety of transmission lines. Compared with traditional X-ray detection technology, magnetic detection technology has obvious advantages, such as small equipment size, light weight, no radiation risk, and fast detection speed. These characteristics make magnetic detection technology easier to integrate with automated inspection robots to achieve efficient automatic inspection. However, the existing magnetic detection technology for transmission lines has limited accuracy, and improvements and innovations are needed in probe design, signal processing methods, and compensation algorithms.

[0004] With the continuous advancement of robot technology, robots are gradually replacing manual inspection of transmission lines. When moving on the transmission line, the robot needs to adapt to changes such as the crimping structure of the transmission line and dynamically adjust the distance and relative angle between the sensor and the surface of the transmission line. These adjustments are crucial to the accuracy of the sensor data. In order to obtain accurate transmission line information, it is also necessary to combine specific algorithms to adjust and compensate the sensor data parameters. However, the dynamic adjustment of the position and angle of the sensor of the existing internal defect detection structure of the transmission line needs to be achieved through electric, pneumatic, and hydraulic structure feedback control based on the posture sensor information. The feedback control structure is complex, which is not conducive to the miniaturization and lightweight of the inspection structure. Summary of the invention

[0005] In order to overcome the deficiencies of the prior art, the present invention proposes a transmission line magnetic detection and inspection structure and a sensor position adjustment method thereof which have high precision, simple structure and can automatically adapt to detection targets.

[0006] In order to achieve the above object, the technical solution specifically adopted by the present invention is as follows:

[0007] A transmission line magnetic detection inspection structure, comprising:

[0008] A frame structure module consisting of a fixed bracket, a magnet fixing rod, a sensor fixing rod, a diagonal connecting rod, and a fixed shaft;

[0009] A detection structure module composed of a detection magnet and a magnetic sensor array;

[0010] A radially movable structural module consisting of a supporting wheel, a clamping wheel, and a sensor position adjustment wheel;

[0011] An adjustment structure module consisting of a diagonal connecting rod spring and a sensor fixing connecting rod spring;

[0012] and an adjustment parameter calculation module composed of a diagonal connecting rod gear and an encoder;

[0013] The inclined-stayed connecting rod spring cooperates with the inclined-stayed connecting rod and the clamping wheel to form a lever structure, which can amplify the radial force exerted on the clamping wheel to make it easier to stretch the spring and make it easier for the entire mechanism to pass through the area where the diameter of the transmission line suddenly increases.

[0014] Furthermore, two support wheels are installed between the two fixed brackets through a fixed shaft. Both support wheels are V-shaped wheels with exactly the same size, ensuring that the magnetization direction of the detection magnet is along the radial direction of the transmission line most of the time. Under the action of gravity, the lower end faces of the two support wheels are in contact with the transmission line.

[0015] Furthermore, the magnetization direction of the detection magnet is parallel to the radial direction of the transmission line, and is installed on the lower bottom surface of the end of the magnet fixing rod and is installed close to the surface of the transmission line.

[0016] Furthermore, a bevel link gear and a bevel link spring are installed at the upper end of the bevel link, and the tail end is coaxially installed with the clamping wheel and the sensor fixed link through a fixed shaft.

[0017] Furthermore, the diagonal-stayed connecting rod gear is meshed with the input end gear of the encoder to transmit the angle information of the diagonal-stayed connecting rod to the encoder, thereby obtaining the angle information of the diagonal-stayed connecting rod, calculating the correction value of the transmission line diameter, the correction value of the distance between the detection magnet and the magnetic sensor array and the transmission line, and the angle change range between the plane direction of the magnetic sensor array and the radial direction of the transmission line.

[0018] Furthermore, a magnetic sensor array is installed at one end of the sensor fixing connecting rod, and a sensor position adjustment wheel is installed at the other end via a fixed shaft.

[0019] Furthermore, the clamping wheel and the sensor position adjustment wheel are both installed between the two sensor fixing rods through a fixed shaft. Both are V-shaped wheels with consistent sizes. They are installed on the sensor fixing connecting rod through a fixed shaft. Under the constraints of the diagonal connecting rod, the sensor fixing connecting rod spring and the diagonal connecting rod spring, it is ensured that most of the time the plane direction of the magnetic sensor array is along the radial direction of the transmission line and in contact with the transmission line.

[0020] Furthermore, the magnetic sensor array is an array composed of a plurality of three-axis magnetic sensors evenly distributed on a plane, and is fixed on the side of the power transmission line opposite to the detection magnet.

[0021] Furthermore, the sensor position adjustment wheel and the clamping wheel can always be in close contact with the surface of the power transmission line under the elastic constraints of the inclined connecting rod spring and the sensor fixing connecting rod spring.

