Electric power facility X-ray digital imaging mobile inspection system

Abstract

The invention relates to the technical field of electrical equipment nondestructive testing, in particular to an electrical facility X-ray digital imaging mobile inspection system which comprises a special detection vehicle, an X-ray source adjustable foot stool, an imaging plate adjustable foot stool, X-ray emission equipment, a DR imaging plate, a vehicle-mounted workstation, a shooting mechanism, wireless receiving equipment and a control mechanism. The special detection vehicle is provided with a control cabin and an equipment storage cabin, the control cabin is a totally-enclosed lead room, and the equipment storage cabin is provided with a radiation protection mechanism; the X-ray source adjustable foot stool and the imaging plate adjustable foot stool each comprise a cross-shaped sliding table base, a multi-stage telescopic stand column and a three-axis pan-tilt joint module, and the multi-stage telescopic stand columns are arranged on the cross-shaped sliding table bases. Through vehicle platform integration, foot stool six-degree-of-freedom precise control, AI real-time defect diagnosis and radiation protection, full-process automation, high safety and high adaptability of X-ray detection of electric power facilities are achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of non-destructive testing of power equipment, and particularly relates to a mobile X-ray digital imaging inspection system for power facilities. BACKGROUND

[0002] In the field of non-destructive testing of power equipment, periodic inspection of high-voltage facilities such as gas insulated switchgear (GIS) is of great importance. Traditional X-ray detection systems are mostly designed to be fixed or semi-mobile, which have the following significant defects: the equipment is bulky and heavy, and it is difficult to quickly deploy in complex terrain or distributed power facilities. Even some portable equipment has the problems of insufficient power and limited functions, which cannot meet the detection needs of large-scale high-voltage equipment. The operation personnel are exposed to a radiation environment for a long time, and there is a lack of effective remote control and radiation protection mechanisms. Meanwhile, the imaging process is lagging, and real-time feedback cannot be achieved. The image resolution and data transmission efficiency are low, and it is difficult to quickly identify subtle defects inside the equipment. Furthermore, the adaptability to the various shapes and sizes of GIS equipment is insufficient, and a large amount of manual intervention is required to adjust the angle and position. In poor weather or insufficient light environment, the reliability and detection accuracy of the equipment are significantly reduced. SUMMARY

[0003] To solve the above technical problems, the present application provides a mobile X-ray digital imaging inspection system for power facilities, which realizes full-process automation, high safety and strong adaptability of X-ray detection of power facilities through vehicle platform integration, six-degree-of-freedom precise control of the foot stand, AI real-time defect diagnosis and radiation protection.

[0004] The present application provides a mobile X-ray digital imaging inspection system for power facilities, which comprises a special detection vehicle, an X-ray source adjustable foot stand, an imaging plate adjustable foot stand, an X-ray emitting device, a DR imaging plate, a vehicle-mounted workstation, a shooting mechanism, a wireless receiving device and a control mechanism. The special detection vehicle is provided with a control cabin and a device storage cabin. The control cabin is arranged at the middle position of the special detection vehicle, and the device storage cabin is arranged close to the tail of the special detection vehicle. The vehicle-mounted workstation is arranged in the control cabin. The wireless receiving device is arranged on the top of the special detection vehicle. The vehicle-mounted workstation is provided with a display mechanism, a high-performance computing mechanism and a control mechanism. The high-performance computing mechanism is connected with the display mechanism and the wireless receiving device. The shooting mechanism is installed on the top of the special detection vehicle. The display mechanism is also connected with the shooting mechanism and the wireless receiving device. The control cabin is a fully-closed lead house. The device storage cabin is provided with a radiation protection mechanism. The X-ray source adjustable foot stand, the imaging plate adjustable foot stand, the X-ray emitting device and the DR imaging plate are arranged in the control cabin in a non-working state. The adjustable tripod of the X-ray source and the adjustable tripod of the imaging plate both include a cross slide base, a multi-stage telescopic column, and a three-axis gimbal joint module. The multi-stage telescopic column is disposed on the cross slide base, and the three-axis gimbal joint module is integrated into the flange at the top of the multi-stage telescopic column. The X-ray emitting device and the DR imaging plate are respectively mounted on the corresponding three-axis gimbal joint modules. When the X-ray emitting device is in working condition, the emitting end is set towards the device under test, and the X-ray emitting device and the DR imaging plate are disposed opposite each other at both ends of the device under test when in working condition. The control mechanism is connected to each of the cross slide base, the multi-stage telescopic column, and the three-axis gimbal joint module, and the DR imaging plate is connected to the wireless receiving device. The control mechanism is used to control the X-ray emitting device and the DR imaging plate to move along the X or Y direction on the corresponding cross slide base. The control mechanism is also used to control the X-ray emitting device and the DR imaging plate to move along the Z direction on the corresponding multi-stage telescopic column. The control mechanism is also used to control the X-ray emitting device and the DR imaging plate to perform pitch, yaw or roll attitude adjustments on the corresponding three-axis gimbal joint module. The X-ray emitting device is used to emit high-power X-rays that penetrate the device under inspection. The DR imaging plate is used to receive the X-rays after they have penetrated the device under inspection and to generate a high-resolution digital image based on the X-rays. The DR imaging plate is also used to transmit the high-resolution digital image to the wireless receiving device. The wireless receiving device is used to transmit the high-resolution digital image to the high-performance computing unit. The high-performance computing unit is used to perform defect identification on the high-resolution digital image to generate a defect detection result and to transmit the defect detection result to the display unit for display.

[0005] According to some embodiments of this application, the vehicle-mounted workstation is further provided with a data storage system, which is connected to the wireless receiving device and the high-performance computing unit respectively.

[0006] According to some embodiments of this application, the display mechanism includes three displays, which are respectively connected to the shooting mechanism, the wireless receiving device, and the high-performance computing mechanism.

[0007] According to some embodiments of the present application, the shooting mechanism comprises a plurality of high-definition cameras, which are evenly distributed on the top of the special detection vehicle, and are used to monitor the real-time environment to obtain real-time monitoring videos, and send the real-time monitoring videos to the display mechanism for display, so that the operator can confirm the real-time picture of the scene through the display mechanism.

