Power transmission line partial discharge acoustic detection equipment and method based on unmanned aerial vehicle platform

Abstract

The invention discloses a power transmission line partial discharge acoustic detection device and method based on an unmanned aerial vehicle platform, and the device comprises an unmanned aerial vehicle, a terminal remote control handle and a terminal display module, and also comprises a connecting rope, a suspension frame, a walking mechanism, and an inspection host, the unmanned aerial vehicle is connected with the suspension frame through a connector by using the connecting rope, and the suspension frame and the walking mechanism are hoisted to a line. The suspension frame is installed on the line through the walking mechanism, the unmanned aerial vehicle can be selectively separated from the suspension frame and fly away from the suspension frame, the walking mechanism advances along the line, whether the line has the partial discharge problem or not is acoustically detected through the inspection host, and the overall equipment is small in weight, high in inspection efficiency and high in accuracy.

Description

Technical Field

[0001] The present invention relates to line detection technology, and specifically to a transmission line partial discharge acoustic detection device and method based on an unmanned aerial vehicle platform. Background Art

[0002] With the increase in the scale of power grids and the increase in electricity load, the safe and stable operation of power equipment has received unprecedented challenges. In substations and high-voltage cables, high voltage causes the surface insulation of the lines to deteriorate, the insulation effect to decrease, and local discharge to occur. These discharge points will reduce the insulation level of the lines and ultimately lead to equipment failure and power outages. If a failure occurs, it will cause significant losses to the power grid itself and users. Today, as the layout of the power grid is increasingly developed, the country's requirements for the reliability of the power grid are getting higher and higher.

[0003] The existing partial discharge detection equipment is generally handheld detection equipment, which requires a technician to move along the line to perform partial discharge detection, which has poor safety and high labor intensity. After searching, it was found that there are partial discharge detection devices and methods that use drones equipped with detection equipment, but the following problems will occur when using drone inspections:

[0004] 1. Carry out partial discharge detection in areas with complex and dense line structures. Due to the strong electromagnetic effect near the lines, drones cannot get close, which affects the precise control of drones. If the detection distance is far and the signal capture capability is weak, the detection accuracy will decrease and missed detection is likely to occur.

[0005] 2. The existing inspection mechanism needs to be equipped with a separate driver to enable the walking wheels to grip the line and walk on the line, such as using electric cylinders, pneumatic cylinders, motors, etc., which leads to a complex structure and heavy weight of the inspection mechanism, and the drone cannot be separated from the inspection mechanism, which further increases the weight of the overall equipment. At the same time, it will also increase the movement resistance of the inspection mechanism and increase the wear of the line and generate additional noise due to a large swing amplitude under the action of wind.

[0006] 3. Most of the existing inspection equipment uses drones to operate under load all the time, and their inspection capabilities are poor.

[0007] 4. When drones are performing flight inspections, false detections are likely to occur due to the high noise levels of drones and the influence of environmental noise factors. If precise inspections are to be performed, a powerful database and noise reduction algorithm are required, which results in high development costs. Summary of the invention

[0008] In order to solve the above technical problems, the inventors have obtained the technical solution of the present invention through practice and summary. The present invention adopts the following technical solution:

[0009] The transmission line partial discharge acoustic detection equipment based on the UAV platform includes a UAV, a terminal remote control handle and a terminal display module, and also includes:

[0010] A connecting rope, one end of which is mounted on the bottom of the drone, and the other end of which is mounted with a connector, and the connector is provided with an elastic limit pin;

[0011] A suspension frame, a connecting seat is installed on the top of the suspension frame, a sliding thin rod is installed in the connecting seat, a limit head is installed on the top of the sliding thin rod, the limit head is a structure with a small top and a large bottom, the limit head and the connecting head are adapted, and a release piece is slidably matched on the sliding thin rod, and the release piece is used to separate the elastic limit pin and the limit head;

[0012] The traveling mechanism includes a traveling wheel mounted on a suspension frame, a wire holding wheel located on both sides of the traveling wheel, and a motor for driving the traveling wheel, wherein the wire holding wheel is used to hold the line tightly on the traveling wheel;

[0013] Inspection host, which is installed on the suspension frame and is used for acoustic detection of local discharge positions.

[0014] In the present application, a connecting ring is provided at one end of the connector, and the connecting ring is used to connect with the connecting rope. A countersunk hole is provided on the inner side of the bottom of the connector, and a radial slide groove is provided on the side of the countersunk hole. A wedge block is slidably fitted in the radial slide groove.

[0015] The elastic limiting pin includes a through hole arranged on the side of the connecting head, the through hole is connected to the inside of the countersunk hole, a spring body is installed in the through hole, and a connecting pin is installed on the connecting head. One end of the connecting pin is inserted into the through hole and passes through the spring body and is also threadedly connected to the wedge block.

[0016] In the present application, the release member is an annular structure, and the cross section of the release member is a structure that is thick in the middle and thin at both ends;

[0017] A hidden groove is provided at the bottom of the limit head, and the hidden groove is used to accommodate the top of the release member;

[0018] A small inclined surface inclined upward and a large inclined surface inclined downward are arranged on one side of the wedge block opposite to the connecting seat.

[0019] In the present application, the line holding wheel comprises a line holding half wheel 1 and a line holding half wheel 2, and the line holding half wheel 1 and the line holding half wheel 2 are symmetrically distributed on the left and right sides;

[0020] A connecting plate is installed on both the first and second wire holding half wheels through a rotating shaft. The connecting plate is located on the opposite side of the wire holding half wheels, and a contact plate is arranged on the opposite side of the top of the connecting plate. The contact plate is used to contact the line.

