Visual carrying device for electric inspection galloping vehicle and inspection method

Abstract

The invention relates to the technical field of high-voltage transmission line inspection, and discloses an electric inspection galloping vehicle visual carrying device and an inspection method, and the device comprises a galloping vehicle, a power system, a walking obstacle crossing system, and a visual system. The walking obstacle crossing system is arranged at the top of the aerodyne, is used for walking on the lead and can climb over obstacles on the lead; the visualization system comprises a pan-tilt camera assembly and a display screen. The pan-tilt camera assembly is installed above the galloping vehicle and used for collecting video information around the wire. And the display screen is mounted at the top of the aerodyne, is in wired connection with the pan-tilt camera assembly and is used for displaying a video picture of the wire so as to inspect the wire and observe whether an obstacle exists on the wire or not. The visual system is carried on the galloping vehicle, so that an operator can inspect a wire through the display screen, and in addition, when the operator finds that an obstacle exists on the wire through the display screen, the operator can operate the walking obstacle crossing system of the galloping vehicle to avoid the obstacle.

Description

Technical Field

[0001] The invention relates to the technical field of high-voltage transmission line inspection, and in particular to a visual carrying device and an inspection method for an electric inspection flying car. Background Art

[0002] Electric energy is an important support for national construction and development, and the power industry plays a key role in modernization. With the continuous growth of electricity demand, a power transmission network composed of high-voltage transmission lines has been gradually established, realizing the connection between load centers and energy bases. High-voltage transmission lines are an important part of high-voltage transmission projects, and their stable transmission of electricity is of great significance to modern industry and people's lives. Operation and maintenance are necessary means to ensure the normal operation of line equipment, which is directly related to many important issues such as power supply quality and reliability, as well as the overall benefits of power companies.

[0003] The traditional high-voltage line inspection method is manual wiring, which is still used in some areas. However, this is very dangerous for inspectors because they may fall from a height or be electrocuted to death, and the work efficiency is also very low. Another method is for inspectors to use binoculars to inspect the line, which ensures the safety of inspectors but is very inefficient. In order to improve the inspection efficiency, a human-powered foot-operated wire flying car is used for inspection on some lines. However, when using this method for inspection, the labor intensity of inspectors is high, and they cannot stand on the foot-operated flying car to inspect the wires. There are space limitations and visual blind spots, and the stability of the operation process is poor.

[0004] Prior art document 1 (CN 117254390 A) discloses a vertical double-split conductor flying car and method, wherein the vertical double-split conductor flying car includes a frame, a wire hanging mechanism and a walking mechanism, wherein a seat position and a footrest position are provided in the frame, the seat position and the footrest position are arranged in sequence along a first direction, and the first direction is arranged at an angle to the length direction of the conductor; the wire hanging mechanism includes a winding assembly, a wire hanging member and a hanging rope, both ends of the hanging rope are connected to the winding assembly, the non-end of the hanging rope is connected to the wire hanging member, the wire hanging member is hung on the conductor, and the winding assembly reels or unwinds the hanging rope; the center of gravity position of the walking mechanism connected to the frame can be adjusted along the first direction.

[0005] The shortcomings of this prior art document are:

[0006] 1. The design of the flying car is complex, involving multiple drive parts, walking arms and spacing components, which increases the difficulty of manufacturing and maintenance, as well as the difficulty of operation.

[0007] 2. The obstacle avoidance function cannot be realized when there are obstacles on the wire.

[0008] 3. Without adding a visualization system, operators are still required to use telescopes and other equipment for inspection, which results in low inspection efficiency.

[0009] Prior art document 2 (CN 110505445 A) discloses a wire flying car video monitoring system and method based on wireless transmission, the video monitoring system includes a video acquisition device for installation on the wire flying car, the video acquisition device includes: a camera, and also includes a first data transmitting end for sending video data. The video monitoring system also includes at least one group of data transfer equipment for installation on the pole tower, each group of data transfer equipment includes: a first data receiving end and a second data transmitting end, the first data receiving end is used to receive the video data sent by the first data transmitting end and transmit it to the second data transmitting end. The video monitoring system also includes a video monitoring device, which includes: a second data receiving end, and also includes a video display end, which is used to restore the video data received by the second data receiving end into a video image.

[0010] The shortcomings of this prior art document are:

[0011] 1. The wire flying car video monitoring system needs to use a transfer device to transmit the image data captured by the camera to the video monitoring device, which is not only expensive but also troublesome to install.

[0012] 2. The wire flying car video monitoring system relies on wireless transmission. Due to the limitations of signal coverage and transmission speed, it may not be able to achieve all-round and real-time monitoring.

