A device and method for detecting the condition of insulators in power transmission lines.

Abstract

This invention discloses a device and method for detecting the condition of insulators in transmission lines. The device includes a double-layered long spiral beam. A cage for attaching to a drone is mounted at the top of the double-layered long spiral beam. A moving conveyor belt structure is installed inside the double-layered long spiral beam. A rotary drive module for driving the conveyor belt structure is installed on one side of the top of the double-layered long spiral beam. Semi-open arc-shaped end plates one and two are fixed to the two ends of the double-layered long spiral beam, respectively. This invention uses a main camera to capture a downward image of the top of the insulator string. During movement, the left and right following-type visual detection modules receive a portion of the rotational power from the conveyor belt structure and move accordingly, continuously visually detecting the side and bottom walls of the insulator string. This achieves stable lifting, precise clamping with single-power, smooth movement, and multi-angle visual detection.

Description

Technical Field

[0001] This invention relates to the field of insulator testing technology, specifically to a device and method for detecting the condition of insulators in transmission lines. Background Technology

[0002] The high-altitude transmission line insulator appearance condition inspection device, used in conjunction with drone lifting, enables close-range observation and condition assessment of high-altitude equipment. It promptly detects abnormalities such as cracks, contamination, aging, and detachment on the insulator surface, providing a scientific basis for maintenance and repair, and preventing power outages and safety accidents caused by insulator faults. The device's structural design typically includes a traveling mechanism, a vision inspection unit, a control system, and a power supply. During inspection, the drone first safely lifts the device to the vicinity of the insulator string of the target transmission line. During lifting, the device's stability must be ensured to prevent poor contact between the device and the insulator due to wind or drone vibration. Upon reaching the target location, the traveling mechanism activates, and the device slowly moves along the insulator string, stopping one insulator at a time. At this point, the vision inspection unit begins to capture images of the insulator's appearance. Multi-angle, multi-light source photography ensures comprehensive coverage of the insulator surface details. The acquired image data is transmitted in real-time to the ground control center or the processing unit on the drone, where image processing algorithms are used for defect identification, such as crack detection, stain analysis, and color difference judgment. After the test is completed, the device continues to move to the next insulator until the entire string of insulators has been tested;

[0003] A high-voltage transmission line insulator safety detection device, disclosed in authorization announcement number CN118962254B, includes a frame with a hoisting assembly. A first motor is fixedly connected inside the frame, and a first bidirectional threaded rod is fixedly connected to the output end of the first motor. A first guide rod is fixedly connected within the frame. Two movable seats are slidably connected inside the frame, and a nut seat is fixedly connected inside each movable seat. The nut seat is threadedly connected to the first bidirectional threaded rod. The first guide rod passes through the movable seat. A spacing adjustment assembly is provided at the bottom of each movable seat. After being enclosed by an arc-shaped frame, the device moves with the support of a walking assembly, allowing it to move on vertical or horizontal insulator strings. During movement, a detection assembly performs resistance detection on the insulators. This shows that the above technical solution mainly relies on multiple side-mounted walking components to enable the detection device to move. However, when adjusting the movement according to the outer diameter specifications of the insulator string, the spacing adjustment component, walking component, and support component need to be equipped with multiple motors. The multi-motor system has a high power requirement, which increases the weight and energy consumption of the device. This significantly affects the device's endurance and the drone's load limit. Furthermore, during the movement and visual inspection process, the visual inspection module mainly inspects the top wall or left and right side walls of the insulator string. That is, the lower half of the device needs to be set to an open state to facilitate the device being lifted and placed on the insulator string by the drone. This "open" design sacrifices the integrity of the inspection in order to accommodate the convenience of the drone's lifting and placement, resulting in the complete lack of inspection of this critical area. Summary of the Invention

[0004] The purpose of this invention is to provide a device and method for detecting the condition of insulators on power transmission lines. A drone, via a cage and a double-layered long loop beam, lifts the device onto an insulator string on a high-altitude power transmission line. At this point, the belt-driven structure within the double-layered long loop beam, constrained by its own weight, contacts the top wall of the insulator string. A worker transmits a control signal to a remote control module via a control terminal. This triggers a single-source amplitude-adjusting force module, causing the self-collision belt-driven modules on both sides to move closer to the outer wall of the insulator string until they are clamped. Once the device is stable, a rotation drive module drives the belt-driven structure, with the self-collision belt-driven modules on both sides assisting in the movement. A main camera captures a downward image of the top of the insulator string. During this movement, the following, rocking-position visual detection modules on both sides receive a portion of the rotational power from the belt-driven structure and move accordingly, continuously performing visual inspections of the side and bottom walls of the insulator string, thereby solving the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a device for detecting the condition of insulators in transmission lines, comprising:

[0006] The system comprises a double-layered long spiral crossbeam, with a cage for attaching to a drone mounted at its top. A moving belt conveyor structure is installed inside the double-layered long spiral crossbeam. A rotary drive module for driving the belt conveyor structure is mounted on one side of the top of the double-layered long spiral crossbeam. Two semi-open arc-shaped end plates are fixed to the two ends of the double-layered long spiral crossbeam, one first and one second. A main camera for capturing images of the top wall of the insulator string from above is mounted on the outer wall of the second semi-open arc-shaped end plate away from the double-layered long spiral crossbeam. Self-collision belt conveyor modules are installed on both the left and right sides below the double-layered long spiral crossbeam. A single-source amplitude-adjusting force module is mounted on the outer wall of the first semi-open arc-shaped end plate to drive the two self-collision belt conveyor modules on the left and right sides to move towards each other and approach the outer wall of the insulator string.

