High-potential airborne live working system of power transmission line on-line monitoring device

Abstract

The invention relates to a high-potential airborne hot-line working system of a power transmission line on-line monitoring device. The high-potential airborne hot-line working system comprises a monitoring device body and an installation mother machine, the mounting mother machine comprises a case, a suspension mechanism and a lifting mechanism, the lifting mechanism is connected to the lower end of the suspension mechanism, and the case is connected to the movable end of the lifting mechanism; an electrically-driven locking mechanism is arranged in the case, and the monitoring device body is detachably connected to the upper end face of the case through the electrically-driven locking mechanism; a rotary covering mechanism for driving an upper cover of the monitoring device body to cover and a wire clamping mechanism for clamping a wire are arranged in the monitoring device body, and power sources of the rotary covering mechanism and the wire clamping mechanism are arranged in the case. Manual power failure tower climbing installation is not needed, the installation efficiency is high, the safety risk is low, and operation is not limited by the environment; the fault monitoring device can be detached and replaced; and the power sources are all arranged in the mounting mother machine, so that the production cost is greatly reduced, and the utilization rate of the power sources is improved.

Description

Technical Field

[0001] This invention relates to the field of power transmission line monitoring technology, and more specifically to a high-potential airborne live-line working system for an online monitoring device for power transmission lines. Background Art

[0002] High-voltage transmission lines are crucial hubs for power transmission. However, complex geographical environments (such as mountainous areas and cross-river regions) and extreme weather conditions lead to frequent line faults, seriously threatening the safe and stable operation of the power system. Distributed fault diagnosis devices, with their advantages of high-precision positioning and rapid fault identification, have become core equipment for improving the efficiency of power grid operation and maintenance. However, currently, these devices mainly rely on manual power outages and tower climbing for installation, which suffers from low efficiency, high safety risks, and environmental limitations, making it difficult to meet the needs of intelligent and efficient power grid operation and maintenance.

[0003] In recent years, live-line working technology has gradually become an important development direction for the installation and maintenance of power equipment. Breakthroughs in technologies such as drone-borne systems and machine vision positioning have provided technical support for the live-line installation of distributed fault diagnosis devices. Against this backdrop, developing an efficient and safe live-line installation system and its standardized procedures is of great significance for promoting the innovation of power grid operation and maintenance models and ensuring power supply reliability. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a high-potential airborne live-line working system for an online monitoring device for power transmission lines, so as to overcome the shortcomings of the prior art.

[0005] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: A high-potential airborne live-line working system for an online monitoring device for power transmission lines includes a monitoring device body and an installation machine; the installation machine includes a chassis, a suspension mechanism and a lifting mechanism, the suspension mechanism is hung below a drone by an insulating rope and suspended on the conductor, the lifting mechanism is connected to the lower end of the suspension mechanism, the chassis is connected to the movable end of the lifting mechanism and is located below the conductor; an electrically driven locking mechanism is provided inside the chassis, and the monitoring device body is detachably connected to the upper surface of the chassis through the electrically driven locking mechanism; The upper half ring of the current sensor and the upper half ring of the power sensor of the monitoring device body are fixedly connected to the upper cover of the monitoring device body. The monitoring device body is equipped with a rotating cover mechanism for driving the upper cover of the monitoring device body to close, and a wire clamping mechanism for clamping the wire. The power sources of the rotating cover mechanism and the wire clamping mechanism are both located inside the chassis. The controller inside the chassis is wirelessly connected to the mobile terminal.

[0006] The beneficial effects of this invention are as follows: Before installation, the monitoring device body is fixed to the chassis of the mounting machine using an electric drive locking mechanism. The top cover of the monitoring device body is opened, and the mounting machine is hung below the drone using an insulating rope. The drone is controlled to fly near the wire to be installed, and its position is finely adjusted so that the suspension mechanism is attached to the wire to be installed. The lifting mechanism is activated, and the chassis drives the monitoring device body to rise, so that the wire to be installed is located in the wire groove of the monitoring device body. The wire clamping mechanism is activated to clamp the wire, and the rotating cover mechanism is activated to close the top cover of the monitoring device body. The electric drive locking mechanism is operated to unlock, so that the monitoring device body is detached from the mounting machine. The chassis is lowered by the lifting mechanism, and the drone can be removed, thus completing the installation of the monitoring device body. When it is necessary to disassemble, maintain, or replace the monitoring device body, simply follow the above steps to suspend the mounting machine on the wire to be installed, fix the monitoring device body to the mounting machine using the electric drive locking mechanism, and then activate the rotating cover mechanism and the wire clamping mechanism to rotate in the opposite direction to open, so that the device can be detached from the wire and the monitoring device body can be removed.