[0013] 3. The wire flying car video monitoring system is not highly integrated with other functions of the flying car, resulting in the need for additional equipment and operating steps in actual application. Summary of the invention

[0014] In order to solve the deficiencies in the prior art, the present invention provides a visualization mounting device and inspection method for an electric inspection vehicle. A visualization system is mounted on the vehicle, so that an operator can inspect the wires through a display screen. In addition, when the operator finds an obstacle on the wire through the display screen, the operator can operate the vehicle's walking obstacle crossing system to avoid the obstacle.

[0015] The present invention adopts the following technical solution.

[0016] In the first aspect, the present invention provides a visualization carrying device for an electric inspection flying car, comprising: a flying car and a power system, the visualization carrying device for the electric inspection flying car also comprising: a walking obstacle crossing system and a visualization system; the walking obstacle crossing system is arranged on the top of the flying car, and is used for walking on the wire and climbing over obstacles on the wire; the visualization system comprises: a pan-tilt camera assembly and a display screen; the pan-tilt camera assembly is installed above the flying car by flipping and folding vertical poles, and corresponds to the position of the wire, and is used for collecting video information around the wire; the display screen is installed on the top of the flying car, and the display screen and the pan-tilt camera assembly are connected by wire, and are used for displaying the video picture of the wire, so as to inspect the wire and observe whether there are obstacles on the wire; the power system is arranged at the bottom of the flying car, and is connected to the walking obstacle crossing system, and is used to control the walking obstacle crossing system to walk and avoid obstacles.

[0017] Preferably, the walking obstacle crossing system includes: a motor wheel and a support rod; the support rod is installed on the top of the flying car and is used to install the motor wheel; the motor wheel is installed on the bottom of the support rod through a transmission assembly, and the outer circumferential surface of each motor wheel is provided with a concave arc groove that fits the wire; the transmission assembly is connected to the aircraft control box in the power system, and is used to drive the motor wheel to flip and avoid the obstacle when there is an obstacle on the wire.

[0018] Preferably, the motor wheels include four wheels of the same structure and size, namely, wheel 1, wheel 2, wheel 3 and wheel 4; wheel 1 and wheel 2 are installed on the top of one support rod, and wheel 3 and wheel 4 are installed on the top of another support rod; the four motor wheels are arranged in a row and at the same horizontal height.

[0019] Preferably, the transmission assembly includes: a worm gear shaft, a worm and a worm motor; the worm motor is fixedly mounted on the top of the support rod, and its output end is coaxially connected with the worm, and the axis of the worm is vertically arranged; the worm gear shaft is rotatably mounted on the top of the support rod, and the worm wheel on the worm gear shaft cooperates with the worm transmission; each motor wheel has its own motor and is coaxially connected to the worm gear shaft.

[0020] Preferably, the gimbal camera assembly includes: a gimbal camera, a camera adapter box and a quick-plug connector; the quick-plug connector is installed on the top of the gimbal camera, and is used to install the gimbal camera assembly on a flip and folding vertical pole; the camera adapter box is installed on the top of the quick-plug connector, and is used to receive an operation signal sent by the gimbal camera rocker box, and convert the operation signal into a control signal of the gimbal camera.

[0021] Preferably, two pan-tilt camera assemblies are installed on the flip and folding pole, namely: an upper pan-tilt camera assembly and a lower pan-tilt camera assembly. The position of the upper pan-tilt camera assembly corresponds to the upper wire in the vertical double-split wire, and the position of the lower pan-tilt camera assembly corresponds to the lower wire in the vertical double-split wire, which are used to collect video information of the upper wire and the lower wire respectively.

[0022] Preferably, the visualization system also includes: an isolation and step-down module, a gimbal camera joystick box and a video capture card; the isolation and step-down module is connected to the lithium battery in the power system, and is used to reduce the power supply voltage and transmit it to the gimbal camera assembly to power the gimbal camera; the gimbal camera joystick box is installed on the bottom of the flying car in a quick-release mode, and a joystick and a power display interface are arranged on the outside of the gimbal camera joystick box, and a charging module and a transmitting module are arranged inside, the power display interface is connected to the charging module for displaying the power, and the transmitting module is connected to the joystick for wirelessly transmitting the indication signal of the joystick to the gimbal camera to control the gimbal camera; the video capture card is arranged on an adjustment bracket for installing a display screen; the video capture card is used to collect and process the video signal of the gimbal camera assembly, and transmit the processed video signal to the display screen through a data cable.

[0023] Preferably, the flying car is surrounded by shielding cloth, and an insulating base plate is installed at the bottom of the flying car; horizontal connecting rods are arranged on the left and right sides of the flying car, and a cushion is hung between the two connecting rods for the operator to sit and drive the flying car.

