X-ray detection system and method for six-split and eight-split power transmission lines

Abstract

According to the X-ray detection system and method for the six-split and eight-split power transmission lines, a three-dimensional point cloud modeling system obtains point cloud data of the power transmission lines and the environment where the power transmission lines are located through a laser sensor carried by an unmanned aerial vehicle, a point cloud model is established through a ground control station, and a detection task sequence is generated; according to the point cloud model and the detection task, the unmanned aerial vehicle auxiliary hoisting system utilizes an unmanned aerial vehicle to carry an X-ray detection robot to run to a designated position of the wire and is in butt joint with the wire; the X-ray detection robot comprises a hoisting mechanism, a walking mechanism, a lifting mechanism and a detection module, the detection module is provided with an X-ray emission source driven by a mechanical arm and an image acquisition device, and the X-ray emission source faces the X-ray detector and is used for acquiring an X-ray image and a real object image of the same crimping pipe and sending the X-ray image and the real object image to the intelligent ground control station; and the intelligent ground control station receives data returned by the unmanned aerial vehicle and the X-ray detection robot and outputs a detection result. And the detection precision of the robot in a complex environment is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of power detection equipment, and specifically to an X-ray detection system and method for six-split and eight-split transmission lines. Background Technique

[0002] The statements in this part only provide background technical information related to the present invention and do not necessarily constitute prior art.

[0003] Currently, the detection of compression sleeves in transmission lines mostly adopts manual or semi-automatic methods, with low efficiency and high risks. It is difficult for manual operation of detection equipment to accurately align with the compression sleeve, resulting in blurred images, missed detections, and excessive detection errors. In addition, the detection efficiency is low, and it takes 4 - 6 hours to detect a single-base iron tower, which cannot meet the large-scale detection requirements of UHV lines. Moreover, it relies on manual experience in aspects such as equipment operation, data acquisition, and defect judgment, with low automation.

[0004] Multi-split conductors are a common layout method in transmission lines. Their complex structure increases the detection difficulty, making it difficult for traditional methods to adapt. In addition, existing X-ray detection robots are mostly suitable for single-conductor working conditions, with insufficient adaptability to multi-split conductors, lacking efficient automatic control devices and systems, and it is difficult to achieve fast and accurate detection of multi-split conductors. Summary of the Invention

[0005] In order to solve the technical problems existing in the above background technique, the present invention innovatively developed an X-ray detection system for six-split and eight-split transmission lines. By integrating advanced automation technologies, precise X-ray detection means, and efficient data processing algorithms, it realizes full-process automated operation from pre-detection preparation to the completion of detection, greatly improving the detection efficiency and accuracy, and laying a solid foundation for the safe and stable operation of the power system. Specifically, the robot is lifted onto the line using a drone, and three-dimensional point cloud technology is used for flight path planning, tower type and conductor split condition recognition, compression sleeve and robot positioning, and then the robot can walk autonomously, adjust its posture, and precisely control the X-ray detection equipment to complete efficient and accurate detection of multi-split conductors. Through intelligent control and optimized design, the adaptability and detection accuracy of the robot in complex environments are improved.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] The first aspect of the present invention provides an X-ray detection system for six-split and eight-split transmission lines, including:

[0008] A three-dimensional point cloud modeling system, which uses a laser sensor carried by a drone to obtain point cloud data of the transmission line and the surrounding environment. The obtained point cloud data is used by a ground control station to establish a point cloud model containing map information and the position of the compression sleeve and generate a detection task sequence;

[0009] An unmanned aerial vehicle (UAV)-assisted hoisting system, according to a point cloud model and a detection task, uses a UAV to carry an X-ray detection robot to dock with a wire.

[0010] The X-ray detection robot includes a hoisting mechanism, a traveling mechanism, a lifting mechanism, and a detection module. The detection module has an X-ray emitter and an image acquisition device driven by a robotic arm. The X-ray emitter faces an X-ray detector and is used to obtain X-ray images and physical images of the same compression joint and send them to an intelligent ground control station.

[0011] The intelligent ground control station sends instructions to the UAV and the X-ray detection robot, receives data returned from the UAV and the X-ray detection robot, and outputs a detection result.

[0012] As a further limitation of the first aspect of the present invention, in the three-dimensional point cloud modeling system, a UAV carrying a laser sensor is used in advance to obtain point cloud data of a transmission line and its surrounding environment and send it to the intelligent ground control station. The intelligent ground control station constructs a point cloud model containing detection environment map information based on the received point cloud data, marks the position of the compression joint to be measured, and generates a detection task sequence containing the position, height, obstacle information of the compression joint, and a flight route.

[0013] As a further limitation of the first aspect of the present invention, the traveling mechanism includes traveling wheels driven by a driving unit. During detection, the traveling wheels are located on a sub-wire at a set height position in a multi-split transmission line.

[0014] As a further limitation of the first aspect of the present invention, a clamping mechanism is provided on the traveling mechanism for clamping the wire to fix the relative position between the X-ray detection robot and the wire.

[0015] As a further limitation of the first aspect of the present invention, the lifting mechanism is located in the space below the traveling mechanism and is used to change the height of the detection module so that the detection module reaches the detection position.

[0016] As a further limitation of the first aspect of the present invention, an X-ray machine is provided on the detection module. The X-ray machine has an X-ray emitter, and the housing of the X-ray is connected to the base of the robotic arm.

[0017] As a further limitation of the first aspect of the present invention, the image acquisition device includes a first image acquisition device and a second image acquisition device. The first image acquisition device and the X-ray detector are commonly connected to a mounting plate, and the mounting plate is movably connected to the lower bottom surface of the traveling mechanism.

[0018] As a further limitation of the first aspect of the present invention, the second image acquisition device and the X-ray emitter are connected to the end of the robotic arm.

[0019] As a further limitation of the first aspect of the present invention, the X-ray emission source and the second image acquisition device move synchronously and always face the X-ray detector and the first image acquisition device.

[0020] As a further limitation of the first aspect of the present invention, the X-rays emitted by the X-ray emission source pass through the compression joint on the wire under test and are received by the X-ray detector. The X-ray detector converts the intensity distribution of the X-rays into a visible image to obtain an X-ray detection image; the second image acquisition device acquires a physical image of the compression joint under test at the same position as the X-ray emission source.

[0021] As a further limitation of the first aspect of the present invention, the first image acquisition device acquires a physical image of the compression joint under test at a position opposite to that of the second image acquisition device.

[0022] As a further limitation of the first aspect of the present invention, the X-ray emission source and the second image acquisition device move synchronously driven by a robotic arm, and the X-ray detector and the first image acquisition device move synchronously driven by a mounting plate.

[0023] The second aspect of the present invention provides an X-ray detection method for six-split and eight-split transmission lines, including the following steps:

[0024] Pre-scanning modeling sub-process, specifically: After the drone is ready, it flies along the channel where the transmission line is located. During the flight, it acquires the point cloud data of the transmission channel and the surrounding environment and sends it to the intelligent ground control station. The intelligent ground control station constructs a point cloud model containing the detection environment map information based on the received point cloud data, and generates a detection task sequence including the position, height, obstacle information of the compression joint and the flight route;

[0025] Robot hoisting sub-process, specifically: The drone carries the X-ray detection robot according to the point cloud model and the detection task, flies to the designated position. After the clamping mechanism of the X-ray detection robot acts to connect with the wire, the drone disconnects from the X-ray detection robot;

[0026] Robot autonomous detection sub-process, specifically: The X-ray detection robot adjusts the action distance of the lifting mechanism and the position and angle of the X-ray emission source according to the compression joint attitude information and the point cloud model. The X-ray detector receives the intensity change of the X-rays to obtain a detection image, and the image acquisition device acquires a physical image at the same position; successively detect the subsequent compression joints, send the obtained detection image and the physical image to the intelligent ground control station, and after all the compression joints on the wire under test are detected, feedback the task information to the intelligent ground control station;

[0027] Robot intelligent recovery sub-process, specifically: The drone docks with the X-ray detection robot according to the updated route, the clamping mechanism of the X-ray detection robot loosens, and the drone carries the X-ray detection robot back.