[0007] Two follow-type position-shifting visual inspection modules are mirror-symmetrically mounted on the outer wall of the semi-open arc-shaped end plate away from the double-layer long loop-shaped crossbeam. The power input end of the follow-type position-shifting visual inspection module is connected to the belt-driven structure. The follow-type position-shifting visual inspection module is used to capture images of the side and bottom walls of the insulator string. The cage is equipped with a power supply module for supplying power to the rotary drive module, the main camera, the self-collision belt-driven module, the single-source amplitude-adjusting force module, and the follow-type position-shifting visual inspection module. A remote control module is installed at the top of the double-layer long loop-shaped crossbeam on one side of the power supply module. The output end of the remote control module is electrically connected to the input end of the rotary drive module, the main camera, the single-source amplitude-adjusting force module, the self-collision belt-driven module, and the follow-type position-shifting visual inspection module.

[0008] Preferably, the belt-driven structure includes an I-shaped axle carrier fixedly installed inside the double-layer long loop crossbeam, a front pulley axle and a rear pulley axle rotatably installed at both ends inside the I-shaped axle carrier, and a transmission belt fitted between the front pulley axle and the rear pulley axle. Both ends of the rear pulley axle extend to the outside of the double-layer long loop crossbeam and are connected to the power input end of the following rocking type vision inspection module.

[0009] Preferably, the rotary drive module consists of a stepper motor, a synchronous pulley transmission structure, and a belt cover. The stepper motor is installed on one side of the top of the double-layer long U-shaped crossbeam. The synchronous pulley transmission structure is installed between one end of the front pulley shaft and the output shaft of the stepper motor. The belt cover is installed on the outer wall of one side of the double-layer long U-shaped crossbeam and is used to protect the synchronous pulley transmission structure. The input end of the stepper motor is electrically connected to the output end of the remote control module.

[0010] Preferably, the single-source amplitude-adjustable force module includes a double-layer shaft frame fixed on both sides of the top of a semi-open arc-shaped end plate, a rotating shaft rotatably mounted inside the double-layer shaft frame, and a four-gear synchronous transmission structure mounted on one outer wall of the semi-open arc-shaped end plate for enabling the two rotating shafts to rotate synchronously in opposite directions. A motor base is fixed on one outer wall of the semi-open arc-shaped end plate, and a servo motor is mounted on the top of the motor base. A bevel gear reversing transmission structure for driving the four-gear synchronous transmission structure is mounted on the lower end of the output shaft of the servo motor.

[0011] Preferably, two grooved swing arms are hinged to the outer wall of the semi-open arc-shaped end plate one and the semi-open arc-shaped end plate two on the side that are close to each other. A beam plate is fixed between the two grooved swing arms in the same length direction. The self-collapsing belt traveling module is installed on the beam plate. One end of the rotating shaft passes through to the outside of the semi-open arc-shaped end plate one and is fixed with a rotating arm. A pulley located in the grooved swing arm is rotatably installed at one end of the rotating arm.

[0012] Preferably, the self-collapsing belt travel module includes a hydraulic damper mounted on one side of the outer wall of the beam plate, two Y-shaped forks hinged to one side of the outer wall of the beam plate, and a tracked electric traveler mounted on the upper end of the two Y-shaped forks. A connecting rod is hinged to the outer wall of the housing of the tracked electric traveler. A slide is slidably mounted on one side of the outer wall of the beam plate. One side of the outer wall of the slide is hinged to one end of the connecting rod. The other side of the outer wall of the slide is fixedly connected to the top of the piston rod of the hydraulic damper.

[0013] Preferably, the following-type rocking visual inspection module includes an L-shaped support frame fixed on the outer wall of one side of a semi-open arc-shaped end plate, a disc-shaped cam integrated shaft rotatably mounted at the upper position inside the L-shaped support frame, and a rotary push arm hinged to the outer wall of the L-shaped support frame below the disc-shaped cam integrated shaft. The disc-shaped cam integrated shaft is used to push the rotary push arm to swing downward. One end of the disc-shaped cam integrated shaft and one end of the rear pulley shaft are connected in power. A hook arm is hinged at the lower position on the surface of the L-shaped support frame. A limit switch is installed on the outer wall of the L-shaped support frame on one side of the hook arm. The output end of the limit switch is electrically connected to the input end of the remote control module. A swing handle is hinged to the outer wall of the L-shaped support frame below the limit switch. A connecting arm is hinged to the lower end of the swing handle. One end of the connecting arm is hinged to the lower end of the hook arm.

[0014] Preferably, a bevel gear shaft is rotatably mounted on the upper part of the L-shaped support frame surface. A pulley drive structure is installed between the bevel gear shaft and the integrated disc cam shaft. Both ends of the rear pulley shaft are fixed with main bevel gears, which mesh with the bevel gear shaft. One end of the rotary push arm is hinged with a fisheye connecting rod, and the lower end of the fisheye connecting rod is hinged to the upper end of the hook arm. A tension spring is fixed on one side of the L-shaped support frame surface, and the lower end of the tension spring is fixed to the upper end of the hook arm.

[0015] Preferably, a rod-type adjustment frame is fixed at the bottom end of the connecting arm, a second servo motor is installed on one side of the surface of the rod-type adjustment frame, and a secondary camera is installed at the end of the output shaft of the second servo motor. The input end of the secondary camera is electrically connected to the output end of the remote control module.

[0016] The present invention also provides a method for detecting the condition of transmission line insulators, using the aforementioned detection device for the condition of transmission line insulators, comprising the following steps:

[0017] S101: The operator controls the drone to take off, and the suspended detection device is lifted into the air smoothly by the cage. It flies to the location of the target insulator string. After reaching the work airspace, the operator carefully controls the drone so that the belt-driven structure is accurately placed on the top of the insulator string. Under the action of the device's own weight, the belt-driven structure naturally contacts the top wall of the insulator string.

