Online non-power-cut line inspection device and online non-power-cut line inspection method

Abstract

The invention belongs to a power grid line inspection technology, and particularly relates to an on-line non-power-cut line inspection device and an on-line non-power-cut line inspection method. An anti-interference assembly, a walking assembly and a detection assembly are arranged, a first shell and a second shell of the anti-interference assembly are of a split structure, and the detection assembly is arranged in a detection area defined by the two shells, so that a detection main body performs detection along a circuit in a closed space, external noise interference can be effectively isolated, and the detection accuracy is improved. The external interference in the closed space is small, the detection accuracy can be ensured, and the inspection detection accuracy and efficiency are improved. And meanwhile, the detection main body and the unmanned aerial vehicle can be selectively separated and connected, so that the unmanned aerial vehicle can be accurately controlled, the cruise detection capability is improved, and the problem that the inspection operation is influenced by interference signals due to the fact that the unmanned aerial vehicle and the detection main body are always connected in the past is solved.

Description

Technical Field

[0001] The invention belongs to the field of power grid line inspection technology, and in particular to an online non-stop power line inspection device and method. Background Art

[0002] With the development of intelligent inspection technology, the improvement of intelligence and automation level of power scene inspection, and the widespread application of drone technology in State Grid and Ningxia Electric Power Company, work efficiency has been greatly improved, solving the problems of traditional foot inspection such as long working time, low efficiency and waste of human resources, while reducing safety risks.

[0003] Partial discharge is one of the main causes of insulation degradation in high-voltage power transmission lines, which directly affects the safe operation of the power system. Traditional manual line inspection mainly uses handheld ultrasonic partial discharge testers and acoustic imagers. Although it can achieve certain results, it still has many disadvantages, such as many unreachable blind spots, high work intensity, low inspection efficiency, and difficulty in ensuring accuracy. At present, the main means of UAV inspection of power transmission lines include visible light data collection and infrared temperature measurement, and some use ultrasonic detection.

[0004] The ultrasonic detection signal is used to generate the corresponding pattern through the algorithm and mark the abnormal position at the terminal, thereby realizing the line inspection operation. Most of the line partial discharge ultrasonic detection adopts open detection, that is, the line in the detection area is inspected by the drone load detection component. However, the following disadvantages will occur:

[0005] 1. There are two existing detection methods. One is that the drone tows the detection component to perform inspection operations along the line or suspends the detection component to perform inspection operations around the line. This will result in the drone always carrying the detection component, resulting in low cruising ability of the drone; the other is that the detection component itself performs inspection operations along the line and the inspection operation drives the drone to move at the same time. This will make the inspection component power system heavy, which will increase the size of the drone and the overall equipment weight, causing additional burden on the line. At the same time, due to the strong electromagnetic effect around the line, the drone cannot be accurately controlled, which can easily cause a collision accident. This makes the drone and the detection component have a certain safety range. Due to high-altitude operations and the influence of complex environmental factors, the drone is always connected to the detection device, which will cause the drone to sway during the inspection of the detection component, which can easily cause the detection component to deviate and damage the surface structure of the line, and will also increase additional influencing factors.

[0006] 2. When testing the line, there will be interference from many sound sources such as the flight noise of the drone itself and the environmental noise in the urban area. This will cause the ultrasonic detection technology to require additional noise reduction processing. Since the distance of the sound source is one of the important factors affecting the detection accuracy, the closer the distance, the higher the detection accuracy, and the farther the distance, the lower the detection accuracy. When the distance exceeds a certain range, complex algorithms are needed to solve the problem of low accuracy caused by voiceprint detection. After searching, it was found that the noise reduction methods for ultrasonic detection are:

[0007] CN218559200 aims to address the interference of noise caused by drone inspections on ultrasonic equipment by embedding a noise reduction layer made of phenolic resin glass wool into the inner wall of the acoustic lens used in the ultrasonic equipment to absorb as much noise from the drone as possible and reduce its interference with the ultrasonic equipment. In combination with algorithms such as noise reduction filtering involved in subsequent data processing of the ultrasonic equipment, the accuracy of partial discharge detection using ultrasonic equipment is improved, thereby improving inspection efficiency.

[0008] CN117706297A arranges at least one detection drone on the target line, and a voiceprint detection device is installed on the detection drone; obtains the fuselage noise characteristics of at least one detection drone and the environmental noise characteristics of the target line; performs noise reduction processing on the first ultrasonic signal according to the fuselage noise characteristics and the environmental noise characteristics to obtain a second ultrasonic signal; compares the first voiceprint characteristics of the second ultrasonic signal with the preset voiceprint characteristics, and judges whether there is partial discharge in the target line according to the comparison result.

[0009] CN115932497A deploys an acoustic camera on a drone to collect and locate ultrasonic waves generated by partial discharge of electrical equipment; the microphone array converts the received ultrasonic signal into an electrical signal, then performs noise separation on the electrical signal to reduce the noise, and transmits the noise-reduced signal to a signal enhancement module; the signal enhancement module enhances the signal strength in the direction of the ultrasonic signal source and reduces the noise of sound wave signals incident at other angles.

[0010] 3. Since most of the existing overhead lines are equipped with phase spacers, the existing detection devices for patrol operations along the lines do not have the ability to overcome obstacles, resulting in the inability of the detection devices to perform continuous patrol operations on the lines between the two towers. Summary of the invention

[0011] Technical problems solved by the present invention:

[0012] How to solve the existing drawbacks of partial discharge in open-line ultrasonic detection, the poor inspection capability of drones and detection components that are always connected and increase the line burden, and the lack of obstacle crossing capability.

[0013] In order to solve the above technical problems, the inventors have obtained the technical solution of the present invention through practice and summary. The present invention adopts the following technical solution:

[0014] An online non-stop power line inspection device comprises a drone and a detection subject connected to the drone via a connecting line, wherein the detection subject comprises:

[0015] An anti-interference component, the anti-interference component includes a shell one, a shell two and a hinge shaft, the shell one and the shell two are symmetrically distributed, the opposite sides of the shell one and the shell two are open, the tops of the shell one and the shell two are both installed with hinged ear plates, the hinged ear plates of the shell one and the shell two are connected by the hinge shaft and a torsion spring is arranged at the connection node, the opposite sides of the shell one and the shell two are provided with through openings, the size of the through openings is adapted to the outer diameter of the line, the opposite sides of the shell one and the shell two are fitted to form a detection space, the tops of the relatively distant sides of the shell one and the shell two are both installed with connecting rings, a vertical hollow rod is installed on the hinge shaft, the internal sliding cooperation of the vertical hollow rod is provided with a sliding block, the side is provided with a vertical guide groove, a guide block is installed in the vertical guide groove, the guide block is installed on the sliding block, the guide block and the connecting ring are connected by a connecting rope, a connecting rod is installed on the sliding block, a connecting rod is connected to a connecting head, and the connecting head and the connecting line are selectively connected;

[0016] The walking assembly includes a vertical rod and a limiting wheel. The top of the vertical rod is installed on the hinge shaft, and the bottom is installed with a mounting frame. The mounting frame is installed with a walking wheel and a driver that provides power to the walking wheel. The limiting wheel is provided with two groups, which are respectively arranged at the front and rear sides of the walking wheel. Each group of limiting wheels has two symmetrically distributed limiting wheels, and the limiting wheels are installed on the inner side of the corresponding shell;

[0017] The detection component includes an infrared temperature detection component and a voiceprint detection component, and the infrared temperature detection component and the voiceprint detection component are respectively fixedly installed on the inner side of the corresponding shell.

