Self-stabilizing holder acoustic infrared double-imaging comprehensive inspection device and inspection system thereof

Abstract

The invention discloses a self-stabilizing holder acoustic infrared double-imaging comprehensive inspection device and an inspection system thereof, and relates to the technical field of unmanned aerial vehicle inspection, the device comprises an unmanned aerial vehicle, a mounting frame and a self-stabilizing holder, the lower part of the unmanned aerial vehicle is connected with the self-stabilizing holder through the mounting frame, and the self-stabilizing holder is connected with an inspection host used for detecting an overhead line. According to the self-stabilizing cradle head acoustic infrared double-imaging comprehensive inspection device and the system thereof, the unmanned aerial vehicle can carry high-precision positioning equipment and a stable cradle head system and can be accurately aligned to a detected line part, signal acquisition errors caused by angle deviation of manual operation are reduced, and partial discharge signals are acquired more accurately; meanwhile, when the unmanned aerial vehicle flies stably at a low altitude, interference of factors such as body shaking on detection equipment during manual inspection can be avoided, the reliability of data is further improved, a more powerful basis is provided for line insulation state evaluation, the inspection efficiency is improved, the labor intensity is reduced, and the accuracy and reliability of detection data are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle inspection, and in particular to a self-stabilizing pan-tilt acoustic infrared dual-imaging comprehensive inspection device and an inspection system thereof. Background Art

[0002] With the continuous development of the national economy and the increasing demand for electricity, ensuring the safe and stable operation of overhead transmission lines has become a core task in power system operations and maintenance. Partial discharge (PD) detection, a key method for determining line insulation status and preventing faults, has a direct impact on grid reliability. Traditional PD inspections for overhead lines rely primarily on manual, point-by-point checks along the line using handheld PD equipment. However, this approach has significant limitations. First, overhead lines are generally erected at high altitudes, and some sections traverse complex terrain such as mountains, rivers, and dense forests, resulting in poor accessibility. This makes it difficult for operators to get close to the target, resulting in poor PD signal acquisition. Second, manual operation is difficult to precisely align with the measured point, which can easily affect data accuracy due to angular deviations. Furthermore, the lack of effective spatial positioning methods makes it difficult to quickly pinpoint the specific location of PD faults. Furthermore, this approach is labor-intensive and operates in a harsh environment. This significantly increases the difficulty and safety risks of line inspections, especially after natural disasters such as floods, earthquakes, and landslides. It no longer meets the demands of modern power grids for efficient, accurate, and intelligent operations and maintenance. In recent years, the rapid development of drone technology has provided a new solution to overcome these bottlenecks. Drones, with their flexibility and adaptability to terrain, can easily reach areas difficult for humans to reach. Equipped with partial discharge detection equipment, they can perform close-range, multi-angle inspections of overhead lines. This not only improves the effectiveness of partial discharge signal acquisition but also, combined with positioning systems, allows for precise identification of fault points, significantly enhancing inspection efficiency and safety, in line with the trends in modern power grid construction and development. Therefore, we designed a self-stabilizing pan-tilt, acoustic, and infrared dual-imaging integrated inspection device. Summary of the Invention

[0003] The purpose of the present invention is to provide a self-stabilizing pan-tilt acoustic infrared dual-imaging comprehensive inspection device and its inspection system in order to solve the above problems.

[0004] The present invention achieves the above-mentioned purpose through the following technical solutions: A self-stabilizing pan-tilt acoustic infrared dual-imaging comprehensive inspection device comprises a drone, a mounting frame and a self-stabilizing pan-tilt. The drone is connected to the self-stabilizing pan-tilt via the mounting frame, and the self-stabilizing pan-tilt is connected to an inspection host for detecting overhead lines.

[0005] Preferably, the self-stabilizing gimbal includes a YAW axis assembly for controlling left and right turns, a ROLL axis assembly for controlling roll, and a PITCH axis assembly for controlling pitch up and down. The YAW axis assembly is connected to the ROLL axis assembly, and the ROLL axis assembly is connected to the PITCH axis assembly.