[0028] As a further limitation of the second aspect of the present invention, the pre-scanning modeling sub-process includes the following steps:

[0029] After the drone is debugged, it flies along the channel where the transmission line is located, and during the flight, it uses the carried laser sensor device to collect the point cloud data of the transmission channel and the surrounding environment, and sends it to the intelligent ground control station;

[0030] The intelligent ground control station constructs a point cloud model containing the detected environmental map information, the position information of the wire compression joint to be measured, and the time information according to the received point cloud data, and generates a detection task sequence containing the position, height, obstacle information of the compression joint, and the flight route;

[0031] As a further limitation of the second aspect of the present invention, the robot hoisting sub-process includes the following steps:

[0032] Assemble the drone and the X-ray detection robot and debug;

[0033] According to the point cloud model and the detection task, use the drone to carry the X-ray detection robot to fly to the designated position. The drone descends. After the walking mechanism of the X-ray detection robot touches the wire and the clamping mechanism acts to connect with the wire, the drone disconnects from the X-ray detection robot;

[0034] If the drone does not reach the designated position when descending, the X-ray detection robot uses the walking mechanism to run to the position of the compression joint, and the clamping mechanism acts to connect with the wire.

[0035] As a further limitation of the second aspect of the present invention, the robot autonomous detection sub-process includes the following steps:

[0036] The clamping mechanism of the X-ray detection robot loosens, moves to the space above the first compression joint according to its own position and the point cloud model, the clamping mechanism acts, and sends the current position to the intelligent ground station to calibrate the detection position;

[0037] The X-ray detection robot adjusts the action distance of the lifting mechanism according to the three-dimensional attitude information of the compression joint and the wire structure reflected by the point cloud model, and adjusts the position and angle of the X-ray emission source and the X-ray detector according to the preset parameters;

[0038] The X-ray detector receives the intensity change of the X-ray to obtain the X-ray image, and the physical image of the compression joint at the same position obtained by the image acquisition device;

[0039] Subsequently detect the subsequent compression joints, and send the obtained X-ray images and physical images to the intelligent ground control station;

[0040] After all the compression joints on the wire under test are detected, feedback the task information to the intelligent ground control station.

[0041] As a further limitation of the second aspect of the present invention, the intelligent recycling sub-process of the robot includes the following steps:

[0042] After the X-ray detection robot completes all the detection tasks of the compression joints, it sends a completion signal to the intelligent ground station. After receiving the permission to recycle instruction, it starts the self-check program;

[0043] Determine the return route of the UAV according to the updated point cloud data. After the X-ray detection robot passes the self-check, the UAV docks with the X-ray detection robot, the clamping mechanism of the X-ray detection robot is loosened, and the UAV returns along the updated return route.

[0044] Compared with the prior art, the above one or more technical solutions have the following beneficial effects:

[0045] 1. The present invention innovatively develops an X-ray detection system for six-split and eight-split transmission lines. By constructing a full-automatic closed-loop collaborative operation process, it realizes the whole process of equipment placement, positioning detection and recycling without human intervention. Based on three-dimensional point cloud data, the UAV intelligently identifies the tower type and the splitting situation of the transmission line, automatically plans the flight route, accurately places the X-ray detection robot at the designated position of the transmission line, and automatically recycles it according to the latest positioning and point cloud data after the detection is completed. The detection robot uses a laser sensor and three-dimensional point cloud data for autonomous positioning, accurately locates the compression joints, automatically adjusts the position and posture according to the preset path, completes the control of the X-ray emission and reception equipment by the multi-dimensional motor, realizes the independent detection of each conductor and the sequential fixed-point shooting of multiple compression joints, and greatly improves the detection efficiency and safety.

[0046] 2. The X-ray detection system for six-split and eight-split transmission lines developed by the present invention has an efficient automatic detection process. It realizes rapid online operation through the UAV hoisting the robot, uses three-dimensional point cloud technology for flight route planning, tower type and conductor splitting situation identification, compression joint and robot positioning, as well as the robot's autonomous walking, posture adjustment and automatic control of the X-ray detection equipment, greatly improving the detection efficiency. Compared with the traditional detection method, the detection speed can be increased by several times or even dozens of times, significantly reducing the workload and labor intensity of manual inspection.

[0047] 3. The six - split and eight - split transmission line X - ray detection system developed by the present invention can accurately detect and ensure safety: The X - ray detection technology combined with advanced automatic positioning and control technology can accurately detect defects such as broken strands, wear, and corrosion inside multi - split conductors, and the detection accuracy is significantly improved. With the help of high - precision X - ray emission sources, detectors, and image acquisition devices, combined with powerful data - processing software, it can clearly present the subtle defects inside the conductors, providing strong guarantee for the safe operation of the power system and effectively reducing the risk of accidents caused by conductor defects. In practical applications, it can accurately detect fine broken strands with a diameter less than 1 mm, effectively preventing the occurrence of conductor fracture accidents.

[0048] 4. The six - split and eight - split transmission line X - ray detection system developed by the present invention has a modular and adaptable design: The robot adopts a modular design, which is convenient for installation, maintenance, and upgrade. Its mechanical structure and motion control module can adapt to the complex structure of multi - split conductors and the high - altitude operation environment. Through automatic operation, it can quickly adjust the detection strategy according to different transmission line conditions, and has good stability and reliability. The X - ray emission source and the second image acquisition device move synchronously driven by the robotic arm, and the X - ray detector and the first image acquisition device move synchronously driven by the mounting plate. The X - ray emission source and the second image acquisition device always face the X - ray detector and the first image acquisition device. With this structure, when obtaining the detection image (X - ray image), the second image acquisition device can obtain a physical image at the same angle and position, while the first image acquisition device cooperates to obtain a physical image at another angle of the relative position. The detection result can be determined by comparing the X - ray image and the physical image of the compression joint, improving the detection quality.

[0049] 5. The six - split and eight - split transmission line X - ray detection system developed by the present invention can have powerful data processing and decision - making support: The software system of the ground control station has powerful data - processing and analysis functions, which can quickly and accurately identify the defect information inside the conductors, generate a detailed detection report by combining three - dimensional point - cloud data, and provide a comprehensive and scientific decision - making basis for power operation and maintenance personnel. By analyzing historical detection data, it can also predict possible future problems of the conductors, helping operation and maintenance personnel formulate reasonable maintenance plans and operation and maintenance strategies, and improving the scientificity and pertinence of power operation and maintenance work. For example, by analyzing a large amount of detection data, it can predict the possible positions and types of defects that the conductors may have in a future period of time, and arrange maintenance work in advance. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The accompanying drawings forming a part of this specification are used to provide a further understanding of the present invention. The schematic embodiments and descriptions thereof of the present invention are used to explain the present invention and do not constitute an improper limitation of the present invention.

[0051] Figure 1It is a schematic diagram of the detection system architecture provided by one or more embodiments of the present invention;

[0052] Figure 2 It is a schematic diagram of the architecture of the X-ray detection robot in the detection system provided by one or more embodiments of the present invention;

[0053] Figure 3 It is a schematic diagram of the structure of the X-ray detection robot provided by one or more embodiments of the present invention;

[0054] Figure 4 It is a schematic diagram of the operation process of the detection system provided by one or more embodiments of the present invention;

[0055] Figure 5 It is a schematic diagram of the process for the detection system provided by one or more embodiments of the present invention to achieve pre-scanning modeling;

[0056] Figure 6 It is a schematic diagram of the process for the detection system provided by one or more embodiments of the present invention to achieve the online of the X-ray detection robot;

[0057] Figure 7 It is a schematic diagram of the process for the detection system provided by one or more embodiments of the present invention to achieve autonomous detection by the robot;

[0058] Figure 8 It is a schematic diagram of the process for the detection system provided by one or more embodiments of the present invention to achieve intelligent recycling of the robot.

