A single and double split conductor X-ray detection device and detection method carried on an unmanned aerial vehicle

Abstract

The present invention discloses a single-double split conductor X-ray detection device and detection method carried on an unmanned aerial vehicle, which relates to the field of power transmission line detection technology, and includes a load-bearing plate, an adjustable hoisting assembly is installed on the outer surface of the load-bearing plate, a detector is installed on the bottom surface of the load-bearing plate, and two connection frames are installed on the bottom surface of the load-bearing plate. The present invention adopts the method of carrying an X-ray digital imaging system on an unmanned aerial vehicle for detection, and can detect the single-double split conductors and their hardware of the transmission tower of the power transmission line in a live state. This live detection capability avoids the situation where power outages are required due to detection operations, thereby greatly improving the power supply reliability of the power system, replacing the detection method of manual inspection, and can improve the detection efficiency, save manpower and time. In actual applications, the number and duration of power outages are reduced, ensuring that electricity can be continuously and stably supplied to users, and meeting the uninterrupted demand for electricity in social and economic activities and people's lives.

Description

Technical Field

[0001] The present invention relates to the technical field of power transmission line detection, and in particular to a single-double split conductor X-ray detection device and a detection method carried by an unmanned aerial vehicle. Background Art

[0002] Split conductor refers to a conductor installation method adopted by ultra-high voltage transmission lines to suppress corona discharge and reduce line reactance, that is, several small-diameter sub-conductors are arranged at a certain distance and arranged in a symmetrical polygon, fixed together to replace the original single conductor. In modern power systems, transmission lines are key infrastructure for power transmission, and their safe and stable operation is crucial. However, transmission lines are exposed to the natural environment for a long time and are affected by various complex factors, such as bad weather (such as strong winds, heavy rains, lightning, ice and snow, etc.), environmental pollution (such as dust, chemical corrosion, etc.) and their own long-term mechanical stress, which makes the conductors and hardware of transmission lines prone to various damages and defects. If these damages and defects are not discovered and handled in time, they may cause a series of serious problems, such as short circuits, disconnections, local overheating and other faults of transmission lines, which will affect the normal power supply of the power system and may even cause large-scale power outages, causing huge losses to the social economy and people's lives.

[0003] Traditional power transmission line inspection has many limitations. The manual inspection method is inefficient and requires a lot of manpower and time. In addition, some existing inspection methods may require power outages, which not only affects the power supply, but also brings inconvenience to the operation and dispatch of the power system, increasing the power outage time and economic costs. Therefore, it is necessary to propose a single and double split conductor X-ray inspection device mounted on a drone to solve the problems in the existing technology. Summary of the invention

[0004] The purpose of the present invention is to make up for the shortcomings of the prior art and provide a single-double split conductor X-ray detection device and detection method carried on a drone. The device can adopt the method of carrying an X-ray digital imaging system on the drone to detect single-double split conductors and their hardware in a live state, replacing manual inspections without power outages, greatly improving the power supply reliability of the power system, and ensuring the accuracy and reliability of the detection results through detailed detection procedures and strict equipment and tool inspection standards.

[0005] In order to solve the above-mentioned technical problems, the present invention provides the following technical solutions: a single-double split-conductor X-ray detection device carried on an unmanned aerial vehicle, comprising a load-bearing plate, an outer surface of the load-bearing plate is installed with an adjustable lifting assembly, a bottom surface of the load-bearing plate is installed with a detector, and two connecting frames are installed on the bottom surface of the load-bearing plate, a U-shaped mounting frame is arranged below the load-bearing plate, and the U-shaped mounting frame is connected to the bottom end of the connecting frame, a protective box is arranged inside the U-shaped mounting frame, and the protective box is connected to the inner wall of the U-shaped mounting frame through two mounting assemblies, an operating door is arranged on the front of the protective box, and the operating door is connected to the U-shaped mounting frame through screws, a ray machine is installed inside the protective box, a ray emission outlet is provided on the upper surface of the protective box, and a group of heat dissipation holes are provided on the left and right sides of the protective box.

[0006] Further, the adjustable hoisting assembly includes two slide rails, the two slide rails are arranged parallel to each other and connected on the end surface of the bearing plate, the slide rail has a slide groove with an inverted T-shaped cross section, a T-shaped slider is slidably connected in the slide groove, a connecting plate is arranged between the two T-shaped sliders, and a drone connecting piece is installed on the upper surface of the connecting plate;

[0007] The vertical portion of the T-shaped sliding block is provided with a vertical threaded through hole, in which a limiting bolt is screwed, and the end of the limiting bolt extends out of the threaded through hole and can press against the bottom of the sliding groove.

[0008] Furthermore, the mounting assembly includes a mounting plate fixedly connected to the outer surface of the protective box, a group of mounting holes are opened on the outer surface of the mounting plate, and the mounting plate is connected to the U-shaped mounting frame through mounting bolts.

