Power transmission line X-ray flaw detection system and method based on unmanned aerial vehicle

Abstract

The invention relates to the technical field of power transmission line nondestructive flaw detection, in particular to a power transmission line X-ray flaw detection system and method based on an unmanned aerial vehicle. Comprising a framework, a control system arranged on the framework, a pulley mechanism arranged on the framework and used for being erected on the wire and a flaw detection mechanism arranged in the framework, the framework is provided with a space for containing the wire and an opening for the wire to enter the space, and the flaw detection mechanism comprises an X-ray machine driven by a servo motor to rotate around the wire. And the imaging plate is arranged at the central position of the framework and rotatably receives the X-rays penetrating through the to-be-detected wire. The multifunctional and multi-angle detection of four-bundle conductors and single wires is realized, and the flaw detection efficiency, accuracy and comprehensiveness of tension-bearing fragile fittings and connecting fittings of power transmission lines are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of nondestructive flaw detection of power transmission lines, and in particular to a transmission line X-ray flaw detection system and method based on an unmanned aerial vehicle. Background Art

[0002] In today's era, as my country builds the world's largest and most advanced high-voltage transmission network, the huge high-voltage transmission network needs advanced maintenance methods to ensure it. State Grid and China Southern Power Grid invest huge amounts of money every year in the flaw detection of transmission towers and overhead line tension-bearing and easily broken hardware (such as tension clamps, drainage clamps, joint pipes, conductors and other high-altitude tension-bearing devices).

[0003] At present, in the existing technology, the solution of using drones equipped with X-ray transmitters to perform flaw detection on the tensile-fracture fittings of power transmission lines located at high altitudes is often used. One operation method is to let the drone carry an X-ray transmitter and hover in the air, and the X-ray transmitter emits X-rays to the tensile-fracture fittings to achieve the purpose of flaw detection. However, this solution has many problems. The rotor diameter of a large-load drone is large, and an imaging plate needs to be mounted first, and then the drone is used for X-ray irradiation and flaw detection. During the flaw detection process, the working distance between the carried X-ray transmitter and the tensile-fracture fittings will be large, which will have an adverse effect on the flaw detection imaging clarity of the tensile-fracture fittings.

[0004] Another specific operation of drone flaw detection is to hang the flaw detection robot on the transmission line. The robot is equipped with an X-ray transmitter and an imaging board. However, most flaw detection robots can only check the connection hardware or a single angle of the transmission line. The X-ray machine cannot rotate around the transmission line including the tension clamp at multiple angles, so there is a possibility of missed detection. Secondly, the device is mostly used to detect the tension clamps on single-line clamps or multi-line clamps. When inspecting the split conductor line, due to the long spacing between each phase of the split conductor, the commonly used drone X-ray flaw detection robot can only inspect the tension clamps on some of the split conductors at a time. If all inspections are required, it is necessary to cooperate with the drone to hang on different conductors for inspection multiple times, and the inspection efficiency is low.

[0005] In summary, there are still many shortcomings in the current flaw detection methods for tensile-bearing and easily-broken fittings and connecting fittings in high-voltage power transmission networks. A more advanced, efficient, accurate and comprehensive detection equipment is needed to meet the maintenance needs of high-voltage power transmission networks. Summary of the invention

[0006] In order to solve the problems existing in the prior art and improve the efficiency, accuracy and comprehensiveness of flaw detection of tension-bearing and easily-broken hardware and connection hardware of power transmission lines, the present invention provides a power transmission line X-ray flaw detection system and method based on an unmanned aerial vehicle.

[0007] In the first aspect, the present invention provides a transmission line X-ray flaw detection system based on a drone, which adopts the following technical solution: A transmission line X-ray flaw detection system based on a drone comprises a frame, the frame having a space for accommodating a conductor and an opening for the conductor to enter the space, a control system arranged on the frame, a pulley mechanism arranged on the frame for being mounted on the conductor, and a flaw detection mechanism arranged in the frame, the flaw detection mechanism comprising an X-ray machine driven by a servo motor to rotate around the conductor, and an imaging plate arranged at the center of the frame to rotate and receive X-rays that penetrate the conductor to be tested.