[0024] In a second aspect, an inspection method of an electric inspection vehicle visualization carrying device is provided, using the above-mentioned electric inspection vehicle visualization carrying device, the inspection method comprises the following steps:

[0025] Hang the flying car on the conductor of the high-voltage transmission line to be tested;

[0026] The video information around the wire is collected through the pan-tilt camera component and transmitted to the display screen for display;

[0027] The walking obstacle crossing system is controlled by the power system to walk on the wire;

[0028] While the flying car is moving, the operator observes the video images around the wire through the display screen and conducts inspection on the wire;

[0029] When an obstacle is detected on the wire, the walking obstacle crossing system is operated by the power system to avoid the obstacle.

[0030] Preferably, when an obstacle is seen on the wire, the walking obstacle-crossing system is operated by the power system to avoid the obstacle, including the following steps:

[0031] The four motor wheels in the walking obstacle crossing system are turned over in sequence through the power system. When the previous motor wheel is reset, the next motor wheel is operated to turn over to avoid obstacles.

[0032] The beneficial effect of the present invention is that, compared with the prior art, the present invention is provided with a visualization system on the flying car, and the display screen in the visualization system is directly installed on the top of the flying car, and the display screen and the pan-tilt camera are transmitted by wired connection, so that the transmission signal is more stable, the response speed is faster, and the anti-interference ability is stronger. The video image near the wire is captured in real time by the pan-tilt camera, and the video image is transmitted to the display screen for display, which is convenient for the flying car driver to inspect and repair the power transmission wire through the real-time transmission picture. In addition, when the driver sees that there is an obstacle on the wire through the display screen, he can climb over the obstacle through the walking obstacle crossing system to avoid the obstacle blocking the progress of the flying car or causing the flying car to shake and cause danger; and by checking whether there is an obstacle on the wire through the display screen, it can avoid the situation where the driver does not find the obstacle due to the obstruction of vision.

[0033] In order to further improve the stability of the flying car when overcoming obstacles, the walking obstacle overcoming system in the present invention is provided with four motor wheels. When the obstacle overcoming operation is started, the four motor wheels are operated in turn by four sets of transmission components to flip 90 degrees to avoid obstacles, and the next motor wheel will be operated only when the previous motor wheel is reset. When any motor wheel flips, there are still three motor wheels in contact with the wire, thereby ensuring the stability of the flying car when overcoming obstacles, greatly improving the efficiency and safety of inspection operations.

[0034] Furthermore, the pan-tilt camera assembly is installed on the top of the flying car through a flip-folding pole, and the overall size can be reduced by folding and storing the flip-folding pole. In addition, the pan-tilt camera assembly is provided with a quick-release module, through which the pan-tilt camera assembly can be quickly installed on the flip-folding pole, and the number and position of the pan-tilt camera installation can be selected according to needs. For example, video images can be collected simultaneously for the vertical double-split wires, and the two wires can be inspected synchronously. When the pan-tilt camera assembly is not in use, it can be removed as a whole for storage.

[0035] Furthermore, the pan-tilt camera of the present invention has a storage card and a storage function, and can display the image in real time on a tablet for online inspection by operators. The tablet can switch between single and double images (single or multiple camera images), and can also store the line inspection process images on the tablet for offline review. A single inspection record can be stored twice. Each power supply battery and power-consuming component can also be quickly disassembled and assembled from the flying car to achieve convenient charging. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a structural front view of the visualization carrying device of the electric inspection vehicle in the present invention.

[0037] Figure 2 It is a right view of the structure of the visual carrying device of the electric inspection flying car in the present invention;

[0038] Figure 3 It is a left view of the structure of the visual carrying device of the electric inspection flying car in the present invention;

[0039] Figure 4 It is a top view of the structure of the visual carrying device of the electric inspection flying car in the present invention;

[0040] Figure 5 It is a structural schematic diagram of the power system in the walking obstacle surmounting system of the present invention;

[0041] Figure 6 It is a structural schematic diagram of the flying car power system of the present invention;

[0042] Figure 7 This is a control principle diagram of the visualization system in the present invention.

[0043] Figure 8 It is a structural front view of the pan-tilt camera in the present invention.

[0044] Fig. 9 It is a rear view of the structure of the pan-tilt camera in the present invention.

[0045] Fig.10 The present invention is a schematic structural diagram of a pan-tilt camera remote sensing box.