[0006] Preferably, the YAW axis assembly includes a rotating head, a connecting part, and a YAW axis motor. The rotating head is assembled and connected to the connecting part. The YAW axis motor is connected to the connecting part through an upper connecting shell at the top, and is connected to the YAW axis arm through a lower connecting shell at the bottom and fixed by a first arm fastener. A USB adapter board is provided between the upper connecting shell and the connecting part, and a gimbal main control board is provided between the YAW axis motor and the upper connecting shell.

[0007] Preferably, the rotating head is connected to the drone via the mounting bracket.

[0008] Preferably, the YAW shaft arm is L-shaped, and the lower end of the YAW shaft arm is connected to the ROLL shaft assembly; The ROLL shaft assembly includes a ROLL shaft motor and a ROLL shaft motor connector. The ROLL shaft motor is installed at the lower end of the YAW shaft arm. The ROLL shaft motor is connected to the ROLL shaft arm through the ROLL shaft motor connector and fixed by a second shaft arm fastener.

[0009] Preferably, the ROLL shaft arm is U-shaped, and the end of the ROLL shaft arm is connected to the PITCH shaft assembly.

[0010] Preferably, the PITCH axis assembly includes a PITCH axis motor, and the PITCH axis motor is connected to the inspection host; The inspection host includes a silencer and a microphone array unit. The microphone array unit is installed at the rear end of the silencer. A control board is provided on the microphone array unit. A rear shell is installed at the rear end of the control board. An infrared camera is installed above the silencer through a camera fixing part.

[0011] Preferably, the microphone array unit includes an array front sealing gasket, a microphone array plate, an array rear sealing gasket and an array pressing plate arranged in sequence from front to back, the front end of the microphone array unit is connected to the silencer through the front shell, and the rear end of the microphone array unit is installed with a visible light camera, and the visible light camera passes through the array pressing plate, the array rear sealing gasket, the microphone array plate and the array front sealing gasket to the silencer.

[0012] The present invention also provides an inspection system of a self-stabilizing pan-tilt acoustic infrared dual imaging comprehensive inspection device, comprising a computer system, an acoustic imaging module, an infrared thermal imaging module and a visible light imaging module; The acoustic imaging module transcodes, filters, and processes the sound wave signals collected by the microphone array unit, and then sends them to the computer system via network communication. The computer system calculates and analyzes the signal to obtain the relative sound pressure of each grid on the screen, and uses the visible light module to collect the image to obtain a holographic color image of the noise source location. The infrared thermal imaging module transmits the infrared signals collected by the infrared dual cameras to the computer system via USB, and decodes them through video decoding software to obtain intuitive thermal images and temperature spectrograms; The computer system communicates with the drone data via the PSDK interface of the rotating head.

[0013] Furthermore, the drone is controlled by a drone remote controller signal connection, and the drone is powered by a self-stabilizing gimbal and a peripheral power module.

