High-voltage aerial live working system of power transmission line on-line monitoring device

Abstract

The present application relates to a kind of high potential airborne live working system of transmission line on-line monitoring device, including monitoring device ontology and installation mother machine;Installation mother machine includes case, suspension mechanism and lifting mechanism, lifting mechanism is connected to the lower end of suspension mechanism, case is connected to the movable end of lifting mechanism;Electric drive locking mechanism is provided in case, monitoring device ontology is detachably connected in the upper end surface of case by electric drive locking mechanism;Rotary cover mechanism for driving the cover of monitoring device ontology is provided in monitoring device ontology, and wire clamping mechanism for clamping wire, the power source of rotary cover mechanism and wire clamping mechanism is all arranged in case.The present application does not need to rely on manual power-off tower installation, installation efficiency is high, and safety risk is low, operation is not limited by environment;The present application can also disassemble and replace the monitoring device of fault;Power source is all arranged in installation mother machine, also greatly reduce production cost, improve the use rate of power source.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of power transmission line monitoring, in particular to a high-potential airborne live working system of a power transmission line online monitoring device. BACKGROUND

[0002] High-voltage transmission lines are the key hub of power transmission. However, complex geographical environments (such as mountainous areas, cross-river areas) and extreme weather conditions make line faults occur frequently, seriously threatening the safe and stable operation of the power system. Distributed fault diagnosis devices, with the advantages of high-precision positioning and rapid fault identification, have become the core equipment for improving the efficiency of power grid operation and maintenance. However, the current device mainly relies on manual power-off tower installation, which has low efficiency, high safety risk, and operation limited by environment, and is difficult to meet the intelligent and efficient operation and maintenance needs of the power grid.

[0003] In recent years, live working technology has gradually become an important development direction for the installation and maintenance of power equipment. The breakthroughs in technologies such as unmanned aerial vehicle carrying and machine vision positioning provide technical support for the live installation of distributed fault diagnosis devices. Under this background, the development of an efficient and safe live installation system and its standardized process is of great significance for promoting the innovation of power grid operation and maintenance mode and ensuring power supply reliability. SUMMARY

[0004] The technical problem to be solved by the present application is to provide a high-potential airborne live working system of a power transmission line online monitoring device to overcome the deficiencies in the prior art.

[0005] The technical solution of the present application to solve the above technical problem is as follows: a high-potential airborne live working system of a power transmission line online monitoring device, comprising a monitoring device body and an installation mother machine; the installation mother machine comprises a machine box, a suspension mechanism, and a lifting mechanism, the suspension mechanism is hung below the unmanned aerial vehicle through an insulating rope and is suspended on the conductor, the lifting mechanism is connected to the lower end of the suspension mechanism, the machine box is connected to the movable end of the lifting mechanism and is located below the conductor; an electric drive locking mechanism is arranged in the machine box, and the monitoring device body is detachably connected to the upper end surface of the machine box through the electric drive locking mechanism;

[0006] The upper half ring of the current sensor of the monitoring device body and the upper half ring of the power taking sensor are fixedly connected to the upper cover of the monitoring device body, a rotary cover closing mechanism for closing the upper cover of the monitoring device body is arranged in the monitoring device body, and a conductor clamping mechanism for clamping the conductor is arranged in the monitoring device body, and the power sources of the rotary cover closing mechanism and the conductor clamping mechanism are arranged in the machine box; the controller in the machine box is wirelessly connected to the mobile terminal.

[0007] The beneficial effects of the present application are: before installation, the monitoring device body is fixed on the case of the installation mother machine by the electric drive locking mechanism, and the upper cover of the monitoring device body is opened, the installation mother machine is hung below the unmanned aerial vehicle by the insulating rope, the unmanned aerial vehicle is controlled to fly to the vicinity of the conductor to be installed, the position of the unmanned aerial vehicle is fine-tuned, and the suspension mechanism is hung on the conductor to be installed; the lifting mechanism is started, the monitoring device body is lifted by the case, the conductor to be installed is located in the wire passing groove of the monitoring device body, the wire clamping mechanism is started to clamp the conductor, the rotary cover closing mechanism is started to close the upper cover of the monitoring device body, the electric drive locking mechanism is operated to unlock, the monitoring device body is separated from the installation mother machine, the case is lowered by the lifting mechanism, and the unmanned aerial vehicle can be removed, that is, the installation of the monitoring device body is completed; when the monitoring device body needs to be disassembled, maintained or replaced, the installation mother machine is only needed to be hung on the conductor to be installed according to the above steps, the monitoring device body is fixed on the installation mother machine by the electric drive locking mechanism, and then the rotary cover closing mechanism and the wire clamping mechanism are started to rotate in reverse to open, so that the monitoring device body can be separated from the conductor and removed.