[0018] In the present application, a sound barrier piece is mounted at the through-hole, and the sound barrier piece is matched with the outer wall of the line on one side relative to the line, and a sound barrier maze is arranged between the sound barrier piece and the outer wall of the line, and the sound barrier maze includes sound barrier grooves evenly spaced along the thickness direction of the through-hole, and sound barrier pores are arranged on the inner wall of the sound barrier grooves.

[0019] In the present application scheme, the sound barrier component includes a card-mounted plate one and a card-mounted plate two, between which sound baffle plates one and two are installed alternately, the side of sound baffle plate one relative to the line is located on the inner side of the side of sound baffle plate two relative to the line, the side of sound baffle plate one located on the inner side of sound baffle plate two and the side of sound baffle plate two relative to the line are arranged to form a sound barrier groove, and the sound barrier holes are arranged on sound baffle plate one.

[0020] In the present application, the connector includes a main connector and a secondary connector. The main connector includes a connector 1 and a connector 2. One end of the connector 1 and the connector 2 are hingedly connected and a torsion spring is installed at the hinge node. The end of the connector 1 away from the hinge node is provided with a connector 1, and the end of the connector 2 away from the hinge node is provided with a connector 2.

[0021] The connecting rod is provided with a limiting groove 1 and a limiting groove 2, the connecting part 1 is adaptively connected to the limiting groove 1, and the connecting part 2 is adaptively connected to the limiting groove 2;

[0022] The limiting groove 1 and the connecting part 1 are both arc-shaped structures with the hinge node as the center and the length from the hinge node to the connecting part 1 as the radius, and the limiting groove 2 is an arc-shaped structure with the hinge node as the center and the length from the hinge node to the connecting part 2 as the radius;

[0023] The connecting sub-head is a U-shaped frame installed at the end of the connecting line away from the drone, and the U-shaped frame is used to selectively connect to the connecting head.

[0024] In the present application, a first protrusion is arranged in the first limiting groove, a first notch matching with the first protrusion is arranged on one side of the connecting part, a second protrusion is arranged in the second limiting groove, and a second notch matching with the second protrusion is arranged on the side of the second connecting part.

[0025] In the present application, the housing 1 and the housing 2 both include a front housing, a middle housing and a rear housing, the hinged ear plate is installed on the top of the middle housing, both ends of the middle housing are provided with ear plates 1 arranged perpendicular to the circuit, and the front housing and the rear housing are provided with ear plates 2 corresponding to the position of the ear plates 1 on one side close to the middle housing;

[0026] A horizontal mounting groove and a rotating groove are arranged on one side of ear plate one opposite to ear plate two, a rotating pin is installed in the horizontal mounting groove, the rotating pin is installed on ear plate two, a sliding pin and a spring one are installed in the rotating groove, the sliding pin is installed on ear plate two, the rotating groove includes a horizontal guide groove and an arc groove located on one side of the horizontal guide groove, the arc groove takes the side of the horizontal mounting groove away from the line as the center, and the distance between the sliding pin and the rotating pin as the radius.

[0027] In the present application, two sets of symmetrically distributed guide bodies 1 are arranged on the front side of the front housing, the guide bodies 1 are arranged obliquely inward, and the guide bodies 1 are arranged gradually close to the line along the movement direction;

[0028] Two groups of symmetrically distributed guide bodies 2 are arranged on the rear side of the rear shell body. The guide bodies 2 are arranged obliquely inwardly and gradually approach the line arrangement along the moving direction.

[0029] In the present application, the front shell and the rear shell both include an upper connecting part and a lower connecting part, which are slidably matched with each other, a dovetail vertical groove is provided on the inner wall of the upper connecting part, a spring 2 and a sliding plate are installed in the dovetail vertical groove, the sliding plate is fixedly installed on the lower connecting part, and the lower connecting part is flexibly connected to the upper connecting part through the sliding plate and spring 2.

[0030] In the present application, a clearance for obstacles to pass is reserved between the ear plate 1 and the ear plate 2 and the bottom of the front shell and the rear shell;

[0031] The bottoms of the front shell and the rear shell correspond to each other near one side and are adapted to each other.

[0032] An online non-stop power line inspection method, using an online non-stop power line inspection device, the inspection steps are as follows:

[0033] Step 1. Preparation

[0034] The connecting sub-head is moved down from the top of the connecting part 1 close to the connecting rod, the connecting sub-head acts on the top of the connecting part 1, the connecting part 1 rotates outward at the hinge node to separate from the connecting rod, and the connecting sub-head enters between the connecting part 1 and the connecting part 2;

[0035] Turn on the power of the drone, the drone drives the connecting sub-head upward through the connecting wire, the connecting rod moves upward and drives the connecting rope and the connecting ring upward, and cooperates with the internal running wheel and the gravity of the driver to overcome the torsion spring on the hinge shaft to expand the shell 1 and the shell 2 outward until the guide block moves to the top of the vertical guide groove, and the running wheel is exposed from the inside;

[0036] Step 2: Check if the main unit and the line are compatible

[0037] The drone flies the main load to the target area until the running wheels are at the top of the line. The drone slowly descends until the running wheels are on the line. Shells 1 and 2 will flip inwards at the first time under the action of the torsion spring, and the front and rear sets of limit wheels fit tightly on the line.

