Intelligent pan-tilt camera for power transmission line anomaly detection and use method thereof

Abstract

The embodiment of the present invention provides an intelligent pan-tilt camera for power transmission line anomaly detection and a method of using the camera, including a pan-tilt, a bracket, a processor, a camera module, a first drive mechanism, and a heating module; the pan-tilt is rotatably connected to the bracket, the first drive mechanism is arranged on the bracket, the first drive mechanism is used to drive the camera module to flip, and the heating module is connected to the pan-tilt, which relates to the field of power system monitoring and diagnosis. By arranging a heating module on the pan-tilt, it is possible to avoid the ice layer between the camera and the pan-tilt affecting the adjustment of the camera shooting angle, and there is no need to rely on the natural environment for snow melting, and there is no need for manual frequent climbing to the high-altitude transmission tower to perform operations, which reduces the complexity and danger of the operation.

Description

Technical Field

[0001] The present invention relates to the field of power system monitoring and diagnosis, and in particular to an intelligent pan-tilt camera for transmission line anomaly detection and a use method thereof. Background Art

[0002] With the continuous expansion of the power system and the increasing length of transmission lines, the safe operation of transmission lines has a vital impact on the stability and reliability of power supply. In order to ensure the normal operation of transmission lines, traditional monitoring methods mainly rely on manual inspections and fixed camera equipment. In recent years, automatic monitoring systems based on video surveillance have gradually been used. Such systems usually include fixed or rotating cameras installed on transmission towers. By taking real-time images of transmission lines and combining image processing and analysis technology, they can automatically detect and warn of abnormal conditions of transmission lines (such as disconnection, overheating, vegetation contact, etc.). For example, existing intelligent pan-tilt cameras have automatic tracking and adjustment functions, which can dynamically adapt to changes in transmission lines and improve the coverage and accuracy of monitoring. However, existing pan-tilt cameras have the following problems: In cold weather conditions, rain and snow are easily attached between the camera and the PTZ installed on the transmission tower. Especially in an environment where the temperature drops rapidly after snowfall or rain, water vapor freezes between the camera and the PTZ, causing the rotating parts of the camera to be covered with ice or frozen. This affects the normal rotation of the camera, making it impossible to adjust the monitoring angle through the PTZ, reducing the real-time and effectiveness of the monitoring system.

[0003] After freezing, traditional cameras rely on the natural temperature of the environment to melt the snow, which often takes a long time to resume normal operation. In extreme weather conditions, this may cause the camera to be unable to work normally for a long time, delaying the timely discovery and handling of faults, and increasing the risk of power system operation.

[0004] Due to the existence of icing problems, manual maintenance and cleaning are required frequently, which increases the workload and operation and maintenance costs of operation and maintenance personnel. At the same time, frequent maintenance operations may pose safety hazards, especially when working on high-altitude transmission towers, which increases the complexity and danger of operations. Summary of the invention

[0005] According to an embodiment of the present invention, an intelligent pan-tilt camera for power transmission line anomaly detection and a method of using the same are provided to solve the problems existing in the above-mentioned prior art.

[0006] In a first aspect of the present invention, an intelligent pan-tilt camera for power line anomaly detection is provided.

[0007] The intelligent pan-tilt camera for power transmission line anomaly detection includes a pan-tilt, a bracket, a processor, a camera module, a first driving mechanism, and a heating module; the pan-tilt is rotatably connected to the bracket, the first driving mechanism is arranged on the bracket, the first driving mechanism is used to drive the camera module to flip, and the heating module is connected to the pan-tilt.

[0008] Preferably, the heating module comprises a back plate, a control unit, a first heating wire and two second heating wires; The back plate is connected to the gimbal, the back plate is connected to the control unit, the control unit is respectively connected to the first heating wire and two of the second heating wires, the first heating wire is connected to the gimbal, and the second heating wire is connected to the bracket.

[0009] Preferably, the first driving mechanism comprises a shaft, a first motor and a protective shell; The shaft is rotatably connected to the bracket, one end of the shaft is connected to the camera module, the other end of the shaft is connected to the output end of the first motor, the first motor is connected to the protective shell, and the protective shell is connected to the bracket.

[0010] Preferably, a monitoring mechanism and a second driving mechanism are provided inside the pan / tilt head, the second driving mechanism drives the bracket to rotate through the monitoring mechanism, and the monitoring mechanism is used to monitor the rotation speed of the bracket.

[0011] Preferably, the second driving mechanism comprises a second motor, a magnetic coupling active part and a magnetic coupling driven part; The second motor is connected to the gimbal, the output end of the second motor is connected to the active part of the magnetic coupler, and the active part of the magnetic coupler is connected to the driven part of the magnetic coupler through a non-magnetic isolation layer; The monitoring mechanism includes a first gear, a rod body, a second gear and an encoder; The rod body is connected to the driven part of the magnetic coupler, the rod body is connected to the first gear, the first gear is meshed and connected to the second gear, and the second gear is connected to the input end of the encoder.

[0012] Preferably, a plurality of ice-breaking structures are provided inside the pan / tilt; The ice-breaking structure comprises a contact plate, a vertical pole, a spike portion, a first spring and a socket; The contact plate is connected to the gimbal via a first spring, the side of the contact plate close to the camera module is connected to the vertical pole, the vertical pole is connected to the spike portion, the socket is provided at the bottom end of the gimbal, and the spike portion can pass through the socket.