[0021] A mounting seat corresponding to the position of the wire-holding half wheel is installed on the suspension frame, a mounting groove is arranged on the opposite side of the mounting seat, wire-holding grooves are arranged on the opposite side walls of the mounting groove, and the connecting plate is slidably fitted in the wire-holding groove.

[0022] In the present application, the wire holding groove includes a clamping groove 1, a clamping groove 2 and an embracing groove arranged in sequence from top to bottom. The clamping groove 1 and the clamping groove 2 are arranged vertically. The embracing groove is arranged at the bottom end of the clamping groove 2 and away from the side of the walking wheel. The embracing groove is an arc-shaped structure and the center of the circle is located at the bottom end of the clamping groove 1.

[0023] The connecting plate is equipped with a moving wheel 1 and a moving wheel 2. The moving wheel 1 is installed in the clamping groove 1, and the moving wheel 2 is installed in the clamping groove 2 and the embracing groove. The back of the connecting plate is connected to the mounting seat through a tension spring.

[0024] In the present application, a vertical hole is provided in the connecting seat, the sliding thin rod is slidably fitted in the vertical hole, a vertical slide groove is provided on the side of the connecting seat and a part of the area is connected to the vertical hole, a moving body is installed in the vertical slide groove through an elastic body, the moving body is slidably fitted in the vertical slide groove, a horizontal rod is installed on the moving body, a vertical retaining rod is installed on the suspension frame, and the vertical retaining rod is slidably fitted with one end of the horizontal rod;

[0025] A guide groove is arranged on the side of the installation groove, the guide groove is distributed vertically, and an extrusion block is slidably installed inside, and the top of the extrusion block is connected with the horizontal rod through a connecting rope.

[0026] In the present application, a slender rod is rotatably mounted at the bottom of the sliding thin rod, and a hook body is provided at the end of the slender rod;

[0027] A track groove is arranged in the vertical hole, and the hook body moves along a route specified by the track groove.

[0028] In the present application, the track groove includes a first downward groove, a first upward groove, an oblique groove and a second upward groove;

[0029] The first downward groove and the second upward groove are respectively distributed on both sides of the vertical chute, the inlet of the first downward groove and the outlet of the second upward groove meet, and the inlet depth of the first downward groove is greater than the outlet depth of the second upward groove;

[0030] The outlet of the downward trough intersects with the inlet of the upward trough, and the depth of the outlet of the downward trough is less than the depth of the inlet of the upward trough;

[0031] The oblique groove is arranged above the upper groove 1 and away from the side of the lower groove 1;

[0032] The second inlet of the upward trough is connected to the outlet of the oblique trough;

[0033] The vertical slide groove is used to connect the oblique groove and the upper groove one, and the moving body is used to selectively cut off the oblique groove and the upper groove one.

[0034] In the present application, the wire holding groove also includes an outward expansion groove and a reset groove. The outward expansion groove is an arc-shaped groove and is arranged at the top of the clamping groove 2. The center of the outward expansion groove is located at the top of the clamping groove 1. The end of the outward expansion groove away from the clamping groove 2 is located directly above the end of the embracing groove away from the clamping groove 2. The two ends of the reset groove are respectively connected to the outward expansion groove and the embracing groove.

[0035] A method for detecting partial discharge of a line, using a transmission line partial discharge acoustic detection device based on an unmanned aerial vehicle platform, the steps are as follows:

[0036] Step 1, Equipment Assembly

[0037] The countersunk hole of the connector is aligned with the position of the connector seat, the connector is lowered, the limit head enters the countersunk hole, and the large inclined surface of the wedge block enters the radial slide groove under the action of the limit head. After passing the limit head, the wedge block extends to the bottom of the hidden groove under the action of the spring body, keeping the wedge block between the release part and the limit head. The UAV takes off and flies via the connecting rope load suspension frame. At this time, the hook body is at the intersection of the downward groove 1 and the upward groove 2, and the extrusion block is in the state of blocking the outward extension groove;

[0038] Step 2, flight transportation

[0039] Use the terminal remote control handle to control the drone to fly to the airspace of the inspection area, cooperate with the inspection host to adjust the running wheel to the top of the line, and lower the suspension frame vertically. Under the action of gravity, the line holding wheel automatically holds the line tightly on the running wheel;

[0040] Step 3: Drone flies away

[0041] The drone continues to descend steadily, the suspension frame will not descend, the connecting head descends relative to the connecting seat, the wedge block descends at the same time, the connecting head descends to act on the limit head to descend, until the hook body moves to the intersection of the downward groove 1 and the upward groove 1. When the wedge block runs to the area below the release member through the release member, the drone ascends, the connecting head ascends relative to the connecting seat, the wedge block holds up the release member and ascends to the top structure to be accommodated in the hidden groove, the drone continues to ascend, the small inclined surface of the wedge block acts on the bottom side wall of the release member and moves outward, and before the small inclined surface is completely separated from the bottom side wall of the release member, it contacts the bottom of the limit head, and the wedge block acts on the release member while the hook body enters the intersection of the upward groove 1 and the downward groove 2. As it continues to ascend, the wedge block and the limit head separate, and the moving body will not move under the action of the elastic body, and at this time the hook body is located there and will not descend along the upward groove 2;

[0042] Step 4: Inspection

[0043] The motor drives the walking wheel to move along the line, and the inspection host uses acoustics to detect whether there is partial discharge on the line. If a partial discharge signal is detected, the partial discharge signal is transmitted to the terminal display module through wireless communication and displayed in real time on the terminal display module;

[0044] Step 5. Reassembly

[0045] After the partial discharge test of the line is completed, the drone is controlled by the terminal remote control handle to fly to the airspace of the test area, and the connection head is adjusted to be directly above the connection seat in cooperation with the inspection host. The drone flies downward, the connection seat re-enters the countersunk hole, and the wedge block moves downward to the position between the limit head and the release member;

[0046] Step 6: Line separation

[0047] The UAV flies upward, and the suspension frame moves upward. The hook body moves upward to act on the moving body to squeeze the elastic body, and the moving body drives the horizontal rod upward. While the horizontal rod moves upward, the extrusion block moves upward through the connecting rope, and the extrusion block moves upward to open the outward expansion slot. The connecting plate is turned outward under the action of the tension spring, and the moving wheel 2 enters the outward expansion slot, the holding wheel automatically releases the line, the walking mechanism and the line are separated, the hook body enters the oblique slot and returns to the initial point through the upward slot 2, the extrusion block will act on the moving wheel 2 to return to the embracing slot through the reset slot, and the UAV load inspection host flies to the next inspection area.

