Lightning rod eddy current detection robot and lightning rod eddy current detection method

Abstract

The invention provides a lightning rod eddy current detection robot and a lightning rod eddy current detection method. The method can be used in the lightning rod detection technology field. The lightning rod eddy current detection robot comprises a plurality of annular clamping structures and an eddy current detection device. The annular clamping structure is used for surrounding the periphery of the lightning rod and is used for fixing or separating from the lightning rod; the eddy current detection device is arranged on at least one annular clamping structure; the eddy current detection device comprises an installation part and a detection part which are connected, the installation part is arranged on the annular clamping structure, and the detection part faces the inner side of the annular clamping structure and is used for detecting the state of the lightning rod. Therefore, the lightning rod detection accuracy is improved.

Description

Technical Field

[0001] This application relates to the technical field of lightning rod detection, and particularly to a lightning rod eddy current detection robot and a lightning rod eddy current detection method. Background Art

[0002] As an important lightning protection device, a lightning rod mainly establishes an electrical path with a charged cloud through tip discharge, guiding lightning into the ground, thereby effectively preventing the harm of direct lightning strikes to facilities and personnel. It plays an irreplaceable role in protecting the safety of substation equipment and personnel. However, due to the generally slender and tall structure of lightning rods, it is difficult for conventional detection equipment and personnel to access and maintain these facilities. Since they were put into use, the detection problem of lightning rods has not been effectively solved.

[0003] Currently, for problems such as aging, corrosion, and surface defects of lightning rods, operation and maintenance units at home and abroad usually adopt the method of manual operation after power outage for detection. This method relies on equipment such as large cranes or aerial work platforms to assist in the operation, sending operation and maintenance personnel near the lightning rod.

[0004] However, detecting by the method of manual operation after power outage has the problem of relatively low detection accuracy. Summary of the Invention

[0005] This application provides a lightning rod eddy current detection robot and a lightning rod eddy current detection method to solve the problem of relatively low detection accuracy of existing lightning rod detection.

[0006] In a first aspect, this application provides a lightning rod eddy current detection robot, including a plurality of annular clamping structures and an eddy current detection device;

[0007] The annular clamping structure is used to be looped around the periphery of the lightning rod, and the annular clamping structure is used to fix or disengage from the lightning rod;

[0008] The eddy current detection device is arranged on at least one of the annular clamping structures; the eddy current detection device includes a connected mounting part and a detection part, the mounting part is arranged on the annular clamping structure, the detection part faces the inside of the annular clamping structure, and the detection part is used to detect the state of the lightning rod.

[0009] In some possible implementation manners, the annular clamping structure is provided with a rotating seat, and the rotating seat can rotate circumferentially relative to the annular clamping structure along the annular clamping structure.

[0010] In some possible implementation manners, the annular clamping structure is provided with a driving gear;

[0011] The rotating seat is provided with a ring rack, the ring rack meshes with the driving gear, and the ring rack can rotate relative to the ring clamping structure along the circumferential direction of the ring clamping structure.

[0012] In some possible implementation manners, the mounting member is movably arranged on the rotating seat and drives the detecting member to approach or move away from the lightning rod.

[0013] In some possible implementation manners, the rotating seat is provided with a lift driving part;

[0014] The detecting member includes an eddy current coil and a sensing element. The eddy current coil is used for detecting the state of the lightning rod, and the sensing element is used for detecting the distance between the eddy current coil and the lightning rod;

[0015] The lift driving part is arranged on the rotating seat, the output end of the lift driving part is connected with the mounting member, and the lift driving part drives the mounting member to approach or move away from the lightning rod.

[0016] In some possible implementation manners, the ring rack is arranged at the bottom of the rotating seat;

[0017] The mounting member is arranged on the top of the rotating seat, and the mounting member is slidably connected with the top surface of the rotating seat.

[0018] In some possible implementation manners, the number of the eddy current detecting devices is multiple, and the multiple eddy current detecting devices are sequentially arranged along the circumferential direction of the ring clamping structure.