[0013] Preferably, a linkage mechanism is arranged inside the pan / tilt head, and the linkage mechanism comprises a connecting rod, a first mounting plate, a cam, a main shaft, a third gear and a gear ring; The connecting rod is connected to the first mounting plate, the first mounting plate is rotationally connected to the main shaft, the main shaft is connected to the third gear, the third gear is meshed with the ring gear, and the main shaft is connected to the cam.

[0014] Preferably, it also includes a connection mechanism and a control module; The connection mechanism comprises a connection piece, a guide rod, a first protrusion, a slide rod, a second protrusion, a third spring and a contact rod; The connecting member is slidably connected to the connecting rod, the connecting member is connected to the guide rod, the connecting member is connected to the first protrusion, the first protrusion is connected to the sliding rod, the sliding rod passes through the second protrusion, the second protrusion is connected to the connecting rod, the third spring is sleeved on the sliding rod, the two ends of the third spring are respectively connected to the first protrusion and the second protrusion, and the contact rod is connected to the output end of the second motor; The control module includes a moving end, a linear motor and a limiter; The movable end is arranged on the linear motor, the movable end is connected to the limiting member, and the inner side of the limiting member is in contact with the guide rod.

[0015] In a second aspect of the present invention, a method for using an intelligent pan-tilt camera for power transmission line anomaly detection is provided.

[0016] The method of use comprises: the first step: sending a start signal to the second motor, and the second motor drives the camera module to rotate through the coupler; Step 2: Monitor the rotation speed of the rotating camera module through an encoder to obtain rotation speed data; Step 3: Determine whether the speed data is equal to, if the speed data is equal to, proceed to step 4, if the speed data is greater than, repeat step 2; Step 4: Start the heating module to heat and melt the ice between the bracket and the gimbal.

[0017] Preferably, the processor sends a control signal to the mobile end, and the mobile end drives the limit piece to move downward. During the downward movement, the limit piece drives the guide rod to move in a direction close to the second motor, and at the same time, the guide rod drives the connecting piece to move in a direction close to the second motor. At this time, the contact rod on the output end of the second motor can synchronously drive the connecting rod and the connecting piece to rotate when it rotates, and the connecting rod drives the first mounting plate to move. During the rotation of the first mounting plate, the third gear drives the third gear to move on the gear ring. When the third gear moves on the gear ring, the third gear itself rotates, and when the third gear rotates, it drives the cam to rotate. When the cam rotates, it drives the circular wheel to contact the contact plate. The contact plate generates a downward force, which drives the spike portion to break the ice at the connection position between the bracket and the pan-tilt head. When the ice layer is not broken, the contact plate will not move downward, and the circular wheel, the circular shaft, and the slider move toward a position close to the center of the cam and compress the fourth spring. When the circular wheel is separated from the contact plate, the elastic deformation of the fourth spring can drive the circular wheel to reset.

[0018] One or more technical solutions provided in this application have at least the following technical effects or advantages: 1. The present invention provides an intelligent pan-tilt camera for power transmission line anomaly detection and a method of use. By setting a heating module on the pan-tilt, it is possible to prevent ice from covering the space between the camera and the pan-tilt to affect the adjustment of the camera's shooting angle. There is no need to rely on the natural environment for snow melting, and there is no need for manual frequent climbing to high-altitude transmission towers to perform operations, thereby reducing the complexity and danger of the operation.

[0019] 2. The present invention provides an intelligent pan-tilt camera and a method of use for detecting abnormalities in transmission lines. By setting an encoder, the rotation speed of the pole and the bracket can be monitored, making it easy for staff to understand whether freezing occurs between the pan-tilt camera and the bracket.

[0020] It should be understood that the contents described in the summary of the invention are not intended to limit the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above and other features, advantages and aspects of the embodiments of the present invention will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements, wherein: Figure 1 A schematic diagram of a stereoscopic connection structure of an intelligent pan-tilt camera for power transmission line anomaly detection according to an embodiment of the present invention is shown; Figure 2 An exploded view of an intelligent pan-tilt camera for power transmission line anomaly detection according to an embodiment of the present invention is shown; Figure 3A schematic diagram showing the connection structure of a heating module of an intelligent pan-tilt camera for power transmission line anomaly detection according to the present invention is shown; Figure 4 A schematic diagram showing the connection structure of the first driving mechanism of the intelligent pan-tilt camera for power transmission line anomaly detection according to the present invention is shown; Figure 5 A schematic diagram showing the connection structure of the second driving mechanism of the intelligent pan-tilt camera for power transmission line anomaly detection according to the present invention is shown; Figure 6 A schematic diagram showing the connection structure of the monitoring mechanism of the intelligent pan-tilt camera for power transmission line anomaly detection according to the present invention is shown; Figure 7 A schematic diagram showing the connection structure of the ice-breaking structure of the intelligent pan-tilt camera for power transmission line anomaly detection according to the present invention is shown; Figure 8 A schematic diagram showing the connection structure of the pan-tilt and the jack of the intelligent pan-tilt camera for power transmission line anomaly detection according to the present invention is shown; Fig. 9 A schematic diagram showing the connection structure of the linkage mechanism of the intelligent pan-tilt camera for power transmission line anomaly detection according to the present invention is shown; Fig.10 A schematic diagram of the connection structure of the fourth spring, the baffle plate and the slide groove of the intelligent pan-tilt camera for power transmission line anomaly detection according to the present invention is shown; Fig.11 A schematic diagram showing the connection structure of the third gear, the cam and the round wheel of the intelligent pan-tilt camera for power transmission line anomaly detection according to the present invention is shown; Fig.12 A schematic diagram showing the connection structure of the connection mechanism of the intelligent pan-tilt camera for power transmission line anomaly detection according to the present invention is shown; Fig.13 A schematic diagram of the connection structure of a control module of an intelligent pan-tilt camera for power transmission line anomaly detection according to the present invention is shown.