[0046] The reference numerals in the figure are: 1. wheel 1; 2. wheel 2; 3. wheel 3; 4. wheel 4; 5. support rod; 6. hanging basket; 7. shielding cloth; 8. brake handle; 9. insulating bottom plate; 10. cushion; 11. motor wheel; 12. worm gear shaft; 13. worm; 14. wire; 15. worm gear motor; 16. bearing; 17. signal / voltage conversion box; 18. quick release module; 19. shock absorbing ball; 20. cooling fan; 21. gimbal camera; 22. camera adapter box; 23. quick release Plug connector; 24, upper gimbal camera assembly; 25, flip and folding pole; 26, lower gimbal camera assembly; 27, left joystick; 28, middle joystick; 29, right joystick; 30, power display interface; 31, second power switch; 32, charging interface; 33, gimbal camera joystick box; 34, first power switch; 35, flying car control box; 36, operating handle; 37, forward / backward button; 38, lithium battery; 39, lower wire; 40, display screen; 41, upper wire. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical scheme and advantages of the present invention clearer, the technical scheme of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The embodiments described in this application are only embodiments of a part of the present invention, rather than all embodiments. Based on the spirit of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work belong to the protection scope of the present invention.

[0048] like Figure 1 , Figure 2 , Figure 4 As shown, embodiment 1 of the present invention provides a visualization carrying device for an electric inspection vehicle, comprising: an electric inspection vehicle body, a walking obstacle crossing system, a power system and a visualization system.

[0049] The electric inspection flying car body is assembled from aluminum-magnesium alloy steel pipes, and is a rectangular parallelepiped structure with an open top and a hollow interior, similar to a "hanging basket", so it is also called a hanging basket 6. The electric inspection flying car body (hereinafter referred to as the flying car) is surrounded by shielding cloth 7, and an insulating bottom plate 9 is installed at the bottom of the flying car. Preferably, the thickness of the insulating bottom plate 9 is 5mm. Horizontal connecting rods are provided in the middle of the left and right sides of the flying car, and a cushion 10 is hung between the two connecting rods. The cushion 10 also uses shielding cloth for the operator to sit and drive the electric flying car.

[0050] The walking obstacle crossing system is set on the top of the flying car. The walking obstacle crossing system is used to walk on the wires, and can start the obstacle crossing function when an obstacle is found in front of the wires through the visualization system. During inspection operations, the walking obstacle crossing system is mounted above the wires, and the flying car is suspended below the wires. The walking obstacle crossing system walks on the wires to drive the flying car to move.

[0051] by Figure 1 The left side of the view is the front side of the electric inspection vehicle visualization carrying device, and the right side of the view is the rear side of the electric inspection vehicle visualization carrying device.

[0052] The walking obstacle crossing system includes: four motor wheels 11, which are respectively recorded as: wheel 1, wheel 2, wheel 3 and wheel 4. Among them, wheel 1 and wheel 2 are installed on the front side above the flying car through a support rod 5, and wheel 3 and wheel 4 are installed on the rear side above the flying car through another support rod. The structure and size of the four motor wheels 11 are the same, and the four motor wheels are arranged in a row and are at the same horizontal height. The outer circumference of each motor wheel 11 is provided with a concave arc groove that fits the wire to facilitate stable walking on the wire.

[0053] In a preferred but non-limiting embodiment of the present invention, the support rod 5 includes two oblique rods and a vertical rod, and the bottom ends of the two oblique rods are fixedly connected to the top end of the vertical rod, so that the support rod 5 is Y-shaped as a whole. The top ends of the two oblique rods are used to install the first wheel 1, the second wheel 2, the third wheel 3, and the fourth wheel 4, respectively, and the bottom of the vertical rod is fixedly connected to the bracket of the flying car.

[0054] Furthermore, if Figure 5 As shown, each motor wheel is connected to the support rod by installing a transmission assembly, and the transmission assembly includes: a worm gear shaft 12, a worm 13, a wire 14, a worm motor 15 and a bearing 16. The top of the support rod 5 is fixedly installed with a worm motor 15, and the output end of the worm motor is installed with a worm 13. Both sides of the worm 13 are rotatably connected to the support rod 5 through bearings 16, and the axis of the worm 13 is in a vertical state; the top of the support rod 5 is also rotatably installed with a worm gear shaft 12, one end of the worm gear shaft 12 is provided with a worm gear that is matched with the worm 13 for transmission, and the other end of the worm gear shaft 12 is coaxially connected with the motor of the motor wheel. The motor of the motor wheel and the worm motor 15 are connected to the flying car control box 35 located at the bottom of the flying car through the wire 14.