[0009] Furthermore, the detection method using the above device comprises the following steps:

[0010] S1. Before the operation begins, conduct a survey of the test site, including the line name, tower number, ambient temperature and humidity, and weather conditions, and form a site survey information collection table;

[0011] S2. Check the status of the drone equipment and X-ray digital imaging system, verify the qualified labels of the main testing tools and materials, use a megohmmeter to test the insulation rope in sections before use, ensure that the insulation resistance value between the electrodes every 2cm is not less than 700MΩ, and check the electrical conductivity of the X-ray tooling bracket and shielding device;

[0012] S3. Use the key to turn on the X-ray machine, set the pulse value on the XRS-3 menu screen according to different types of tension clamps, debug and check the X-ray digital imaging system, and operate the X-ray machine in the X-ray digital imaging system to prepare for ray emission;

[0013] S4. Assemble the frames on both sides to prevent the slider from falling off, tighten the screws at the marked positions, and install and fix the equipment in the X-ray digital imaging system at the same time;

[0014] S5. Right-click the WLAN icon and double-click Internet Protocol 4 to modify the settings, open the software, and click the Connect button after completing the preliminary settings. Wait for the prompt in the lower left corner to allow acquisition and establish a connection with the X-ray digital imaging system software;

[0015] S6. Check whether the drone battery, power, and motor are running normally, install the X-ray machine and flat panel firmly and reliably, achieve a firm connection between the drone and the X-ray detection device and the insulating rope, and keep the center of gravity stable;

[0016] S7. The co-pilot controls the small drone to fly to the area to be inspected, provides the main pilot with a view of the inspection area and starts the video recording function. The drone is equipped with the inspection device and flies to the inspection location. The co-pilot and the main pilot keep calling and confirming each key link during the whole operation. During the inspection process, the flight posture of the drone is controlled so that the X-ray digital imaging system can accurately inspect the single and double split conductors and their hardware.

[0017] S8. When testing the tension clamp, after the X-ray machine reaches the designated position, the aircraft hovers, paying attention to the wind speed and direction at all times, and at the same time operating the detector of the X-ray digital imaging system to receive the signal after the rays penetrate the single and double split conductors and their hardware;

[0018] S9. After the equipment is mounted at the predetermined position, the ground personnel remotely collect images, and the image format is saved in RAW format. The collected images are processed and stored by the image processing system of the X-ray digital imaging system;

[0019] S10, the pilot controls the drone carrying the X-ray digital imaging device down the tower and lands safely;

[0020] S11. On-site personnel shall dismantle the testing equipment and accessories, collect the equipment boxes, clean up the testing site, notify Party A's dispatch personnel, evacuate safely after receiving the order to leave, and dismantle and properly store the X-ray digital imaging system equipment.

[0021] Furthermore, the X-ray digital imaging system in the detection method using the above device includes: a X-ray machine, a detector and an image processing system;

[0022] The detector includes a DR-direct conversion detector and a CR-indirect conversion detector. The pixel value of the original image obtained by the DR-direct conversion detector at the coordinate (x, y) is defined as I DR (x, y), the pixel value of the original image obtained by the CR-indirect conversion detector at the coordinate (x, y) is I CR(x, y), by calculating the structural similarity metric function SSIM D R(x,y) and SSIM DR (x, y), and then calculate the fusion weight coefficient and Perform fusion operation to obtain I fusion (x, y) = w DR (x,y)I DR (x,y)+w CR (x,y)I CR (x, y);

[0023] The image processing system is fusion (x, y) is adaptively filtered, and the adaptive filter H(x, y, σ) is defined. The standard deviation σ of the filter kernel is the same as the standard deviation σ of the local area. local (x, y) is related by σ = kσ local (x, y) is determined, where k is the adaptive adjustment coefficient, and the filtering process is performed by convolution operation I filtered (x, y) = I fusion (x, y)*H(x, y, σ) is implemented.

[0024] Furthermore, the DR-direct conversion detector uses a detection material with a unique crystal structure and chemical composition, and its absorption and conversion characteristics for X-ray photons are specially designed. The IP plate and DR plate in the indirect conversion detector have fluorescent substances with specific spectral characteristics, which can efficiently convert X-ray energy into visible light after absorbing it. Its coating method adopts a multi-layer structure design, and the thickness and composition of each layer are precisely controlled to achieve gradual absorption and conversion of X-ray energy.

[0025] Furthermore, for the adaptive filter H(x, y, σ), the shape and size of the filter kernel are not only related to the standard deviation of the local area, but also to the texture features and edge information of the image. By pre-analyzing the image, the texture direction and edge strength information of the image are extracted, and the shape and size of the filter kernel are further adjusted.

