Transmission tower defect identification device, system and method based on binocular cooperation

Abstract

The invention relates to the technical field of power transmission tower detection, and discloses a power transmission tower defect identification device, system and method based on binocular collaboration.The device comprises a U-shaped frame and a binocular camera, an L-shaped plate is arranged in the U-shaped frame, a U-shaped bearing block is fixedly installed on the inner side of the L-shaped plate, an installation frame is arranged in the U-shaped bearing block, and the binocular camera is arranged in the installation frame; and a mounting mechanism is arranged between the binocular camera and the mounting frame body. According to the power transmission tower defect identification system, device and method based on binocular cooperation, the rotating mechanism and the mounting mechanism improve the mounting adaptability and the dismounting convenience of the device, the adjusting mechanism is driven by a motor to realize omni-directional angle adjustment of a binocular camera, and a detection blind area is avoided; the system obtains three-dimensional data by means of a binocular camera, a three-dimensional matching algorithm and a deep learning algorithm are combined, the accuracy of defect recognition is improved, and efficient transmission and reliable management of data are guaranteed through a communication and storage module.

Description

Technical Field

[0001] This invention relates to the field of power transmission tower inspection technology, specifically to a device, system, and method for identifying defects in power transmission towers based on binocular collaboration. Background Technology

[0002] Transmission tower insulators are core components that ensure the insulation performance and mechanical support of transmission lines. Their performance directly affects the safe and stable operation of the power system. Due to long-term exposure to the complex outdoor environment, insulators are susceptible to atmospheric corrosion, dirt accumulation, lightning strikes, temperature changes, and other factors, which gradually lead to defects such as skirt damage, surface cracking, metal accessory corrosion, slag shedding in porcelain insulators, and aging in composite insulators. If these defects are not detected and addressed in time, they may lead to serious consequences such as decreased insulation performance and flashover accidents, and even cause large-scale power outages.

[0003] Traditional insulator defect detection mainly relies on manual inspections. Inspectors need to climb towers or use aerial work platforms for close observation, which is not only labor-intensive and inefficient but also poses high safety risks. At the same time, manual judgment is easily affected by subjective experience, weather conditions, lighting, and other factors, and has limited ability to identify minute defects, resulting in frequent missed and false detections.

[0004] With the development of automated inspection technology, inspection methods based on single devices such as monocular cameras and infrared thermal imagers have emerged. These methods involve using drones or other carriers to collect images of insulators for analysis. However, these technologies have significant limitations: monocular cameras cannot acquire three-dimensional spatial information, making it difficult to accurately determine the actual size and spatial location of defects; the equipment's angle adjustment range is limited, making it difficult to fully cover all areas of the insulator and easily creating blind spots; and existing devices have poor compatibility with different inspection carriers, and the installation and disassembly process is cumbersome, affecting inspection efficiency.

[0005] Therefore, it is necessary to propose a system, device and method for identifying defects in transmission towers based on binocular collaboration. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides a system, device, and method for identifying defects in transmission towers based on binocular collaboration. It has the advantages of accurately acquiring three-dimensional information of insulators, flexibly adjusting the detection angle, and adapting to various inspection carriers, thus solving the problems mentioned in the background technology.

[0007] This invention provides the following technical solution: a device for identifying defects in transmission towers based on binocular collaboration, comprising a U-shaped frame and a binocular camera: The U-shaped frame has an L-shaped plate inside, and a U-shaped support block is fixedly installed on the inner side of the L-shaped plate. The U-shaped support block has a mounting frame inside, and a mounting mechanism is provided between the binocular camera and the mounting frame. An adjustment mechanism is provided between the U-shaped frame, the L-shaped plate and the U-shaped support block. A mounting plate is provided on the side of the U-shaped frame, and a rotation mechanism is provided between the mounting plate and the U-shaped frame. The rotating mechanism includes a cylinder, the end of which is fixedly installed to the side of a U-shaped frame. A second connecting ring groove is provided on the side of the mounting plate. A rotating ring is rotatably fitted inside the second connecting ring groove. A connecting rod is fixedly connected to the inner side wall of the cylinder. A spring is sleeved on the outer surface of the connecting rod. A movable circular block is slidably fitted on the outer surface of the connecting rod. The outer side of the movable circular block is fixedly connected to the outer side of the rotating ring.