[0055] When there is an obstacle on the wire, the worm motor 15 of the four transmission components is started in sequence, and the worm 13 cooperates with the worm gear to drive the worm gear shaft 12 and the motor wheel to rotate 90 degrees clockwise, thereby achieving the obstacle crossing function. In addition, by controlling the four motor wheels to move in sequence, the flying car can still maintain stability when crossing obstacles.

[0056] Furthermore, a disc brake is installed on the motor wheel, and a brake handle 8 is rotatably installed on the bottom of the flying car through a pivotal part. The brake handle 8 is connected to the disc brake through a lead wire. During the movement of the flying car, if it is necessary to stop, the brake handle 8 can be pulled up to operate the disc brake to stop the operation of the motor wheel, thereby locking the flying car brake on the wire.

[0057] like Figure 6As shown, the power system includes: a lithium battery 38, a first power switch 34, and a flying car control box 35. The lithium battery 38 is arranged on the top of the insulating plate 10. The lithium battery 38 is preferably a 36V lithium battery. The lithium battery 38 is connected to various electrical equipment to provide power to the whole vehicle; the lithium battery 38 is wrapped with shielding cloth and can be taken out separately for charging when it needs to be charged. The first power switch 34 is arranged on the top of the flying car and connected to the lithium battery 38 to control the power on / off of the whole vehicle. The flying car control box 35 is arranged on the top of the flying car. The aircraft control box 35 is connected to the motor and the worm motor of the motor wheel in the walking obstacle avoidance system. The aircraft control box 35 is provided with an operating handle 36, a forward / backward button 37 and an obstacle crossing button. The operating handle 36 has the same shape, function and operation method as a common battery bicycle, which is easy to use and convenient to operate. The forward / backward button 37 can switch the direction of travel of the flying car.

[0058] like Figure 3 , Figure 6 As shown, the visualization system includes: a pan-tilt camera assembly, an isolation and voltage reduction module, a pan-tilt camera rocker box 33, a video capture card and a display screen 40.

[0059] like Figure 3 As shown, the pan-tilt camera assembly is installed on the flip-folding pole 25, corresponding to the position of the wire. The flip-folding pole 25 can be folded and installed on one side of the upper part of the flying car. When the flip-folding pole 25 is used, it is in a vertical state, and the pan-tilt camera assembly can be aligned with the wire. When the flip-folding pole 25 is not used, it can be flipped and folded to the side of the flying car to reduce the storage height.

[0060] In a preferred but non-restrictive embodiment of the present invention, when the flying car travels on a vertical double-split conductor, two pan-tilt camera assemblies can be installed on the flip-folding pole 25, respectively recorded as an upper pan-tilt camera assembly 24 and a lower pan-tilt camera assembly 26. The positions of the upper pan-tilt camera assembly 24 and the lower pan-tilt camera assembly 26 correspond to the upper conductor 41 and the lower conductor 39, respectively, so that the two conductors in the vertical double-split conductor can be inspected at the same time.

[0061] like Figure 4 , Figure 8 , Fig. 9 As shown, the pan-tilt camera assembly includes: a pan-tilt camera 21, a camera adapter box 22 and a quick-connect connector 23.

[0062] The pan-tilt camera 21 has a built-in shock-absorbing ball 19, which has a self-stabilizing function and can automatically eliminate the problems of image jitter, blur, and out-of-focus caused by the jitter of the flying car during operation. A cooling fan 20 is arranged at the bottom of the pan-tilt camera 21, and the cooling fan 20 can effectively dissipate heat for the camera, prevent the camera from overheating and freezing, etc., and ensure the stability and durability of operation.

[0063] The camera adapter box 22 is installed above the gimbal camera. In some embodiments, the camera adapter box 22 is preferably a signal / voltage conversion box 17, which forms a gimbal camera assembly with the gimbal camera through a connecting plate. Its appearance is simple and easy to disassemble. In some embodiments, the quick-plug connector 23 is preferably a quick-release module 18, which is installed on the outer wall of the signal / voltage conversion box 17. The quick-release module 18 is used to install the gimbal camera assembly on the flip folding upright 25 of the flying car. When not in use, the gimbal camera assembly can be removed and stored as a whole. The gimbal camera 21 is connected to the signal / voltage conversion box 17, and the signal / voltage conversion box 17 is installed with a voltage conversion module, a signal receiving module, and a signal conversion module; the voltage conversion module reduces the voltage to 5V to supply the cooling fan 20, and 12V to supply the gimbal camera 21; the signal receiving module is used to receive the operation signal sent by the gimbal camera rocker box; the signal conversion module is used to convert the received operation signal into a control signal for the gimbal camera.