[0038] As the connecting sub-head continues to descend, the gravity of the connecting sub-head acts on the connecting part 2, and the connecting part 2 rotates outward with the hinge node as the rotation center. After the rotation, the connecting part 2 disengages from the limiting groove 2, and the connecting sub-head will be separated from the inside. The connecting part 2 will be re-fitted in the limiting groove 2 under the action of the torsion spring, and the drone will fly away with the connecting sub-head via the connecting line;

[0039] Step 3: Inspection along the route

[0040] The driver is turned on, driving the traveling wheel to inspect along the line to check whether there is any partial discharge sign on the line. If there is any partial discharge sign, it is transmitted to the terminal display device via wireless communication to mark the coordinate position of the line and alert the terminal operator or upload it to the background database. If there is no partial discharge sign, the inspection continues;

[0041] Step 4, Overcoming obstacles

[0042] When the detection body passes through the interphase spacer on the line, the driver continues to drive the walking wheel to move, and the guide body 1 on the front side of the front shell body will be hindered by the interphase spacer, and the front shell body is subjected to an outward force, and the front shell body expands outward until the rotating pin is on the side of the horizontal installation groove away from the line and the sliding pin enters the arc groove. As the hindering effect continues, the front shell body expands outwardly with the rotating pin as the rotation center to the exposed internal space, and the interphase spacer enters the interior of the front shell body. After the limiting wheel inside the front shell body completely passes through the interphase spacer, the limiting wheel is tightly fitted to the outside of the line under the action of the spring 1, and the torsion spring on the hinge shaft will not change during the period when the front shell body is expanded outward, and the spacing between the two ear plates 1 corresponding to the positions on both sides of the line is greater than the width of the interphase spacer and the line connection end;

[0043] When the running wheel moves to the interphase spacer, under the continuous driving of the driver, the running wheel will drive the upper connecting parts of the front shell and the rear shell to move upward relative to the lower connecting parts. After the running wheel passes the interphase spacer, the upper connecting part is reset under the combined action of the second spring and the gravity of the detection body, and the running wheel is re-seated on the line;

[0044] When the rear housing passes through the interphase spacer, the limiting wheel inside the rear housing will first pass through the interphase spacer and expand outward in the same manner as the front housing. The driver continues to drive the travel wheel to move, and the guide body 2 on the front side of the front housing will be hindered by the interphase spacer, and the rear housing will be expanded outward until the rear housing passes through the interphase spacer.

[0045] During the period when the detection subject crosses the obstacle, the detection component does not work;

[0046] Step 5: Re-adapt the drone to the detection subject

[0047] The drone flies the connecting sub-head to the final inspection position via the connecting line, and the drone drives the connecting sub-head to slowly descend, and the connecting sub-head re-acts on the connecting part 1 to enter between the connecting part 1 and the connecting part 2;

[0048] Step 6: Detect the separation of the main body and the line

[0049] The drone drives the connecting sub-head to fly upward, and the connecting sub-head drives the connecting rod, the sliding block, and the guide block upward. The guide block applies an oblique upward force to the connecting ring through the connecting rope. At the same time, the internal running wheel and the driver will overcome the torsion spring under the action of gravity to expand the shell 1 and the shell 2 outward, and the limiting wheels and lines inside the shell 1 and the shell 2 are separated, and the internal running wheels are exposed until the guide block is located at the top of the vertical guide groove;

[0050] As the drone drives the connecting sub-head to continue upward, the detection body detaches from the line and is taken away by the drone to the next target area or recovery point.

[0051] Compared with the prior art, the present invention has the following beneficial effects:

[0052] 1. The present invention adopts a split structure through shell one and shell two, and arranges the detection components inside the detection area surrounded by the two shells to perform closed detection along the way, thereby effectively isolating external noise. Since the internal noise source is single, the problem of noise interference can be effectively solved through a simple algorithm, thereby ensuring the detection accuracy and improving the detection accuracy of the patrol inspection.

[0053] 2. The present invention can selectively detach and adapt the drone from the detection subject, thereby realizing the transportation of the detection subject and the detection subject's targeted inspection of the line. The detection subject and the drone maintain a certain safe distance, reducing the electromagnetic interference of the line to the drone, especially for the inspection of complex circuit structures (overhead line end area). At the same time, because the drone and the detection subject can be selectively separated, the inspection resistance of the detection subject is reduced, which is convenient for the inspection operation.

[0054] 3. The present invention improves the shape of the shell so that it can pass through the interphase spacer position smoothly and unimpeded during the inspection process, thereby completing the continuous inspection of the inter-tower lines. The drone only needs to switch the detection subject between the inter-tower lines, thereby improving the drone's endurance inspection capability.

[0055] 4. The present invention carries out targeted noise reduction design for the line adapter port on the shell, utilizes multiple sound barrier panels to be spaced apart to form sound barrier grooves, and realizes efficient noise reduction processing through sound barrier mesopores between adjacent sound barrier grooves, thereby avoiding the introduction of noise at the connection between the line and the shell and ensuring the detection accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 This is the overall structure inspection working condition diagram of the present invention.

[0057] Figure 2 for Figure 1 The main view of the detected subject.

[0058] Figure 3 for Figure 2 A partial enlarged view of point A in the middle.

[0059] Figure 4 for Figure 2 Diagram of the internal structure of the detection subject.

[0060] Figure 5 for Figure 4 A partial enlarged view of point B in the middle.

[0061] Figure 6 for Figure 1 Side view of the detected subject.

[0062] Figure 7 This is a state diagram of the shell 1 and shell 2 in the detection body when they are unfolded.

[0063] Figure 8 This is a diagram of the internal structure of the shell in the detection body.

[0064] Fig. 9 This is a connection diagram of the connecting head and the connecting rod.

[0065] Fig.10 This is an exploded diagram of the connection relationship between the connector and the connecting rod.

[0066] Fig.11 This is the state diagram of the detection subject when crossing an obstacle.

[0067] Fig.12 for Fig.11 Distribution diagram of the internal structure of the middle front shell.

[0068] Fig.13 for Fig.12 A partial enlarged view of point C in the middle.

[0069] Fig.14 for Fig.11 Distribution diagram of the structures on the middle ear plate 1.

[0070] Fig.15 This is a diagram showing the position relationship between sound barriers and lines.