[0018] S102: After the device is stably suspended on the insulator string, the ground staff sends a command to the remote control module through the control terminal. The signal triggers the single-source amplitude-adjusting force module to start working. As a core power source, the single-source amplitude-adjusting force module synchronously transmits power to the self-collapsing belt traveling modules on the left and right sides, driving the self-collapsing belt traveling modules on the left and right sides like two mechanical arms, steadily approaching the outer wall of the insulator string and finally clamping it firmly. After the device is connected to the insulator string, the staff sends another command to start the rotation drive module to drive the belt traveling structure at the top to work, driving the entire device to move smoothly along the length of the insulator string. At the same time, the self-collapsing belt traveling modules on the left and right sides, which have been clamped, also assist in the movement to ensure the stability of the running trajectory. During the movement, the main camera continuously shoots downwards to clearly capture the surface condition of the top wall of the insulator string and detect whether there are cracks, stains, scale or other abnormalities.

[0019] S103: The left and right side follow-type positioning visual inspection modules automatically obtain rotational power from the belt-driven structure during movement. The follow-type positioning visual inspection modules enable their camera parts to continuously change positions below and to the side of the insulator string, so as to achieve continuous and blind-spot-free scanning and shooting of the lower half of the side wall and the most critical bottom wall, which are difficult to reach by traditional solutions. All images captured by the main camera and the follow-type positioning visual inspection modules are transmitted to the ground control terminal in real time through the remote control module.

[0020] S104: After the device completes the traversal test of the entire string of insulators, it instructs the single-source amplitude-type force-adding module to release the clamping state, causing the self-collapsing belt traveling modules on both sides to retract, and the drone to fly back, reconnect with the cage, and lift the entire device back to the ground safely.

[0021] Compared with the prior art, the beneficial effects of the present invention are as follows: The device and method for detecting the condition of insulators of transmission lines are configured with a structure that includes a cage, a double-layer long loop-shaped crossbeam, a power supply module, a remote control module, a rotary drive module, a belt conveyor structure, a single-source amplitude-adjustable force-adding module, self-collapsing belt conveyor modules on the left and right sides, and a following-type position-shifting visual inspection module. A drone, via the cage and the double-layer long loop-shaped crossbeam, lifts the device onto the insulator string of the high-altitude transmission line. At this time, the belt conveyor structure in the double-layer long loop-shaped crossbeam is restricted by its own weight and contacts the top wall of the insulator string. The operator transmits control signals to the remote control module via the control terminal. The signal is controlled, and then the single-source amplitude-type force-applying module causes the self-collapsing belt traveling modules on both sides to move closer to the outer wall of the insulator string until they are clamped. After the device is stable, the rotation drive module drives the belt traveling structure to work, and the self-collapsing belt traveling modules on both sides assist in the movement. The main camera takes a picture of the top of the insulator string from below. During the movement, the following rocking type visual inspection modules on both sides receive a portion of the rotational power of the belt traveling structure and move to continuously perform visual inspection on the side walls and bottom walls of the insulator string. This achieves stable lifting, precise single-power force-applying clamping, smooth movement, and multi-angle visual inspection of the device.

[0022] The single-source amplitude-type force-applying module can control the synchronous opposite movement of the self-collision belt-driven modules on both sides through a single power source, achieving force-applying clamping. Compared with the previous method that required multiple motors to drive separately, this greatly simplifies the mechanical transmission structure and electrical control system, effectively reduces the overall weight of the device, reduces the load requirements on the UAV, and, more importantly, reduces the number of independent actuators, thereby directly improving the overall reliability of the device. Secondly, the left and right side-following rocking-positioning visual inspection modules can obtain rotational power from the belt-driven structure to continuously scan and photograph the side walls and bottom walls of the insulator string. This ensures that the bottom wall of the insulator string is continuously included in the inspection range throughout the entire process of the device moving along the insulator string. That is, the main camera is responsible for visual inspection of the top wall, while the following rocking-positioning visual inspection modules cover the side walls and bottom walls. The two work together to ultimately collect complete surface images of each component that makes up the insulator string, thereby improving the accuracy and reliability of defect identification.

[0023] Finally, the double-layer long loop crossbeam and the hoisting method of the cage provide a stable initial deployment posture. The device's own weight firmly presses the belt-driven structure onto the upper surface of the insulator string. The self-collapse belt-driven module has overload protection and flexible yielding characteristics, which allows the device to better adapt to insulator strings of different specifications that may have certain manufacturing tolerances or deformations. At the same time, due to the formation of multi-point support and power output, the device's motion coordination and resistance to lateral interference are effectively enhanced, making the movement more stable and reliable. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 1 ;

[0025] Figure 2 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 2 ;

[0026] Figure 3 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 3 ;

[0027] Figure 4 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 4 ;

[0028] Figure 5 This is a schematic diagram of the front cross-sectional structure of the present invention;

[0029] Figure 6 This is a three-dimensional cross-sectional structural diagram of the present invention;

[0030] Figure 7 This is a schematic diagram of the three-dimensional structure of the single-source amplitude-modulated force-adding module according to Embodiment 2 of the present invention. Figure 1 ;

[0031] Figure 8 This is a schematic diagram of the three-dimensional structure of the single-source amplitude-modulated force-adding module according to Embodiment 2 of the present invention. Figure 2 ;

[0032] Figure 9 This is a three-dimensional structural diagram of a semi-open arc-shaped end plate according to Embodiment 2 of the present invention;

[0033] Figure 10 For the present invention Figure 9 Enlarged structural diagram at point A in the middle;

[0034] Figure 11 This is a three-dimensional structural diagram of Embodiment 3 of the present invention;

[0035] Figure 12 This is a schematic diagram of the three-dimensional structure of the following-type position-based visual detection module according to Embodiment 3 of the present invention. Figure 1 ;

[0036] Figure 13 This is a schematic diagram of the three-dimensional structure of the following-type position-based visual detection module according to Embodiment 3 of the present invention. Figure 2 .