[0008] Furthermore, the X-ray machine is arranged on a rotating mechanism, which includes an arc-shaped carrying arm, a rack coupled in the carrying arm through gear meshing connection, a carrying platform fixed on the rack for fixing the X-ray machine, and a driving motor with a driving gear fixed on the carrying arm.

[0009] Furthermore, a visual sensor is provided on the supporting platform.

[0010] Furthermore, a protrusion extending along the direction of the rack is provided on the side wall of the rack, and a groove for accommodating the protrusion is provided on the inner wall of the carrying arm, and the protrusion cooperates in the groove to maintain the connection between the rack and the carrying arm.

[0011] Furthermore, the imaging plate is arranged on an adjustment mechanism, which includes vertical arms arranged side by side and connected to the frame, an axle seat arranged at the bottom end of the vertical arms and connected to the imaging plate through an axis, and a rotating motor arranged at the axle seat to drive the imaging plate to rotate along the axis.

[0012] Furthermore, the shaft seat is provided with an arc-shaped sliding groove, the imaging plate is provided with a limit sliding block placed in the arc-shaped sliding groove, and the shaft seat is provided with a limit sensor.

[0013] Furthermore, the pulley mechanism includes a telescopic pulley mechanism for being set up on the four-split conductor, the telescopic pulley mechanism includes a diamond-shaped connecting rod, a connecting block fixedly connected between the diamond-shaped connecting rod and the skeleton, and a first running wheel located at both ends of the diamond-shaped connecting rod. The diamond-shaped connecting rod includes four connecting rods rotatably connected to each other, and an adjusting motor for driving the two upper connecting rods to adjust the angle is provided in the connecting block. By adjusting the angle of the two upper connecting rods, the running wheel can be set up on two adjacent conductors.

[0014] Furthermore, a second traveling wheel is fixedly mounted on the lower side of the diamond-shaped connecting rod for being mounted on a single conductor.

[0015] Furthermore, a photoelectric sensor is provided on the pulley mechanism.

[0016] Furthermore, two pulley mechanisms are provided along the conductor direction.

[0017] Furthermore, a locking mechanism is provided under the first traveling wheel and the second traveling wheel, and the locking mechanism includes a driving worm connected by a motor drive, a driven worm wheel meshingly connected to the driving worm, and a locking hook fixedly arranged on the driven worm wheel. The driving worm drives the driven worm wheel to drive the locking hook to rotate toward the traveling wheel, so that a gap for closing the wire is formed between the locking hook and the traveling wheel.

[0018] Furthermore, a bracket for connecting the drone is provided at the upper end of the frame, and the bracket includes a vertical rod, a horizontal rod connecting the vertical rod, and a hook arranged on the horizontal rod.

[0019] Furthermore, the control system comprises: A power supply module, used to supply power to the microprocessor control module, the drive motor, the rotating motor and the regulating motor; A photoelectric identification module is used to identify the position and width of the wire and send a corresponding output signal when the wire is identified; A visual recognition module, used to recognize the wire image and transmit the visual signal of the wire image; A limit sensor module is used to detect the orientation of the imaging plate and output a signal when it is recognized that the imaging plate is placed facing the X-ray machine; The microprocessor control module sends a signal to control the motor to rotate or stop to the regulating motor, the driving motor and the rotating motor in the motor driving module according to the output signals of the photoelectric recognition module, the visual recognition module and the limit sensor module; The motor driving module drives the regulating motor, the driving motor and the rotating motor to rotate or stop according to the signal of the microprocessor control unit.

[0020] In the second aspect, a transmission line X-ray flaw detection method based on a drone includes: S1. Test the detection device by lifting it with a drone through a bracket to check the system's posture. If the detection standard is met, proceed to step S2. S2. Operate the drone to lift the flaw detection system above the conductor and set up the pulley mechanism on the conductor; S3. The flaw detection system is translated to the inspection position by the translational drone, and the locking mechanism locks the wire; S4. X-ray machine alignment: adjust the X-ray machine rotation angle to make the wire in the visual image through the image sent back by the visual sensor; S5. Alignment of the imaging plate: the imaging plate is driven to rotate by a rotary motor, and the imaging plate is controlled to hover at a position facing the X-ray machine by a limit sensor; S6. Turn on the X-ray machine to shoot the wire at a preset X-ray intensity, and repeat steps S4 and S5 to shoot the same wire at different angles or another wire; S7. Use the drone to hang the flaw detection system, release the locking mechanism, and use the drone to hang the flaw detection system back to the ground.