[0008] According to some embodiments of the present application, an audible and visual alarm device is installed in each high-definition camera, which is used to trigger audible and visual alarm when the high-definition camera monitors that a person intrudes into the detection site, and each high-definition camera has night vision monitoring function.

[0009] According to some embodiments of the present application, a directional shield is provided on the X-ray emitting device, which is used to constrain the X-rays emitted by the X-ray emitting device.

[0010] According to some embodiments of the present application, the high-performance computing mechanism is embedded with an improved YOLOv8 defect detection model, which introduces attention mechanism, optimizes loss function, and outputs visual report with position, type and confidence.

[0011] According to some embodiments of the present application, the X-ray digital imaging mobile inspection system for power facilities further comprises a vehicle-mounted power supply, which comprises an internal battery and an external power supply, the internal battery is integrated in the equipment storage cabin of the special detection vehicle, the interface of the external power supply is arranged on the chassis of the special detection vehicle, and the internal battery and the external power supply are respectively connected with the X-ray emitting device, the DR imaging plate, the wireless receiving device and the vehicle-mounted workstation.

[0012] According to some embodiments of the present application, the control cabin is further provided with a radiation monitor, and the radiation monitor is provided with an alarm mechanism, which is used to trigger alarm when the radiation monitor detects that the radiation in the control cabin exceeds the preset radiation threshold.

[0013] According to some embodiments of the present application, the X-ray source adjustable foot stand and the imaging plate adjustable foot stand are made of light alloy material.

[0014] The beneficial effects of the present application are as follows: 1. Solve the problem of device mobility and deployment efficiency. Special detection vehicle: integrate the whole system on a mobile platform, adapt to distributed facilities and complex terrain; modular storage design: the control cabin (including workstation) is in the middle, the device storage cabin is at the back, the layout is compact; X-ray source, foot stand and other non-working time are stored in the protective cabin, which improves the safety of transportation; high-power X-ray emitting device: ensures that the mobile system still has enough penetration to meet the detection needs of high-voltage equipment.

[0015] 2. Eliminate the risk of artificial radiation exposure. Fully enclosed lead house control cabin: operators are completely shielded from radiation inside the vehicle; remote precise control: adjust the cross slide (X / Y direction movement), multi-stage telescopic column (Z direction lifting), three-axis gimbal (pitch / yaw / roll) through the control mechanism to realize full remote adjustment of the device pose; no need for personnel to operate on site near the radiation source; device storage cabin radiation protection: non-working time device storage has a protection mechanism to reduce the risk of leakage.

[0016] 3. Improve imaging efficiency and real-time performance. DR imaging plate + wireless transmission: directly generate high-resolution digital images; real-time transmission to the vehicle-mounted workstation through wireless receiving equipment; vehicle-mounted high-performance computing mechanism: real-time image processing and automatic defect identification; results are displayed on the control cabin screen in real time, realizing a "shooting-analysis-feedback" closed loop.

[0017] 4. Enhance device adaptability and adjustment accuracy. Three degrees of freedom precision adjustment mechanism: cross slide: accurate positioning in the horizontal plane; multi-stage telescopic column: adapt to different height equipment (such as GIS bus barrel / sleeve); three-axis gimbal: ±180° attitude adjustment, adapt to curved / tilted structure; automatic control: programmatic adjustment instead of manual intervention, improving the efficiency of complex structure coverage.

[0018] 5. Ensure reliability in harsh environments. Fully enclosed lead house design: rain and dust proof to ensure control safety; vehicle roof shooting mechanism: real-time monitoring of the scene to assist positioning; integrated protective storage: equipment storage state is not affected by the environment.

[0019] 6. Optimize workflow and data management. Vehicle-mounted workstation integration: control mechanism to schedule device actions; high-performance computing mechanism for automatic defect identification (such as GIS internal particles, electrode corrosion); display mechanism for real-time feedback: detection results are visualized to support quick decision-making.

[0020] The present application realizes the full-process automation, high safety and strong adaptability of power facility X-ray detection through vehicle platform integration, six degrees of freedom precise control of foot stand, AI real-time defect diagnosis and radiation protection. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1A structural schematic diagram of a power facility X-ray digital imaging mobile inspection system provided by an embodiment of the present application; Figure 2 A structural schematic diagram when an X-ray emitting device provided by an embodiment of the present application cooperates with a DR imaging plate to detect a device under test.

[0022] Reference signs: Special detection vehicle 100, control cabin 110, device storage cabin 120, X-ray source adjustable foot stand 121, imaging plate adjustable foot stand 122, X-ray emitting device 123, DR imaging plate 124, wireless receiving device 130, high-definition camera 140, built-in battery 150; Device under test 200. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0024] In the field of non-destructive testing of power equipment, periodic inspection of high-voltage facilities such as gas-insulated switchgear (GIS) is crucial. Traditional X-ray detection systems mostly adopt fixed or semi-mobile designs, which have the following significant defects: the equipment is bulky and heavy, making it difficult to quickly deploy in complex terrain or distributed power facilities; even some portable devices have insufficient power and limited functions, which cannot meet the detection needs of large-scale high-voltage equipment; they rely on manual on-site parameter adjustment and calibration equipment, and the operators are exposed to radiation for a long time, lacking effective remote control and radiation protection mechanisms; meanwhile, the imaging process is lagging, unable to achieve real-time feedback, with low image resolution and data transmission efficiency, making it difficult to quickly identify internal subtle defects; and the adaptability to the various shapes and sizes of GIS equipment is insufficient, requiring a lot of manual intervention to adjust the angle and position, and in harsh weather or insufficient light environments, the reliability and detection accuracy of the equipment are significantly reduced.

[0025] The power facility X-ray digital imaging mobile inspection system provided by an embodiment of the present application will be described in detail below in combination with the drawings and specific embodiments and their application scenarios.