[0007] This system eliminates the need for manual power outages and tower climbing during monitoring device installation, resulting in high installation efficiency, low safety risks, and unrestricted operation by the environment, thus meeting the needs of intelligent and efficient power grid operation and maintenance. Furthermore, the system allows for convenient disassembly and replacement of faulty monitoring devices. By housing the power sources for the rotating cover mechanism, wire clamping mechanism, and electrically driven locking mechanism within the installation machine, it effectively prevents situations where disassembly is impossible due to monitoring device malfunction, insufficient power, or wire power outages. Moreover, by integrating all power sources into the installation machine, the elimination of the need for individual power sources for each monitoring device significantly reduces production costs, decreases the size and weight of the monitoring devices, and improves the utilization rate of power sources.

[0008] Based on the above technical solution, the present invention can be further improved as follows.

[0009] Furthermore, the suspension mechanism includes an N-shaped suspension beam, and the lower sidewalls of the two vertical rods of the suspension beam are each provided with a first guide plate that slopes outward and downward.

[0010] Furthermore, two second guide plates are inclinedly arranged on the upper surface of the chassis, forming a V-shaped groove between the two second guide plates. The bottom spacing of the V-shaped groove is consistent with the width of the monitoring device body, and the top spacing of the V-shaped groove is greater than the bottom spacing. A baffle is provided below the suspension mechanism. When the monitoring device body contacts the baffle, the monitoring device body is located above the V-shaped groove. The suspension mechanism also includes two V-shaped positioning wheels, which are rotatably connected to the lower ends of the two vertical rods of the suspension beam.

[0011] Furthermore, the lifting mechanism includes a fixed frame, a first motor, a lead screw, a motor base, a first slide rail, and a first slider; the upper crossbar of the fixed frame is fixedly connected to the suspension mechanism; the first motor is a through-type lead screw motor, with the lead screw vertically arranged in the middle of the fixed frame; the first motor is movably mounted on the lead screw; the motor base is fixedly connected to the first motor; the first slide rail is located inside the vertical bar of the fixed frame; the first slider is fixedly connected to the first motor through the motor base; and the first slider is slidably connected to the first slide rail; the housing is connected to one side of the motor base and is located below the conductor.

[0012] Furthermore, the rotating cover mechanism includes an upper cover shaft, a first worm gear, a first worm wheel, a first rotating rod, and a first hexagonal rod; The upper cover and lower shell of the monitoring device body are rotatably connected by an upper cover pivot. The two ends of the upper cover pivot are fixedly connected to the upper cover. A first worm gear is provided in the middle of the upper cover pivot. A first rotating rod is vertically rotatably provided in the middle of the monitoring device body. The lower end of the first rotating rod extends downward out of the lower shell of the monitoring device body and is connected to a first hexagonal rod. A first worm wheel is connected to the upper end of the first rotating rod. The first worm wheel is compatible with the first worm gear. A second motor is vertically installed inside the chassis. The output shaft of the second motor is connected to a first hexagonal sleeve. The upper end of the first hexagonal sleeve extends out of the upper end face of the chassis. The first hexagonal sleeve matches the first hexagonal rod.

[0013] Furthermore, the wire clamping mechanism includes two clamping arms, two second worm gears, a second rotating rod, a second worm, a second hexagonal rod, and a U-shaped mounting plate, wherein the second worm gear is a sector-shaped turbine. The second rotating rod is rotatably connected to the bottom plate of the U-shaped mounting plate. The upper end of the second rotating rod is fixedly connected to the second worm gear, and the lower end of the second rotating rod extends out of the bottom plate of the U-shaped mounting plate and is fixedly connected to the second hexagonal rod. Two second worm gears are symmetrically connected to the two side plates of the U-shaped mounting plate via a rotating shaft. Two clamping arms are fixedly connected to the two second worm gears. Each of the two second worm gears is engaged with a second worm. A third motor is vertically installed inside the chassis. The output shaft of the third motor is connected to a second hexagonal sleeve. The upper end of the second hexagonal sleeve extends out of the upper end face of the chassis. The second hexagonal sleeve matches the second hexagonal rod. Two clamping arms extend to the upper end face of the lower shell of the monitoring device body. The wires are located between the two clamping arms and the wire passage groove.

[0014] Furthermore, the electric drive locking mechanism includes an electric telescopic rod horizontally installed inside the chassis. The telescopic end of the electric telescopic rod is vertically connected to a locking block. A protective cover is provided with an upward protrusion on the upper surface of the chassis. The upper end of the locking block extends out of the upper surface of the chassis and is located inside the protective cover. The bottom shell of the monitoring device body is recessed upward and has a groove that matches the protective cover. A slot is provided on the side wall of the groove. The engaging part of the locking block faces the slot. When the telescopic end of the electric telescopic rod extends, the engaging part of the locking block moves horizontally within the slot. Two sets of electric drive locking mechanisms are symmetrically arranged.

[0015] Furthermore, the electric drive locking mechanism also includes a pull rod, a spring, and a handle. One end of the pull rod is fixedly connected to the fixed part of the electric telescopic rod, and the other end extends out of the housing and is fixedly connected to the handle. A spring is sleeved on the pull rod. A second slider is fixedly connected to the electric telescopic rod, and a second slide rail is fixedly connected to the inner wall of the housing. The second slider is slidably connected to the second slide rail.