[0021] Furthermore, the operating drone hoists the flaw detection system above the wire and sets the pulley mechanism on the wire, including hoisting the flaw detection system above the four-split wire, the photoelectric recognition module identifies the width information of the two wires, the adjustment motor automatically adjusts the angle of the two upper connecting rods of the pulley mechanism, and sets the first walking wheel of the flaw detection system on the four-split wire.

[0022] Furthermore, the operating drone hoists the flaw detection system above the conductor and sets the pulley mechanism on the conductor, including hoisting the flaw detection system above a single conductor, the photoelectric recognition module identifies the position of the single conductor, and sets the second walking wheel of the flaw detection system on the single conductor.

[0023] In summary, the present invention has the following beneficial technical effects: 1. The invention proposes a transmission line X-ray flaw detection system and method based on drones, which uses drones to carry the flaw detection system, greatly shortening the time of deploying the flaw detection system to the position to be inspected on the transmission line. Two pulley mechanisms are arranged along the conductor direction, and the diamond connecting rods thereof adjust the angle so that the first running wheels at both ends of the diamond connecting rods can be mounted on the four-split conductors; and the second running wheels fixedly installed on the lower side of the diamond connecting rods can meet the detection requirements of single conductors.

[0024] 2. The X-ray machine of the present invention is arranged on a rotating mechanism, which includes an arc-shaped carrying arm, a rack coupled in the carrying arm through gear meshing connection, a carrying platform fixed on the rack, and a driving motor fixedly mounted on the driving gear on the lower side of the carrying platform. Such a structural design enables the X-ray machine to flexibly and quickly rotate around the wire and perform multi-angle detection on the wire without repeatedly adjusting the position of the flaw detection system, which significantly improves the work efficiency. With the imaging plate located at the center of the skeleton and rotatable and adjustable, it can realize all-round and multi-angle detection of the connection fittings and transmission lines, effectively avoiding the occurrence of missed detection.

[0025] 3. During the detection, the present invention drives the imaging plate to rotate by a rotating motor, and the arc-shaped slide groove on the shaft seat cooperates with the limit slider on the imaging plate to ensure that the imaging plate can be accurately suspended in a position facing the X-ray machine, thereby ensuring the accuracy and comprehensiveness of the detection results. The visual sensor on the support platform can monitor the condition of the wire in real time and provide an accurate basis for adjusting the rotation angle of the X-ray machine. For example, when the visual sensor detects that a certain part of the wire needs to be focused on, the angle of the X-ray machine can be adjusted through the control system to put the part of the wire in the best detection position, further improving the accuracy and reliability of the detection.

[0026] 4. The present invention is adaptable to different conductors. When detecting four-split conductors, after the photoelectric sensor recognizes the information of the conductors, it adjusts the angle of the two connecting rods on the upper side of the motor-driven diamond-shaped connecting rod, so that the first running wheel can be accurately set on two adjacent conductors, ensuring the stable operation of the flaw detection system on the four-split conductors. When detecting a single conductor, after the photoelectric sensor recognizes the position of the single conductor, the second running wheel of the flaw detection system can be quickly set on the single conductor to ensure the smooth progress of the detection. It enables detection on different types of conductors. During the detection process, the driving worm, driven worm gear and locking hook of the locking mechanism cooperate with each other to firmly lock the conductor. Avoid the flaw detection system from falling off due to wind, shaking and other factors.

