Power transmission line intelligent fault diagnosis system based on unmanned aerial vehicle

Abstract

The invention relates to the technical field of power transmission line fault diagnosis, in particular to an intelligent power transmission line fault diagnosis system based on an unmanned aerial vehicle, which comprises an unmanned aerial vehicle acquisition end, a ground analysis base station and a cloud server which are arranged in a mutual communication manner, and is characterized in that the unmanned aerial vehicle acquisition end carries a partial discharge sensor, a radar module and a visible light camera; the unmanned aerial vehicle acquisition end diagnoses an insulation damage point of the power transmission line through a partial discharge sensor; according to the invention, the abnormal discharge points on the surface of the power transmission line can be detected, so that the insulation damage point fault of the power transmission line can be diagnosed, and the abnormal discharge points can be verified in combination with the radar module and the visible light camera through the set analysis confirmation algorithm.

Description

Technical Field

[0001] The present invention relates to the technical field of transmission line fault diagnosis, and specifically to an intelligent fault diagnosis system for transmission lines based on unmanned aerial vehicles (UAVs). Background Art

[0002] In cities, most of the overhead transmission lines within 10 kV have been replaced with insulated wires, with insulating skins covering their surfaces. Since they have more contact opportunities with the public, using insulated wires can improve operation safety and reduce the risk of electric shock. Once the insulation of the transmission line is damaged and a discharge point appears, it will not only cause the metal in the transmission line to be corroded and oxidized, but also greatly increase the danger. Therefore, it is necessary to regularly diagnose the faults of the transmission line. In the prior art, a UAV is used to carry a partial discharge sensor to inspect and diagnose the transmission line. However, in actual applications, since the overhead transmission lines within 10 kV in cities are located within the city and there are many discharge devices in the city, within the detection range of the partial discharge sensor, it is easily interfered and misreported by other devices, affecting the diagnosis efficiency. Summary of the Invention

[0003] The purpose of the present invention is to provide an intelligent fault diagnosis system for transmission lines based on UAVs to solve the problems raised in the above background art.

[0004] To achieve the above purpose, the present invention provides the following technical solution: An intelligent fault diagnosis system for transmission lines based on UAVs, including a UAV acquisition end, a ground analysis base station, and a cloud server that communicate with each other. The UAV acquisition end is equipped with a partial discharge sensor, a radar module, and a visible light camera; The UAV acquisition end diagnoses the insulation breakage points of the transmission line through the partial discharge sensor; An analysis and confirmation algorithm is provided in the ground analysis base station. The UAV acquisition end transmits the detection data of the partial discharge sensor, the radar module, and the visible light camera to the ground analysis base station in real time; when the partial discharge sensor detects an insulation breakage point, the analysis and confirmation algorithm combines the radar module and the visible light camera to verify whether the insulation breakage point is on the transmission line; When it is verified that the insulation breakage point is on the transmission line, the ground analysis base station uploads the information of the insulation breakage point to the cloud server for recording.

[0005] An emergency treatment device is also installed on the UAV acquisition end. The UAV acquisition end can perform emergency treatment on the insulation breakage points on the transmission line through the emergency treatment device; the emergency treatment device includes a glue storage tank, a lower hook arm fixedly arranged with the glue storage tank, and a V-shaped rotating cover detachably installed on the lower hook arm; The V-shaped rotating cover is in the shape of a V-shaped plate, and semi-circular supporting eaves are respectively arranged on both sides of the V-shaped rotating cover. Through the support of the semi-circular supporting eaves, a gap can be generated between the power transmission line and the inner wall surface of the V-shaped rotating cover. A glue outlet groove is communicated and arranged below the glue storage tank, and insulating glue can be sprayed onto the surface of the power transmission line in the V-shaped rotating cover through the glue outlet groove.

[0006] The analysis and confirmation algorithm specifically includes: synchronizing the working states of the partial discharge sensor, the radar module, and the visible light camera; filtering the electrical signals collected by the partial discharge sensor to remove noise interference; preprocessing the images taken by the visible light camera to improve the clarity of the images and the accuracy of feature extraction; correcting and filtering the data measured by the radar module to remove errors and outliers, and constructing a three-dimensional space model.

[0007] Perform a preliminary positioning of the insulation damage point. According to the signal intensity and frequency characteristics detected by the partial discharge sensor, use the time difference positioning algorithm to preliminarily determine the position of the insulation damage point. The specific formula of the time difference positioning algorithm is as follows: Let be the distance from the insulation damage point to the th sensor, be the time when the signal arrives at the th sensor, be the signal propagation speed, then , for two sensors and , the time difference between them, then there is . By measuring the time differences of multiple sensors, establish a system of equations and solve for the position coordinates of the insulation damage point.