[0008] The monitoring device is installed by the system without relying on manual power-off tower installation, has high installation efficiency, low safety risk and is not limited by the environment, meets the intelligent and efficient operation and maintenance requirements of the power grid, can disassemble and replace the faulty monitoring device, is more convenient, and can effectively avoid the situation that the monitoring device body cannot be disassembled due to faults, insufficient power or power failure of the conductor. In addition, the power sources of the rotary cover closing mechanism, the wire clamping mechanism and the electric drive locking mechanism are arranged in the installation mother machine, so that the situation that the monitoring device body cannot be disassembled due to faults, insufficient power or power failure of the conductor can be effectively avoided. In addition, the power sources are arranged in the installation mother machine, so that each monitoring device body does not need to be equipped with a power source, the production cost is greatly reduced, the size and weight of the monitoring device body are reduced, and the use rate of the power source is improved.

[0009] On the basis of the above technical scheme, the present application can also be improved as follows.

[0010] Further, the suspension mechanism comprises an N-shaped suspension beam, and the two vertical rods of the suspension beam are provided with first guide plates inclined downward outward on the lower end side walls.

[0011] Further, the upper end surface of the case is provided with two second guide plates inclined, a V-shaped groove is formed between the two second guide plates, the bottom distance of the V-shaped groove is consistent with the width of the monitoring device body, the top distance of the V-shaped groove is greater than the bottom distance, a baffle is arranged below the suspension mechanism, the monitoring device body is located above the V-shaped groove when the monitoring device body contacts the baffle, and the suspension mechanism further comprises two V-shaped positioning wheels rotatably connected to the lower ends of the two vertical rods of the suspension beam.

[0012] Further, the lifting mechanism comprises a fixed frame, a first motor, a screw rod, a motor base, a first sliding rail and a first sliding block; the upper horizontal rod of the fixed frame is fixedly connected to the suspension mechanism; the first motor is a through-type screw motor; the screw rod is vertically arranged in the middle of the fixed frame; the first motor is movably arranged on the screw rod; the motor base is fixedly connected to the first motor; the first sliding rail is arranged on the inner side of the vertical rod of the fixed frame; the first sliding block is fixedly connected to the first motor through the motor base; and the first sliding block is slidably connected to the first sliding rail; the case is connected to one side of the motor base and is located below the wire.

[0013] Further, the rotating cover closing mechanism comprises an upper cover rotating shaft, a first worm, a first worm wheel, a first rotating rod and a first hexagonal rod.

[0014] The upper cover of the monitoring device body is rotatably connected to the lower shell through the upper cover rotating shaft; the two ends of the upper cover rotating shaft are fixedly connected to the upper cover; the first worm is arranged in the middle of the upper cover rotating shaft; the first rotating rod is vertically arranged in the middle of the monitoring device body; the lower end of the first rotating rod extends out of the lower shell of the monitoring device body and is connected to the first hexagonal rod; the upper end of the first rotating rod is connected to the first worm wheel; and the first worm wheel is matched with the first worm.

[0015] The second motor is vertically arranged in the case; the output shaft of the second motor is connected to the first hexagonal sleeve; the upper end of the first hexagonal sleeve extends out of the upper end face of the case; and the first hexagonal sleeve is matched with the first hexagonal rod.

[0016] Further, the wire clamping mechanism comprises two clamping arms, two second worm wheels, a second rotating rod, a second worm, a second hexagonal rod and a U-shaped mounting plate; the second worm wheel is a sector-shaped worm wheel.

[0017] 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; 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.

[0018] The two second worm wheels are symmetrically rotatably connected between the two side plates of the U-shaped mounting plate through rotating shafts; the two clamping arms are fixedly connected to the two second worm wheels; and the two second worm wheels are matched with the second worm.

[0019] The third motor is vertically arranged in the case; the output shaft of the third motor is connected to the second hexagonal sleeve; the upper end of the second hexagonal sleeve extends out of the upper end face of the case; the second hexagonal sleeve is matched with the second hexagonal rod; the two clamping arms extend to the upper end face of the lower shell of the monitoring device body; and the wire is located between the two clamping arms and the wire passing groove.

[0020] Further, the electric drive locking mechanism comprises an electric telescopic rod horizontally arranged in the cabinet, a clamping block vertically connected to the telescopic end of the electric telescopic rod, a protective cover upwardly protrudingly arranged on the upper end face of the cabinet, the upper end of the clamping block extending out of the upper end face of the cabinet and located in the protective cover, a groove upwardly recessedly arranged on the bottom shell of the monitoring device body and matched with the protective cover, a clamping groove arranged on the side wall of the groove, and a clamping portion of the clamping block facing the clamping groove, the clamping portion of the clamping block horizontally moving in the clamping groove when the telescopic end of the electric telescopic rod extends out; the electric drive locking mechanism is symmetrically arranged with two groups.