[0026] Reference Figures 1-2The embodiment of the application provides a kind of electric power facility X-ray digital imaging mobile inspection system, including: special detection vehicle 100, X-ray source adjustable foot stand 121, imaging plate adjustable foot stand 122, X-ray emitting device 123, DR imaging plate 124, vehicle-mounted workstation, shooting mechanism, wireless receiving device 130 and control mechanism;Special detection vehicle 100 is provided with control cabin 110 and equipment storage cabin 120, control cabin 110 is arranged in the middle position of special detection vehicle 100, equipment storage cabin 120 is arranged close to the tail of special detection vehicle 100, vehicle-mounted workstation is in control cabin 110, wireless receiving device 130 is arranged on the top of special detection vehicle 100, vehicle-mounted workstation is provided with display mechanism, high-performance computing mechanism and control mechanism, high-performance computing mechanism is connected with display mechanism, wireless receiving device 130 respectively, shooting mechanism is installed on the top of special detection vehicle 100, display mechanism is also connected with shooting mechanism, wireless receiving device 130 respectively, control cabin 110 is fully enclosed lead room, equipment storage cabin 120 is provided with radiation protection mechanism, X-ray source adjustable foot stand 121, imaging plate adjustable foot stand 122, X-ray emitting device 123 and DR imaging plate 124 are arranged in control cabin 110 in non-working state;X-ray source adjustable foot stand 121 and imaging plate adjustable foot stand 122 all include cross slide base, multistage telescopic column and three-axis gimbal joint module, multistage telescopic column is arranged on cross slide base, three-axis gimbal joint module is integrated in the flange at the top of multistage telescopic column, X-ray emitting device 123 and DR imaging plate 124 are installed on corresponding three-axis gimbal joint module respectively, the emission end of X-ray emitting device 123 is arranged towards detected equipment 200 in working state, and X-ray emitting device 123 and DR imaging plate 124 are arranged at both ends of detected equipment 200 in working state, control mechanism is connected with each cross slide base, multistage telescopic column and three-axis gimbal joint module respectively, DR imaging plate 124 is connected with wireless receiving device 130;Control mechanism is used to control X-ray emitting device 123 and DR imaging plate 124 respectively on corresponding cross slide base moves along X or Y direction, control mechanism is also used to control X-ray emitting device 123 and DR imaging plate 124 respectively on corresponding multistage telescopic column moves along Z direction, control mechanism is used to control X-ray emitting device 123 and DR imaging plate 124 respectively on corresponding three-axis gimbal joint module carries out attitude adjustment of pitching, yawing or rolling.The X-ray emitting device 123 is used for emitting high-power X-rays and penetrating the detected device 200, the DR imaging plate 124 is used for receiving the X-rays after penetrating the detected device 200 and generating a high-resolution digital image according to the X-rays, the DR imaging plate 124 is also used for sending the high-resolution digital image to the wireless receiving device 130, the wireless receiving device 130 is used for delivering the high-resolution digital image to a high-performance computing mechanism, the high-performance computing mechanism is used for performing defect identification on the high-resolution digital image to generate a defect detection result, and the defect detection result is delivered to a display mechanism for display.

[0027] It should be noted that the special detection vehicle 100 of the present application is designed with a control cabin 110 (fully enclosed lead house): located in the middle of the vehicle, built-in vehicle-mounted workstation, the operator does not need to be exposed to the radiation environment, completely solves the radiation safety problem; equipment storage cabin 120 (radiation protection): the tail cabin stores the X-ray equipment, the equipment is completely stored in the non-working state, avoiding radiation leakage, improving the safety of movement; through the integrated design of the vehicle, the system realizes fast transfer and deployment, adapts to complex terrain (such as mountainous area, transformer substation), solves the problems of mobility and environmental adaptability.

[0028] It should be noted that the X-ray source adjustable stand 121 and the imaging plate adjustable stand 122 are both integrated with multiple joints driven by high-precision servo motors, and the structural design is used to realize multi-degree-of-freedom attitude adjustment; Specifically: the linear moving part is realized by a cross slide mechanism located at the base of the stand, which contains independent servo motors, respectively driving the ball screw or synchronous belt, so as to accurately control the millimeter-level displacement of the stand in the X-axis (left-right translation) and Y-axis (horizontal expansion) directions; the vertical lifting (Z-axis) part is completed by a multi-stage telescopic sleeve type column structure, which is internally provided with a large torque servo motor and a planetary reducer, and by driving the internal screw or chain system, stable and large stroke vertical lifting and accurate positioning are realized; the attitude adjustment part is integrated with a compact three-axis gimbal joint module at the top of the telescopic column, which contains three independent micro servo motors, respectively corresponding to control the pitch (Pitch), yaw (Yaw) and roll (Roll) three rotational degrees of freedom. The X-ray source adjustable stand 121 and the imaging plate adjustable stand 122 are combined through the above-mentioned modular mechanical structure, and the central control system cooperates to control the servo motors, so that the X-ray emitting device 123 and the DR imaging plate 124 can flexibly reach any required spatial position and angle, perfectly adapting to various irregular shapes and narrow spaces of the detected equipment 200. The operator in the control cabin 110 can control all actions of the X-ray source adjustable stand 121 and the imaging plate adjustable stand 122 through the workstation software interface, and the position and attitude sensors integrated on the X-ray source adjustable stand 121 and the imaging plate adjustable stand 122 will return real-time coordinate and angle data to the workstation, and perform visual display in the 3D simulation environment of the software, combined with the external real-time video provided by the shooting mechanism, the operator can safely and intuitively complete the accurate alignment of the X-ray source and the imaging plate, and the alignment accuracy can reach millimeter level, effectively avoiding the errors and safety risks caused by manual adjustment. In some embodiments, the system presets multiple detection positions for different GIS device models. After the operator selects the device model, the "automatic deployment" function can be triggered by one key, and the two mechanical arm stands will automatically expand and move to the preset optimal detection position. After the detection is completed, the "automatic storage" function can be triggered by one key, and the stand automatically folds and retreats to the fixed position of the equipment area (2). This function greatly simplifies the on-site operation and shortens the deployment time by more than 90%.