[0008] Preferably, the cylinder has two sets of sliding grooves facing each other inside. The outer surface of the movable circular block slides in cooperation with the sliding groove and the inner wall of the cylinder, respectively. One set of the sliding grooves has a second slot, and a connecting block slides in cooperation with the second slot. The end of the connecting block is fixedly installed to the side of the mounting plate.

[0009] Preferably, the top of the mounting plate has a mounting hole, and the mounting plate is installed with the external inspection carrier through the mounting hole and bolts. The ends of the springs are fixedly connected to the ends of the connecting rods and the sides of the moving blocks, respectively.

[0010] Preferably, the adjusting mechanism includes a connecting shaft, the upper end of which is bolted to the lower surface of the L-shaped plate, a connecting ring groove is formed on the inner lower surface of the U-shaped frame, the inner part of the connecting ring groove is rotatably engaged with the lower end of the connecting shaft, a gear is fixedly mounted on the outer surface of the connecting shaft, a drive motor is fixedly mounted on the inner side of the U-shaped frame, and a gear is fixedly mounted on the output shaft of the drive motor, with the gear meshing with the gear.

[0011] Preferably, the adjustment mechanism further includes two sets of rotating shafts, the outer surfaces of the rotating shafts are rotatably engaged with the two sides of the U-shaped support block, the ends of the rotating shafts are fixedly connected to the sides of the mounting frame, a drive motor is fixedly mounted on the side of the U-shaped support block, and the output shaft of the drive motor is fixedly mounted to one of the sets of rotating shafts.

[0012] Preferably, the mounting mechanism includes a top block, which is fixedly mounted on the upper surface of the mounting frame. The top block has an inner groove that communicates with the interior of the mounting frame. A bidirectional lead screw is rotatably fitted inside the inner groove. Both ends of the bidirectional lead screw are threaded with L-shaped connectors. The connection between the L-shaped connectors and the bidirectional lead screw slides inside the inner groove. Two sets of grooved blocks are fixedly mounted on the back side of the binocular camera. The interior of the grooved blocks is inserted into the ends of the L-shaped connectors. U-shaped frames are fixedly connected to both sides of the interior of the mounting frame. Side blocks are fixedly connected to both sides of the binocular camera. The outer surfaces of the side blocks slide inside the U-shaped frames.

[0013] Preferably, the end of the bidirectional lead screw is fixedly connected with a rotating tooth, the side of the top block is provided with a limiting groove, the inside of the limiting groove is connected to an inner tooth limiting block, the middle of the inner tooth limiting block meshes with the outer surface of the rotating tooth, an adsorption magnet one is installed inside the limiting groove, and an adsorption magnet two is installed on the inner side of the inner tooth limiting block, and the adsorption magnet one and the adsorption magnet two are magnetically adsorbed.

[0014] Preferably, an equipment box is installed on the inner side of the U-shaped frame, and a through slot is provided on the rear side of the mounting frame and the binocular camera.

[0015] A system for identifying transmission tower defects based on binocular collaboration, used in the aforementioned device for identifying transmission tower defects based on binocular collaboration, includes: a hardware acquisition module, an adjustment and control module, a data processing module, and a communication and storage module; The hardware acquisition module includes: a binocular camera with dual-lens synchronous imaging capability, which can acquire stereoscopic visual data of transmission tower insulators; a mounting structure, including a U-shaped frame, an L-shaped plate, a U-shaped support block, and a mounting frame, forming a camera support structure; and auxiliary components, including an equipment box. The adjustment and control module includes a rotation mechanism, an adjustment mechanism, and a mounting mechanism. The rotation mechanism is used to switch the orientation of the mounting plate according to the installation requirements of the external inspection carrier. The adjustment mechanism is used to adjust the pitch and horizontal angles of the binocular camera. The mounting mechanism is used to install and remove the binocular camera. Data processing module: used for denoising, enhancing, and correcting preprocessing of image data acquired by binocular cameras; calculating disparity maps using stereo matching algorithms to reconstruct 3D models of transmission tower insulators; and using deep learning algorithms to analyze the preprocessed images and 3D models to identify defects in transmission tower insulators. Communication and storage modules: The communication module is used to transmit processed defect information and image data to the remote monitoring center, supporting both wireless and wired communication; the storage module is used to locally store the collected raw data and processed results.