[0021] Further, the electric drive locking mechanism further comprises a pull rod, a spring and a pull handle, one end of the pull rod is fixedly connected with the fixed portion of the electric telescopic rod, the other end of the pull rod extends out of the shell of the cabinet and is fixedly connected with the pull handle, and the spring is sleeved on the pull rod; a second sliding block is fixedly connected to the electric telescopic rod, and a second sliding rail is fixedly connected to the inner wall of the cabinet, and the second sliding block is slidingly connected to the second sliding rail.

[0022] Further, an electromagnet is arranged on the upper end face of the cabinet, and a metal block is arranged on the inner bottom of the monitoring device body, and the electromagnet is magnetically connected with the metal block.

[0023] Further, a binocular camera and a laser ranging module electrically connected with the controller in the cabinet are arranged on the suspension mechanism, and two camera modules of the binocular camera are oppositely arranged on the two sides of the suspension mechanism. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 It is a schematic view of the monitoring device before installation of the present application;

[0025] Figure 2 It is a schematic view of the monitoring device after installation of the present application;

[0026] Figure 3 It is a schematic view of the monitoring device when disassembled of the present application;

[0027] Figure 4 It is a side view of the overall mechanism of the present application;

[0028] Figure 5 It is a schematic view of the suspension mechanism of the present application;

[0029] Figure 6 It is a schematic view of the lifting mechanism of the present application;

[0030] Figure 7 It is a schematic view of the monitoring device opening structure of the present application;

[0031] Figure 8 It is a schematic view of the monitoring device closing structure of the present application;

[0032] Figure 9 It is a schematic view of the internal structure of the monitoring device of the present application;

[0033] Figure 10 It is the exploded view of the chassis of the application;

[0034] Figure 11 It is the partial sectional view of the chassis of the application;

[0035] Figure 12 It is the structure schematic diagram of the wire clamping mechanism of the application.

[0036] In the drawings, the components represented by each reference numeral are listed as follows:

[0037] 1, monitoring device body; 11, rotating cover closing mechanism; 111, upper cover rotating shaft; 112, first worm; 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; 125, second hexagonal rod; 126, U-shaped mounting plate; 13, metal block; 14, clamping groove; 15, wire passing groove; 16, current sensor; 17, power taking sensor; 2, installation host; 21, chassis; 211, electric drive locking mechanism; 2111, electric telescopic rod; 2112, clamping block; 2113, protective cover; 2114, pull rod; 2115, spring; 2116, handle; 2117, second sliding block; 2118, second sliding rail; 212, second guide plate; 213, U-shaped limiting 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 bolt; 226, lifting ring; 23, lifting mechanism; 231, fixed frame; 232, first motor; 233, screw rod; 234, motor base; 235, first sliding rail; 236, first sliding block; 24, binocular camera; 25, laser ranging module; 3, wire; 4, insulating rope; 5, unmanned aerial vehicle. DETAILED DESCRIPTION

[0038] The principles and features of the application are described below in conjunction with the drawings, and the examples are only used to explain the application and are not used to limit the scope of the application.

[0039] As Figures 1-12As shown, the embodiment 1, a power transmission line online monitoring device high potential airborne live working system, including monitoring device body 1 and installation mother machine 2; installation mother machine 2 includes machine box 21, suspension mechanism 22 and lifting mechanism 23, suspension mechanism 22 is hung below unmanned aerial vehicle 5 through insulating rope 4, and is hung on wire 3, lifting mechanism 23 is connected to the lower end of suspension mechanism 22, machine box 21 is connected to the movable end of lifting mechanism 23, and is located below wire 3; electric drive locking mechanism 211 is arranged in machine box 21, and monitoring device body 1 is detachably connected to the upper end surface of machine box 21 through electric drive locking mechanism 211;

[0040] The upper half ring of the current sensor 16 of the monitoring device body 1 and the upper half ring of the power taking sensor 17 are fixedly connected to the upper cover of the monitoring device body 1, the monitoring device body 1 is provided with a rotary cover closing mechanism 11 for driving the upper cover of the monitoring device body 1 to close, and a wire clamping mechanism 12 for clamping wire 3, and the power sources of the rotary cover closing mechanism 11 and the wire clamping mechanism 12 are arranged in the machine box 21; the controller in the machine box 21 is wirelessly connected with the mobile terminal.