[0014] The beneficial effect is that through the self-stabilizing pan-tilt acoustic infrared dual-imaging comprehensive inspection device and system of the present application, the drone can be equipped with high-precision positioning equipment and a stable pan-tilt system, which can accurately aim at the part of the line under test, reduce the signal acquisition error caused by manual operation angle deviation, and make the acquisition of partial discharge signals more accurate; at the same time, when the drone is flying stably at low altitude, it can avoid interference with the detection equipment due to factors such as body shaking during manual inspection, further improve the reliability of the data, provide a more powerful basis for the evaluation of the line insulation status, improve inspection efficiency, reduce labor intensity, and improve the accuracy and reliability of detection data. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0016] Figure 1 It is a three-dimensional diagram of the inspection device of the present invention; Figure 2 It is a three-dimensional diagram of the self-stabilizing pan-tilt platform of the inspection device of the present invention; Figure 3 This is an exploded view of the self-stabilizing pan / tilt platform of the inspection device of the present invention; Figure 4 It is a three-dimensional diagram of the first axis arm fastener of the self-stabilizing pan-tilt platform of the inspection device of the present invention; Figure 5 1. It is an exploded view of the YAW axis assembly of the self-stabilizing pan-tilt platform of the inspection device of the present invention; Figure 6 This is an exploded view of the connection between the ROLL axis motor and the YAW axis arm of the self-stabilizing pan / tilt inspection device of the present invention; Figure 7 This is an exploded view of the connection between the self-stabilizing pan-tilt platform ROLL axis assembly and the PITCH axis motor of the inspection device of the present invention; Figure 8 This is an exploded view of the inspection host of the inspection device of the present invention; Figure 9 is an exploded view of the microphone array unit of the inspection device of the present invention; Figure 10 This is a three-dimensional structural diagram of the silencer of the inspection device of the present invention; Figure 11 System block diagram of the inspection system of the present invention.

[0017] The following are the descriptions of the reference numerals: 1. UAV; 2. Mounting frame; 3. Self-stabilizing gimbal; 301. YAW axis assembly; 301a. Rotating head; 301b. Connector; 301c. USB adapter board; 301d. Upper connecting shell; 301e. Gimbal main control board; 301f. YAW axis motor; 301g. Lower connecting shell; 301h. YAW axis arm; 302. ROLL axis assembly; 302a. ROLL axis motor; 302b. ROLL axis connector; 302c. ROLL axis arm; 303. PI TCH shaft assembly; 303a, PITCH shaft motor; 304, first shaft arm fastener; 305, second shaft arm fastener; 4, inspection host; 401, silencer; 401a, front shell; 401b, array front sealing gasket; 404c, microphone array board; 404d, array rear sealing gasket; 404e, array pressing piece; 404f, visible light camera; 402, camera fixing part; 403, infrared camera; 404, microphone array unit; 405, control board; 405, rear shell. DETAILED DESCRIPTION

[0018] To make the objectives, technical solutions, and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other implementations obtained by those of ordinary skill in the art without inventive effort are within the scope of protection of the present invention.

[0019] See also Figures 1-10The present invention provides a self-stabilizing pan-tilt platform 3 acoustic infrared dual imaging comprehensive inspection device, including a drone 1, a mounting frame 2 and a self-stabilizing pan-tilt platform 3. The drone 1 is connected to the self-stabilizing pan-tilt platform 3 through the mounting frame 2 at the bottom, and the self-stabilizing pan-tilt platform 3 is connected to an inspection host 4 for overhead line detection.

[0020] By adopting the technical solution of the present application, the UAV 1 provides an aerial mobile platform that can carry inspection equipment to high altitudes and complex terrain areas where overhead lines are located; the mounting frame 2 realizes a stable connection between the UAV 1 and the self-stabilizing gimbal 3, ensuring that the equipment is not easily fallen off during the inspection process; the self-stabilizing gimbal 3 provides stable support for the inspection host 4, reducing the impact of the flight shaking of the UAV 1 on the inspection; the inspection host 4 directly performs the inspection task of the overhead lines. The four work together to realize comprehensive aerial inspection of overhead lines, breaking the geographical limitations of traditional manual inspections.

[0021] Among them, reference Figure 2 and Figure 3 As shown, the self-stabilizing gimbal 3 includes a YAW axis assembly 301 for left and right rotation, a ROLL axis assembly 302 for roll control, and a PITCH axis assembly 303 for pitch control. The YAW axis assembly 301 is connected to the ROLL axis assembly 302, which in turn is connected to the PITCH axis assembly 303. The YAW axis assembly 301 controls left and right rotation, adjusting the horizontal orientation of the inspection host 4 to facilitate inspections on both sides of the line. The ROLL axis assembly 302 controls roll, offsetting roll motion during flight and ensuring the inspection host 4 remains relatively level. The PITCH axis assembly 303 controls pitch, adjusting the inspection host 4's pitch angle to enable inspections at different locations along the line. The synergistic effect of these three axis assemblies gives the self-stabilizing gimbal 3 multi-directional adjustment capabilities, ensuring the inspection host 4 remains stably aligned with the inspection target during flight, improving inspection accuracy.