[0008] According to the position of the insulation damage point obtained by the preliminary positioning, find the corresponding area in the image taken by the visible light camera, and judge whether the insulation damage point is located on the identified power transmission line. If the distance between the insulation damage point and the power transmission line is within the set threshold range, it is considered that the insulation damage point may be located on the power transmission line; otherwise, it is considered that the insulation damage point is interference detection.

[0009] Then convert the position of the insulation damage point obtained by the preliminary positioning into the three-dimensional space model constructed by the radar. According to the position and shape information of the power transmission line measured by the radar, judge whether the insulation damage point is within the three-dimensional space range of the power transmission line. By calculating the distance from the insulation damage point to the center line of the power transmission line for judgment. If is less than the set threshold, it is considered that the insulation damage point may be located on the power transmission line; otherwise, it is considered that the insulation damage point is interference detection; The calculation formula is: , where is the insulation break point to a certain point on the transmission line vector, is the direction vector of the transmission line.

[0010] Combine the above results. If the insulation break point passes the verification of the radar module and the visible light camera at the same time, it is determined that the insulation break point is located on the transmission line, indicating that there is an insulation break on the transmission line. Record the position and discharge intensity information of the discharge point of the insulation break, and feedback the results to the cloud server.

[0011] A center of gravity extension arm is fixedly arranged on the V-shaped cover. A counterweight block is fixedly arranged on the center of gravity extension arm. Through the cooperation of the center of gravity extension arm and the counterweight block, when the V-shaped cover is released, the center of gravity drives the V-shaped cover to rotate, so that the V-shaped cover is in an inverted V shape; A locking unit is arranged on the V-shaped cover. The locking unit locks the V-shaped cover with the transmission line, so that the V-shaped cover can rotate around the axis direction of the transmission line.

[0012] The locking unit includes a limit card slot and a receiving groove opened on the V-shaped cover. A worm gear is rotatably arranged in the receiving groove. A limiting rotating rod is fixedly arranged on the worm gear. When the worm gear rotates, it can drive the limiting rotating rod to swing out of the receiving groove and snap into the limit card slot. An external meshing worm gear part is arranged on the worm gear. A driver is fixedly arranged on the surface of the V-shaped cover. The driver is used to drive the rotation of the worm gear part, so as to make the worm gear rotate.

[0013] A normally closed strip groove is opened at the bottom of the glue storage tank. The normally closed strip groove is communicated with the glue outlet groove. A normally closed elastic strip is arranged in the normally closed strip groove. A pressurized air pump is arranged on the surface of the glue storage tank. The pressurized air pump is used to input positive pressure gas into the glue storage tank.

[0014] A clamping edge cover is fixedly arranged on the lower hook arm. One side of the V-shaped cover is inserted into the clamping edge cover. A locking shaft is arranged in the clamping edge cover. The V-shaped cover and the lower hook arm are relatively locked by passing the locking shaft through the V-shaped cover. A telescopic controller for driving the telescopic movement of the locking shaft is arranged at the end of the locking shaft. When the locking shaft is pulled out of the V-shaped cover, the V-shaped cover and the lower hook arm are disassembled and separated.

[0015] Compared with the prior art, the beneficial effects of the present invention are: The intelligent fault diagnosis system for transmission lines based on drones of the present invention can detect the abnormal discharge points on the surface of transmission lines, thereby diagnosing the insulation breakage faults of transmission lines. And through the set analysis and confirmation algorithm, it can verify the abnormal discharge points in combination with the radar module and the visible light camera, confirm that the detected abnormal discharge points are the discharge points on the transmission lines, and can greatly reduce the influence of misinformation and false alarms generated by surrounding adjacent devices.

[0016] The intelligent fault diagnosis system for transmission lines of the present invention can, through the set emergency treatment device, perform emergency treatment on the insulation breakage when an abnormal discharge point of the transmission line insulation breakage is found, carry out insulation sealing glue to enhance insulation, and at the same time slow down the corrosion and oxidation of the exposed wire material. Through the cooperation of structures such as the set V-shaped cover, center of gravity extension arm and counterweight block, after the V-shaped cover is released, the V-shaped cover can automatically rotate and buckle on the insulation breakage point of the transmission line under gravity, not only making the glue liquid coverage more uniform, but also being able to cover the insulation breakage point against wind and rain through the V-shaped cover, slow down aging, and play an obvious marking role, facilitating observation and positioning during subsequent maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the intelligent fault diagnosis system for transmission lines based on drones of the present invention.