[0041] Before installation, the monitoring device body 1 is fixed on the machine box 21 of the installation mother machine 2 through the electric drive locking mechanism 211, and the upper cover of the monitoring device body 1 is opened, the installation mother machine 2 is hung below the unmanned aerial vehicle 5 through the insulating rope 4, the unmanned aerial vehicle 5 is controlled to fly to the vicinity of the overhead wire to be installed, the position of the unmanned aerial vehicle 5 is fine-tuned, the suspension mechanism 22 is hung on the wire to be installed, the lifting mechanism 23 is started, the monitoring device body 1 is driven to rise by the machine box 21, the wire to be installed is located in the wire passing groove 15 of the monitoring device body 1, the wire clamping mechanism 12 is started to clamp the wire 3, the rotary cover closing mechanism 11 is started to close the upper cover of the monitoring device body 1, the electric drive locking mechanism 211 is operated to unlock, the monitoring device body 1 is separated from the installation mother machine 2, the machine box 21 is lowered by the lifting mechanism 23, the unmanned aerial vehicle 5 can be removed, that is, the installation of the monitoring device body 1 is completed; when the monitoring device body 1 needs to be disassembled, maintained or replaced, the installation mother machine 2 is only needed to be hung on the wire to be installed, the monitoring device body 1 is fixed on the installation mother machine 2 through the electric drive locking mechanism 211, then the rotary cover closing mechanism 11 and the wire clamping mechanism 12 are started to rotate reversely to open, the monitoring device body 1 can be separated from the wire 3, and the monitoring device body 1 can be carried away.

[0042] The monitoring device is installed without relying on manual power-off tower installation, has high installation efficiency, low safety risk, and is not limited by the environment, meets the intelligent and efficient operation and maintenance requirements of the power grid, and can be disassembled and replaced for the faulty monitoring device, which is more convenient. In addition, the power sources of the rotating cover closing mechanism 11, the wire clamping mechanism 12, and the electric drive locking mechanism 211 are all arranged in the installation mother machine 2, which can effectively avoid the situation that the monitoring device body 1 cannot be disassembled due to failure, insufficient power, or power failure of the wire 3. In addition, the power sources are all arranged in the installation mother machine 2, so that the monitoring device body 1 does not need to be equipped with a power source, which greatly reduces the production cost, reduces the volume and weight of the monitoring device body, and improves the utilization rate of the power source.

[0043] In a specific implementation, the two sides of the upper end face of the case 21 are respectively provided with U-shaped limiting plates 213, and the U-shaped limiting plates 213 are rotationally arranged on the case 21 through rotating shafts. During installation, the wire 3 to be installed is located in the U-shaped groove of the U-shaped limiting plate 213, and the size of the U-shaped groove is designed to accommodate the wires in the wire diameter range of 35 kV to 1000 kV voltage grade. The shape naturally provides radial limiting for the wire, ensuring that the wire is accurately constrained in the predetermined position in the transverse position and will not easily deviate under strong wind conditions during high-altitude operation.

[0044] Embodiment 2 is a further improvement based on embodiment 1, and the specific implementation is as follows:

[0045] The suspension mechanism 22 includes an N-shaped suspension beam 221, and the two vertical rods of the suspension beam 221 are respectively provided with first guide plates 222 inclined outward and downward.

[0046] Through the arrangement of the first guide plates 222, a reverse V-shaped hook structure is formed between the vertical rods of the suspension beam 221, which also plays a guiding role. When the unmanned aerial vehicle 5 flies to the vicinity of the wire 3 with the suspension mechanism 22, the reverse V-shaped hook structure is adjusted to have an opening below the wire 3, and the unmanned aerial vehicle 5 is lowered, so that the suspension mechanism 22 is hung on the wire 3. In a specific implementation, the two ends of the N-shaped suspension beam 221 are respectively provided with lifting rings 226, which are beneficial to the binding of the insulating rope 4.

[0047] Embodiment 3 is a further improvement based on embodiment 2, and the specific implementation is as follows:

[0048] The upper end surface of the case 21 is provided with two second guide plates 212 in a slanting manner, and a V-shaped groove is formed between the two second guide plates 212, the bottom distance of the V-shaped groove is consistent with the width of the monitoring device body 1, and the top distance of the V-shaped groove is greater than the bottom distance; 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 further comprises two V-shaped positioning wheels 224, and the two V-shaped positioning wheels 224 are respectively rotationally connected to the lower ends of the two vertical rods of the suspension beam 221.

[0049] During installation, the V-shaped positioning wheel 224 is in a locked state, and during disassembly, the locking of the V-shaped positioning wheel 224 is released, so that the V-shaped positioning wheel 224 can slide on the wire 3, which is beneficial for the unmanned aerial vehicle 5 to drive the suspension mechanism 22 to fine-tune the position along the wire 3, and is beneficial for the alignment of the monitoring device body 1 and the installation mother machine 2.