[0064] The pan / tilt camera in the embodiment of the present invention has a storage card and a storage function, and can display the image in real time on the tablet for online inspection by operators. The tablet can realize single / dual screen switching (single or multiple camera images), and the line inspection process image can also be stored on the tablet for offline review. A single inspection record can be stored twice.

[0065] The isolation buck module is preferably a 12V DC-DC isolation buck module, which is connected to the lithium battery 38, converts the 36V power supply of the inspection car into 12V and then connects the signal / voltage conversion boxes on the two pan-tilt cameras through wires to power the pan-tilt cameras.

[0066] like Figure 4 As shown, the pan / tilt camera rocker box 33 is installed at the bottom of the flying car in a quick release mode, such as Fig.10 As shown, the outside of the gimbal camera joystick box is provided with three joysticks and a power display interface 30. The inside of the gimbal camera joystick box is provided with a charging module and a transmitting module. The power display interface 30 is connected to the charging module for displaying the power. The transmitting module is connected to the joystick for sending the indication signal of the joystick to the gimbal camera to control the gimbal camera.

[0067] Specifically, three joysticks are arranged in a row at equal intervals and are all set at the top of the gimbal camera joystick box. The three joysticks are recorded as the left joystick 27, the middle joystick 28 and the right joystick 29 from left to right. The left joystick 27 can control the direction of the upper gimbal camera component by pushing the joystick direction, and the end button can control recording / stop recording; the middle joystick 28 can control the zoom of the upper gimbal camera component by pushing it left and right, and can control the zoom of the lower gimbal camera component by pushing it up and down; the right joystick 29 can control the direction of the lower gimbal camera component by pushing the joystick direction. The gimbal camera joystick box is also provided with end buttons, which can control recording / stop recording. The joystick handles of the three joysticks are all made of stainless steel, and high-precision potentiometers are used inside.

[0068] like Figure 7 As shown, the transmitting module wirelessly transmits the operating signal to the receiving module in the signal / voltage conversion box 17 above the pan-tilt camera 21 to operate the pan-tilt camera 21; the rocker box does not need to be powered separately when operating. The rocker box is installed on the inspection vehicle in a quick-release mode and can be removed for charging when power is insufficient.

[0069] In addition, the gimbal camera joystick box 33 is also provided with a second power switch 31 and a charging interface 32. The second power switch 31 and the charging interface 32 are both connected to the charging module, and the charging interface is preferably type-c.

[0070] The display screen is preferably an Android tablet. It is understandable that tablets of other systems can be used as display screens. The Android tablet is fixed to the upper right corner of the flying car through an adjustable bracket, and the video capture card is installed on the adjustable bracket. The bracket can be adjusted up and down and the tablet can be rotated as needed. The Android tablet can broadcast the picture in real time, and can also record and store the picture. The video capture card is used to collect and process the video signals of the two pan-tilt camera components. The Android tablet inputs the HDMI signal of the pan-tilt camera to the video capture card, and the video capture card then combines the two pictures and transmits them to the Android tablet through the TYPE-data cable. This data cable can both transmit video data and serve as power supply for the video capture card.

[0071] During the inspection operation, the operator can inspect the wire through the images played on the display screen. When an obstacle is found on the wire, the operator can control the movement of the worm motor through the flying car control box 35 to achieve the obstacle avoidance function.

[0072] Embodiment 2 of the present invention provides an inspection method for an electric inspection vehicle visualization carrying device, using an electric inspection vehicle visualization carrying device in embodiment 1, and the inspection method comprises the following steps:

[0073] Step 1: Check whether the main body, power system, pan / tilt camera assembly and other components of the inspection vehicle are intact and can be used for inspection, and confirm the normal working status of the visualization system to ensure that the tablet device can receive and display the real-time images transmitted by the camera;

[0074] Step 2: Hang the flying car on the conductor of the high-voltage transmission line to be tested, and ensure that the hanging wire mechanism of the flying car is firm and reliable and can maintain a balanced and stable state on the conductor;

[0075] Step 3: Start the power system of the flying car to ensure that the flying car can move stably and safely along the wire. The operator sits in the flying car and monitors the driving status of the flying car and the wire condition in real time through a tablet device;

[0076] Step 4: Use the PTZ camera on the flying car to take real-time photos of the wires to ensure that the images are clear and visible. The images are transmitted to the tablet device in real time, and the operator can observe the wire status in real time through the tablet device. The real-time images will be stored for subsequent offline re-inspection.

[0077] Step 5: If an obstacle is detected ahead, the obstacle crossing function is activated through the flying car control box.

[0078] Specifically, in step 5, the flying car control box 35 is used to sequentially control the four motor wheels to flip 90 degrees, and when the previous motor wheel is reset, the next motor wheel is operated to flip to avoid obstacles.

