Multi-spectral fusion intelligent detection unmanned aerial vehicle

Abstract

The invention provides a multi-spectral fusion intelligent detection unmanned aerial vehicle, and relates to the technical field of overhead transmission line detection equipment. The unmanned aerial vehicle comprises a first unmanned aerial vehicle body and a second unmanned aerial vehicle body, connecting plates are fixed to the bottoms of the first unmanned aerial vehicle body and the second unmanned aerial vehicle body, a first fixing frame is arranged at the bottom of the first unmanned aerial vehicle body, the first fixing frame is provided with an X-ray emission head and a detection camera, and the second unmanned aerial vehicle body is provided with a DR imaging plate. According to the multi-spectral fusion intelligent detection unmanned aerial vehicle provided by the invention, during detection, the X-ray emission head and the DR imaging plate are matched to detect whether the interior of an overhead power transmission line is fractured or not in place; and then shooting the outer side of the overhead transmission line through visible light shooting on the detection camera to detect whether damage exists or not, detecting the middle part of the overhead transmission line through infrared shooting on the detection camera, and judging whether heating caused by poor contact exists or not during live detection.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of overhead transmission line detection equipment, and particularly relates to a multi-spectrum fusion intelligent detection unmanned aerial vehicle. BACKGROUND

[0002] With the vigorous development of economy, the scale of overhead transmission line equipment in cities presents a rapid growth trend. At present, the detection of the operation state of overhead transmission lines mainly relies on periodic power-off maintenance, live detection and online monitoring. However, these traditional detection methods each have significant defects. The periodic maintenance method needs to power off the line, which not only consumes a large amount of human and material resources, but also is prone to missed detection due to the limitations of manual operation, and may also cause resource waste due to over maintenance.

[0003] When an X-ray detection head and a corresponding baffle are carried by a person and climbed to a high place to detect the overhead transmission line, this method has great safety risks. Especially in the case of live operation, a slight mistake may cause a safety accident. In order to overcome the disadvantages of manual detection, the prior art also attempts to use an unmanned aerial vehicle detection scheme, for example, two unmanned aerial vehicles are used to cooperate, one unmanned aerial vehicle carries an X-ray emitter, and the other carries a baffle, and the internal detection of the overhead transmission line is realized by using the unmanned aerial vehicle to ascend. However, this method can only detect whether the overhead transmission line has simple problems such as cracking and poor pressure connection, and the detection accuracy cannot meet the actual demand.

[0004] Although the patent document with publication number (CN116952991A) discloses a unmanned aerial vehicle X-ray imaging overhead transmission line fault detection method and system, the system can image and detect the internal structure of the overhead transmission line, can intuitively find the internal defects of the line to a certain extent, has the advantages of accurate judgment, high reliability, relatively simple operation and wide application range. However, there is still room for improvement in the diversity of detection means and the further improvement of detection accuracy.

[0005] Therefore, in order to better meet the demand for high-precision and all-around detection of overhead transmission lines, it is of important practical significance to design a multi-spectrum fusion intelligent detection unmanned aerial vehicle, and this is also the technical problem that the present application aims to solve. SUMMARY

[0006] The present application aims to provide a multi-spectrum fusion intelligent detection unmanned aerial vehicle, which realizes more accurate and comprehensive detection of overhead transmission lines through corresponding technical means, effectively overcomes the defects of existing detection methods, and improves the detection efficiency and safety.

[0007] The unmanned plane for multispectral fusion intelligent detection is achieved by the technical scheme.

[0008] The unmanned plane for multispectral fusion intelligent detection is achieved by the technical scheme.

[0009] The first unmanned plane body is provided with a first fixing frame, the first fixing frame is provided with an X-ray emission head and a detection camera, the first fixing frame is further provided with a first transmission shaft for driving the X-ray emission head to rotate and a second transmission shaft for driving the detection camera to rotate, the first transmission shaft is connected with an angle adjusting driving motor, the end of the first transmission shaft is movably inserted with a synchronous spline, the synchronous spline is connected with a first connecting disc, the first connecting disc is provided with a first synchronous block, the second transmission shaft is provided with a second connecting disc, the second connecting disc is provided with a second synchronous block matched with the first synchronous block, the first connecting disc is connected with a translation frame, the translation frame is connected with a displacement driving motor, and the displacement driving motor controls whether the first connecting disc and the second connecting disc rotate synchronously.