[0050] In specific implementation, one side of the V-shaped positioning wheel 224 is provided with a brake bolt 225, during installation of the monitoring device body 1, the brake bolt 225 is inserted, the V-shaped positioning wheel 224 is braked and cannot roll, which can better position during installation of the monitoring device body 1; when the monitoring device body 1 needs to be removed, the brake bolt 225 is removed, the roller can roll, which is beneficial for fine-tuning the position of the suspension mechanism 22 after the suspension mechanism 22 is suspended on the wire 3 according to the actual position;

[0051] The roller surface of the V-shaped positioning wheel 224 is coated with a polyurethane-silicon carbide composite material, the rim is 3mm high and has a blocking edge (anti-sideslip angle > 30°), which limits the transverse displacement of the to-be-installed wire 3, the bottom of the V-shaped wheel groove is designed with an inward inclination angle of 10°, the to-be-installed wire 3 is pressed downward by its own weight to generate a radial extrusion force, and the to-be-installed wire 3 is self-locked without power.

[0052] Embodiment 4 is a further improvement based on Embodiment 1, which is as follows:

[0053] The lifting mechanism 23 comprises a fixed frame 231, a first motor 232, a lead screw 233, a motor seat 234, a first sliding rail 235 and a first sliding block 236; the upper cross bar 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 arranged on the lead screw 233, the motor seat 234 is fixedly connected with the first motor 232, the first sliding rail 235 is arranged on the inner side of the vertical rod of the fixed frame 231, the first sliding block 236 is fixedly connected with the first motor 232 through the motor seat 234, and the first sliding block 236 is slidably connected with the first sliding rail 235; the case 21 is connected to one side of the motor seat 234 and located below the wire 3.

[0054] In the embodiment, the upper horizontal rod of the fixed frame 231 is outwardly extended and then horizontally bent to form a horizontal U-shaped structure, the end of the bent part is connected with the suspension mechanism 22, the center of gravity of the whole installation host machine 2 is located directly below the wire 3, the suspension is more stable, and the case 21 is just located directly below the suspension mechanism 22.

[0055] Embodiment 5, this embodiment is a further improvement based on embodiment 1, which is as follows:

[0056] The rotating cover mechanism 11 comprises an upper cover rotating shaft 111, a first worm 112, a first worm wheel 113, a first rotating rod 114 and a first hexagonal rod 115.

[0057] The upper cover of the monitoring device body 1 is rotationally connected with the lower shell through the upper cover rotating shaft 111, both ends of the upper cover rotating shaft 111 are fixedly connected with the upper cover, the first worm 112 is arranged in the middle of the upper cover rotating shaft 111, the first rotating rod 114 is vertically arranged in the middle of the monitoring device body 1, the lower end of the first rotating rod 114 extends out of the lower shell of the monitoring device body 1 and is connected with the first hexagonal rod 115, the upper end of the first rotating rod 114 is connected with the first worm wheel 113, and the first worm wheel 113 is matched with the first worm 112.

[0058] The second motor 214 is vertically arranged in the case 21, the output shaft of the second motor 214 is connected with the first hexagonal sleeve 215, the upper end of the first hexagonal sleeve 215 extends out of the upper end surface of the case 21, and the first hexagonal sleeve 215 is matched with the first hexagonal rod 115.

[0059] The scheme sets the second motor 214 in the case 21, transmits power between the first hexagonal sleeve 215 and the first hexagonal rod 115 in the monitoring device body 1, only needs to additionally add a simple mechanical transmission structure in the monitoring device body 1, realizes reuse of the power source, reduces the weight and volume of the monitoring device body, and saves production cost;

[0060] In addition, setting the second motor 214 in the case 21 is also beneficial to maintenance, avoids that the second motor 214 cannot be disassembled and repaired due to accidental failure after installation, and avoids this point by setting the second motor 214 in the case 21, and only needs to be repaired on the ground.

[0061] In the embodiment, the first hexagonal sleeve 215 adopts a universal sleeve, so that alignment failure caused by angle deviation can be avoided, the inner groove is upwardly arranged at the bottom of the case 21, the first hexagonal rod 115 is arranged in the inner groove and is flush with the bottom of the case 21.