[0079] First, wheel number one flips 190° and returns to its original position after passing the obstacle; then wheel number two flips 290° and returns to its original position after passing the obstacle; then, wheel number three flips 390° and returns to its original position after passing the obstacle; and finally, wheel number four flips 490° and returns to its original position after passing the obstacle.

[0080] Step 6: After completing the inspection, the operator parks the flying car at the designated location, shuts down the power system of the flying car, checks the working status of each component of the flying car and the inspection records, and finally removes the flying car from the wire.

[0081] The beneficial effect of the present invention is that, compared with the prior art, the present invention is provided with a visualization system on the flying car, and the display screen in the visualization system is directly installed on the top of the flying car, and the display screen and the pan-tilt camera are transmitted by wired connection, so that the transmission signal is more stable, the response speed is faster, and the anti-interference ability is stronger. The video image near the wire is captured in real time by the pan-tilt camera, and the video image is transmitted to the display screen for display, which is convenient for the flying car driver to inspect and repair the power transmission wire through the real-time transmission picture. In addition, when the driver sees that there is an obstacle on the wire through the display screen, he can climb over the obstacle through the walking obstacle crossing system to avoid the obstacle blocking the progress of the flying car or causing the flying car to shake and cause danger; and by checking whether there is an obstacle on the wire through the display screen, it can avoid the situation where the driver does not find the obstacle due to the obstruction of vision.

[0082] In order to further improve the stability of the flying car when overcoming obstacles, the walking obstacle overcoming system in the present invention is provided with four motor wheels. When the obstacle overcoming operation is started, the four motor wheels are operated in turn by four sets of transmission components to flip 90 degrees to avoid obstacles, and the next motor wheel will be operated only when the previous motor wheel is reset. When any motor wheel flips, there are still three motor wheels in contact with the wire, thereby ensuring the stability of the flying car when overcoming obstacles, greatly improving the efficiency and safety of inspection operations.

[0083] Furthermore, the pan-tilt camera assembly is installed on the top of the flying car through a flip-folding pole, and the overall size can be reduced by folding and storing the flip-folding pole. In addition, the pan-tilt camera assembly is provided with a quick-release module, through which the pan-tilt camera assembly can be quickly installed on the flip-folding pole, and the number and position of the pan-tilt camera installation can be selected according to needs. For example, video images can be collected simultaneously for the vertical double-split wires, and the two wires can be inspected synchronously. When the pan-tilt camera assembly is not in use, it can be removed as a whole for storage.

[0084] Furthermore, the pan-tilt camera of the present invention has a storage card and a storage function, and can display the image in real time on a tablet for online inspection by operators. The tablet can switch between single and double images (single or multiple camera images), and can also store the line inspection process images on the tablet for offline review. A single inspection record can be stored twice. Each power supply battery and power-consuming component can also be quickly disassembled and assembled from the flying car to achieve convenient charging.

[0085] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents, and any modifications or equivalent replacements that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A visual carrying device for an electric inspection vehicle, comprising: A flying car and power system, characterized by: The electric inspection flying car visualization carrying device also includes: a walking obstacle crossing system and a visualization system; The walking and obstacle-crossing system is arranged on the top of the flying car, and is used for walking on the wire and climbing over obstacles on the wire; The visualization system comprises: a pan-tilt camera assembly and a display screen (40); The pan / tilt camera assembly is installed above the flying vehicle by flipping and folding the vertical pole (25) and corresponds to the position of the wire, and is used to collect video information around the wire; The display screen is installed on the top of the flying car, and the display screen (40) is connected to the pan-tilt camera assembly by wire, and is used to display the video image of the wire, so as to inspect the wire and observe whether there are obstacles on the wire; The power system is arranged at the bottom of the flying car and is connected with the walking obstacle crossing system, and is used for controlling the walking obstacle crossing system to walk and avoid obstacles.

2. The electric inspection vehicle visualization mounting device according to claim 1, characterized in that: The walking obstacle-crossing system comprises: a motor wheel (11) and a support rod (5); The support rod (5) is installed on the top of the flying car and is used to install the motor wheel (11); The motor wheels (11) are installed at the bottom of the support rod (5) through a transmission assembly, and the outer circumferential surface of each motor wheel (11) is provided with a concave arc groove that fits the wire; The transmission assembly is connected to an aircraft control box (35) in a power system and is used to drive the motor wheel (11) to flip and avoid obstacles when there are obstacles on the wire.

