Mobile power transmission line inspection device and inspection method

Abstract

The invention relates to a mobile power transmission line inspection device and an inspection method, and belongs to the technical field of line inspection. In order to solve the problem that the prior art cannot meet the requirements of routing inspection work in special areas such as a three-span power transmission line, an important power transmission channel and an unmanned aerial vehicle no-fly zone, the invention provides a mobile power transmission line routing inspection device and a routing inspection method which integrate a visual monitoring and shooting device and a video monitoring and infrared temperature measuring device. The method adapts to the working requirements of intelligent inspection of the power transmission line at present, and lays a foundation for development of intelligent inspection of power transmission. The mobile power transmission line inspection device comprises a guide rail fixedly installed on a power transmission tower, a movable pan-tilt camera is installed above the guide rail, the pan-tilt camera is driven by a driving mechanism to move, and the pan-tilt camera and the driving mechanism are controlled by a computer control end.

Description

Technical Field

[0001] The present invention relates to a power transmission line inspection device and an inspection method, in particular to a mobile power transmission line inspection device and an inspection method, belonging to the technical field of line inspection. Background Art

[0002] Most transmission lines and towers are located in the wild. During normal operation, the transmission line channels need to be monitored to prevent the transmission lines from being damaged by external forces, foreign objects, etc. in the wild, causing the lines to trip. At the same time, it is necessary to conduct irregular temperature measurements on the transmission lines, especially the tension clamps, ground wire discharge gaps, insulators and other components of the important load lines, to prevent line overload from causing line overheating and tripping.

[0003] At present, the main inspection methods for transmission lines include visible light inspection and infrared temperature measurement. Visible light inspection mainly refers to the use of drones, manual labor and monitoring devices installed on transmission towers 8 to carry out inspections of transmission towers 8, transmission channels, etc. Infrared temperature measurement mainly refers to the use of handheld thermometers by inspection personnel to perform infrared temperature measurement of components such as tension clamps, ground wire discharge gaps and insulators at key time points such as important periods and high-load time periods.

[0004] Transmission line towers are equipped with visual monitoring devices and video surveillance, respectively. Figure 1 、 2 shown. Figure 1 The probe of the visual monitoring device is fixedly connected to the solar panel and installed at a fixed position on the tower, which can shoot the channel on one side; Figure 2 The video surveillance probe is connected to the solar panel through a wire and is installed at different fixed positions on the tower, which can monitor the channel on one side in real time. The two devices installed on the existing transmission line are not designed to be integrated and are currently placed separately. Figure 3 As shown in the figure, in order to effectively monitor the large and small side channels at the same time, the 220kV transmission line needs to install two visual monitoring devices on the same tower, such as Figure 4 shown.

[0005] The current monitoring devices for transmission lines not only occupy the available space on the tower and require a large amount of installation, but also increase the operation and maintenance costs. Figure 1 、 2 ), the probe cannot be moved, limiting the angle and range of monitoring transmission towers 8 and transmission channels, making it impossible to detect widespread hazards such as external damage, foreign objects, and bird damage. Furthermore, current infrared temperature measurement methods cannot provide real-time infrared temperature measurement of components such as transmission tower 8 tension clamps, ground wire discharge gaps, and insulators. This makes it impossible to determine the real-time temperature of key transmission line components, posing a safety hazard.

[0006] With the rapid development of the power grid, the number of "three-span" transmission lines and important transmission channels is increasing. Due to the particularity of "three-span" transmission lines and important transmission channels, drone inspections, infrared temperature measurement, special inspections after severe weather or geological disasters, etc. are subject to time limits and technical requirements. However, there are drone no-fly zones on both sides of them, so it is impossible to carry out drone inspections of transmission towers 8 and transmission channels within the limited range on both sides of special transmission lines. Inspections can only be carried out by manual inspections, inspections with monitoring devices, etc., which increases working time and reduces work efficiency.