[0019] In some possible implementation manners, the multiple ring clamping structures include a first clamping structure and a second clamping structure; the first clamping structure is located above the second clamping structure, and the second clamping structure is provided with an eddy current detecting device.

[0020] In a second aspect, the present application provides a method for detecting the eddy current of a lightning rod, including:

[0021] Obtaining the position information of the lightning rod eddy current detecting robot;

[0022] If the position information of the lightning rod eddy current detecting robot does not meet the preset position information, controlling the ring clamping structure to move upward along the vertical direction on the lightning rod;

[0023] Controlling the eddy current detecting device to detect the state of the lightning rod.

[0024] In some possible implementation manners, controlling the eddy current detecting device to detect the state of the lightning rod includes:

[0025] Controlling the eddy current detecting device to move along the circumferential direction of the ring clamping structure to obtain the change information of the induced current or the induced voltage;

[0026] Generate a detection signal characterizing the state of the lightning rod according to the change information of the induced current or induced voltage.

[0027] The lightning rod eddy current detection robot and the lightning rod eddy current detection method provided by the embodiments of the present application include a plurality of annular clamping structures and an eddy current detection device; the annular clamping structures are used to surround the periphery of the lightning rod, and the annular clamping structures are used to fix or disengage from the lightning rod; the eddy current detection device is arranged on at least one annular clamping structure; the eddy current detection device includes a connected mounting member and a detection member, the mounting member is arranged on the annular clamping structure, the detection member faces the inner side of the annular clamping structure, and the detection member is used to detect the state of the lightning rod, so that while the lightning rod eddy current detection robot moves up and down the lightning rod, it drives the eddy current coil to reciprocally scan the lightning rod, and performs an all-round eddy current detection on the lightning rod, achieving the effect of improving the detection accuracy. Description of the Drawings

[0028] The drawings here are incorporated into the specification and form a part of this specification, showing the embodiments in line with the present application, and are used together with the specification to explain the principles of the present application.

[0029] Figure 1 Schematic structural diagram of the lightning rod eddy current detection robot provided by the embodiments of the present application;

[0030] Figure 2 Schematic diagram of the lightning rod and the tower base provided by the embodiments of the present application;

[0031] Figure 3 Of the lightning rod eddy current detection robot provided by the embodiments of the present application Figure 1 Enlarged view at A;

[0032] Figure 4 Schematic flowchart of the lightning rod eddy current detection method provided by the embodiments of the present application.

[0033] Reference Signs:

[0034] 100, clamping structure; 110, first clamping structure; 120, second clamping structure; 130, rotating seat; 131, annular rack; 140, driving gear;

[0035] 200, eddy current detection device; 210, mounting member; 220, detection member; 221, eddy current coil; 222, sensing element;

[0036] 300, lightning rod;

[0037] 400, tower base.

[0038] Through the above-mentioned drawings, specific embodiments of the present application have been shown, and will be described in more detail hereinafter. These drawings and the written description are not intended to limit the scope of the concept of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by reference to specific embodiments. Detailed Description of the Invention

[0039] As described in the background art, lightning rods, as an important lightning protection device, mainly establish an electrical path with charged clouds through tip discharge, guiding lightning into the ground, thereby effectively preventing the harm of direct lightning strikes to facilities and personnel. However, due to the generally slender and tall structure of lightning rods, conventional detection equipment and personnel are difficult to access and maintain these facilities. Since they were put into use, the detection problem of lightning rods has not been effectively solved.

[0040] Currently, for problems such as aging, corrosion, and surface defects of lightning rods, domestic and foreign operation and maintenance units usually adopt the method of manual operation after power outage for detection. This method relies on equipment such as large cranes or aerial work platforms to assist in the operation, sending operation and maintenance personnel near the lightning rods.

[0041] During the operation process, operation and maintenance personnel conduct visual inspections on the lightning rods, mainly relying on the naked eye to observe whether there are visible defects such as rust, cracks, and deformation on the surface of the lightning rods. At the same time, simple tools are combined, such as tapping with a hammer to listen to the sound, to judge the structural integrity of the lightning rods.