[0010] The second unmanned plane body is provided with a second fixing frame, and the second fixing frame is provided with a DR imaging plate.

[0011] Further, in the present application, the first fixing frame is further provided with a U-shaped adjusting frame, the bottom and the top of the U-shaped adjusting frame are provided with a first rotating column and a second rotating column respectively, the bottom and the top of the X-ray emission head and the detection camera are provided with synchronous columns, the synchronous columns are inserted into the clamping grooves of the first rotating column and the second rotating column, the bottom of the first rotating column is provided with a second angle adjusting bevel gear, and the first transmission shaft and the second transmission shaft are both drivingly connected with a rotating shaft, and the rotating shaft is provided with a first angle adjusting bevel gear engaged with the second angle adjusting bevel gear.

[0012] Further, in the present application, the second rotating column is provided with a plurality of limiting grooves, and the U-shaped adjusting frame is provided with limiting bolts inserted into the limiting grooves for limiting.

[0013] Further, in the present application, the displacement driving motor is connected with a displacement shaft parallel to the first transmission shaft, the displacement shaft is provided with a threaded section, and the translation frame is provided with a threaded hole matched with the threaded section.

[0014] Further, in the present application, the first transmission shaft and the second transmission shaft are both provided with a transmission worm, and the rotating shaft is provided with a transmission worm wheel engaged with the transmission worm.

[0015] Furthermore, in this invention, the plurality of first synchronization blocks are evenly arranged around the center of the first connecting disk, and the plurality of second synchronization blocks are evenly arranged around the center of the second connecting disk. The first synchronization blocks are inserted into the gaps between the second synchronization blocks to achieve transmission connection.

[0016] Furthermore, in this invention, the ends of the first synchronization block and the second synchronization block are provided with extrusion slopes.

[0017] Furthermore, in this invention, a positioning mechanism for connection is provided between the second fixing frame and the DR imaging plate. The positioning mechanism includes a connecting column, and threaded columns are provided at both ends of the connecting column. The second fixing frame and the DR imaging plate are provided with a connecting platform that connects to the threaded columns.

[0018] Furthermore, in this invention, the connecting column described above is provided with a positioning plate, the positioning plate is provided with a positioning groove, and the connecting platform is provided with a compression spring, the compression spring being connected to a positioning column corresponding to the positioning groove.

[0019] Furthermore, in this invention, both the first drone body and the second drone body are equipped with cameras.

[0020] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0021] This invention combines an X-ray emitting head with a detection camera, enabling the detection of internal fractures or improper crimping of overhead transmission lines during inspection. The X-ray emitting head, in conjunction with a DR imaging plate, detects these defects. The detection camera then uses visible light to image the outer side of the overhead transmission line to detect damage, and uses infrared imaging to inspect the middle section of the overhead transmission line to detect overheating caused by poor contact during live testing.

[0022] This invention also enables the UAV to flexibly adjust the inspection angles of the X-ray emitter and inspection camera by setting up a first drive shaft, a second drive shaft, and related drive motors, transmission structures, and adjustment mechanisms. Operators can precisely control the angle of the inspection equipment according to the actual layout of the power transmission line and the inspection requirements, ensuring comprehensive and detailed inspection of all parts of the line. For example, when encountering complex tower structures or line routes, the angle of the inspection equipment can be adjusted to avoid obstructions and obtain the optimal inspection perspective, thereby improving inspection efficiency and quality.

[0023] This invention, through the cooperation of an adjustment frame, a first rotating column, a second rotating column, and a limiting bolt, allows an X-ray emitting head or a detection camera to be placed inside the corresponding adjustment frame. The position of the synchronization column is then positioned by the descent of the second rotating column inside the adjustment frame. At this time, the rotation of the second angle adjustment bevel gear drives the X-ray emitting head or detection camera to adjust its angle through the first rotating column.

