Dynamic load swing self-adaptive device based on multi-rotor unmanned aerial vehicle platform

Abstract

A dynamic load swing self-adaptive device based on a multi-rotor unmanned aerial vehicle platform relates to the technical field of unmanned aerial vehicle loading and is provided with a flexible part connected to an unmanned aerial vehicle body to form a closed loop and a supporting and locking assembly which stabilizes the closed loop state of the flexible part and is arranged on the flexible part. The flexible part is provided with a self-adaptive moving assembly on the lower side of the supporting and locking assembly; the self-adaptive moving assembly comprises a connecting block which is connected with a heavy object to tension the flexible part, a rolling part which slides on the self-adaptive moving assembly is arranged on the connecting block, and the rolling part is used for being matched with the weight of the heavy object connected with the connecting block, so that when the heavy object swings, the heavy object is relatively positioned on the flexible part in a self-adaptive manner under the influence of gravity after sliding buffering on the flexible part; and the unmanned aerial vehicle body can stably load the heavy object. The problem that in the prior art, swing of an X-ray detector affects the balance of a multi-rotor unmanned aerial vehicle platform is solved.

Description

Technical Field

[0001] The invention relates to the technical field of unmanned aerial vehicle loading, in particular to a dynamic load swing adaptive device based on a multi-rotor unmanned aerial vehicle platform. Background Art

[0002] The multi-rotor UAV platform carries X-ray detectors and imaging boards to detect damage to power transmission lines, which can largely avoid the need for workers to work at high altitudes to inspect power transmission lines, thereby improving the safety of workers in inspecting power transmission lines and also improving the efficiency of inspecting power transmission lines.

[0003] When a multi-rotor UAV platform carries an X-ray detector and an imaging board to inspect power transmission lines, the X-ray detector and the imaging board often swing due to environmental factors such as wind. When the X-ray detector and the imaging board swing due to environmental factors such as wind, the weight of the X-ray detector and the imaging board and the torque formed by the two being suspended at a certain distance below the multi-rotor UAV platform will aggravate the impact of environmental factors such as wind on the multi-rotor UAV, which will inevitably cause uneven force on the multi-rotor UAV platform itself, and thus increase the probability of imbalance of the multi-rotor UAV platform to a certain extent.

[0004] When the probability of a multi-rotor drone platform being unbalanced increases, on the one hand, it will increase the difficulty for workers to manipulate and position the X-ray detector and imaging board, thus affecting the detection efficiency and quality of the power transmission line; on the other hand, it will increase the swing amplitude of the X-ray detector and imaging board, causing multiple power transmission lines to be connected and causing phase short circuits. When the multi-rotor drone platform is seriously unbalanced, it will also cause the multi-rotor drone platform to fall from a high altitude carrying the X-ray detector and imaging board, thus causing economic losses. Summary of the invention

[0005] The purpose of the present invention is to provide a dynamic load swing adaptive device based on a multi-rotor UAV platform to solve the problem in the prior art that the X-ray detector is swung by wind, thereby causing a significant impact on the balance of the multi-rotor UAV platform.

[0006] In order to solve the above technical problems, the specific solution adopted by the present invention is: a dynamic load swing adaptive device based on a multi-rotor UAV platform, which comprises: a flexible member connected to the UAV body to form a closed loop and a support and lock assembly arranged on the flexible member to stabilize the closed loop state of the flexible member, and an adaptive moving assembly is arranged on the lower side of the flexible member at the support and lock assembly;

[0007] The adaptive moving component includes a connecting block that connects the heavy object to tension the flexible member. The connecting block is provided with a rolling member that slides on the adaptive moving component. The rolling member is used to cooperate with the connecting block to connect the weight of the heavy object, so that when the heavy object swings, it slides on the flexible member for buffering and is affected by gravity, and is relatively positioned on the flexible member in an adaptive manner, thereby allowing the drone body to stably load the heavy object.

[0008] As a further optimization of the dynamic load swing adaptive device based on a multi-rotor UAV platform of the present invention, the flexible part is a traction rope with one strand facing away from the UAV body, and the rolling part is two mating rollers arranged at intervals on the upper side of the connecting block and slidably connected to the traction rope.