[0016] Furthermore, an electromagnet is installed on the upper surface of the chassis, and a metal block is installed at the bottom of the monitoring device body. The electromagnet and the metal block are magnetically connected.

[0017] Furthermore, the suspension mechanism is equipped with a binocular camera and a laser ranging module that are electrically connected to the controller inside the chassis. The two camera modules of the binocular camera are respectively arranged facing each other on both sides of the suspension mechanism. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the monitoring device of the present invention before installation; Figure 2 This is a schematic diagram of the monitoring device of the present invention after installation; Figure 3 This is a schematic diagram of the monitoring device of the present invention during disassembly; Figure 4 This is a side view of the overall mechanism of the present invention; Figure 5 This is a schematic diagram of the suspension mechanism of the present invention; Figure 6 This is a schematic diagram of the lifting mechanism of the present invention; Figure 7 This is a schematic diagram of the open structure of the monitoring device of the present invention; Figure 8 This is a schematic diagram of the cover structure of the monitoring device of the present invention; Figure 9 This is a schematic diagram of the internal structure of the monitoring device of the present invention; Figure 10 This is an exploded view of the chassis structure of the present invention; Figure 11 This is a partial cross-sectional view of the chassis structure of the present invention; Figure 12This is a schematic diagram of the wire clamping mechanism of the present invention.

[0019] The attached diagram lists the components represented by each number as follows: 1. Monitoring device body; 11. Rotating cover mechanism; 111. Top cover shaft; 112. First worm gear; 113. First worm wheel; 114. First rotating rod; 115. First hexagonal rod; 12. Wire clamping mechanism; 121. Clamping arm; 122. Second worm wheel; 123. Second rotating rod; 124. Second worm gear; 125. Second hexagonal rod; 126. U-shaped mounting plate; 13. Metal block; 14. Slot; 15. Wire passage groove; 16. Current sensor; 17. Power sensor; 2. Mounting machine; 21. Chassis; 211. Electric drive locking mechanism; 2111. Electric telescopic rod; 2112. Locking block; 2113. Protective cover; 2114. Pull rod; 2115. Spring; 2116. 2117. Handle; 2118. Second slider; 2119. Second slide rail; 212. Second guide plate; 213. U-shaped limit plate; 214. Second motor; 215. First hexagonal sleeve; 216. Third motor; 217. Second hexagonal sleeve; 218. Electromagnet; 22. Suspension mechanism; 221. Suspension beam; 222. First guide plate; 223. Baffle; 224. V-shaped positioning wheel; 225. Brake pin; 226. Lifting ring; 23. Lifting mechanism; 231. Fixed frame; 232. First motor; 233. Lead screw; 234. Motor base; 235. First slide rail; 236. First slider; 24. Binocular camera; 25. Laser ranging module; 3. Wire; 4. Insulating rope; 5. Drone. Detailed Implementation

[0020] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0021] like Figures 1-12 As shown in Embodiment 1, a high-potential airborne live-line working system for an online monitoring device for power transmission lines includes a monitoring device body 1 and an installation machine 2. The installation machine 2 includes a chassis 21, a suspension mechanism 22, and a lifting mechanism 23. The suspension mechanism 22 is suspended below a drone 5 via an insulating rope 4 and is suspended on a conductor 3. The lifting mechanism 23 is connected to the lower end of the suspension mechanism 22. The chassis 21 is connected to the movable end of the lifting mechanism 23 and is located below the conductor 3. An electrically driven locking mechanism 211 is provided inside the chassis 21. The monitoring device body 1 is detachably connected to the upper surface of the chassis 21 via the electrically driven locking mechanism 211. The upper half ring of the current sensor 16 and the upper half ring of the power sensor 17 of the monitoring device body 1 are fixedly connected to the upper cover of the monitoring device body 1. The monitoring device body 1 is provided with a rotating cover mechanism 11 for driving the upper cover of the monitoring device body 1 to close, and a wire clamping mechanism 12 for clamping the wire 3. The power sources of the rotating cover mechanism 11 and the wire clamping mechanism 12 are both located in the chassis 21. The controller in the chassis 21 is wirelessly connected to the mobile terminal.