[0018] Figure 2 It is a schematic diagram of the emergency treatment device of the present invention.

[0019] Figure 3 It is another perspective schematic diagram of the emergency treatment device of the present invention.

[0020] Figure 4 It is a schematic diagram of the limiting rotating rod part of the emergency treatment device of the present invention.

[0021] Figure 5 It is the front view of the emergency treatment device of the present invention.

[0022] Figure 6 It is a three-dimensional semi-sectional view of the emergency treatment device of the present invention.

[0023] In the figure: 1. Glue liquid storage tank; 2. Lower hook arm; 3. V-shaped cover; 4. Semi-circular supporting eaves; 5. Glue outlet groove; 6. Center of gravity extension arm; 7. Counterweight block; 301. Limit card slot; 302. Accommodation groove; 303. Worm gear; 304. Limiting rotating rod; 305. Worm part; 306. Driver; 101. Normally closed strip groove; 102. Normally closed elastic strip; 103. Pressurized air pump; 201. Clamping side cover; 202. Locking shaft; 203. Telescopic controller. DETAILED DESCRIPTION OF THE INVENTION

[0024] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0025] Please refer to Figures 1 to 6 , the present invention provides a technical solution: an intelligent fault diagnosis system for transmission lines based on unmanned aerial vehicles (UAVs). As Figure 1 shown in, it includes a UAV acquisition end, a ground analysis base station, and a cloud server that are communicatively arranged with each other. The communication between the UAV acquisition end, the ground analysis base station, and the cloud server can adopt 5G communication technology, which will not be elaborated here. The UAV acquisition end is equipped with a partial discharge sensor, a radar module, and a visible light camera; the UAV acquisition end diagnoses the insulation breakage points of the transmission line through the partial discharge sensor; the partial discharge sensor can specifically adopt an ultra-high frequency sensor (UHF), which can detect weak partial discharge signals and can effectively identify the ultra-high frequency electromagnetic wave signals generated by the insulation breakage of the transmission line.

[0026] The ground analysis base station includes a processor module, a storage module, a cache module, and a communication module. An analysis and confirmation algorithm is provided in the ground analysis base station. The UAV acquisition end transmits the detection data of the partial discharge sensor, the radar module, and the visible light camera to the ground analysis base station in real time; when the partial discharge sensor detects an insulation breakage point, the analysis and confirmation algorithm combines the radar module and the visible light camera to verify whether the insulation breakage point is on the transmission line; When it is verified that the insulation breakage point is on the transmission line, the ground analysis base station uploads the insulation breakage point information to the cloud server for recording.

[0027] An emergency treatment device is also installed on the UAV acquisition end. Through the emergency treatment device, the UAV acquisition end can perform emergency treatment on the insulation breakage points on the transmission line; the emergency treatment device includes a glue storage tank 1, a lower hook arm 2 fixedly arranged with the glue storage tank 1, and a V-shaped rotary cover 3 detachably installed with the lower hook arm 2; the glue storage tank 1 is filled with glue with insulating properties. For example, one-component silicone glue has good insulating performance and cures by absorbing moisture in the air. The siloxane polymer inside it undergoes a hydrolysis reaction with the moisture in the air to generate silanol groups, and further polycondensation reactions occur between the silanol groups to form a cross-linked siloxane network structure, thereby gradually curing the glue.

[0028] The V-shaped rotating cover 3 is in the shape of a V-shaped plate. Semi-circular supporting eaves 4 are respectively arranged on both sides of the V-shaped rotating cover 3. Through the support of the semi-circular supporting eaves 4, a gap can be generated between the power transmission line and the inner wall surface of the V-shaped rotating cover 3. A glue outlet groove 5 is communicated and arranged below the glue storage tank 1. Through the glue outlet groove 5, insulating glue can be sprayed onto the surface of the power transmission line in the V-shaped rotating cover 3.

[0029] The analysis and confirmation algorithm specifically includes: synchronizing the working states of the partial discharge sensor, the radar module, and the visible light camera; performing filtering processing on the electrical signals collected by the partial discharge sensor to remove noise interference; preprocessing the images captured by the visible light camera to improve the clarity of the images and the accuracy of feature extraction; correcting and filtering the data measured by the radar module to remove errors and outliers, and constructing a three-dimensional space model.