[0027] 5. The present invention has an intelligent control system. The visual recognition module can collect the wire image in real time and transmit the visual signal of the wire image to the microprocessor control module. The limit sensor module can accurately detect the direction of the imaging plate and output a signal when it recognizes that the imaging plate is placed facing the X-ray machine. The microprocessor control module intelligently sends a signal to control the motor rotation or stop to the regulating motor, driving motor and rotating motor in the motor drive module based on the output signals of these modules, thereby realizing the automation and intelligent control of the detection process. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 1 is a schematic structural diagram of a transmission line X-ray flaw detection system based on a drone according to Embodiment 1 of the present invention; Figure 2 It is a partial structural schematic diagram of a transmission line X-ray flaw detection system based on a drone according to Embodiment 1 of the present invention; Figure 3 is a schematic structural diagram of a rotating mechanism according to Embodiment 1 of the present invention; Figure 4 is a cross-sectional view of the rotating mechanism of Example 1 of the present invention; Figure 5 is a schematic structural diagram of a telescopic pulley mechanism according to Embodiment 1 of the present invention; Figure 6 is a front view of the locking mechanism of Example 1 of the present invention; Figure 7 is a flow chart of Embodiment 2 of the present invention; Among them: 1. Skeleton; 101. Vertical rod; 102. Horizontal rod; 103. Hook; 2. Rotating mechanism; 201. Arc-shaped load-bearing arm; 202. Rack; 203. Load-bearing platform; 204. Driving motor; 205. Groove; 206. Protrusion; 207. X-camera; 208. Gear; 3. Adjusting mechanism; 301. Vertical arm; 302. Axle seat; 303. Rotating motor; 304. Imaging plate; 4. Telescopic pulley mechanism; 401. Diamond connecting rod; 402. First running wheel; 403. Adjusting motor; 404. Second running wheel; 5. Locking mechanism; 501. Driving worm; 502. Driven worm wheel; 503. Locking hook. DETAILED DESCRIPTION

[0029] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0030] Example 1 Reference Figure 1 The present embodiment is a transmission line X-ray flaw detection system based on a drone, comprising a skeleton 1, wherein the skeleton 1 has a space for accommodating a wire and an opening for the wire to enter the space, a control system arranged on the skeleton 1, a pulley mechanism arranged on the skeleton 1 for being set on the wire, and a flaw detection mechanism arranged in the skeleton 1, wherein the flaw detection mechanism comprises an X-ray machine driven by a servo motor to rotate around the wire, and an imaging plate 304 arranged at the center position of the skeleton 1 to rotate and receive X-rays that penetrate the wire to be tested.

[0031] The X-ray machine and imaging plate 304 can perform multi-angle flaw detection around the wire.

[0032] Reference Figure 2 and Figure 3 The X-ray machine is arranged on a rotating mechanism 2, and the rotating mechanism 2 includes an arc-shaped carrying arm 201, a rack 202 coupled in the carrying arm through a gear 208, a carrying platform 203 fixed on the rack 202 for fixing the X-ray machine, and a driving motor 204 with a driving gear 208 fixed on the carrying arm.

[0033] The support platform 203 is provided with a visual sensor.

[0034] Reference Figure 4 The side wall of the rack 202 is provided with a protrusion 206 extending along the rack 202 , and the inner wall of the carrying arm is provided with a groove 205 for accommodating the protrusion 206 , and the protrusion 206 cooperates in the groove 205 to maintain the connection between the rack 202 and the carrying arm.

[0035] Reference Figure 3The imaging plate 304 is arranged on the adjustment mechanism 3, and the adjustment mechanism 3 includes vertical arms 301 arranged side by side and connected to the frame 1, an axis seat 302 arranged at the bottom end of the vertical arm 301 and connected to the imaging plate 304 through an axis, and a rotating motor 303 arranged at the axis seat 302 to drive the imaging plate 304 to rotate along the axis.

[0036] The shaft seat 302 is provided with an arc-shaped sliding groove, the imaging plate 304 is provided with a limit sliding block placed in the arc-shaped sliding groove, and the shaft seat 302 is provided with a limit sensor.

[0037] The support platform 203 is provided with a visual sensor, which can monitor the condition of the wire in real time and provide an accurate basis for adjusting the rotation angle of the X-ray machine. The side wall of the rack 202 is provided with a protrusion 206 along the direction of the rack 202, and the inner wall of the support arm is provided with a groove 205 for accommodating the protrusion 206. The protrusion 206 cooperates in the groove 205 to maintain the connection between the rack 202 and the support arm. This design ensures the stability of the rotating mechanism 2, so that the support platform 203 can rotate stably, thereby allowing the X-ray machine to irradiate stably.