[0022] As a preferred embodiment of this case, refer to Figure 5As shown, the YAW axis assembly 301 includes a rotating head 301a, a connector 301b, and a YAW axis motor 303a. The rotating head 301a is connected to the drone 1 via the mount 2. The rotating head 301a adopts a SkyPort V2 rotating head and is assembled and connected to the connector 301b. The connector 301b adopts a SkyPort connector 301b. The YAW axis motor 303a is connected to the connector 301b via an upper connecting housing 301d at the top. The YAW axis motor 303a is connected to the YAW axis arm 302c via a lower connecting housing 301g at the bottom and is fixed by a first arm fastener 304. A USB adapter board 301c is provided between the upper connecting housing 301d and the connector 301b. A gimbal main control board 301e is provided between the YAW axis motor 303a and the upper connecting housing 301d. With the above structure, the assembly connection between the rotating head 301a and the connecting piece 301b ensures the stability of the upper structure of the YAW axis assembly 301; the upper connecting shell 301d and the lower connecting shell 301g firmly connect the YAW axis motor 303a with the connecting piece 301b and the YAW axis arm 302c, and the first axis arm fastener 304 further enhances the firmness of the connection to prevent the YAW axis motor 303a from loosening during operation; the pan-tilt main control board 301e can accurately control the rotation angle and speed of the YAW axis motor 303a, making the left and right rotation of the YAW axis assembly 301 more precise and controllable, thereby improving the accuracy of the horizontal adjustment of the inspection host 4.

[0023] For further reference, Figure 6 As shown, the YAW shaft arm 302c is L-shaped, and the lower end of the YAW shaft arm 302c is connected to the ROLL shaft assembly 302; the ROLL shaft assembly 302 includes a ROLL shaft motor 303a and a ROLL shaft motor connector 301b, and the ROLL shaft motor 303a is installed at the lower end of the YAW shaft arm 302c, and the ROLL shaft motor 303a is connected to the ROLL shaft arm 302c through the ROLL shaft motor connector 301b and fixed by a second shaft arm fastener 305. The L-shaped YAW shaft arm 302c design can not only firmly connect the upper structure of the YAW shaft assembly 301 and the ROLL shaft assembly 302, but also provide a suitable installation space and position for the ROLL shaft assembly 302, so that the roll rotation of the ROLL shaft assembly 302 will not interfere with other components of the YAW shaft assembly 301, thereby ensuring smooth power transmission and structural coordination between the YAW shaft assembly 301 and the ROLL shaft assembly 302.

[0024] refer to Figure 7As shown, the ROLL shaft arm 302c is U-shaped, and the end of the ROLL shaft arm 302c is connected to the PITCH shaft assembly 303. As an example, the PITCH shaft assembly 303 includes a PITCH shaft motor 303a, and the PITCH shaft motor 303a is connected to the inspection host 4; Figure 8 As shown, the inspection host 4 includes a silencer 401 and a microphone array unit 404. The microphone array unit 404 is installed at the rear end of the silencer 401. A control board 405 is provided on the microphone array unit 404. A rear shell 405 is installed at the rear end of the control board 405. An infrared camera 403 is installed above the silencer 401 through a camera fixing part 402. The pitch axis motor 303a powers the inspection host 4's vertical and horizontal rotation, enabling flexible adjustment of its pitch angle to accommodate inspections of lines at varying heights. The muffler 401 reduces interference from ambient noise on the acoustic signals collected by the microphone array unit 404, which is used to collect partial discharge acoustic signals from overhead lines. The control board 405 controls and processes the various components of the inspection host 4, while the rear housing 405 protects the control board 405 and other internal components. The infrared camera 403, securely mounted via the camera mounting bracket 402, captures infrared thermal imaging data from the line, enabling detection of heating conditions. The inspection host 4 integrates acoustic and infrared imaging capabilities, enabling simultaneous acquisition of partial discharge acoustic and thermal imaging data, enhancing the comprehensiveness of inspections.