[0022] Description of reference numerals: 1-pan, 2-first drive mechanism, 201-axis, 202-first motor, 203-shield, 3-second drive mechanism, 301-second motor, 302-active part of magnetic coupler, 303-active part of magnetic coupler, 4-control module, 401-linear motor, 402-moving end, 403-limiting member, 5-heating module, 501-back plate, 502-control unit, 503-first heating wire, 504-second heating wire, 6-ice-breaking structure, 601-contact plate, 602-first spring, 603-pole, 604-spike, 605-jack, 7-monitoring mechanism, 701-first gear, 70 2-rod body, 703-second gear, 704-encoder, 8-linkage mechanism, 801-connecting rod, 802-first mounting plate, 803-insertion rod, 804-circular shaft, 805-slider, 806-third gear, 807-cam, 808-circular wheel, 809-gear ring, 810-main shaft, 811-fourth spring, 812-baffle, 813-slide groove, 9-connection mechanism, 901-connection member, 902-guide rod, 903-first protrusion, 904-second protrusion, 905-third spring, 906-slide rod, 907-contact rod, 908-roller, 10-bracket, 12-camera module, 13-processor. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. 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.

[0024] In addition, the term "and / or" in this article is only a description of the association relationship between the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0025] like Figures 1 to 13As shown, the present invention provides an intelligent pan-tilt camera for power transmission line anomaly detection, which includes a pan-tilt 1, a bracket 10, a processor 13, a camera module 12, a first driving mechanism 2 and a heating module 5. The pan-tilt 1, as the main structure of the entire camera, is made of aluminum alloy material, has good weather resistance and corrosion resistance, and is suitable for outdoor complex environments. The bracket 10 is rotatably connected to the pan-tilt 1, and a ball bearing is provided at the connection between the bracket 10 and the pan-tilt 1 to ensure that the bracket 10 can rotate smoothly. A cable channel is reserved inside the bracket 10 for connecting the data transmission and power supply between the processor 13 and the camera module 12. The processor 13 uses an embedded processor, has image processing and data analysis capabilities, and can process image data from the camera module 12 in real time. The processor 13 communicates data with the monitoring center terminal through a wireless module to realize remote monitoring and data transmission functions. The camera module 12 includes a high-resolution camera and an image sensor, which can capture images of power transmission lines under various lighting conditions. The camera module 12 is mounted on the first driving mechanism 2 , and the pitch angle of the camera in the camera module 12 is adjusted by the control of the first driving mechanism 2 .

[0026] In actual use, after the camera is installed on the transmission tower, the processor 13 is connected to the monitoring center through a wireless network to receive and process the image data collected by the camera module 12 in real time. The first driving mechanism 2 drives the camera module 12 to rotate and adjust the pitch angle according to the instructions sent by the processor 13, so as to facilitate the observation of the conditions at different positions of the transmission line. At the same time, the heating module 5 is provided to ensure the normal operation of the camera in a low temperature environment.

[0027] In this embodiment, the heating module 5 is composed of a back plate 501, a control unit 502, a first heating wire 503 and a second heating wire 504. The first heating wire 503 is connected to the pan-tilt head 1 and is used to heat the rotating shaft between the pan-tilt head 1 and the bracket 10; the second heating wire 504 is connected to the bracket 10 and is used to heat the rotating shaft of the first driving mechanism 2 and the camera module 12 to ensure the normal operation of the camera in a low temperature environment. The first heating wire 503 and the second heating wire 504 are nickel-chromium alloy resistance wires, which have strong resistance to oxidation and corrosion and are suitable for outdoor harsh weather conditions. The processor 13 sends a control signal to the control unit 502 through a digital signal line (GPIO). The control signal is a high level (HIGH) and a low level (LOW), indicating whether the first heating wire 503 and the second heating wire 504 need to be started. After receiving the signal from the processor 13, the control unit 502 can realize the control of the start and stop of the first heating wire 503 and the second heating wire 504.

[0028] During actual use, in a low-temperature environment, a signal can be sent to the processor 13 through the wireless module, and the processor 13 controls the heating module 5 to start. The first heating wire 503 heats the rotating shaft between the gimbal 1 and the bracket 10, and the second heating wire 504 is used to heat the rotating shaft of the first drive mechanism 2 and the camera module 12 to prevent the normal rotation of the bracket 10 from being affected by ice, and does not affect the adjustment of the angle of the camera module 12. It avoids the need for staff to clean the ice layer at high altitude when ice occurs, saving labor costs.