[0059] In the figure: 1 - lifting mechanism, 2 - traveling mechanism, 3 - lifting mechanism, 4 - detection module, 5 - X-ray detector, 6 - X-ray emitter, 7 - X-ray machine, 81 - first image acquisition device, 82 - second image acquisition device. Detailed implementation manners

[0060] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0061] It should be noted that the following detailed description is exemplary and is intended to provide further illustration of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs.

[0062] It should be noted that the terms herein are only for describing the specific implementation manners and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular forms are also intended to include the plural forms. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0063] Glossary of terms:

[0064] Multi-split conductor refers to a conductor bundle composed of multiple single conductors combined according to certain rules. The multiple single conductors are fixed by spacer dampers and are mainly used in high-voltage and extra-high-voltage transmission lines.

[0065] Compression joint tube, a kind of metal sleeve, is pressed by a compression tool to closely combine with the conductor to form a reliable electrical and mechanical connection. It is a commonly used device in the connection and repair of multi-split conductors.

[0066] Embodiment 1:

[0067] As Figure 1 shown, the X-ray detection system for six-split and eight-split transmission lines proposed in this embodiment includes a three-dimensional point cloud modeling system, an X-ray detection robot, an intelligent ground control station, a communication module, and an unmanned aerial vehicle (UAV) assisted hoisting system.

[0068] The three-dimensional point cloud modeling system is used to provide point cloud data to the X-ray detection robot and the intelligent ground control station. The communication module is used to support the transmission of data and instructions between the X-ray detection robot and the intelligent ground control station, and between the X-ray detection robot and the UAV assisted hoisting system.

[0069] 1. Three-dimensional point cloud modeling system

[0070] The three-dimensional point cloud modeling system scans the transmission line environment through a LiDAR (Light Detection and Ranging) point cloud UAV device, generates three-dimensional point cloud data, and uploads it to the intelligent ground control station. The UAV equipped with LiDAR (1 million points per second) and binocular vision scans the transmission channel to generate a three-dimensional point cloud map with millimeter-level accuracy (resolution ≤ 5 mm). The point cloud processing algorithm automatically extracts the conductor sag, tower type (such as cathead tower / cup tower, etc.), the number of split conductors (2 - 8 splits), and the spatial coordinates of the compression joint tube.

[0071] 2. X-ray detection robot

[0072] As Figure 2 shown, the X-ray detection robot integrates a detection module formed by an X-ray emitter, an X-ray detector, and an image acquisition device, as well as a motion control module and an automated operation assistance module, and can independently perform detection tasks on multi-split conductors.

[0073] As Figure 3As shown in the figure, the X-ray detection robot includes a hoisting mechanism 1, a traveling mechanism 2, and a lifting mechanism 3. The lifting mechanism 3 is located in the space below the traveling mechanism 2. The hoisting mechanism 1 is used to connect with a drone to hoist the robot body onto the wire to be measured. The traveling mechanism 2 is used to drive the robot body to walk along the axial direction of the measured wire to the detection area and is equipped with a clamping mechanism.

[0074] The lower bottom surface of the traveling mechanism 2 is movably connected to a mounting plate, and an X-ray detector 5 and a first image acquisition device 81 are provided on the mounting plate.

[0075] The lifting mechanism 3 is located in the space below the traveling mechanism 2 and is used to change the height of the detection module 4 so that the detection module 4 reaches the detection position.

[0076] An X-ray machine 7 is provided on the detection module 4. The X-ray machine 7 has an X-ray emission source 6. The housing of the X-ray machine 7 is connected to the base of the robotic arm, and the end of the robotic arm is connected to the X-ray emission source 6 and a second image acquisition device 82.

[0077] The X-ray emission source 6 and the second image acquisition device 82 move synchronously under the drive of the robotic arm, and the X-ray detector 5 and the first image acquisition device 81 move synchronously under the drive of the mounting plate. The X-ray emission source 6 and the second image acquisition device 82 always face the X-ray detector 5 and the first image acquisition device 81. With this structure, when obtaining the detection image (X-ray image), the second image acquisition device 82 can be used to obtain a physical image at the same angle and position, while the first image acquisition device 81 cooperates to obtain a physical image at another angle of the relative position, which is beneficial to determining the detection result by comparing the X-ray image and the physical image of the compression joint tube subsequently.

[0078] The lifting mechanism 3 can drive the detection end to rise or fall by any power mode such as gas, liquid, or electricity. The specific structure of the lifting mechanism 3 is not limited in this embodiment, and a mature existing product can be selected.

[0079] The specific structure type of the clamping mechanism is not limited. For example, it can be two groups of clamping blocks provided on the traveling mechanism 2. The clamping blocks approach and clamp the wire under the drive of the power unit, and the power unit can be a lead screw slider mechanism driven by a motor.

[0080] The mechanical structure of the X-ray detection robot adopts a modular design. The main frame is made of high-strength and lightweight high-quality aviation aluminum alloy material, ensuring excellent structural stability in the complex high-altitude environment, effectively reducing its own weight, and improving the mobility. The walking mechanism can flexibly choose the wheeled and tracked structure. The wheeled structure can run at a high speed on relatively flat wire segments, improving the detection efficiency; the tracked structure, with excellent grip and passability, can easily cross obstacles such as spacer dampers and shock absorbers on the wire, ensuring stable progress in the complex wire environment. The clamping mechanism is enhanced with functions of wind prevention and anti-vibration. Through precisely designed springs or hydraulic devices, it can tightly clamp the wire. The spring clamping device uses the elasticity of the spring to adaptively adjust the clamping force to fit wires of different diameters and materials; the hydraulic clamping device ensures the stability of clamping by precisely controlling the pressure of the hydraulic system, preventing the robot from shaking or displacing during the detection process and affecting the detection accuracy. In addition, the robot is equipped with a special lifting interface for docking with the drone, as well as brackets for carrying laser sensors and auxiliary positioning devices to meet the requirements of automated operations.

[0081] (1) Motion control module: The motion control module can be regarded as the "command center" of the robot's motion, which works in coordination with multiple servo motor drivers, controllers, and various advanced sensors. The motor driver can accurately convert the electrical signals sent by the controller into powerful power to drive the motors of the walking mechanism, realizing various complex motions of the robot, such as forward, backward, turning, lifting, and rotational speed change. The controller selects the high-performance microprocessor STM32F405 chip, combined with the RT-Thread real-time system, which can quickly process the instructions sent by the ground control station and, combined with the information real-time feedback by the sensors, precisely regulate the motor driver. The sensor part is equipped with a high-precision gyroscope for accurately measuring the rotation angle and attitude change of the robot; the accelerometer monitors the acceleration of the robot in real time and can promptly capture the minute changes in the robot's motion state; the distance sensor can sense the distance between the robot and surrounding objects or obstacles such as wire spacer dampers, with a measurement accuracy of up to millimeters; the laser sensor is used to obtain the accurate three-dimensional information of the robot's surrounding environment, assisting in positioning and path planning. At the same time, a high-precision positioning module is equipped, combined with the three-dimensional point cloud data, to achieve precise positioning and attitude adjustment of the robot on the transmission line, ensuring that the robot can accurately move along the preset path in the complex environment. The integrated LiDAR (light detection and ranging) point cloud technology is used to realize the automatic recognition and path planning of multi-split conductors. By scanning the transmission line environment with LiDAR, three-dimensional point cloud data is generated, and the position and layout of multi-split conductors are automatically extracted using spatial clustering algorithms. The navigation system can adjust the robot's walking path in real time according to the point cloud data, ensuring that the detection equipment is accurately aligned with the compression joint.