[0037] In the diagram: 1. Double-layer long U-shaped crossbeam; 2. Hoist cage; 3. Power supply module; 4. Remote control module; 5. Belt-driven structure; 501. I-beam axle support frame; 502. Front pulley axle; 503. Rear pulley axle; 504. Transmission belt; 6. Rotary drive module; 7. Semi-open arc-shaped end plate one; 8. Semi-open arc-shaped end plate two; 9. Main camera; 10. Single-source amplitude-shifting force-adding module; 1001. Double-layer axle support frame; 1002. Rotating shaft; 1003. Four-gear synchronous transmission structure; 1004. Motor base; 1005. Servo motor one; 1006. Bevel gear reversing transmission structure; 1007. Grooved swing arm; 1008. Beam plate; 1009. Swing arm; 1010. Pulley ; 11. Self-collapsing belt-driven walking module; 1101. Hydraulic damper; 1102. Y-shaped fork; 1103. Tracked electric walker; 1104. Connecting rod; 1105. Slide; 12. Follow-type rocker-positioning vision inspection module; 1201. L-shaped support frame; 1202. Disc cam integrated shaft; 12021. Rotary push arm; 1203. Bevel gear shaft; 1204. Pulley drive structure; 1205. Main bevel gear; 1206. Fisheye connecting rod; 1207. Hook arm; 1208. Tension spring; 1209. Swing handle; 1210. Connecting arm; 1211. Rod-type adjustment frame; 1212. Servo motor II; 1213. Secondary camera; 1214. Limit switch. Detailed Implementation

[0038] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0039] Example 1, by Figures 1 to 6 The present invention includes a double-layer long loop-shaped crossbeam 1, a cage 2 for attaching to a drone is installed at the top of the double-layer long loop-shaped crossbeam 1, a belt-driven structure 5 for movement is installed inside the double-layer long loop-shaped crossbeam 1, a rotary drive module 6 for driving the belt-driven structure 5 is installed on one side of the top of the double-layer long loop-shaped crossbeam 1, and a semi-open arc-shaped end plate 7 and a semi-open arc-shaped end plate 8 are fixed at both ends of the double-layer long loop-shaped crossbeam 1, respectively. The semi-open arc-shaped end plate 7 and the semi-open arc-shaped end plate 8 are located at the front and rear ends of the double-layer long loop-shaped crossbeam 1, respectively. The design is open arc-shaped to facilitate the device to be smoothly inserted into the insulator string, while also achieving good coverage and support, and providing a platform for the subsequent single-source amplitude-type force-adding module 10 and the following-type position-type visual inspection module 12.

[0040] The double-layer long spiral crossbeam 1 serves as the main load-bearing frame, possessing torsional and bending resistance, enabling the device to be stably placed on top of the insulator string; the cage 2 serves as the lifting and load-bearing structure of the device, possessing good load-bearing capacity and safety guarantee, and can be safely transported to the high-altitude insulator string position by drone, ensuring that the equipment remains balanced and stable during the lifting process, reducing the risk of high-altitude operations;

[0041] A main camera 9 is installed on the outer wall of the semi-open arc-shaped end plate 8 away from the double-layer long loop crossbeam 1 to capture the top wall of the insulator string from above. Self-collapsing belt traveling modules 11 are set on both the left and right sides below the double-layer long loop crossbeam 1. A single-source amplitude-type force-adding module 10 is installed on the outer wall of the semi-open arc-shaped end plate 7 to drive the two self-collapsing belt traveling modules 11 on the left and right sides to move towards each other and approach the outer wall of the insulator string.

[0042] Two follow-type position-shifting visual inspection modules 12 are mirror-symmetrically installed on the outer wall of the semi-open arc-shaped end plate 8 away from the double-layer long loop-shaped crossbeam 1. The power input end of the follow-type position-shifting visual inspection module 12 is connected to the belt travel structure 5. The follow-type position-shifting visual inspection module 12 is used to capture images of the side wall and bottom wall of the insulator string. The cage 2 is equipped with a power supply module 3 for powering the rotary drive module 6, the main camera 9, the self-collapsing belt travel module 11, the single-source amplitude-adjusting force module 10, and the follow-type position-shifting visual inspection module 12. The power supply module 3 provides continuous and stable power support to ensure the normal operation of the electrical components in the device and to ensure uninterrupted power supply during long-term detection.

[0043] A remote control module 4 is installed at the top of the double-layer long loop-shaped crossbeam 1 on one side of the power supply module 3. The output end of the remote control module 4 is electrically connected to the input end of the rotary drive module 6, the main camera 9, the single-source amplitude-type force-adding module 10, the self-collapsing belt walking module 11, and the following rocking-position type visual inspection module 12.

[0044] The belt-driven structure 5 includes an I-shaped axle carrier 501 fixedly installed inside the double-layer long loop crossbeam 1, a front pulley axle 502 and a rear pulley axle 503 rotatably installed at both ends inside the I-shaped axle carrier 501, and a transmission belt 504 fitted between the front pulley axle 502 and the rear pulley axle 503. Both ends of the rear pulley axle 503 extend to the outside of the double-layer long loop crossbeam 1 and are connected to the power input end of the following rocking type vision inspection module 12.

[0045] The rotary drive module 6 consists of a stepper motor, a synchronous pulley transmission structure, and a belt cover. The stepper motor is installed on one side of the top of the double-layer long loop crossbeam 1. The synchronous pulley transmission structure is installed between one end of the front pulley shaft 502 and the output shaft of the stepper motor. The belt cover is installed on the outer wall of one side of the double-layer long loop crossbeam 1 and is used to protect the synchronous pulley transmission structure. The input end of the stepper motor is electrically connected to the output end of the remote control module 4. The output end of the rotary drive module 6 drives the front pulley shaft 502 to rotate, while the rear pulley shaft 503 rotates together under the drive of the transmission belt 504. The continuous transmission belt 504 can closely fit the surface of the insulator string, adapt to its curves and minor unevenness, and achieve smooth movement. The flexibility and friction of the transmission belt 504 ensure the grip of the device and reduce the risk of slippage.