[0029] In some embodiments, the cross slide base includes an X-axis slide rail assembly, a Y-axis slide rail assembly, a ball screw, a servo motor, a slider, a worktable, and limit switches. The X-axis slide rail assembly is fixed to the base plate and orthogonally installed to the Y-axis slide rail, providing a linear motion reference for the horizontal X-axis (left-right direction). The Y-axis slide rail assembly is stacked above the X-axis slide and perpendicular to the X-axis, providing a linear motion reference for the horizontal Y-axis (front-back direction). The ball screw is installed parallel to the slide rail and connected to the servo motor via a coupling, converting the rotational motion of the servo motor into high-precision linear motion of the slide. The servo motor is installed at the end of the slide rail and drives the screw via a coupling, driving the slide to move precisely along the X / Y axes by receiving control commands. The slider is nested on the slide rail, and the worktable is fixed to the top of the slider, supporting the upper structure (telescopic column) to achieve smooth translation. Limit switches are installed at both ends of the slide rail to prevent overtravel damage by setting physical travel limits.

[0030] In some embodiments, the multi-stage telescopic column includes an outer fixed cylinder, multi-stage nested telescopic cylinders, a chain / screw drive system, a servo motor + planetary reducer, guide bearings, and a Z-axis encoder. The outer fixed cylinder flange is rigidly connected to the center of the cross slide table to provide support for the column foundation and transfer load to the base. The multi-stage nested telescopic cylinders are sleeve-type nested (3-5 stages), with the inner cylinder retracting into the outer cylinder, to achieve large Z-axis stroke lifting (1.5-3 meters) to adapt to equipment of different heights. The chain / screw drive system is built into the sleeves and connects each stage of the telescopic cylinder, converting the motor torque into linear motion of the telescopic cylinder. The servo motor + planetary reducer is fixed to the bottom of the fixed cylinder, and its output end is connected to the drive system to provide high torque power and drive the telescopic cylinder to lift and lower stably. The guide bearings are installed on the contact surfaces of each stage of the sleeves to reduce friction and ensure smooth and jam-free telescopic process. The Z-axis encoder is integrated inside the motor or drive system to provide real-time feedback on the telescopic height and achieve closed-loop control.

[0031] In some embodiments, the three-axis gimbal joint module includes a yaw axis assembly, a pitch axis assembly, a roll axis assembly, three micro servo motors, three harmonic reducers, three absolute encoders, three electromagnetic brakes, and a quick-release interface flange. The yaw axis assembly is directly connected to the top flange of the telescopic column, providing ±180° horizontal rotation to adjust the horizontal orientation of the device. The pitch axis assembly is mounted on the yaw axis U-shaped frame, achieving ±90° pitch angle adjustment for alignment with tilted or curved structures. The roll axis assembly is located at the far end, connected to the quick-release interface of the X-ray source / imaging plate, providing ±45° tilt adjustment to compensate for uneven mounting surfaces. Three miniature servo motors are embedded inside the three-axis rotary joint, independently driving the rotation of each axis to achieve multi-degree-of-freedom attitude adjustment; three harmonic reducers connect the motor output shafts to the rotary joints, amplifying torque and improving motion accuracy (±0.1°); three absolute encoders are integrated at the rear end of each motor for real-time feedback of joint angles, achieving high-precision closed-loop position and posture control; three electromagnetic brakes are installed at the motor output ends, automatically locking after reaching the target position and posture to prevent vibration deviation; the quick-release interface flange is located at the end of the tumble shaft, supporting quick installation / removal of the corresponding X-ray emitting equipment 123 or DR imaging board 124.

[0032] For example, the workflow of the adjustable tripod 121 for the X-ray source and the adjustable tripod 122 for the imaging plate is as follows: ① The operator selects a preset pose or inputs coordinate / angle commands in the control cabin 110; ② Base layer movement (XY plane positioning): X / Y axis servo motors drive ball screws → moving the worktable to the target coordinates (accuracy ±0.5mm); ③ Column layer movement (Z-axis lifting): Z-axis servo motors drive the nested sleeve to extend via a chain / screw system → adjusting the equipment height (travel 1.5-3 meters); ④ Gimbal layer movement (three-axis attitude adjustment): Three micro servo motors drive the yaw, pitch, and roll axes respectively → precisely aligning with the detection area (angle accuracy ±0.1°); ⑤ Real-time feedback and calibration: Data from the encoders / tilts of each joint is transmitted back to the control system → combined with visual assistance from the imaging mechanism → automatically fine-tuning to align the X-ray emitting device 123, the device under inspection, and the imaging plate into a straight line; ⑥ Safety locking: Electromagnetic brakes lock each joint → ensuring stable equipment posture during exposure.

[0033] It should be noted that the portable imaging plate has the following functions and deployment: First, its adjustable position. The DR imaging plate 124 is also mounted on an adjustable telescopic frame, which allows the relative position of the DR imaging plate 124 to be freely adjusted to ensure the optimal distance and angle between the X-ray emitting device 123 and the DR imaging plate 124, thereby obtaining clear and accurate image data. Through this design, the equipment can flexibly adapt to the detection needs of different devices.

[0034] In some embodiments, the DR imaging board 124 employs the latest digital imaging technology to capture high-resolution X-ray images, ensuring image quality. These image data are transmitted in real time to the vehicle-mounted workstation via a high-speed wireless network, providing timely feedback to the inspection personnel. It is also equipped with a wireless transmission system, through which the DR imaging board 124 transmits data to the vehicle-mounted workstation, ensuring efficient processing of inspection results. Operators can view images in real time on the in-vehicle workstation and make timely inspection decisions.

[0035] The beneficial effects of this application are reflected in: 1. Addressing issues of equipment mobility and deployment efficiency. Dedicated inspection vehicle 100: Integrates the entire system onto a mobile platform, adapting to distributed facilities and complex terrain; Modular storage design: The control cabin 110 (including workstations) is centrally located, while the equipment storage cabin 120 is positioned at the rear, resulting in a compact layout; X-ray sources, tripods, and other equipment are stored in a protective cabin when not in use, enhancing transportation safety; High-power X-ray emitting equipment 123: Ensures the mobile system still possesses sufficient penetrating power to meet the inspection requirements of high-voltage equipment.