[0082] (2) Detection module:

[0083] X-ray emission source: To meet the stringent requirements of multi-split conductor detection, a customized miniaturized and high-energy X-ray emission source is adopted. This emission source is small in size, facilitating integration into the limited space of the robot. At the same time, it has a powerful emission ability and can emit X-ray rays sufficient to penetrate multi-split conductors. Through the ground control station, the operator can remotely and flexibly adjust the emission angle of the X-ray emission source. According to the arrangement of the conductors and the key detection areas, the emission angle can be accurately adjusted to any value between 0° and 360°, with an adjustment accuracy of up to ±0.5°. It can also accurately adjust the emission intensity according to factors such as the material and thickness of the conductors. The intensity range can be from 100 μA at low intensity to 500 μA at high intensity, with an adjustment accuracy of up to ±1 μA, so as to adapt to the diverse needs in different detection scenarios. The emission source is installed on a multi-dimensional motor-controlled robotic arm with adjustable angles and can accurately adjust the emission angle according to the position of the compression joint to ensure that the X-ray rays accurately cover the detection area.

[0084] X-ray detector: The paired X-ray detector is selected for its high sensitivity and high resolution. It can efficiently receive the weak X-ray rays passing through the conductors and accurately convert them into electrical signals. In terms of installation layout, the X-ray detector is set opposite to the X-ray emission source. Through precise position calibration and a carefully designed optical path, it ensures that the X-ray images of the internal structure of the conductors can be collected as accurately as possible to capture any subtle defect information. Its resolution can reach the micron level, and it can clearly distinguish extremely fine defects inside the conductors, such as tiny broken strands with a diameter less than 0.1 mm. The detector is also installed on a mechanically adjustable structure and works in coordination with the emission source to ensure the detection accuracy.

[0085] Image acquisition device: The equipped high-definition camera serves as the image acquisition device, featuring high pixels and a large field of view. It can clearly collect the image information on the surface of the conductors, including wear marks, corrosion spots, oxide layers, etc. on the conductor surface. In actual detection, the image acquisition device works closely with the X-ray detection module. For example, when the X-ray detection discovers a suspected defect area inside the conductor, the image acquisition device can immediately take a close-up photo of the corresponding conductor surface area, providing more comprehensive and intuitive information for subsequent data analysis, which helps the detection personnel more accurately judge the nature and severity of the defects. The resolution of the images it captures can reach several megapixels, clearly presenting the details on the conductor surface and providing strong support for defect analysis.

[0086] (3) Automated operation assistance module: Integrating the positioning and navigation module, it utilizes 3D point cloud data and high-precision positioning sensors to achieve autonomous navigation and positioning of the robot on the transmission line. This module can obtain the position and attitude information of the robot in real time, compare it with the preset detection path, and automatically adjust the motion parameters of the robot to ensure its accurate movement along the detection path. At the same time, it is equipped with a dedicated communication interface for communication with the UAV and the ground control station to ensure the rapid transmission and response of automated operation instructions. The laser sensor scans the surrounding environment in real time to obtain accurate 3D point cloud data, which is compared with the pre-stored 3D point cloud model of the transmission line to further improve the positioning accuracy of the robot and provide data support for attitude adjustment during the detection process.

[0087] 3. Intelligent ground control station

[0088] The intelligent ground control station is equipped with hardware such as a high-performance computer, a high-resolution display, a convenient remote control, a stable communication interface, and 3D point cloud data processing equipment, and runs powerful control software and data processing software to achieve remote monitoring and data processing of the entire system. The intelligent ground control station is responsible for receiving and processing 3D point cloud data, identifying the type of tower and the splitting situation of the transmission line, generating the hoisting route of the UAV and the detection path of the X-ray detection robot. The intelligent ground control station generates a detection report, marking the location and type of defects, and the report supports export in multiple formats.

[0089] The edge computing unit (NVIDIA Jetson AGX) runs the autonomous navigation algorithm and the task scheduling engine. The human-computer interaction terminal provides a one-key operation interface, integrating 3D visualization, abnormal alarm, and emergency recovery functions.

[0090] Hardware composition: The hardware equipment of the ground control station is carefully configured around the operator's efficient control and data processing needs. The core computer uses a high-performance workstation with powerful computing power and fast data processing speed. It can smoothly run complex control software and data processing software to ensure real-time control of X-ray inspection robots and drones and efficient analysis of massive inspection data. Its processor computing speed can reach billions of times per second, and its memory capacity can reach tens of GB, which can quickly process a large amount of inspection data. The display uses a large-size, high-resolution LCD screen, which can clearly display the real-time status of robots and drones, such as position, posture, power, running speed and other information; presents the inspection image with high definition, which is convenient for operators to observe the internal details of the wire; and intuitively displays data analysis results, such as defect type, location, size, severity, etc. The remote control has been optimized and designed for easy operation and sensitive response, which is convenient for operators to quickly and accurately input various control instructions on site, especially for one-button operation instructions based on three-dimensional point cloud data. The communication interface uses a high-speed and stable wireless communication interface, such as 4G, 5G or Wi-Fi module, to ensure stable and reliable data transmission and command communication with X-ray inspection robots and drones. The 3D point cloud data processing equipment efficiently processes and analyzes the collected 3D point cloud data of the transmission lines, providing key data support for the system's automated operations.

[0091] Software system: The software system consists of two core parts: control software and data processing software. Based on advanced algorithms and humanized human-computer interaction design concepts, the control software can quickly generate accurate control instructions according to the needs of operators. For example, operators can remotely control the robot's movement speed, direction, detection parameters, etc., as well as the lifting and hoisting operations of drones with one-click operation of the remote control. These instructions are quickly sent to the X-ray detection robot and drone through the communication module to achieve efficient control of the entire system. The response time of the control software is less than 0.1 seconds, ensuring that the control instructions can be transmitted in time. The data processing software uses advanced technologies such as deep learning and image recognition to deeply process and analyze the X-ray images collected by the X-ray detector, the wire surface images collected by the image acquisition device, and the three-dimensional point cloud data.

[0092] First, the image clarity is improved through image enhancement algorithm to highlight the defect features.

[0093] Then, pattern recognition technology is used to identify the types of defects inside the conductor, such as broken strands, corrosion, deformation, internal bubbles, etc., and the defect location is accurately located and the defect size is measured with millimeter-level accuracy. Combined with 3D point cloud data, the software can accurately identify information such as the type of tower, the splitting of the transmission line, and the location of the crimping tube.

[0094] Finally, a detailed inspection report is automatically generated based on the analysis results. The report content covers the basic information of the wire, such as model, specification, erection location, manufacturer, etc.; the intuitive presentation of the inspection results, including the number, type, location distribution, severity rating of defects, etc.; and in-depth defect analysis, such as the cause of the defect, the possible impact on the wire operation, maintenance suggestions, etc., providing a comprehensive and scientific decision-making basis for power operation and maintenance personnel. When analyzing a large amount of inspection data, the data processing software can generate a detailed inspection report within minutes, greatly improving work efficiency.