[0022] Before installation, the monitoring device body 1 is fixed to the housing 21 of the mounting machine 2 by the electric drive locking mechanism 211. The top cover of the monitoring device body 1 is opened, and the mounting machine 2 is hung under the drone 5 by the insulating rope 4. The drone 5 is controlled to fly to the vicinity of the overhead wire 3 to be installed. The position of the drone 5 is finely adjusted so that the suspension mechanism 22 is hung on the wire 3 to be installed. The lifting mechanism 23 is activated, which drives the monitoring device body 1 to rise through the housing 21, so that the wire 3 to be installed is located in the wire groove 15 of the monitoring device body 1. The wire clamping mechanism 12 is activated to clamp the wire 3, and the rotating cover closing mechanism 11 is activated to close the cover. Close the top cover of the monitoring device body 1, operate the electric drive locking mechanism 211 to unlock, so that the monitoring device body 1 is detached from the mounting machine 2. The lifting mechanism 23 lowers the chassis 21, and the drone 5 can be evacuated, thus completing the installation of the monitoring device body 1. When it is necessary to disassemble, maintain or replace the monitoring device body 1, simply follow the above steps to suspend the mounting machine 2 on the wire 3 to be installed, fix the monitoring device body 1 on the mounting machine 2 through the electric drive locking mechanism 211, and then start the rotating cover mechanism 11 and the wire clamping mechanism 12 to rotate in the opposite direction to open, so that it can be detached from the wire 3, and the monitoring device body 1 can be taken away.

[0023] This system eliminates the need for manual power outages and tower climbing during monitoring device installation, resulting in high installation efficiency, low safety risks, and unrestricted operation by the environment, thus meeting the needs of intelligent and efficient power grid operation and maintenance. Furthermore, the system allows for convenient disassembly and replacement of faulty monitoring devices. By housing the power sources for the rotating cover mechanism 11, the wire clamping mechanism 12, and the electrically driven locking mechanism 211 within the installation machine 2, situations where disassembly is impossible due to monitoring device 1 malfunction, insufficient power, or power outage of the wire 3 are effectively avoided. Additionally, housing all power sources within the installation machine 2 eliminates the need for a separate power source for each monitoring device 1, significantly reducing production costs, decreasing the size and weight of the monitoring device, and improving the utilization rate of the power sources.

[0024] In practice, U-shaped limiting plates 213 are respectively provided on both sides of the upper surface of the chassis 21. The U-shaped limiting plates 213 are rotatably mounted on the chassis 21 via a rotating shaft. During installation, the wire 3 to be installed is located in the U-shaped groove of the U-shaped limiting plate 213. The size design of the U-shaped groove can accommodate wires with voltage levels ranging from 35kV to 1000kV. Its shape naturally provides radial limiting for the wire, ensuring that the wire is precisely constrained in the predetermined position in the lateral direction and will not easily shift under strong wind conditions during high-altitude operations.

[0025] Example 2 is a further improvement based on Example 1, and its details are as follows: The suspension mechanism 22 includes an N-shaped suspension beam 221, and the lower side walls of the two vertical rods of the suspension beam 221 are provided with first guide plates 222 that are inclined outward and downward.

[0026] The first guide plate 222 forms an inverted V-shaped hook structure with the vertical rod of the suspension beam 221, which also serves as a guide. When the drone 5 flies the suspension mechanism 22 to the vicinity of the conductor 3, by adjusting the flight attitude, the lower opening of the inverted V-shaped hook structure is positioned directly above the conductor 3, and the drone 5 is lowered, the suspension mechanism 22 can be suspended on the conductor 3. In specific implementation, the upper end faces of both ends of the N-shaped suspension beam 221 are provided with lifting rings 226, which is conducive to binding the insulating rope 4.

[0027] Example 3 is a further improvement based on Example 2, and its details are as follows: Two second guide plates 212 are inclinedly arranged on the upper end face of the chassis 21, and a V-shaped groove is formed between the two second guide plates 212. The bottom spacing of the V-shaped groove is the same as the width of the monitoring device body 1, and the top spacing of the V-shaped groove is greater than the bottom spacing. A baffle 223 is arranged below the suspension mechanism 22. When the monitoring device body 1 contacts the baffle 223, the monitoring device body 1 is located above the V-shaped groove. The suspension mechanism 22 also includes two V-shaped positioning wheels 224, which are rotatably connected to the lower ends of the two vertical rods of the suspension beam 221.

[0028] During installation, the V-shaped positioning wheel 224 is locked. During removal, the V-shaped positioning wheel 224 is unlocked, allowing it to slide on the guide wire 3. This facilitates the UAV 5 to drive the suspension mechanism 22 to finely adjust its position along the guide wire 3, which is beneficial for the alignment of the monitoring device body 1 and the installation mother machine 2.

[0029] In practice, a brake pin 225 is provided on one side of the V-shaped positioning wheel 224. When installing the monitoring device body 1, the brake pin 225 is inserted, and the V-shaped positioning wheel 224 is braked and cannot roll, which can better position it when installing the monitoring device body 1. When it is necessary to remove the monitoring device body 1, the brake pin 225 is removed, and the wheel can roll. This is beneficial for fine-tuning the position of the suspension mechanism 22 according to the actual position after the suspension mechanism 22 is suspended on the wire 3. The roller surface of the V-shaped positioning wheel 224 is covered with polyurethane-silicon carbide composite material, and the wheel rim has a 3mm raised edge (anti-slip angle > 30°) to limit the lateral displacement of the wire 3 to be installed. The bottom of the V-shaped wheel groove is designed with a 10° inward inclination angle. The weight of the wire 3 to be installed generates radial extrusion force, realizing the wire 3 to be installed self-locking without power.