[0029] In this embodiment, the first driving mechanism 2 includes a shaft 201, a first motor 202 and a protective shell 203. The shaft 201 is rotatably connected to the bracket 10 via a ball bearing, one end of the shaft 201 is fixed to the camera module 12, and the other end is connected to the output shaft of the first motor 202. The first motor 202 can drive the camera module 12 to rotate. The protective shell 203 covers the first motor 202 to prevent dust and moisture from entering, thereby extending the service life of the first motor 202.

[0030] During actual use, when the pitch angle of the camera module 12 needs to be adjusted, the user can start the first motor 202. After starting, the first motor 202 can drive the shaft 201 to rotate. During the rotation, the shaft 201 will drive the camera module 12 to flip, thereby realizing the adjustment of the pitch angle of the camera module 12. The bracket 10 and the shaft 201 are both made of aluminum alloy. After the first heating wire 503 and the second heating wire 504 are started, the heat generated by the first heating wire 503 and the second heating wire 504 themselves will be transmitted to the gimbal 1, the bracket 10 and the shaft 201 made of aluminum alloy, thereby utilizing the thermal conductivity of the aluminum alloy itself to accelerate the thawing speed.

[0031] In this embodiment, the second driving mechanism 3 is arranged inside the pan-tilt head 1, and specifically includes a second motor 301, a magnetic coupling active part 302 and a magnetic coupling driven part 303. The second motor 301 is fixedly connected to the pan-tilt head 1, and the output end of the second motor 301 is connected to the magnetic coupling active part 302, and the magnetic coupling active part 302 and the magnetic coupling driven part 303 are connected. The magnetic coupling active part 302 and the magnetic coupling driven part 303 constitute a magnetic coupler. The non-magnetic isolation layer physically separates the magnetic coupling active part 302 from the magnetic coupling driven part 303, avoiding direct contact between the magnetic coupling active part 302 and the magnetic coupling driven part 303. The provision of a non-magnetic isolation layer eliminates mechanical wear, prolongs the service life of the magnetic coupler, and reduces maintenance costs. The stability and reliability of the active part 302 and the driven part 303 of the magnetic coupling are improved, and the service life of the active part 302 and the driven part 303 of the magnetic coupling is also extended. The maximum torque that the active part 302 of the magnetic coupling can transmit to the driven part 303 of the magnetic coupling is not limited, and is adjusted according to actual needs. For example, the magnetic field strength can be adjusted by changing the magnetic energy product. The magnetic energy product is an indicator of the ability of a magnet to store magnetic energy, and the unit is mega-gauss-oersted (MGOe). The higher the magnetic energy product, the greater the magnetic field strength generated by the magnet, that is, the higher the torque that can be transmitted.

[0032] The monitoring mechanism 7 is integrated inside the pan / tilt head 1, and is mainly composed of a first gear 701, a rod 702, a second gear 703 and an encoder 704. One end of the rod 702 is connected to the driven part 303 of the magnetic coupler, and the other end is connected to the first gear 701. The first gear 701 transmits the driving force to the input end of the encoder 704 by meshing with the second gear 703. The encoder 704 can monitor the rotation speed of the bracket 10 and feed the data back to the processor 13. The encoder 704 can detect the rotation angle, speed and direction.

[0033] In actual use, when there is no freezing between the bracket 10 and the gimbal 1, the second motor 301 drives the active part 302 of the magnetic coupler to rotate. Since the torque at this time is within the normal range, the active part 302 of the magnetic coupler normally drives the driven part 303 of the magnetic coupler to rotate synchronously. The driven part 303 of the magnetic coupler will drive the rod body 702 to rotate during the rotation process. The rod body 702 will drive the bracket 10 below to rotate during the rotation process. The bracket 10 drives the camera module 12 to rotate and adjust its position during the rotation process. When freezing occurs between the bracket 10 and the pan-tilt head 1, the second motor 301 drives the active part 302 of the magnetic coupling to rotate, but due to freezing between the bracket 10 and the pan-tilt head 1, the active part 302 of the magnetic coupling exceeds the maximum torque value when driving the driven part 303 of the magnetic coupling to rotate. At this time, the active part 302 of the magnetic coupling rotates normally, but the rod body 702 and the driven part 303 of the magnetic coupling below do not rotate. The encoder 704 monitors the rotation speed of the rod body 702 in real time and transmits the rotation speed data to the processor 13 in the form of a digital signal. The processor 13 continuously receives the rotation speed signal from the encoder 704 and analyzes the rotation speed data. The processor 13 adjusts the operating parameters of the second motor, such as the rotation speed and torque, according to the data of the encoder 704 to ensure the stability and responsiveness of the system. When the rod body 702 freezes due to the accumulation of rain and snow in a cold environment, causing the rod body 702 to be unable to rotate normally, the second motor 301 still continues to operate, but the actual rotation speed of the rod body 702 is zero. The encoder 704 detects that the rotation speed of the rod body 702 is zero, and transmits the abnormal state signal to the processor 13. After receiving the zero rotation speed signal from the encoder 704, the processor 13 determines that the bracket 10 is frozen. The processor 13 sends a control signal to the control unit 502 to start the first heating wire 503 and the second heating wire 504 to provide heat for the connection position between the bracket 10 and the pan-tilt head 1 to promote snow melting and thawing. The first heating wire 503 and the second heating wire 504 begin to heat, gradually increase the temperature of the bracket 10 and the pan-tilt head 1, melt the frozen rain and snow, and make the rod body 702 rotate normally. The processor 13 will continuously monitor the speed signal sent back by the encoder to observe the change in speed. When the rod body 702 resumes normal rotation, the encoder 704 detects that the speed gradually returns to a predetermined value. At this time, the processor 13 determines that the rod body 702 has resumed normal rotation based on the digital signal transmitted back by the encoder 704, and sends a signal to the control unit 502 to stop heating the first heating wire 503 and the second heating wire 504. By setting the encoder 704, the rotation speed of the rod body 702 and the bracket 10 can be monitored, so that the staff can know whether freezing occurs between the pan / tilt head 1 and the bracket 10.