[0007] Therefore, the current inspection method of transmission lines can no longer meet the needs of carrying out inspection work in special areas such as "three-span" transmission lines, important transmission channels and drone no-fly zones. There is an urgent need for an integrated device that is not restricted by special areas and can normally carry out detailed inspections (taking clear photos of each component on the tower, accuracy: pin level), visual inspections (taking photos of channels at regular intervals), infrared temperature measurement and other tasks, as well as an inspection method that meets time limits and technical requirements. Summary of the Invention

[0008] In order to solve the problem that existing technologies cannot meet the needs of conducting inspections in special areas such as "three-span" transmission lines, important transmission channels and drone no-fly zones, a mobile transmission line inspection device and inspection method are provided, which integrate a visual monitoring device, video surveillance and infrared temperature measurement device. The device can adapt to the current work requirements of intelligent inspection of transmission lines and lay the foundation for the development of intelligent inspection of power transmission.

[0009] In order to achieve the above object, the present invention adopts the following technical solutions: A mobile power transmission line inspection device, which is special in that it includes a guide rail fixedly mounted on a power transmission tower, a movable pan-tilt camera mounted above the guide rail, the pan-tilt camera being driven to move by a drive mechanism, and the pan-tilt camera and the drive mechanism being controlled by a computer control terminal; Preferably, the guide rail is a guide rail with transmission teeth, fixing holes A are provided on both sides of the guide rail, and limit blocks are provided at both ends of the guide rail; Preferably, the pan-tilt camera is mounted above the guide rail via a connecting bracket, a driving mechanism is installed inside the connecting bracket, the driving mechanism comprises a dual-axis motor, both ends of the dual-axis motor are provided with a driving gear, the driving gear is meshed with a transmission tooth on the guide rail; Preferably, the surfaces of the connecting bracket and the driving mechanism are both provided with a layer of inorganic glass glaze; Preferably, the connecting bracket includes a support frame for supporting the gimbal camera, a support base is provided below the support frame, the support base includes a horizontal plate, and two opposite L-shaped plates are provided below the horizontal plate. The horizontal plate and the two L-shaped plates enclose a cavity, and a driving mechanism is installed in the cavity. Preferably, the driving mechanism and the support seat outside the guide rail are provided with a fixing patch; Preferably, the lower part of the guide rail is fixedly mounted on the transmission tower by a fixing mechanism, and two fixing mechanisms are provided, each of the fixing mechanisms includes a first mounting plate and a second mounting plate, the first mounting plate and the second mounting plate are arranged at a certain angle, and the first mounting plate and the second mounting plate are both provided with a fixing hole B, and the fixing hole A and the fixing hole B are fixed by bolts; Preferably, a wire retracting mechanism is installed below the middle of the guide rail, and the wire retracting mechanism includes a stepping motor, a rotating slot and a fixed disc, the rotating slot is cylindrical, including an upper rotating slot and a lower rotating slot, the diameter of the lower rotating slot is larger than the diameter of the upper rotating slot, the lower rotating slot is provided with a motor fixing slot, a stepping motor is installed in the motor fixing slot, the output shaft of the stepping motor is connected to the upper rotating slot by a key, the outer surface of the upper rotating slot is wound with a wire, the upper rotating slot is provided with a wire hole, the bottom surface of the lower rotating slot is provided with a metal contact, the fixed disc is installed on the lower rotating slot, and the diameter of the fixed disc is larger than the diameter of the motor fixing slot; Preferably, the fixed disc is an annular disc, which is composed of an inner metal ring, an outer metal ring and the area between the inner and outer metal rings; the metal contacts are provided in plurality, which are divided into metal inner and outer contacts. The innermost wire extends downward through the wire hole and is connected to the metal inner and outer contacts on the bottom surface of the lower rotating slot. During the rotation of the rotating slot, the inner metal ring is always in contact with the metal inner contact of the rotating slot, and the outer metal ring is always in contact with the metal outer contact of the rotating slot. Preferably, the pan-tilt camera includes two visible light zoom lenses and one infrared lens; Preferably, the device also includes a power supply mechanism, which includes a solar panel fixedly mounted on a transmission tower, the output end of the solar panel is an energy storage battery, the energy storage battery is fixedly mounted on the transmission tower, and the energy storage battery is electrically connected to the pan-tilt camera, the drive motor, and the stepper motor.