[0009] As a further optimization of the dynamic load swing adaptive device based on a multi-rotor UAV platform of the present invention, the flexible member is a three-strand traction rope on the side facing away from the UAV body, and the rolling member is three groups of mating rollers that are respectively slidably connected to the three strands of the traction rope. The three groups of mating rollers are arranged in parallel, and each group of mating rollers consists of two and are arranged at intervals on the connecting block.

[0010] As a further optimization of the dynamic load swing adaptive device based on a multi-rotor UAV platform of the present invention, the flexible part is a traction rope with two strands on the side facing away from the UAV body, and the rolling part includes two guide wheels arranged at intervals in the center of the connecting block and two groups of matching rollers distributed on both sides of the guide wheels. Each group of matching rollers is two matching rollers arranged at intervals on the connecting block. The two guide wheels and the two groups of matching rollers cooperate to provide the two strands of the traction rope in an overlapping V-shape.

[0011] As a further optimization of the dynamic load swing adaptive device based on a multi-rotor UAV platform of the present invention, two parallel UAV frames are provided on the UAV body, and the UAV frames cooperate with both ends of the flexible member to form a closed loop for the flexible member.

[0012] As a further optimization of the dynamic load swing adaptive device based on a multi-rotor UAV platform of the present invention, a winding assembly is provided on the UAV body, one of the two UAV frames cooperates with one end of the flexible part, and the other end of the flexible part passes through a guide roller provided on the other UAV frame and is provided on the winding assembly to form a closed loop.

[0013] As a further optimization of the dynamic load swing adaptive device based on a multi-rotor UAV platform of the present invention, the support and locking assembly includes a wide support frame arranged in an X shape, and flexible parts are slidably connected on both sides of the wide support frame away from the center.

[0014] As a further optimization of the dynamic load swing adaptive device based on a multi-rotor UAV platform of the present invention, locking components are provided at the ends of both sides of the wide support frame along the extension direction of the flexible part. The locking components include a locking head arranged at the end of the wide support frame, a cross groove is provided at the end of the locking head away from the wide support frame, and a locking nut is provided at the cross groove of the locking head.

[0015] As a further optimization of the dynamic load swing adaptive device based on a multi-rotor UAV platform of the present invention, the heavy object is a detection component, the detection component includes an imaging board connected to a connecting block, a connecting frame is provided on the side of the imaging board away from the connecting block, a storage box is provided on the connecting frame away from the center of the imaging board, and an X-ray detector is provided in the storage box.

[0016] A UAV ray detection method, using a dynamic load swing adaptive device based on a multi-rotor UAV platform, includes the following steps:

[0017] S1, equipment inspection, working environment inspection and on-site confirmation, at the same time, load the heavy object, i.e. the detection component, onto the flexible part connected to the drone body, and debug the detection component and the drone body;

[0018] S2. Plan the electric field path formed by the detection component entering the power transmission line so that the charges in the electric field are not affected by the detection component or the drone body to generate a strong induced electric field, thereby causing damage to the equipment;

[0019] S3, control the drone body to hoist the detection component and detect the power transmission line according to the path planned in S2;

[0020] S4. Save the test information, then dismantle the equipment and clean up the test site, and finally evacuate as instructed.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 1) The present invention preliminarily buffers the swing of a heavy object, i.e., an X-ray detector, by providing a flexible member, and also provides an adaptive moving component connected to the X-ray detector to slide on the flexible member, thereby further conforming to and buffering the swing of the X-ray detector caused by environmental factors. Then, the adaptive dynamic positioning of the X-ray detector on the flexible member can be achieved, and at the same time, the amount of the swing force of the X-ray detector transmitted to the drone body is reduced, that is, the influence of the swing of the X-ray detector on the force of the drone body during flight is reduced, thereby alleviating the influence of the swing of the X-ray detector on the balance of the drone body.