[0046] This embodiment provides a method for detecting the condition of transmission line insulators, using the aforementioned detection device for the condition of transmission line insulators, and includes the following steps:

[0047] S101: The operator controls the drone to take off, and the suspended detection device is smoothly lifted into the air by the cage 2. It flies to the location of the target insulator string. After reaching the work airspace, the operator carefully controls the drone so that the belt traveling structure 5 is accurately placed on the top of the insulator string. Under the action of the device's own weight, the belt traveling structure 5 naturally contacts the top wall of the insulator string.

[0048] S102: After the device is stably suspended on the insulator string, the ground staff sends a command to the remote control module 4 through the control terminal. The signal triggers the single-source amplitude-adjusting force module 10 to start working. As a core power source, the single-source amplitude-adjusting force module 10 synchronously transmits power to the self-collapsing belt traveling modules 11 on the left and right sides, driving the self-collapsing belt traveling modules 11 on the left and right sides like two mechanical arms, steadily approaching the outer wall of the insulator string and finally clamping it firmly. After the device is connected to the insulator string, the staff sends another command to start the rotation drive module 6 to drive the belt traveling structure 5 located at the top to work, driving the entire device to move smoothly along the length of the insulator string. At the same time, the self-collapsing belt traveling modules 11 on the left and right sides, which have been clamped, also assist in the movement to ensure the stability of the running trajectory. During the movement, the main camera 9 continuously shoots downwards to clearly capture the surface condition of the top wall of the insulator string and detect whether there are cracks, stains, scale or other abnormalities.

[0049] S103: The left and right side follow-type positioning visual inspection modules 12 automatically obtain rotational power from the belt walking structure 5 during the movement. The follow-type positioning visual inspection modules 12 make their own camera part constantly change position below and to the side of the insulator string, so as to achieve continuous and blind-angle scanning and shooting of the lower half of the side wall and the most critical bottom wall, which are difficult to reach by traditional solutions. All the images captured by the main camera 9 and the follow-type positioning visual inspection modules 12 are transmitted to the ground control terminal in real time through the remote control module 4.

[0050] S104: After the device completes the traversal test of the entire string of insulators, it instructs the single-source amplitude-type force-adding module 10 to release the clamping state, causing the self-collapse belt traveling modules 11 on both sides to retract, and the drone to fly back, re-connect with the cage 2, and lift the entire device back to the ground safely.

[0051] Example 2, based on Example 1, is... Figure 7 , Figure 8 , Figure 9 and Figure 10 The single-source amplitude-type force-adding module 10 includes a double-layer shaft frame 1001 fixed on both sides of the top of the semi-open arc-shaped end plate 7, a rotating shaft 1002 rotatably mounted inside the double-layer shaft frame 1001, and a four-gear synchronous transmission structure 1003 mounted on one side outer wall of the semi-open arc-shaped end plate 7 to enable the two rotating shafts 1002 to rotate synchronously in opposite directions. A motor base 1004 is fixed on one side outer wall of the semi-open arc-shaped end plate 7, and a servo motor 1005 is mounted on the top of the motor base 1004. A bevel gear reversing transmission structure 1006 for driving the four-gear synchronous transmission structure 1003 is mounted on the lower end of the output shaft of the servo motor 1005.

[0052] Two grooved swing arms 1007 are hinged to the outer wall of the semi-open arc-shaped end plate 7 and the semi-open arc-shaped end plate 8 on their adjacent sides. A beam plate 1008 is fixed between the two grooved swing arms 1007 in the same length direction. A self-collision belt travel module 11 is installed on the beam plate 1008. One end of the rotating shaft 1002 passes through the outside of the semi-open arc-shaped end plate 7 and is fixed with a rotating arm 1009. A pulley 1010 located in the grooved swing arm 1007 is rotatably installed at one end of the rotating arm 1009. The left and right sides are driven by a single-source amplitude-adjustable force module 10. When the self-collapsing belt traveling module 11 on the side moves in opposite directions to clamp the insulator string, the staff sends a control signal to the remote control module 4 at the ground control terminal. Then, the remote control module 4 controls the servo motor 1005 to work according to the set direction, speed, angle and response time. The servo motor 1005 drives the two rotating shafts 1002 inside the semi-open arc-shaped end plate 7 to rotate synchronously in opposite directions through the bevel gear reversing transmission structure 1006 and the four-gear synchronous transmission structure 1003. That is, the rotating shafts 1002 drive the rotating arm 1009 to rotate.

[0053] Since the swivel arm 1009 rotates around the central axis of the rotating shaft 1002, and the pulley 1010 is located in the grooved swing arm 1007, the swivel arm 1009 forces the grooved swing arm 1007, the beam plate 1008, and the self-collapsing belt traveling module 11 to sway through the pulley 1010, so as to make the self-collapsing belt traveling module 11 close to the outer wall of the insulator string. The single-source amplitude-adjusting force module 10 distributes the force evenly to the self-collapsing belt traveling module 11 on both sides through a single power source and by using a mechanical structure, so that the self-collapsing belt traveling module 11 firmly clamps the insulator string, which simplifies the structure, concentrates the power, reduces energy consumption and failure points, and achieves precise control of clamping force.

[0054] The self-collapsing belt travel module 11 includes a hydraulic damper 1101 installed on one side of the outer wall of the beam plate 1008, two Y-shaped forks 1102 hinged to one side of the outer wall of the beam plate 1008, and a tracked electric traveler 1103 installed on the upper end of the two Y-shaped forks 1102. The tracked electric traveler 1103 works according to the instructions of the remote control module 4 and travels using the tracked electric traveler 1103 auxiliary device.