[0034] In this embodiment, a plurality of ice-breaking structures 6 are arranged inside the gimbal 1. Each ice-breaking structure 6 is equidistantly distributed in a ring shape at the lower part of the gimbal 1, and each ice-breaking structure 6 includes a contact plate 601, a vertical pole 603, a spike portion 604, a first spring 602, and a socket 605. The contact plate 601 is connected to the gimbal 1 through the first spring 602, and the contact plate 601 can be reset by elastic deformation of the first spring 602 after being pressed. The side of the contact plate 601 close to the camera module 12 is connected to the vertical pole 603, and the vertical pole 603 is further connected to the spike portion 604. The socket 605 is arranged at the bottom end of the gimbal 1, and the spike portion 604 can extend out of the gimbal 1 through the socket 605. The position where the spike portion 604 in the ice-breaking structure 6 extends is arranged near the connection position between the gimbal 1 and the bracket 10, and the spike portion 604 can break the ice layer at the connection position between the gimbal 1 and the bracket 10 during the extension process.

[0035] In actual use, in a low temperature environment, when snow or ice accumulates on the surface of the contact position between the pan / tilt 1 and the bracket 10, the contact plate 601 can be controlled to move downward, and the contact plate 601 drives the vertical rod 603 and the spike 604 to extend. The spike 604 is designed to be sharp and can penetrate and destroy ice to prevent ice from covering the connection position between the bracket 10 and the pan / tilt 1. By cooperating with the first heating wire 503 and the second heating wire 504, the ice breaking speed is accelerated, so that the user can quickly observe the abnormality of the transmission line through the camera module 12.

[0036] In this embodiment, a linkage mechanism 8 is also included. The linkage mechanism 8 is arranged inside the pan / tilt head 1. The linkage mechanism 8 includes a connecting rod 801, a first mounting plate 802, a circular shaft 804, a slider 805, a baffle 812, a fourth spring 811, a plug rod 803, a cam 807, a main shaft 810, a third gear 806, and a gear ring 809. The connecting rod 801 is connected to the first mounting plate 802, and the first mounting plate 802 is rotatably connected to the main shaft 810 through a bearing, and the main shaft 810 is connected to the third gear 806. The third gear 806 is meshed on the gear ring 809, and the central axis of the gear ring 809 matches the central axis of the third gear 806, which can avoid poor meshing or tooth damage caused by axis deviation. The main shaft 810 is connected to the cam 807, and the main shaft 810 will drive the cam 807 to rotate when it rotates. Two slide grooves 813 are provided on the cam 807, and the slider 805 can move inside the slide grooves 813. The slider 805 is also rotatably connected to the round shaft 804 through a bearing. The round wheel 808 is connected to the round shaft 804. The slider 805 is connected to the insertion rod 803, and the insertion rod 803 passes through the baffle 812. A fourth spring 811 is provided between the baffle 812 and the slider 805. The elastic coefficient of the fourth spring 811 is greater than that of the first spring 602.

[0037] In actual use, the connecting rod 801 will drive the first mounting plate 802 to move during the movement, and the first mounting plate 802 will drive the third gear 806 to move on the gear ring 809 during the rotation. When the third gear 806 moves on the gear ring 809, the third gear 806 itself rotates, and the third gear 806 will drive the cam 807 to rotate when rotating. When the cam 807 rotates, it will drive the round wheel 808 to contact the contact plate 601, and the contact plate 601 generates a downward force, driving the spike portion 604 to break the ice at the connection position between the bracket 10 and the gimbal 1. When the ice layer is not broken, the contact plate 601 will not move downward at this time, and will drive the round wheel 808, the round shaft 804, and the slider 805 to move toward a position close to the center of the cam 807, and compress the fourth spring 811. When the round wheel 808 is separated from the contact plate 601, the elastic deformation of the fourth spring 811 can drive the round wheel 808 to reset, so that it can touch the contact plate 601 and move downward next time. The fourth spring 811 is provided to prevent the cam 807 from getting stuck during rotation. At the same time, the rotating cam 807 contacts each contact plate 601 to control each spike 604 to break the ice. The whole process does not require additional electric equipment and only relies on the drive of the second motor 301 to break the ice, thereby saving the production cost of the camera.