[0023] 2) The present invention detects the power transmission line by setting a heavy object as a detection component, and at the same time plans the path for the heavy object, i.e., the detection component, and the drone body to enter the electric field formed by the power transmission line, thereby reducing the possibility of the electric charge in the power transmission line being affected by the detection component and the drone body to generate an induced electric field, that is, the power transmission line can be detected on the basis of ensuring work safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the three-dimensional structure of Example 1 of the present invention;

[0025] Figure 2 It is a schematic diagram of the enlarged structure of point A of Example 1 of the present invention;

[0026] Figure 3 It is a schematic cross-sectional structure diagram of Embodiment 1 of the present invention;

[0027] Figure 4 It is a schematic diagram of the enlarged structure of point B of Example 1 of the present invention;

[0028] Figure 5 It is a schematic diagram of the three-dimensional structure of Example 2 of the present invention;

[0029] Figure 6 It is a schematic diagram of the enlarged structure of point C of Example 2 of the present invention;

[0030] Figure 7 This is a schematic diagram of the three-dimensional structure of Example 3 of the present invention;

[0031] Figure 8 It is a schematic diagram of the enlarged structure of D in Example 3 of the present invention;

[0032] Fig. 9 This is a schematic diagram of the top view of the structure of the adaptive moving component of Example 3 of the present invention;

[0033] Fig.10 This is a schematic diagram of the planning structure of the path of the 110kV JG90 dry-shaped tower into the electric field of the present invention;

[0034] Fig.11 This is a schematic diagram of the planning structure of the path of the 110kV JJ1 upper U-shaped tower into the electric field of the present invention;

[0035] Fig.12 This is a schematic diagram of the structure of the 110k VT pointed double-circuit drum tower entering the electric field path planning of the present invention;

[0036] Fig.13 This is a schematic diagram of the planning structure of the path into the electric field of the 110kV Klim MA5° tower of the present invention;

[0037] Fig.14This is a schematic diagram of the planning structure of the path of the upper U-shaped tower into the electric field of the 220kV GJ1 of the present invention;

[0038] Fig.15 This is a schematic diagram of the planning structure of the path of the 220kV JG1 dry-shaped tower into the electric field of the present invention;

[0039] Fig.16 This is a schematic diagram of the 220kV J2 wine cup tower into the electric field path planning structure of the present invention;

[0040] Fig.17 This is a schematic diagram of the planning structure of the path of the 220kV NJ1 ram-horn tower into the electric field of the present invention;

[0041] Fig.18 This is a schematic diagram of the 220kV SJ1 double-circuit drum-type tower access path planning structure of the present invention;

[0042] Fig.19 This is a schematic diagram of the first state structure of the vertical distribution path planning of the electric field for a 110kV transmission line according to the present invention;

[0043] Fig. 20 This is a schematic diagram of the second state structure of the vertical distribution path planning of the electric field for the 110kV transmission line of the present invention;

[0044] Figure numerals: 1. heavy object; 101. storage box; 102. connecting frame; 103. imaging plate; 104. X-ray detector; 2. adaptive moving component, 201. connecting block; 202. rolling element; 2021. matching roller; 2022. guide wheel; 3. support and locking component, 301. wide support frame; 302. locking component; 3021. locking head; 3022. locking nut; 4. flexible component; 5. drone body, 501. drone frame; 502. winding component; 503. guide roller. DETAILED DESCRIPTION

[0045] In order to better understand the present invention, the content of the present invention is further explained below in conjunction with embodiments, but the content of the present invention is not limited to the following embodiments.

[0046] <Example 1>

[0047] like Figure 1-4 As shown, a dynamic load swing adaptive device based on a multi-rotor UAV platform includes a UAV body 5 and a weight 1, i.e., a detection component, arranged at the lower end of the UAV body 5. The UAV body 5 can drive the weight 1, i.e., the detection component, to move along the transmission line, thereby performing damage detection on the transmission line, thereby facilitating the staff to complete the detection work on the transmission line.

[0048] The lower end of the drone body 5 is provided with a flexible member 4 forming a closed loop. The flexible member 4 is a traction rope with a strand at the lower end. The lower end of the traction rope is provided with an adaptive moving component 2 and a weight 1 connected to the adaptive moving component 2. The weight 1 is a detection component used to detect damage to the power transmission line. When the detection component is lifted by the drone body to detect the power transmission line, the weight of the detection component and the adaptive moving component 2 will keep the traction rope taut to form a square closed loop state, so that the position of the drone body 5 and the detection component remains relatively stable, which makes it easier for the staff to control the movement of the detection component through the drone body 5 to detect damage to the power transmission line.