[0010] The inspection method using the above inspection device is special in that it includes the following steps: Step 1: For a specific transmission tower, install the components of the inspection device installed on the transmission tower to the specific position, initially set and save the preset position according to the specific requirements of the inspection task, and generate a preset position database for all tasks; Step 2: Send work task instructions to the drive mechanism and pan / tilt camera through the computer control terminal on site or remotely. After receiving the work instructions, the drive mechanism and pan / tilt camera call the relevant work task preset position from the preset position database of step 1 and carry out relevant inspection work; Step 3: Use the communication module of the PTZ camera to transmit the inspection results of step 2 back to the computer control terminal.

[0011] Preferably, the preset position in step 1 is specifically as follows: A. The PTZ camera needs to move to a certain position on the guide rail according to the work instructions; B. The pitch angle of the pan / tilt camera lens needs to be adjusted according to the work instructions; C. The lens shooting parameters that need to be adjusted by the gimbal camera according to the work instructions include but are not limited to: ISO, focal length, exposure; Preferably, the inspection result of step 3 includes relevant photos, videos or measurement data.

[0012] The inspection method for this inspection device involves the following: after the inspection device is installed by staff at the designated location on the tower, the staff will initially set the preset positions for the specific transmission line channel and the specific location of each component on the tower, in accordance with the specific requirements of the inspection task. The preset positions are saved and a preset position database for all tasks is generated. Once the preset position database is successfully set, staff can send task instructions to the inspection device on-site or remotely through a computer control terminal. Upon receiving the work instructions, the device automatically calls the relevant task preset position from the preset position database and carries out the relevant inspection work. The communication module is then used to quickly transmit relevant photos, videos, or measurement data back to the control terminal to facilitate the staff's next work.

[0013] Compared with the existing technology, the present invention can produce the following positive effects: it solves the problems of separate operation of the visual monitoring device, video monitoring and infrared temperature measurement device, limited monitoring range, large installation workload and high operation and maintenance costs, and facilitates the development of intelligent inspection work of transmission lines. At the same time, the proposed autonomous inspection method can meet the time limit and technical requirements of the operation and maintenance of "three-span" transmission lines and other important transmission lines. It has the following advantages: High integration and low cost: Instead of separate visual monitoring devices and video surveillance systems installed on existing transmission towers, the two are now integrated and replaced with a pan-tilt camera. This system integrates visible light zoom photography, infrared temperature measurement, and video recording, achieving three functions with one device, resulting in higher integration and lower costs. Movable and with a large working range: The PTZ camera, drive mechanism, and guide rail are combined into an integrated device. The guide rail is installed on the tower. The PTZ camera uses the drive mechanism to move back and forth on the guide rail, which expands the working range of monitoring and temperature measurement and improves work efficiency. Preset positions improve work efficiency: This device's inspection method automates task execution by setting preset positions. Workers can use on-site operations or remote commands to guide the device to automatically move and adjust to the preset position to begin executing the designated task. The device then automatically collects and transmits field data. This process not only significantly saves time but also enables workers to quickly and comprehensively understand field conditions, significantly improving the efficiency of transmission line inspections. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a visual monitoring device for power transmission lines in the prior art; Figure 2 It is a transmission line video device in the prior art; Figure 3 This is a diagram showing the separate installation of a visual surveillance device and video surveillance in the prior art; Figure 4 It is a large and small side visual monitoring device in the existing technology; Figure 5 It is a structural schematic diagram of the present invention; Figure 6 for Figure 5 Schematic diagram of the structure of the middle guide rail; Figure 7 for Figure 5 Schematic diagram of the structure of the fixing mechanism; Figure 8 This is a schematic diagram of the guide rail installation; Figure 9 for Figure 7 A top view of Figure 10 It is a structural diagram of the wire retracting and extending mechanism; Figure 11 It is a top view of the fixed disc; Figure 12 This is a schematic diagram of the structure of the gimbal camera; Figure 13 It is a structural diagram of the power supply mechanism; Figure 14 This is the power supply flow chart; Figure 15 Take a picture of the channel flow chart; Figure 16 This is the infrared temperature measurement flow chart; Figure 17 This is a flowchart for regular inspection; Figure 18This is a diagram illustrating the movement of the gimbal and camera; Figure 19 Schematic diagram illustrating the pitch angle of the gimbal camera space.