[0038] In this embodiment, a connection mechanism 9 and a control module 4 are also included. The connection mechanism 9 includes a connection member 901, a guide rod 902, a first protrusion 903, a slide bar 906, a second protrusion 904, a third spring 905 and a contact rod 907. The connection member 901 can slide on the connecting rod 801, the connection member 901 is connected to the guide rod 902, and a roller 908 can be connected to the guide rod 902 to reduce friction with the limiter 403. The connection member 901 is connected to the first protrusion 903, the first protrusion 903 is connected to the slide bar 906, the slide bar 906 passes through the second protrusion 904, and the slide bar 906 can move laterally relative to the second protrusion 904. The second protrusion 904 is connected to the connecting rod 801, and the third spring 905 is sleeved on the sliding rod 906. The two ends of the third spring 905 are respectively connected to the first protrusion 903 and the second protrusion 904. The third spring 905 gives the connecting member 901 an elastic force to always move away from the second motor 301. The contact rod 907 is connected to the output end of the second motor 301. The connecting member 901 is an arc tube, and the contact rod 907 is a solid cylinder. When the output end of the second motor 301 rotates, the contact rod 907 can drive the connecting member 901 to rotate, thereby driving the connecting rod 801 to rotate.

[0039] The control module 4 includes a moving end 402, a linear motor 401 and a stopper 403. The moving end 402 can be raised and lowered on the linear motor 401. The moving end 402 and the linear motor 401 are components of the linear motor. When the linear motor is started, the moving end 402 can move along the linear motor 401. The moving end 402 is connected to the stopper 403. The inner side of the stopper 403 is in contact with the guide rod 902. The stopper 403 is a hollow cylindrical structure, and the radius of the stopper 403 gradually increases from top to bottom.

[0040] In actual use, after the processor 13 receives the zero speed signal from the encoder 704, it determines that the bracket 10 is frozen. The processor 13 also sends a control signal to the mobile terminal 402, and the mobile terminal 402 drives the limiter 403 to move downward. During the downward movement, the limiter 403 drives the guide rod 902 to move in the direction close to the second motor 301. At the same time, the guide rod 902 drives the connecting member 901 to move in the direction close to the second motor 301. Since the connecting member 901 protrudes from a part of the connecting rod 801 at this time, the contact rod 907 on the output end of the second motor 301 can synchronously drive the connecting rod 801 and the connecting member 901 to rotate when rotating, thereby indirectly driving the spike part 604 to break the ice. The camera not only breaks the ice by heating the first heating wire 503 and the second heating wire 504, but also breaks the ice layer between the bracket 10 and the gimbal 1 with the help of the spike part 604, thereby improving the ice breaking effect. At the same time, the camera controls the connection mechanism 9 to connect with the output end of the second motor 301 through the control module 4 only when it detects that the bracket 10 is frozen, thereby avoiding the second motor 301 driving the linkage mechanism 8 to move when the bracket 10 is not frozen, reducing the load of the second motor 301, and also saving the maintenance times of the linkage mechanism 8 and extending the service life of the linkage mechanism 8.

[0041] In addition, another embodiment of the present invention further provides a method for using an intelligent pan-tilt camera for power transmission line anomaly detection, comprising the following steps: Step 1: The processor 13 sends a start signal to the second motor 301, and the second motor 301 drives the camera module 12 to rotate through the magnetic coupling active part 302 and the magnetic coupling driven part 303; Step 2: Monitor the rotation speed of the rotating camera module 12 through the encoder 704 to obtain the rotation speed data. The bracket 10 will drive the camera module 12 to rotate. During the rotation, the bracket 10 will drive the rod body 702 to rotate, and then the encoder 704 will record the rotation speed of the rod body 702 through the engagement of the first gear 701 and the second gear 703.

[0042] Step 3: Determine whether the speed data is equal to 0. If the speed data is equal to 0, proceed to step 4. If the speed data is greater than 0, repeat step 2. When the support 10 and the gimbal 1 are frozen, the maximum torque value between the active part 302 of the magnetic coupler and the driven part 303 of the magnetic coupler exceeds the maximum torque value, and the active part 302 of the magnetic coupler and the driven part 303 of the magnetic coupler cannot be normally transmitted, so the speed of the support 10 is 0 at this time. On the contrary, when the ice layer does not cover the support 10 and the gimbal 1, the active part 302 of the magnetic coupler and the driven part 303 of the magnetic coupler can be normally transmitted, and the speed of the support 10 is greater than 0, and snow removal is not required.

[0043] Step 4: Start the heating module 5 to heat and melt ice between the bracket 10 and the gimbal 1. The heating module 5 includes a first heating wire 503 and a second heating wire 504. The first heating wire 503 heats the shaft between the gimbal 1 and the bracket 10, and the second heating wire 504 is used to heat the shaft between the first driving mechanism 2 and the camera module 12 to prevent the normal rotation of the bracket 10 from being affected by ice, and does not affect the adjustment angle of the camera module 12. When ice forms, it is avoided that the staff needs to clean the ice layer in the air, saving labor costs.