[0042] However, this detection method has obvious limitations: First, the accuracy of visual inspection is relatively low, and it is difficult to detect minor surface defects or hidden structural problems; second, the efficiency of manual detection is relatively low, especially when the number of lightning rods is large or the height is high, the detection work is time-consuming and laborious; in addition, manual detection is also restricted by environmental conditions. For example, in insufficient light or bad weather, the accuracy and safety of detection will be greatly reduced.

[0043] More importantly, the traditional visual inspection method cannot effectively detect potential problems inside the lightning rods, such as internal corrosion, material fatigue, or loosening of connection parts. These problems are often difficult to detect in the initial stage, but over time, they may gradually intensify, ultimately leading to the failure of the lightning rod's function and even causing serious safety accidents.

[0044] Therefore, the existing detection methods are not only inefficient, but also difficult to comprehensively evaluate the health status of lightning rods, and cannot meet the high requirements of modern power facilities for safety and reliability.

[0045] In response to the above problems, some studies have proposed to detect lightning rods through climbing robots. However, these robots usually only equipped with a vision module to identify surface defects of lightning rods, such as visible problems like rust, cracks, and coating peeling.

[0046] Although vision detection technology can improve the detection efficiency to a certain extent and reduce the risk of manual high-altitude operations, its limitations are also very obvious. For example, the accuracy of vision detection is greatly affected by environmental conditions. In the case of insufficient light, rain, snow, or a large amount of surface dirt, the recognition ability of the vision module will significantly decline, resulting in missed detections or false detections.

[0047] To solve the above technical problems, the embodiments of the present application provide a lightning rod eddy current detection robot and a lightning rod eddy current detection method. An eddy current detection device is provided on at least one annular clamping structure. The eddy current detection device includes a mounting member and a detection member. The detection member can face the inner side of the annular clamping structure to be used for detecting the state of the lightning rod.

[0048] It is easy to understand that, compared with the method of detecting lightning rods by manual or traditional climbing robots in the related art, the lightning rod eddy current detection robot and the lightning rod eddy current detection method provided by the present application can, through the collaborative work of the annular clamping structure and the eddy current detection device, achieve the effect of stably and efficiently detecting the surface and internal defects of the lightning rod while climbing on the lightning rod.

[0049] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices consistent with some aspects of the present application as detailed in the appended claims.

[0050] In the embodiments of the present application, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the embodiments of the present application, unless otherwise specified, the meaning of "a plurality" is two or more.

[0051] In addition, in the embodiments of the present application, orientation terms such as "upper", "lower", "left", and "right" are defined relative to the orientation of the components shown in the drawings. It should be understood that these directional terms are relative concepts, and they are used for relative description and clarification, and they can change accordingly with the change of the orientation of the components placed in the drawings.

[0052] In the embodiments of the present application, unless otherwise clearly defined and limited, the term "connection" should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral body; it can be directly connected or indirectly connected through an intermediate medium.

[0053] In the embodiments of the present application, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, article or device. Without further limitation, an element defined by the phrase "comprising a..." does not exclude the presence of additional identical elements in the process, article or device comprising such element.

[0054] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be construed as being more preferred or advantageous than other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present relevant concepts in a specific manner.

[0055] The technical solutions of the present application and how the technical solutions of the present application solve the above technical problems will be described in detail below with specific embodiments. These specific embodiments below can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below with reference to the accompanying drawings.

[0056] See Figure 1 , an eddy current detection robot for a lightning rod provided by an embodiment of the present application may include a plurality of annular clamping structures 100 and an eddy current detection device 200.

[0057] See Figure 2 , the lightning rod 300 to be detected is mostly installed at the top of the tower base 400, and the tower base 400 is a complex truss structure, and the specific structure is designed according to different substation functions and regulatory requirements.

[0058] The annular clamping structure 100 can be looped around the periphery of the lightning rod 300, and by clamping and releasing actions, the lightning rod 300 can be fixed and disengaged, realizing the stable climbing, obstacle crossing and adaptation to complex environments of the robot.

