Power supply line detection equipment based on visual detection

Abstract

The invention is applicable to the field of power grid equipment, and provides power supply line detection equipment based on visual inspection, which comprises an equipment body and further comprises a walking arm assembly, the walking arm assembly is composed of a first walking arm group and a second walking arm group, and mounting slots are formed in two sides of the equipment body; the first walking arm set comprises first driving arms rotationally arranged in the mounting groove positions on the two sides, the second walking arm set comprises second driving arms rotationally arranged in the mounting groove positions on the two sides, and driving wheel sets matched with the high-voltage wire are arranged at the ends, away from the equipment body, of the first driving arms and the second driving arms; and the visual detection assembly comprises a stable holder fixedly connected to the end part of the equipment body, and a panoramic probe is arranged on the stable holder. The beneficial effects of the device are that the device can replace manual work to carry out advancing detection on a power supply line, and utilizes images without dead corners to carry out visual detection on each high-voltage lead.

Description

Technical Field

[0001] This invention belongs to the field of power grid equipment, and particularly relates to a power line inspection device based on vision inspection. Background Technology

[0002] Power line inspection is a crucial step in ensuring the safe and stable operation of power systems. With technological advancements, modern power line inspection not only relies on traditional physical inspection methods but also widely utilizes various advanced technologies to improve inspection efficiency and accuracy.

[0003] Taking high-voltage power lines as an example, the traditional inspection method is mainly manual inspection. Power technicians need to walk on the lines erected in the air to check whether there are broken strands in the high-voltage conductors. Nowadays, drones are also a common solution. Drones can fly along the high-voltage conductors and use high-definition cameras and vision technology to inspect the lines.

[0004] In reality, there are strong alternating electric and magnetic fields around high-voltage power lines. These electromagnetic fields may interfere with the communication links, navigation systems (such as GPS), and other electronic devices of drones. Therefore, drones need to keep a considerable distance from high-voltage power lines during operation. However, as the distance increases, the image quality captured by the camera will also decrease. If a high-voltage power line needs to be carefully inspected, the camera performance requirements are high. This means that manual inspection is still necessary, which is a high-risk operation. Therefore, a power line inspection device based on vision inspection is proposed. Summary of the Invention

[0005] The purpose of this invention is to provide a power line inspection device based on vision detection, which aims to solve the problems mentioned in the background art.

[0006] The present invention is implemented as follows: a power line inspection device based on vision inspection includes a device body, and further includes:

[0007] The traveling arm assembly consists of a first traveling arm group and a second traveling arm group. The equipment body has mounting slots on both sides that extend through the equipment body along the length direction. The first traveling arm group includes a first drive arm that is rotatably disposed in the mounting slots on both sides. The second traveling arm group includes a second drive arm that is rotatably disposed in the mounting slots on both sides. The first drive arm and the second drive arm are located at both ends of the equipment body and have the same structure. The end of the first drive arm and the second drive arm away from the equipment body is provided with a drive wheel group that cooperates with the high voltage conductor. The first drive arm and the second drive arm are also used to drive the corresponding drive wheel group to rotate.

[0008] The visual inspection component includes a stable gimbal fixedly connected to the end of the device body, and a panoramic probe is mounted on the stable gimbal. The images acquired by the panoramic probe can be processed into 360° images.

[0009] Preferably, the output end of the first drive arm is a drive shaft that passes through the first drive arm. The drive wheel set includes rollers fixedly connected to both ends of the drive shaft. When the rollers contact the high-voltage wire, the two rollers are located on both sides of the high-voltage wire, and the contact area between the rollers and the high-voltage wire is an arc surface structure. The first drive arm is connected to the equipment body through a tube shaft set in the mounting slot. A transmission component is provided inside the first drive arm, and a drive component that drives the drive shaft to rotate through the transmission component is provided inside the equipment body.

[0010] Preferably, the tube shaft is rotatably connected to the bottom of the mounting slot, and the top of the tube shaft is fixedly connected to the first drive arm. The drive assembly includes a combined driver disposed at the bottom of the equipment body. The output end of the combined driver is a first drive gear located on both sides of itself. A transmission shaft is rotatably connected inside the tube shaft. One end of the transmission shaft located inside the equipment body is fixedly connected to a first transmission gear that cooperates with the drive gear. The transmission assembly is used to connect the transmission shaft and the drive shaft for transmission.