[0048] Compared with the prior art, the present invention has the following beneficial effects:

[0049] 1. The present invention uses a drone to carry the inspection host to the line near the detection area, and uses the wire gripping wheel on the walking mechanism to automatically grip the line under the gravity of the overall detection component, and then conducts inspection along the line to detect partial discharge. After the walking mechanism grips the line, the drone automatically detaches from the suspension frame to avoid the drone's interference with the acoustic detection partial discharge signal. The drone will not interfere with the inspection signal during the inspection, improve the accuracy of partial discharge detection, and the weight of the part of the structure that is effective for the inspection operation is light.

[0050] 2. The present invention adopts structures such as a connecting head, a connecting ring, and an elastic limit pin, and utilizes the elastic limit pin to hook the limit head to achieve the connection between the UAV and the suspension frame. The connecting head is moved downward through a release piece and then through the release piece to achieve automatic separation from the limit head. When the inspection is completed, the UAV moves the connecting head downward and the elastic limit pin is used to hook the limit head. The UAV can lift the suspension frame away. When lifting away, the wire holding half wheel and the line are automatically separated, thereby realizing the separation and assembly of the UAV and the suspension frame.

[0051] 3. The present invention utilizes the gravity of the suspension frame, the walking mechanism and the inspection host to realize the line-holding half-wheel embracing the line and pressing the line against the walking wheel, thereby completing the gripping effect of the walking mechanism and the line, preventing the walking mechanism from being able to inspect along the line and inspecting the line near the complex circuit area after the UAV is detached.

[0052] 4. If the present invention only uses the wire gripping wheel to grip the line, there will be a problem of pulling the line upward during separation, which will easily increase the load capacity of the drone. Therefore, further improvements are made on this basis, and the connection method between the suspension frame and the connector and the connection method between the wire gripping wheel and the mounting seat are specifically designed, thereby achieving automatic separation without increasing the load capacity of the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 It is the overall structural working condition diagram of the detection equipment of the present invention.

[0054] Figure 2 It is a front view of the suspension frame of the present invention and the structure thereon.

[0055] Figure 3 for Figure 2 Cross-section view at AA in the middle.

[0056] Figure 4 This is a working diagram of the suspension frame of the present invention when the contact plate contacts the line during the falling process.

[0057] Figure 5 This is a working condition diagram of the suspension frame of the present invention after the connecting plate flips inwards after the contact plate contacts the line during the falling process.

[0058] Figure 6 This is a working diagram of the line-holding half-wheel holding the line and the running wheel during the falling process of the suspension frame of the present invention.

[0059] Figure 7 This is a working diagram of the connector of the present invention when it moves downward to a position where the elastic positioning pin is below the release member.

[0060] Figure 8 This is a working diagram of the connector of the present invention when it moves downward to the top of the release member and is in the hidden groove.

[0061] Fig. 9 This is a working diagram of the traveling mechanism when it is inspecting along the line after the connecting head and the limiting head of the present invention are separated.

[0062] Fig.10 This is a working diagram after the connecting head and the limiting head of the present invention are re-adapted and the extrusion block is lifted.

[0063] Fig.11 This is a working diagram when the second moving wheel of the present invention completely enters the outward expansion groove.

[0064] Fig.12 This is a working diagram when the moving wheel 2 of the present invention returns to the embracing groove.

[0065] Fig.13 This is a connection diagram of the connector and the connector base of the present invention.

[0066] Fig.14 This is a front view of the positional relationship between the connector and the connector base of the present invention.

[0067] Fig.15 It is a connection relationship diagram of the connecting head and the limiting head of the present invention.

[0068] In the figure: 10, drone; 20, terminal remote control handle; 30, terminal display module; 40, connecting rope; 41, connecting head; 411, connecting ring; 412, countersunk hole; 413, radial slide groove; 414, wedge block; 42, elastic limit pin; 421, spring body; 422, connecting pin; 50, suspension frame; 501, connecting seat; 502, sliding thin rod; 503, limit head; 504, release member; 51, mounting seat; 511, vertical hole; 5111, downward groove 1; 5112, upward groove 1; 5113, oblique groove; 5114, upward groove 2; 512, vertical slide groove; 513, moving body; 5 14. Elastomer; 515. Horizontal rod; 516. Vertical retaining rod; 517. Guide groove; 518. Extrusion block; 52. Mounting groove; 521. Slender rod; 522. Hook body; 53. Wire holding groove; 531. Pressing groove one; 532. Pressing groove two; 533. Embracing groove; 534. Outward extension groove; 535. Reset groove; 60. Traveling mechanism; 61. Traveling wheel; 62. Wire holding wheel; 621. Wire holding half wheel one; 622. Wire holding half wheel two; 623. Connecting plate; 6231. Moving wheel one; 6232. Moving wheel two; 6233. Tension spring; 624. Contact plate; 63. Motor; 70. Inspection host. DETAILED DESCRIPTION

[0069] The technical solutions in the embodiments of the present invention will be described clearly and completely 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.