[0059] There can be a plurality of annular clamping structures 100. The plurality of annular clamping structures 100 can be arranged at intervals. The plurality of annular clamping structures 100 can be evenly distributed along the main axis of the robot to form a multi-segment clamping system.

[0060] The plurality of annular clamping structures 100 alternately clamp the lightning rod 300, which can ensure that at least one annular clamping structure 100 is always fixed to the lightning rod 300 during the climbing process of the robot, avoiding the robot from falling off due to the failure of a single annular clamping structure 100.

[0061] A plurality of annular clamping structures 100 may include a first clamping structure 110 and a second clamping structure 120. Both the first clamping structure 110 and the second clamping structure 120 can be used to fix to the lightning rod 300. The first clamping structure 110 may be located at the upper part of the robot, and the second clamping structure 120 may be located at the lower part of the robot. The first clamping structure 110 may be above the second clamping structure 120. The second clamping structure 120 may be provided with an eddy current detection device 200.

[0062] When the annular clamping structure 100 is in the first state, the annular clamping structure 100 can be used to fix to the lightning rod 300. The first state of the annular clamping structure 100 may be a clamping state. When the annular clamping structure 100 is in the first state, it can be driven by a cylinder or a motor to firmly clamp the lightning rod 300.

[0063] When the annular clamping structure 100 is in the second state, the annular clamping structure 100 can be disengaged from the lightning rod 300. The second state of the annular clamping structure 100 may be a loosening state. When the annular clamping structure 100 is in the second state, the lightning rod 300 can be loosened to enable it to move freely.

[0064] The eddy current detection device 200 may be provided on at least one annular clamping structure 100. The eddy current detection device 200 can be used to detect the state of the lightning rod 300, such as internal corrosion, material fatigue, or loosening of the connection part, etc.

[0065] The eddy current detection device 200 may include a connected mounting member 210 and a detection member 220. The mounting member 210 may be provided on the annular clamping structure 100, and the detection member 220 may face the inner side of the annular clamping structure 100 for detecting the state of the lightning rod 300.

[0066] See Figure 3 , the detection member 220 may include an eddy current coil 221 and a sensing element 222.

[0067] The eddy current coil 221 can be used to detect the state of the lightning rod 300. When an alternating current is passed through the eddy current coil 221, an eddy current will be generated on the surface of the lightning rod 300, and the material, surface defects, or internal damage of the lightning rod 300 will change the distribution and intensity of the eddy current. By detecting the change in the impedance of the eddy current coil 221 or the change in the induced magnetic field, the health state of the lightning rod 300 can be indirectly judged.

[0068] For example, surface cracks or corrosion can cause abnormal eddy current distribution and significant changes in coil impedance; internal damage, on the other hand, will cause attenuation of the magnetic field intensity. Detection by the eddy current coil 221 does not require contact with the surface of the lightning rod 300 and can quickly and non-destructively detect surface and internal defects of the lightning rod 300, which is suitable for the condition assessment of the lightning rod 300 in high-altitude and complex environments.

[0069] The sensing element 222 can be used to detect the distance between the eddy current coil 221 and the lightning rod 300. The sensing element 222 can monitor the distance change in real time and adjust the coil position through a feedback control system to ensure stable and reliable detection signals, while avoiding collisions between the coil and the surface of the lightning rod 300 or a too large distance resulting in a decrease in detection sensitivity.

[0070] The sensing element 222 can include an ultrasonic sensor, a laser ranging sensor, or a capacitive proximity sensor. For example, the ultrasonic sensor calculates the distance between the coil and the surface of the lightning rod 300 by emitting ultrasonic waves and receiving the reflected signals; the laser ranging sensor accurately measures the distance using the reflection time of the laser beam; the capacitive proximity sensor infers the distance by detecting the capacitance change between the coil and the surface of the lightning rod 300.

[0071] The annular clamping structure 100 can be provided with a rotating seat 130. The rotating seat 130 can rotate relative to the annular clamping structure 100 along the circumferential direction of the annular clamping structure 100. The eddy current detection device 200 can move relative to the annular clamping structure 100 through the rotating seat 130, so that the detection range of the eddy current detection device 200 covers the side wall of the lightning rod 300.