[0036] 2. Eliminate the risk of artificial radiation exposure. Fully enclosed lead-lined control cabin 110: Operators are completely shielded from radiation inside the vehicle; Remote and precise control: The control mechanism allows for remote adjustment of the equipment's position and attitude via a cross slide (X / Y movement), multi-stage telescopic column (Z-axis lifting), and three-axis gimbal (pitch / yaw / roll); No personnel are required to operate the equipment near the radiation source; Equipment storage cabin 120 Radiation protection: When not in operation, the equipment is stored with a protective mechanism to reduce the risk of leakage.

[0037] 3. Improve imaging efficiency and real-time performance. DR imaging panel 124+ wireless transmission: directly generates high-resolution digital images; transmits them in real time to the vehicle-mounted workstation via wireless receiving device 130; vehicle-mounted high-performance computing unit: processes images in real time and automatically identifies defects; results are displayed instantly on the control cabin screen 110, realizing a closed loop of "shooting-analysis-feedback".

[0038] 4. Enhanced equipment adaptability and adjustment accuracy. Three-degree-of-freedom precision adjustment mechanism: Cross slide: precise horizontal positioning; Multi-stage telescopic column: adaptable to equipment of different heights (such as GIS busbars / sleeves); Three-axis pan-tilt head: ±180° attitude adjustment, adaptable to curved / inclined structures; Automatic control: programmed adjustment replaces manual intervention, improving coverage efficiency for complex structures.

[0039] 5. Ensures reliability in harsh environments. Fully enclosed lead-lined room design: rain and dustproof, ensuring safe operation; rooftop camera mechanism: real-time monitoring and on-site positioning assistance; integrated protective storage: equipment stored away from environmental corrosion.

[0040] 6. Optimize workflows and data management. Vehicle-mounted workstation integration: unified scheduling of equipment actions by the control mechanism; automatic defect identification by the high-performance computing mechanism (e.g., internal particles in GIS, electrode corrosion); real-time feedback from the display mechanism: visualization of detection results, supporting rapid decision-making.

[0041] This application achieves full-process automation, high safety, and strong adaptability in X-ray inspection of power facilities through vehicle platform integration, precise six-degree-of-freedom control of the tripod, AI real-time defect diagnosis, and radiation protection.

[0042] Understandably, the vehicle-mounted workstation is also equipped with a data storage system, which is connected to the wireless receiving device 130 and the high-performance computing unit.

[0043] It should be noted that the data storage system in the vehicle-mounted workstation serves the following purposes: ① Centralized data management: storing raw imaging data from the wireless receiving device 130, enhanced images processed by the high-performance computing unit, and defect analysis results, achieving full-process data archiving; ② Support for long-term analysis: preserving historical inspection records (such as operation logs, defect locations / types), providing a data foundation for equipment status trend analysis; ③ Remote backup guarantee: synchronizing data to the cloud or remote server via wireless network to avoid data loss due to local equipment failure, meeting the power industry's requirements for long-term preservation of inspection records; ④ Foundation for model optimization: accumulated defect data can be used to continuously train improved YOLOv8 models, improving future detection accuracy.

[0044] Understandably, the display mechanism includes three displays, which are respectively connected to the shooting mechanism, the wireless receiving device 130, and the high-performance computing mechanism.

[0045] It should be noted that the three-monitor split-screen design of the display mechanism serves the following purposes: ① Multi-task parallel processing: The first monitor is connected to the shooting mechanism: it displays the monitoring screen of the external shooting mechanism in real time, ensuring that the operator is aware of the dynamics of the on-site environment (such as personnel intrusion, equipment status); the second monitor is connected to the wireless receiving device 130: it displays the original high-resolution image transmitted by the DR imaging board 124 for manual review of image quality; the third monitor is connected to the high-performance computing mechanism: it outputs the defect identification results (location / type / confidence level visualization report) in real time, supporting rapid decision-making; ② Improved operational efficiency: the split screen avoids interface switching, and in emergency detection scenarios, the environment, original images, and analysis results can be observed simultaneously, shortening the response time.

[0046] Reference Figure 1It is understandable that the shooting mechanism includes multiple high-definition cameras 140, which are evenly distributed on the top of the special inspection vehicle 100. The high-definition cameras 140 are used to monitor the on-site environment in real time to obtain real-time monitoring video, and send the real-time monitoring video to the display mechanism for display, so that the operator can confirm the real-time scene on the site through the display mechanism.

[0047] Understandably, each HD camera 140 is equipped with an audible and visual alarm device, which is used to trigger an audible and visual alarm when the HD camera 140 detects personnel intruding into the detection site, and each HD camera 140 has night vision monitoring capabilities.

[0048] In some embodiments, each high-definition camera 140 is provided with a protective cover.

[0049] It should be noted that the multiple high-definition cameras 140 mounted on the roof serve the following functions: ① Full-view environmental monitoring: Evenly distributed to achieve 360° coverage without blind spots, transmitting real-time images to the control cabin 110 display, replacing manual on-site inspections; ② Precise positioning of auxiliary equipment: Combining tripod sensor data, visually displaying the positions of X-ray emitting equipment 123 and DR imaging board 124 in a 3D simulation view, guiding remote alignment operations; ③ Adaptability to extreme environments: Night vision function: Ensuring visibility in substations with insufficient light or during nighttime operations; Support for severe weather: Waterproof / dustproof design ensures continuous operation in rain, snow, and sandstorm environments; Active safety protection: ④ Audible and visual alarms: When the camera detects personnel entering the radiation safety zone, it automatically triggers an alarm to drive personnel away, reducing the risk of radiation exposure; ⑤ All-weather operation capability: Night vision function: Maintaining monitoring capabilities in environments without light through infrared supplementary lighting or thermal imaging technology (such as nighttime emergency repairs in remote mountainous areas).

[0050] Understandably, the X-ray emitting device 123 is equipped with a directional shield, which is used to confine the X-rays emitted by the X-ray emitting device 123.

[0051] It should be noted that the directional shield of the X-ray emitting device 123 serves the following purposes: ① Radiation leakage protection: The lead alloy shield constrains the X-ray beam to be emitted only towards the device being inspected 200, suppressing scattered radiation; ② Weight optimization: By combining high-polymer composite materials, the load on the equipment is reduced while ensuring the shielding effect, and the adjustment speed of the adjustable tripod 121 of the X-ray source is improved.