[0062] Embodiment 6, this embodiment is a further improvement based on embodiment 1, which is as follows:

[0063] The wire clamping mechanism 12 comprises 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, and the second worm gears 122 are sector-shaped worm gears;

[0064] The second rotating rod 123 is rotationally connected to the bottom plate of the U-shaped mounting plate 126, the upper end of the second rotating rod 123 is fixedly connected with the second worm 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 with the second hexagonal rod 125;

[0065] The two second worm gears 122 are symmetrically rotationally connected between the two side plates of the U-shaped mounting plate 126 through rotation shafts, the two clamping arms 121 are fixedly connected to the two second worm gears 122 respectively, and the two second worm gears 122 are matched with the second worm 124 respectively;

[0066] The third motor 216 is vertically arranged in the case 21, the output shaft of the third motor 216 is connected with a second hexagonal sleeve 217, the upper end of the second hexagonal sleeve 217 extends out of the upper end surface of the case 21, the second hexagonal sleeve 217 is matched with the second hexagonal rod 125, and the two clamping arms 121 extend to the upper end surface of the lower shell of the monitoring device body 1, and the wire 3 is located between the two clamping arms 121 and the wire passing groove 15.

[0067] The third motor 216 is arranged in the case 21, transmission is achieved between the second hexagonal sleeve 217 and the second hexagonal rod 125 in the monitoring device body 1, only a simple mechanical transmission structure needs to be additionally arranged in the monitoring device body 1, power source reuse is achieved, the weight and size of the monitoring device body are reduced, and production cost is saved.

[0068] In addition, arranging the third motor 216 in the case 21 is also beneficial to maintenance, avoids the situation that the third motor 216 cannot be disassembled and repaired from the monitoring device body 1 due to unexpected failure after installation, and can avoid this situation by arranging the third motor 216 in the case 21, and only needs to be repaired on the ground.

[0069] In the implementation, the two clamping arms 121 are arranged in a staggered manner, can better clamp the wire 3, and avoids the situation that the monitoring device body 1 slides along the wire 3, and in addition, the bottom of the case 21 is upwardly provided with an inner groove, the second hexagonal rod 125 is arranged in the inner groove and is flush with the bottom of the case 21.

[0070] Embodiment 7 is a further improvement on the basis of embodiment 1, and the specific implementation is as follows:

[0071] The electric drive locking mechanism 211 comprises an electric telescopic rod 2111 horizontally arranged in the case 21, and a clamping block 2112 vertically connected to the telescopic end of the electric telescopic rod 2111. The upper end of the case 21 is upwardly protrudingly provided with a protective cover 2113, the upper end of the clamping block 2112 extends out of the upper end surface of the case 21 and is located in the protective cover 2113. The bottom shell of the monitoring device body 1 is upwardly recessedly provided with a groove matched with the protective cover 2113, and the side wall of the groove is provided with a clamping groove 14. The clamping part of the clamping block 2112 faces the clamping groove 14. When the telescopic end of the electric telescopic rod 2111 extends out, the clamping part of the clamping block 2112 moves horizontally in the clamping groove 14. The electric drive locking mechanism 211 is symmetrically provided with two groups.

[0072] When the monitoring device body 1 is aligned with the case 21, the protective cover 2113 of the upper end surface of the case 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 clamping block 2112 to move horizontally forward, and the clamping part at the top of the clamping block 2112 extends into the clamping groove 14 to achieve locking. In a 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 lock tongue of the electromagnetic lock.

[0073] Embodiment 8, this embodiment is a further improvement based on embodiment 7, which is specifically as follows:

[0074] The electric drive locking mechanism 211 further comprises 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, the other end extends out of the shell of the case 21 and is fixedly connected to the handle 2116, and the spring 2115 is sleeved on the pull rod 2114. The second sliding block 2117 is fixedly connected to the electric telescopic rod 2111, and the second sliding rail 2118 is fixedly connected to the inner wall of the case 21. The second sliding block 2117 is slidingly connected to the second sliding rail 2118.

[0075] By pinching the handle 2116 and pulling the pull rod 2114 outward, the electric telescopic rod 2111 is driven to move in the opposite direction of the clamping groove 14 as a whole, thereby forcibly unlocking. After the handle 2116 is released, the electric telescopic rod 2111 can be actively reset under the action of the spring 2115. When on the ground, the device can be manually unlocked without the need for remote unlocking through a mobile terminal. In addition, when the electric telescopic rod 2111 fails or the clamping block 2112 is stuck, the device can also be forcibly unlocked by manual operation.

[0076] Embodiment 9, this embodiment is a further improvement based on embodiment 7, which is specifically as follows:

[0077] The upper end surface of the case 21 is provided with an electromagnet 218, and the inner bottom of the monitoring device body 1 is provided with a metal block 13. The electromagnet 218 is magnetically connected to the metal block 13.

[0078] The setting of the electromagnet 218 can facilitate the preliminary close alignment of the monitoring device body 1, facilitate the locking of the electromagnetically driven locking mechanism 211 and the monitoring device body 1; in addition, through the cooperation of the two, the situation that one of them fails or fails to fix the monitoring device body 1 can be avoided.