[0044] In actual use, when freezing occurs between the bracket 10 and the pan-tilt head 1, the second motor 301 drives the active part 302 of the magnetic coupling to rotate, but due to freezing between the bracket 10 and the pan-tilt head 1, the active part 302 of the magnetic coupling exceeds the maximum torque value when driving the driven part 303 of the magnetic coupling to rotate. At this time, the active part 302 of the magnetic coupling rotates normally, but the rod body 702 and the driven part 303 of the magnetic coupling below do not rotate. The encoder 704 monitors the rotation speed of the rod body 702 in real time and transmits the rotation speed data to the processor 13 in the form of a digital signal. The processor 13 continuously receives the rotation speed signal from the encoder 704 and analyzes the rotation speed data. The processor 13 adjusts the operating parameters of the second motor, such as the rotation speed and torque, according to the data of the encoder 704 to ensure the stability and responsiveness of the system. When the rod body 702 freezes due to the accumulation of rain and snow in a cold environment, causing the rod body 702 to be unable to rotate normally, the second motor 301 still continues to operate, but the actual rotation speed of the rod body 702 is zero. The encoder 704 detects that the rotation speed of the rod body 702 is zero, and transmits the abnormal state signal to the processor 13. After receiving the zero rotation speed signal from the encoder 704, the processor 13 determines that the bracket 10 is frozen. The processor 13 sends a control signal to the control unit 502 to start the first heating wire 503 and the second heating wire 504 to provide heat for the connection position between the bracket 10 and the pan / tilt head 1 to promote snow melting and thawing.

[0045] In this embodiment, the fourth step also includes: The processor 13 sends a control signal to the mobile end 402, and the mobile end 402 drives the limit member 403 to move downward. During the downward movement, the limit member 403 drives the guide rod 902 to move in the direction close to the second motor 301. At the same time, the guide rod 902 drives the connecting member 901 to move in the direction close to the second motor 301. At this time, the contact rod 907 on the output end of the second motor 301 can synchronously drive the connecting rod 801 and the connecting member 901 to rotate when rotating. The connecting rod 801 drives the first mounting plate 802 to move. During the rotation of the first mounting plate 802, it drives the third gear 806 to move on the gear ring 809. The third gear 806 moves on the gear ring 809. When the third gear 806 moves on the circle 809, it rotates itself, and the third gear 806 drives the cam 807 to rotate when rotating. When the cam 807 rotates, it drives the round wheel 808 to contact the contact plate 601. The contact plate 601 generates a downward force, which drives the spike portion 604 to break the ice at the connection position between the bracket 10 and the gimbal 1. When the ice layer is not broken, the contact plate 601 will not move downward, and the round wheel 808, the round shaft 804, and the slider 805 move toward a position close to the center of the cam 807 and compress the fourth spring 811. When the round wheel 808 is separated from the contact plate 601, the elastic deformation of the fourth spring 811 can drive the round wheel 808 to reset.

[0046] In actual use, after the processor 13 receives the zero speed signal from the encoder 704, it determines that the bracket 10 is frozen. The processor 13 also sends a control signal to the mobile terminal 402, and the mobile terminal 402 drives the limiter 403 to move downward. During the downward movement, the limiter 403 drives the guide rod 902 to move in the direction close to the second motor 301. At the same time, the guide rod 902 drives the connecting member 901 to move in the direction close to the second motor 301. Since the connecting member 901 protrudes from a part of the connecting rod 801 at this time, the contact rod 907 on the output end of the second motor 301 can synchronously drive the connecting rod 801 and the connecting member 901 to rotate when rotating. The connecting rod 801 will drive the first mounting plate 802 to move during the rotation process, and the first mounting plate 802 will drive the third gear 806 to move on the gear ring 809 during the rotation process. When the third gear 806 moves on the gear ring 809, the third gear 806 itself rotates, and the third gear 806 will drive the cam 807 to rotate when rotating. When the cam 807 rotates, it will drive the round wheel 808 to contact the contact plate 601. The contact plate 601 generates a downward force, driving the spike 604 to break the ice at the connection position between the bracket 10 and the pan / tilt 1. The rotating cam 807 contacts each contact plate 601 to control each spike 604 to break the ice layer. The whole process does not require additional electric equipment, and only relies on the drive of the second motor 301 to break the ice, saving the production cost of the camera.

[0047] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An intelligent PTZ camera for power transmission line anomaly detection, characterized in that: The invention comprises a pan head (1), a bracket (10), a processor (13), a camera module (12), a first driving mechanism (2), and a heating module (5); the pan head (1) is rotatably connected to the bracket (10); the first driving mechanism (2) is arranged on the bracket (10); the first driving mechanism (2) is used to drive the camera module (12) to flip; and the heating module (5) is connected to the pan head (1).

2. The intelligent PTZ camera for power transmission line anomaly detection according to claim 1, characterized in that: The heating module (5) comprises a back plate (501), a control unit (502), a first heating wire (503) and two second heating wires (504); The back plate (501) is connected to the pan head (1), the back plate (501) is connected to the control unit (502), the control unit (502) is respectively connected to the first heating wire (503) and two of the second heating wires (504), the first heating wire (503) is connected to the pan head (1), and the second heating wire (504) is connected to the bracket (10).

3. The intelligent PTZ camera for power transmission line anomaly detection according to claim 1, characterized in that: The first driving mechanism (2) comprises a shaft (201), a first motor (202) and a protective shell (203); The shaft (201) is rotatably connected to the bracket (10), one end of the shaft (201) is connected to the camera module (12), the other end of the shaft (201) is connected to the output end of the first motor (202), the first motor (202) is connected to the protective shell (203), and the protective shell (203) is connected to the bracket (10).

4. The intelligent PTZ camera for power transmission line anomaly detection according to claim 1, characterized in that: A monitoring mechanism (7) and a second driving mechanism (3) are arranged inside the pan / tilt head (1); the second driving mechanism (3) drives the bracket (10) to rotate via the monitoring mechanism (7); and the monitoring mechanism (7) is used to monitor the rotation speed of the bracket (10).