[0070] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0071] Example 1

[0072] like Figures 1 to 15 As shown, the transmission line partial discharge acoustic detection device based on the drone platform includes a drone 10, a terminal remote control handle 20 and a terminal display module 30, and also includes:

[0073] A connecting rope 40, one end of which is mounted on the bottom of the drone 10, and the other end of which is mounted with a connector 41, and the connector 41 is provided with an elastic limiting pin 42;

[0074] The suspension frame 50 has a connecting seat 501 installed on the top of the suspension frame 50, a sliding thin rod 502 installed in the connecting seat 501, a limiting head 503 installed on the top of the sliding thin rod 502, the limiting head 503 is a structure with a small top and a large bottom, the limiting head 503 is adapted to the connecting head 41, and a release member 504 is slidably matched on the sliding thin rod 502, and the release member 504 is used to separate the elastic limiting pin 42 and the limiting head 503;

[0075] The walking mechanism 60 includes a walking wheel 61 (which may be an insulated silent wheel) installed on the suspension frame 50, a wire holding wheel 62 located on both sides of the walking wheel 61, and a motor 63 (electromagnetic shielding treatment) for driving the walking wheel 61. The wire holding wheel 62 is used to hold the line tightly on the walking wheel 61. The wire holding wheel 62 is provided with two groups, which are respectively located at the front and rear of the walking wheel 61;

[0076] The inspection host 70 is installed on the suspension frame 50 and is used for acoustically detecting the local discharge position.

[0077] A connecting ring 411 is provided at one end of the connecting head 41, and the connecting ring 411 is used to connect with the connecting rope 40. A countersunk hole 412 is provided at the inner side of the bottom of the connecting head 41, and a radial sliding groove 413 is provided on the side of the countersunk hole 412. A wedge block 414 is slidably fitted in the radial sliding groove 413.

[0078] The elastic limiting pin 42 includes a through hole arranged on the side of the connecting head 41, the through hole is connected to the inside of the countersunk hole 412, a spring body 421 is installed in the through hole, and a connecting pin 422 is installed on the connecting head 41. One end of the connecting pin 422 is inserted into the through hole and passes through the spring body 421 and is also threadedly connected to the wedge block 414.

[0079] The release member 504 is a ring-shaped structure, and the cross section of the release member 504 is a structure that is thick in the middle and thin at both ends;

[0080] A hidden groove is provided at the bottom of the limit head 503, and the hidden groove is used to accommodate the top of the release member 504;

[0081] A small inclined surface slanting upward and a large inclined surface slanting downward are provided on one side of the wedge block 414 opposite to the connecting seat 501 .

[0082] The thread holding wheel 62 includes a thread holding half wheel 1 621 and a thread holding half wheel 2 622, and the thread holding half wheel 1 621 and the thread holding half wheel 2 622 are symmetrically distributed.

[0083] A connecting plate 623 is installed on both the first and second wire holding half wheels 621 and 622 through a rotating shaft. The connecting plate 623 is located on the opposite side of the wire holding half wheels, and a contact plate 624 is provided on the opposite side of the top of the connecting plate 623. The contact plate 624 is used to contact the line.

[0084] A mounting seat 51 corresponding to the position of the wire holding half wheel is installed on the suspension frame 50, a mounting groove 52 is provided on the opposite side of the mounting seat 51, and wire holding grooves 53 are provided on the opposite side walls of the mounting groove 52, and the connecting plate 623 is slidably fitted in the wire holding groove 53.

[0085] The wire holding groove 53 includes a clamping groove 531, a clamping groove 532 and an embracing groove 533 arranged in sequence from top to bottom. The clamping groove 531 and the clamping groove 532 are arranged vertically. The embracing groove 533 is arranged at the bottom end of the clamping groove 532 and away from the side of the walking wheel 61. The embracing groove 533 is an arc-shaped structure and the center of the circle is located at the bottom end of the clamping groove 531.

[0086] The connecting plate 623 is provided with a moving wheel 1 6231 and a moving wheel 2 6232. The moving wheel 1 6231 is installed in the clamping groove 1 531, and the moving wheel 2 6232 is installed in the clamping groove 2 532 and the embracing groove 533. The back of the connecting plate 623 is connected to the mounting seat 51 via a tension spring 6233.

[0087] During implementation, the countersunk hole 412 and the limit head 503 are positioned correspondingly, the connecting head 41 is lowered vertically, the limit head 503 enters the countersunk hole 412, the elastic positioning pin 42 moves downward to the lower part of the limit head 503, the connecting head 41 is moved upward, the elastic positioning pin 42 and the limit head 503 are hooked, the UAV 10 flies and brings the suspension frame 50 to the top of the line at the detection area through the connecting rope 40 until the walking wheel 61 is at the top of the line, and the suspension frame 50 is lowered. The frame 50 is moved until the contact plate 624 contacts the line and rotates (the moving wheel 2 6232 rotates inward along the embracing groove 533), until the two half-wheels for holding the line are close to each other to block the area below the line, and the line is pressed against the bottom of the walking wheel 61 under the action of the tension spring 6233 (the moving wheel 1 6231 moves upward along the pressing groove 1 531 and the moving wheel 2 6232 moves upward along the pressing groove 2 532), thereby completing the automatic gripping of the line by the walking mechanism 60. After the walking mechanism 60 grips the line, the drone 10 drives the connecting rope 40 to move the connecting head 41 downward, and the elastic limit pin 42 passes through the release member 504. After the drone 10 moves upward again to move the release member 504 upward to the hidden groove at the bottom of the limit head 503, the elastic limit pin 42 and the limit head 503 are separated under the action of the release member 504. The motor 63 drives the walking wheel 61 to detect along the line, and can also conduct close inspections on complex circuit structures, wherein the inspection host 70 is an existing detection device, which is mainly used for acoustic detection of the local discharge position and presenting it on the terminal display module 30. When the inspection is completed, for the inspection of the complex circuit part, the walking wheel moves the suspension frame 50 away from the complex circuit part, and the drone 10 re-adapts the connector 41 through the elastic positioning pin 42 and the limit head 503. The drone 10 moves the suspension frame 50 upward, and the wire holding wheel 62 overcomes the force of the tension spring 6233 to move the wire holding half wheel downward and outward, thereby completing the automatic separation operation from the line.