[0016] A method for identifying transmission tower defects based on binocular collaboration, based on the aforementioned system for identifying transmission tower defects based on binocular collaboration, includes the following steps: S1: Fix the device under the drone and preset the parameters; S2: The drone flies along a preset inspection route, maintaining a preset safe distance from the power transmission towers to avoid entering dangerous areas; S3: The binocular camera acquires insulator images through synchronous imaging with dual lenses, and performs image preprocessing and feature recognition to determine whether the insulator image is complete; S4: If the insulator image is incomplete, adjust the camera angle and re-determine whether the insulator image is complete. Repeat the process of adjusting the camera angle and determining whether the insulator image is complete until the reconstructed 3D model of the insulator is determined to be complete and the standard features of the insulator are completely matched with the preset standard features.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention utilizes a rotating mechanism to switch the orientation of the mounting plate to adapt to different external components, an adjustment mechanism to adjust the pitch and horizontal angle of the binocular camera, and an installation mechanism to enable quick assembly and disassembly of the binocular camera. The system includes hardware acquisition, adjustment control, data processing, communication, and storage modules. The method covers steps such as device installation and debugging, angle adjustment, image acquisition, data processing, result transmission, and defect assessment. The rotating and installation mechanisms improve the device's installation adaptability and ease of assembly and disassembly. The adjustment mechanism, driven by a motor, enables omnidirectional angle adjustment of the binocular camera, avoiding blind spots in detection. The system acquires stereo data using the binocular camera and, combined with stereo matching algorithms and deep learning algorithms, improves the accuracy of defect identification. The communication and storage modules ensure efficient data transmission and reliable management.

[0018] 2. This invention significantly improves the efficiency and safety of insulator defect identification on transmission towers through the synergy of "hardware-software-process". The standardized operation process reduces the skill requirements for operators, and the automated identification and data transmission shorten the decision-making cycle. It eliminates the need for manual tower climbing, reducing inspection risks and has important engineering application value for ensuring the stable operation of transmission lines. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the overall structure of the device of the present invention.

[0021] Figure 2 For the present invention Figure 1 Side view structural diagram.

[0022] Figure 3 This is a schematic diagram of the connecting shaft connection structure of the present invention.

[0023] Figure 4 This is a schematic diagram of the U-shaped frame and side block structure of the present invention.

[0024] Figure 5 This is a schematic diagram of the top block structure of the present invention.

[0025] Figure 6 This is a schematic diagram of the rotating tooth limiting structure of the present invention.

[0026] Figure 7 This is a schematic diagram of the rotating mechanism of the present invention.

[0027] Figure 8 For the present invention Figure 7 Another perspective on the structure.

[0028] Figure 9 This is a schematic cross-sectional view of the cylinder and mounting plate of the present invention.

[0029] Figure 10 This is a schematic diagram of the system flow of the present invention.

[0030] The attached diagram lists the components represented by each number as follows: 1. U-shaped frame; 110. Connecting ring groove one; 2. L-shaped plate; 3. Mounting plate; 310. Mounting hole; 320. Connecting ring groove two; 4. U-shaped support block; 5. Binocular camera; 6. Slot one; 7. Equipment box; 8. Adjustment mechanism; 810. Drive motor one; 820. Rotating shaft; 830. Drive motor two; 831. Gear one; 840. Connecting shaft; 841. Gear two; 9. Mounting mechanism; 910. U-shaped frame; 920. Side block; 930. Slotted block ; 940, Top block; 941, Inner groove; 942, Two-way lead screw; 943, L-shaped connector; 950, Rotating tooth; 960, Limiting groove; 961, Adsorption magnet one; 970, Inner tooth limiting block; 971, Adsorption magnet two; 10, Rotating mechanism; 101, Cylinder; 1011, Slide groove; 1012, Groove two; 102, Moving round block; 103, Rotating ring; 104, Connecting rod; 105, Spring; 106, Connecting block; 11, Mounting frame. Detailed Implementation