[0055] A connecting rod 1104 is hinged to the outer wall of the housing of the tracked electric traveler 1103. A slide block 1105 is slidably installed on one side of the outer wall of the beam plate 1008. One side of the outer wall of the slide block 1105 is hinged to one end of the connecting rod 1104. The other side of the outer wall of the slide block 1105 is fixed to the top of the piston rod of the hydraulic damper 1101. When the beam plate 1008 and the self-collapse belt travel module 11 are close to the outer wall of the insulator string, the tracked electric traveler 1103 will force the Y-shaped forks 1102 to swing under the continuous force. When the two Y-shaped forks 1102 swing towards the hydraulic damper 1101, the housing of the tracked electric traveler 1103 pushes the slide block 1105 to slide through the connecting rod 1104, thereby compressing the hydraulic damper 1101. The hydraulic damper 1101 provides a reverse force to ensure that the self-collapse belt travel module 11 and the insulator string obtain sufficient contact pressure.

[0056] Example 3, based on Example 1, is... Figure 11 , Figure 12 and Figure 13 The following is provided: the following is a description of the following ... With the power connection in place, a hook arm 1207 is hinged to the lower part of the surface of the L-shaped support frame 1201. A limit switch 1214 is installed on the outer wall of the L-shaped support frame 1201 on one side of the hook arm 1207. The output end of the limit switch 1214 is electrically connected to the input end of the remote control module 4. A swing handle 1209 is hinged to the outer wall of the L-shaped support frame 1201 below the limit switch 1214. A connecting arm 1210 is hinged to the lower end of the swing handle 1209. One end of the connecting arm 1210 is hinged to the lower end of the hook arm 1207.

[0057] A bevel gear shaft 1203 is rotatably mounted on the upper part of the surface of the L-shaped support frame 1201. A pulley drive structure 1204 is installed between the bevel gear shaft 1203 and the integrated disc cam shaft 1202. Both ends of the rear pulley shaft 503 are fixed with main bevel gears 1205, which mesh with the bevel gear shaft 1203. One end of the rotary push arm 12021 is hinged to a fisheye connecting rod 1206. The lower end of the fisheye connecting rod 1206 is hinged to the upper end of the hook arm 1207. The L-shaped support frame 120... A tension spring 1208 is fixed on one side of the surface. The lower end of the tension spring 1208 is fixedly connected to the upper end of the hook arm 1207. When the rear pulley shaft 503 rotates, both ends of the rear pulley shaft 503 are driven by the main bevel gear 1205 to rotate the bevel gear shaft 1203. Then, the disc cam integrated shaft 1202 rotates together with the bevel gear shaft 1203 under the drive of the pulley transmission structure 1204. During the rotation of the disc cam integrated shaft 1202, it will continuously push the rotary push arm 12021 to swing down. At this time, the tension spring 1208 is stretched.

[0058] A rod-type adjustment frame 1211 is fixed at the bottom end of the connecting arm 1210. A servo motor 1212 is installed on one side of the surface of the rod-type adjustment frame 1211, and a secondary camera 1213 is installed at the end of the output shaft of the servo motor 1212. The input end of the secondary camera 1213 is electrically connected to the output end of the remote control module 4.

[0059] The end of the rotary push arm 12021 forces the hook arm 1207 to rotate through the fisheye connecting rod 1206. The lower end of the hook arm 1207 will be driven by the connecting arm 1210 and the swing handle 1209 to swing the rod-type adjustment frame 1211 up a distance. At this time, the arched part of the hook arm 1207 will contact the limit switch 1214. The limit switch 1214 obtains the position signal and transmits it to the remote control module 4. The remote control module 4 drives the second servo motor 1212 to work. The second servo motor 1212 drives the secondary camera 1213 to rotate until the lens of the secondary camera 1213 is in a horizontal state. At this time, the secondary camera 1213 performs visual inspection of the appearance of the insulator string from the side.

[0060] When the protrusion of the integrated cam shaft 1202 separates from the rotary push arm 12021, the tension spring 1208 provides the power for the hook arm 1207, the rotary push arm 12021, and the fisheye connecting rod 1206 to reset. That is, the hook arm 1207 resets, the limit switch 1214 does not obtain a position signal, and then the servo motor 1212 drives the secondary camera 1213 to reset. At this time, the secondary camera 1213 performs visual inspection from below the insulator string, thereby continuously scanning and taking pictures of the bottom wall and side wall of the insulator that cannot be reached by the traditional solution, eliminating the detection blind spot.

[0061] The follow-type swaying visual detection module 12 obtains a portion of the rotational power from the belt-driven structure 5 and converts it into its own swaying and positioning action. That is, the secondary camera 1213 executes a pre-designed regular swaying trajectory. Its mechanical power reuse does not require an additional motor, which greatly simplifies the structure and control logic.