[0022] The present invention also provides a method for adaptively adjusting the sensor position of the above-mentioned transmission line magnetic detection inspection structure. When the diameter of the transmission line changes, the radial force from the transmission line applied to the sensor position adjustment wheel and the clamping wheel changes. The radial force change is transmitted to the sensor fixed link spring and the oblique link spring through the sensor fixed link and the oblique link. The spring deformation is adaptively adjusted, so that the sensor position adjustment wheel and the clamping wheel move radially and always stick to the transmission line, ensuring that the magnetic sensor array is as close to the transmission line as possible. At the same time, when the diameter of the transmission line changes, the oblique link will rotate relative to its fixed axis, and the oblique link gear fixed thereon will mesh with the encoder input end gear, transmitting the angle information of the oblique link to the encoder. The encoder calculates the transmission line diameter correction value, the distance correction value between the detection magnet and the magnetic sensor array and the transmission line, and the angle change interval between the plane direction of the magnetic sensor array and the radial direction of the transmission line, thereby compensating the magnetic field detection data.

[0023] The present invention has the following characteristics and beneficial effects:

[0024] The present invention can obtain three-dimensional magnetic field signals around the transmission line through the magnetic sensor array, thereby obtaining the spatial distribution characteristics of the magnetic field, and no longer relying solely on sensor amplitude information, and has higher accuracy in the defect analysis of the transmission line.

[0025] The structure of the present invention has the ability to adapt to changes in the diameter of the transmission line. When the diameter of the transmission line changes, the above structure can still automatically maintain the close position of the sensor and the transmission line and the optimal magnetic detection angle relationship, and can obtain the angle, distance and other information required for sensor data compensation. The hardware no longer requires relatively complex feedback control structures such as electric, pneumatic, and hydraulic, which is conducive to the miniaturization and lightweight of the inspection structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0027] Figure 1 Schematic diagram of the cross section of the sensing structure and the transmission line in an embodiment of the present invention.

[0028] Figure 2 The present invention is a schematic structural diagram of a transmission line magnetic detection inspection method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0029] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0030] Example 1

[0031] As is known, in order to ensure both conductor capacity and mechanical strength, the transmission line 3 usually includes an outer aluminum strand 7 for conducting electricity and an inner steel strand 8 for providing tension. The damage of the outer aluminum strand of the transmission line can be detected by visual and heat detection, but the damage of the inner steel strand cannot be obtained by the above methods. Since the steel strand is magnetic, the damage of the steel strand can be inferred by detecting the magnetic parameters of the steel strand.

[0032] To this end, this embodiment provides a transmission line magnetic detection structure based on a magnetic sensor array, such as Figure 1 As shown, it includes a detection magnet 1 and a magnetic sensor array 2, which are respectively placed on both sides of a transmission line 3, and a magnetization direction 5 of the detection magnet 1 is the same as a plane direction 6 of the magnetic sensor array 2, and both are arranged radially along the transmission line. When used, the detection magnet 1 and the magnetic sensor array 2 are as close to the transmission line as possible under structural constraints.

[0033] Specifically, the magnetic sensors selected by the magnetic sensor array 2 are three-axis magnetic sensors, which are evenly distributed on the magnetic sensor circuit board 9 and are used to detect the spatial distribution of the magnetic field from the detection magnet 1 after being affected by the power transmission line.

[0034] Example 2

[0035] In order to automatically adapt to the detection target, this embodiment provides a transmission line magnetic detection inspection structure that can adaptively adjust the sensor position, such as Figure 2As shown, it includes a detection magnet 1, a magnetic sensor array 2, two support wheels 10, two fixed brackets 11, two magnet fixing rods 12, two diagonal connecting rods 13, two diagonal connecting rod springs 14, two sensor fixing connecting rods 15, a clamping wheel 16, a sensor position adjustment wheel 17, two sensor fixing connecting rod springs 18, a diagonal connecting rod gear 19 and an encoder 20.