[0026] Furthermore, the signal transmission and interface between the detector and the image processing system use a high-speed, stable and anti-interference transmission protocol and interface standard, and a differential signal transmission method is adopted during the signal transmission process to resist external electromagnetic interference. At the same time, a signal buffering and enhancement circuit is arranged at the interface to amplify and stabilize the transmitted weak signal.

[0027] Furthermore, the image processing system is used to filteredWhen (x, y) is processed later, a feature extraction module based on deep learning is also included. This module is based on the convolutional neural network (CNN) architecture and performs multi-level feature extraction on the image. For the convolution layer, the feature map update formula is where w l (i, j) is the weight coefficient of the convolution kernel at position (i, j), k is the size of the convolution kernel, and b l is the bias term. For the pooling layer, the feature map update formula is F l (x, y) = max i∈S {F l-1 (x+i, y+j)}, where s is the pooling area. Through this multi-level feature extraction, the potential information in the image can be further mined, providing a richer feature basis for subsequent image analysis and diagnosis.

[0028] Furthermore, after the deep learning-based feature extraction module, a feature selection and optimization module is also provided, which screens and optimizes the extracted features according to specific criteria, removes redundant and unimportant features, and retains the most valuable features for the detection task.

[0029] Compared with the prior art, the single and double split wire X-ray detection device carried on the drone has the following beneficial effects:

[0030] The present invention uses an unmanned aerial vehicle equipped with an X-ray digital imaging system for detection, and can detect the single and double split conductors and their hardware of the transmission tower of the transmission line under power conditions. This live detection capability avoids the need for power outages due to detection operations, thereby greatly improving the power supply reliability of the power system, replacing the detection method of manual inspections, and can improve detection efficiency, save manpower and time. In actual applications, it reduces the number and duration of power outages, ensures that electricity can be continuously and stably supplied to users, and meets the uninterrupted demand for electricity in social and economic activities and people's lives.

[0031] Other advantages, objectives and features of the present invention will be set forth in part in the following description and, in part, will be apparent to those skilled in the art based on an examination of the following or may be taught from the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0033] Figure 1 A schematic diagram of the three-dimensional structure of a single-double split conductor X-ray detection device mounted on a UAV;

[0034] Figure 2 It is a three-dimensional structural schematic diagram of an adjustable hoisting assembly in a single-double split-conductor X-ray detection device carried on a UAV;

[0035] Figure 3 It is a schematic diagram of the three-dimensional structure of the protection box in the single and double split wire X-ray detection device carried on the UAV;

[0036] Figure 4 This is a schematic diagram of the X-ray digital imaging principle in the single and double split conductor X-ray detection device carried on a drone;

[0037] Figure 5 The schematic diagram of the X-ray inspection operation of the drone with the conductors distributed in the left, middle and right structure;

[0038] Figure 6 Schematic diagram of the upper phase conductor detection operation for the UAV charged X-ray;

[0039] Figure 7 Schematic diagram of the mid-phase conductor detection operation using charged X-rays from a drone;

[0040] Figure 8 Schematic diagram of the lower phase conductor detection operation using charged X-rays from a drone;

[0041] In the figure: 1. load-bearing plate; 2. adjustable lifting assembly; 201. T-shaped slide rail; 202. universal wheel; 203. T-shaped slider; 204. connecting plate; 205. limit bolt; 206. lifting ring; 3. connecting frame; 4. U-shaped mounting frame; 5. protective box; 6. mounting assembly; 601. mounting plate; 602. mounting hole; 603. mounting bolt; 7. operating door; 8. radiation emission port; 9. heat dissipation hole. DETAILED DESCRIPTION

[0042] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] Embodiment 1

[0044] like Figure 1 , Figure 2 and Figure 3As shown, the single-double split wire X-ray detection device carried on the unmanned aerial vehicle includes a bearing plate 1, an outer surface of the bearing plate 1 is installed with an adjustable lifting assembly 2, the adjustable lifting assembly 2 includes two T-shaped slide rails 201, the two T-shaped slide rails 201 are connected to the bearing plate 1 by screws, the upper surfaces of the two T-shaped slide rails 201 are installed with universal wheels 202, the inner walls of the two T-shaped slide rails 201 are slidably connected with T-shaped sliders 203, a connecting plate 204 is arranged between the two T-shaped sliders 203, and the two ends of the connecting plate 204 are connected to the inner walls of the T-shaped slide rails 201 by limiting bolts 205, a lifting ring 206 is installed on the upper surface of the connecting plate 204, a detector is installed on the bottom surface of the bearing plate 1, and two connecting frames are installed on the bottom surface of the bearing plate 1. 3. A U-shaped mounting frame 4 is arranged below the supporting plate 1, and the U-shaped mounting frame 4 is connected to the bottom end of the connecting frame 3. A protective box 5 is arranged inside the U-shaped mounting frame 4, and the protective box 5 is connected to the inner wall of the U-shaped mounting frame 4 through two mounting components 6. The mounting component 6 includes a mounting plate 601 fixedly connected to the outer surface of the protective box 5, and a group of mounting holes 602 are opened on the outer surface of the mounting plate 601. The mounting plate 601 is connected to the U-shaped mounting frame 4 through mounting bolts 603. An operating door 7 is arranged on the front of the protective box 5, and the operating door 7 is connected to the U-shaped mounting frame 4 through screws. A X-ray machine is installed inside the protective box 5, and a X-ray emission outlet 8 is opened on the upper surface of the protective box 5. A group of heat dissipation holes 9 are opened on the left and right sides of the protective box 5.