[0031] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] Please see Figures 1-10 A device for identifying defects in transmission towers based on binocular collaboration includes a U-shaped frame 1 and a binocular camera 5. The U-shaped frame 1 has an L-shaped plate 2 inside, and a U-shaped support block 4 is fixedly installed on the inner side of the L-shaped plate 2. The U-shaped support block 4 has a mounting frame 11 inside, and a mounting mechanism 9 is provided between the binocular camera 5 and the mounting frame 11. An adjustment mechanism 8 is provided between the U-shaped frame 1, the L-shaped plate 2 and the U-shaped support block 4. A mounting plate 3 is provided on the side of the U-shaped frame 1, and a rotation mechanism 10 is provided between the mounting plate 3 and the U-shaped frame 1. The rotating mechanism 10 includes a cylinder 101, the end of which is fixedly installed to the side of the U-shaped frame 1. A connecting ring groove 320 is provided on the side of the mounting plate 3. A rotating ring 103 is rotatably fitted inside the connecting ring groove 320. A connecting rod 104 is fixedly connected to the inner side wall of the cylinder 101. A spring 105 is sleeved on the outer surface of the connecting rod 104. A movable block 102 is slidably fitted on the outer surface of the connecting rod 104. The outer side of the movable block 102 is fixedly connected to the outer side of the rotating ring 103.

[0033] The rotating mechanism 10 achieves angle adjustment of the mounting plate 3 relative to the U-shaped frame 1 by rotating the rotating ring 103 within the connecting ring groove 320, combined with the sliding of the moving block 102 along the connecting rod 104 and the elastic reset of the spring 105.

[0034] Specifically, the orientation of the mounting plate 3 can be flexibly switched according to the needs of the external inspection carrier, improving the adaptability of the device to different carriers, and the buffering effect of the spring 105 ensures the stability of the structure after adjustment.

[0035] like Figure 2 , Figure 7 , Figure 8 and Figure 9 As shown, in this embodiment, two sets of sliding grooves 1011 are provided inside the cylinder 101. The outer surface of the movable circular block 102 slides and engages with the sliding groove 1011 and the inner wall of the cylinder 101 respectively. One set of sliding grooves 1011 is provided with a second slot 1012. A connecting block 106 is slidably engaged inside the second slot 1012. The end of the connecting block 106 is fixedly installed to the side of the mounting plate 3.

[0036] When the moving circular block 102 slides along the slide groove 1011, the docking block 106 moves synchronously within the groove 1012, limiting the rotation trajectory of the mounting plate 3 and preventing deviation.

[0037] Specifically, the cooperation between the slide groove 1011 and the docking block 106 improves the adjustment accuracy of the rotating mechanism 10, prevents jamming or misalignment when the mounting plate 3 rotates, and ensures structural stability.

[0038] like Figure 2, Figure 7 , Figure 8 and Figure 9 As shown, the mounting plate 3 in this embodiment has a mounting hole 310 on its top. The mounting plate 3 is installed with the external inspection carrier through the mounting hole 310 and bolts. The end of the spring 105 is fixedly connected to the end of the connecting rod 104 and the side of the moving block 102, respectively.

[0039] The mounting hole 310 rigidly connects the mounting plate 3 to the external carrier via bolts, and the spring 105 presses the moving block 102 with elastic force to lock the adjustment angle of the mounting plate 3.

[0040] Specifically, the bolts, in conjunction with the mounting holes 310, securely fix the device to the carrier, and the preload of the spring 105 ensures that the mounting plate 3 does not loosen during inspection, thereby improving the overall structure's vibration resistance.

[0041] like Figure 1 , Figure 2 and Figure 3 As shown, the adjustment mechanism 8 in this embodiment includes a connecting shaft 840. The upper end of the connecting shaft 840 is installed on the lower surface of the L-shaped plate 2 by bolts. A connecting ring groove 110 is provided on the inner lower surface of the U-shaped frame 1. The interior of the connecting ring groove 110 is rotatably engaged with the lower end of the connecting shaft 840. A gear 841 is fixedly installed on the outer surface of the connecting shaft 840. A drive motor 830 is fixedly installed on the inner side of the U-shaped frame 1. A gear 831 is fixedly installed on the output shaft of the drive motor 830. The gear 831 meshes with the gear 841.

[0042] The second drive motor 830 drives the first gear 831 to rotate. Through the meshing of the first gear 831, the second gear 841 and the connecting shaft 840 are driven to rotate. The connecting shaft 840 rotates along the connecting ring groove 110, which drives the L-shaped plate 2 to rotate horizontally.