[0024] This invention utilizes the cooperation of connecting posts, threaded posts, positioning slots, and positioning posts to enable the DR imaging board to be installed at the bottom of the second fixing frame via the threaded connection between the threaded posts and the connecting platform. Simultaneously, the positioning posts enter the interior of the positioning slots, preventing the threaded posts from separating from the connecting platform during high-altitude operations and increasing safety. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of the present invention and should not be considered as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort. In the drawings:

[0026] Figure 1 This is a schematic diagram of the overall structure of the UAV for multispectral fusion intelligent detection according to the present invention;

[0027] Figure 2 This is a schematic diagram of the structure of the first fixing frame of the present invention;

[0028] Figure 3 This is a schematic diagram of the connecting plate of the present invention;

[0029] Figure 4 This is a schematic diagram of the structure of the rotating shaft of the present invention;

[0030] Figure 5 This is a schematic diagram of the internal structure of the first fixing frame of the present invention;

[0031] Figure 6 This is a schematic diagram of the structure of the second synchronization block of the present invention;

[0032] Figure 7 This is a schematic diagram of the U-shaped adjustment frame of the present invention;

[0033] Figure 8 This is a schematic diagram of the connecting column of the present invention;

[0034] Figure 9 This is a schematic diagram of the structure of the second fixing frame of the present invention;

[0035] Figure 10 This is a schematic diagram of the threaded column of the present invention;

[0036] Figure 11 This is a schematic diagram of the internal structure of the connecting platform of the present invention.

[0037] The attached diagram shows the markings and corresponding component names: 1-First UAV body; 2-Second UAV body; 3-Connecting plate; 4-First mounting bracket; 5-Second mounting bracket; 6-Camera; 7-X-ray emitter; 8-Detection camera; 9-DR imaging plate; 10-Fasting bolt; 11-Rotating shaft; 12-Transmission worm gear; 13-First angle adjustment bevel gear; 14-Second angle adjustment bevel gear; 15-Transmission worm; 16-Angle adjustment drive motor; 17-First transmission shaft; 18-Second transmission shaft; 19- Synchronous spline; 20-First connecting plate; 21-Second connecting plate; 22-First synchronous block; 23-Second synchronous block; 24-Extrusion inclined surface; 25-Transfer frame; 26-Displacement drive motor; 27-Displacement shaft; 28-Threaded section; 29-U-shaped adjustment frame; 30-First rotating column; 31-Synchronous column; 32-Second rotating column; 33-Limit bolt; 34-Limit groove; 35-Connecting platform; 36-Connecting column; 37-Positioning plate; 38-Threaded column; 39-Positioning groove; 40-Positioning column; 41-Compression spring. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to embodiments and accompanying drawings. The illustrative embodiments and descriptions of this invention are for explanation only and are not intended to limit the invention. The following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without inventive effort are within the scope of protection of this invention.

[0039] It should be noted that similar reference numerals and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In the description of the embodiments of the present invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," and "connect" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0040] Example 1

[0041] Combination Figures 1 to 11 As shown, this is a UAV for multispectral fusion intelligent detection according to an embodiment of the present invention, and its specific structure is described below.

[0042] In this embodiment, combined with Figure 1 As shown, the multispectral fusion intelligent detection drone mainly consists of a first drone body 1 and a second drone body 2. Both the first drone body 1 and the second drone body 2 are existing drone bodies, specifically DJI M350 or DJI M300 drones. The drone model can be selected according to the weight of the object being counterweighted. These are all existing technologies for choosing a carrier. At the same time, a camera 6 for capturing images is set on one side of the bottom of both the first drone body 1 and the second drone body 2. The camera 6 displays the scene in front of the drone to the operator.

[0043] Combination Figure 1 , Figure 2 and Figure 3 As shown, a T-shaped connecting plate 3 is installed at the bottom of the first drone body 1 and the second drone body 2. The connecting plate 3 has mounting holes for easy connection via fastening bolts 10. A first fixing frame 4 is provided at the bottom of the first drone body 1. The first fixing frame 4 is made of high-strength aluminum alloy, which is lightweight and high-strength, reducing the load on the drone while ensuring structural stability. The top of the first fixing frame 4 is connected to the connecting plate 3 via fastening bolts 10, allowing for assembly and disassembly of the first fixing frame 4 and the corresponding connecting plate 3 using the fastening bolts 10.