[0052] Understandably, high-performance computing systems incorporate an improved YOLOv8 defect detection model, which introduces an attention mechanism, optimizes the loss function, and outputs a visual report with location, type, and confidence level.

[0053] It should be noted that the vehicle-mounted workstation is configured and functions as follows: High-performance computing and image processing. The workstation is equipped with a high-performance computer capable of processing high-resolution image data from the imaging panel. Multiple monitors are provided for real-time display of detected images, supporting image enhancement and automated analysis. The core of this system's vehicle-mounted workstation is an advanced defect detection system. This system does not use a general deep learning model, but instead employs a deeply modified YOLOv8 object detection model. Specific improvements include: introducing an attention mechanism into the network structure, enabling the model to automatically focus on minute or inconspicuous defect features in the image; and optimizing and replacing the original loss function, significantly improving the model's accuracy in locating defects. Through these targeted improvements, the system maintains high detection efficiency while significantly improving the accuracy and location precision of common defects in power equipment (such as microcracks, early corrosion points, and foreign objects).

[0054] It should be noted that the workstation is also equipped with a high-efficiency data storage system to store historical inspection records and image data for later review and long-term trend analysis. In addition to the regular storage functions, the system also supports remote backup of images and analysis data to ensure data security and integrity. With the continuous updates of the deep learning model, the inspection system can continuously optimize the defect identification algorithm through the continuous accumulation of historical data and new inspection samples, thereby improving the accuracy and reliability of future inspections.

[0055] It should be noted that the high-performance computing unit embeds an improved YOLOv8 defect detection model, which introduces an attention mechanism, optimizes the loss function, and outputs a visual report with location, type, and confidence level. The technical effects are as follows: ① Improved ability to identify subtle defects: Attention mechanism: The model automatically focuses on small features in the image that are easily overlooked (such as cracks and corrosion points), significantly improving the detection rate of hidden defects in power equipment. ② Accurate defect localization: Loss function optimization (such as CIoU / EIoU replacing IoU): Improves the accuracy of bounding box regression, reducing the defect localization error to the millimeter level, avoiding misjudgment or missed detection. ③ Real-time decision support: Visualized report: Automatically generates a structured report containing defect location coordinates, type (crack / corrosion / foreign object), and confidence level, assisting operators in quickly formulating maintenance plans. ④ Reduced reliance on manual labor: Compared with traditional manual image interpretation, detection efficiency is improved, and the risk of subjective error is reduced.

[0056] Understandably, the mobile X-ray digital imaging inspection system for power facilities also includes a vehicle-mounted power supply, which includes a built-in battery 150 and an external power supply. The built-in battery 150 is integrated into the equipment storage compartment 120 of the dedicated inspection vehicle 100, and the interface of the external power supply is located in the chassis of the dedicated inspection vehicle 100. The built-in battery 150 and the external power supply are respectively connected to the X-ray emitting device 123, the DR imaging panel 124, the wireless receiving device 130, and the vehicle-mounted workstation.

[0057] It should be noted that the built-in battery 150 uses new energy battery technology and supports more than 8 hours of field operation; the external power supply connects to the power grid via an interface, prioritizing the use of mains power to provide dual-mode power supply for X-ray emitting equipment 123, DR imaging board 124, workstations, etc., ensuring continuous operation in areas without power grid access.

[0058] It should be noted that the purpose of setting up the built-in battery 150 and external power supply is as follows: ① Continuous operation in environments without power grid: The built-in battery 150 adopts new energy vehicle battery technology (such as lithium battery), supports more than 8 hours of continuous testing, and is suitable for mountainous areas, wilderness and other scenarios without power supply; ② Power supply redundancy guarantee: Dual-mode switching: External power supply is given priority to ensure stability; the built-in battery 150 serves as a backup power supply to prevent data loss or equipment failure due to sudden power outages; ③ Rapid deployment capability: No on-site power distribution is required, and testing can be started directly after the vehicle arrives, which can effectively shorten preparation time.

[0059] Understandably, the control cabin 110 is also equipped with a radiation monitor, which has an alarm mechanism. The alarm mechanism is used to trigger an alarm when the radiation monitor detects that the radiation in the control cabin 110 exceeds a preset radiation threshold.

[0060] It should be noted that the radiation monitoring device installed in the control cabin 110 serves the following purposes: ① Operator safety protection: Real-time monitoring of the shielding effectiveness of the lead room, and immediate alarm in case of radiation leakage (such as when the lead door is not locked), ensuring that the radiation dose inside the cabin is ≤1μSv / h (safety standard); ② Accident prevention: Automatically cuts off the power supply to the X-ray source after the alarm is triggered to prevent continuous radiation exposure.

[0061] It should be noted that the radiation shielding design for the X-ray digital imaging mobile inspection system for power facilities is as follows: (1) Radiation shielding of equipment storage compartment 120: The equipment storage compartment 120 adopts efficient radiation shielding measures to ensure the safe application of X-rays. The specific measures are as follows: ① High-density lead alloy shielding layer: The inner wall of the equipment storage compartment 120 is made of 5mm lead plate for radiation shielding, which can effectively absorb X-rays and prevent radiation leakage to the environment; ② Multi-layer composite material shielding: In addition to lead plate, the equipment storage compartment 120 is also made of polymer composite material for additional shielding to reduce the overall weight of the equipment and at the same time improve the absorption capacity of X-rays; ③ Directional shielding of X-ray emitting device 123: X-ray emitting device 123 is installed in lead protective cover to ensure that the rays are emitted only towards the target equipment and avoid unnecessary scattering; ④ Multi-layer composite material shielding: In addition to lead plate, the equipment storage compartment 120 is also made of polymer composite material for additional shielding to reduce the overall weight of the equipment and at the same time improve the absorption capacity of X-rays; (2) Radiation protection of control compartment 110: Control compartment 110: adopts a fully enclosed lead room to ensure that the operators are protected from X-ray radiation. The main design includes: Radiation monitoring device: The system has a built-in real-time radiation detector that can monitor the X-ray dose inside and outside the control compartment 110 and trigger an audible and visual alarm when the safety threshold is exceeded. (3) Radiation protection of the external environment: In order to ensure radiation safety during on-site operations, the present invention adopts the following measures during the detection process: ① External high-definition camera 140 monitoring: The vehicle-mounted high-definition camera 140 continuously monitors the detection environment and automatically triggers a voice warning when someone enters the safe area; ② Radiation safety fence: The system supports movable lead shielding fences and sets up shielding structures around the detection area to further reduce the radiation dose received by personnel.