[0043] Specifically, the motor drive enables automated horizontal angle adjustment of the binocular camera 5, while the gear transmission ensures that the adjustment accuracy angle error is ≤0.5°, expanding the detection range and avoiding horizontal blind spots.

[0044] like Figure 1 and Figure 2 As shown, the adjustment mechanism 8 in this embodiment also includes two sets of rotating shafts 820. The outer surface of the rotating shaft 820 is rotatably engaged with the two sides of the U-shaped support block 4. The end of the rotating shaft 820 is fixedly connected to the side of the mounting frame 11. A drive motor 810 is fixedly mounted on the side of the U-shaped support block 4. The output shaft of the drive motor 810 is fixedly mounted with one of the sets of rotating shafts 820.

[0045] The drive motor 810 drives the rotating shaft 820 to rotate, and the mounting frame 11 rotates around the U-shaped support block 4 with the rotating shaft 820 to realize the pitch angle adjustment of the binocular camera 5.

[0046] Specifically, the motor-driven pitch adjustment can cover a range of -45° to +45°, and combined with the horizontal adjustment, it can achieve all-around field of view coverage of the binocular camera 5, ensuring that the top, bottom and other areas of the tower can be clearly photographed.

[0047] like Figure 1 , Figure 4 and Figure 5 As shown, the mounting mechanism 9 in this embodiment includes a top block 940, which is fixedly mounted on the upper surface of the mounting frame 11. The top block 940 has an inner groove 941 inside, and the inner groove 941 communicates with the interior of the mounting frame 11. A bidirectional lead screw 942 is rotatably fitted inside the inner groove 941. Both ends of the bidirectional lead screw 942 are threaded with L-shaped connectors 943. The connection between the L-shaped connectors 943 and the bidirectional lead screw 942 is slidably fitted inside the inner groove 941. Two sets of slotted blocks 930 are fixedly mounted on the back side of the binocular camera 5. The interior of the slotted blocks 930 is inserted into the end of the L-shaped connectors 943. U-shaped frames 910 are fixedly connected to both sides of the interior of the mounting frame 11. Side blocks 920 are fixedly connected to both sides of the binocular camera 5. The outer surface of the side blocks 920 is slidably fitted inside the U-shaped frames 910.

[0048] The binocular camera 5 is initially positioned by sliding the side block 920 into the mounting frame 11 along the U-shaped frame 910. The bidirectional lead screw 942 is rotated to drive the L-shaped connector 943 to slide along the inner groove 941 and insert the slotted block 930 to complete the fixation.

[0049] Specifically, the cooperation between the U-shaped frame 910 and the side block 920 ensures installation accuracy, and the bidirectional lead screw 942 drives quick locking / unlocking. Single-person operation can complete the disassembly and assembly of the binocular camera 5 in a short time, which is convenient for maintenance and replacement.

[0050] like Figure 6 As shown, in this embodiment, the end of the bidirectional lead screw 942 is fixedly connected to a rotating tooth 950. A limiting groove 960 is opened on the side of the top block 940. An inner tooth limiting block 970 is connected inside the limiting groove 960. The inner part of the inner tooth limiting block 970 meshes with the outer surface of the rotating tooth 950. An adsorption magnet 961 is installed inside the limiting groove 960. An adsorption magnet 971 is installed inside the inner tooth limiting block 970. The adsorption magnet 961 and the adsorption magnet 971 are magnetically attracted.

[0051] After the internal tooth limiting block 970 is embedded in the limiting groove 960, it is fixed by the magnetic force of the first adsorption magnet 961 and the second adsorption magnet 971. At the same time, the internal tooth meshes with the rotating tooth 950, restricting the rotation of the bidirectional lead screw 942.

[0052] Specifically, the dual-locking structure prevents the binocular camera 5 from loosening in a vibrating environment, and the magnetic adsorption design facilitates quick unlocking, balancing the reliability of the fixation with the ease of operation.

[0053] like Figure 1 and Figure 2 As shown, in this embodiment, an equipment box 7 is installed on the inner side of the U-shaped frame 1, and a through slot 6 is opened on the rear side of the mounting frame 11 and the binocular camera 5.