[0044] Reference Figure 4 As shown, the X-ray emitter 7 and the inspection camera 8 are mounted on one side of the front of the first mounting bracket 4. The X-ray emitter 7 can emit X-rays of specific intensity and wavelength to meet the requirements for inspecting the internal structure of overhead transmission lines. The inspection camera 8 uses a professional camera with multispectral imaging capabilities, such as the FLIR DuO Pro R, which can simultaneously capture image information in multiple bands, including visible light and infrared light.

[0045] Furthermore, in combination Figure 4 and Figure 7 As shown, both the X-ray emitter 7 and the inspection camera 8 are connected to the first fixed frame 4 via a U-shaped adjustment bracket 29. The top and bottom plates of the U-shaped adjustment bracket 29 have through holes; the bottom through hole is used to insert a rotatable first rotating column 30, and the top through hole is used to insert a rotatable second rotating column 32. Both the first rotating column 30 and the second rotating column 32 have hexagonal slots. Both the X-ray emitter 7 and the inspection camera 8 are equipped with synchronization columns 31, which are hexagonal prisms, facilitating insertion into the hexagonal slots of the first rotating column 30 and the second rotating column 32.

[0046] It should be noted that, to facilitate the installation of X-ray emitters 7 and inspection cameras 8 at different heights, the installation height of the second rotating column 32 is designed to be adjustable. Specifically, multiple (three) annular limiting grooves 34 are formed on the second rotating column 32 from top to bottom. Limiting bolts 33 are installed on the U-shaped adjusting frame 29. The limiting bolts 33 can be inserted into the limiting grooves 34 to prevent the second rotating column 32 from moving up and down. Depending on the height of the X-ray emitter 7 and inspection camera 8, the limiting bolts 33 can be inserted into the appropriate limiting grooves 34. The limiting bolts 33 restrict the height of the second rotating column 32 inside the top of the U-shaped adjusting frame 29, while the limiting bolts 33 do not affect the rotation of the limiting grooves 34 inside the U-shaped adjusting frame 29, resulting in good installation performance.

[0047] In this embodiment, combined with Figure 4 and Figure 7 As shown, a second angle-adjusting bevel gear 14 is installed at the bottom of the second rotating column 32, facilitating the rotation driven by the angle-adjusting drive motor 16. Combined with... Figure 4 and Figure 5 As shown, the angle adjustment drive motor 16 and the displacement drive motor 26 are mounted on the back of the first fixed frame 4. Simultaneously, the second drive shaft 18, the first drive shaft 17, and the displacement shaft 27 are also mounted on the back of the first fixed frame 4. The axes of the second drive shaft 18 and the first drive shaft 17 are aligned, and the displacement shaft 27 is parallel to the first drive shaft 17. The left end of the first drive shaft 17 is connected to the angle adjustment drive motor 16, and the left end of the displacement shaft 27 is connected to the displacement drive motor 26.

[0048] Furthermore, in combination Figure 4 As shown, the U-shaped adjusting bracket 29 is equipped with a rotating shaft 11 with its two ends located on the front and back sides respectively. A first angle adjusting bevel gear 13 is installed at the front end of the rotating shaft 11, and the first angle adjusting bevel gear 13 meshes with a second angle adjusting bevel gear 14. Figure 5 As shown, a transmission worm gear 12 is installed at the end of the back side of the rotating shaft 11. A transmission worm 15 is provided on the outer side of both the first transmission shaft 17 and the second transmission shaft 18. The transmission worm gear 12 and the transmission worm 15 mesh with each other, so that the rotation of the transmission worm 15 drives the corresponding transmission worm gear 12 to rotate.