[0079] Embodiment 10, this embodiment is a further improvement based on embodiment 1, which is as follows:

[0080] The suspension mechanism 22 is provided with a binocular camera 24 and a laser ranging module 25 electrically connected with the controller in the case 21, and the two camera modules of the binocular camera 24 are oppositely arranged on the two sides of the suspension mechanism 22.

[0081] Through scanning by the binocular camera 24 and the laser ranging module 25, three-dimensional point cloud data of the to-be-installed wire 3 is generated, the position of the to-be-installed wire 3 is recognized through an image processing algorithm, the lateral and longitudinal deviations of the suspension mechanism 22 and the to-be-installed wire 3 are calculated in combination with the laser ranging data, and the unmanned aerial vehicle adjusts the pose through PID closed-loop control to make the center line of the V-shaped positioning wheel 224 aligned with the axis of the to-be-installed wire 3.

[0082] (1) Obtain the spatial position of the to-be-installed wire 3

[0083] The binocular camera 24 synchronously collects images of the to-be-installed wire 3, and extracts matching feature point coordinates of the to-be-installed wire 3 in left and right images and The laser ranging module 25 synchronously measures the vertical distance from the to-be-installed wire 3 to the V-shaped positioning wheel 224 Calculate the binocular parallax, and the calculation formula is as follows:

[0084] ;

[0085] Further, calculate the feature point depth The calculation formula is as follows:

[0086] ;

[0087] In the formula, is the focal length of the binocular camera 24, is the binocular baseline distance;

[0088] Further, three-dimensional coordinate conversion is performed, and the formula is as follows:

[0089] ;

[0090] In the formula, is the camera intrinsic matrix;

[0091] Then, based on the least squares method, using all feature points Fitted linear equation:

[0092] ;

[0093] Output wire parameters ;

[0094] (2) Deviation calculation

[0095] The center coordinates of V-shaped positioning wheel 224 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:

[0096] ;

[0097] 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:

[0098] ;

[0099] 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.

[0100] (3) PID control

[0101] 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:

[0102] ;

[0103] ;

[0104] In the formula, To control the cycle, it is set to 0.1s. , This represents the deviation from the previous cycle;

[0105] (4) Posture adjustment

[0106] 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 .

[0107] Although the embodiments of the present application have been shown and described above, it is understood that the above-described embodiments are exemplary and are not to be construed as limiting the present application, and that changes, modifications, substitutions and variations can be made by those skilled in the art without departing from the scope of the present application.

Claims

1. A high potential airborne live working system of a power transmission line on-line monitoring device, characterized in that, The monitoring device body (1) and the installation host (2) are included; the installation host (2) includes a machine box (21), a suspension mechanism (22) and a lifting mechanism (23), the suspension mechanism (22) is hung below the unmanned aerial vehicle (5) through the insulating rope (4) and is hung on the wire (3), the lifting mechanism (23) is connected to the lower end of the suspension mechanism (22), the machine box (21) is connected to the movable end of the lifting mechanism (23) and is located below the wire (3); the machine box (21) is provided with an electric drive locking mechanism (211), and the monitoring device body (1) is detachably connected to the upper end face of the machine box (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 taking 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 rotary cover closing mechanism (11) for driving the upper cover of the monitoring device body (1) to be closed and a wire clamping mechanism (12) for clamping the wire (3), and the power sources of the rotary cover closing mechanism (11) and the wire clamping mechanism (12) are arranged in the machine box (21); the controller in the machine box (21) is wirelessly connected with a mobile terminal; The electric drive locking mechanism (211) includes an electric telescopic rod (2111) horizontally arranged in the machine box (21), the telescopic end of the electric telescopic rod (2111) is vertically connected with a clamping block (2112), the upper end face of the machine box (21) is upwardly protrudingly provided with a protective cover (2113), the upper end of the clamping block (2112) protrudes from the upper end face of the machine box (21) and is located in the protective cover (2113), the bottom shell of the monitoring device body (1) is upwardly recessedly provided with a groove matched with the protective cover (2113), the side wall of the groove is provided with a clamping groove (14), the clamping part of the clamping block (2112) faces the clamping groove (14), when the telescopic end of the electric telescopic rod (2111) protrudes, the clamping part of the clamping block (2112) moves horizontally in the clamping groove (14); the electric drive locking mechanism (211) is symmetrically provided with two groups.

2. The high potential airborne live working system of an electric transmission line on-line monitoring device according to claim 1, characterized in that, The suspension mechanism (22) includes an N-shaped suspension beam (221), and the lower end side walls of the two vertical rods of the suspension beam (221) are both provided with first guide plates (222) inclined downward to the outside.