[0030] Perform a preliminary positioning of the insulation break point. According to the signal intensity and frequency characteristics detected by the partial discharge sensor, use the time difference positioning algorithm to preliminarily determine the position of the insulation break point. A plurality of sensors are carried on the unmanned aerial vehicle. By measuring the time difference of the partial discharge signal reaching different sensors, combined with the position and attitude information of the unmanned aerial vehicle, calculate the position of the partial discharge source. The specific formula of the time difference positioning algorithm is as follows: Let be the distance from the insulation break point to the th sensor, be the time when the signal reaches the th sensor, be the signal propagation speed, then , for two sensors and , the time difference between them, then there is . By measuring the time differences of multiple sensors, establish a system of equations, and solve the position coordinates of the insulation break point. In the time difference positioning algorithm, multiple sensors are used to measure the time when the partial discharge signal reaches different sensors, and calculate the position of the discharge point through the time difference. Here, the sensor is another sensor except the sensor , and is used to cooperate with the sensor to calculate the time difference.

[0031] Based on the position of the insulation break point obtained from the preliminary positioning, find the corresponding area in the image captured by the visible light camera, and determine whether the insulation break point is located on the identified transmission line. Image recognition algorithms can be used to identify the transmission line in the image, such as the object detection algorithm YOLO based on deep learning, etc. Since these are publicly available means in the technical field, they will not be elaborated here. If the distance between the insulation break point and the transmission line is within the set threshold range, it is considered that the insulation break point may be located on the transmission line; otherwise, it is considered that the insulation break point is interference detection.

[0032] Then, convert the position of the insulation break point obtained from the preliminary positioning into the three-dimensional space model constructed by the radar. According to the position and shape information of the transmission line measured by the radar, determine whether the insulation break point is within the three-dimensional space range of the transmission line by calculating the distance from the insulation break point to the center line of the transmission line. For judgment, if it is less than the set threshold, it is considered that the insulation break point may be located on the transmission line; otherwise, it is considered that the insulation break point is interference detection; The calculation formula is: where is the insulation break point to a certain point on the transmission line is the direction vector of the transmission line.

[0033] Combine the above results. If the insulation break point passes the verification of both the radar module and the visible light camera, it is determined that the insulation break point is located on the transmission line, indicating that there is an insulation break in the transmission line. Record the position and discharge intensity information of the discharge point of the insulation break, and feedback the results to the cloud server.

[0034] A centroid extension arm 6 is fixedly arranged on the V-shaped cover 3, and a counterweight 7 is fixedly arranged on the centroid extension arm 6. Through the cooperation of the centroid extension arm 6 and the counterweight 7, when the V-shaped cover 3 is released, the centroid drives the V-shaped cover 3 to rotate, making the V-shaped cover 3 in an inverted V shape; A locking unit is arranged on the V-shaped cover 3, and the locking unit locks the V-shaped cover 3 with the transmission line, enabling the V-shaped cover 3 to rotate around the axis direction of the transmission line.

[0035] The locking unit includes a limit card slot 301 and a receiving slot 302 formed in the V-shaped rotating cover 3. A worm gear 303 is rotatably arranged in the receiving slot 302, and a limiting rod 304 is fixedly arranged on the worm gear 303. When the worm gear 303 rotates, it can drive the limiting rod 304 to swing out of the receiving slot 302 and snap into the limit card slot 301. A worm part 305 is externally engaged with the worm gear 303, and a driver 306 is fixedly arranged on the surface of the V-shaped rotating cover 3. The driver 306 is used to drive the worm part 305 to rotate, thereby causing the worm gear 303 to rotate. The power supply of the driver 306 is realized through the elastic contact between the V-shaped rotating cover 3 and the lower hook arm 2.

[0036] A normally closed strip slot 101 is formed at the bottom of the glue storage tank 1. The normally closed strip slot 101 is communicated with the glue outlet slot 5. A normally closed elastic strip 102 is arranged in the normally closed strip slot 101, and a pressurized air pump 103 is arranged on the surface of the glue storage tank 1. The pressurized air pump 103 is used to input positive pressure gas into the glue storage tank 1.