[0038] The imaging plate 304 is arranged at the center of the skeleton 1 and is used to rotate and receive the X-rays that penetrate the wire to be tested. Through the adjustment mechanism 3, including the vertical arms 301 arranged side by side and connected to the skeleton 1, the shaft seat 302 arranged at the bottom of the vertical arm 301 and connected to the imaging plate 304 through the shaft, and the rotating motor 303 arranged at the shaft seat 302 to drive the imaging plate 304 to rotate along the axis, the imaging plate 304 can achieve precise position adjustment. The shaft seat 302 is provided with an arc-shaped slide groove, the imaging plate 304 is provided with a limit slider placed in the arc-shaped slide groove, and the shaft seat 302 is provided with a limit sensor. When the X-ray machine rotates to the detection angle, the imaging plate 304 can be adjusted to a position facing the X-ray machine according to the position of the X-ray machine, and the flaw detection image of the wire is clearly presented. In order to avoid the single conductor from colliding with the vertical arm when the second traveling wheel is laying the single conductor, due to the design of the vertical arm in the middle of the whole system, a turning wall is provided on the vertical arm to avoid the single conductor.

[0039] Reference Figure 5 The pulley mechanism includes a telescopic pulley mechanism 4 for being set up on the four-split conductor, the telescopic pulley mechanism 4 includes a diamond-shaped connecting rod 401, a connecting block fixedly connected between the diamond-shaped connecting rod 401 and the skeleton 1, and a first running wheel 402 located at both ends of the diamond-shaped connecting rod 401. The diamond-shaped connecting rod 401 includes four connecting rods rotatably connected to each other. An adjusting motor 403 for driving the two upper connecting rods to adjust the angle is provided in the connecting block. By adjusting the angles of the two upper connecting rods, the running wheel can be set up on two adjacent conductors.

[0040] A second traveling wheel 404 is fixedly mounted on the lower side of the diamond-shaped connecting rod 401 for being mounted on a single conductor.

[0041] A photoelectric sensor is arranged on the pulley mechanism.

[0042] The pulley mechanism is provided with two along the conductor direction.

[0043] The first running wheels 402 fixedly installed at both ends of the diamond-shaped connecting rod 401 are used to be set up on the four-split conductor, and a second running wheel 404 fixedly installed on the lower side of the diamond-shaped connecting rod 401 is used to be set up on the single conductor, so that the flaw detection system can adapt to different types of conductors. The photoelectric sensor equipped on the pulley mechanism can accurately identify the position information of the conductor and transmit this information to the control system in a timely manner. This enables the control system to automatically adjust the angle state of the pulley mechanism according to the condition of the conductor and the width between the conductors, ensuring that the flaw detection system is accurately set up on different types of conductors.

[0044] Reference Figure 6 A locking mechanism 5 is provided below the first traveling wheel 402 and the second traveling wheel 404. The locking mechanism 5 includes a driving worm 501 connected by a motor drive, a driven worm wheel 502 meshingly connected to the driving worm 501, and a locking hook 503 fixedly arranged on the driven worm wheel 502. The driving worm 501 drives the driven worm wheel 502 to drive the locking hook 503 to rotate toward the traveling wheel, so that a gap for closing the wire is formed between the locking hook 503 and the traveling wheel.

[0045] The locking mechanism 5 improves the stability and safety of the flaw detection system during the detection process, and effectively prevents the flaw detection system from shaking or falling off due to external factors.

[0046] The upper end of the frame 1 is provided with a hanger for connecting the drone, and the hanger includes a vertical rod 101 arranged vertically, a horizontal rod 102 connecting the vertical rod 101, and a hook 103 arranged on the horizontal rod 102.

[0047] In this embodiment, the maximum energy of the X-ray machine is 270KV, the dimensions of length, width and height are 356mm, 115mm and 190mm respectively, and the weight is 5.4kg. The length, width and height of the imaging plate 304 are 477mm, 453mm and 18.4mm respectively, the length and width of the effective imaging area are 435mm and 355mm respectively, the pixel pitch is 154μm, and the weight is 4kg.

[0048] The drone model selected is DJI FlyCart 30, with a maximum wheelbase of 2200mm, a maximum load of 30kg, and a maximum flight time of 18 minutes.