[0015] Figure 1: 1. Guide rail, 11. Transmission gear, 12. Limit block, 2. Pan / tilt camera, 21. Visible light zoom lens, 22. Infrared lens, 3. Connecting bracket, 31. Support frame, 32. Support seat, 32. Horizontal plate, 33. L-shaped plate, 34. Cavity, 35. Fixing patch, 4. Driving mechanism, 41. Dual-axis motor, 42. Driving gear, 5. Fixing mechanism, 51. First mounting plate, 52. Second mounting plate, 53. Fixing hole B, 54. Bolt, 6. Wire retracting and releasing mechanism, 61. Stepping motor, 62. Rotating slot, 68. Fixing disc, 63. Upper rotating slot, 64. Lower rotating slot, 65. Motor fixing slot, 66. Wire hole, 67. Metal contact, 7. Power supply mechanism, 71. Solar panel, 72. Energy storage battery, 8. Transmission tower. DETAILED DESCRIPTION

[0016] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all 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] Example 1. Figure 4-15 The mobile power transmission line inspection device shown is used in conjunction with a control system and includes a guide rail 1 fixedly mounted on a power transmission tower 8. A movable pan-tilt camera 2 is mounted above the guide rail 1. The pan-tilt camera 2 is driven and moved by a drive mechanism 4. The pan-tilt camera and drive mechanism are controlled by a computer control terminal. In this embodiment, the guide rail 1 is a guide rail, which is lightweight and rust-resistant; The guide rail 1 is a guide rail with a transmission gear 11, and fixing holes A are provided on both sides of the guide rail 1; limit blocks 12 are provided at both ends of the guide rail 1 to effectively prevent the pan / tilt camera 2 from sliding off the guide rail 1; The pan-tilt camera 2 is mounted above the guide rail 1 via a connecting bracket 3. A drive mechanism 4 is mounted inside the connecting bracket 3. The drive mechanism 4 includes a dual-axis motor 41. Drive gears 42 are provided at both ends of the dual-axis motor 42. The drive gears 42 engage with the transmission gears 11 on the guide rail 1. After the remote control system sends a control instruction to control the drive motor to drive the two gears to move back and forth to the preset position on the guide rail, the control system controls the pan-tilt camera to complete channel monitoring, video recording, infrared temperature measurement and other functions. The surfaces of the connecting bracket 3 and the driving mechanism 4 are both provided with an inorganic glass glaze layer, which can effectively prevent the connecting bracket 3 and the driving mechanism 4 from being corroded by rain and snow. The connecting bracket 3 includes a support frame 31 for supporting the gimbal camera, a support base 32 is provided below the support frame 31, and the support base includes a horizontal plate 32, and two opposite L-shaped plates 33 are provided below the horizontal plate 32. The horizontal plate 32 and the two L-shaped plates 33 enclose a cavity 34, and the driving mechanism 4 is installed in the cavity 34; Among them, the driving mechanism 4 and the support seat outside the guide rail are provided with a fixing patch 35 to ensure that the connection between the pan / tilt camera and the guide rail is more stable; The lower part of the guide rail 1 is fixedly mounted on the transmission tower 8 by a fixing mechanism 5. There are two fixing mechanisms 5. Each fixing mechanism 5 includes a first mounting plate 51 and a second mounting plate 52. The first mounting plate 51 and the second mounting plate 52 are arranged at a certain angle. The first mounting plate 51 and the second mounting plate 52 are both provided with a fixing hole B53. The fixing hole A and the fixing hole B53 are fixed by bolts 54. The width of the first mounting plate 51 is larger than the width of the guide rail 1. In this embodiment, the first mounting plate 51 and the second mounting plate 52 are distributed at right angles, and the angle between the first mounting plate and the second mounting plate 52 may be 10°, 30°, 60°, 120°, or 150°; Among them, a wire retracting mechanism 6 is installed at the lower middle of the guide rail 1, and the wire retracting mechanism 