[0037] A clamping edge cover 201 is fixedly arranged on the lower hook arm 2. One side of the V-shaped rotating cover 3 is inserted into the clamping edge cover 201. A locking shaft 202 is arranged in the clamping edge cover 201. The V-shaped rotating cover 3 and the lower hook arm 2 are relatively locked by passing the locking shaft 202 through the V-shaped rotating cover 3. A telescopic controller 203 for driving the locking shaft 202 to telescopically move is arranged at the end of the locking shaft 202. When the locking shaft 202 is pulled out from the V-shaped rotating cover 3, the V-shaped rotating cover 3 and the lower hook arm 2 are disassembled and separated.

[0038] When in use, the emergency treatment device in the present invention is installed below the unmanned aerial vehicle. When an insulation break point of the transmission line is found and emergency treatment is required, the unmanned aerial vehicle is controlled to move so that the V-shaped rotating cover 3 hooks on the transmission line, as shown in Figure 2 and Figure 3 , the insulation break point is between the two semi-circular arc supporting eaves 4 on both sides.

[0039] The pressurized air pump 103 is controlled to operate, and compressed gas is input into the glue storage tank 1. Driven by the compressed gas, the glue in the glue storage tank 1 squeezes and pushes open the normally closed elastic strip 102, and sprays down through the glue outlet slot 5 to perform glue coating treatment on the transmission line inside the V-shaped rotating cover 3 between the two semi-circular arc supporting eaves 4 on both sides. Supported by the semi-circular arc supporting eaves 4, there is a gap between the lower surface of the transmission line and the V-shaped rotating cover 3, and the glue can enter the gap and fully cover the lower surface of the transmission line.

[0040] Then, control the driver 306 to operate so that the worm part 305 rotates, driving the worm wheel 303 to rotate, causing the limiting rotating rod 304 to rotate by ninety degrees, and the free end is stuck in the limiting card slot 301. At this time, the transmission line is limited by the limiting rotating rod 304. Control the locking shaft 202 to retract, so that the V-shaped cover 3 is unlocked and released. At this time, the UAV can evacuate; under the adjustment of the center of gravity of the center of gravity extension arm 6 and the counterweight 7, the V-shaped cover 3 will rotate by one hundred and eighty degrees, so that the V-shaped cover 3 is in an inverted state. At this time, not only can the glue be further spread evenly, but also the V-shaped cover 3 is buckled at the insulation damage point to cover the insulation damage point from wind and rain, slow down aging, and play an obvious marking role.

[0041] Although the embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent fault diagnosis system for power transmission lines based on drones, comprising a drone collection terminal, a ground analysis base station and a cloud server that are arranged to communicate with each other, characterized in that: The drone collection terminal is equipped with a partial discharge sensor, a radar module and a visible light camera; The drone collection terminal diagnoses insulation damage points of the transmission line through a partial discharge sensor; The ground analysis base station is provided with an analysis confirmation algorithm, and the drone collection end transmits the detection data of the local discharge sensor, radar module and visible light camera back to the ground analysis base station in real time; when the local discharge sensor detects the insulation damage point, the analysis confirmation algorithm combines the radar module and the visible light camera to verify whether the insulation damage point is on the transmission line; When the insulation damage point of the transmission line is verified and confirmed, the ground analysis base station uploads the insulation damage point information to the cloud server for recording.

2. According to claim 1, a UAV-based power transmission line intelligent fault diagnosis system is characterized by: The drone collection end is also equipped with an emergency processing device, through which the drone collection end can perform emergency processing on insulation damage points on the transmission line; the emergency processing device includes a glue storage box, a lower hook arm fixedly arranged with the glue storage box, and a V-shaped rotating cover detachably mounted with the lower hook arm; The V-shaped rotating cover is in the shape of a V-shaped plate, and semi-arc supporting eaves are respectively arranged on both sides of the V-shaped rotating cover. The transmission line is supported by the semi-arc supporting eaves, and a gap can be generated between the transmission line and the inner wall surface of the V-shaped rotating cover. A glue outlet groove is arranged below the glue storage box, and insulating glue can be sprayed onto the surface of the transmission line in the V-shaped rotating cover through the glue outlet groove.

3. The intelligent fault diagnosis system for power transmission lines based on drones according to claim 1 is characterized in that: The analysis and confirmation algorithm specifically includes: synchronizing the working status of the partial discharge sensor, the radar module and the visible light camera; filtering the electrical signal collected by the partial discharge sensor to remove noise interference; preprocessing the image taken by the visible light camera to improve the image clarity and the accuracy of feature extraction; correcting and filtering the data measured by the radar module to remove errors and outliers and construct a three-dimensional space model.