[0095] 4. Communication Module

[0096] The communication module adopts wireless communication technology, and 4G, 5G or Wi-Fi can be flexibly selected. In the open transmission line scenario, 4G or 5G communication technology, with its high data transmission rate, can realize the real-time and rapid transmission of a large amount of inspection data between the X-ray detection robot, the drone and the ground control station, ensuring that the inspection images, sensor data and the status information of the robot and the drone are timely fed back to the ground control station. Its data transmission rate can reach several megabytes per second or even higher, enabling the rapid transmission of high-definition inspection images and a large amount of sensor data. For example, in a 5G network environment, it only takes a few seconds to transmit a high-definition X-ray image. In some local areas with less signal obstruction, Wi-Fi communication, with its stable connection performance and low latency, provides a reliable guarantee for the transmission of real-time control instructions for the robot and the drone. To further improve the reliability of communication, the communication module integrates advanced encryption technology, such as the AES encryption algorithm, to encrypt the transmitted data and prevent the data from being stolen or tampered with during transmission. At the same time, anti-interference technology is adopted. By optimizing the antenna design, adding signal filtering circuits, etc., it effectively resists the influence of harsh environmental factors such as strong electric fields and electromagnetic interference around the transmission line on the communication signal, ensuring the security and accuracy of data transmission and enabling the entire system to still operate stably in a complex environment. In a strong electric field interference environment, the communication module can maintain the stability of data transmission, and the bit error rate is less than 0.01%.

[0097] 5. Drone-assisted Hoisting System

[0098] The UAV-assisted hoisting system consists of a UAV, hoisting equipment, and an interface device for docking with the X-ray inspection robot. The UAV uses a 4-axis 8-propeller multi-rotor UAV (maximum load 40kg) equipped with an electromagnetic locking mechanism and a shock-absorbing gimbal. The route planning engine based on the improved RRT* algorithm combines dynamic obstacle avoidance with real-time point cloud data (response time <100ms). The UAV-assisted hoisting system is responsible for automatically taking off according to the route planning, flying to the designated position of the transmission line, and hoisting the X-ray inspection robot to the transmission line. And hoist it down after the inspection is completed. The UAV has high-precision positioning and autonomous flight functions, and can accurately hoist the X-ray inspection robot to the designated position of the transmission line according to the three-dimensional point cloud route planning information sent by the ground control station. The UAV is equipped with advanced navigation systems and sensors, which can perceive its own position, posture and surrounding environment information in real time to ensure a safe and stable flight process. The hoisting equipment is made of high-strength materials to ensure a safe and reliable hoisting process. The docking interface device is designed to be quick-plug and easy to connect the robot and the UAV quickly and stably at high altitudes. During the hoisting process, the drone maintains real-time communication with the ground control station, which can fine-tune the flight path based on the information fed back by the drone to ensure that the robot reaches the designated location accurately. After the inspection is completed, the drone flies to the robot's location again based on the robot's latest positioning information and 3D point cloud data to lift it down. The drone is used to hoist the X-ray inspection robot to the designated location of the transmission line. The drone automatically flies according to the route planning generated by the 3D point cloud data to ensure that the robot reaches the inspection location accurately. Through 3D point cloud analysis, the type of tower and the split of the transmission line are identified, and the optimal hoisting path is automatically generated.

[0099] like Figure 4 As shown, after the system is initialized, the 3D point cloud modeling system collects 3D point cloud data to build a detection target model within a set range in the detection scene (for example, it can be a 3D point cloud model of the tower to be tested). The intelligent ground control station plans the route based on the obtained 3D point cloud data. The drone-assisted hoisting system carries the X-ray detection robot along the planned route, flies to the target to be tested, and hoists the X-ray detection robot to the designated location. The X-ray detection robot performs autonomous detection and sends the detection data back to the intelligent ground control station. When the detection task is completed, the drone-assisted hoisting system carries the X-ray detection robot away from the target to be tested, recovers the robot, and the intelligent ground control station processes the detection data and outputs the detection results to form a detection report.

[0100] The X-ray detection system for six-split and eight-split transmission lines proposed in this solution has an efficient and automated detection process: The robot is quickly lifted onto the line by a drone. Three-dimensional point cloud technology is used for flight path planning, tower type and conductor split condition identification, compression joint and robot positioning, as well as the robot's autonomous walking, attitude adjustment, and automated control of the X-ray detection equipment, significantly improving the detection efficiency. Compared with traditional detection methods, the detection speed can be increased by several times or even dozens of times, significantly reducing the workload and labor intensity of manual inspections.

[0101] The X-ray detection system for six-split and eight-split transmission lines proposed in this solution can accurately detect and ensure safety: The X-ray detection technology combined with advanced automated positioning and control technology can accurately detect defects such as broken strands, wear, and corrosion inside multi-split conductors, with a significantly improved detection accuracy. With the help of high-precision X-ray emitters, detectors, and image acquisition devices, combined with powerful data processing software, the subtle defects inside the conductors can be clearly presented, providing strong support for the safe operation of the power system and effectively reducing the risk of accidents caused by conductor defects. In practical applications, it can accurately detect subtle broken strands with a diameter less than 1 mm, effectively preventing the occurrence of conductor breakage accidents.

[0102] The X-ray detection system for six-split and eight-split transmission lines proposed in this solution has a modular and adaptable design: The robot adopts a modular design, which is convenient for installation, maintenance, and upgrade. Its mechanical structure and motion control module can adapt to the complex structure of multi-split conductors and the high-altitude operation environment. Through automated operations, the detection strategy can be quickly adjusted according to different transmission line conditions, with good stability and reliability. For example, during the detection of multi-split conductors of different models, the robot can quickly adjust the detection parameters and motion trajectory through an automated detection process to ensure the best detection effect.

[0103] The X-ray detection system for six-split and eight-split transmission lines proposed in this solution has powerful data processing and decision-making support: The software system of the ground control station has powerful data processing and analysis functions, which can quickly and accurately identify the defect information inside the conductors, generate a detailed detection report in combination with the three-dimensional point cloud data, and provide comprehensive and scientific decision-making basis for power operation and maintenance personnel. By analyzing historical detection data, it can also predict possible future problems of the conductors, helping operation and maintenance personnel formulate reasonable repair plans and operation and maintenance strategies, and improving the scientific nature and pertinence of power operation and maintenance work. For example, through the analysis of a large amount of detection data, it can predict the possible positions and types of defects that the conductors may have in a future period of time and arrange maintenance work in advance.

[0104] The six - split and eight - split transmission line X - ray detection system proposed in this solution can ensure the stable operation of the communication system: The communication module adopts advanced wireless communication technology and reliable encryption and anti - interference measures to ensure the smooth data transmission and command communication between the robot, the drone and the ground control station, and guarantee the stable operation of the automated operation process. Even in a complex transmission line environment, it can ensure the timely transmission of data and the accurate execution of commands, avoiding detection errors or system failures caused by communication interruptions or delays. In harsh environments such as strong electric fields and electromagnetic interference, the communication module can still maintain stable data transmission to ensure the normal operation of the system.

[0105] Embodiment 2:

[0106] The X - ray detection method for six - split and eight - split transmission lines includes:

[0107] The pre - scanning and modeling sub - process: After the drone is ready, it flies along the transmission channel, obtains the point cloud data of the transmission channel and the surrounding environment during flight, and sends it to the intelligent ground control station. The intelligent ground control station constructs a point cloud model containing the detection environment map information based on the received point cloud data, marks the position of the pressure connector to be measured, and generates a detection task sequence including the position, height, obstacle information of the pressure connector and the flight route.

[0108] The robot hoisting sub - process: The drone carries the X - ray detection robot according to the point cloud model and the detection task, flies to the designated position. After the clamping mechanism of the X - ray detection robot acts to connect with the wire, the drone disconnects from the X - ray detection robot.

[0109] The robot autonomous detection sub - process: The clamping mechanism of the X - ray detection robot releases, moves to the space above the first pressure connector according to its own position and the point cloud model, the clamping mechanism acts, sends the current position to the intelligent ground station to calibrate the detection position; according to the obtained three - dimensional attitude information of the pressure connector and the point cloud model, adjusts the action distance of the lifting mechanism and the position and angle of the X - ray source. The X - ray detector receives the intensity change of the X - ray to obtain the detection image, and the physical image of the same position is obtained by the image acquisition device; sequentially detect the subsequent pressure connectors, send the obtained detection images and physical images to the intelligent ground control station, and after all the pressure connectors on the measured wire are detected, feedback the task information to the intelligent ground control station.