[0030] Example 4 is a further improvement based on Example 1, and its details are as follows: The lifting mechanism 23 includes a fixed frame 231, a first motor 232, a lead screw 233, a motor base 234, a first slide rail 235, and a first slider 236. The upper crossbar of the fixed frame 231 is fixedly connected to the suspension mechanism 22. The first motor 232 is a through-type lead screw motor. The lead screw 233 is vertically arranged in the middle of the fixed frame 231. The first motor 232 is movably mounted on the lead screw 233. The motor base 234 is fixedly connected to the first motor 232. The first slide rail 235 is located inside the vertical bar of the fixed frame 231. The first slider 236 is fixedly connected to the first motor 232 through the motor base 234. The first slider 236 is slidably connected to the first slide rail 235. The housing 21 is connected to one side of the motor base 234 and is located below the wire 3.

[0031] In practice, the upper crossbar of the fixed frame 231 extends outward and then bends horizontally to form a horizontal U-shaped structure. The end of the bend is connected to the suspension mechanism 22, so that the center of gravity of the entire mounting machine 2 is located directly below the conductor 3, making the suspension more stable and also ensuring that the chassis 21 is located directly below the suspension mechanism 22.

[0032] Example 5 is a further improvement based on Example 1, and its details are as follows: The rotating cover mechanism 11 includes an upper cover rotating shaft 111, a first worm gear 112, a first worm wheel 113, a first rotating rod 114, and a first hexagonal rod 115; The upper cover and lower shell of the monitoring device body 1 are rotatably connected by an upper cover pivot 111. The two ends of the upper cover pivot 111 are fixedly connected to the upper cover. A first worm gear 112 is provided in the middle of the upper cover pivot 111. A first rotating rod 114 is vertically rotatably provided in the middle of the monitoring device body 1. The lower end of the first rotating rod 114 extends downward out of the lower shell of the monitoring device body 1 and is connected to a first hexagonal rod 115. The upper end of the first rotating rod 114 is connected to a first worm wheel 113. The first worm wheel 113 is adapted to the first worm gear 112. A second motor 214 is vertically installed inside the housing 21. The output shaft of the second motor 214 is connected to a first hexagonal sleeve 215. The upper end of the first hexagonal sleeve 215 extends out of the upper end face of the housing 21. The first hexagonal sleeve 215 matches the first hexagonal rod 115.

[0033] This solution involves placing the second motor 214 inside the housing 21, and transmitting power between the first hexagonal sleeve 215 and the first hexagonal rod 115 inside the monitoring device body 1. Only a simple mechanical transmission structure needs to be added to the monitoring device body 1, thus enabling the reuse of the power source. This also reduces the weight and volume of the monitoring device body, saving production costs. In addition, placing the second motor 214 inside the housing 21 facilitates maintenance and avoids the inability to disassemble and repair the monitoring device body 1 in case of an unexpected failure of the second motor 214 after installation. This can be avoided by placing the second motor 214 inside the housing 21, and maintenance can be carried out only on the ground.

[0034] In practice, the first hexagonal sleeve 215 is a universal sleeve, which can avoid misalignment caused by angular deviation; the bottom of the chassis 21 is provided with an inner groove facing upward, and the first hexagonal rod 115 is set in the inner groove and is flush with the bottom of the chassis 21.

[0035] Example 6 is a further improvement based on Example 1, and its details are as follows: The wire clamping mechanism 12 includes two clamping arms 121, two second worm gears 122, a second rotating rod 123, a second worm 124, a second hexagonal rod 125, and a U-shaped mounting plate 126. The second worm gears 122 are fan-shaped turbines. The second rotating rod 123 is rotatably connected to the bottom plate of the U-shaped mounting plate 126. The upper end of the second rotating rod 123 is fixedly connected to the second worm gear 124, and the lower end of the second rotating rod 123 extends out of the bottom plate of the U-shaped mounting plate 126 and is fixedly connected to the second hexagonal rod 125. Two second worm gears 122 are symmetrically connected between the two side plates of the U-shaped mounting plate 126 via a rotating shaft, and two clamping arms 121 are fixedly connected to the two second worm gears 122. The two second worm gears 122 are respectively engaged with the second worm 124. A third motor 216 is vertically installed inside the housing 21. The output shaft of the third motor 216 is connected to a second hexagonal sleeve 217. The upper end of the second hexagonal sleeve 217 extends out of the upper end face of the housing 21. The second hexagonal sleeve 217 matches the second hexagonal rod 125. Two clamping arms 121 extend to the upper end face of the lower shell of the monitoring device body 1. The wire 3 is located between the two clamping arms 121 and the wire groove 15.