[0049] Combination Figure 5 and Figure 6 As shown, a synchronous spline 19 is slidably connected inside the first drive shaft 17 near the end of the second drive shaft 18. A first connecting plate 20 is fixed to the right end of the synchronous spline 19. When the first connecting plate 20 moves laterally, it can drive the synchronous spline 19 to move laterally inside the first drive shaft 17. At the same time, it does not affect the rotation of the first drive shaft 17. The synchronous spline 19 drives the first connecting plate 20 to rotate synchronously.

[0050] Combination Figure 5 and Figure 6 As shown, a second connecting disc 21 is fixed to one end of the second drive shaft 18 near the first connecting disc 20. Six first synchronizing blocks 22 are evenly distributed and fixed to one end of the first connecting disc 20 near the second connecting disc 21. Six second synchronizing blocks 23 are evenly distributed and fixed to one end of the second connecting disc 21 near the first connecting disc 20. The first synchronizing blocks 22 and the second synchronizing blocks 23 are staggered, which facilitates the translation of the first connecting disc 20 to drive the first synchronizing blocks 22 and the second synchronizing blocks 23 to connect or disconnect them. This allows the rotation of the first connecting disc 20 to drive the second synchronizing blocks 23 through the first synchronizing blocks 22, thereby driving the second connecting disc 21 and the second drive shaft 18 to rotate synchronously.

[0051] like Figure 6 As shown, both sides of the first synchronization block 22 and the second synchronization block 23, which are close to each other, are provided with pressing slopes 24. This facilitates the movement of the first connecting plate 20, which drives the first synchronization block 22 and the second synchronization block 23 to be connected through the pressing slopes 24. If there is an overlap between the first synchronization block 22 and the second synchronization block 23, the inclination of the pressing slopes 24 allows the movement of the first connecting plate 20 to drive the second transmission shaft 18 to rotate appropriately through the pressing of the first synchronization block 22 on the second synchronization block 23, making the staggered connection smoother.

[0052] In this embodiment, as Figure 5 As shown, the bottom of the translation frame 25 has a ring, which fits into the outer annular groove of the first connecting plate 20. The first connecting plate 20 and the translation frame 25 are rotatably connected, facilitating the translation frame 25 to drive the first connecting plate 20 to translate. The outer side of the displacement shaft 27 has a threaded section 28, which is threadedly connected to the threaded hole of the translation frame 25. The rotation of the threaded section 28 drives the translation frame 25 to translate left and right, thereby adjusting the interleaving or disengagement between the second synchronization block 23 and the first synchronization block 22.

[0053] In this embodiment, combined with Figure 8 As shown, a second fixing frame 5 is provided at the bottom of the second drone body 2. The second fixing frame 5 is U-shaped. The top of the second fixing frame 5 is also connected to the connecting plate 3 located at the bottom of the second drone body 2 by fastening bolts 10, so that the second fixing frame 5 and the corresponding connecting plate 3 can be assembled and disassembled by connecting the fastening bolts 10.

[0054] The bottom of the second mounting bracket 5 is equipped with a DR imaging plate 9, which, in conjunction with the X-ray emitting head 7, takes pictures of the interior of the overhead transmission line and determines whether there is a break or improper crimping inside the overhead transmission line by the image displayed on the DR imaging plate 9.

[0055] In this embodiment, a signal controller may be installed inside the first fixing frame 4. The signal controller is model SC200, so that the angle adjustment drive motor 16 and the displacement drive motor 26 are controlled by receiving external signals through the signal controller.

[0056] The working principle of this embodiment:

[0057] In use, firstly, the first fixing frame 4 is installed on the bottom of the connecting plate 3 on the first UAV body 1 using the corresponding fastening bolts 10. Then, the second fixing frame 5 is installed on the bottom of the connecting plate 3 on the second UAV body 2 using the corresponding fastening bolts 10. Next, the X-ray emitter 7 and the detection camera 8 are placed inside the corresponding U-shaped adjustment frame 29. Simultaneously, the synchronization column 31 at the bottom of the X-ray emitter 7 and the detection camera 8 is inserted into the corresponding first rotating column 30. Then, the second rotating column 32 on the corresponding U-shaped adjustment frame 29 is lowered, so that the second rotating column 32 is positioned... On the outer side of the corresponding top synchronization column 31, the position of the X-ray head 7 or the detection camera 8 on the inner side of the U-shaped adjustment frame 29 can be positioned. At the same time, the rotation of the first rotating column 30 drives the X-ray head 7 or the detection camera 8 to adjust to the same height angle. Then, a threaded limit bolt 33 is installed on the top of the U-shaped adjustment frame 29, and the limit bolt 33 enters the corresponding limit groove 34 to limit the height of the second rotating column 32 inside the top of the U-shaped adjustment frame 29. At the same time, the limit bolt 33 does not affect the rotation of the limit groove 34 inside the U-shaped adjustment frame 29.