[0088] Example 2

[0089] like Figures 1 to 15 As shown, in the present detection device, a vertical hole 511 is provided in the connecting seat 501, and the sliding thin rod 502 is slidably fitted in the vertical hole 511. A vertical slide groove 512 is provided on the side of the connecting seat 501, and a part of the area is connected with the vertical hole 511 (i.e., the area between the upper groove 5112 and the oblique groove 5113). A moving body 513 is installed in the vertical slide groove 512 through an elastic body 514. The moving body 513 is slidably fitted in the vertical slide groove 512. A horizontal rod 515 is installed on the moving body 513. A vertical retaining rod 516 is installed on the suspension frame 50. The vertical retaining rod 516 is slidably fitted with one end of the horizontal rod 515.

[0090] A guide groove 517 is provided on the side of the installation groove 52 . The guide groove 517 is vertically distributed, and an extrusion block 518 is slidably installed inside. The top of the extrusion block 518 is connected to the horizontal rod 515 through the connecting rope 40 .

[0091] A slender rod 521 is rotatably mounted at the bottom of the sliding thin rod 502, and a hook body 522 is provided at the end of the slender rod 521;

[0092] A track groove is provided in the vertical hole 511 , and the hook body 522 moves along a route specified by the track groove.

[0093] The track groove includes a downward groove 1 5111, an upward groove 1 5112, an oblique groove 5113 and an upward groove 2 5114;

[0094] The descending groove 1 5111 and the ascending groove 2 5114 are respectively distributed on both sides of the vertical chute 512, the inlet of the descending groove 1 5111 and the outlet of the ascending groove 2 5114 intersect, and the inlet depth of the descending groove 1 5111 is greater than the outlet depth of the ascending groove 2 5114;

[0095] The outlet of the downward trough 5111 and the inlet of the upward trough 5112 intersect, and the depth of the outlet of the downward trough 5111 is less than the inlet depth of the upward trough 5112, and the outlet depth of the upward trough 5112 is less than the inlet depth;

[0096] The oblique groove 5113 is arranged above the upper groove 1 5112 and away from the side of the lower groove 1 5111;

[0097] The inlet of the second upward trough 5114 is connected to the outlet of the oblique trough 5113;

[0098] The local area on the vertical slide groove 512 is used to connect the oblique groove 5113 and the upper groove 1 5112. The moving body 513 is provided with an extension extending into the local area. The bottom of the extension is a guide structure arranged obliquely downward. The extension is used to selectively cut off the oblique groove 5113 and the upper groove 1 5112. When the extension enters the top of the local area, the hook body 522 automatically enters the oblique groove 5113 and then passes through the local area, so that the extrusion block 518 can be automatically reset to reset the connecting plate 623 to the initial position.

[0099] The wire holding groove 53 also includes an outward expansion groove 534 and a reset groove 535. The outward expansion groove 534 is an arc-shaped groove and is arranged at the top of the clamping groove 532. The center of the outward expansion groove 534 is located at the top of the clamping groove 531. The end of the outward expansion groove 534 away from the clamping groove 532 is located directly above the end of the embracing groove 533 away from the clamping groove 532. The two ends of the reset groove 535 are respectively connected to the outward expansion groove 534 and the embracing groove 533.

[0100] In the embodiment, the connector 41 is lowered so that the limit head 503 enters the countersunk hole 411. The connector 41 is driven upward by the drone 10 through the connecting rope 40. The elastic positioning pin 42 blocks the limit head 503 and drives it upward, thereby suspending the suspension frame 50. At this time, the hook body 522 is at the entrance of the downward groove 5111, and the extrusion block 518 is in a state of blocking the outward extension groove 534. The drone 10 transports the suspension frame 50 to the top of the line in the detection area, and the walking wheel 6 1 is located at the top of the line, the suspension frame 50 is lowered, and the contact plate 624 releases the line and rotates (the moving wheel 6232 rotates inward along the embracing groove 533) until the two line-holding half wheels approach each other to block the lower area of ​​the line, and the line is pressed against the bottom of the walking wheel 61 under the action of the tension spring 623 (the moving wheel 1 6231 moves up along the pressing groove 1 531 and the moving wheel 2 6232 moves up along the pressing groove 2 532), completing the automatic gripping of the line by the walking mechanism 60.

[0101] After the walking mechanism 60 holds the line tightly, the drone 10 drives the connecting rope 40 to move the connecting head 41 downward, the connecting head 41 squeezes the limit head 503, and the sliding thin rod 502 moves downward, and the slender rod 521 (with a certain elastic deformation ability) at the bottom of the sliding thin rod 502 moves downward, and the hook body 522 enters along the downward groove 5111 to the intersection with the upward groove 5112. During this period, the elastic positioning pin 42 will pass through the release member 504.

[0102] When the connecting head 41 moves upward, it drives the releasing member 504 upward, and the releasing member 504 moves upward to the hidden groove. While the wedge block releases the member 504 under the action of the spring body 5421, the sliding thin rod 502 enters the intersection of the upward groove 5112 and the vertical sliding groove 512 under the action of the slender rod 521 and the hook body 522 at the end. As it continues to move upward, the releasing member 504 will separate the connecting head 41 and the limit head 503.