[0049] When the drone body 5 lifts the detection component to detect the power transmission line, if the detection component is affected by environmental factors such as wind and swings, the adaptive mobile component 2 can slide on the tensioned traction rope to adapt to and buffer the swing caused by environmental factors such as wind. At the same time, the flexibility of the traction rope can be used to improve the buffering effect of the adaptive mobile component 2, and the flexibility of the traction rope can be used for buffering, thereby greatly reducing the amount of the swinging force of the detection component transmitted to the drone body 5, that is, it can reduce the swing amplitude of the detection component affected by environmental factors, and can reduce the probability of unstable flight of the drone body 5 due to the large swing of the detection component.

[0050] Two drone racks 501 are provided at the lower end of the drone body 5, and the drone racks 501 can be used to park the drone on the ground. One end of a traction rope is fixedly connected to any drone rack 501, and the other end of the traction rope passes through the support and lock assembly 3, the adaptive moving assembly 2 and the guide roller 503 and is connected to the winding assembly 502. The guide roller 503 is provided on the other drone rack 501 to guide the sliding of the traction rope, and at the same time can limit the traction rope to cooperate with the adaptive moving assembly 2 to form a square closed loop, and then the traction rope of the square closed loop can make the adaptive moving assembly 2 slide to conform to the swing of the buffer detection assembly caused by environmental factors, and at the same time, the weight of the detection assembly and the adaptive moving assembly 2 will be used to achieve the adaptive stop of the swing. The support and lock assembly 3 can maintain the stability of the square closed loop of the traction rope, that is, avoid the occurrence of the self-winding of the traction rope, and at the same time maintain the state of the square closed loop traction rope, so that the traction rope maintains the relative stability of the detection assembly and the drone assembly, so that it is convenient for the staff to control the drone body 5 to move the detection assembly to detect the damage of the power transmission line.

[0051] The reeling assembly 502 is a small electric hoisting device, and the reeling assembly 502 can facilitate the staff to control the reeling or releasing of the traction rope, that is, to facilitate the staff to control the size of the square closed loop traction rope. The size of the square closed loop traction rope can increase or reduce the amount of the released traction rope according to the ability of the drone body 5 to resist environmental factors. When the square closed loop formed by the traction rope is enlarged, the force of the swing of the detection assembly transmitted by the traction rope to the drone body 5 will be transmitted through the longer traction rope, that is, the influence of the swing of the detection assembly on the drone body 5 is reduced, and it is convenient for the staff to control the drone body 5 to perform non-destructive testing of the power transmission line. When the square closed loop formed by the traction rope is reduced, the force of the swing of the detection assembly transmitted by the traction rope to the drone body 5 will be transmitted through the shorter traction rope, that is, the influence of the swing of the detection assembly on the drone body 5 is increased to a certain extent, but the reaction speed of the detection assembly moving with the drone body 5 can be increased to a certain extent, so as to improve the efficiency of the staff to control the drone to detect the power transmission line.