[0110] The robot intelligent recovery sub - process: The drone docks with the X - ray detection robot according to the updated route, the clamping mechanism of the X - ray detection robot releases, and the drone carries the X - ray detection robot back.

[0111] 1. The pre - scanning and modeling sub - process, as Figure 5 shown, includes:

[0112] (1) UAV Preparation: The staff conducts a comprehensive debugging and inspection of the UAV, carefully detecting the flight control system of the UAV to ensure accurate command response and stable flight attitude; checking the battery power to ensure that the UAV has sufficient endurance to complete the established tasks; and carefully calibrating the data acquisition equipment, including key components such as the scanning accuracy of lidar and the data transmission stability, to lay a solid foundation for the UAV to successfully perform subsequent tasks.

[0113] (2) UAV Flight along the Transmission Line Corridor: After being properly prepared, the UAV flies along the preset route along the transmission line corridor. During the flight process, a stable flight altitude and speed are always maintained. Generally, the altitude is kept at [X] meters from the transmission line, and the speed is controlled at [X] m / s to ensure that the subsequent data acquisition work can be carried out orderly and efficiently.

[0114] (3) Acquisition of Point Cloud Data: During the flight, the lidar equipment carried by the UAV is turned on to emit laser beams towards the transmission line corridor and its surrounding environment and receive the reflected signals, quickly acquiring a large amount of three-dimensional coordinate data, that is, point cloud data. These data can accurately reflect the spatial position of the transmission line, the shape of the tower, and the surrounding terrain and geomorphic information, providing rich original materials for subsequent modeling.

[0115] (4) Construction of a Point Cloud Model with Geographic Coordinates: The acquired point cloud data is transmitted to the ground control station in real time and processed by specialized algorithms and software. The algorithm uses technologies such as spatial coordinate transformation and data fusion to construct a four-dimensional point cloud model with geographic coordinates. This model not only covers the three-dimensional spatial information of the transmission line but also incorporates the time dimension. By analyzing the data at different times, it can reflect the dynamic changes in the conductor sag, providing more comprehensive and accurate data support for subsequent detection and analysis.

[0116] (5) Automatic Marking of the Position of the Crimping Joint: Based on the constructed four-dimensional point cloud model, using advanced image recognition and data analysis technologies, the system can automatically identify and mark the position of the crimping joint on the transmission line. As a key connection component in the transmission line, the accurate marking of its position is of great significance for the accuracy and efficiency of subsequent detection work.

[0117] (6) Generation of the Detection Task Sequence: According to the marked position of the crimping joint and the overall situation of the transmission line, the system automatically generates a detection task sequence. This sequence clearly plans the order of detection, such as determining the order according to the density of the distribution of the crimping joints and the positions of key nodes on the line; defining key areas, such as the conductor segments near the towers and areas vulnerable to external forces; and setting corresponding detection parameters, such as the emission intensity of the X-ray source and the detection duration, providing clear and detailed task guidelines for subsequent equipment such as X-ray detection robots to carry out detection operations.

[0118] 2. Robot Hoisting Sub-process, such asFigure 6 As shown in the figure, it includes:

[0119] (1) Preparation work: The operator transports the X-ray detection robot to the vicinity of the multi-split conductor to be detected and starts the robot through the ground control station. Check whether all the equipment of the robot is working properly, including the walking mechanism, the clamping mechanism, the detection module, etc. Set the detection parameters in the ground control station, such as the emission angle and intensity of the X-ray source, the detection speed, etc.

[0120] (2) Robot on-line: After the preparation work is completed, it enters the "start on-line operation" stage. The three-dimensional point cloud modeling system uses equipment such as lidar to scan the transmission line and its surrounding environment, obtains a large amount of three-dimensional coordinate data, and generates a point cloud map. This system processes these data through complex algorithms, constructs a high-precision point cloud model, and accurately presents the spatial position information of the transmission line, the tower, and the surrounding obstacles.

[0121] (3) Based on the generated point cloud map, the unmanned aerial vehicle (UAV) is equipped with advanced navigation and path planning algorithms. According to the position information of the transmission line, the tower, and the surrounding obstacles in the point cloud map, it plans the optimal hoisting path. This algorithm comprehensively considers factors such as flight safety, the shortest distance, and avoiding obstacles, and calculates the safest and most efficient flight route to ensure that the robot can be accurately hoisted to the target position.

[0122] (4) The UAV hoists the robot according to the planned path. During the flight process, the UAV maintains real-time communication with the ground control station. The ground control station can send instructions to the UAV according to the actual environmental changes, such as sudden changes in wind speed and direction, and unexpected situations around the transmission line. The UAV adjusts the path accordingly to ensure the stability and accuracy of the hoisting process.

[0123] (5) When the UAV hoists the robot to the vicinity of the transmission line, it is necessary to judge whether it has reached the specified position. If it successfully reaches the specified position, the clamping mechanism of the robot is activated to clamp the conductor. The clamping mechanism uses a spring or a hydraulic device, which can sense the diameter and material of the conductor through a sensor, and automatically adjust the clamping force to ensure the stability of the robot on the conductor and prevent shaking or displacement caused by insufficient clamping force, affecting the subsequent detection operation.

[0124] (6) If it does not reach the specified position, the robot will walk autonomously to the position of the compression joint. The walking mechanism of the robot adopts a wheeled or tracked structure. The wheeled structure has a high running speed and is suitable for relatively flat conductor segments; the tracked structure has strong grip and can easily cross obstacles such as spacer dampers. With such a walking mechanism, the robot can move along the conductor to the key compression joint position.

[0125] (7) After the robot reaches the position of the compression joint or the designated position and tightly holds the wire, it finally stabilizes on the transmission line, preparing for the subsequent inspection operation.

[0126] 3. Sub-process of autonomous inspection of the robot

[0127] The robot adopted in this embodiment is equipped with a wheeled mechanical structure, which is specially designed for the inspection of multi-split conductors. It can carry out inspection operations on common multi-split conductor types such as two-split, four-split, six-split, and eight-split conductors. In the initial stage of inspection, the robot obtains the RTK positioning coordinates of the compression joint through a high-precision positioning receiving device, and uses an advanced motion control algorithm to accurately move to the topmost conductor of the transmission line according to the transmission line model constructed from the point cloud data, and then activates a stable clamping mechanism. This clamping mechanism stabilizes the fuselage through the clamping force and the design of the adaptive mechanical structure, ensuring that the subsequent inspection process is not interfered by the external environment and providing support for the accuracy and stability of the inspection.

[0128] In terms of the layout of the inspection equipment, an X-ray emitter and an X-ray detector are installed under the wheeled robot. The X-ray emitter can rotate 360 degrees in two dimensions on the vertical cross-section, and is connected to the upper end of the robot through a special lifting mechanism, and can perform precise displacement in the vertical direction according to the inspection requirements. The X-ray detector is located directly above the X-ray emitter, and can perform precise position adjustment up and down and left and right relative to the X-ray emitter by using a precision displacement adjustment device. This design gives the X-ray emitter and the detector all-round inspection freedom in three-dimensional space, significantly improving the inspection ability of different parts of the compression joint and the conductor.

[0129] Based on the above equipment configuration, the wheeled robot accurately moves on the transmission line through the wheeled walking mechanism driven by the motor, according to the real-time point cloud data and the coordinate information fed back by its own high-precision positioning system. During the movement, the robot analyzes the point cloud data in real time, dynamically adjusts the movement direction and distance according to the preset inspection strategy, ensures that the X-ray emitter and the detector are always in the best inspection position, realizes the full-dimensional and high-precision inspection of complex split conductors, and effectively detects potential defects.