[0071] In the figure: 100, drone; 101, connecting line; 200, detection body; 201, shell 1; 202, shell 2; 2021, front shell; 2022, middle shell; 2023, rear shell; 2024, ear plate 1; 2025, ear plate 2; 2026, rotating pin; 2027, sliding pin; 2028, spring 1; 2029, guide body 1; 20210, guide body 2; 20211, upper connecting part; 20212, lower connecting part; 20213, sliding sheet; 20214, spring 2; 203, hinge shaft; 204, hinge ear plate; 205, connecting ring; 206, vertical hollow rod; 207, sliding block; 208, vertical guide groove; 209, guide block ; 210, connecting rope; 211, connecting rod; 2111, limiting groove one; 2112, limiting groove two; 212, connecting head; 2121, connecting main head; 2122, connecting sub-head; 21211, connecting body one; 21212, connecting body two; 21213, connecting part one; 21214, connecting part two; 213, vertical rod; 214, limiting wheel; 215, walking wheel; 216, mounting frame; 217, driver; 218, infrared temperature detection component; 219, voiceprint detection component; 220, sound barrier component; 2201, clamping plate one; 2202, clamping plate two; 2203, sound barrier board one; 2204, sound barrier board two; 2205, sound barrier mesopore; 2206, sound barrier groove. DETAILED DESCRIPTION

[0072] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0073] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0074] like Figure 1 As shown, an online non-stop power line inspection device includes a drone 100 and a detection body 200 connected to the drone 100 via a connecting line 101.

[0075] like Figures 2 to 15 As shown, the detection body 200 includes an anti-interference component, a walking component, and a detection component.

[0076] like Figures 2 to 8As shown, the anti-interference component includes a shell 1 201, a shell 202 and a hinge shaft 203. The shell 1 201 and the shell 2 202 are symmetrically distributed. The opposite sides of the shell 1 201 and the shell 2 202 are both open. The shell 1 201 and the shell 2 202 are both installed with hinged ear plates 204 on the top. The hinged ear plates 204 of the shell 1 201 and the shell 2 202 are connected by the hinge shaft 203 and a torsion spring is arranged at the connection node. The shell 1 201 and the shell 2 202 are provided with a through hole on the opposite side. The size of the through hole is adapted to the outer diameter of the line. The shell 1 201 and the shell 2 202 are fitted to form a detection space. The shell 1 201 and the shell 2 202 are connected to each other by the hinged ear plates 204. The tops of the two relatively distant sides 202 are both equipped with connecting rings 205, and a vertical hollow rod 206 is installed on the hinge shaft 203. The vertical hollow rod 206 is internally slidably matched with a sliding block 207, and a vertical guide groove 208 is provided on the side. A guide block 209 is installed in the vertical guide groove 208, and the guide block 209 is installed on the sliding block 207. The guide block 209 and the connecting ring 205 are connected by a connecting rope 210, and a connecting rod 211 is installed on the sliding block 207. The connecting rod 211 is connected to a connecting head 212, and the connecting head 212 and the connecting line 101 are selectively connected. The selectivity here is adjacent, which means that the two states of connection and separation can be selected independently.

[0077] like Figure 7 and Figure 8 As shown, the walking assembly includes a vertical rod 213 and a limiting wheel 214. The top of the vertical rod 213 is installed on the hinge shaft 203, and the bottom is installed with a mounting frame 216. The mounting frame 216 is installed with a walking wheel 215 and a driver 217 that provides power to the walking wheel 215. The limiting wheel 214 is provided with two groups, which are respectively arranged on the front and rear sides of the walking wheel 215. Each group of limiting wheels 214 has two symmetrically distributed ones, and the limiting wheels 214 are installed on the inner side of the corresponding shell.

[0078] like Figure 8 As shown, the detection component includes an infrared temperature measuring detection component 218 and a voiceprint detection component 219. The infrared temperature measuring detection component 218 and the voiceprint detection component 219 are respectively fixedly installed on the inner side of the corresponding shell. The infrared temperature measuring detection component 218 and the voiceprint detection component 219 are traditional technical means for detecting partial discharge, and are also equipped with a control system and a storage system for storing detection data. This detection method is a traditional detection means, so it will not be introduced in detail.

[0079] During implementation, the anti-interference component can be used to relatively close the detection area during the inspection, isolate external noise interference, especially environmental factors such as urban areas and high-altitude airflow, and improve the detection accuracy. The drone 100 can be used to fly the detection body 200 load to the target area detection line, and use the vertical guide groove 208, sliding block 207, guide block 209, connecting rope 210, torsion spring, etc. to cooperate with the gravity of the walking wheel 215 and the driver 216 (motor) to realize the inward wrapping of the shell 1 201 and the shell 2 202. The detection body remains vertical and will not be skewed, and the limiting wheel 214 inside the shell will fit tightly to the outside of the line to prevent the walking wheel 215 from running off the line. It is surrounded by a relatively closed detection space, and the detection components in the detection space are used to perform high-precision inspection operations on the line. Among them, the walking wheel 215 and the limiting wheel 214 are both silent wheels. The entire detection body has insulation against high voltage electricity.

[0080] In the inspection device, since the connection positions of the housing 1 201, the housing 2 202 and the outer wall of the line cannot be absolutely isolated, some sound sources will still enter the interior. In order to further reduce the interference of the external noise of the detection body 200 on the detection component, the specific design is as follows:

[0081] like Fig.15 As shown, a sound barrier piece 220 is clamped at the through-hole, and the sound barrier piece 220 is adapted to the outer wall of the line on one side relative to the line (leaving a certain amount of gap), and a sound barrier maze is arranged between the sound barrier piece 220 and the outer wall of the line, and the sound barrier maze includes sound barrier grooves 2206 evenly spaced along the thickness direction of the through-hole, and sound barrier mesospores 2205 are arranged on the inner walls of the sound barrier grooves 2206, and the sound barrier mesospores 2205 are used to connect adjacent sound barrier grooves 2206, and the noise enters the inside of the shell from the gap between the sound barrier piece 220 and the outer wall of the line, and during the entry process, it will be gradually attenuated by the sound barrier grooves 2206, and the sound barrier mesospores 2205 on the sides of the sound barrier grooves 2206 will be further attenuated, so that the attenuation efficiency is increased geometrically.

[0082] The acoustic barrier 220 includes a first card-mounting plate 2201 and a second card-mounting plate 2202, between which are installed an alternating acoustic barrier 1 2203 and a second acoustic barrier 2204, the side of the acoustic barrier 1 2203 opposite to the line is located inside the side of the acoustic barrier 2 2204 opposite to the line, the side of the acoustic barrier 1 2203 located inside the acoustic barrier 2 2204 and the side of the acoustic barrier 2 2204 opposite to the line are surrounded to form an acoustic barrier groove 2206, and an acoustic barrier mesopore 2205 is provided on the acoustic barrier 1 2203. The acoustic barrier 220 is card-mounted at the through-hole by using the first card-mounting plate 2201 and the second card-mounting plate 2202, and the external noise is gradually attenuated through the acoustic barrier groove and the acoustic barrier mesopore, so that the attenuation increases geometrically, thereby ensuring the detection accuracy of the internal detection component.