[0052] The support and locking assembly 3 includes a wide support frame 301 connected to both sides of the square closed loop traction rope vertically and a locking head 3021 connected to the wide support frame 301 and arranged corresponding to the traction rope. The wide support frame 301 can maintain the square closed loop of the traction rope, thereby maintaining the function of stabilizing the relative position of the drone body 5 and the adaptive mobile assembly 2 and the detection assembly, and at the same time preventing the square closed loop traction rope from rotating and winding. The self-locking head includes a locking head 3021 threadedly connected to the end of the wide support frame 301 and the traction rope connection, the locking head 3021 is sleeved on the traction rope, and the end of the locking head 3021 away from the wide support frame 301 is provided with a cross groove so that the locking head 3021 can slide on the traction rope, and can adapt to traction ropes of different thicknesses within a certain range. The locking head 3021 has one end with a cross groove and is threadedly connected with a locking nut 3022. The locking nut 3022 can reduce the gap of the locking head 3021 with one end with a cross groove, so that the locking head 3021 is fixed at the corresponding position of the traction rope, that is, the wide support frame 301 is positioned at the appropriate position of the square closed loop traction rope, so as to maintain the relative position of the traction rope to maintain the drone body 5 and the detection component and the lower mutual influence between the two. When the wide support frame 301 is locked to the lower side of the traction rope, the upper side of the traction rope will be longer, that is, the area affected by the environment will increase, and then the possibility of self-rotation and winding of the upper side of the traction rope will be increased, and the moving range of the adaptive mobile component 2 will be reduced, that is, the ability of the adaptive mobile component 2 to adapt to the swing of the buffer detection component will be reduced. When the wide support frame 301 is locked to the upper side of the traction rope, the possibility of self-rotation and winding of the upper side of the traction rope will be provided, and the moving range of the adaptive mobile component 2 will be increased, that is, the ability of the adaptive mobile component 2 to adapt to the swing of the buffer detection component will be increased.

[0053] The detection assembly includes an imaging board 103, a connecting frame 102 disposed on the imaging board 103, and a storage box 101 disposed at the center of the connecting frame 102. The upper side of the storage box 101 is made of a light-transmitting material, and an X-ray detector 104 is disposed in the storage box 101. The drone body 5 lifts the imaging board 103 and the X-ray detector 104 to a suitable position, that is, the power transmission line is between the imaging board 103 and the X-ray detector 104, and then the X-ray detector 104 can cooperate with the imaging board 103 to detect damage to the power transmission line.

[0054] The adaptive moving component 2 includes a connecting block 201 fixedly arranged on the imaging board 103, and a rolling member 202 is fixedly connected to the upper side of the connecting block 201. The rolling member 202 is two matching rollers 2021 distributed along the width direction of the square traction rope. A gap is provided between the two matching rollers 2021, and the two matching rollers 2021 are both slidably connected to the traction rope, so that the connecting block 201 can drive the imaging board 103 to slide on the traction rope, thereby complying with the swing force of the buffering imaging board 103, the connecting frame 102, the storage box 101 and the X-ray detector 104 caused by environmental factors, and finally, under the weight of the imaging board 103, the connecting frame 102, the storage box 101, the X-ray detector 104, the connecting block 201 and the matching rollers 2021, the swing is adaptively stopped and connected to the traction rope in a stable state, and then the X-ray detector 104 can cooperate with the imaging board 103 to perform high-quality power transmission line damage detection.

[0055] The mating roller 2021 is a guide wheel with a U-shaped cross-section, which can maintain the connection stability between the flexible member 4 which is a traction rope with a strand at the lower end and the mating roller 2021, that is, reduce the probability of the traction rope falling from the mating roller 2021, and thus reduce the probability of the adaptive moving component 2 losing its buffering function due to the increased friction between the adaptive moving component 2 and the traction rope.

[0056] A UAV ray detection method, using a dynamic load swing adaptive device based on a multi-rotor UAV platform, includes the following steps:

[0057] S1, equipment inspection, working environment inspection and on-site confirmation, at the same time, the heavy object 1, i.e. the detection component, is loaded onto the flexible member 4 connected to the drone body 5. The equipment inspection includes checking whether the battery, power, and motor of the drone body 5 are operating normally, and whether the installation of the detection component is firm and reliable. In addition, the detection component and the drone body 5 are debugged, i.e., the X-ray detector 104 included in the detection component is debugged to make the image detected by the X-ray detector 104 clear.

[0058] S2. Plan the electric field path formed by the detection component entering the transmission line, such as Figure 10-18As shown in the figure, depending on the specific working environment, that is, for different transmission line tower structures, the drone body carrying the X-ray detection equipment takes different paths into the electric field. Fig.19 and Fig. 20 As shown, for example, in a transmission tower where the transmission line conductors are arranged in a vertical distribution structure of top, middle and bottom, the planned route is an entry path for detection from top to bottom, while maintaining a safe distance, thereby reducing the probability that the charges carried by the detection components and the drone body 5 themselves will be induced by the charges on the transmission line, thereby generating a strong induced electric field and causing damage to the equipment.