[0049] The X-ray machine uses the American Golden XRS-3 X-ray pulse machine. Pulse X-ray technology has inherent advantages over traditional constant potential X-ray machines or radiation sources for on-site operation. Secondly, it is very portable, has a user interface, and has a variable pulse setting function.

[0050] Skeleton 1 uses CNC7075 aviation aluminum frame, with HT100 gimbal motor, Simple BGC 32-bit microcontroller version B control system, to provide a stable shooting angle for the X-ray pulse machine.

[0051] The principle of X-ray digital imaging mainly combines computer digital image processing technology with X-ray technology. Its core is to use the penetrating power of X-rays. When X-rays pass through the object being detected, tissues of different densities will absorb different amounts of X-rays. These X-rays absorbed by the tissues are then received by special detectors, which convert the received X-ray information into digital signals. The converted digital signals are then transmitted to the computer and post-processed by special image processing software. The processed images can be stored in the computer or displayed on a monitor.

[0052] The control system comprises: A power supply module, used to supply power to the microprocessor control module, the drive motor 204, the rotating motor 303 and the regulating motor 403; The photoelectric recognition module is used to identify the position and width of the wire and send out a corresponding output signal when the wire is identified, so that the flaw detection system can accurately locate the wire; The visual recognition module is used to identify the wire image and transmit the visual signal of the wire image. The operator can clearly understand the real-time situation of the wire, find possible problems in time, and manually operate the ground equipment to adjust the rotation angle of the X-ray machine as needed; The limit sensor module is used to detect the orientation of the imaging plate 304 and output a signal when it is identified that the imaging plate 304 is placed facing the X-ray machine, which helps to ensure that the imaging plate 304 can accurately receive the X-rays, thereby ensuring the accuracy of the detection results; The microprocessor control module sends a signal to control the motor rotation or stop to the regulating motor 403, the driving motor 204 and the rotating motor 303 in the motor driving module according to the output signals of the photoelectric recognition module, the visual recognition module and the limit sensor module; The motor driving module drives the regulating motor 403, the driving motor 204 and the rotating motor 303 to rotate or stop according to the signal of the microprocessor control unit, ensuring that each motor can work according to a predetermined program, thereby ensuring the normal operation of the flaw detection system.

[0053] Example 2 Reference Figure 7 This embodiment provides a transmission line X-ray flaw detection method based on a drone, comprising: S1. Test hoisting of the detection device. First, use the drone to slowly hoist the flaw detection system through the bracket to lift it off the ground. During the hoisting process, carefully check the posture of the flaw detection system, including whether the position of each component is normal, whether there is abnormal shaking or tilting, etc. At the same time, check whether the various functions of the control system are normal, such as whether the photoelectric recognition module, visual recognition module, limit sensor module, etc. can accurately detect and transmit signals.

[0054] Step S2 is performed only when the posture of the flaw detection system reaches the detection standard to ensure that it can operate stably in the subsequent detection process.

[0055] S2. Operate the drone to lift the flaw detection system above the conductor and set up the pulley mechanism on the conductor: The operator precisely controls the flight position of the UAV and hoists the flaw detection system to a suitable position above the conductor. When approaching the conductor, the telescopic pulley mechanism 4 is adjusted according to the feedback information of the photoelectric sensor so that the telescopic pulley mechanism 4 can be accurately set on the conductor.

[0056] When detecting four-split conductors, the photoelectric recognition module identifies the width information of the two conductors, and the regulating motor 403 automatically adjusts the angles of the two upper connecting rods of the pulley mechanism, so that the first walking wheel 402 of the flaw detection system is accurately placed on two adjacent conductors.

[0057] When detecting a single conductor, the photoelectric identification module identifies the position of the single conductor, so that the second traveling wheel 404 of the flaw detection system is accurately placed on the single conductor.

[0058] S3. After the pulley mechanism and the conductor are overlapped, the flaw detection system is translated along the conductor to the inspection position by translating the drone. After reaching the inspection position, the locking mechanism 5 is started, and the driving worm 501 connected by the motor is rotated, driving the driven worm gear 502 meshing with it to rotate.