[0011] Preferably, the other end of the drive shaft is located inside the first drive arm, and the transmission assembly includes a first drive wheel fixedly connected to the drive shaft and located inside the first drive arm, and a second drive wheel fixedly connected to the drive shaft and located inside the first drive arm, wherein the first drive wheel and the second drive wheel are connected by a transmission belt.

[0012] Preferably, the top of the device body is provided with an attitude control component for driving the first drive arm or the second drive arm to rotate. The attitude control component corresponds one-to-one with the first travel arm group and the second travel arm group. The attitude control component includes a torque driver fixedly connected to the top of the device body. Torque amplification reducers that cooperate with the torque driver are provided on both sides of the torque driver. A second drive gear is provided at the output end of the torque amplification reducer. An adjustment shaft is rotatably connected to the top of the mounting slot and passes through it. The bottom of the adjustment shaft is fixedly connected to the first drive arm or the second drive arm. A second transmission gear that cooperates with the second drive gear is fixedly connected to the bottom of the adjustment shaft.

[0013] Preferably, a third traveling arm group with the same structure as the first traveling arm group and the second traveling arm group is also provided in the mounting slots on both sides, and the drive structure associated with the third traveling arm group is also the same. The two third driving arms in the third traveling arm group are located between the first driving arm and the second driving arm, and the distance between the three is greater than the overall length of the first driving arm.

[0014] Preferably, the device body is equipped with a power battery, and a battery compartment door is provided at the end of the device body away from the vision detection component.

[0015] The power line inspection device based on vision inspection provided in this embodiment of the invention has the following advantages:

[0016] For high-voltage power supply lines, there are mainly three types of conductors: two-split, four-split, and six-split. Regardless of the type, the distribution of each high-voltage conductor is uniform. This equipment utilizes this characteristic. During operation, the entire device is located inside the high-voltage conductors. Multiple drive wheels on both sides of the device contact the high-voltage conductors, and the rotation of these wheels allows the device to move inside the conductors. Furthermore, because the device is equipped with a panoramic probe, the images captured can be processed into 360° images. Combined with the device's ability to move inside the conductors, every single high-voltage conductor can be detected. In summary, this equipment can replace manual labor for mobile inspection of power supply lines, providing visual inspection of each high-voltage conductor with a comprehensive, blind-spot-free image. The equipment is less restricted by operating conditions and can adapt to various types of power supply lines. Attached Figure Description

[0017] Figure 1 A schematic diagram illustrating the operation of a vision-based power line inspection device provided in an embodiment of the present invention;

[0018] Figure 2 A three-dimensional structural diagram of a power line detection device based on vision inspection provided in an embodiment of the present invention;

[0019] Figure 3 An end view of a power line inspection device based on vision inspection provided in an embodiment of the present invention;

[0020] Figure 4 A three-dimensional structural diagram of another form of a power line inspection device based on vision inspection provided in an embodiment of the present invention;

[0021] Figure 5 This is a schematic diagram of the internal structure of the device body provided in an embodiment of the present invention;

[0022] Figure 6 This is a schematic diagram of the actual operation of a power line inspection device based on vision inspection, provided in an embodiment of the present invention.

[0023] In the attached diagram: 1. Equipment body; 2. Traveling arm assembly; 201. First traveling arm group; 2011. First drive arm; 202. Second traveling arm group; 2021. Second drive arm; 203. Drive wheel group; 2031. Roller; 3. Mounting slot; 4. Vision inspection component; 401. Stabilizing gimbal; 402. Panoramic probe; 5. Drive shaft; 6. Tube shaft; 7. Combined driver; 8. First drive gear; 9. Transmission shaft; 10. First transmission wheel; 11. Second transmission wheel; 12. Transmission belt; 13. Torque driver; 14. Torque reducer; 15. Second drive gear; 16. Adjusting shaft; 17. Second transmission gear; 18. Third traveling arm group; 1801. Third drive arm; 19. Power battery; 20. Battery compartment door; 21. High-voltage wire; 22. Spacer bar; 23. First transmission gear. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0025] The specific implementation of the present invention will be described in detail below with reference to specific embodiments.