[0058] Simultaneously, after the DR imaging panel 9 is installed on the bottom of the second fixed frame 5 on the second drone body 2, the second drone body 2 is controlled to fly the DR imaging panel 9 to the corresponding height of the power tower to be inspected. The camera 6 at the bottom of the second drone body 2 provides instructions to the operator regarding the external scenery, and then the DR imaging panel 9 is hung on the overhead power line to be inspected. Then, by starting the first drone body 1, the first drone body 1 drives the X-ray emitter 7 and the inspection camera 8 to fly to the height corresponding to the DR imaging panel 9. At this time, the DR imaging panel 9 is... The X-ray transmitter 7 emits X-rays to inspect the overhead transmission line, allowing the X-rays to inspect the inside of the overhead transmission line and then project them onto the DR imaging board 9. The image received by the DR imaging board 9 is displayed to the operator, which can then determine whether there are any breaks or improper crimping inside the overhead transmission line. Then, the visible light imaging on the inspection camera 8 is used to image the outside of the overhead transmission line to check for any damage, and the infrared imaging on the inspection camera 8 is used to inspect the middle of the overhead transmission line to check for any heat generated by poor contact during live testing.

[0059] During detection, the system can determine whether the angle of the detection camera 8 or the X-ray head 7 needs to be adjusted based on the detection position. When adjustment is required, the angle adjustment drive motor 16 can be energized to drive the first transmission shaft 17 to rotate. The rotation of the first transmission shaft 17 drives the first connecting plate 20 to rotate simultaneously through the synchronous spline 19. The rotation of the first connecting plate 20 drives the second connecting plate 21 and the second transmission shaft 18 to rotate through the alternating contact of the first synchronous block 22 and the second synchronous block 23. The rotation of the first transmission shaft 17 and the second transmission shaft 18 drives the corresponding transmission worm gear 15 to rotate. The rotation of the transmission worm gear 15 drives the corresponding meshing transmission worm wheel 12 to rotate. The rotation of the transmission worm wheel 12 drives the first angle adjustment bevel gear 13 to rotate through the rotating shaft 11. The rotation of the first angle adjustment bevel gear 13 drives the first rotating column 30 to rotate through the meshing second angle adjustment bevel gear 14. The first rotating column 30 drives the corresponding X-ray head 7 or detection camera 8 to rotate through the synchronous column 31. At this time, the X-ray head 7 and the detection camera 8 rotate simultaneously.

[0060] When the position of the X-ray emitting head 7 is adjusted to the appropriate position, and the shooting angle of the detection camera 8 also needs to be adjusted, the displacement drive motor 26 can be energized to drive the displacement shaft 27 to rotate. The rotation of the displacement shaft 27 drives the threaded translation frame 25 to translate through the displacement thread section 28. The movement of the translation frame 25 drives the first connecting plate 20 to move. The movement of the first connecting plate 20 causes the synchronous spline 19 to retract inside the first transmission shaft 17. At the same time, the movement of the first connecting plate 20 causes the first synchronous block 22 to disengage from the second synchronous block 23. At this time, the angle adjustment drive motor 16 can only drive the rotating shaft 11 corresponding to the detection camera 8 to rotate, and adjust the angle of the detection camera 8 to the appropriate position.

[0061] Example 2

[0062] The UAV for multispectral fusion intelligent detection in this embodiment is further optimized based on embodiment 1. A positioning mechanism for connection is installed between the second fixed frame 5 and the DR imaging plate 9.