[0103] The motor 63 drives the walking wheel 61 to perform detection along the line, and can also perform close inspection on complex circuit structures. The inspection host 70 is an existing detection device, which is mainly used for acoustic detection of local discharge positions and presenting them on the terminal display module 30.

[0104] When the inspection is finished, for the inspection of the complex circuit part, the walking wheel moves the suspension frame 50 away from the complex circuit part, and cooperates with the inspection host 70. The drone 10 re-adapts the connector 41 through the elastic positioning pin 42 and the limit head 503, and the elastic positioning pin 42 is between the release member 504 and the limit head 506. The drone 10 moves the suspension frame 50 upward, the sliding thin rod 502 is moved upward, the hook body 522 acts on the moving body 513, and the elastic body 51 4 is compressed, and then the horizontal rod 515 moves the extrusion block 518 upward to fully open the outward groove 534. Under the action of the tension spring 6233, the connecting plate 623 moves the second moving wheel 6232 into the outward groove 534 to separate the line holding half wheel from the line, thereby completing the automatic separation operation from the line. When the hook body 522 enters the oblique groove 5113 from the vertical sliding groove 512, the hook body 522 returns to the entrance of the first downward groove 5111 at the initial position through the second upward groove 5114.

[0105] A method for detecting partial discharge of a line, using a transmission line partial discharge acoustic detection device based on an unmanned aerial vehicle platform, the steps are as follows:

[0106] Step 1, Equipment Assembly

[0107] The countersunk hole 412 of the connector 41 is aligned with the position of the connector seat 501, the connector 41 is lowered, the limit head 503 enters the countersunk hole 412, and the large inclined surface of the wedge block 414 enters the radial slide groove 413 under the action of the limit head 503. After passing through the limit head 503, the wedge block 414 extends to the bottom of the hidden groove under the action of the spring body 421, and the wedge block 414 is kept between the release member 504 and the limit head 503. The UAV 10 takes off and flies by loading the suspension frame 50 through the connecting rope 40. At this time, the hook body 522 is at the intersection of the downward groove 1 5111 and the upward groove 2 5114, and the extrusion block 518 is in a state of blocking the outward extension groove 534.

[0108] Step 2, flight transportation

[0109] The drone 10 is controlled by the terminal remote control handle 20 to fly to the airspace of the inspection area, and the walking wheel 61 is adjusted to be located at the top of the line in cooperation with the inspection host 70, and the suspension frame 50 is vertically lowered. Under the action of gravity, the line holding wheel 62 automatically holds the line tightly on the walking wheel 61;

[0110] Step 3: The drone 10 flies away

[0111] The drone 10 continues to descend steadily, the suspension frame 50 does not descend, the connector 41 descends relative to the connector seat 501, the wedge block 414 descends at the same time, the connector 41 descends to act on the limit head 503 to descend until the hook body 522 moves to the intersection of the downward groove 5111 and the upward groove 5112. When the wedge block 414 passes the release member 504 and runs to the area below the release member 504, the drone 10 ascends, the connector 41 ascends relative to the connector seat 501, the wedge block 414 lifts the release member 504 and ascends to the top structure to be accommodated in the hidden groove, and the drone 10 Continuing to move upward, the small slope of the wedge block 414 acts on the bottom side wall of the release member 504 and moves outward. When the small slope is not completely separated from the bottom side wall of the release member 504, it contacts the bottom of the limit head 503. At the same time, the wedge block 414 acts on the release member 504 and the hook body 522 enters the intersection of the upper groove 1 5112 and the lower groove 2 5113. As the upward movement continues, the wedge block 414 and the limit head 503 separate and the moving body 513 does not move under the action of the elastic body 514. At this time, the hook body 522 is located at this position and does not go down along the upper groove 2 5112.

[0112] Step 4: Inspection

[0113] The motor 63 drives the walking wheel 61 to move along the line, and the inspection host 70 acoustically detects whether there is partial discharge in the line. If a partial discharge signal is detected, the partial discharge signal is transmitted to the terminal display module 30 through wireless communication and displayed in real time on the terminal display module 30;

[0114] Step 5. Reassembly

[0115] After the partial discharge detection of the line is completed, the terminal remote control handle 20 is used to control the drone 10 to fly to the airspace of the detection area, and the inspection host 70 is coordinated to adjust the connector 41 to be located directly above the connector 501. The drone 10 flies downward, and the connector 501 re-enters the countersunk hole 412, and the wedge block 414 moves downward to the position between the limit head 503 and the release member 504;

[0116] Step 6: Line separation

[0117] The UAV 10 flies upward, and the suspension frame 50 moves upward. The hook body 522 acts on the moving body 513 to squeeze the elastic body 514, and the moving body 513 drives the horizontal rod 515 to move upward. While the horizontal rod 515 moves upward, the squeezing block 518 moves upward through the connecting rope 40. The squeezing block 518 moves upward to open the outward expansion slot 534, and the connecting plate 623 is turned outward under the action of the tension spring 6233. The moving wheel 2 6232 enters the outward expansion slot 534, and the holding wheel 62 automatically releases the line. The walking mechanism 60 is separated from the line, and the hook body 522 enters the oblique slot 5113 and returns to the initial point through the upward slot 2 5114. The squeezing block 518 will act on the moving wheel 2 6232 to return to the embracing slot 523 through the reset slot 535. The UAV 10 flies to the next inspection area with the inspection host 70 loaded.

[0118] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. The replacement may be a replacement of a part of the structure, device, method step, or a complete technical solution. Any equivalent replacement or change according to the technical solution and the inventive concept of the present invention shall be covered within the protection scope of the present invention.