[0036] This solution involves placing the third motor 216 inside the housing 21, which is driven by the second hexagonal sleeve 217 and the second hexagonal rod 125 inside the monitoring device body 1. Only a simple mechanical transmission structure needs to be added inside the monitoring device body 1, thus enabling the reuse of the power source. This also reduces the weight and volume of the monitoring device body, saving production costs.

[0037] In addition, placing the third motor 216 inside the housing 21 facilitates maintenance and avoids the inability to disassemble and repair the monitoring device body 1 if the third motor 216 fails unexpectedly after installation. This can be avoided by placing the third motor 216 inside the housing 21, and maintenance can be carried out only on the ground.

[0038] In practice, the two clamping arms 121 are staggered to better clamp the wire 3 and prevent the monitoring device body 1 from sliding along the wire 3. In addition, the bottom of the chassis 21 is provided with an inner groove facing upward, and the second hexagonal rod 125 is set in the inner groove and is flush with the bottom of the chassis 21.

[0039] Example 7 is a further improvement based on Example 1, and its details are as follows: The electrically driven locking mechanism 211 includes an electric telescopic rod 2111 horizontally arranged inside the housing 21. The telescopic end of the electric telescopic rod 2111 is vertically connected to a locking block 2112. A protective cover 2113 is provided on the upper surface of the housing 21. The upper end of the locking block 2112 extends out of the upper surface of the housing 21 and is located inside the protective cover 2113. The bottom shell of the monitoring device body 1 is recessed upward and has a groove that matches the protective cover 2113. A slot 14 is provided on the side wall of the groove. The engaging part of the locking block 2112 faces the slot 14. When the telescopic end of the electric telescopic rod 2111 extends, the engaging part of the locking block 2112 moves horizontally within the slot 14. Two sets of electrically driven locking mechanisms 211 are symmetrically arranged.

[0040] When the monitoring device body 1 is aligned with the chassis 21, the protective cover 2113 on the upper surface of the chassis 21 is inserted into the groove of the bottom shell of the monitoring device body 1. When locked, the telescopic end of the electric telescopic rod 2111 extends out, driving the locking block 2112 to move horizontally forward. The locking part at the top of the locking block 2112 extends into the locking groove 14 to achieve locking. In specific implementation, the electric telescopic rod 2111 can be an electromagnetic lock or an electronic lock, and the telescopic end of the electric telescopic rod 2111 is the locking tongue of the electromagnetic lock.

[0041] Example 8 is a further improvement on Example 7, and its details are as follows: The electrically driven locking mechanism 211 also includes a pull rod 2114, a spring 2115, and a handle 2116. One end of the pull rod 2114 is fixedly connected to the fixed part of the electric telescopic rod 2111, and the other end extends out of the housing of the casing 21 and is fixedly connected to the handle 2116. The spring 2115 is sleeved on the pull rod 2114. A second slider 2117 is fixedly connected to the electric telescopic rod 2111, and a second slide rail 2118 is fixedly connected to the inner wall of the casing 21. The second slider 2117 is slidably connected to the second slide rail 2118.

[0042] By squeezing the handle 2116 and pulling the lever 2114 outward, the electric telescopic rod 2111 moves in the opposite direction to the slot 14, thereby achieving forced unlocking. After releasing the handle 2116, the electric telescopic rod 2111 can actively reset under the action of the spring 2115. It can be manually unlocked when on the ground without the need for remote unlocking via a mobile terminal. In addition, when encountering a malfunction of the electric telescopic rod 2111 or a jammed block 2112, it can also be forcibly unlocked by manual operation.

[0043] Example 9 is a further improvement on Example 7, and its details are as follows: An electromagnet 218 is provided on the upper surface of the chassis 21, and a metal block 13 is provided at the bottom of the monitoring device body 1. The electromagnet 218 and the metal block 13 are magnetically connected.

[0044] The electromagnet 218 facilitates the initial tight alignment of the monitoring device body 1 and the locking of the electrically driven locking mechanism 211 with the monitoring device body 1. In addition, through the synergistic effect of the two, it can prevent the monitoring device body 1 from failing or malfunctioning due to the failure of one of them.

[0045] Example 10 is a further improvement based on Example 1, and its details are as follows: The suspension mechanism 22 is equipped with a binocular camera 24 and a laser ranging module 25 that are electrically connected to the controller inside the chassis 21. The two camera modules of the binocular camera 24 are respectively arranged facing each other on both sides of the suspension mechanism 22.