[0130] As Figure 7 shown, the steps of autonomous inspection are as follows:

[0131] (1) Initial positioning and task reception: Before the inspection work starts, the robot obtains its initial position through a high-precision positioning module and receives a list of inspection tasks including the number of compression joints, the numbers from top to bottom, and the corresponding RTK positioning coordinates. At the same time, a stable wireless communication connection is established with the intelligent ground station to ensure that the subsequent inspection videos and position information can be transmitted in real time.

[0132] (2) Move to above the first compression joint: Based on the transmission line model constructed from the 3D point cloud data collected in the early stage, the robot uses advanced motion control algorithms, combined with the precise measurement of its own rotation angle and attitude changes by a high-precision gyroscope, and the acceleration conditions monitored in real time by an accelerometer, to plan the fastest and shortest travel path to the first (uppermost) compression joint. During the movement, the distance sensor senses the distance from obstacles such as surrounding objects or conductor spacers with millimeter-level precision, and the laser sensor obtains precise 3D information of the surrounding environment to assist in positioning and path correction, ensuring that the robot accurately moves to the transmission wire directly above the first compression joint, and then activates the clamping mechanism to stabilize the fuselage. During this period, the detection video and real-time position information of the robot are continuously transmitted to the intelligent ground station for the ground station to perform emergency control at any time.

[0133] (3) Calibrate the positions of the X-ray source and the detector: After reaching the designated position, according to the 3D pose information of the compression joint and the wire structure reflected by the point cloud data, through a precise displacement adjustment device, the X-ray detector is adjusted to the center position corresponding to the current compression joint with the fastest and shortest travel, and at the same time, the position and angle of the X-ray source are adjusted synchronously. The X-ray source, with the help of its 360-degree free rotation function in the vertical cross-section and the vertical displacement function of the special lifting mechanism, cooperates with the detector to reach the best detection relative position to ensure the detection effect of the compression joint.

[0134] (4) Compression joint detection operation: After completing the position calibration, the X-ray machine intelligently matches exposure parameters such as voltage, current, and focal length according to the characteristics of the compression joint material, thickness, etc., combined with the wire and surrounding environment information in the point cloud data, and completes multi-angle shooting according to the preset plan, obtaining at least the front view, side view, and 45° oblique view of the compression joint. The image quality evaluation module (based on the CNN network) analyzes and judges the captured images in real time. If the image is unqualified, the retake process is automatically triggered, and the robot readjusts the positions of the X-ray source and the detector until a qualified image is obtained.

[0135] (5) Detect the subsequent compression joints in sequence: After the current compression joint is detected to be qualified, the robot repeats steps 2 to 4 in order from top to bottom according to the detection task list to go to the position of the next compression joint for detection. During the entire detection process, if all compression joints are detected normally one by one without manual intervention, the robot continues to operate according to the preset process. The robot combines the high-precision positioning module with the 3D point cloud data to adjust its position and attitude on the transmission line in real time and accurately move along the preset path.

[0136] (6) Task completion feedback: When the robot completes the detection of all compression joints in the detection task list, it sends a task completion message to the intelligent ground control station via wireless mode and requests recovery. During the waiting for recovery, it continuously maintains a communication connection with the ground station and real-time feedbacks its own status.

[0137] 4. The intelligent recycling sub - process of the robot, as Figure 8 shown, includes:

[0138] (1) Completion signal reception and preparation: When the X - ray detection robot finishes all the detection tasks of the compression joints, it sends a completion signal to the intelligent ground station through the wireless communication module. After receiving this signal, the intelligent ground station immediately forwards this information to the UAV control system responsible for the recycling task. At the same time, the UAV starts a self - inspection program to check whether key systems such as its flight status, battery power, and data transmission are normal, and gets ready for the upcoming recycling task.

[0139] (2) Point cloud data update and path planning: The UAV control system is based on the latest point cloud data, which reflects the latest situation of the surrounding environment of the transmission line in real - time, including information such as the positions of obstacles and the real - time positions of conductors. Using advanced path - planning algorithms and combining with the UAV's own flight performance parameters, a safe and efficient recycling path is generated. This path fully considers avoiding various obstacles on the transmission line to ensure that the UAV will not collide with conductors, towers, etc. during flight, and at the same time, it tries to shorten the flight distance as much as possible to save energy and improve the recycling efficiency.

[0140] (3) Approach and unclamping operation: The UAV flies precisely to the position of the X - ray detection robot according to the planned recycling path. When approaching the robot, the UAV uses the high - precision vision sensor and distance sensor carried on it to monitor the relative position and attitude with the robot in real - time to ensure accurate docking. When the UAV reaches the appropriate position, it starts the automatic unclamping device, which precisely cooperates with the mounting mechanism of the robot to safely and quickly disconnect the connection between the robot and the transmission line.

[0141] (4) Lifting off and returning: After unclamping, the UAV lifts its own height to smoothly lift the X - ray detection robot off the transmission line. During the lifting - off process, the state of the robot is continuously monitored to ensure that it will not shake or collide during the hoisting process. Subsequently, the UAV carries the detection robot back to the designated recycling location according to the preset return path, completing the entire intelligent recycling process.

[0142] The X-ray detection method for six-split and eight-split transmission lines proposed in this solution has innovated the collaborative operation process. By constructing a brand-new fully automatic closed-loop collaborative operation process and the first collaborative control protocol for drones and inspection robots, the entire process from equipment deployment, positioning detection to recovery is achieved without human intervention. Based on three-dimensional point cloud data, the drone can intelligently identify the tower type and the split situation of the transmission line, automatically plan the flight path, accurately deploy the X-ray inspection robot to the specified position on the transmission line, and automatically recover it according to the latest positioning and point cloud data after the detection is completed. The inspection robot uses laser sensors and three-dimensional point cloud data to independently position and accurately locate the compression joints, automatically adjusts the position and posture according to the preset path, completes the control of the X-ray emission and reception equipment by multi-dimensional motors, realizes the independent detection of each conductor and the sequential fixed-point shooting of multiple compression joints, and greatly improves the detection efficiency and safety.

[0143] The X-ray detection method for six-split and eight-split transmission lines proposed in this solution has innovated the intelligent navigation and positioning technology and made a major breakthrough in the intelligent navigation and positioning technology. An advanced point cloud semantic segmentation algorithm is developed to deeply mine three-dimensional point cloud data, automatically identify the conductor type, the position of the compression joint and the obstacle distribution, and provide centimeter-level accurate spatial data for the flight path planning of the drone hoisting and the wire walking path planning of the robot. At the same time, a multi-modal fusion positioning system is constructed, which integrates UWB global positioning, laser local positioning and IMU attitude perception technologies, and endows the robot with an ultra-high positioning accuracy of ±3mm for wire walking, ensuring the accuracy and stability of the detection operation in the complex transmission line environment.

[0144] The X-ray detection method for six-split and eight-split transmission lines proposed in this solution has innovated the human-computer interaction and intelligent control. A one-key human-computer interaction mode is designed, which greatly reduces the operation threshold. The operator only needs to select the target line on the control terminal, and the system can automatically and continuously complete the whole process operation from scanning and modeling, path planning, detection operation to data processing until the generation of the detection report. The control unit highly integrates a variety of intelligent algorithms, with high intelligence and automation levels, significantly improving the detection work efficiency and convenience, and making the detection work more efficient and easy to use.