[0063] Combination Figure 9 , Figure 10 and Figure 11 As shown, the positioning mechanism includes a connecting platform 35, a connecting column 36, a positioning plate 37, a threaded column 38, a positioning column 40, and a compression spring 41. Connecting platforms 35 are installed at both ends of the bottom of the second fixing frame 5 and at both ends of the top of the DR imaging plate 9. A connecting column 36 is provided between the two corresponding connecting platforms 35, and the connecting platform 35 at the bottom of the second fixing frame 5 is connected to the connecting platform 35 at the top of the DR imaging plate 9 through the two connecting columns 36.

[0064] Specifically, a positioning plate 37 is fixed at the top and bottom of the connecting column 36, and a threaded column 38 is fixed at the end face of the positioning plate 37. The threads of the two threaded columns 38 are opposite in direction, and the threaded columns 38 are threadedly connected to the connecting table 35, so that the connecting column 36 can be installed between the two connecting tables 35 on the same end through the threaded columns 38.

[0065] To achieve better fixation, combine Figure 11 As shown, a positioning post 40 is slidably connected inside one end of the connecting platform 35. The positioning post 40 is slidably connected to the positioning disk 37. A through positioning groove 39 is opened inside the positioning disk 37 at the position corresponding to the positioning post 40. The positioning post 40 and the positioning disk 37 are slidably connected through the positioning groove 39, which facilitates the positioning post 40 to enter the interior of the corresponding positioning disk 37. A compression spring 41 is fixed inside the connecting platform 35 and at the bottom of the positioning post 40, so that the positioning post 40 can drive the compression spring 41 to compress and descend after being squeezed. At the same time, after the squeezing force of the positioning post 40 is removed, the positioning post 40 is reset by the rebound after being compressed by the compression spring 41.

[0066] The working principle of this embodiment:

[0067] When inspecting overhead power lines, firstly, place the DR imaging plate 9, which mates with the X-ray transmitter 7, at the bottom of the second UAV body 2. Then, connect the second mounting bracket 5 to the corresponding connecting plate 3 using the corresponding fastening bolts 10. Next, place the connecting column 36 between the second mounting bracket 5 and the DR imaging plate 9. Rotate the connecting column 36, causing it to drive the threaded column 38 to connect threadedly with the corresponding connecting platform 35. When the positioning plate 37 approaches the corresponding connecting platform 35, the threaded column 38 rises and falls within the corresponding connecting platform 35 via the threaded connection, simultaneously causing the positioning plate 37 to... 7. Press the positioning post 40 inside the corresponding connecting platform 35, so that the positioning post 40 is compressed and drives the compression spring 41 to compress. When the positioning plate 37 continues to rotate, the positioning post 40 rebounds into the positioning groove 39 after being compressed by the compression spring 41, so that the positioning plate 37 and the connecting platform 35 cannot be separated by rotation. When disassembly is required, insert an iron wire or iron rod smaller than the diameter of the positioning groove 39 into the bottom end of the corresponding positioning plate 37, so that the iron wire or iron rod presses the positioning post 40, and the positioning post 40 presses the compression spring 41. At this time, rotate the connecting post 36 to separate the DR imaging plate 9 from the second fixing frame 5.

[0068] Example 3

[0069] Based on the above embodiments 1 and 2, further optimizations are made by installing a ground receiving module to receive infrared detection images, visible light images, and infrared images received by the DR imaging board 9 from the detection camera 8. This allows the ground operator to determine whether there is heat generated by poor contact during live testing by using the infrared detection images received by the ground receiving module, to determine whether there is damage when shooting and detecting the outside of the overhead transmission line by using the visible light images received by the ground receiving module, and to determine whether there is heat generated by poor contact during live testing of the overhead transmission line by using the infrared images received by the ground receiving module.