[0054] The equipment box 7 contains modules such as power supply and data processor, and is connected to the binocular camera 5 via slot 6 to transmit power and image data.

[0055] Specifically, the equipment box 7 integrates core control components to protect electronic components from external environmental interference; the slot 6 hides the cable layout to avoid cable tangling or damage during inspection, thus improving the durability of the device.

[0056] A system for identifying transmission tower defects based on binocular collaboration, used in the aforementioned device for identifying transmission tower defects based on binocular collaboration, includes: a hardware acquisition module, an adjustment and control module, a data processing module, and a communication and storage module; The hardware acquisition module includes: a binocular camera 5, which has the ability to simultaneously image with dual lenses and can acquire stereoscopic visual data of insulators of transmission towers; a mounting structure, including a U-shaped frame 1, an L-shaped plate 2, a U-shaped support block 4, and a mounting frame 11, forming a camera support structure; and auxiliary components, including an equipment box 7. Adjustment and control module: includes rotation mechanism 10, adjustment mechanism 8, and installation mechanism 9; rotation mechanism 10 is used to switch the orientation of installation plate 3 according to the installation requirements of external inspection carrier; adjustment mechanism 8 is used to adjust the pitch angle and horizontal angle of binocular camera 5; installation mechanism 9 is used to install and remove binocular camera 5; Data processing module: used to perform noise reduction, enhancement, and correction preprocessing on the image data acquired by the binocular camera 5; calculate disparity map using stereo matching algorithm to reconstruct the 3D model of the transmission tower insulator; and use deep learning algorithm to analyze the preprocessed image and 3D model to identify defects in the transmission tower insulator. Communication and Storage Module: The communication module is used to transmit processed defect information and image data to the remote monitoring center, supporting both wireless and wired communication; The storage module is used for local storage of the collected raw data and the processed results.

[0057] A method for identifying transmission tower defects based on binocular collaboration, based on the aforementioned device and system for identifying transmission tower defects based on binocular collaboration, includes the following steps: S1: Inspection preparation; First, adjust the orientation of the device mounting plate 3 using the rotating mechanism 10 to match the drone mounting structure. Then, use the mounting holes 310 of the mounting plate 3 and bolts to fix the device under the drone. Check the dual-lens synchronous imaging accuracy of the binocular camera 5 to ensure that the lens spacing and focal length meet the preset standards. Perform parallax calibration on the binocular camera 5 using the calibration module in the equipment box 7. Preset key parameters, including the standard parameters for judging the integrity of the insulator image, the camera adjustment angle set according to the historical wind speed data of the inspection area, the safety threshold, and the position of the ranging point. S2: Safe Distance Measurement; The UAV flies along a preset inspection route, maintaining a preset safe distance from the power transmission tower to avoid entering dangerous areas; After the UAV observes the first distance measurement point, it hovers, and the control module drives the adjustment mechanism 8, starting the second drive motor 830 to drive the gear 831 to rotate. Through gear meshing, the connecting shaft 840 rotates, causing the binocular camera 5 to rotate horizontally to align with the preset distance measurement point on the tower. Then, the first drive motor 810 is started to drive the rotating shaft 820 to rotate, adjusting the pitch angle of the binocular camera 5 to ensure that the distance measurement point is completely within the field of view of the binocular camera 5; The binocular camera 5 simultaneously captures a stereo image of the distance measurement point on the tower using dual lenses, and... The collected stereo images are transmitted to the data processing module inside the equipment box 7 via the through slot 6. The data processing module first preprocesses the stereo images and uses a stereo matching algorithm to calculate the actual distance between the ranging point and the binocular camera 5. The calculated actual distance is compared with a preset safety threshold. If the actual distance is greater than or equal to the safety threshold, the current position is determined to be safe and the UAV remains hovering or moves to the next ranging point according to the flight path. If the actual distance is less than the safety threshold, an early warning signal is immediately sent to the UAV control system through the communication module. After the UAV adjusts to the safe area, the binocular camera 5 is restarted to re-measure the distance until the current position is determined to be safe. S3: Insulator Image Acquisition and Integrity Determination; The UAV flies along the preset inspection route and remains stable after reaching the insulator inspection point. The binocular camera 5 acquires insulator images through synchronous imaging with dual lenses; 3D spatial information matching determination is performed. The data processing module reconstructs the 3D model of the insulator based on the insulator image using a stereo matching algorithm. If the 3D model has missing contours, mismatched key structural points, or discontinuities in the disparity map of the binocular camera 5 based on standard parameters, the image is determined to be incomplete; Image preprocessing and feature recognition determination are performed. The data processing module first preprocesses the insulator image, including denoising, enhancement, and correction operations. Then, a deep learning algorithm is used to process the preprocessed insulator image to obtain standard insulator features; if the standard insulator features are missing or the feature regions are blurred and unrecognizable, the image is determined to be incomplete; the deep learning algorithm uses a convolutional neural network. S4: Camera angle adjustment and secondary judgment; If the image of the insulator is missing in a certain area of ​​the horizontal direction of the insulator, the adjustment control module drives the second drive motor 830 in the adjustment mechanism 8 to operate. The output shaft of the second drive motor 830 drives the first gear 831 to rotate. Through gear meshing, the connecting shaft 840 fixed to the L-shaped plate 2 rotates along the connecting ring groove 110 of the U-shaped frame 1, thereby driving the L-shaped plate 2, the U-shaped support block 4 and the binocular camera 5 to rotate horizontally as a whole for compensation; If the image of the insulator is missing in a certain area of ​​the vertical direction of the insulator, the adjustment control module starts the adjustment. The drive motor 810 in the section mechanism 8 drives the rotating shaft 820, which is fixed to the mounting frame 11, to rotate, so that the mounting frame 11 and the binocular camera 5 can adjust the pitch angle around the U-shaped support block 4 for compensation. After the camera angle is adjusted, the binocular camera 5 re-acquires the insulator image and repeats the integrity judgment process. If the image is still determined to be incomplete, the adjustment control module continues to adjust the horizontal and pitch angles of the camera according to the difference between the two judgment results until the reconstructed three-dimensional model of the insulator is determined to be complete and the standard features of the insulator are completely matched with the preset standard features, then the adjustment stops.