[0062] In this embodiment, the operator first checks the drone, cage 2, and the detection device below to ensure the power supply module 3 has sufficient power and all mechanical structures are functioning correctly. The operator then controls the drone to take off, and the suspended detection device is smoothly lifted into the air by the cage 2, flying towards the location of the target insulator string. Once in the work area, the operator precisely controls the drone. At this point, the lower half of the semi-open arc-shaped end plate 7 and the semi-open arc-shaped end plate 8 provides sufficient space for the insulator string to enter the device, allowing the belt-driven structure 5 to accurately land on top of the insulator string. Under the weight of the device, the belt-driven structure 5 naturally contacts the top wall of the insulator string. Upon initial positioning, the device is stably suspended on the insulator string. Ground personnel then send a command to the remote control module 4 via the control terminal. This signal triggers the single-source amplitude-modulated force-applying module 10 to begin operation. As a core power source, the single-source amplitude-modulated force-applying module 10 synchronously transmits power to the self-collapsing belt conveyor modules 11 on both sides. These modules, like two mechanical arms, steadily approach and firmly clamp the insulator string, ensuring a stable and reliable connection between the device and the insulator string, sufficient to withstand high-altitude wind interference and providing a solid foundation for subsequent movement. After the connection to the insulator string is completed, the staff sends another command to start the rotary drive module 6, which drives the belt-driven structure 5 located at the top to work, causing the entire device to move smoothly along the length of the insulator string. At the same time, the self-collapsing belt-driven modules 11 on the left and right sides, which have been clamped, also assist in the movement to ensure the stability of the running trajectory. During the movement, the main camera 9 continuously shoots downwards, clearly capturing the surface condition of the top wall of the insulator string and detecting whether there are cracks, stains, scale, or other abnormalities. The following-type positioning visual inspection modules 12 on the left and right sides automatically obtain rotational power from the belt-driven structure 5 during the movement. The vision detection module 12 continuously changes the position of its camera part below and to the side of the insulator string to achieve continuous and blind-spot-free scanning and shooting of the lower half of the side wall and the most critical bottom wall, which are difficult to reach by traditional solutions. All the images captured by the main camera 9 and the following position type vision detection module 12 are transmitted to the ground control terminal in real time through the remote control module 4. After the device completes the traversal detection of the entire string of insulators, it commands the single-source amplitude-type force-adding module 10 to release the clamping state, so that the self-collapse belt traveling modules 11 on the left and right sides can be retracted, and the drone flies back, re-connects with the cage 2, and lifts the entire device and safely returns to the ground.

[0063] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0064] 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 detecting the condition of insulators in transmission lines, characterized in that, include: A double-layer long spiral crossbeam (1) is provided with a cage (2) for attaching to a drone at its top. A belt-driven structure (5) for movement is installed inside the double-layer long spiral crossbeam (1). A rotary drive module (6) for driving the belt-driven structure (5) is installed on one side of the top of the double-layer long spiral crossbeam (1). A semi-open arc-shaped end plate (7) and a semi-open arc-shaped end plate (2) are fixed at both ends of the double-layer long spiral crossbeam (1). 8) A main camera (9) is installed on the outer wall of the semi-open arc end plate 2 (8) away from the double-layer long loop crossbeam (1) to take pictures of the top wall of the insulator string from top to bottom. Self-collapsing belt walking modules (11) are set on both the left and right sides below the double-layer long loop crossbeam (1). A single-source amplitude-type force-adding module (10) is installed on the outer wall of the semi-open arc end plate 1 (7) to drive the two self-collapsing belt walking modules (11) on the left and right sides to move towards each other and approach the outer wall of the insulator string. Two follow-type position-shifting visual inspection modules (12) are mirror-symmetrically installed on the outer wall of the semi-open arc-shaped end plate (8) away from the double-layer long loop-shaped crossbeam (1). The power input end of the follow-type position-shifting visual inspection module (12) and the belt-driven structure (5) maintain power connection. The follow-type position-shifting visual inspection module (12) is used to capture images of the side wall and bottom wall of the insulator string. The cage (2) is equipped with a rotation drive module (6) and a main camera (9). A power supply module (3) supplies power to the self-collapsing belt walking module (11), the single-source amplitude-adjustable force module (10), and the following-type position-adjustable vision detection module (12). A remote control module (4) is installed on the top of the double-layer long loop-shaped crossbeam (1) on one side of the power supply module (3). The output end of the remote control module (4) is electrically connected to the input end of the rotary drive module (6), the main camera (9), the single-source amplitude-adjustable force module (10), the self-collapsing belt walking module (11), and the following-type position-adjustable vision detection module (12). The belt-driven structure (5) includes an I-shaped axle carrier (501) fixedly installed inside the double-layer long loop crossbeam (1), a front pulley axle (502) and a rear pulley axle (503) rotatably installed at both ends inside the I-shaped axle carrier (501), and a transmission belt (504) fitted between the front pulley axle (502) and the rear pulley axle (503). Both ends of the rear pulley axle (503) extend through to the outside of the double-layer long loop crossbeam (1) and are connected to the power input end of the following rocking type vision detection module (12). The following-type rocking visual detection module (12) includes an L-shaped support frame (1201) fixed on the outer wall of one side of the semi-open arc-shaped end plate (8), a disc-shaped cam integrated shaft (1202) rotatably installed at the upper position inside the L-shaped support frame (1201), and a rotary push arm (12021) hinged to the outer wall of the L-shaped support frame (1201) below the disc-shaped cam integrated shaft (1202). The disc-shaped cam integrated shaft (1202) is used to push the rotary push arm (12021) to swing downward. One end of the disc-shaped cam integrated shaft (1202) and one end of the rear pulley shaft (503) are connected in power. A hook arm (1207) is hinged to the lower part of the surface of the L-shaped support frame (1201). A limit switch (1214) is installed on the outer wall of the L-shaped support frame (1201) on one side of the hook arm (1207). The output end of the limit switch (1214) is electrically connected to the input end of the remote control module (4). A swing handle (1209) is hinged to the outer wall of the L-shaped support frame (1201) below the limit switch (1214). A connecting arm (1210) is hinged to the lower end of the swing handle (1209). One end of the connecting arm (1210) is hinged to the lower end of the hook arm (1207).

2. The device for detecting the condition of insulators in transmission lines according to claim 1, characterized in that: The rotary drive module (6) consists of a stepper motor, a synchronous pulley transmission structure and a belt cover. The stepper motor is installed on one side of the top of the double-layer long loop beam (1). The synchronous pulley transmission structure is installed between one end of the front pulley shaft (502) and the output shaft of the stepper motor. The belt cover is installed on the outer wall of one side of the double-layer long loop beam (1) and is used to protect the synchronous pulley transmission structure. The input end of the stepper motor is electrically connected to the output end of the remote control module (4).