[0045] In this embodiment, a DR-direct conversion detector and a CR-indirect conversion detector are installed on the bottom surface of the carrier plate 1, and a mounting hole is opened on the outer surface of the carrier plate 1 to facilitate the assembly of the T-shaped slide rail 201. A threaded hole compatible with the limiting bolt 205 is opened inside the T-shaped slider 203, so that the limiting bolt 205 can be threadedly connected with the inner wall of the threaded hole. Rotating the limiting bolt 205 can make the bottom end of the limiting bolt 205 extend out, so that the bottom end of the limiting bolt 205 can contact the inner wall of the T-shaped slide rail 201, so that the T-shaped The slider 203 provides an upward force to limit the T-shaped slider 203. Loosening the limiting bolt 205 can release the limit on the T-shaped slider 203, so that the T-shaped slider 203 can slide on the inner wall of the T-shaped slide rail 201, thereby facilitating the adjustment of the position of the connecting plate 204 and the position of the lifting ring 206. A group of threaded holes are provided on the outer surface of the U-shaped mounting frame 4. When the connecting frame 3 and the U-shaped mounting frame 4 are connected, the connecting frame 3 and the U-shaped mounting frame 4 are assembled by directly connecting them to the inner walls of the threaded holes through angle irons and bolts.

[0046] The working steps of this embodiment are as follows:

[0047] like Figure 1 , Figure 2 and Figure 3As shown, first open the operating door 7, install the X-ray machine into the interior of the protective box 5, and then reinstall the operating door 7. The X-ray machine's rays can be emitted through the ray emission port 8, which is convenient for detecting the wires. Use the mounting bolt 603 to pass through the interior of the mounting hole 602 so that the mounting bolt 603 is connected to the inner wall of the U-shaped mounting frame 4, which can facilitate the installation of the protective box 5. Then assemble the U-shaped mounting frame 4 at the bottom end of the connecting frame 3, and then connect the insulating rope to the lifting ring 206. Lift the insulating rope to observe whether the device is in a stable state. If the device is unstable when suspended, loosen the limit bolt 205 to release the limit on the T-shaped slider 203, so that the T-shaped slider 203 can slide on the inner wall of the T-shaped slide rail 201, so that the position of the connecting plate 204 can be adjusted conveniently, and then the position of the lifting ring 206 can be adjusted, so that the center of gravity of the device connected to the insulating rope can be adjusted conveniently, so that the device is in a stable state when suspended.

[0048] Embodiment 2

[0049] like Figure 5 As shown, the above device is used to perform inspection operations on transmission towers with transmission line conductors in a horizontally distributed structure of left, middle and right.

[0050] Before the operation begins, the inspection team conducts a detailed survey of the inspection site, including the line name, tower number, ambient temperature and humidity, and weather conditions, and forms a site survey information collection form. After judging that the conditions for the inspection operation are met, the weather conditions are good, with no thunder, rain, snow, or fog, and the wind speed is less than 10m / s, which meets the operation requirements, a site survey information collection form is formed during the survey process to record the above information and other relevant site conditions in detail.

[0051] Combined with the on-site survey records, a construction plan for the drone radiation detection operation was compiled. The plan clearly defined the various links of the detection operation, personnel division of labor, safety measures, and equipment usage methods. After going through a strict approval process by relevant departments, it was approved and ready for the detection operation.

[0052] The inspectors conducted a comprehensive inspection of the UAV equipment and X-ray digital imaging system to ensure that the UAV's flight system, control system and communication system are operating normally without any fault prompts. They also conducted functional inspections on the X-ray digital imaging system's radiation machine, detectors (including direct conversion detectors and indirect conversion detectors) and image processing system, and all parts were functioning normally.

[0053] The qualified labels of the main testing tools and materials were carefully checked, and on-site inspections and confirmations were completed. The insulating rope was protected in a drying oven during storage and transportation. Before use, the insulating rope was tested in sections using a megohmmeter (2500V-5000V). The insulation resistance value between the electrodes measured every 2cm was not less than 700MΩ, which met the requirements for commissioning.

[0054] Check the electrical conductivity of the X-ray tooling bracket and the shielding device. After measuring with a multimeter, the resistance value between the farthest points of the X-ray tooling bracket and the shielding device is no more than 20Ω, and all parts are connected intact.