[0058] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A device for identifying defects in transmission towers based on binocular collaboration, comprising a U-shaped frame and a binocular camera, characterized in that: The U-shaped frame has an L-shaped plate inside, and a U-shaped support block is fixedly installed on the inner side of the L-shaped plate. The U-shaped support block has a mounting frame inside, and a mounting mechanism is provided between the binocular camera and the mounting frame. An adjustment mechanism is provided between the U-shaped frame, the L-shaped plate and the U-shaped support block. A mounting plate is provided on the side of the U-shaped frame, and a rotation mechanism is provided between the mounting plate and the U-shaped frame. The rotating mechanism includes a cylinder, the end of which is fixedly installed to the side of a U-shaped frame. A second connecting ring groove is provided on the side of the mounting plate. A rotating ring is rotatably fitted inside the second connecting ring groove. A connecting rod is fixedly connected to the inner side wall of the cylinder. A spring is sleeved on the outer surface of the connecting rod. A movable circular block is slidably fitted on the outer surface of the connecting rod. The outer side of the movable circular block is fixedly connected to the outer side of the rotating ring.

2. The device for identifying transmission tower defects based on binocular collaboration according to claim 1, characterized in that: The cylinder has two sets of sliding grooves facing each other inside. The outer surface of the movable circular block slides in cooperation with the sliding groove and the inner wall of the cylinder, respectively. One set of the sliding grooves has a second slot, and a connecting block slides in cooperation with the second slot. The end of the connecting block is fixedly installed to the side of the mounting plate.

3. The device for identifying transmission tower defects based on binocular collaboration according to claim 2, characterized in that: The mounting plate has a mounting hole at the top. The mounting plate is installed with the external inspection carrier through the mounting hole and bolts. The ends of the springs are fixedly connected to the ends of the connecting rods and the sides of the moving blocks, respectively.

4. The device for identifying transmission tower defects based on binocular collaboration according to claim 3, characterized in that: The adjustment mechanism includes a connecting shaft, the upper end of which is bolted to the lower surface of an L-shaped plate. A connecting ring groove is formed on the lower inner surface of the U-shaped frame, and the interior of the connecting ring groove is rotatably engaged with the lower end of the connecting shaft. A gear is fixedly mounted on the outer surface of the connecting shaft. A drive motor is fixedly mounted on the inner side of the U-shaped frame, and a gear is fixedly mounted on the output shaft of the drive motor. The gear and gear mesh.