[0083] In the inspection device, in order to realize the function of selectively connecting the detection body 200 and the drone 100, the specific structure is designed as follows:

[0084] like Fig. 9 , Fig.10 As shown, the connecting head 212 includes a connecting main head 2121 and a connecting sub-head 2122, the connecting main head 2121 includes a connecting body 1 21211 and a connecting body 2 21212, one end of the connecting body 1 21211 and the connecting body 2 21212 are hingedly connected and a torsion spring is installed at the hinge node, the hinge angle is 90°, the end of the connecting body 1 21211 away from the hinge node is provided with a connecting part 1 21213, and the end of the connecting body 2 21212 away from the hinge node is provided with a connecting part 2 21214;

[0085] The connecting rod 211 is provided with a limiting groove 1 2111 and a limiting groove 2112, the connecting portion 1 21213 is adaptively connected to the limiting groove 1 2111, and the connecting portion 2 21214 is adaptively connected to the limiting groove 2112;

[0086] The limiting groove 1 2111 and the connecting portion 1 21213 are both arc-shaped structures with the hinge node as the center and the length from the hinge node to the connecting portion 1 21213 as the radius, and the limiting groove 2112 is an arc-shaped structure with the hinge node as the center and the length from the hinge node to the connecting portion 2 21214 as the radius;

[0087] The connecting sub-head 2122 is a U-shaped frame installed at the end of the connecting line 101 away from the drone 100. The U-shaped frame is used to selectively connect to the connecting head 212, and a camera is installed on the U-shaped frame. The camera is used to observe the connection between the connecting sub-head 2122 and the connecting rod 211, so as to facilitate selective adaptation and separation operations.

[0088] The limiting groove 1 2111 is provided with a protrusion 1, the side of the connecting part 1 21213 is provided with a notch 1 adapted to the protrusion 1, the limiting groove 2112 is provided with a protrusion 2, and the side of the connecting part 2 21214 is provided with a notch 2 adapted to the protrusion 2.

[0089] During implementation, without the action of external force, the main connection head 2121 and the connecting rod 211 are in a stable matching state, and the connecting sub-head 2122 is used to move downward from the connecting part 1 21211 close to the connecting rod 211. The connecting part 1 21211 is forced to flip outward with the hinge node as the rotation center and break away from the limiting groove 1 2111. The connecting sub-head 2122 smoothly enters between the connecting part 1 21211 and the connecting part 2 21212. The connecting part 1 21211 is under the action of the torsion spring. Re-engage in the limit groove 1 2111; realize the connection between the UAV 100 and the detection body 200; if the connecting sub-head 2122 moves downward, it will act on the connecting part 21212, so that the connecting part 21212 rotates with the hinge node as the center, and detaches from the inside of the limit groove 2112. After the connecting sub-head 2122 passes through the connecting part 21212, the connecting part 21212 is re-engaged in the limit groove 2112 under the action of the torsion spring.

[0090] In the inspection device, since the existing overhead lines are generally provided with interphase spacers, the detection subject 200 cannot consistently perform detection along the line, which requires the detection subject 200 to have an obstacle-crossing action, otherwise the detection subject 200 will require the drone 100 to complete the position switching between obstacles, and the operation process is complicated, which violates the original intention of the inventor's original design. The specific design structure is as follows:

[0091] like Figures 2 to 14 As shown, the housing 1 201 and the housing 2 202 both include a front housing 2021, a middle housing 2022 and a rear housing 2023, the hinged ear plate 204 is installed on the top of the middle housing 2022, both ends of the middle housing 2022 are provided with ear plates 1 2024 arranged perpendicular to the line, and the front housing 2021 and the rear housing 2023 are both provided with ear plates 2025 corresponding to the position of the ear plates 1 2024 on one side close to the middle housing 2022;

[0092] A horizontal mounting groove 20243 and a rotation groove are provided on one side of ear plate 2025 relative to ear plate 2025, a rotating pin 2026 is installed in the horizontal mounting groove 20243, the rotating pin 2026 is installed on ear plate 2025, a sliding pin 2027 and a spring 1 2028 are installed in the rotation groove, the sliding pin 2027 is installed on ear plate 2025, and the rotation groove includes a horizontal guide groove 20242 and an arc groove 20241 located on one side of the horizontal guide groove 20242, the arc groove 20241 takes the side of the horizontal mounting groove 20242 away from the line as the center, and the distance between the sliding pin 2027 and the rotating pin 2026 as the radius.

[0093] The front side of the front housing 2021 is provided with two sets of symmetrically distributed guide bodies 2029, the guide bodies 2029 are arranged obliquely inward, and the guide bodies 2029 are arranged gradually close to the line along the movement direction;

[0094] Two groups of symmetrically distributed guide bodies 20210 are arranged on the rear side of the rear shell 2023. The guide bodies 20210 are arranged obliquely inwardly, and the guide bodies 20210 are arranged gradually close to the line along the movement direction.

[0095] The front housing 2021 and the rear housing 2023 both include an upper connection part 20211 and a lower connection part 20212, the upper connection part 20211 and the lower connection part 20212 are slidably matched, a dovetail vertical groove is provided on the inner wall of the upper connection part 20211, a second spring 20214 and a sliding sheet 20213 are installed in the dovetail vertical groove, the sliding sheet 20213 is fixedly installed on the lower connection part 20212, and the lower connection part 20212 is flexibly connected to the upper connection part 20211 through the sliding sheet 20213 and the second spring 20214. Of course, the guide body 1 2029 and the guide body 2 20210 also adopt corresponding split structures to adapt to the relative movement of the upper and lower connection parts.

[0096] There is a clearance for obstacles to pass between the ear plate 1 2024 and the ear plate 2025 and the bottom of the front shell 2021 and the rear shell 2023;

[0097] The bottoms of the front housing 2021 and the rear housing 2023 are located at corresponding positions near one side and fit each other.

[0098] When the detection body 200 is inspecting along the line, the guide body 2029 will be affected by the resistance of the phase spacing rod and the line connection end, and the front shell 2021 will be expanded outward, and the sliding pin 2027 will enter the arc groove 20241 and the rotating pin 2026 will enter the side of the horizontal installation groove 20243 away from the line. As the obstruction continues, the sliding pin 2027 enters the arc groove 20241 to compress the internal spring 2028, and the front shell 2021 is turned outward and expanded, and at the same time, the limiting wheel 214 in the front shell 21 is separated from the line. At this time, since the limiting wheel 214 on the rear shell 2023 is tightly fitted on the line, the detection body 200 will not loosen from the line. As the driver 216 continues to drive the walking wheel 215 to move, the phase spacing rod enters the front shell 2021. When the walking wheel 215 moves to the phase spacing rod, the driver 216 continues to drive the walking wheel 215 to move. The walking wheel 215 is driven by the driver 216 until it passes through the phase spacing rod and is re-attached to the line. During this period, the walking wheel 215 will drive the upper connecting part 20211 to move upward relative to the lower connecting part 20212, and the limiting wheels 214 in the front shell 2021 and the rear shell 2023 are always tightly attached to the line surface to avoid detachment from the line, resulting in the detection body 200 being unable to continue to perform continuous inspection operations along the line; when the walking wheel 215 passes through the phase spacing rod, the guide body 2210 will turn the rear shell 2023 and the front shell 2021 outward in the same manner, and the detection body 200 enters the line between the next phase spacing rods for detection operations.