[0062] Understandably, both the adjustable tripod 121 for the X-ray source and the adjustable tripod 122 for the imaging plate are made of lightweight alloy materials.

[0063] It should be noted that the adjustable tripod 121 for the X-ray source and the adjustable tripod 122 for the imaging plate are both made of lightweight alloy materials for the following reasons: ① Improved mobility: Lightweight alloys (such as aerospace aluminum / titanium alloys) are 40% lighter than traditional steel frames, allowing for single-person transport and deployment, and are suitable for narrow spaces (such as substation mezzanines); ② Balance between strength and stability: High tensile strength results in minimal deformation when supporting equipment, ensuring imaging accuracy; ③ Enhanced environmental adaptability: Corrosion resistance ensures long-term use in humid / high-salt-spray areas, avoiding mechanical failures caused by rust.

[0064] For example, the specific working steps of the mobile X-ray digital imaging inspection system for power facilities provided in this application are as follows: Step 1, Preparation Phase. ① Vehicle Positioning and Self-Check: The dedicated testing vehicle 100 arrives at the testing site (such as a substation or mountain power facility) and parks in a safe working position; the vehicle power supply is started (built-in battery 150 or external power supply); the system self-check procedure is started in the control cabin 110: check the status of X-ray emitting equipment 123, DR imaging board 124, wireless receiving equipment 130, and mechanical tripod servo motor; verify the lead room's airtightness and radiation monitoring instrument readings (ensuring ≤1μSv / h); ② Environmental Safety Confirmation: The roof-mounted high-definition camera 140 (including night vision function) starts 360° environmental monitoring, and the on-site scene is displayed in real time through the first display of the display mechanism; the audible and visual alarm device is on standby to monitor the risk of personnel intrusion.

[0065] Step 2, Equipment Deployment. 1. Deployment of Automated Equipment: (1) The operator in the control cabin 110 uses the on-board workstation: ① Select the device to be tested, model 200 (such as GIS busbar), and trigger the "one-click deployment" command.

[0066] ② The adjustable tripod 121 for the X-ray source and the adjustable tripod 122 for the imaging plate automatically unfold from the equipment storage compartment 120 and extend outside the vehicle.

[0067] (2) Base layer positioning (XY plane): The cross slide servo motor drives the ball screw to move the worktable to the preset coordinate (accuracy ±0.5mm).

[0068] (3) Column lifting (Z-axis): The servo motor of the multi-stage telescopic column adjusts the height through the chain system (stroke 1.5-3 meters).

[0069] (4) Gimbal attitude adjustment: The micro servo motor of the three-axis gimbal controls yaw (±180°), pitch (±90°), and roll (±45°) to accurately align with the detection area.

[0070] 2. Remote fine-tuning and safety locking: (1) View the original image of the DR imaging board 124 through the second display, and combine the video of the roof camera and the data of the tripod sensor to fine-tune the alignment in the 3D simulation view (to ensure that the X-ray source, the device under test, and the DR imaging board 124 are in a straight line). That is, the adjustable tripod 121 of the X-ray source and the adjustable tripod 122 of the imaging board are automatically unfolded, and through multi-axis linkage, they are adjusted to the preset optimal detection position and posture. The control mechanism performs secondary fine-tuning through the sensor built into the tripod and the visual feedback of the high-definition camera 140 to ensure that the X-ray emitting device 123, the core area of ​​the device under test, and the DR imaging board 124 are precisely aligned; (2) The electromagnetic brake automatically locks each joint to prevent displacement during exposure.

[0071] The third step is to perform the test. (1) X-ray imaging: The operator remotely sets the exposure parameters (power / time) and starts the X-ray emitting device 123; the directional shielding covers constrain the X-ray beam to penetrate the device under test, and the DR imaging board 124 receives the transmission signal; (2) Real-time image transmission: The DR imaging board 124 generates a high-resolution digital image and transmits it to the vehicle workstation via a 5GHz wireless network (delay <100ms).

[0072] The fourth step is real-time analysis and feedback. (1) AI defect identification: The high-performance computing unit calls the improved YOLOv8 model: introduces an attention mechanism to focus on minute defects (cracks / corrosion points); optimizes the loss function (such as CIoU) to improve the positioning accuracy (error ≤1mm).

[0073] The data sources and specific display contents of each display are as follows: First display: roof-mounted camera, on-site real-time monitoring video; Second display: DR imaging panel 124 raw data, high-resolution X-ray images; Third display: AI analysis results, defect location / type / confidence report.

[0074] Step 5, data management. (1) Automated storage and backup: ① Data storage system archiving: original image + enhanced image + defect report + operation log; ② Synchronous remote backup to cloud server; (2) Continuous model optimization: Historical defect data is used to train the improved YOLOv8 to improve the subsequent recognition accuracy.

[0075] Step 6, Equipment Retrieval. ① Trigger the "One-Click Retrieval" command, and the mechanical tripod automatically folds and retracts into the equipment storage compartment 120; ② Power off the X-ray equipment, and the radiation monitor confirms no leakage; ③ Shut down the system, and the vehicle moves to the next inspection point.

[0076] It should be noted that in emergency detection mode, the first step is to prioritize critical parts: for faulty equipment (such as GIS switch connectors), the workstation presets a "high priority area", and the mechanical tripod prioritizes the location of this area; high-frequency scanning (2 times the conventional sampling rate) is activated, and the AI ​​model focuses on analyzing suspected defects; the second step is to provide rapid decision support: the defect report is automatically pushed to the command center, supporting the immediate formulation of maintenance plans.