[0059] S3, control the drone body 5 to hoist the detection component and detect the power transmission line according to the path planned in S2;

[0060] S4. Save the detection information to facilitate the staff to make subsequent judgments on the status of the transmission line, then dismantle the equipment and clean up the detection site, and finally evacuate according to instructions, that is, ensure the work safety of the staff on the basis of reducing the degree of impact on the environment.

[0061] <Example 2>

[0062] like Figure 5-6 As shown, the basic structure of this embodiment is the same as that of embodiment 1, and the difference from embodiment 1 is that the flexible member 4 is a traction rope with three strands at the lower end, and the rolling member 202 provided on the connecting block 201 is three sets of matching rollers 2021 arranged in parallel and distributed along the direction perpendicular to the traction rope, and the three sets of matching rollers 2021 are respectively connected to the three strands arranged at the lower side of the traction rope in pairs. The three-strand setting can stabilize the relative position of the drone body 5 and the imaging board 103, that is, it can assist the staff to control the drone body 5 to drive the detection component to move to detect the transmission line.

[0063] The three-strand setting at the lower end of the traction rope can also cooperate with the three groups of matching rollers 221 to increase the resistance during the buffering process, thereby reducing the sliding buffering time of the three groups of matching rollers 221 due to swinging, that is, it can reduce the swinging effect of environmental factors on the detection component. This makes it easier for the staff to control the movement of the drone body 5 to drive the detection component to perform efficient damage detection on the power transmission line under the condition of relatively stable and efficient self-adaptation to the swing due to environmental factors.

[0064] <Example 3>

[0065] like Figure 7-8As shown, this embodiment has the same basic structure as the embodiment 1, and the difference from the embodiment 1 is that the flexible member 4 is a traction rope with two strands at the lower end, and the rolling member 202 provided on the connecting block 201 includes two guide wheels 2022 arranged at the center of the connecting block 201 and distributed along the width direction of the square traction rope, and also includes matching rollers 2021 arranged on both sides of the connecting block 201 and arranged parallel to the two guide wheels 2022, and the two strands at the lower end of the traction rope are respectively passed around the corresponding two sets of matching rollers 2021 and the corresponding two guide wheels 2022 in an overlapping V-shaped arrangement. Fig. 9 As shown, the two overlapping V-shaped strands at the lower end of the traction rope can improve the connection stability with the connecting block 201, and at the same time can keep the imaging plate 103 connected to the connecting block 201 in a horizontal state relative to the drone. Then, the connecting frame 102, the imaging plate 103 and the storage box 101 can be used to keep the X-ray detector 104 and the drone in a relatively stable state, and then the staff can use the drone body 5 to control the movement of the X-ray detector 104 and the imaging plate 103 to perform damage detection on the power transmission line.

[0066] The overlapping V-shaped setting can also increase the resistance of the matching roller 2021 when rolling for buffering, thereby reducing the rolling buffering time of the matching roller 2021 to a certain extent, which can reduce the swinging time of the X-ray detector 104 affected by the environment, and then it can facilitate the staff to efficiently complete the damage detection of the transmission line to a certain extent.

[0067] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art may make various modifications or variations within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. A dynamic load swing adaptive device based on a multi-rotor UAV platform, characterized in that: The invention comprises: a flexible member (4) connected to the drone body (5) to form a closed loop, and a locking component (3) arranged on the flexible member (4) to stabilize the closed loop state of the flexible member (4); the flexible member (4) is provided with an adaptive moving component (2) at the lower side of the locking component (3); The adaptive moving component (2) comprises a connecting block (201) for connecting a heavy object (1) to tension a flexible member (4), a rolling member (202) for sliding on the adaptive moving component (2) being provided on the connecting block (201), the rolling member (202) being used to cooperate with the connecting block (201) to connect the weight of the heavy object (1), so that when the heavy object (1) swings, it slides on the flexible member (4) for buffering and is affected by gravity, and is relatively positioned on the flexible member (4) in an adaptive manner, thereby allowing the drone body (5) to stably load the heavy object (1).