[0099] An online non-stop power line inspection method, using an online non-stop power line inspection device, the inspection steps are as follows:

[0100] Step 1. Preparation

[0101] The connecting sub-head 2122 is moved down from the top of the connecting part 1 21213 close to the connecting rod 211, and the connecting sub-head 2122 acts on the top of the connecting part 1 21213. The connecting part 1 21213 rotates outward at the hinge node to separate from the connecting rod 211, and the connecting sub-head 2122 enters between the connecting part 1 21213 and the connecting part 2 21214;

[0102] The power of the drone 100 is turned on, and the drone 100 drives the connecting sub-head 2122 upward through the connecting line 101, and the connecting rod 211 moves upward and drives the connecting rope 210 and the connecting ring 205 upward, and cooperates with the gravity of the internal running wheel 215 and the driver 217 to overcome the torsion spring on the hinge shaft 203 to expand the shell 1 201 and the shell 2 202 outward until the guide block 209 moves to the top of the vertical guide groove 208, and the running wheel 215 is exposed from the inside;

[0103] Step 2: Detect the compatibility of the main body 200 with the circuit

[0104] The drone 100 flies the detection body 200 to the target area until the running wheel 215 is at the top of the line. The drone 100 slowly descends with the detection body 200 until the running wheel 215 is located on the line. The housing 1 201 and the housing 2 202 will flip inward at the first time under the action of the torsion spring, and the front and rear sets of limiting wheels 214 are tightly attached to the line.

[0105] As the connecting sub-head 2122 continues to go down, the gravity of the connecting sub-head 2122 acts on the second connecting part 21214, and the second connecting part 21214 rotates outward with the hinge node as the rotation center. After the rotation, the second connecting part 21214 disengages from the second limiting groove 2112, and the connecting sub-head 2122 disengages from the inside. The second connecting part 21214 re-fits in the second limiting groove 2112 under the action of the torsion spring, and the drone 100 flies away with the connecting sub-head 2122 via the connecting line 101.

[0106] Step 3: Inspection along the route

[0107] The driver 217 is turned on, driving the walking wheel 215 to inspect along the line to check whether there is any partial discharge sign on the line. If there is any partial discharge sign, the coordinate position of the line is marked via wireless communication to the terminal display device and alert the terminal operator or upload to the background database. If there is no partial discharge sign, the inspection continues;

[0108] Step 4, Overcoming obstacles

[0109] When the detection body 200 passes through the interphase spacer bars on the line, the driver 217 continues to drive the walking wheel 215 to move, and the guide body 2029 on the front side of the front shell 2021 will be hindered by the interphase spacer bars. The front shell 2021 is subjected to an outward force, and the front shell 2021 expands outward until the rotating pin 2026 is on the side of the horizontal installation groove 20243 away from the line and the sliding pin 2028 enters the arc groove 20241. As the obstruction continues, the front shell 2021 is rotated with the rotating pin 2026 is the internal space of the exposed part that is expanded outward from the rotation center, and the interphase spacer rod enters the interior of the front housing 2021. After the limiting wheel 214 inside the front housing 2021 completely passes through the interphase spacer rod, the limiting wheel 214 is tightly fitted to the outside of the circuit under the action of the spring 2028, and the torsion spring on the hinge shaft 203 does not change during the period when the front housing 2021 is expanded outward, and the distance between the two ear plates 2024 corresponding to the positions on both sides of the circuit is greater than the width of the interphase spacer rod and the circuit connection end;

[0110] When the running wheel 215 moves to the interphase spacer, under the continuous driving of the driver 217, the running wheel 215 will drive the upper connecting part 20211 of the front housing 2021 and the rear housing 2023 to move upward relative to the lower connecting part 20212. After the running wheel 215 passes the interphase spacer, the upper connecting part 20211 is reset under the combined action of the spring 20214 and the gravity of the detection body 200, and the running wheel 215 is re-seated on the line;

[0111] When the rear housing 2023 passes through the interphase spacer bar, the limiting wheel 214 inside the rear housing 2023 will first pass through the interphase spacer bar and expand outward in unison with the front housing 2021, the driver 217 continues to drive the running wheel 215 to move, and the guide body 20210 on the front side of the front housing 2021 will be hindered by the interphase spacer bar, and the rear housing 2023 will be expanded outward until the rear housing 2023 passes through the interphase spacer bar;

[0112] During the obstacle crossing period of the detection subject 200, the detection component does not work;

[0113] Step 5: Re-adaptation of the drone 100 and the detection subject 200

[0114] The drone 100 flies the connecting sub-head 2122 to the final inspection position via the connecting line 101, and the drone 100 drives the connecting sub-head 2122 to slowly descend, and the connecting sub-head 2122 acts on the connecting part 1 21213 again to enter between the connecting part 1 21213 and the connecting part 2 21214;

[0115] Step 6: Separate the detection body 200 from the circuit

[0116] The drone 100 drives the connecting sub-head 2122 to fly upward, and the connecting sub-head 2122 drives the connecting rod 211, the sliding block 207, and the guide block 209 upward, and the guide block 209 applies an oblique upward force to the connecting ring 205 through the connecting rope 210. At the same time, the internal running wheels 215 and the driver 217 will overcome the torsion spring under the action of gravity to expand the shell 1 201 and the shell 2 202 outward, and the limiting wheels 214 and the lines inside the shell 1 201 and the shell 2 202 are separated, and the internal running wheels 215 are exposed until the guide block 209 is located at the top of the vertical guide groove 208;

[0117] As the drone 100 drives the connecting sub-head 2122 to continue to move upward, the detection body 200 is detached from the line and is carried away by the drone 100 to fly to the next target area or recovery point.