Claims

1. A transmission line partial discharge acoustic detection device based on an unmanned aerial vehicle platform, comprising an unmanned aerial vehicle (10), a terminal remote control handle (20) and a terminal display module (30), characterized in that: Also includes: A connecting rope (40), one end of which is mounted on the bottom of the drone (10), and the other end of which is mounted with a connecting head (41), and the connecting head (41) is provided with an elastic limiting pin (42); A suspension frame (50), a connecting seat (501) is installed on the top of the suspension frame (50), a sliding thin rod (502) is installed in the connecting seat (501), a limiting head (503) is installed on the top of the sliding thin rod (502), the limiting head (503) is a structure with a small top and a large bottom, the limiting head (503) and the connecting head (41) are adapted, and a release member (504) is slidably matched on the sliding thin rod (502), and the release member (504) is used to separate the elastic limiting pin (42) and the limiting head (503); A running mechanism (60), the running mechanism (60) comprising a running wheel (61) mounted on the suspension frame (50), a wire holding wheel (62) located on both sides of the running wheel (61), and a motor (63) for driving the running wheel (61), the wire holding wheel (62) being used to hold the wire tightly on the running wheel (61); The inspection host (70) is installed on the suspension frame (50) and is used for acoustically detecting the local discharge position.

2. According to claim 1, the transmission line partial discharge acoustic detection equipment based on the UAV platform is characterized in that: A connecting ring (411) is provided at one end of the connecting head (41), and the connecting ring (411) is used to connect with the connecting rope (40). A countersunk hole (412) is provided on the inner side of the bottom of the connecting head (41), and a radial sliding groove (413) is provided on the side of the countersunk hole (412). A wedge block (414) is slidably fitted in the radial sliding groove (413); The elastic limiting pin (42) comprises a through hole arranged on the side of the connecting head (41), the through hole is connected to the inside of the counterbore (412), a spring body (421) is installed in the through hole, a connecting pin (422) is installed on the connecting head (41), one end of the connecting pin (422) is inserted into the through hole and passes through the spring body (421) and is also threadedly connected to the wedge block (414).

3. The transmission line partial discharge acoustic detection device based on the UAV platform according to claim 2 is characterized in that: The release member (504) is an annular structure, and the cross section of the release member (504) is a structure that is thick in the middle and thin at both ends; The bottom of the limiting head (503) is provided with a hidden groove, and the hidden groove is used to accommodate the top of the release member (504); A small inclined surface inclined upward and a large inclined surface inclined downward are provided on one side of the wedge-shaped block (414) opposite to the connecting seat (501).

4. The transmission line partial discharge acoustic detection device based on the UAV platform according to claim 3 is characterized in that: The line holding wheel (62) comprises a line holding half wheel 1 (621) and a line holding half wheel 2 (622), and the line holding half wheel 1 (621) and the line holding half wheel 2 (622) are symmetrically distributed on the left and right sides; A connecting plate (623) is installed on both the first wire holding half wheel (621) and the second wire holding half wheel (622) via a rotating shaft. The connecting plate (623) is located on the opposite side of the wire holding half wheel. A contact plate (624) is provided on the opposite side of the top of the connecting plate (623). The contact plate (624) is used to contact the line. A mounting seat (51) corresponding to the position of the wire holding half wheel is mounted on the suspension frame (50); a mounting groove (52) is arranged on one side opposite to the mounting seat (51); wire holding grooves (53) are arranged on two opposite side walls of the mounting groove (52); and a connecting plate (623) is slidably fitted in the wire holding groove (53).

5. The transmission line partial discharge acoustic detection device based on the UAV platform according to claim 4 is characterized in that: The wire holding groove (53) comprises a clamping groove 1 (531), a clamping groove 2 (532) and an embracing groove (533) which are arranged in sequence from top to bottom. The clamping groove 1 (531) and the clamping groove 2 (532) are arranged vertically. The embracing groove (533) is arranged at the bottom end of the clamping groove 2 (532) and on a side away from the walking wheel (61). The embracing groove (533) is an arc-shaped structure and the center of the circle is located at the bottom end of the clamping groove 1 (531). A moving wheel 1 (6231) and a moving wheel 2 (6232) are mounted on the connecting plate (623); the moving wheel 1 (6231) is mounted in the pressing groove 1 (531); the moving wheel 2 (6232) is mounted in the pressing groove 2 (532) and the embracing groove (533); and the back side of the connecting plate (623) is connected to the mounting seat (51) via a tension spring (6233).

6. The transmission line partial discharge acoustic detection device based on the UAV platform according to claim 5 is characterized in that: The connecting seat (501) is provided with a vertical hole (511), the sliding thin rod (502) is slidably fitted in the vertical hole (511), the side of the connecting seat (501) is provided with a vertical slide groove (512) and a part of the area is connected with the vertical hole (511), a moving body (513) is installed in the vertical slide groove (512) through an elastic body (514), the moving body (513) is slidably fitted in the vertical slide groove (512), a horizontal rod (515) is installed on the moving body (513), and a vertical retaining rod (516) is installed on the suspension frame (50), and the vertical retaining rod (516) and one end of the horizontal rod (515) are slidably fitted; A guide groove (517) is provided on the side of the installation groove (52). The guide groove (517) is vertically distributed, and an extrusion block (518) is slidably installed inside. The top of the extrusion block (518) is connected to the horizontal rod (515) through a pulling rope.

7. The transmission line partial discharge acoustic detection device based on the UAV platform according to claim 6 is characterized in that: A slender rod (521) is rotatably mounted at the bottom of the sliding thin rod (502), and a hook body (522) is provided at the end of the slender rod (521); A track groove is arranged in the vertical hole (511), and the hook body (522) moves along a route specified by the track groove.