[0072] The annular clamping structure 100 can be provided with a driving gear 140. The rotating seat 130 can be provided with an annular rack 131. The annular rack 131 can be meshed with the driving gear 140 to convert the rotational motion of the driving gear 140 into the rotation of the annular rack 131, so that the annular rack 131 can rotate relative to the annular clamping structure 100 along the circumferential direction of the annular clamping structure 100.

[0073] The mounting member 210 can be movably arranged on the rotating seat 130, enabling it to have a relative displacement on the rotating seat 130, thereby driving the detection member 220 to achieve position adjustment, approaching or moving away from the lightning rod 300.

[0074] The annular rack 131 can be arranged at the bottom of the rotating seat 130. The mounting member 210 can be arranged at the top of the rotating seat 130, and the mounting member 210 can be slidably connected to the top surface of the rotating seat 130. The transmission system at the bottom of the rotating seat 130 and the detection system at the top can work in coordination without interference.

[0075] The rotating base 130 can be provided with a lift driving part (not shown in the figure). The output end of the lift driving part can be connected to the mounting member 210, driving the mounting member 210 to approach or move away from the lightning rod 300, ensuring an optimal detection distance between the detection member 220 and the lightning rod 300.

[0076] For example, the lift driving part can adopt a linear motor, a stepping motor or a servo motor, and convert the rotary motion into a linear motion through a lead screw, a gear or a linkage mechanism, so as to accurately control the position of the detection member 220. During the detection process, the lift driving part can adjust the distance between the mounting member 210 and the surface of the lightning rod 300 in real time according to the feedback signal of the sensing element 222.

[0077] The number of the eddy current detection devices 200 can be multiple, and the multiple eddy current detection devices 200 can be sequentially arranged along the circumferential direction of the annular clamping structure 100.

[0078] For example, the eddy current detection device 200 can include a first eddy current detection device 200 and a second eddy current detection device 200. The first eddy current detection device 200 and the second eddy current detection device 200 can be arranged oppositely. This opposite design around the lightning rod 300 can achieve a comprehensive detection of the state of the lightning rod 300, and at the same time change the rotation angle of the rotating base 130 from 360° to 180°, shortening the scanning time and improving the detection efficiency.

[0079] Correspondingly, the lift driving part can include a first lift driving part and a second lift driving part. The output end of the first lift driving part can be connected to the first mounting member 210 of the first eddy current detection device 200, and the output end of the second lift driving part can be connected to the second mounting member 210 of the second eddy current detection device 200.

[0080] For example, when there are irregular shapes or local deformations on the surface of the lightning rod 300, the first lift driving part and the second lift driving part can respectively adjust the positions of the first mounting member 210 and the second mounting member 210 according to the feedback signals of the first sensing element 222 of the first eddy current detection device 200 and the second sensing element 222 of the second eddy current detection device 200, avoiding distortion of the detection signal or collision of the equipment. It not only improves the detection accuracy and adaptability, but also enhances the stability and safety of the detection equipment, and is especially suitable for the detection task of the lightning rod 300 in a complex environment.

[0081] It is easy to understand that through the collaborative work of the annular clamping structure 100 and the eddy current detection device 200, the eddy current detection robot for the lightning rod 300 realizes the effect of stably and efficiently detecting the surface and internal defects of the lightning rod 300 while climbing on the lightning rod 300.

[0082] Figure 4It is a schematic flowchart of the eddy current detection method for lightning rods provided by the embodiments of this application. As Figure 4 shown, this method may include:

[0083] S401. Obtain the position information of the eddy current detection robot for the lightning rod.

[0084] Among them, the method for obtaining the position information of the eddy current detection robot for the lightning rod may include installing a positioning device on the robot and determining the position information representing the height where the robot is located according to the positioning device.

[0085] S402. If the position information of the eddy current detection robot for the lightning rod does not meet the preset position information, control the annular clamping structure to move upward along the vertical direction on the lightning rod.