[0055] The switch of the X-ray machine is opened by a key. The operator should be careful when operating to prevent the key from being lost or the X-ray machine from being bumped. Parameters should be set on the XRS-3 menu screen according to the model of the tension clamp. For tension clamps below NY630 model, 20 pulses should be used, and for those above NY630 model, 30 pulses should be used. At the same time, parameters such as Pulses (pulse adjustment), LifePC (total pulse of the X-ray machine), and Delay (delay start-up adjustment of the X-ray machine) should be debugged and checked to ensure correct settings.

[0056] The operator tightens the equipment tooling screws firmly, assembles the frames on both sides first to prevent the slider from falling off, tightens the screws at the marked positions to ensure the stability and reliability of the equipment assembly. During the assembly process, the X-ray digital imaging system related equipment is properly installed and fixed to ensure that it will not be displaced or loosened during the detection process.

[0057] Right-click the WLAN icon and double-click Internet Protocol 4 to modify the settings, click OK, open the software required for detection, click the connect button after completing the preliminary settings, wait for 20 seconds and then the prompt in the lower left corner allows acquisition, and successfully establish a connection with the software related to the X-ray digital imaging system.

[0058] Check that the drone's battery is sufficiently charged, the motor is operating normally, and there is no abnormal noise or vibration. Install the X-ray machine and flat panel firmly and reliably on the drone, achieve a firm connection between the drone and the X-ray digital imaging equipment and the insulating rope, and keep the center of gravity stable. After the connection is completed, check the overall connection structure to ensure that it will not loosen or fall off during the flight.

[0059] After the drone is turned on, the co-pilot controls the small drone to fly to the area to be inspected to provide the main pilot with a view of the inspection area and turn on the video recording function. The small drone flies stably, the video transmission is clear, and the conditions of the transmission towers and wires can be clearly seen. The drone mounts the inspection equipment and flies to the inspection site. During the flight, the operator pays attention to keep the insulating rope clean, free of moisture, and from direct contact with the ground. The co-pilot controls the small drone throughout the entire process to provide the main pilot with a view of the inspection area and guides the X-ray detection imaging device to be mounted accurately. During the mounting process, the distance between the drone and the ground wire is strictly kept at no less than 1 meter. During the entire operation, the co-pilot and the main pilot keep calling and confirming each key link, and the main pilot performs the operation after confirming the instructions.

[0060] When testing the tension clamp, after the X-ray machine reaches the designated position, the aircraft hovers and the operator always pays attention to the wind speed and direction.

[0061] The X-ray machine emits X-rays, which penetrate the tension clamps and the surrounding single and double split conductors and their hardware. The direct conversion detector and the indirect conversion detector simultaneously receive the signals after the rays penetrate. For the direct conversion detector, when the X-ray photons irradiate the detection material, the photon energy is absorbed by the detection material, and an electrical signal proportional to the X-ray intensity is directly generated. For the indirect conversion detector, the fluorescent material in the IP board or DR board first absorbs the X-ray energy, converts it into visible light, and then converts the visible light signal into a digital signal through the CR scanner.

[0062] The image processing system receives the electrical signal or digital signal from the detector and performs a series of processing on it. First, the signal is pre-processed by amplification, filtering, correction and other operations to improve signal quality and remove noise interference. Then, the processed signal is reconstructed through a specific algorithm and converted into an image that can be observed and analyzed. In the image reconstruction process, various factors such as the geometric parameters of the X-ray machine, the characteristics of the detector and the physical properties of the test piece are taken into consideration to ensure that the reconstructed image can accurately reflect the internal structure and defects of the test piece. In addition, the image processing system also has functions such as image enhancement, contrast adjustment, and edge detection to better identify and analyze key parts and possible defects in the test piece.

[0063] After the equipment is mounted to the predetermined position, the ground personnel remotely collect images. The collected images are clear and stable, and there are no other component images or artifacts that interfere with defect identification or correct image recognition. The images obtained from the same crimping hardware inspection can reflect the structural information of all inspected parts of the crimping hardware. The image blackness and contrast are appropriate, the image of the inspected part is clear, and the image format is saved in RAW format as required. The collected data is processed and stored by the image processing system of the X-ray digital imaging system for subsequent analysis.

[0064] The pilot controlled the drone carrying the X-ray digital imaging device to descend from the tower. The drone descended smoothly and landed safely. The on-site personnel disassembled the detection equipment and accessories, and put the drone, X-ray digital imaging equipment, insulating rope, etc. back into their respective equipment boxes. They thoroughly cleaned the detection site, removed the debris and garbage on the site, and brought the detection site to the best condition. They notified Party A's dispatch and related personnel, and safely evacuated the detection site after receiving the order to leave.