4. The intelligent fault diagnosis system for power transmission lines based on drones according to claim 3 is characterized in that: Perform preliminary positioning of the insulation damage point. According to the signal strength and frequency characteristics detected by the partial discharge sensor, a time difference positioning algorithm is used to preliminarily determine the location of the insulation damage point. The specific formula of the time difference positioning algorithm is as follows: set up From the insulation damage point to the The distance of the sensor, For the signal to arrive at The time of each sensor, is the signal propagation speed, then , for two sensors and , the time difference between them , then , through the time difference measurement of multiple sensors, establish a set of equations to solve the location coordinates of the insulation damage point .

5. The intelligent fault diagnosis system for power transmission lines based on unmanned aerial vehicles according to claim 4 is characterized in that: According to the location of the insulation damage point obtained by preliminary positioning, the corresponding area is found in the image taken by the visible light camera to determine whether the insulation damage point is located on the identified transmission line. If the distance between the insulation damage point and the transmission line is within the set threshold range, it is considered that the insulation damage point may be located on the transmission line; otherwise, the insulation damage point is considered to interfere with the detection.

6. The intelligent fault diagnosis system for power transmission lines based on drones according to claim 5 is characterized by: The location of the insulation damage point obtained by the preliminary positioning is then converted into the three-dimensional space model constructed by the radar. According to the location and shape information of the transmission line measured by the radar, it is determined whether the insulation damage point is within the three-dimensional space of the transmission line. The distance from the insulation damage point to the center line of the transmission line is calculated. Make a judgment, if If it is less than the set threshold, it is considered that the insulation damage point may be located on the transmission line, otherwise, it is considered that the insulation damage point is interfering with the detection; The calculation formula is: ,in Insulation damage point To a point on the transmission line The vector of is the direction vector of the transmission line.

7. The intelligent fault diagnosis system for power transmission lines based on drones according to claim 6 is characterized in that: Combining the above results, if the insulation damage point is verified by both the radar module and the visible light camera, it is determined that the insulation damage point is located on the transmission line, indicating that there is insulation damage in the transmission line. The location and discharge intensity information of the insulation damage discharge point are recorded, and the results are fed back to the cloud server.

8. The intelligent fault diagnosis system for power transmission lines based on drones according to claim 2 is characterized in that: A gravity center extension arm is fixedly provided on the V-shaped rotating cover, and a counterweight block is fixedly provided on the gravity center extension arm. Through the cooperation between the gravity center extension arm and the counterweight block, when the V-shaped rotating cover is released, the gravity center drives the V-shaped rotating cover to rotate, so that the V-shaped rotating cover is in an inverted V shape; The V-shaped rotating cover is provided with a locking unit, and the locking unit locks the V-shaped rotating cover with the power transmission line, so that the V-shaped rotating cover can rotate around the axis direction of the power transmission line.

9. The intelligent fault diagnosis system for power transmission lines based on drones according to claim 8 is characterized in that: The locking unit includes a limiting slot and a receiving slot on the V-shaped rotating cover, a worm wheel is rotatably arranged in the receiving slot, and a limiting rotating rod is fixedly arranged on the worm wheel. When the worm wheel rotates, the limiting rotating rod can be driven to swing out of the receiving slot and snap into the limiting slot. A worm part is meshedly arranged on the outside of the worm wheel, and a driver is fixedly arranged on the surface of the V-shaped rotating cover. The driver is used to drive the worm part to rotate, thereby causing the worm wheel to rotate.

10. The intelligent fault diagnosis system for power transmission lines based on drones according to claim 2 is characterized in that: A normally closed groove is provided at the bottom of the glue storage box, the normally closed groove is connected to the glue outlet groove, a normally closed elastic bar is provided in the normally closed groove, and a pressurized air pump is provided on the surface of the glue storage box, and the pressurized air pump is used to input positive pressure gas into the glue storage box.

11. The intelligent fault diagnosis system for power transmission lines based on drones according to claim 2, characterized in that: A clamping cover is fixedly provided on the lower hook arm, one side of the V-shaped rotating cover is inserted in the clamping cover, a locking shaft is provided in the clamping cover, the locking shaft passes through the V-shaped rotating cover so that the V-shaped rotating cover and the lower hook arm are relatively locked, and a telescopic controller for driving the telescopic movement of the locking shaft is provided at the end of the locking shaft, and when the locking shaft is pulled out of the V-shaped rotating cover, the V-shaped rotating cover and the lower hook arm are disassembled and separated.

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