[0046] The three-dimensional point cloud data of the wire 3 to be installed is generated by scanning with binocular camera 24 and laser ranging module 25. The position of the wire 3 to be installed is identified by image processing algorithm. The lateral and longitudinal deviations between the suspension mechanism 22 and the wire 3 to be installed are calculated by combining the laser ranging data. The UAV adjusts its posture through PID closed-loop control so that the center line of V-shaped positioning wheel 224 is aligned with the axis of the wire 3 to be installed. (1) Obtain the spatial position of the wire 3 to be installed. The binocular cameras 24 simultaneously acquire images of the wire 3 to be installed, and extract the coordinates of matching feature points of the wire 3 to be installed from the left and right images. and The laser ranging module 25 simultaneously measures the vertical distance from the wire 3 to be installed to the V-shaped positioning wheel 224. The formula for calculating binocular parallax is as follows: ; Furthermore, the depth of the feature points is calculated. The calculation formula is as follows: ; In the formula, The focal length of the dual-lens camera is 24. The baseline distance between the two eyes; Furthermore, a three-dimensional coordinate transformation is performed, using the following formula: ; In the formula, This is the camera intrinsic parameter matrix; Then, based on the least squares method, using all feature points Fitted linear equation: ; Output wire parameters ; (2) Deviation calculation: The center coordinates of the V-shaped positioning wheel 224 are calculated. and laser ranging value Substituting into the guide wire equation, calculate the real-time deviation; where, the longitudinal deviation (corresponding to the forward direction of V-shaped positioning wheel 224) can be expressed as: ; like If the wire 3 to be installed is in front, it needs to be moved forward; otherwise, it needs to be moved backward. The lateral deviation (corresponding to the left and right direction of the V-shaped positioning wheel 224) can be expressed as: ; like If the wire 3 to be installed is on the right, it needs to be moved to the right; otherwise, it needs to be moved to the left. (3) PID control Deviation The input to the PID controller is as follows: the proportional term P compensates for deviation in real time (gain coefficient of 0.8), the integral term I eliminates accumulated error (gain coefficient of 0.05), and the derivative term D suppresses overshoot oscillation (gain coefficient of 0.1), thereby generating UAV motion commands. Its expression is as follows: ; ; In the formula, To control the cycle, it is set to 0.1s. This is the deviation from the previous cycle; (4) Posture adjustment The flight control system of UAV 5 executes speed commands, moves, re-collects data, updates the deviation value, and repeats this process until the target is met. ,and .

[0047] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A high-potential airborne live-line working system for an online monitoring device of a power transmission line, characterized in that, The system includes a monitoring device body (1) and a mounting machine (2); the mounting machine (2) includes a chassis (21), a suspension mechanism (22) and a lifting mechanism (23). The suspension mechanism (22) is hung below the UAV (5) by an insulating rope (4) and suspended on a wire (3). The lifting mechanism (23) is connected to the lower end of the suspension mechanism (22). The chassis (21) is connected to the movable end of the lifting mechanism (23) and is located below the wire (3). An electric drive locking mechanism (211) is provided inside the chassis (21). The monitoring device body (1) is detachably connected to the upper surface of the chassis (21) through the electric drive locking mechanism (211). The upper half ring of the current sensor (16) and the upper half ring of the power sensor (17) of the monitoring device body (1) are fixedly connected to the upper cover of the monitoring device body (1). The monitoring device body (1) is provided with a rotating cover mechanism (11) for driving the upper cover of the monitoring device body (1) to close, and a wire clamping mechanism (12) for clamping the wire (3). The power sources of the rotating cover mechanism (11) and the wire clamping mechanism (12) are both located in the chassis (21). The controller in the chassis (21) is wirelessly connected to the mobile terminal.

2. The high-potential airborne live-line working system for an online monitoring device for transmission lines according to claim 1, characterized in that, The suspension mechanism (22) includes an N-shaped suspension beam (221), and the lower sidewalls of the two vertical rods of the suspension beam (221) are provided with a first guide plate (222) that tilts outward and downward.

3. The high-potential airborne live-line working system for an online monitoring device for transmission lines according to claim 2, characterized in that, The upper surface of the chassis (21) is inclined with two second guide plates (212), and a V-shaped groove is formed between the two second guide plates (212). The bottom spacing of the V-shaped groove is the same as the width of the monitoring device body (1), and the top spacing of the V-shaped groove is greater than the bottom spacing. A baffle (223) is provided below the suspension mechanism (22). When the monitoring device body (1) contacts the baffle (223), the monitoring device body (1) is located above the V-shaped groove. The suspension mechanism (22) also includes two V-shaped positioning wheels (224). The two V-shaped positioning wheels (224) are rotatably connected to the lower ends of the two vertical rods of the suspension beam (221).

4. The high-potential airborne live-line working system for an online monitoring device for transmission lines according to claim 1, characterized in that, The lifting mechanism (23) includes a fixed frame (231), a first motor (232), a lead screw (233), a motor base (234), a first slide rail (235), and a first slider (236). The upper crossbar of the fixed frame (231) is fixedly connected to the suspension mechanism (22). The first motor (232) is a through-type lead screw motor. The lead screw (233) is vertically arranged in the middle of the fixed frame (231). The first motor (232) is movably mounted on the lead screw (234). 3) The motor base (234) is fixedly connected to the first motor (232), the first slide rail (235) is disposed inside the vertical rod of the fixed frame (231), the first slider (236) is fixedly connected to the first motor (232) through the motor base (234), and the first slider (236) is slidably connected to the first slide rail (235); the housing (21) is connected to one side of the motor base (234) and is located below the wire (3).