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

Claims

1. An online non-stop power line inspection device, comprising a drone (100) and a detection body (200) connected to the drone (100) via a connecting line (101), characterized in that: The detection subject (200) comprises: The anti-interference component comprises a shell 1 (201), a shell 2 (202) and a hinge shaft (203), the shell 1 (201) and the shell 2 (202) are symmetrically distributed, the opposite sides of the shell 1 (201) and the shell 2 (202) are both open, the tops of the shell 1 (201) and the shell 2 (202) are both installed with hinged ear plates (204), the hinged ear plates (204) of the shell 1 (201) and the shell 2 (202) are connected by the hinge shaft (203) and a torsion spring is arranged at the connection node, the opposite sides of the shell 1 (201) and the shell 2 (202) are provided with through openings, the size of the through openings is adapted to the outer diameter of the line, and the opposite sides of the shell 1 (201) and the shell 2 (202) are fitted to form a detection Space, shell 1 (201) and shell 2 (202) are both installed with connecting rings (205) at the top of the relatively far side, a vertical hollow rod (206) is installed on the hinge shaft (203), a sliding block (207) is slidably matched inside the vertical hollow rod (206), a vertical guide groove (208) is arranged on the side, a guide block (209) is installed in the vertical guide groove (208), the guide block (209) is installed on the sliding block (207), the guide block (209) and the connecting ring (205) are connected by a connecting rope (210), a connecting rod (211) is installed on the sliding block (207), a connecting head (212) is connected to the connecting rod (211), and the connecting head (212) and the connecting line (101) are selectively connected; A walking assembly, the walking assembly comprises a vertical rod (213) and a limiting wheel (214), the top of the vertical rod (213) is mounted on the hinge shaft (203), and the bottom is mounted with a mounting frame (216), a walking wheel (215) and a driver (217) for providing power to the walking wheel (215) are mounted on the mounting frame (216), and the limiting wheel (214) is provided with two groups, which are respectively arranged at the front side and the rear side of the walking wheel (215), and each group of limiting wheels (214) has two symmetrically distributed ones, and the limiting wheels (214) are mounted on the inner side of the corresponding shell; The detection component comprises an infrared temperature detection component (218) and a voiceprint detection component (219), wherein the infrared temperature detection component (218) and the voiceprint detection component (219) are respectively fixedly mounted on the inner side of the corresponding housing.

2. The on-line non-stop power line inspection device according to claim 1 is characterized in that: A sound barrier piece (220) is clamped at the through-hole, the sound barrier piece (220) is matched with the outer wall of the line on one side relative to the line, a sound barrier maze is arranged between the sound barrier piece (220) and the outer wall of the line, the sound barrier maze comprises sound barrier grooves (2206) distributed at equal intervals along the thickness direction of the through-hole, and sound barrier mesopores (2205) are arranged on the inner wall of the sound barrier grooves (2206).

3. The on-line non-stop power line inspection device according to claim 2 is characterized in that: The sound barrier component (220) includes a first card plate (2201) and a second card plate (2202), between which are installed alternately distributed sound barrier plates (2203) and second card plate (2204), the first card plate (2201) and the second card plate (2202), the first card plate (2203) is located on the inner side of the second card plate (2204) on the side opposite to the line, the side of the first card plate (2203) located on the inner side of the second card plate (2204) and the second card plate (2204) on the side opposite to the line are arranged to form a sound barrier groove (2206), and the sound barrier hole (2205) is arranged on the first card plate (2203).

4. The on-line non-stop power line inspection device according to claim 1 is characterized in that: The connecting head (212) comprises a connecting main head (2121) and a connecting sub-head (2122), the connecting main head (2121) comprises a connecting body 1 (21211) and a connecting body 2 (21212), one end of the connecting body 1 (21211) and the connecting body 2 (21212) are hingedly connected and a torsion spring is installed at the hinge node, the end of the connecting body 1 (21211) away from the hinge node is provided with a connecting part 1 (21213), and the end of the connecting body 2 (21212) away from the hinge node is provided with a connecting part 2 (21214); The connecting rod (211) is provided with a limiting groove 1 (2111) and a limiting groove 2 (2112); the connecting portion 1 (21213) and the limiting groove 1 (2111) are adaptively connected; and the connecting portion 2 (21214) and the limiting groove 2 (2112) are adaptively connected; The limiting groove 1 (2111) and the connecting portion 1 (21213) are both arc-shaped structures with the hinge node as the center and the length from the hinge node to the connecting portion 1 (21213) as the radius, and the limiting groove 2 (2112) is an arc-shaped structure with the hinge node as the center and the length from the hinge node to the connecting portion 2 (21214) as the radius; The connecting sub-head (2122) is a U-shaped frame installed at one end of the connecting line (101) away from the drone (100), and the U-shaped frame is used to be selectively connected to the connecting head (212).

5. The on-line non-stop power line inspection device according to claim 4 is characterized in that: The first limiting groove (2111) is provided with a protrusion one, the side of the first connecting part (21213) is provided with a notch one adapted to the first protrusion, the second limiting groove (2112) is provided with a protrusion two, and the side of the second connecting part (21214) is provided with a notch two adapted to the second protrusion.

6. The on-line non-stop power line inspection device according to claim 1 is characterized in that: The shell 1 (201) and the shell 2 (202) both include a front shell (2021), a middle shell (2022) and a rear shell (2023); the hinged ear plate (204) is installed on the top of the middle shell (2022); both ends of the middle shell (2022) are provided with ear plates 1 (2024) arranged perpendicular to the line; the front shell (2021) and the rear shell (2023) are both provided with ear plates 2 (2025) corresponding to the position of the ear plates 1 (2024) on one side close to the middle shell (2022); A horizontal installation groove (20243) and a rotation groove are arranged on one side of the ear plate 1 (2024) opposite to the ear plate 2 (2025); a rotation pin (2026) is installed in the horizontal installation groove (20243); the rotation pin (2026) is installed on the ear plate 2 (2025); a sliding pin (2027) and a spring 1 (2028) are installed in the rotation groove; the sliding pin (2027) is installed on the ear plate 2 (2025); the rotation groove comprises a horizontal guide groove (20242) and an arc groove (20241) located on one side of the horizontal guide groove (20242); the arc groove (20241 takes the side of the horizontal installation groove (20242) away from the line as the center and the distance between the sliding pin (2027) and the rotation pin (2026) as the radius.

7. The on-line non-stop power line inspection device according to claim 6 is characterized in that: The front side of the front housing (2021) is provided with two groups of symmetrically distributed guide bodies (2029), the guide bodies (2029) are arranged obliquely inwardly, and the guide bodies (2029) are arranged gradually closer to the line along the direction of movement; Two groups of symmetrically distributed guide bodies (20210) are arranged on the rear side of the rear shell (2023); the guide bodies (20210) are arranged obliquely inwardly, and the guide bodies (20210) are arranged gradually closer to the line along the direction of movement.