[0025] As a preference, refer to Figure 10As shown, the microphone array unit 404 includes an array front sealing gasket 401b, a microphone array plate 404c, an array rear sealing gasket 404d and an array pressing plate 404e, which are arranged in sequence from front to back. The front end of the microphone array unit 404 is connected to the silencer 401 through the front shell 401a, and the rear end of the microphone array unit 404 is installed with a visible light camera 404f, and the visible light camera 404f passes through the array pressing plate 404e, the array rear sealing gasket 404d, the microphone array plate 404c and the array front sealing gasket 401b to the silencer 401. The array front sealing gasket 401b and the array rear sealing gasket 404d play a sealing role to prevent dust, water vapor, etc. from entering the microphone array unit 404 and affecting the working performance of the microphone; the microphone array board 404c is the core component for collecting sound wave signals, ensuring the accurate collection of partial discharge sound waves of the line; the array pressing plate 404e presses and fixes each component to ensure the stability of the internal structure of the microphone array unit 404; the front shell 401a realizes a stable connection between the microphone array unit 404 and the silencer 401; the visible light camera 404f can collect visible light images of the line, and cooperate with the sound wave signals and infrared images to provide richer visual references for partial discharge fault location and improve the accuracy of fault judgment.

[0026] refer to Figure 11 The present invention also provides an inspection system of a self-stabilizing pan-tilt 3 acoustic infrared dual imaging comprehensive inspection device, comprising a computer system, an acoustic imaging module, an infrared thermal imaging module and a visible light imaging module; The acoustic imaging module transcodes, filters, and performs data calculation on the sound wave signals collected by the microphone array unit 404, and then sends them to the computer system via network communication. The computer system calculates and analyzes the signal to obtain the relative sound pressure of each grid on the screen, and uses the visible light module to collect the picture to obtain a holographic color map of the noise source location; the infrared thermal imaging module transmits the infrared signal collected by the infrared dual cameras to the computer system via USB, and decodes it through video decoding software to obtain an intuitive thermal image and temperature spectrum; the computer system communicates with the drone 1 via the PSDK interface of the rotating head 301a.

[0027] Using the above technical solution, the acoustic imaging module processes the sound wave signal and transmits it to the computer system, and combines it with the visible light image to generate a noise source positioning holographic color map, which can accurately locate the partial discharge noise source of the line; the infrared thermal imaging module processes the infrared signal to obtain a thermal image and temperature spectrum, which can intuitively reflect the temperature distribution of the line and facilitate the discovery of overheating fault points; the computer system serves as the core processing unit, receives and analyzes the data of each module, and at the same time communicates data with the drone 1 to achieve coordinated control of the entire inspection process; the modules work together to enable the inspection system to have comprehensive detection and analysis capabilities for partial discharge and thermal faults on the line, thereby improving the efficiency and accuracy of fault detection and positioning.

[0028] Furthermore, the drone 1 is controlled by a drone remote controller signal connection, and the drone 1 is powered by a self-stabilizing gimbal and a peripheral power module.

[0029] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A self-stabilizing pan-tilt acoustic infrared dual-imaging comprehensive inspection device, characterized by: The invention comprises a drone, a mounting frame and a self-stabilizing pan-tilt platform. The lower part of the drone is connected to the self-stabilizing pan-tilt platform through the mounting frame, and the self-stabilizing pan-tilt platform is connected to an inspection host for detecting overhead lines.