[0065] Through the above-mentioned complete detection process, the single and double split conductors and their hardware of the transmission tower with a horizontal distribution structure of the transmission line conductors on the left, middle and right can be comprehensively and accurately detected in the live state without power outage, which greatly improves the power supply reliability of the power system and reduces the inconvenience caused to users by power outage detection. The strict equipment and tool inspection standards and precise detection operation procedures ensure the accuracy and reliability of the test results, and can promptly discover possible defects and problems in the conductors and hardware, providing a strong basis for the maintenance and maintenance of power equipment.

[0066] Embodiment 3

[0067] like Figure 6-8 As shown, the above device is used to perform inspection operations on transmission towers with conductors in a vertically distributed structure of top, middle and bottom.

[0068] Before the operation begins, the inspection team conducts a detailed survey of the site, including the line name, tower number, ambient temperature and humidity, and weather conditions. The ambient temperature and humidity meet the inspection operation conditions, the weather is clear without thunder, rain, snow, or fog, and the wind speed is less than 10m / s, meeting the operation requirements. The on-site survey information is recorded in detail in the information collection form.

[0069] Based on the results of the on-site investigation, a construction plan for the drone radiation detection operation was prepared. The plan covered the detection process, personnel arrangements, safety measures, equipment operation details, etc., and successfully passed the approval process.

[0070] The inspectors checked the UAV equipment and X-ray digital imaging system, confirmed that all systems of the UAV were operating normally, the X-ray machine, detectors (including direct conversion and indirect conversion detectors) and image processing system of the X-ray digital imaging system were functioning properly, checked the qualified labels of the main inspection tools and materials, and completed the on-site inspection. The insulating rope was stored and transported in a drying oven. It was tested in sections with a megohmmeter (2500V-5000V) before use. The insulation resistance value between the electrodes was measured every 2cm and was not less than 700MΩ. The electrical conductivity of the X-ray tooling bracket and the shielding device was checked. The resistance value between the farthest points measured by the multimeter was not greater than 20Ω, and all parts were well connected.

[0071] The X-ray machine switch is turned on by a key. The operator should be careful to prevent the key from being lost and the X-ray machine from being bumped. For the strain clamp model, set the parameters on the XRS-3 menu screen. Assuming that the strain clamp is a model of NY630 or above, select 30 pulses and debug and check the parameters such as Pulses, LifePC, and Delay.

[0072] Tighten the equipment tooling screws firmly, assemble the frames on both sides first to prevent the slider from falling off, tighten the screws at the marked positions, and ensure that the related equipment of the X-ray digital imaging system is well installed and fixed. Check the equipment assembly to ensure its stability and ensure that it will not loosen during the inspection process.

[0073] Right-click the WLAN icon and double-click Internet Protocol 4 to modify the settings, click OK, open the relevant software, click the connect button after completing the preliminary settings, wait for 20 seconds for the prompt in the lower left corner to allow collection, and successfully establish the software connection.

[0074] Check that the drone battery is sufficiently charged, the motor is operating normally, and there are no abnormal sounds. Install the X-ray machine and flat panel firmly on the drone, ensure a firm connection between the drone and the X-ray digital imaging equipment and insulating rope, keep the center of gravity stable, and check the connection structure to ensure flight safety.

[0075] After the drone is turned on, the co-pilot controls the small drone to fly to the area to be inspected to provide the main pilot with a view of the inspection area and turn on the video recording function. The small drone flies stably, the video transmission is clear, and the transmission tower and wire conditions can be seen. The drone mounts the inspection equipment and flies to the inspection location, keeping the insulating rope clean, dry and not touching the ground. The co-pilot controls the small drone to provide a view to guide the mounting. When mounting, ensure that the distance between the drone and the ground wire is not less than 1 meter. During the operation, the co-pilot and the main pilot keep calling and confirming.

[0076] When inspecting the wires and fittings of the upper, middle and lower phases, wait for the X-ray machine to reach the designated position, the aircraft hovers, pay attention to the wind speed and direction, and the X-ray machine emits X-rays, which penetrate the wires and fittings of the upper, middle and lower phases and the surrounding related components.

[0077] Direct conversion detectors and indirect conversion detectors simultaneously receive signals after radiation penetration. Direct conversion detectors convert X-ray photon energy directly into electrical signals. The principle is that photons interact with atoms in the detection material to generate electron transitions, forming electrical signals that are proportional to the X-ray intensity. In indirect conversion detectors, the fluorescent material of the IP board or DR board absorbs X-ray energy and converts it into visible light, and then the CR scanner converts the visible light signal into a digital signal.

[0078] The image processing system receives the electrical signal or digital signal from the detector, and first performs pre-processing operations such as amplification, filtering, and correction on the signal to improve signal quality and remove noise interference. For example, by setting appropriate amplification factors and filtering parameters, high-frequency noise and low-frequency drift in the signal are removed. Then, based on factors such as the geometric parameters of the X-ray machine, the characteristics of the detector, and the physical properties of the test piece, a specific algorithm is used to reconstruct the processed signal and convert it into an image that can be observed and analyzed. During the image reconstruction process, factors such as the distance and angle between the X-ray machine and the test piece and the resolution of the detector are taken into account to ensure that the reconstructed image can accurately reflect the internal structure and defects of the test piece. In addition, the image processing system also has functions such as image enhancement, contrast adjustment, and edge detection to better identify and analyze key parts and possible defects in the test piece.