[0036] In this embodiment, two support wheels 10 are installed between two fixed brackets 11 through a fixed shaft 21. The two support wheels 10 are exactly the same in size, both are V-shaped wheels, and are mounted on the transmission line 3. Under the action of gravity, the support wheel 10 will always contact the transmission line 3, which can ensure that the detection magnet installed at the end of the magnet fixing rod is as close to the surface of the transmission line 3 as possible, and the centers of the two support wheels 10 are parallel to the axis of the transmission line 3, providing an upward support force for the fixed bracket 11. At the same time, the two support wheels 10 are exactly the same in size to ensure that the magnetization direction of the detection magnet is along the radial direction of the transmission line during most of the time during the movement of the structure. The two magnet fixing rods 12 are symmetrically installed on the outside of the two fixed brackets 11 through the fixed shaft 21, and the detection magnet 1 is installed on the lower bottom surface of the end of the magnet fixing rod 12. The magnetization direction of the detection magnet 1 is parallel to the radial direction of the transmission line 3 and needs to be placed as close to the surface of the transmission line as possible. The inclined tie rod 13 is obliquely installed on the outer surface of the fixed bracket 11, and an inclined tie rod gear 19 is installed on the upper end through the fixed shaft 21. The inclined tie rod gear 19 is meshed with the input end of the encoder 20. The inclined tie rod gear 19 rotates around the fixed shaft 21 under the drive of the inclined tie rod 13, and transmits the angle information of the inclined tie rod 13 to the encoder 20, and then to the processing circuit for collection and processing. The end is connected to the clamping wheel 16 and the sensor fixed link 15 through the fixed shaft 21. When the transmission line magnetic detection and inspection structure is working, the inclined tie rod 13 will be elastically constrained by the tension of the inclined tie rod spring 18, providing tension in the direction of the transmission line for the clamping wheel 16 and the sensor fixed link 15 at the end, so that the two are close to the transmission line. The clamping wheel 16 is installed between the two sensor fixed connecting rods 15 through the fixed shaft 21. The clamping wheel is a V-shaped wheel. Under the tension of the inclined connecting rod 13, the transmission line can be clamped, ensuring that the fixed support moves along the axial direction of the transmission line while limiting the radial movement of the support frame along the transmission line. The sensor fixed connecting rod 15 is installed with a magnetic sensor array 2 at one end, and a sensor position adjustment wheel 17 is installed at the other end through the fixed shaft 21. It is also elastically constrained by the sensor fixed connecting rod spring, and the spring tension can be transmitted to the sensor position adjustment wheel 17 and the clamping wheel 16, so that the two are close to the transmission line. The magnetic sensor array 2 is an array composed of multiple three-axis magnetic sensors evenly distributed on a plane. It is fixed on the opposite side of the transmission line from the detection magnet, as close as possible to the surface of the transmission line, and the plane direction of the array is the radial direction of the transmission line. The magnetic sensor array 2 can detect the magnetic field distribution data of the transmission line under the excitation of the detection magnet, and collect and process it to the processing circuit to obtain the magnetic characteristic information of the transmission line.The size of the sensor position adjustment wheel is exactly the same as that of the clamping wheel, and it is also a V-shaped wheel. Under the tension of the sensor fixing link 15 and the sensor fixing link spring 18, it can always be close to the surface of the transmission line. When the diameter of the transmission line changes, the sensor fixing link 15 will be driven away from or close to the axis of the transmission line by the clamping wheel 16. At this time, due to the existence of the sensor position adjustment wheel 17, the plane where the sensor array is located remains parallel to the radial direction of the transmission line, so that the angle of the magnetic sensor array is automatically adjusted to the most appropriate value. The materials of the above-mentioned transmission line magnetic detection and inspection structural components are all non-magnetic materials except for the detection magnet and the magnetic sensor array.

[0037] In this embodiment, the sensor position adjustment wheel 17 is consistent in size with the clamping wheel 16 and is mounted on the sensor fixed link 15 via the fixed shaft 21. Under the constraints of the sensor fixed link 15 and the diagonal link 13 as well as the sensor fixed link spring 18 and the diagonal link spring 14, it can be ensured that the plane direction of the magnetic sensor array is along the radial direction of the transmission line most of the time.

[0038] In this embodiment, the diagonal link spring 14 cooperates with the diagonal link 13 and the clamping wheel 16 to form a lever structure, which can amplify the radial force exerted on the clamping wheel to make it easier to stretch the spring, thereby making it easier for the entire mechanism to pass through locations where the diameter of the transmission line suddenly increases, such as the edge of the transmission line crimping area.

[0039] When the sensor position adaptive adjustment method in the present embodiment is in use, when the diameter of the transmission line changes, the radial force from the transmission line exerted on the sensor position adjustment wheel and the clamping wheel changes, and the radial force change is transmitted to the sensor fixed link spring and the oblique link spring through the sensor fixed link and the oblique link, and the spring deformation is adaptively adjusted, so that the sensor position adjustment wheel and the clamping wheel move radially and always close to the transmission line, ensuring that the magnetic sensor array at the end of the sensor fixed link is as close to the transmission line as possible; at the same time, when the diameter of the transmission line changes, the oblique link will rotate relative to its fixed axis, and the oblique link gear fixed thereon will mesh with the encoder input end gear, so that the angle information of the oblique link can be transmitted to the encoder, and the transmission line diameter correction value, the detection magnet and the correction value of the distance between the magnetic sensor array and the transmission line, and the angle change range between the plane direction of the magnetic sensor array and the radial direction of the transmission line are calculated by geometric formulas, which are used for the processing circuit to compensate the magnetic field detection data.