[0086] Among them, the preset position information may refer to the position coordinates of the highest point of the lightning rod, that is, the end point where the robot completes the detection.

[0087] The annular clamping structure may include a first clamping structure and a second clamping structure, and the first clamping structure may be located above the second clamping structure.

[0088] The way for the annular clamping structure to move upward along the vertical direction on the lightning rod may include making the first clamping structure in a clamped state, the second clamping structure in a loosened state, driving the second clamping structure to approach the first clamping structure, and then making the first clamping structure in a loosened state, the second clamping structure in a clamped state, and driving the first clamping structure away from the second clamping structure, and alternately performing the above operations to make the annular clamping structure move upward on the lightning rod.

[0089] If the position information of the eddy current detection robot for the lightning rod meets the preset position information, the annular clamping structure can be controlled to be fixed on the lightning rod and no longer move upward along the vertical direction. At this time, the first clamping structure and the second clamping structure are in a clamped state.

[0090] S403. Control the eddy current detection device to detect the state of the lightning rod.

[0091] Among them, the state of the lightning rod may refer to the defect position, size, severity, etc. on the surface or inside of the lightning rod.

[0092] Among them, the method for controlling the eddy current detection device to detect the state of the lightning rod may include:

[0093] Controlling the eddy current detection device to move circumferentially around the annular clamping structure to obtain the change information of the induced current or induced voltage;

[0094] Generating a detection signal representing the state of the lightning rod according to the change information of the induced current or induced voltage.

[0095] Among them, the eddy current detection device may include a connected mounting member and a detection member, and the detection member may include an eddy current coil and a sensing element.

[0096] The sensing element can obtain the distance between the eddy current coil and the lightning rod. According to the distance between the eddy current coil and the lightning rod, the detection member can be controlled to approach or move away from the lightning rod. Specifically, according to a preset optimal detection distance range, it can be determined whether the current distance is appropriate: if the distance is too far, the detection member is controlled to approach the lightning rod to reduce the distance between the eddy current coil and the surface of the lightning rod; if the distance is too close, the detection member is controlled to move away from the lightning rod to avoid collision or signal distortion, ensuring that the eddy current coil always maintains the optimal distance from the surface of the lightning rod, thereby optimizing the stability and accuracy of the detection signal.

[0097] The method for obtaining the change information of the induced current or induced voltage may include controlling the circumferential movement of the mounting member around the annular clamping structure, thereby driving the detection member to scan around the lightning rod. When the eddy current coil moves and scans along the surface of the lightning rod, the material, surface defects or internal damage of the lightning rod will change the distribution of the eddy current field, resulting in changes in the induced current or induced voltage.

[0098] The method for generating a detection signal characterizing the state of the lightning rod according to the change information of the induced current or induced voltage may include collecting and analyzing the change information of the induced current or induced voltage to generate a detection signal characterizing the defect position, size and severity. After these detection signals are processed by data and analyzed by algorithms, they can provide a health status assessment report of the lightning rod for the operation and maintenance personnel, helping them to timely discover potential problems and take maintenance measures, thereby ensuring the safety and reliability of the lightning rod.

[0099] The lightning rod eddy current detection method provided by the embodiments of the present application can, through the collaborative work of the clamping structure and the eddy current detection device, achieve the effect of stably and efficiently detecting the surface and internal defects of the lightning rod while climbing on the lightning rod.

[0100] The above technical description may be referred to the accompanying drawings, which form a part of this application, and the implementation manners in accordance with the described embodiments are shown by description in the drawings. Although these embodiments are described in sufficient detail to enable those skilled in the art to implement these embodiments, these embodiments are non-limiting; thus, other embodiments may be used and changes may be made without departing from the scope of the described embodiments. For example, the order of operations described in the flowcharts is non-limiting, so the order of two or more operations illustrated and described according to the flowcharts may be changed according to several embodiments. As another example, in several embodiments, one or more operations illustrated and described according to the flowcharts are optional or may be deleted. Additionally, certain steps or functions may be added to the disclosed embodiments, or the order of two or more steps may be permuted. All these changes are considered to be included in the disclosed embodiments and the claims.