[0079] After the equipment is mounted to the predetermined position, ground personnel remotely capture images. The captured images are clear and stable, without images of other components or artifacts that may interfere with defect identification or measurement. The images of the same crimping hardware can reflect the structural information of all inspected parts. The image has appropriate blackness and contrast, and is saved in RAW format. The data is processed and stored through the image processing system.

[0080] The pilot controlled the drone carrying the X-ray digital imaging device to descend from the tower and landed smoothly. The on-site personnel disassembled the testing equipment and accessories, put the equipment back into their respective equipment boxes, cleaned up the testing site to the best condition, and evacuated safely after notifying relevant personnel.

[0081] This operation method can effectively detect the single and double split conductors and their hardware of the transmission tower with a vertical distribution structure of upper, middle and lower conductors under the power state, without the need for power outage, thus ensuring the power supply reliability of the power system. Strict detection procedures and equipment inspections ensure the accuracy and reliability of the detection results, help to discover equipment defects in a timely manner, and provide a basis for maintenance. The use of drone carrying systems and insulating rope soft connections improves the safety and flexibility of graded operations, reduces the risk of operators approaching high-voltage lines, and facilitates the detection of equipment in different locations, thereby improving detection efficiency.

[0082] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the same elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A single and double split wire X-ray detection device mounted on an unmanned aerial vehicle, characterized in that: The invention comprises a bearing plate (1), an outer surface of which is mounted an adjustable hanging assembly (2), a detector is mounted on the bottom surface of the bearing plate (1), two connecting frames (3) are mounted on the bottom surface of the bearing plate (1), a U-shaped mounting frame (4) is arranged below the bearing plate (1), and the U-shaped mounting frame (4) is connected to the bottom end of the connecting frame (3), a protection box (5) is arranged inside the U-shaped mounting frame (4), the protection box (5) is connected to the inner wall of the U-shaped mounting frame (4) through two mounting assemblies (6), an operating door (7) is arranged on the front of the protection box (5), and the operating door (7) is connected to the U-shaped mounting frame (4) through screws, a radiation machine is mounted inside the protection box (5), a radiation emission outlet (8) is provided on the upper surface of the protection box (5), and a group of heat dissipation holes (9) are provided on the left and right sides of the protection box (5).

2. The single and double split conductor X-ray detection device mounted on an unmanned aerial vehicle according to claim 1, characterized in that: The adjustable hoisting assembly (2) comprises two slide rails (201), the two slide rails (201) are arranged parallel to each other and connected on the upper end surface of the bearing plate (1), the slide rail (201) has a slide groove with an inverted T-shaped cross section, a T-shaped slider (203) is slidably connected in the slide groove, a connecting plate (204) is arranged between the two T-shaped sliders (203), and a drone connecting piece (260) is installed on the upper surface of the connecting plate (204); The vertical portion of the T-shaped sliding block (203) is provided with a vertical threaded through hole, in which a limiting bolt (205) is screwed, and the end of the limiting bolt (205) extends out of the threaded through hole and can press against the bottom of the sliding groove.

3. The single and double split conductor X-ray detection device mounted on an unmanned aerial vehicle according to claim 1, characterized in that: The mounting assembly (6) comprises a mounting plate (601) fixedly connected to the outer surface of the protection box (5), a group of mounting holes (602) are provided on the outer surface of the mounting plate (601), and the mounting plate (601) is connected to the U-shaped mounting frame (4) via mounting bolts (603).