[0026] like Figure 1 , Figure 2 and Figure 3 As shown, a power line inspection device based on vision inspection is provided according to an embodiment of the present invention, including a device body 1, and further comprising:

[0027] The traveling arm assembly 2 is composed of a first traveling arm group 201 and a second traveling arm group 202. The equipment body 1 has mounting slots 3 on both sides that extend through the equipment body 1 along the length direction. The first traveling arm group 201 includes a first drive arm 2011 rotatably disposed in the mounting slots 3 on both sides. The second traveling arm group 202 includes a second drive arm 2021 rotatably disposed in the mounting slots 3 on both sides. The first drive arm 2011 and the second drive arm 2021 are located at both ends of the equipment body 1 and have the same structure. The end of the first drive arm 2011 and the second drive arm 2021 away from the equipment body 1 is provided with a drive wheel group 203 that cooperates with the high voltage wire 21. The first drive arm 2011 and the second drive arm 2021 are also used to drive the corresponding drive wheel group 203 to rotate.

[0028] The visual inspection component 4 includes a stabilizing gimbal 401 fixedly connected to the end of the device body 1. A panoramic probe 402 is installed on the stabilizing gimbal 401, and the image acquired by the panoramic probe 402 can be processed into a 360° image.

[0029] In one embodiment of the present invention, high-voltage power supply lines mainly include three types of conductors: two-split, four-split, and six-split. Regardless of the type, the distribution of each high-voltage conductor 21 is uniform. This device utilizes this characteristic. When in use, the entire device is located inside the high-voltage conductor 21. Multiple drive wheel sets 203 on both sides of the device body 1 contact the high-voltage conductor 21. When the drive wheel sets 203 rotate, the device can move inside the multiple high-voltage conductors 21. In addition, since the device is equipped with a panoramic probe 402, the image captured by the panoramic probe 402 can be processed into a 360° image. Combined with the feature of the device moving inside the multiple high-voltage conductors 21, each high-voltage conductor 21 can be detected. In summary, this device can replace manual inspection on power supply lines and use images without blind spots to visually inspect each high-voltage conductor 21. The device is less restricted by operating conditions and can adapt to various types of power supply lines.

[0030] It should be noted that, as Figure 1 The situation shown does not indicate that this equipment is only used for detecting split conductors; it simply illustrates that this equipment only requires two high-voltage conductors 21 to operate. Furthermore, as... Figure 5 and Figure 3 As shown, a power battery 19 is installed inside the device body 1, and a battery compartment door 20 is provided at the end of the device body 1 away from the vision detection component 4. The power battery 19 can provide energy for the drive structure in this device, and the power battery 19 can be replaced through the battery compartment door 20, which allows the device to operate for a long time.

[0031] like Figure 3 and Figure 5 As shown, in a preferred embodiment of the present invention, the output end of the first drive arm 2011 is a drive shaft 5 that passes through the first drive arm 2011. The drive wheel set 203 includes rollers 2031 fixedly connected to both ends of the drive shaft 5. When the rollers 2031 contact the high-voltage wire 21, the two rollers 2031 are located on both sides of the high-voltage wire 21, and the contact area between the rollers 2031 and the high-voltage wire 21 is an arc surface structure. The first drive arm 2011 is connected to the equipment body 1 through a tube shaft 6 set in the mounting slot 3. A transmission component is provided inside the first drive arm 2011, and a drive component that drives the drive shaft 5 to rotate through the transmission component is provided inside the equipment body 1.

[0032] In one embodiment, the tube shaft 6 is rotatably connected to the bottom of the mounting slot 3, and the top of the tube shaft 6 is fixedly connected to the first drive arm 2011. The drive assembly includes a combined driver 7 disposed at the bottom of the device body 1. The output end of the combined driver 7 is a first drive gear 8 located on both sides of itself. A transmission shaft 9 is rotatably connected inside the tube shaft 6. One end of the transmission shaft 9 located inside the device body 1 is fixedly connected to a first transmission gear 23 that cooperates with the drive gear. The transmission assembly is used to transmit power between the transmission shaft 9 and the drive shaft 5. The other end of the transmission shaft 9 is located inside the first drive arm 2011. The transmission assembly includes components fixedly connected to the transmission shaft 9 and located on the first drive arm 2011. The first drive wheel 10 is fixedly connected to the drive shaft 5 and located inside the first drive arm 2011. The first drive wheel 10 and the second drive wheel 11 are connected by a drive belt 12. The combined drive 7 can be in the form of a combination of a motor and two reducers, which can ensure a large output torque. It is also necessary to ensure that the rotation of the two first drive gears 8 is synchronous and in different directions. This ensures that the two drive wheel sets 203 on both sides can move on the high voltage line 21. Since the roller 2031 is in contact with the side of the high voltage line 21, it can play a limiting role. While ensuring that the device can move on the high voltage line 21, it also prevents it from falling off.