[0101] In addition, terms are used in the above technical description to provide a thorough understanding of the described embodiments. However, overly detailed details are not required to implement the described embodiments. Therefore, the above description of the embodiments is presented for illustration and description. The embodiments presented in the above description and the examples disclosed according to these embodiments are provided separately to add context and help understand the described embodiments. The above specification is not intended to be exhaustive or to limit the described embodiments to the exact form of this application. According to the above teachings, several modifications, selections, and variations are feasible. In some cases, well-known processing steps are not described in detail to avoid unnecessarily affecting the described embodiments.

[0102] Specific embodiments are applied in this application to elaborate on the principles and implementation manners of this application. The description of the above embodiments is only used to help understand the core idea of this application; at the same time, for those of ordinary skill in the art, based on the idea of this application, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to this application.

[0103] The above is only the specific implementation manner of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art within the technical scope disclosed in this application can easily think of changes or substitutions, which should all be covered by the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

1. A lightning rod eddy current detection robot, characterized in that, It includes a plurality of annular clamping structures and eddy current detection devices; The annular clamping structure is used to be arranged around the lightning rod, and the annular clamping structure is used to fix or disengage from the lightning rod; The eddy current detection device is arranged on at least one of the annular clamping structures; the eddy current detection device includes a connected mounting member and a detection member, the mounting member is arranged on the annular clamping structure, the detection member faces the inner side of the annular clamping structure, and the detection member is used to detect the state of the lightning rod.

2. The lightning rod eddy current detection robot according to claim 1, wherein The annular clamping structure is provided with a rotating seat, and the rotating seat can rotate relative to the annular clamping structure along the circumferential direction of the annular clamping structure.

3. The lightning rod eddy current detection robot according to claim 2, characterized in that The annular clamping structure is provided with a driving gear; The rotating seat is provided with an annular rack, the annular rack meshes with the driving gear, and the annular rack can rotate relative to the annular clamping structure along the circumferential direction of the annular clamping structure.

4. The lightning rod eddy current detection robot according to claim 2, characterized in that, The mounting member is movably arranged on the rotating seat, driving the detection member to approach or move away from the lightning rod.

5. The lightning rod eddy current detection robot according to claim 4, characterized in that The rotating seat is provided with a lift driving part; The detection member includes an eddy current coil and a sensing element, the eddy current coil is used to detect the state of the lightning rod, and the sensing element is used to detect the distance between the eddy current coil and the lightning rod; The lift driving part is arranged on the rotating seat, the output end of the lift driving part is connected to the mounting member, and the lift driving part drives the mounting member to approach or move away from the lightning rod.

6. The lightning rod eddy current detection robot according to claim 3, characterized in that The annular rack is arranged at the bottom of the rotating seat; The mounting member is arranged on the top of the rotating seat, and the mounting member is slidably connected to the top surface of the rotating seat.

7. The lightning rod eddy current detection robot according to claim 1, wherein The number of the eddy current detection devices is multiple, and the multiple eddy current detection devices are sequentially arranged around the circumferential direction of the annular clamping structure.

8. The lightning rod eddy current detection robot according to any one of claims 1-7, characterized in that The multiple annular clamping structures include a first clamping structure and a second clamping structure; the first clamping structure is located above the second clamping structure, and the second clamping structure is provided with the eddy current detection device.

9. A method for eddy current detection of a lightning rod, characterized in that, It includes: Obtaining the position information of the lightning rod eddy current detection robot; If the position information of the lightning rod eddy current detection robot does not meet the preset position information, then controlling the annular clamping structure to move upward along the vertical direction on the lightning rod; Controlling the eddy current detection device to detect the state of the lightning rod.

10. The lightning rod eddy current detection method according to claim 9, characterized in that, The controlling the eddy current detection device to detect the state of the lightning rod includes: Controlling the eddy current detection device to move around the circumferential direction of the annular clamping structure to obtain the change information of the induced current or induced voltage; Generating a detection signal representing the state of the lightning rod according to the change information of the induced current or induced voltage.

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