[0077] It should be noted that for operation in environments without power grids: First, battery power adaptation: built-in lithium battery (battery life ≥ 8 hours) supports continuous detection; low power mode: when working at night, the camera's infrared fill light is activated, and the DR imaging board 124 adjusts the resolution as needed; Second, harsh environment response: three-axis gimbal wind-resistant design (attitude error < 0.5° under level 6 wind), and the protective cover is rainproof and dustproof (IP65 rating).

[0078] In the description of the embodiments of this application, the terms "first," "second," "third," and "fourth" 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 as "first," "second," "third," or "fourth" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0079] In the description of the embodiments of this application, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0080] Although embodiments of this application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A mobile X-ray digital imaging inspection system for power facilities, characterized in that, It includes a dedicated inspection vehicle, an adjustable tripod for the X-ray source, an adjustable tripod for the imaging plate, X-ray emitting equipment, a DR imaging plate, a vehicle-mounted workstation, an imaging mechanism, wireless receiving equipment, and a control mechanism; The dedicated inspection vehicle is equipped with a control cabin and an equipment storage cabin. The control cabin is located in the middle of the vehicle, and the equipment storage cabin is located near the rear. The vehicle-mounted workstation is located in the control cabin, and the wireless receiving device is located on the top of the vehicle. The vehicle-mounted workstation includes a display mechanism, a high-performance computing mechanism, and a control mechanism. The high-performance computing mechanism is connected to the display mechanism and the wireless receiving device. The imaging mechanism is mounted on the top of the vehicle, and the display mechanism is also connected to the imaging mechanism and the wireless receiving device. The control cabin is a fully enclosed lead room, and the equipment storage cabin is equipped with a radiation protection mechanism. The adjustable tripod of the X-ray source, the adjustable tripod of the imaging plate, the X-ray emitting device, and the DR imaging plate are located in the control cabin when not in operation. The adjustable tripod of the X-ray source and the adjustable tripod of the imaging plate both include a cross slide base, a multi-stage telescopic column, and a three-axis gimbal joint module. The multi-stage telescopic column is disposed on the cross slide base, and the three-axis gimbal joint module is integrated into the flange at the top of the multi-stage telescopic column. The X-ray emitting device and the DR imaging plate are respectively mounted on the corresponding three-axis gimbal joint modules. When the X-ray emitting device is in working condition, the emitting end is set towards the device under test, and the X-ray emitting device and the DR imaging plate are disposed opposite each other at both ends of the device under test when in working condition. The control mechanism is connected to each of the cross slide base, the multi-stage telescopic column, and the three-axis gimbal joint module, and the DR imaging plate is connected to the wireless receiving device. The control mechanism is used to control the X-ray emitting device and the DR imaging plate to move along the X or Y direction on the corresponding cross slide base. The control mechanism is also used to control the X-ray emitting device and the DR imaging plate to move along the Z direction on the corresponding multi-stage telescopic column. The control mechanism is also used to control the X-ray emitting device and the DR imaging plate to perform pitch, yaw or roll attitude adjustments on the corresponding three-axis gimbal joint module. The X-ray emitting device is used to emit high-power X-rays that penetrate the device under inspection. The DR imaging plate is used to receive the X-rays after they have penetrated the device under inspection and to generate a high-resolution digital image based on the X-rays. The DR imaging plate is also used to transmit the high-resolution digital image to the wireless receiving device. The wireless receiving device is used to transmit the high-resolution digital image to the high-performance computing unit. The high-performance computing unit is used to perform defect identification on the high-resolution digital image to generate a defect detection result and to transmit the defect detection result to the display unit for display.

2. The mobile X-ray digital imaging inspection system for power facilities according to claim 1, characterized in that, The vehicle-mounted workstation is also equipped with a data storage system, which is connected to the wireless receiving device and the high-performance computing unit.

3. The mobile X-ray digital imaging inspection system for power facilities according to claim 1, characterized in that, The display mechanism includes three displays, which are respectively connected to the shooting mechanism, the wireless receiving device, and the high-performance computing mechanism.

4. The mobile X-ray digital imaging inspection system for power facilities according to claim 1, characterized in that, The camera system includes multiple high-definition cameras, which are evenly distributed on the top of the dedicated inspection vehicle. The high-definition cameras are used to monitor the on-site environment in real time to obtain real-time monitoring video, and send the real-time monitoring video to the display mechanism for display, so that the operator can confirm the real-time scene through the display mechanism.

5. The mobile X-ray digital imaging inspection system for power facilities according to claim 4, characterized in that, Each of the aforementioned high-definition cameras is equipped with an audible and visual alarm device, which is used to trigger an audible and visual alarm when the high-definition camera detects personnel intruding into the detection site. Each of the aforementioned high-definition cameras also has night vision monitoring capabilities.

6. The mobile X-ray digital imaging inspection system for power facilities according to claim 1, characterized in that, The X-ray emitting device is fitted with a directional shield, which is used to confine the X-rays emitted by the X-ray emitting device.

7. The mobile X-ray digital imaging inspection system for power facilities according to claim 1, characterized in that, The high-performance computing unit is embedded with an improved YOLOv8 defect detection model, which introduces an attention mechanism, optimizes the loss function, and outputs a visual report with location, type, and confidence level.

8. The mobile X-ray digital imaging inspection system for power facilities according to claim 1, characterized in that, The mobile X-ray digital imaging inspection system for power facilities also includes a vehicle-mounted power supply, which includes a built-in battery and an external power supply. The built-in battery is integrated into the equipment storage compartment of the dedicated inspection vehicle, and the interface of the external power supply is located in the chassis of the dedicated inspection vehicle. The built-in battery and the external power supply are respectively connected to the X-ray emitting equipment, the DR imaging plate, the wireless receiving equipment, and the vehicle-mounted workstation.

9. The mobile X-ray digital imaging inspection system for power facilities according to claim 1, characterized in that, The control cabin is also equipped with a radiation monitor, which has an alarm mechanism. The alarm mechanism is used to trigger an alarm when the radiation monitor detects that the radiation in the control cabin exceeds a preset radiation threshold.

10. The mobile X-ray digital imaging inspection system for power facilities according to claim 1, characterized in that, Both the adjustable tripod for the X-ray source and the adjustable tripod for the imaging plate are made of lightweight alloy materials.

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