2. The self-stabilizing pan-tilt acoustic infrared dual-imaging comprehensive inspection device according to claim 1, characterized in that: The self-stabilizing gimbal includes a YAW axis assembly for controlling left and right turns, a ROLL axis assembly for controlling roll, and a PITCH axis assembly for controlling pitch up and down. The YAW axis assembly is connected to the ROLL axis assembly, and the ROLL axis assembly is connected to the PITCH axis assembly.

3. The self-stabilizing pan-tilt acoustic infrared dual-imaging comprehensive inspection device according to claim 2, characterized in that: The YAW axis assembly includes a rotating head, a connecting part, and a YAW axis motor. The rotating head is assembled and connected to the connecting part. The upper part of the YAW axis motor is connected to the connecting part through an upper connecting shell. The lower part of the YAW axis motor is connected to the YAW axis arm through a lower connecting shell and is fixed by a first arm fastener. A USB adapter board is provided between the upper connecting shell and the connecting part, and a gimbal main control board is provided between the YAW axis motor and the upper connecting shell.

4. The self-stabilizing pan-tilt acoustic infrared dual-imaging comprehensive inspection device according to claim 2, characterized in that: The rotating head is connected to the drone via the mounting frame.

5. The self-stabilizing pan-tilt acoustic infrared dual imaging comprehensive inspection device according to claim 3, characterized in that: The YAW shaft arm is L-shaped, and the lower end of the YAW shaft arm is connected to the ROLL shaft assembly; The ROLL shaft assembly includes a ROLL shaft motor and a ROLL shaft motor connector. The ROLL shaft motor is installed at the lower end of the YAW shaft arm. The ROLL shaft motor is connected to the ROLL shaft arm through the ROLL shaft motor connector and fixed by a second shaft arm fastener.

6. The self-stabilizing pan-tilt acoustic infrared dual imaging comprehensive inspection device according to claim 5, characterized in that: The ROLL shaft arm is U-shaped, and the end of the ROLL shaft arm is connected to the PITCH shaft assembly.

7. The self-stabilizing pan-tilt acoustic infrared dual imaging comprehensive inspection device according to claim 6, characterized in that: The PITCH axis assembly includes a PITCH axis motor, and the PITCH axis motor is connected to the inspection host; The inspection host includes a silencer and a microphone array unit. The microphone array unit is installed at the rear end of the silencer. A control board is provided on the microphone array unit. A rear shell is installed at the rear end of the control board. An infrared camera is installed above the silencer through a camera fixing part.

8. The self-stabilizing pan-tilt acoustic infrared dual imaging comprehensive inspection device according to claim 7, characterized in that: The microphone array unit includes an array front sealing gasket, a microphone array plate, an array rear sealing gasket and an array pressing plate arranged in sequence from front to back. The front end of the microphone array unit is connected to the silencer through the front shell, and the rear end of the microphone array unit is installed with a visible light camera, and the visible light camera passes through the array pressing plate, the array rear sealing gasket, the microphone array plate and the array front sealing gasket to the silencer.

9. An inspection system using the self-stabilizing pan-tilt acoustic infrared dual imaging integrated inspection device according to any one of claims 1 to 8, characterized in that: It includes a computer system, an acoustic imaging module, an infrared thermal imaging module and a visible light imaging module; The acoustic imaging module transcodes, filters, and processes the sound wave signals collected by the microphone array unit, and then sends them to the computer system via network communication. The computer system calculates and analyzes the signal to obtain the relative sound pressure of each grid on the screen, and uses the visible light module to collect the image to obtain a holographic color image of the noise source location. The infrared thermal imaging module transmits the infrared signals collected by the infrared dual cameras to the computer system via USB, and decodes them through video decoding software to obtain intuitive thermal images and temperature spectrograms; The computer system communicates with the drone data via the PSDK interface of the rotating head.

10. The self-stabilizing pan-tilt acoustic infrared dual imaging comprehensive inspection device according to claim 9, characterized in that: The drone is controlled by a drone remote controller signal connection, and the drone is powered by a self-stabilizing gimbal and a peripheral power module.

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