3. The device for detecting the condition of insulators in transmission lines according to claim 2, characterized in that: The single-source amplitude-type force-adding module (10) includes a double-layer shaft frame (1001) fixed on both sides of the top of the semi-open arc-shaped end plate (7), a rotating shaft (1002) rotatably installed inside the double-layer shaft frame (1001), and a four-gear synchronous transmission structure (1003) installed on one side of the outer wall of the semi-open arc-shaped end plate (7) to enable the two rotating shafts (1002) to rotate synchronously in opposite directions. A motor base (1004) is fixed on one side of the outer wall of the semi-open arc-shaped end plate (7), and a servo motor (1005) is installed at the top of the motor base (1004). A bevel gear reversing transmission structure (1006) for driving the four-gear synchronous transmission structure (1003) is installed at the lower end of the output shaft of the servo motor (1005).

4. The device for detecting the condition of transmission line insulators according to claim 3, characterized in that: Two grooved swing arms (1007) are hinged to the outer wall of the semi-open arc end plate one (7) and the semi-open arc end plate two (8) on the side that are close to each other. A beam plate (1008) is fixed between the two grooved swing arms (1007) in the same length direction. The self-collapsing belt walking module (11) is installed on the beam plate (1008). One end of the rotating shaft (1002) extends through to the outside of the semi-open arc end plate one (7) and is fixed with a rotating arm (1009). One end of the rotating arm (1009) is rotatably installed with a pulley (1010) located in the grooved swing arm (1007).

5. The device for detecting the condition of insulators in transmission lines according to claim 4, characterized in that: The self-collapsing belt travel module (11) includes a hydraulic damper (1101) installed on one side of the outer wall of the beam plate (1008), two Y-shaped forks (1102) hinged on one side of the outer wall of the beam plate (1008), and a tracked electric traveler (1103) installed on the upper end of the two Y-shaped forks (1102). A connecting rod (1104) is hinged on the outer wall of the housing of the tracked electric traveler (1103). A slide (1105) is slidably installed on one side of the outer wall of the beam plate (1008). One side of the outer wall of the slide (1105) is hinged to one end of the connecting rod (1104). The other side of the outer wall of the slide (1105) is fixedly connected to the top of the piston rod of the hydraulic damper (1101).

6. The device for detecting the condition of transmission line insulators according to claim 5, characterized in that: A bevel gear shaft (1203) is rotatably mounted on the upper part of the surface of the L-shaped support frame (1201). A pulley drive structure (1204) is installed between the bevel gear shaft (1203) and the integrated disc cam shaft (1202). Both ends of the rear pulley shaft (503) are fixed with main bevel gears (1205). The main bevel gears (1205) and the bevel gear shaft (1203) mesh with each other. One end of the rotary push arm (12021) is hinged with a fisheye connecting rod (1206). The lower end of the fisheye connecting rod (1206) is hinged to the upper end of the hook arm (1207). A tension spring (1208) is fixed on one side of the surface of the L-shaped support frame (1201). The lower end of the tension spring (1208) is fixed to the upper end of the hook arm (1207).

7. The device for detecting the condition of transmission line insulators according to claim 6, characterized in that: The bottom end of the connecting arm (1210) is fixed with a rod-type adjustment frame (1211). A servo motor (1212) is installed on one side of the surface of the rod-type adjustment frame (1211), and a secondary camera (1213) is installed at the end of the output shaft of the servo motor (1212). The input end of the secondary camera (1213) is electrically connected to the output end of the remote control module (4).

8. A method for detecting the condition of transmission line insulators, using the transmission line insulator condition detection device as described in any one of claims 1-7, characterized in that: Includes the following steps: S101: The operator controls the drone to take off, and the suspended detection device is lifted into the air smoothly through the cage (2) and flies to the location of the target insulator string. After reaching the work airspace, the operator carefully controls the drone so that the belt traveling structure (5) accurately lands on the top of the insulator string. Under the action of the device's own weight, the belt traveling structure (5) naturally contacts the top wall of the insulator string. S102: After the device is stably suspended on the insulator string, the ground staff sends a command to the remote control module (4) through the control terminal. The signal triggers the single-source amplitude-type force-adding module (10) to start working. The single-source amplitude-type force-adding module (10) serves as a core power source and transmits power synchronously to the self-collapsing belt walking modules (11) on the left and right sides. This drives the self-collapsing belt walking modules (11) on the left and right sides to move steadily towards the outer wall of the insulator string like two mechanical arms and finally clamp it firmly. After the device is connected to the insulator string, the staff sends a command again to start the rotation drive module (6) to drive the belt walking structure (5) located at the top to work, driving the entire device to move smoothly along the length of the insulator string. At the same time, the self-collapsing belt walking modules (11) on the left and right sides, which have been clamped, also assist in the movement to ensure the stability of the running trajectory. During the movement, the main camera (9) continuously shoots downwards to clearly capture the surface condition of the top wall of the insulator string and detect whether there are cracks, stains, scale or other abnormalities. S103: The left and right side follow-type positioning visual detection modules (12) automatically obtain rotational power from the belt walking structure (5) during the movement. The follow-type positioning visual detection modules (12) make their own camera part constantly change position below and to the side of the insulator string, so as to realize continuous and no dead angle scanning and shooting of the lower half of the side wall and the most critical bottom wall that are difficult to reach by traditional solutions. All the images captured by the main camera (9) and the follow-type positioning visual detection modules (12) are transmitted to the ground control terminal in real time through the remote control module (4). S104: After the device completes the traversal test of the entire string of insulators, it instructs the single-source amplitude-type force-adding module (10) to release the clamping state, so that the self-collapse belt walking modules (11) on the left and right sides can be retracted, and the drone flies back, re-connects with the cage (2), and lifts the entire device and safely returns to the ground.

Images