[0059] The lock hook 503 fixed on the driven worm gear 502 moves toward the travel wheel as the driven worm gear 502 rotates, eventually forming a gap between the lock hook 503 and the travel wheel to close the wire, tightly locking the wire to ensure that the flaw detection system will not move or shake during the detection process.

[0060] S4. X-ray machine alignment: Through the image sent back by the visual sensor on the carrier 203, the operator can observe the position of the wire in the visual image in real time, and adjust the rotation angle of the X-ray machine according to the image display to make the wire in the center of the visual image, ensuring that the X-ray machine can fully and accurately irradiate the wire. During the adjustment process, the precise control function of the control system is used to ensure that the rotation angle of the X-ray machine is adjusted accurately.

[0061] S5. The imaging plate 304 is aligned, and the rotating motor 303 is started to drive the imaging plate 304 to rotate along the axis. During the rotation process, the limit sensor on the shaft seat 302 monitors the position of the imaging plate 304 in real time. When the limit sensor detects that the imaging plate 304 is hovering at a position facing the X-ray machine, the rotating motor 303 stops working, so that the imaging plate 304 accurately receives the X-rays that penetrate the wire to be tested, thereby ensuring the imaging quality.

[0062] S6. Turn on the X-ray machine to shoot the wire at the preset X-ray intensity. After the X-ray machine and the imaging plate 304 are aligned, turn on the X-ray machine to shoot the wire at the preset X-ray intensity. During the shooting process, repeat steps S4 and S5 to shoot the same wire at different angles to ensure comprehensive detection of all parts of the wire.

[0063] Then another wire is photographed, and the inspection of all the wires to be inspected is completed in sequence.

[0064] S7. Use the drone to hang the flaw detection system, release the locking mechanism 5, and use the drone to hang the flaw detection system back to the ground. Specifically, after all the inspection tasks are completed, use the drone to hang the flaw detection system again, and at the same time, release the locking mechanism 5 to open the gap between the locking hook 503 and the walking wheel, thereby releasing the lock on the wire.

[0065] Finally, the drone is controlled to smoothly lift the flaw detection system back to the ground, completing the entire flaw detection process.

[0066] For a four-split conductor, the flaw detection system is hoisted above the four-split conductor, the photoelectric recognition module identifies the width information of the two conductors, the adjustment motor 403 automatically adjusts the angle of the two upper connecting rods of the pulley mechanism, and the first running wheel 402 of the flaw detection system is set on the four-split conductor. For a single conductor, the flaw detection system is hoisted above the conductor by operating the drone, and the pulley mechanism is set on the conductor, including hoisting the flaw detection system above the single conductor, the photoelectric recognition module identifies the position of the single conductor, and the second running wheel 404 of the flaw detection system is set on the single conductor, so as to adapt to wire flaw detection in different situations.

[0067] The above are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A transmission line X-ray flaw detection system based on drone, characterized in that: The invention comprises a frame (1), the frame (1) having a space for accommodating a wire and an opening for the wire to enter the space, a control system arranged on the frame (1), a pulley mechanism arranged on the frame (1) for being mounted on the wire, and a flaw detection mechanism arranged in the frame (1), the flaw detection mechanism comprising an X-ray machine driven by a servo motor to rotate around the wire, and an imaging plate (304) arranged at the center of the frame (1) to rotate and receive X-rays that penetrate the wire to be tested.

2. The transmission line X-ray flaw detection system based on drone according to claim 1 is characterized in that: The X-ray machine is arranged on a rotating mechanism (2), the rotating mechanism (2) comprising an arc-shaped carrying arm (201), a rack (202) coupled in the carrying arm and meshed with a gear (208), a carrying platform (203) fixed on the rack (202) and used to fix the X-ray machine, and a driving motor (204) for driving the gear (208) is fixed on the carrying arm.

3. The transmission line X-ray flaw detection system based on drone according to claim 2 is characterized in that: The side wall of the rack (202) is provided with a protrusion (206) extending along the rack (202), the inner wall of the carrying arm is provided with a groove (205) for accommodating the protrusion (206), and the protrusion (206) cooperates in the groove (205) to maintain the connection between the rack (202) and the carrying arm.