[0070] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A multispectral fusion intelligent detection drone, characterized in that, It includes a first UAV body (1) and a second UAV body (2) that are set up in pairs. The first UAV body (1) is provided with a first fixed frame (4), the first fixed frame (4) is provided with an X-ray emitting head (7) and a detection camera (8), the first fixed frame (4) is also provided with a first drive shaft (17) for driving the X-ray emitting head (7) to rotate and a second drive shaft (18) for driving the detection camera (8) to rotate, the first drive shaft (17) is connected to an angle adjustment drive motor (16), and a synchronous spline (19) is movably inserted into the end of the first drive shaft (17), the synchronous spline (19) is connected to a A first connecting plate (20) is provided with a first synchronizing block (22). A second drive shaft (18) is provided with a second connecting plate (21). The second connecting plate (21) is provided with a second synchronizing block (23) that cooperates with the first synchronizing block (22). A translation frame (25) is connected to the first connecting plate (20). A displacement drive motor (26) is connected to the translation frame (25). The displacement drive motor (26) controls whether the first connecting plate (20) and the second connecting plate (21) rotate synchronously. The second UAV body (2) is provided with a second fixed frame (5), and the second fixed frame (5) is provided with a DR imaging plate (9).

2. The UAV with multispectral fusion intelligent detection according to claim 1, characterized in that, The first fixed frame (4) is also provided with a U-shaped adjustment frame (29). The bottom and top of the U-shaped adjustment frame (29) are respectively provided with a first rotating column (30) and a second rotating column (32). The bottom and top of the X-ray emitting head (7) and the detection camera (8) are both provided with a synchronization column (31). The synchronization column (31) is inserted into the slots of the first rotating column (30) and the second rotating column (32). The bottom of the first rotating column (30) is provided with a second angle adjusting bevel gear (14). The first drive shaft (17) and the second drive shaft (18) are both connected to a rotating shaft (11). The rotating shaft (11) is provided with a first angle adjusting bevel gear (13) that meshes with the second angle adjusting bevel gear (14).

3. The UAV with multispectral fusion intelligent detection according to claim 2, characterized in that, The second rotating column (32) is provided with multiple limiting grooves (34), and the U-shaped adjusting frame (29) is provided with limiting bolts (33) that are inserted into the limiting grooves (34) for limiting.

4. The UAV with multispectral fusion intelligent detection according to claim 2, characterized in that, The displacement drive motor (26) is connected to a displacement shaft (27) parallel to the first transmission shaft (17). The displacement shaft (27) is provided with a threaded section (28), and the translation frame (25) is provided with a threaded hole adapted to the threaded section (28).

5. The UAV with multispectral fusion intelligent detection according to claim 2, characterized in that, Both the first drive shaft (17) and the second drive shaft (18) are provided with a drive worm (15), and the rotating shaft (11) is provided with a drive worm wheel (12) that meshes with the drive worm (15).

6. The UAV with multispectral fusion intelligent detection according to claim 1, characterized in that, Multiple first synchronization blocks (22) are evenly arranged around the center of the first connecting disk (20), and multiple second synchronization blocks (23) are evenly arranged around the center of the second connecting disk (21). The first synchronization blocks (22) are inserted into the gap between the second synchronization blocks (23) to achieve transmission connection.

7. The UAV with multispectral fusion intelligent detection according to claim 6, characterized in that, The ends of the first synchronization block (22) and the second synchronization block (23) are provided with extrusion slopes (24).

8. The UAV with multispectral fusion intelligent detection according to claim 1, characterized in that, A positioning mechanism for connection is provided between the second fixing frame (5) and the DR imaging plate (9). The positioning mechanism includes a connecting column (36), and threaded columns (38) are provided at both ends of the connecting column (36). The second fixing frame (5) and the DR imaging plate (9) are provided with a connecting platform (35) that is connected to the threaded column (38).

9. The UAV with multispectral fusion intelligent detection according to claim 8, characterized in that, The connecting column (36) is provided with a positioning plate (37), the positioning plate (37) is provided with a positioning groove (39), the connecting platform (35) is provided with a compression spring (41), and the compression spring (41) is connected to a positioning column (40) corresponding to the positioning groove (39).

10. The UAV with multispectral fusion intelligent detection according to any one of claims 1-9, characterized in that, Both the first UAV body (1) and the second UAV body (2) are equipped with cameras (6).

Images