6 includes a stepping motor 61, a rotating slot 62 and a fixed disc 68. The rotating slot 62 is cylindrical, including an upper rotating slot 63 and a lower rotating slot 64. The diameter of the lower rotating slot 64 is larger than that of the upper rotating slot 63. The lower rotating slot 64 is provided with a motor fixing slot 65. The stepping motor 61 is installed in the motor fixing slot 65. The output shaft of the stepping motor 61 is connected to the upper rotating slot 63 by a key. The outer surface of the upper rotating slot 63 is wound with a wire. The upper rotating slot 63 is provided with a wire hole 66. The bottom surface of the lower rotating slot 64 is provided with a metal contact 67. The fixed disc 68 is installed on the lower rotating slot 64. The diameter of the fixed disc 68 is larger than that of the motor fixing slot 65, so that the gimbal camera 2 does not get tangled when walking on the guide rail 1. The fixed disc 68 is an annular disc consisting of an inner metal ring, an outer metal ring, and the area between the inner and outer metal rings; There are multiple metal contacts 67, which are divided into metal inner and outer contacts. The innermost wire extends downward through the wire hole 66 and is connected to the inner and outer metal contacts on the bottom surface of the lower rotating slot 64. During the rotation of the rotating slot 62, the inner metal ring is always in contact with the inner metal contact of the rotating slot 62, and the outer metal ring is always in contact with the outer metal contact of the rotating slot. That is, the electrical signal of the wire on the rotating slot is transmitted to the metal ring of the fixed disk. The fixed disk, the inner and outer metal rings are connected to wires of fixed length, and the other ends of the wires are connected to equipment such as the pan / tilt camera 2. After the control system sends a command, the wire retracting and releasing device must also be activated to prevent the wires from getting tangled when the pan / tilt camera moves on the guide rail. The remote control system sends a control command to control the stepper motor to drive the rotating slot to rotate, thereby realizing the device's unilateral retracting and releasing function. Among them, Figure 12 As shown, the pan-tilt camera 2 includes two visible light zoom lenses 21 and an infrared lens 22; the visible light zoom lens is used for visible light zoom shooting, video recording, etc., and the infrared lens can be used for infrared temperature measurement, etc.; In which, the device also includes a power supply mechanism 7, which includes a solar panel 71 fixedly mounted on a transmission tower 8, and the output end of the solar panel 71 is a storage battery 72, which is fixedly mounted on the transmission tower 8, and the energy storage battery 72 is electrically connected to the pan-tilt camera 2, the drive motor 41, and the stepper motor 61.

[0018] This device uses a combined power supply method of solar photovoltaic power generation and energy storage batteries. By supplying power to the drive motor of the drive mechanism, the gears are driven to move on the guide rails, realizing the forward and backward movement of the inspection device. At the same time, the power supply part supplies power to the pan-tilt camera, and realizes functions such as visible light zoom shooting, infrared temperature measurement, and video recording through the control system. The solar panel is connected to the transmission tower 8 with bolts through the connecting bracket. The power supply part is as follows Figure 13 The power supply flow chart is shown in Figure 14 As shown, by issuing instructions through the control system, the solar panels generate photovoltaic power to charge the energy storage battery, and then the energy storage battery supplies power to the drive motor, stepper motor, and gimbal camera.

[0019] In this embodiment, the power supply mechanism 7 is installed on a transmission tower 8 above or below the guide rail 1 , and the energy storage battery 72 is installed on one side of the solar panel 71 .