[0040] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A transmission line magnetic detection inspection structure, characterized in that: include: A frame structure module consisting of a fixed bracket, a magnet fixing rod, a sensor fixing rod, a diagonal connecting rod, and a fixed shaft; A detection structure module composed of a detection magnet and a magnetic sensor array; A radially movable structural module consisting of a supporting wheel, a clamping wheel, and a sensor position adjustment wheel; An adjustment structure module consisting of a diagonal connecting rod spring and a sensor fixing connecting rod spring; and an adjustment parameter calculation module composed of a diagonal connecting rod gear and an encoder; The inclined-stayed connecting rod spring cooperates with the inclined-stayed connecting rod and the clamping wheel to form a lever structure, which can amplify the radial force exerted on the clamping wheel to make it easier to stretch the spring and make it easier for the entire mechanism to pass through the area where the diameter of the transmission line suddenly increases.

2. A transmission line magnetic detection inspection structure as claimed in claim 1, characterized in that: Two support wheels are installed between the two fixed brackets through a fixed shaft. Both support wheels are V-shaped wheels with exactly the same size. Under the action of gravity, the lower end surfaces of the two support wheels are in contact with the transmission line.

3. A transmission line magnetic detection inspection structure as claimed in claim 1, characterized in that: The magnetizing direction of the detection magnet is parallel to the radial direction of the transmission line, and the detection magnet is installed on the lower bottom surface of the end of the magnet fixing rod and is installed close to the surface of the transmission line.

4. A transmission line magnetic detection inspection structure as claimed in claim 1, characterized in that: The upper end of the inclined tie rod is equipped with an inclined tie rod gear and an inclined tie rod spring, and the tail end is coaxially installed with the clamping wheel and the sensor fixed tie rod through a fixed shaft.

5. A transmission line magnetic detection inspection structure as claimed in claim 4, characterized in that: The inclined-stayed connecting rod gear is meshed with the input end gear of the encoder to transmit the angle information of the inclined-stayed connecting rod to the encoder, thereby obtaining the angle information of the inclined-stayed connecting rod, calculating the correction value of the transmission line diameter, the correction value of the distance between the detection magnet and the magnetic sensor array and the transmission line, and the angle change range between the plane direction of the magnetic sensor array and the radial direction of the transmission line.

6. A transmission line magnetic detection inspection structure as claimed in claim 1, characterized in that: A magnetic sensor array is installed at one end of the sensor fixing connecting rod, and a sensor position adjustment wheel is installed at the other end through a fixed shaft.

7. A transmission line magnetic detection inspection structure as claimed in claim 1, characterized in that: The clamping wheel and the sensor position adjustment wheel are both installed between two sensor fixing rods through a fixed shaft, are both V-shaped wheels, and are in contact with the transmission line.

8. A transmission line magnetic detection inspection structure as claimed in claim 1, characterized in that: The magnetic sensor array is an array composed of a plurality of three-axis magnetic sensors evenly distributed on a plane, and is fixed on the side of the transmission line opposite to the detection magnet.

9. A transmission line magnetic detection inspection structure as claimed in claim 1, characterized in that: The sensor position adjustment wheel and the clamping wheel can always be in close contact with the surface of the power transmission line under the elastic constraints of the inclined connecting rod spring and the sensor fixing connecting rod spring.

10. A method for adaptively adjusting the sensor position of a transmission line magnetic detection inspection structure according to any one of claims 1 to 9, characterized in that: When the diameter of the transmission line changes, the radial force exerted on the sensor position adjustment wheel and the clamping wheel from the transmission line changes. The radial force change is transmitted to the sensor fixed link spring and the diagonal link spring through the sensor fixed link and the diagonal link. The spring deformation is adaptively adjusted, so that the sensor position adjustment wheel and the clamping wheel move radially and always keep close to the transmission line, ensuring that the magnetic sensor array is as close to the transmission line as possible.

11. A method for adaptively adjusting the sensor position of a transmission line magnetic detection inspection structure according to claim 10, characterized in that: When the diameter of the transmission line changes, the diagonal-stayed connecting rod will rotate relative to its fixed axis, and the diagonal-stayed connecting rod gear fixed on it will mesh with the gear at the encoder input end, transmitting the angle information of the diagonal-stayed connecting rod to the encoder. The encoder will then calculate the transmission line diameter correction value, the correction value of the distance between the detection magnet and the magnetic sensor array and the transmission line, and the angle change range between the plane direction of the magnetic sensor array and the radial direction of the transmission line, thereby compensating the magnetic field detection data.

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