4. A single and double split conductor X-ray detection method, characterized in that: The following steps are involved: S1. Before the operation begins, conduct a survey of the test site, including the line name, tower number, ambient temperature and humidity, and weather conditions, and form a site survey information collection table; S2. Check the status of the drone equipment and X-ray digital imaging system, verify the qualified labels of the main testing tools and materials, use a megohmmeter to test the insulation rope in sections before use, ensure that the insulation resistance value between the electrodes every 2cm is not less than 700MΩ, and check the electrical conductivity of the X-ray tooling bracket and shielding device; S3. Use the key to turn on the X-ray machine, set the pulse value on the XRS-3 menu screen according to different types of tension clamps, debug and check the X-ray digital imaging system, and operate the X-ray machine in the X-ray digital imaging system to prepare for ray emission; S4. Assemble the frames on both sides to prevent the slider from falling off, tighten the screws at the marked positions, and install and fix the equipment in the X-ray digital imaging system at the same time; S5. Right-click the WLAN icon and double-click Internet Protocol 4 to modify the settings, open the software, and click the Connect button after completing the preliminary settings. Wait for the prompt in the lower left corner to allow acquisition and establish a connection with the X-ray digital imaging system software; S6. Check whether the drone battery, power, and motor are running normally, install the X-ray machine and flat panel firmly and reliably, achieve a firm connection between the drone and the X-ray detection device and the insulating rope, and keep the center of gravity stable; S7. The co-pilot controls the small drone to fly to the area to be inspected, provides the main pilot with a view of the inspection area and starts the video recording function. The drone is equipped with the inspection device and flies to the inspection location. The co-pilot and the main pilot keep calling and confirming each key link during the whole operation. During the inspection process, the flight posture of the drone is controlled so that the X-ray digital imaging system can accurately inspect the single and double split conductors and their hardware. S8. When testing the tension clamp, after the X-ray machine reaches the designated position, the aircraft hovers, paying attention to the wind speed and direction at all times, and at the same time operating the detector of the X-ray digital imaging system to receive the signal after the rays penetrate the single and double split conductors and their hardware; S9. After the equipment is mounted at the predetermined position, the ground personnel remotely collect images, and the image format is saved in RAW format. The collected images are processed and stored by the image processing system of the X-ray digital imaging system; S10, the pilot controls the drone carrying the X-ray digital imaging device down the tower and lands safely; S11. On-site personnel shall dismantle the testing equipment and accessories, collect the equipment boxes, clean up the testing site, notify Party A's dispatch personnel, evacuate safely after receiving the order to leave, and dismantle and properly store the X-ray digital imaging system equipment.

5. The single and double split conductor X-ray detection method according to claim 4, characterized in that: The X-ray digital imaging system in the detection method using the device comprises: a ray machine, a detector and an image processing system; The detector includes a DR-direct conversion detector and a CR-indirect conversion detector. The pixel value of the original image obtained by the DR-direct conversion detector at the coordinate (x, y) is defined as I DR (x, y), the pixel value of the original image obtained by the CR-indirect conversion detector at the coordinate (x, y) is I CR (x, y), by calculating the structural similarity metric function SSIM D R(x,y) and SSIM CR (x, y), and then calculate the fusion weight coefficient and Perform fusion operation to obtain I fusion (x, y) = w DR (x,y)I DR (x,y)+w CR (x,y)I CR (x, y); The image processing system is fusion (x, y) is adaptively filtered, and the adaptive filter H(x, y, σ) is defined. The standard deviation σ of the filter kernel is the same as the standard deviation σ of the local area. local (x, y) is related by σ = kσ local (x, y) is determined, where k is the adaptive adjustment coefficient, and the filtering process is performed by convolution operation I filtered (x, y) = I fusion (x, y)*H(x, y, σ) is implemented.

6. The single and double split conductor X-ray detection method according to claim 5, characterized in that: The DR-direct conversion detector uses a detection material with a unique crystal structure and chemical composition. The IP plate and DR plate in the indirect conversion detector have fluorescent substances with specific spectral characteristics, which can efficiently convert X-ray energy into visible light after absorbing it. The coating method adopts a multi-layer structure design, and the thickness and composition of each layer are precisely controlled to achieve gradual absorption and conversion of X-ray energy.

7. The single and double split conductor X-ray detection method according to claim 5, characterized in that: For the adaptive filter H(x, y, σ), the shape and size of the filter kernel are related to the local area standard deviation as well as the texture features and edge information of the image. By pre-analyzing the image, the texture direction and edge strength information of the image are extracted, and the shape and size of the filter kernel are further adjusted.

8. The single and double split conductor X-ray detection method according to claim 5, characterized in that: The signal transmission and interface between the detector and the image processing system use a high-speed, stable and anti-interference transmission protocol and interface standard. During the signal transmission process, a differential signal transmission method is adopted to resist external electromagnetic interference. At the same time, a signal buffer and enhancement circuit is set at the interface to amplify and stabilize the transmitted weak signal.

9. The single and double split conductor X-ray detection method according to claim 5, characterized in that: The image processing system is used for filtered When (x, y) is processed later, a feature extraction module based on deep learning is also included. This module is based on the convolutional neural network (CNN) architecture and performs multi-level feature extraction on the image. For the convolution layer, the feature map update formula is Where w1(i, j) is the weight coefficient of the convolution kernel at position (i, j), k is the size of the convolution kernel, and b l is the bias term. For the pooling layer, the feature map update formula is F l (x, y) = max i∈S {F l-1 (x+i, y+j)}, where S is the pooling area. Through this multi-level feature extraction, the potential information in the image can be further mined, providing a richer feature basis for subsequent image analysis and diagnosis.

10. The single and double split conductor X-ray detection method according to claim 9, characterized in that: After the deep learning-based feature extraction module, there is also a feature selection and optimization module, which screens and optimizes the extracted features according to specific criteria, removes redundant and unimportant features, and retains the most valuable features for the detection task.

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