[0145] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. Six-split and eight-split transmission line X-ray detection system, characterized in that, Including: A three-dimensional point cloud modeling system, which uses a laser sensor carried by a drone to obtain point cloud data of the transmission line and its surrounding environment. The obtained point cloud data is used by a ground control station to establish a point cloud model containing map information and the position of compression sleeves and generate a detection task sequence; A drone-assisted hoisting system, which docks an X-ray detection robot carried by the drone with the conductor according to the point cloud model and the detection task; The X-ray detection robot includes a hoisting mechanism, a traveling mechanism, a lifting mechanism and a detection module. The detection module has an X-ray emitter and an image acquisition device driven by a robotic arm. The X-ray emitter faces an X-ray detector and is used to obtain X-ray images and physical images of the same compression sleeve and send them to an intelligent ground control station; The intelligent ground control station issues commands to the drone and the X-ray detection robot, receives data returned from the drone and the X-ray detection robot, and outputs detection results.

2. The six-split and eight-split transmission line X-ray detection system according to claim 1, characterized in that, In the three-dimensional point cloud modeling system, a drone carrying a laser sensor is used in advance to obtain point cloud data of the transmission line and its surrounding environment and send it to the intelligent ground control station. The intelligent ground control station constructs a point cloud model containing detection environment map information according to the received point cloud data, marks the positions of the compression sleeves to be measured, and generates a detection task sequence containing the positions, heights, obstacle information and flight routes of the compression sleeves.

3. The six-split and eight-split transmission line X-ray detection system according to claim 1, wherein The traveling mechanism includes traveling wheels driven by a driving unit. During detection, the traveling wheels are located on the sub-conductors at a set height position in a multi-split transmission line.

4. The six-split and eight-split transmission line X-ray detection system according to claim 1, characterized in that A clamping mechanism is provided on the traveling mechanism for clamping the conductor to fix the relative position between the X-ray detection robot and the conductor.

5. The six-split and eight-split transmission line X-ray detection system according to claim 1, characterized in that, The lifting mechanism is located in the space below the traveling mechanism and is used to change the height of the detection module so that the detection module reaches the detection position.

6. The six-split and eight-split transmission line X-ray detection system according to claim 1, wherein An X-ray machine is provided on the detection module. The X-ray machine has an X-ray emitter, and the housing of the X-ray is connected to the base of the robotic arm.

7. The six-split and eight-split transmission line X-ray detection system according to claim 1, characterized in that, The image acquisition device includes a first image acquisition device and a second image acquisition device. The first image acquisition device and the X-ray detector are jointly connected to a mounting plate, and the mounting plate is movably connected to the lower bottom surface of the traveling mechanism.

8. The six-split and eight-split transmission line X-ray detection system according to claim 7, characterized in that, The second image acquisition device and the X-ray emitter are connected to the end of the robotic arm.

9. The six-split and eight-split transmission line X-ray detection system according to claim 7, wherein The X-ray emitter and the second image acquisition device move synchronously and always face the X-ray detector and the first image acquisition device.

10. The six-split and eight-split transmission line X-ray detection system according to claim 7, characterized in that, The X-ray emitted by the X-ray emitter passes through the compression sleeve on the measured conductor and is received by the X-ray detector. The X-ray detector converts the intensity distribution of the X-ray into a visible image to obtain an X-ray detection image; the second image acquisition device obtains a physical image of the measured compression sleeve at the same position as the X-ray emitter.

11. The six-split and eight-split transmission line X-ray detection system according to claim 7, wherein, The first image acquisition device obtains a physical image of the measured compression sleeve opposite to the position of the second image acquisition device.

12. The six-split and eight-split transmission line X-ray detection system according to claim 7, wherein The X-ray emitter and the second image acquisition device move synchronously driven by the robotic arm, and the X-ray detector and the first image acquisition device move synchronously driven by the mounting plate.

13. A method for realizing X-ray detection of six-split and eight-split transmission lines based on the system according to any one of claims 1-12, characterized in that, Including the following steps: Pre-scanning modeling sub-process, specifically: After the drone is ready, it flies along the corridor where the transmission line is located. During the flight, it acquires the point cloud data of the transmission corridor and the surrounding environment and sends it to the intelligent ground control station. The intelligent ground control station constructs a point cloud model containing the detection environment map information based on the received point cloud data, and generates a detection task sequence including the position, height, obstacle information of the compression joint and the flight route. Robot hoisting sub-process, specifically: The drone carries the X-ray detection robot according to the point cloud model and the detection task, and flies to the designated position. After the clamping mechanism of the X-ray detection robot acts to connect with the wire, the drone disconnects from the X-ray detection robot. Robot autonomous detection sub-process, specifically: The X-ray detection robot adjusts the action distance of the lifting mechanism and the position and angle of the X-ray emission source according to the compression joint attitude information and the point cloud model. The X-ray detector receives the intensity change of the X-ray to obtain the detection image, and the physical image of the same position acquired by the image acquisition device; successively detect the subsequent compression joints, send the obtained detection image and the physical image to the intelligent ground control station, and after all the compression joints on the measured wire are detected, feedback the task information to the intelligent ground control station. Robot intelligent recovery sub-process, specifically: The drone docks with the X-ray detection robot according to the updated route, the clamping mechanism of the X-ray detection robot loosens, and the drone carries the X-ray detection robot back.

14. The X-ray detection method for six-split and eight-split transmission lines according to claim 13, characterized in that, Pre-scanning modeling sub-process, including the following steps: After the drone is debugged, it flies along the corridor where the transmission line is located, and during the flight, uses the carried laser sensor device to acquire the point cloud data of the transmission corridor and the surrounding environment and sends it to the intelligent ground control station; The intelligent ground control station constructs a point cloud model containing the detection environment map information, the position information of the compression joints of the wire to be measured and the time information based on the received point cloud data, and generates a detection task sequence including the position, height, obstacle information of the compression joint and the flight route.

15. The X-ray detection method for six-split and eight-split transmission lines according to claim 13, characterized in that, Robot hoisting sub-process, including the following steps: Assemble the drone and the X-ray detection robot and debug; According to the point cloud model and the detection task, use the drone to carry the X-ray detection robot to fly to the designated position, the drone descends, the walking mechanism of the X-ray detection robot touches the wire, and after the clamping mechanism acts to connect with the wire, the drone disconnects from the X-ray detection robot; If the drone does not reach the designated position when descending, the X-ray detection robot uses the walking mechanism to run to the position of the compression joint, and the clamping mechanism acts to connect with the wire.

16. The X-ray detection method for six-split and eight-split transmission lines according to claim 13, characterized in that, Robot autonomous detection sub-process, including the following steps: The clamping mechanism of the X-ray detection robot loosens, moves to the space above the first compression joint according to its own position and the point cloud model, the clamping mechanism acts, and sends the current position to the intelligent ground station to calibrate the detection position; The X-ray detection robot adjusts the action distance of the lifting mechanism according to the three-dimensional attitude information of the compression joint and the wire structure reflected by the point cloud model, and adjusts the position and angle of the X-ray emission source and the X-ray detector according to the preset parameters; The X-ray detector receives the intensity change of the X-ray to obtain the X-ray image, and the physical image of the compression joint at the same position acquired by the image acquisition device; Subsequently, the subsequent compression joints are detected in sequence, and the obtained X-ray images together with the physical object images are sent to the intelligent ground control station; After all the compression joints on the wire under test are detected, the task information is fed back to the intelligent ground control station.

17. The X-ray detection method for six-split and eight-split transmission lines according to claim 13, characterized in that, The intelligent recycling sub-process of the robot includes the following steps: After the X-ray detection robot completes the detection tasks of all the compression joints, it sends a completion signal to the intelligent ground station. After receiving the permission to recycle instruction, it starts the self-check program; Determine the return route of the UAV according to the updated point cloud data. After the self-check of the X-ray detection robot is successful, the UAV docks with the X-ray detection robot, the clamping mechanism of the X-ray detection robot is released, and the UAV returns along the updated return route.

Images