[0020] Example 2. An inspection method using the inspection device described in Example 1 includes the following steps: Step 1: For a specific transmission tower, install the components of the inspection device installed on the transmission tower to the specific position, initially set and save the preset position according to the specific requirements of the inspection task, and generate a preset position database for all tasks; Step 2: Send work task instructions to the drive mechanism and pan / tilt camera through the computer control terminal on site or remotely. After receiving the work instructions, the drive mechanism and pan / tilt camera call the relevant work task preset position from the preset position database of step 1 and carry out relevant inspection work; Step 3: Use the communication module of the PTZ camera to transmit the inspection results of step 2 back to the computer control terminal.

[0021] Preferably, the preset position in step 1 is specifically as follows: A. The PTZ camera needs to move to a certain position on the guide rail according to the work instructions; B. The pitch angle of the pan / tilt camera lens needs to be adjusted according to the work instructions; C. The lens shooting parameters that need to be adjusted by the gimbal camera according to the work instructions include but are not limited to: ISO, focal length, exposure; Preferably, the inspection result of step 3 includes relevant photos, videos or measurement data.

[0022] The following is a detailed description of the three aspects of the initial preset position, taking the infrared temperature measurement work as an example: A. The PTZ camera needs to move to a certain position on the guide rail according to the work instructions: Assume that the middle position of the guide rail is the origin, and the origin is selected as the reference point, the right side of the guide rail is "+", and the left side of the guide rail is "-", generating an X-axis for easy position memory. After the inspection device is installed, according to the target position of infrared temperature measurement, the staff will move the pan-tilt camera to the specific position X1 where the infrared temperature measurement work can be carried out, and memorize the distance between the position X1 and the origin to generate the preset position 1 (1). The schematic diagram is as follows Figure 18 As shown: B. The pitch angle of the pan / tilt camera needs to be adjusted according to the work instructions: After the inspection device moves to the specific position X1, the staff manually adjusts the spatial pitch angle of the lens according to the shooting target position, which is recorded as θ, and then generates the preset position 1 (2). The spatial pitch angle θ is described as follows Figure 19 As shown: A spatial rectangular XYZ coordinate system is established, with the specific location X1 of the gimbal camera as the coordinate origin and the line of the guide rail as the diagonal of the XY coordinate system. After the inspection device moves to the specific location X1, the staff manually aims the gimbal camera at the target, forming a spatial pitch angle θ. The spatial pitch angle θ mainly consists of two angles: θ1 and θ2. θ1 is the angle between the line M where the gimbal camera lens is located and the XY plane, and θ2 is the angle between the projection line of the line M where the gimbal camera lens is located in the XY plane coordinate system and the XZ plane. Finally, the spatial pitch angle is recorded as θ(θ1, θ2).

[0023] C. The lens shooting parameters that need to be adjusted by the gimbal camera according to the work instructions include but are not limited to: ISO, focal length, exposure: After the inspection device's preset positions 1 (1) and 1 (2) are determined, the staff manually adjusts the pan-tilt camera's shooting parameters, mainly including ISO, focal length, and exposure, to optimize the photos taken by the pan-tilt camera. The adjusted parameters are then saved to generate preset position 1 (3).

[0024] After preset position 1 (1), preset position 1 (2), and preset position 1 (3) are saved, the whole group is formed into preset position 1, which is recorded in the work task preset position database for future use.

[0025] After the preset database is successfully set up, personnel can call up preset positions for related tasks from the database via a computer control terminal, either on-site or remotely. They can then send control commands to the inspection device, enabling it to complete detailed inspections, including taking clear photos of every component on the tower with pin-level accuracy; visual inspections, including timed channel photography; and infrared temperature measurement. Once the task is completed, the device can use the communication module to quickly transmit relevant photos, videos, or measurement data back to the control terminal, facilitating the next step. The following table shows some information about the preset database.

[0026] .

[0027] This device can switch between three modes: channel mode, infrared temperature measurement mode, and regular inspection mode.