5. The device for identifying transmission tower defects based on binocular collaboration according to claim 4, characterized in that: The adjustment mechanism also includes two sets of rotating shafts. The outer surface of the rotating shafts is rotatably engaged with the two sides of the U-shaped support block. The ends of the rotating shafts are fixedly connected to the sides of the mounting frame. A drive motor is fixedly installed on the side of the U-shaped support block. The output shaft of the drive motor is fixedly installed with one of the sets of rotating shafts.

6. The device for identifying transmission tower defects based on binocular collaboration according to claim 5, characterized in that: The mounting mechanism includes a top block, which is fixedly mounted on the upper surface of the mounting frame. The top block has an inner groove that communicates with the interior of the mounting frame. A bidirectional lead screw is rotatably fitted inside the inner groove. Both ends of the bidirectional lead screw are threaded with L-shaped connectors. The connection between the L-shaped connectors and the bidirectional lead screw slides within the inner groove. Two sets of grooved blocks are fixedly mounted on the back side of the binocular camera. The interior of each grooved block is inserted into the end of the L-shaped connector. U-shaped frames are fixedly connected to both sides of the interior of the mounting frame. Side blocks are fixedly connected to both sides of the binocular camera, and the outer surfaces of the side blocks slide within the U-shaped frames.

7. The device for identifying transmission tower defects based on binocular collaboration according to claim 6, characterized in that: The end of the bidirectional lead screw is fixedly connected to a rotating tooth. A limiting groove is opened on the side of the top block. An internal tooth limiting block is connected inside the limiting groove. The middle part of the internal tooth limiting block meshes with the outer surface of the rotating tooth. An adsorption magnet is installed inside the limiting groove. An adsorption magnet is installed on the inner side of the internal tooth limiting block. The adsorption magnet is magnetically attracted to the adsorption magnet.

8. The device for identifying transmission tower defects based on binocular collaboration according to claim 7, characterized in that: An equipment box is installed on the inner side of the U-shaped frame, and a through slot is opened on the rear side of the mounting frame and the binocular camera.

9. A system for identifying transmission tower defects based on binocular collaboration, used in the device for identifying transmission tower defects based on binocular collaboration as described in claim 8, characterized in that, include: Hardware acquisition module, adjustment and control module, data processing module, and communication and storage module; The hardware acquisition module includes: a binocular camera with dual-lens synchronous imaging capability to acquire stereoscopic visual data of transmission tower insulators; a mounting structure, including a U-shaped frame, an L-shaped plate, a U-shaped support block, and a mounting frame, forming a camera support structure; and auxiliary components, including an equipment box. The adjustment and control module includes a rotation mechanism, an adjustment mechanism, and a mounting mechanism. The rotation mechanism is used to switch the orientation of the mounting plate according to the installation requirements of the external inspection carrier. The adjustment mechanism is used to adjust the pitch and horizontal angles of the binocular camera. The mounting mechanism is used to install and remove the binocular camera. Data processing module: used for denoising, enhancing, and correcting preprocessing of image data acquired by binocular cameras; calculating disparity maps using stereo matching algorithms to reconstruct 3D models of transmission tower insulators; and using deep learning algorithms to analyze the preprocessed images and 3D models to identify defects in transmission tower insulators. Communication and storage modules: The communication module is used to transmit processed defect information and image data to the remote monitoring center, supporting both wireless and wired communication; the storage module is used to locally store the collected raw data and processed results.

10. A method for identifying defects in transmission towers based on binocular collaboration, based on the system described in claim 9, characterized in that, Includes the following steps: S1: Fix the device according to claim 8 under the drone and preset the parameters; S2: The drone flies along a preset inspection route, maintaining a preset safe distance from the power transmission towers to avoid entering dangerous areas; S3: The binocular camera acquires insulator images through synchronous imaging with dual lenses, and performs image preprocessing and feature recognition to determine whether the insulator image is complete; S4: If the insulator image is incomplete, adjust the camera angle and re-determine whether the insulator image is complete. Repeat the process of adjusting the camera angle and determining whether the insulator image is complete until the reconstructed 3D model of the insulator is determined to be complete and the standard features of the insulator are completely matched with the preset standard features.

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