4. The transmission line X-ray flaw detection system based on drone according to claim 1 is characterized in that: The imaging plate (304) is arranged on the adjustment mechanism (3), and the adjustment mechanism (3) comprises vertical arms (301) arranged side by side and connected to the frame (1), an axle seat (302) arranged at the bottom end of the vertical arms (301) and connected to the imaging plate (304) via an axis, and a rotating motor (303) arranged at the axle seat (302) and driving the imaging plate (304) to rotate along the axis.

5. The transmission line X-ray flaw detection system based on drone according to claim 1 is characterized in that: The shaft seat (302) is provided with an arc-shaped sliding groove, the imaging plate (304) is provided with a limit sliding block placed in the arc-shaped sliding groove, and the shaft seat (302) is provided with a limit sensor.

6. The transmission line X-ray flaw detection system based on drone according to claim 2 is characterized in that: The pulley mechanism comprises a telescopic pulley mechanism (4) for being mounted on four split conductors, the telescopic pulley mechanism (4) comprising a rhombus connecting rod (401), a connecting block fixedly connected between the rhombus connecting rod (401) and the frame (1), and first running wheels (402) located at both ends of the rhombus connecting rod (401), the rhombus connecting rod (401) comprising four connecting rods rotatably connected to each other, an adjusting motor (403) for driving the two upper connecting rods to adjust the angle is arranged in the connecting block, and the running wheel is mounted on two adjacent conductors by adjusting the angle of the two upper connecting rods, and a second running wheel (404) is fixedly installed on the lower side of the rhombus connecting rod (401) for being mounted on a single conductor.

7. The transmission line X-ray flaw detection system based on drone according to claim 6 is characterized in that: The support platform (203) is provided with a visual sensor. The pulley mechanism is provided with a photoelectric sensor.

8. The transmission line X-ray flaw detection system based on drone according to claim 6 is characterized in that: A locking mechanism (5) is provided below the first running wheel (402) and the second running wheel (404), the locking mechanism (5) comprising a driving worm (501) connected by a motor drive, a driven worm wheel (502) meshingly connected to the driving worm (501), and a locking hook (503) fixedly arranged on the driven worm wheel (502), wherein the driving worm (501) drives the driven worm wheel (502) to drive the locking hook (503) to rotate toward the running wheel, so that a gap for closing the wire is formed between the locking hook (503) and the running wheel.

9. A transmission line X-ray flaw detection system based on a drone according to any one of claims 1 to 8, characterized in that: The control system comprises: A power supply module, used to supply power to the microprocessor control module, the drive motor (204), the rotating motor (303) and the regulating motor (403); A photoelectric identification module is used to identify the position and width of the wire and send a corresponding output signal when the wire is identified; A visual recognition module, used to recognize the wire image and transmit the visual signal of the wire image; A limit sensor module, used for detecting the orientation of the imaging plate (304) and outputting a signal when it is recognized that the imaging plate (304) is placed facing the X-ray machine; A microprocessor control module sends a signal for controlling the motor to rotate or stop to the regulating motor (403), the driving motor (204) and the rotating motor (303) in the motor driving module according to the output signals of the photoelectric recognition module, the visual recognition module and the limit sensor module; The motor driving module drives the regulating motor (403), the driving motor (204) and the rotating motor (303) to rotate or stop according to the signal of the microprocessor control unit.

10. A transmission line X-ray flaw detection method based on drone, characterized in that: include: S1. Test the detection device by lifting it with a drone through a bracket to check the system's posture. If the detection standard is met, proceed to step S2. S2. Operate the drone to lift the flaw detection system above the conductor and set up the pulley mechanism on the conductor; S3. The flaw detection system is translated to the inspection position by translating the drone, and the locking mechanism (5) locks the wire; S4. X-ray machine alignment: adjust the X-ray machine rotation angle to make the wire in the visual image through the image sent back by the visual sensor; S5. Aligning the imaging plate (304), driving the imaging plate (304) to rotate by the rotary motor (303), and controlling the imaging plate (304) to hover at a position facing the X-ray machine by the limit sensor; S6. Turn on the X-ray machine to shoot the wire at a preset X-ray intensity, and repeat steps S4 and S5 to shoot the same wire at different angles or another wire; S7. Use the drone to hang the flaw detection system, release the locking mechanism (5), and use the drone to hang the flaw detection system back to the ground.

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