[0033] like Figure 5 As shown, in a preferred embodiment of the present invention, an attitude control component for driving the first drive arm 2011 or the second drive arm 2021 to rotate is provided at the top of the device body 1. The attitude control component corresponds one-to-one with the first walking arm group 201 and the second walking arm group 202. The attitude control component includes a torque driver 13 fixedly connected to the top of the device body 1. Torque amplification reducers 14 that cooperate with the torque driver 13 are provided on both sides of the torque driver 13. A second drive gear 15 is provided at the output end of the torque amplification reducer 14. An adjustment shaft 16 is rotatably connected to the top of the mounting slot 3 and passes through it. The bottom of the adjustment shaft 16 is fixedly connected to the first drive arm 2011 or the second drive arm 2021. A second transmission gear 17 that cooperates with the second drive gear 15 is fixedly connected to the bottom of the adjustment shaft 16.

[0034] In one embodiment, the torque driver 13 can be a frameless torque motor commonly used in robot joints. Additionally, to increase the output torque, it can be paired with a torque-boosting reducer 14 (such as an integrated harmonic reducer or planetary reducer). The two second drive gears 15 rotate synchronously but in different directions. This structure enables the swinging of either the first drive arm 2011 or the second drive arm 2021. With this structure, firstly, for two-split, four-split, and six-split conductors, the spacing between two opposing high-voltage conductors 21 cannot be exactly the same. Furthermore, because the high-voltage conductors 21 are erected at high altitudes and are affected by wind, the spacing between them may change. However, since both the first drive arm 2011 and the second drive arm 2021 can swing synchronously, the drive wheel assembly 203 can retract or expand, automatically adjusting the mating distance with the high-voltage conductors 21, thereby improving the stability of the device operating on power lines. Additionally, when the device is not in use, the walking arm assembly 2 can be retracted and folded, presenting as shown in the image. Figure 4 As shown, this makes it easy for power line inspection personnel to carry.

[0035] like Figure 4 and Figure 6 As shown, in a preferred embodiment of the present invention, a third walking arm group 18 with the same structure as the first walking arm group 201 and the second walking arm group 202 is also provided in the mounting slots 3 on both sides, and the driving structure associated with the third walking arm group 18 is also the same. The two third driving arms 1801 in the third walking arm group 18 are located between the first driving arm 2011 and the second driving arm 2021, and the distance between the three is greater than the overall length of the first driving arm 2011.

[0036] In one embodiment of this invention, as described in the preceding embodiments, the device has the characteristic of traveling along the high-voltage conductor 21. In actual power supply lines, if the distance between towers is less than 50 meters, then only the high-voltage conductor 21 exists between the towers, allowing the device to move smoothly. However, for power supply lines that transmit power across regions, the distance between adjacent towers will be greatly increased. In this case, a spacer 22 will be installed on the high-voltage conductor 21 every 50 to 60 meters, as detailed below. Figure 6As shown, if the spacer 22 is present, the device would not be able to move smoothly according to its original design. In this embodiment, the hollow structure of the spacer 22 is utilized to add a third traveling arm group 18. When the device passes through the spacer 22, the third traveling arm group 18 comes into play. First, the panoramic probe 402 at the end of the device body 1 can pass smoothly through the spacer 22. When the first traveling arm group 201 moves to the position of the spacer 22, it can be controlled to fold backward, so that part of the device body 1 passes through the spacer 22. After the first traveling arm group 201 passes through the spacer 22, it automatically opens and resumes its working state with the high-voltage wire 21. This alternation allows the third traveling arm group 18 and the second traveling arm group 202 to pass through the spacer 22 in succession. In summary, when the device passes through the spacer 22, it can always ensure that four drive wheel groups 203 are in contact with the high-voltage wire 21, so that the device can pass through the spacer 22 in a stable posture, solving the problem of obstruction on the high-voltage wire 21.