[0028] This device is equipped with a pan-tilt camera with a visible light lens. The camera takes photos every 15 minutes. The photos can be used by the monitoring center to check for hidden dangers in the channel. The staff sends the channel mode work instructions through the computer control terminal. After receiving the instructions, the device automatically controls the pan-tilt camera to adjust to the preset position of the specific work task, completes the large and small side channel photo shooting work, and transmits it back to the computer control terminal in real time. This patent defines the above mode as the channel mode. The flow chart of the mode is as follows Figure 15 shown.

[0029] Currently, transmission towers are usually equipped with two visualization cameras for shooting the large and small side channels. When the channel mode of this device is adopted, the functions of two visualization cameras can be realized with one device, saving costs.

[0030] This device is equipped with a pan-tilt camera with an infrared lens. The pan-tilt can rotate horizontally and vertically. When the staff sends the infrared temperature measurement mode work instruction through the computer control terminal, the device receives the instruction and switches the camera to the infrared temperature measurement lens. At the same time, it automatically controls the pan-tilt camera to adjust to the preset position of the specific work task, completes the infrared temperature measurement of insulators, tension clamps and other equipment, and transmits it back to the computer control terminal in real time. The above mode is defined as the infrared temperature measurement mode. The flow chart of the mode is as follows Figure 16 shown.

[0031] Currently, infrared temperature measurement is mainly carried out manually. This method requires people to drive to a designated location and use an infrared thermometer to measure the temperature of the equipment, which is time-consuming and labor-intensive. In addition, some defects will only appear during peak loads. By the time the staff receives the order and arrives at the site, the peak load may have disappeared. Through the infrared temperature measurement mode of this device, after the staff issues the infrared temperature measurement command, the pan-tilt camera can immediately move to the preset position to measure the temperature of the corresponding equipment, avoiding the shortcomings of manual temperature measurement and achieving speed and immediacy.

[0032] This device is equipped with a pan-tilt camera with a visible light zoom lens. When the staff sends a work instruction for the regular inspection mode through the computer control terminal, the device automatically controls the pan-tilt camera to adjust to the preset position of the specific work task after receiving the instruction, and completes the clear and comprehensive visible light shooting of important components such as insulators, tension clamps, lightning arresters, cross-arm hanging points on the transmission towers, and anti-vibration hammers, anti-dancing spacers on the transmission lines, and transmits the information back to the computer control terminal in real time to help grasp the missing and damaged conditions of important components on each tower and each transmission line in real time, thereby helping staff to make judgments. The mode of regularly switching this device to a high-definition zoom lens and moving it to a preset position to take detailed photos of important components of the transmission line is defined as the regular inspection mode. The flow chart of the mode is as follows: Figure 17 shown.

[0033] Currently, drone inspection is an important means of inspection of overhead transmission lines, especially in the inspection of tower bodies, which has completely replaced manual inspection. By using the regular inspection mode of this device, the working mode of regular drone inspection can be partially replaced, which improves work efficiency to a certain extent and helps staff to grasp the operation status of transmission towers and lines more accurately and quickly.

[0034] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent replacements for some of the technical features therein. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A mobile power transmission line inspection device, characterized in that: It comprises a guide rail (1) fixedly mounted on a power transmission tower (8), a movable pan-tilt camera (2) being mounted above the guide rail (1), the pan-tilt camera (2) being driven to move by a driving mechanism (4), and the pan-tilt camera and the driving mechanism being controlled by a computer control terminal.

2. A mobile power transmission line inspection device according to claim 1, characterized in that: The pan-tilt camera (2) is mounted above the guide rail (1) via a connecting bracket (3); a driving mechanism (4) is mounted inside the connecting bracket (3); the driving mechanism (4) comprises a dual-axis motor (41); both ends of the dual-axis motor (41) are provided with driving gears (42); the driving gears (42) mesh with transmission teeth (11) on the guide rail (1).

3. A mobile power transmission line inspection device according to claim 2, characterized in that: The connecting bracket (3) comprises a supporting frame (31) for supporting a gimbal camera, a supporting seat (32) being provided below the supporting frame (31), the supporting seat comprising a horizontal plate (32), two opposite L-shaped plates (33) being provided below the horizontal plate (32), the horizontal plate (32) and the two L-shaped plates (33) enclosing a cavity (34), and a driving mechanism (4) being installed in the cavity (34).