8. The transmission line partial discharge acoustic detection device based on the UAV platform according to claim 7 is characterized in that: The track groove comprises a first downward groove (5111), a first upward groove (5112), an oblique groove (5113) and a second upward groove (5114); The first downward groove (5111) and the second upward groove (5114) are respectively distributed on both sides of the vertical chute (512), the inlet of the first downward groove (5111) and the outlet of the second upward groove (5114) intersect, and the inlet depth of the first downward groove (5111) is greater than the outlet depth of the second upward groove (5114); The outlet of the downward trough 1 (5111) and the inlet of the upward trough 1 (5112) intersect, and the depth of the outlet of the downward trough 1 (5111) is less than the depth of the inlet of the upward trough 1 (5112); The oblique groove (5113) is arranged above the upper groove 1 (5112) and away from the side of the lower groove 1 (5111); The inlet of the second upward trough (5114) is connected to the outlet of the oblique trough (5113); The vertical slide groove (512) is used to connect the oblique groove (5113) and the upper groove (5112), and the moving body (5113) is used to selectively cut off the oblique groove (5113) and the upper groove (5112).

9. The transmission line partial discharge acoustic detection device based on the UAV platform according to claim 8 is characterized in that: The wire holding groove (53) further comprises an outward expansion groove (534) and a reset groove (535); the outward expansion groove (534) is an arc-shaped groove and is arranged at the top of the second clamping groove (532); the center of the outward expansion groove (534) is located at the top of the first clamping groove (531); the end of the outward expansion groove (534) away from the second clamping groove (532) is located directly above the end of the embracing groove (533) away from the second clamping groove (532); and the two ends of the reset groove (535) are respectively connected to the outward expansion groove (534) and the embracing groove (533).

10. A method for detecting partial discharge of a line, using the transmission line partial discharge acoustic detection device based on a UAV platform as claimed in claim 9, characterized in that: Here are the steps: Step 1, Equipment Assembly The countersunk hole (412) of the connecting head (41) and the connecting seat (501) are aligned, the connecting head (41) is lowered, the limit head (503) enters the countersunk hole (412), and the large inclined surface of the wedge block (414) enters the radial sliding groove (413) under the action of the limit head (503). After passing through the limit head (503), the wedge block (414) extends to the bottom of the hidden groove under the action of the spring body (421), and the wedge block (414) is kept between the release member (504) and the limit head (503). The UAV (10) takes off and flies by loading the suspension frame (50) through the connecting rope (40). At this time, the hook body (522) is at the intersection of the downward groove 1 (5111) and the upward groove 2 (5114), and the extrusion block (518) is in a state of blocking the outward extension groove (534); Step 2, flight transportation The drone (10) is controlled to fly to the airspace of the inspection area by the terminal remote control handle (20), and the walking wheel (61) is adjusted to be located at the top of the line in cooperation with the inspection host (70), and the suspension frame (50) is vertically lowered. Under the action of gravity, the line holding wheel (62) automatically holds the line tightly on the walking wheel (61); Step 3: The drone (10) flies away The drone (10) continues to descend steadily, the suspension frame (50) does not descend, the connecting head (41) descends relative to the connecting seat (501), the wedge block (414) descends at the same time, the connecting head (41) descends to act on the limit head (503) to descend, until the hook body (522) moves to the intersection of the downward groove 1 (5111) and the upward groove 1 (5112), when the wedge block (414) passes through the release member (504) and runs to the area below the release member (504), the drone (10) ascends, the connecting head (41) ascends relative to the connecting seat (501), the wedge block (414) lifts the release member (504) and ascends to the top structure to be accommodated in the hidden groove, and the drone (10) Continuing to move upward, the small slope of the wedge block (414) acts on the bottom side wall of the release member (504) and moves outward. When the small slope is not completely separated from the bottom side wall of the release member (504), it contacts the bottom of the limit head (503). While the wedge block (414) acts on the release member (504), the hook body (522) enters the intersection of the upper groove 1 (5112) and the lower groove 2 (5113). As the upward movement continues, the wedge block (414) and the limit head (503) separate and the moving body (513) does not move under the action of the elastic body (514). At this time, the hook body (522) is located at this position and does not go down along the upper groove 2 (5112). Step 4: Inspection The motor (63) drives the walking wheel (61) to move along the line, and relies on the inspection host (70) to acoustically detect whether there is partial discharge in the line. If a partial discharge signal is detected, the partial discharge signal is transmitted to the terminal display module (30) through wireless communication and displayed in real time on the terminal display module (30); Step 5. Reassembly After the partial discharge detection of the line is completed, the drone (10) is controlled by the terminal remote control handle (20) to fly to the airspace of the detection area, and the connection head (41) is adjusted to be located directly above the connection seat (501) in cooperation with the inspection host (70). The drone (10) flies downward, the connection seat (501) re-enters the countersunk hole (412), and the wedge block (414) moves downward to a position between the limit head (503) and the release member (504); Step 6: Line separation The drone (10) flies upward, and the suspension frame (50) moves upward. The hook body (522) moves upward to act on the moving body (513) to squeeze the elastic body (514). The moving body (513) drives the horizontal rod (515) to move upward. When the horizontal rod (515) moves upward, the squeezing block (518) moves upward via the connecting rope (40). The squeezing block (518) moves upward to open the outward expansion slot (534). The connecting plate (623) turns outward under the action of the tension spring (6233), and the moving wheel (515) moves upward. The second moving wheel (6232) enters the outward extension groove (534), the holding wheel (62) automatically releases the line, the walking mechanism (60) and the line are separated, the hook body (522) enters the oblique groove (5113) and returns to the initial point through the second upward groove (5114), the extrusion block (518) acts on the second moving wheel (6232) to return to the embracing groove (523) through the reset groove (535), and the unmanned aerial vehicle (10) carries the inspection host (70) and flies to the next inspection area.

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