[0037] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0038] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0039] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A power line inspection device based on vision inspection, comprising a device body (1), characterized in that, Also includes: The walking arm assembly (2) is composed of a first walking arm group (201) and a second walking arm group (202). The equipment body (1) has mounting slots (3) on both sides that run through the equipment body (1) along the length direction. The first walking arm group (201) includes a first drive arm (2011) rotatably disposed in the mounting slots (3) on both sides. The second walking arm group (202) includes a second drive arm (2021) rotatably disposed in the mounting slots (3) on both sides. The first drive arm (2011) and the second drive arm (2021) are located at both ends of the equipment body (1) and have the same structure. The first drive arm (2011) and the second drive arm (2021) are each provided with a drive wheel group (203) that cooperates with the high voltage wire (21) at the end away from the equipment body (1). The first drive arm (2011) and the second drive arm (2021) are also used to drive the corresponding drive wheel group (203) to rotate. The visual inspection component (4) includes a stabilizing gimbal (401) fixedly connected to the end of the device body (1). A panoramic probe (402) is provided on the stabilizing gimbal (401), and the image acquired by the panoramic probe (402) can be processed into a 360° image.

2. The power line inspection equipment based on vision inspection according to claim 1, characterized in that, The output end of the first drive arm (2011) is a drive shaft (5) that runs through the first drive arm (2011). The drive wheel set (203) includes rollers (2031) that are fixedly connected to both ends of the drive shaft (5). When the rollers (2031) contact the high voltage conductor (21), the two rollers (2031) are located on both sides of the high voltage conductor (21), and the contact area between the rollers (2031) and the high voltage conductor (21) is an arc surface structure. The first drive arm (2011) is connected to the equipment body (1) through a tube shaft (6) set in the mounting slot (3). A transmission component is provided in the first drive arm (2011), and a drive component is provided in the equipment body (1) that drives the drive shaft (5) to rotate through the transmission component.

3. The power line inspection equipment based on vision inspection according to claim 2, characterized in that, The tube shaft (6) is rotatably connected to the bottom of the mounting slot (3), and the top of the tube shaft (6) is fixedly connected to the first drive arm (2011). The drive assembly includes a combined driver (7) located at the bottom of the equipment body (1). The output end of the combined driver (7) is a first drive gear (8) located on both sides of itself. A transmission shaft (9) is rotatably connected inside the tube shaft (6). One end of the transmission shaft (9) located inside the equipment body (1) is fixedly connected to a first transmission gear (23) that cooperates with the drive gear. The transmission assembly is used to connect the transmission shaft (9) and the drive shaft (5) for transmission.

4. The power line inspection equipment based on vision inspection according to claim 3, characterized in that, The other end of the drive shaft (9) is located inside the first drive arm (2011). The transmission assembly includes a first drive wheel (10) fixedly connected to the drive shaft (9) and located inside the first drive arm (2011), and a second drive wheel (11) fixedly connected to the drive shaft (5) and located inside the first drive arm (2011). The first drive wheel (10) and the second drive wheel (11) are connected by a transmission belt (12).

5. The power line inspection equipment based on vision inspection according to claim 1, characterized in that, The top of the device body (1) is provided with an attitude control component for driving the first drive arm (2011) or the second drive arm (2021) to rotate. The attitude control component corresponds one-to-one with the first walking arm group (201) and the second walking arm group (202). The attitude control component includes a torque driver (13) fixedly connected to the top of the device body (1). Torque amplification reducers (14) that cooperate with the torque driver (13) are provided on both sides of the torque driver (13). A second drive gear (15) is provided at the output end of the torque amplification reducer (14). An adjustment shaft (16) that passes through is rotatably connected to the top of the mounting slot (3). The bottom of the adjustment shaft (16) is fixedly connected to the first drive arm (2011) or the second drive arm (2021). A second transmission gear (17) that cooperates with the second drive gear (15) is fixedly connected to the bottom of the adjustment shaft (16).

6. The power line inspection equipment based on vision inspection according to claim 5, characterized in that, The mounting slots (3) on both sides are also provided with a third walking arm group (18) with the same structure as the first walking arm group (201) and the second walking arm group (202), and the drive structure associated with the third walking arm group (18) is also the same. The two third drive arms (1801) in the third walking arm group (18) are located between the first drive arm (2011) and the second drive arm (2021), and the distance between the three is greater than the overall length of the first drive arm (2011).

7. The power line inspection equipment based on vision inspection according to claim 1, characterized in that, The device body (1) is equipped with a power battery (19), and a battery compartment door (20) is provided at the end of the device body (1) away from the vision detection component (4).

Images