3. The high potential airborne live working system of an electric transmission line on-line monitoring device according to claim 2, characterized in that, The upper end surface of the case (21) is provided with two second guide plates (212) in a slanting manner, a V-shaped groove is formed between the two second guide plates (212), the bottom spacing of the V-shaped groove is consistent with 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) is in contact with the baffle (223), the monitoring device body (1) is located above the V-shaped groove; the suspension mechanism (22) further comprises two V-shaped positioning wheels (224), and the two V-shaped positioning wheels (224) are respectively rotationally connected to the lower ends of the two vertical rods of the suspension beam (221).

4. The high potential airborne live working system of an electric transmission line on-line monitoring device according to claim 1, characterized in that, The lifting mechanism (23) comprises a fixed frame (231), a first motor (232), a lead screw (233), a motor seat (234), a first sliding rail (235) and a first sliding block (236); the upper cross bar 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 arranged on the lead screw (233), the motor seat (234) is fixedly connected with the first motor (232), the first sliding rail (235) is arranged on the inner side of the vertical rod of the fixed frame (231), the first sliding block (236) is fixedly connected with the first motor (232) through the motor seat (234), and the first sliding block (236) is slidably connected with the first sliding rail (235); the case (21) is connected to one side of the motor seat (234) and located below the wire (3).

5. The high potential airborne live working system of an electric transmission line on-line monitoring device according to claim 1, characterized in that, The rotating cover closing mechanism (11) comprises an upper cover rotating 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 of the monitoring device body (1) is rotationally connected with the lower shell through the upper cover rotating shaft (111), both ends of the upper cover rotating shaft (111) are fixedly connected with the upper cover, the first worm (112) is arranged in the middle of the upper cover rotating shaft (111), the first rotating rod (114) is vertically rotationally arranged 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 with the first hexagonal rod (115), the upper end of the first rotating rod (114) is connected with the first worm wheel (113), and the first worm wheel (113) is matched with the first worm (112); A second motor (214) is vertically arranged in the case (21), a first hexagonal sleeve (215) is connected with the output shaft of the second motor (214), the upper end of the first hexagonal sleeve (215) extends out of the upper end surface of the case (21), and the first hexagonal sleeve (215) is matched with the first hexagonal rod (115).

6. The high potential airborne live working system of an electric transmission line on-line monitoring device according to claim 1, characterized in that, The wire clamping mechanism (12) comprises 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), and the second worm gears (122) are sector-shaped worm gears; The second rotating rod (123) is rotationally connected to the bottom plate of the U-shaped mounting plate (126), the upper end of the second rotating rod (123) is fixedly connected with the second worm (124), and the lower end of the second rotating rod (123) is fixedly connected with the second hexagonal rod (125) after extending out of the bottom plate of the U-shaped mounting plate (126); The two second worm gears (122) are symmetrically rotationally connected between the two side plates of the U-shaped mounting plate (126) through rotation shafts, the two clamping arms (121) are fixedly connected to the two second worm gears (122) respectively, and the two second worm gears (122) are matched with the second worm (124) respectively. The third motor (216) is vertically arranged in the cabinet (21), a second hexagonal sleeve (217) is connected to the output shaft of the third motor (216), the upper end of the second hexagonal sleeve (217) extends out of the upper end surface of the cabinet (21), the second hexagonal sleeve (217) is matched with the second hexagonal rod (125), and the two clamping arms (121) extend to the upper end surface of the lower shell of the monitoring device body (1).

7. The high potential airborne live working system of an electric transmission line on-line monitoring device according to claim 1, characterized in that, The electric drive locking mechanism (211) further comprises a pull rod (2114), a spring (2115) and a handle (2116), one end of the pull rod (2114) is fixedly connected with the fixed part of the electric telescopic rod (2111), the other end extends out of the shell of the cabinet (21) and is fixedly connected with the handle (2116), and the spring (2115) is sleeved on the pull rod (2114); the electric telescopic rod (2111) is fixedly connected with a second sliding block (2117), and the inner wall of the cabinet (21) is fixedly connected with a second sliding rail (2118); and the second sliding block (2117) is slidingly connected to the second sliding rail (2118).

8. The high potential airborne live working system of an electric transmission line on-line monitoring device according to claim 1, characterized in that, An electromagnet (218) is arranged on the upper end surface of the cabinet (21), and a metal block (13) is arranged on the bottom of the monitoring device body (1); and the electromagnet (218) is magnetically connected with the metal block (13).

9. The high potential airborne live working system of an electric transmission line on-line monitoring device according to claim 1, characterized in that, The suspension mechanism (22) is provided with a binocular camera (24) and a laser ranging module (25) which are electrically connected with the controller in the cabinet (21), and two camera modules of the binocular camera (24) are oppositely arranged on the two sides of the suspension mechanism (22).

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