3. The electric inspection vehicle visualization mounting device according to claim 2, characterized in that: The motor wheel (11) comprises a first wheel (1), a second wheel (2), a third wheel (3) and a fourth wheel (4) of the same structure and size; the first wheel (1) and the second wheel (2) are mounted on the top of a support rod (5), and the third wheel (3) and the fourth wheel (4) are mounted on the top of another support rod; the four motor wheels are arranged in a row and are at the same horizontal height.

4. The electric inspection vehicle visualization mounting device according to claim 2, characterized in that: The transmission assembly comprises: a worm gear shaft (12), a worm (13) and a worm motor (15); The worm motor (15) is fixedly mounted on the top of the support rod (5), and its output end is coaxially connected to the worm (13), and the axis of the worm (13) is vertically arranged; The worm gear shaft (12) is rotatably mounted on the top of the support rod (5), and the worm wheel on the worm gear shaft (12) is in driving cooperation with the worm (13); Each motor wheel (11) is equipped with a motor and is coaxially connected to the worm gear shaft (12).

5. The visual carrying device of the electric inspection vehicle according to any one of claims 1 to 4, characterized in that: The pan-tilt camera assembly comprises: a pan-tilt camera (21), a camera adapter box (22) and a quick-connect connector (23); The quick-connect connector (23) is installed on the top of the pan-tilt camera (21) and is used to install the pan-tilt camera assembly on the flip-folding vertical pole (25); The camera adapter box (22) is installed on the top of the quick-connect connector (23) and is used to receive an operation signal sent by the pan / tilt camera rocker box (33) and convert the operation signal into a control signal for the pan / tilt camera.

6. The visual carrying device of the electric inspection vehicle according to any one of claims 1 to 4, characterized in that: The flip-folding upright pole (25) is provided with two pan-tilt camera assemblies, namely, an upper pan-tilt camera assembly (24) and a lower pan-tilt camera assembly (26). The position of the upper pan-tilt camera assembly (24) corresponds to an upper conductor (41) in a vertical double-split conductor, and the position of the lower pan-tilt camera assembly (26) corresponds to a lower conductor (39) in a vertical double-split conductor, and the upper and lower conductors (41 and 39) are used to collect video information of the upper conductor (41) and the lower conductor (39), respectively.

7. The visual carrying device of the electric inspection vehicle according to any one of claims 1 to 4, characterized in that: The visualization system also includes: an isolation and voltage reduction module, a pan / tilt camera rocker box (33) and a video acquisition card; The isolation step-down module is connected to the lithium battery (38) in the power system, and is used to reduce the power supply voltage and transmit it to the pan-tilt camera assembly to supply power to the pan-tilt camera; The pan-tilt camera rocker box (33) is installed at the bottom of the flying car in a quick-release mode. A rocker and a power display interface (30) are arranged outside the pan-tilt camera rocker box, and a charging module and a transmitting module are arranged inside. The power display interface (30) is connected to the charging module for displaying the power, and the transmitting module is connected to the rocker for wirelessly transmitting the indication signal of the rocker to the pan-tilt camera to control the pan-tilt camera; The video capture card is arranged on an adjustment bracket for mounting a display screen (40); the video capture card is used to capture and process video signals of the pan / tilt camera assembly, and transmit the processed video signals to the display screen (40) via a data line.

8. The visual carrying device of the electric inspection vehicle according to any one of claims 1 to 4, characterized in that: The flying car is surrounded by a shielding cloth (7), and an insulating bottom plate (9) is installed at the bottom of the flying car; Horizontal connecting rods are arranged on the left and right sides of the flying car, and a seat cushion (10) is hung between the two connecting rods for an operator to sit and drive the flying car.

9. An inspection method of an electric inspection vehicle visualization carrying device, using the electric inspection vehicle visualization carrying device according to any one of claims 1 to 8, characterized in that: The inspection method comprises the following steps: Hang the flying car on the conductor of the high-voltage transmission line to be tested; The video information around the wire is collected by the pan / tilt camera assembly and transmitted to a display screen (40) for display; The walking obstacle crossing system is controlled by the power system to walk on the wire; While the flying vehicle is moving, the operator observes the video images around the conductor through the display screen (40) and performs inspection work on the conductor; When an obstacle is detected on the wire, the walking obstacle crossing system is operated by the power system to avoid the obstacle.

10. The inspection method of the electric inspection vehicle visualization device according to claim 9, characterized in that: When an obstacle is found on the wire, the walking obstacle crossing system is operated by the power system to avoid the obstacle, including the following steps: The four motor wheels in the walking obstacle crossing system are turned over in sequence through the power system. When the previous motor wheel is reset, the next motor wheel is operated to turn over to avoid obstacles.

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