5. The high-potential airborne live-line working system for an online monitoring device for transmission lines according to claim 1, characterized in that, The rotating cover mechanism (11) includes an upper cover shaft (111), a first worm (112), a first worm wheel (113), a first rotating rod (114), and a first hexagonal rod (115). The upper cover and lower shell of the monitoring device body (1) are rotatably connected by the upper cover pivot (111). The two ends of the upper cover pivot (111) are fixedly connected to the upper cover. The first worm gear (112) is provided in the middle of the upper cover pivot (111). The first rotating rod (114) is vertically rotatably provided in the middle of the monitoring device body (1). The lower end of the first rotating rod (114) extends downward out of the lower shell of the monitoring device body (1) and is connected to the first hexagonal rod (115). The upper end of the first rotating rod (114) is connected to the first worm wheel (113). The first worm wheel (113) is adapted to the first worm gear (112). A second motor (214) is vertically installed inside the chassis (21). The output shaft of the second motor (214) is connected to a first hexagonal sleeve (215). The upper end of the first hexagonal sleeve (215) extends out of the upper end face of the chassis (21). The first hexagonal sleeve (215) matches the first hexagonal rod (115).

6. The high-potential airborne live-line working system for an online monitoring device for transmission lines according to claim 1, characterized in that, The wire clamping mechanism (12) includes two clamping arms (121), two second worm gears (122), a second rotating rod (123), a second worm (124), a second hexagonal rod (125), and a U-shaped mounting plate (126). The second worm gear (122) is a fan-shaped turbine. The second rotating rod (123) is rotatably connected to the bottom plate of the U-shaped mounting plate (126). The upper end of the second rotating rod (123) is fixedly connected to the second worm gear (124). The lower end of the second rotating rod (123) extends out of the bottom plate of the U-shaped mounting plate (126) and is fixedly connected to the second hexagonal rod (125). The two second worm gears (122) are symmetrically connected between the two side plates of the U-shaped mounting plate (126) via a rotating axis, and the two clamping arms (121) are fixedly connected to the two second worm gears (122). The two second worm gears (122) are respectively engaged with the second worm (124). A third motor (216) is vertically installed inside the housing (21). The output shaft of the third motor (216) is connected to a second hexagonal sleeve (217). The upper end of the second hexagonal sleeve (217) extends out of the upper end face of the housing (21). The second hexagonal sleeve (217) matches the second hexagonal rod (125). The two clamping arms (121) extend to the upper end face of the lower shell of the monitoring device body (1). The wire (3) is located between the two clamping arms (121) and the wire groove (15).

7. The high-potential airborne live-line working system for an online monitoring device for transmission lines according to claim 1, characterized in that, The electric drive locking mechanism (211) includes an electric telescopic rod (2111) horizontally arranged inside the chassis (21). The telescopic end of the electric telescopic rod (2111) is vertically connected to a locking block (2112). A protective cover (2113) is provided on the upper surface of the chassis (21). The upper end of the locking block (2112) extends out of the upper surface of the chassis (21) and is located inside the protective cover (2113). The bottom shell of the monitoring device body (1) is recessed upward and has a groove that matches the protective cover (2113). A slot (14) is provided on the side wall of the groove. The engaging part of the locking block (2112) faces the slot (14). When the telescopic end of the electric telescopic rod (2111) extends, the engaging part of the locking block (2112) moves horizontally in the slot (14). Two sets of the electric drive locking mechanism (211) are symmetrically arranged.

8. The high-potential airborne live-line working system for an online monitoring device for transmission lines according to claim 7, characterized in that, The electrically driven locking mechanism (211) further includes a pull rod (2114), a spring (2115), and a handle (2116). One end of the pull rod (2114) is fixedly connected to the fixed part of the electric telescopic rod (2111), and the other end extends out of the housing of the chassis (21) and is fixedly connected to the handle (2116). The spring (2115) is sleeved on the pull rod (2114). A second slider (2117) is fixedly connected to the electric telescopic rod (2111), and a second slide rail (2118) is fixedly connected to the inner wall of the chassis (21). The second slider (2117) is slidably connected to the second slide rail (2118).

9. The high-potential airborne live-line working system for an online monitoring device for transmission lines according to claim 7, characterized in that, An electromagnet (218) is provided on the upper surface of the chassis (21), and a metal block (13) is provided at the bottom of the monitoring device body (1). The electromagnet (218) and the metal block (13) are magnetically connected.

10. A high-potential airborne live-line working system for an online monitoring device for transmission lines according to claim 1, characterized in that, The suspension mechanism (22) is equipped with a binocular camera (24) and a laser ranging module (25) that are electrically connected to the controller inside the chassis (21). The two camera modules of the binocular camera (24) are respectively arranged facing each other on both sides of the suspension mechanism (22).

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