5. The intelligent PTZ camera for power transmission line anomaly detection according to claim 4, characterized in that: The second driving mechanism (3) comprises a second motor (301), a magnetic coupling active part (302) and a magnetic coupling passive part (303); The second motor (301) is connected to the pan / tilt platform (1), the output end of the second motor (301) is connected to the active part (302) of the magnetic coupler, and the active part (302) of the magnetic coupler is connected to the driven part (303) of the magnetic coupler via a non-magnetic isolation layer; The monitoring mechanism (7) comprises a first gear (701), a rod body (702), a second gear (703) and an encoder (704); The rod body (702) is connected to the driven part (303) of the magnetic coupler, the rod body (702) is connected to the first gear (701), the first gear (701) is meshingly connected to the second gear (703), and the second gear (703) is connected to the input end of the encoder (704).

6. The intelligent PTZ camera for power transmission line anomaly detection according to claim 5, characterized in that: A plurality of ice-breaking structures (6) are arranged inside the pan / tilt platform (1); The ice-breaking structure (6) comprises a contact plate (601), a vertical pole (603), a spike portion (604), a first spring (602) and a socket (605); The contact plate (601) is connected to the pan head (1) via a first spring (602); the side of the contact plate (601) close to the camera module (12) is connected to the vertical rod (603); the vertical rod (603) is connected to the spike portion (604); the socket (605) is provided at the bottom end of the pan head (1); and the spike portion (604) can pass through the socket (605).

7. The intelligent PTZ camera for power transmission line anomaly detection according to claim 6, characterized in that: A linkage mechanism (8) is arranged inside the pan / tilt head (1), and the linkage mechanism (8) comprises a connecting rod (801), a first mounting plate (802), a cam (807), a main shaft (810), a third gear (806), and a gear ring (809); The connecting rod (801) is connected to the first mounting plate (802), the first mounting plate (802) is rotationally connected to the main shaft (810), the main shaft (810) is connected to the third gear (806), the third gear (806) is meshed with the ring gear (809), and the main shaft (810) is connected to the cam (807).

8. The intelligent PTZ camera for power transmission line anomaly detection according to claim 7, characterized in that: It also includes a connection mechanism (9) and a control module (4); The connection mechanism (9) comprises a connection piece (901), a guide rod (902), a first protrusion (903), a sliding rod (906), a second protrusion (904), a third spring (905) and a contact rod (907); The connecting member (901) is slidably connected to the connecting rod (801), the connecting member (901) is connected to the guide rod (902), the connecting member (901) is connected to the first protrusion (903), the first protrusion (903) is connected to the sliding rod (906), the sliding rod (906) passes through the second protrusion (904), the second protrusion (904) is connected to the connecting rod (801), the third spring (905) is sleeved on the sliding rod (906), the two ends of the third spring (905) are respectively connected to the first protrusion (903) and the second protrusion (904), and the contact rod (907) is connected to the output end of the second motor (301); The control module (4) comprises a moving end (402), a linear motor (401) and a limiting member (403); The movable end (402) is arranged on the linear motor (401), the movable end (402) is connected to the limiting member (403), and the inner side of the limiting member (403) is in contact with the guide rod (902).

9. A method for using an intelligent PTZ camera for power transmission line anomaly detection, characterized in that: The steps include: The first step is to send a start signal to the second motor (301), so that the second motor (301) drives the camera module (12) to rotate via the coupler; Step 2: monitoring the rotation speed of the rotating camera module (12) through an encoder (704) to obtain rotation speed data; Step 3: Determine whether the speed data is equal to 0. If the speed data is equal to 0, proceed to step 4. If the speed data is greater than 0, repeat step 2. Step 4: Start the heating module (5) to heat and melt ice between the bracket (10) and the pan / tilt head (1).

10. A method for using the intelligent PTZ camera for power transmission line anomaly detection as claimed in claim 9, characterized in that: The fourth step also includes: The processor (13) sends a control signal to the mobile end (402), and the mobile end (402) drives the limit member (403) to move downward. During the downward movement, the limit member (403) drives the guide rod (902) to move in a direction close to the second motor (301). At the same time, the guide rod (902) drives the connecting member (901) to move in a direction close to the second motor (301). At this time, the contact rod (907) on the output end of the second motor (301) can synchronously drive the connecting rod (801) and the connecting member (901) to rotate when rotating. The connecting rod (801) drives the first mounting plate (802) to move. During the rotation of the first mounting plate (802), the third gear (806) is driven to move on the gear ring (809). The third gear (806) is driven to rotate on the gear ring. When the third gear (809) moves upward, the third gear (806) itself rotates. When the third gear (806) rotates, it drives the cam (807) to rotate. When the cam (807) rotates, it drives the round wheel (808) to contact the contact plate (601). The contact plate (601) generates a downward force, which drives the spike portion (604) to break the ice at the connection position between the bracket (10) and the pan / tilt head (1). When the ice layer is not broken, the contact plate (601) will not move downward. The round wheel (808), the round shaft (804), and the slider (805) move toward a position close to the center of the cam (807) and compress the fourth spring (811). When the round wheel (808) is separated from the contact plate (601), the elastic deformation of the fourth spring (811) can drive the round wheel (808) to reset.

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