8. The on-line non-stop power line inspection device according to claim 6 is characterized in that: The front shell (2021) and the rear shell (2023) both include an upper connecting portion (20211) and a lower connecting portion (20212), the upper connecting portion (20211) and the lower connecting portion (20212) are slidably matched, a dovetail vertical groove is provided on the inner wall of the upper connecting portion (20211), a second spring (20214) and a sliding sheet (20213) are installed in the dovetail vertical groove, the sliding sheet (20213) is fixedly installed on the lower connecting portion (20212), and the lower connecting portion (20212) is flexibly connected to the upper connecting portion (20211) via the sliding sheet (20213) and the second spring (20214).

9. The on-line non-stop power line inspection device according to claim 6, characterized in that: A clearance for obstacles to pass is reserved between the ear plate 1 (2024) and the ear plate 2 (2025) and the bottom of the front shell (2021) and the rear shell (2023); The bottoms of the front housing (2021) and the rear housing (2023) are located close to one side and correspond to each other and fit together.

10. An online non-stop power line inspection method, characterized in that: Using the online non-stop power line inspection device as claimed in any one of claims 1 to 9, the inspection steps are as follows: Step 1. Preparation The connecting sub-head (2122) is moved downward from the top of the connecting part 1 (21213) close to the side of the connecting rod (211), the connecting sub-head (2122) acts on the top of the connecting part 1 (21213), the connecting part 1 (21213) rotates outward at the hinge node to detach from the connecting rod (211), and the connecting sub-head (2122) enters between the connecting part 1 (21213) and the connecting part 2 (21214); The power of the drone (100) is turned on, and the drone (100) drives the connecting sub-head (2122) upward via the connecting line (101), and the connecting rod (211) moves upward and drives the connecting rope (210) and the connecting ring (205) upward, and cooperates with the gravity of the internal running wheels (215) and the driver (217) to overcome the torsion spring on the hinge shaft (203) to expand the shell 1 (201) and the shell 2 (202) outward until the guide block (209) moves to the top of the vertical guide groove (208), and the running wheels (215) are exposed from the inside; Step 2: Detect the main body (200) and the line adapter The drone (100) flies the detection body (200) loaded with the load to the target area until the running wheels (215) are located at the top of the line, and the drone (100) loaded with the detection body (200) slowly descends until the running wheels (215) are located on the line, and the housing 1 (201) and the housing 2 (202) are immediately turned inward under the action of the torsion spring, and the front and rear sets of limiting wheels (214) are tightly attached to the line; As the connecting sub-head (2122) continues to move downward, the gravity of the connecting sub-head (2122) acts on the second connecting part (21214), and the second connecting part (21214) rotates outward with the hinge node as the rotation center. After the rotation, the second connecting part (21214) is separated from the second limiting groove (2112), and the connecting sub-head (2122) is separated from the inside. The second connecting part (21214) is re-fitted in the second limiting groove (2112) under the action of the torsion spring, and the drone (100) flies away with the connecting sub-head (2122) via the connecting line (101); Step 3: Inspection along the route The driver (217) is turned on to drive the walking wheel (215) to inspect along the line to check whether there is a partial discharge sign on the line. If there is a partial discharge sign, the coordinate position of the line at that location is marked by transmitting the partial discharge sign to the terminal display device via wireless communication and alerting the terminal operator or uploading to the background database. If there is no partial discharge sign, the inspection continues; Step 4, Overcoming obstacles When the detection body (200) passes through the interphase spacing rods on the line, the driver (217) continues to drive the walking wheel (215) to move, and the guide body (2029) on the front side of the front shell (2021) will be hindered by the interphase spacing rods. The front shell (2021) is subjected to an outward force, and the front shell (2021) is expanded outward until the rotating pin (2026) is on the side of the horizontal installation groove (20243) away from the line and the sliding pin (2028) enters the arc groove (20241). As the hindering effect continues, the front shell (2021) is moved in a The rotation pin (2026) is the rotation center that expands the exposed internal space outward, and the interphase spacing rod enters the interior of the front housing (2021). After the limiting wheel (214) inside the front housing (2021) completely passes through the interphase spacing rod, the limiting wheel (214) is tightly fitted to the outside of the circuit under the action of the spring 1 (2028), and the torsion spring on the hinge shaft (203) does not change during the period when the front housing (2021) is expanded outward, and the spacing between the two ear plates 1 (2024) corresponding to the positions on both sides of the circuit is greater than the width of the interphase spacing rod and the circuit connection end; When the running wheel (215) moves to the interphase spacing rod, under the continuous driving of the driver (217), the running wheel (215) drives the upper connecting part (20211) of the front housing (2021) and the rear housing (2023) to move upward relative to the lower connecting part (20212); after the running wheel (215) passes the interphase spacing rod, the upper connecting part (20211) is reset under the combined action of the spring 2 (20214) and the gravity of the detection body (200), and the running wheel (215) is re-seated on the line; When the rear housing (2023) passes through the interphase spacing rod, the limiting wheel (214) inside the rear housing (2023) will first pass through the interphase spacing rod and move outward in unison with the front housing (2021), the driver (217) will continue to drive the walking wheel (215) to move, and the guide body 2 (20210) on the front side of the front housing (2021) will be hindered by the interphase spacing rod, and the rear housing (2023) will be expanded outward until the rear housing (2023) passes through the interphase spacing rod; Step 5: Re-adaptation of the drone (100) and the detection subject (200) The drone (100) flies the connecting sub-head (2122) to the final inspection position via the connecting line (101), and the drone (100) drives the connecting sub-head (2122) to slowly descend, and the connecting sub-head (2122) acts on the connecting part 1 (21213) again to enter between the connecting part 1 (21213) and the connecting part 2 (21214); Step 6: Separate the detection body (200) from the circuit The drone (100) drives the connecting sub-head (2122) to fly upward, and the connecting sub-head (2122) drives the connecting rod (211), the sliding block (207), and the guide block (209) to move upward, and the guide block (209) applies an oblique upward force to the connecting ring (205) via the connecting rope (210), and at the same time, the internal running wheels (215) and the driver (217) overcome the torsion spring under the action of gravity to expand the housing 1 (201) and the housing 2 (202) outward, and the limiting wheels (214) and the lines inside the housing 1 (201) and the housing 2 (202) are separated, and the internal running wheels (215) are exposed until the guide block (209) is located at the top of the vertical guide groove (208); As the drone (100) drives the connecting sub-head (2122) to continue to move upward, the detection body (200) is detached from the line and is carried away by the drone (100) to fly to the next target area or recovery point.

Images