4. A mobile power transmission line inspection device according to claim 3, characterized in that: The guide rail (1) is a guide rail with transmission teeth (11), and fixing holes A are provided on both sides of the guide rail (1); limit blocks (12) are provided at both ends of the guide rail (1); a layer of inorganic glass enamel is provided on the surface of the connecting bracket (3) and the driving mechanism (4); and fixing patches (35) are provided on the support seats on the outer sides of the driving mechanism (4) and the guide rail.

5. A mobile power transmission line inspection device according to any one of claims 1 to 4, characterized in that: The lower part of the guide rail (1) is fixedly mounted on the transmission tower (8) via a fixing mechanism (5), wherein two fixing mechanisms (5) are provided, and each of the fixing mechanisms (5) comprises a first mounting plate (51) and a second mounting plate (52), wherein the first mounting plate (51) and the second mounting plate (52) are arranged at a certain angle, and the first mounting plate (51) and the second mounting plate (52) are both provided with fixing holes B (53), and the fixing holes A and B (53) are fixed via bolts (54).

6. A mobile power transmission line inspection device according to claim 5, characterized in that: A wire retracting and releasing mechanism (6) is installed below the middle of the guide rail (1), and the wire retracting and releasing mechanism (6) comprises a stepping motor (61), a rotating slot (62) and a fixed disc (68), wherein the rotating slot (62) is cylindrical and comprises an upper rotating slot (63) and a lower rotating slot (64), wherein the diameter of the lower rotating slot (64) is larger than that of the upper rotating slot (63), and the lower rotating slot (64) is provided with a motor fixing slot (65), wherein the motor fixing slot (68) is provided with a motor fixing slot (65). 5) is installed with a stepper motor (61), the output shaft of the stepper motor (61) is connected to the upper rotating slot (63) by a key, the outer surface of the upper rotating slot (63) is wound with a wire, the upper rotating slot (63) is provided with a wire hole (66), the bottom surface of the lower rotating slot (64) is provided with a metal contact (67), the fixed disc (68) is installed on the lower rotating slot (64), and the diameter of the fixed disc (68) is larger than the diameter of the motor fixed slot (65).

7. A mobile power transmission line inspection device according to claim 6, characterized in that: The pan-tilt camera (2) comprises two visible light zoom lenses (21) and an infrared lens (22).

8. A mobile power transmission line inspection device according to claim 7, characterized in that: The device further comprises a power supply mechanism (7), the power supply mechanism (7) comprising a solar panel (71) fixedly mounted on a power transmission tower (8), the output end of the solar panel (71) being an energy storage battery (72), the energy storage battery (72) fixedly mounted on the power transmission tower (8), and the energy storage battery (72) being electrically connected to the pan / tilt camera (2), the drive motor (41), and the stepping motor (61).

9. The inspection method using the inspection device according to claim 8, characterized in that: The following steps are involved: Step 1: For a specific transmission tower, install the components of the inspection device installed on the transmission tower to a specific position, initially set and save the preset position according to the specific requirements of the inspection task, and generate a preset position database for all work tasks; Step 2: Send work task instructions to the drive mechanism and the pan-tilt camera through the computer control terminal on site or remotely. After receiving the work instructions, the drive mechanism and the pan-tilt camera call the relevant work task preset position from the preset position database of step 1 to carry out relevant inspection work; Step 3: Use the communication module of the PTZ camera to transmit the inspection result of step 2 back to the computer control terminal.

10. The inspection method according to claim 9, characterized in that: The specific preset positions in step 1 are as follows: A. The PTZ camera needs to move to a certain position on the guide rail according to the work instructions; B. The pitch angle of the lens space that the PTZ camera needs to adjust according to the work instructions; C. The lens shooting parameters that need to be adjusted by the gimbal camera according to the work instructions include but are not limited to: ISO, focal length, exposure; The inspection result of step 3 includes relevant photos, videos or measurement data.

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