2. A dynamic load swing adaptive device based on a multi-rotor UAV platform as claimed in claim 1, characterized in that: The flexible member (4) is a traction rope with one strand on the side facing away from the drone body (5), and the rolling member (202) is two matching rollers (2021) arranged at intervals on the upper side of the connecting block (201) and slidably connected to the traction rope.

3. A dynamic load swing adaptive device based on a multi-rotor UAV platform as claimed in claim 1, characterized in that: The flexible member (4) is a three-strand traction rope on the side facing away from the drone body (5), and the rolling member (202) is three groups of matching rollers (2021) respectively connected in a sliding manner to the three strands of the traction rope. The three groups of matching rollers (2021) are arranged in parallel, and each group of matching rollers (2021) has two and are arranged at intervals on the connection block (201).

4. The dynamic load swing adaptive device based on a multi-rotor UAV platform as claimed in claim 1, characterized in that: The flexible member (4) is a traction rope with two strands on the side facing away from the drone body (5); the rolling member (202) comprises two guide wheels (2022) arranged at intervals in the center of the connecting block (201) and two groups of matching rollers (2021) distributed on both sides of the guide wheels (2022); each group of matching rollers (2021) is two matching rollers (2021) arranged at intervals on the connecting block (201); the two guide wheels (2022) cooperate with the two groups of matching rollers (2021) to provide a V-shaped arrangement in which the two strands of the traction rope overlap.

5. The dynamic load swing adaptive device based on a multi-rotor UAV platform as claimed in claim 1, characterized in that: The drone body (5) is provided with two drone racks (501) arranged in parallel, and the drone racks (501) cooperate with two ends of the flexible member (4) to form a closed loop with the flexible member (4).

6. A dynamic load swing adaptive device based on a multi-rotor UAV platform as claimed in claim 5, characterized in that: The drone body (5) is provided with a winding assembly (502), one of the two drone frames (501) cooperates with one end of the flexible member (4), and the other end of the flexible member (4) passes through a guide roller (503) provided on the other drone frame (501) and is provided on the winding assembly (502) to form a closed loop.

7. The dynamic load swing adaptive device based on a multi-rotor UAV platform as claimed in claim 1, characterized in that: The locking assembly (3) comprises a wide support frame (301) arranged in an X shape, and flexible members (4) are slidably connected to both sides of the wide support frame (301) away from the center.

8. A dynamic load swing adaptive device based on a multi-rotor UAV platform as claimed in claim 7, characterized in that: The ends of both sides of the wide support frame (301) along the extension direction of the flexible member (4) are provided with locking assemblies (302), the locking assemblies (302) comprising a locking head (3021) provided at the end of the wide support frame (301), a cross groove being provided at one end of the locking head (3021) away from the wide support frame (301), and a locking nut (3022) being provided at the cross groove of the locking head (3021).

9. The dynamic load swing adaptive device based on a multi-rotor UAV platform as claimed in claim 1, characterized in that: The heavy object (1) is a detection component, which comprises an imaging plate (103) connected to a connection block (201); a connection frame (102) is provided on a side of the imaging plate (103) away from the connection block (201); a storage box (101) is provided at the center of the connection frame (102) away from the imaging plate (103); and an X-ray detector (104) is provided in the storage box (101).

10. A method for detecting radiation of a drone, characterized in that: Using a dynamic load swing adaptive device based on a multi-rotor UAV platform as described in claims 1-9 comprises the following steps: S1, equipment inspection, working environment inspection and on-site confirmation, at the same time, the heavy object (1), i.e. the inspection component, is loaded onto the flexible member (4) connected to the drone body (5), and the inspection component and the drone body (5) are debugged; S2, planning the electric field path formed by the detection component entering the power transmission line, so that the charges in the electric field are not affected by the detection component or the drone body (5) to generate a strong induced electric field, thereby causing damage to the equipment; S3, controlling the drone body (5) to hoist the detection component and detect the power transmission line according to the path planned in S2; S4. Save the test information, then dismantle the equipment and clean up the test site, and finally evacuate as instructed.

Images