X-ray flaw detection system and detection method for strain clamp

Abstract

The invention discloses an X-ray flaw detection system and method for a strain clamp, and belongs to the technical field of unmanned aerial vehicle X-ray flaw detection. The system comprises a controller, a first unmanned aerial vehicle and a second unmanned aerial vehicle. A retractable mechanism is mounted at the lower end of the first unmanned aerial vehicle, and an imaging plate is mounted at the movable end of the retractable mechanism and gets close to or away from the first unmanned aerial vehicle through the retractable mechanism; an X-ray emitter and a camera are mounted at the lower end of the second unmanned aerial vehicle, and the emitting direction of the X-ray emitter is the same as the shooting direction of the camera; the imaging plate and the X-ray emitter are respectively provided with an inertial sensor and an RTK sensor. The first unmanned aerial vehicle, the second unmanned aerial vehicle, the folding and unfolding mechanism, the imaging plate, the X-ray emitter, the camera inertial sensor and the RTK sensor are all connected with the controller. According to the invention, the strain clamps on the three vertically-distributed wires can be completely detected only by using the unmanned aerial vehicle, personnel do not need to climb a tower, and the safety risk of operation is reduced.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of X-ray flaw detection of unmanned aerial vehicles, and particularly relates to an X-ray flaw detection system and method for strain clamp. BACKGROUND

[0002] The strain clamp is an important fitting in the power system for fixing and fastening the conductor or ground wire. Its core function is to firmly fix the conductor or ground wire on the tower through mechanical means while bearing the tension in the line operation, thereby ensuring the safety and stability of power transmission. Therefore, it is of great significance to detect the strain clamp, and it is necessary to ensure the integrity of the strain clamp during operation to avoid significant safety accidents and huge losses.

[0003] The traditional strain clamp detection method requires manual climbing on the high-voltage tower, hanging on the imaging plate and using the X-ray emitter to detect the strain clamp. This traditional method has very high operation risk, as it requires the staff to work at high altitude and correctly operate the X-ray emitter, both of which have extremely high risk. In addition, manual detection is inefficient, and each tower climbing consumes a lot of time. SUMMARY

[0004] The purpose of the present application is to overcome the shortcomings of the prior art and provide an X-ray flaw detection system and method for strain clamp, which can completely detect the strain clamp on three vertically distributed conductors using only unmanned aerial vehicles, without the need for personnel to climb the tower, thereby reducing the safety risk of operation.

[0005] The present application provides the following technical solutions:

[0006] In a first aspect, an X-ray flaw detection system for strain clamp is provided, comprising a controller, a first unmanned aerial vehicle and a second unmanned aerial vehicle. The lower end of the first unmanned aerial vehicle is provided with a retractable mechanism, and the movable end of the retractable mechanism is provided with an imaging plate. The imaging plate is close to or away from the first unmanned aerial vehicle through the retractable mechanism.

[0007] The lower end of the second unmanned aerial vehicle is provided with an X-ray emitter and a camera, and the emission direction of the X-ray emitter is the same as the shooting direction of the camera.

[0008] Inertial sensors and RTK sensors are installed on the imaging plate and the X-ray emitter. The inertial sensors are used to detect the attitude data of the imaging plate or the X-ray emitter, and the RTK sensors are used to detect the longitude and latitude data of the imaging plate or the X-ray emitter.

[0009] The first unmanned aerial vehicle, the second unmanned aerial vehicle, the retractable mechanism, the imaging plate, the X-ray emitter, the camera, the inertial sensors and the RTK sensors are all connected to the controller.

[0010] As an optional technical solution of the application, the winding and unwinding mechanism comprises a reel and a traction rope, the reel is installed at the lower end of the first unmanned aerial vehicle, one end of the traction rope is wound on the reel, and the other end is connected to the imaging plate.

[0011] As an optional technical solution of the application, two RTK sensors are installed on the imaging plate and the X-ray emitter.

[0012] In the second aspect, a detection method based on the X-ray detection system of the first aspect is provided, comprising: after controlling the first unmanned aerial vehicle to fly above the highest conductor, controlling the winding and unwinding mechanism to make the imaging plate descend to the strain clamp;

[0013] After controlling the second unmanned aerial vehicle to fly above the highest conductor, controlling the X-ray emitter to face the strain clamp according to the shooting angle of the camera;

[0014] Obtaining the detection data of the inertial sensor and the RTK sensor, and calculating the position offset value and the rotation offset value of the imaging plate to the X-ray emitter according to the detection data;

[0015] According to the position offset value and the rotation offset value, controlling the first unmanned aerial vehicle and the winding and unwinding mechanism to make the imaging plate move to the straight line where the X-ray emitter and the strain clamp are located;

[0016] Controlling the X-ray emitter to emit X-rays, and receiving the imaging data of the imaging plate;

[0017] Controlling the second unmanned aerial vehicle to return, controlling the winding and unwinding mechanism to retract, and then controlling the first unmanned aerial vehicle to return.

[0018] As an optional technical solution of the application, the obtaining of the detection data of the inertial sensor and the RTK sensor, and the calculation of the position offset value and the rotation offset value of the imaging plate to the X-ray emitter according to the detection data, comprises:

[0019] Based on the longitude and latitude data detected by the RTK sensor and the imaging plate coordinate system and the X-ray emitter coordinate system constructed in advance, the position vector and the rotation quaternion of the imaging plate and the X-ray emitter in the geocentric coordinate system are calculated;

[0020] Based on the detection data of the inertial sensor and the position vector and the rotation quaternion of the imaging plate and the X-ray emitter in the geocentric coordinate system, the position prediction value and the rotation prediction value of the imaging plate and the X-ray emitter are calculated;

[0021] Based on the position prediction value and the rotation prediction value of the imaging plate and the X-ray emitter, the position offset value and the rotation offset value of the imaging plate to the X-ray emitter are calculated.

[0022] As an optional technical solution of the present invention, the calculation of the position vector and rotation quaternion of the imaging plate and X-ray emitter in the geocentric coordinate system based on the latitude and longitude data detected by the RTK sensor and the pre-constructed imaging plate coordinate system and X-ray emitter coordinate system includes:

[0023] The latitude and longitude data detected by the RTK sensor are converted into coordinates in the geocentric coordinate system, as follows:

[0024] ;

[0025] ;

[0026] in, and This represents the latitude and longitude data detected by two RTK sensors. These represent the x-axis, y-axis, and z-axis data after conversion from the latitude and longitude data of the first RTK sensor. These represent the x-axis, y-axis, and z-axis data after latitude and longitude data conversion from the second RTK sensor, respectively.

[0027] Based on the imaging plate coordinate system or X-ray emitter coordinate system, the position vector of the center of the imaging plate or X-ray emitter in the geocentric coordinate system is expressed as:

[0028] ;

[0029] in, This represents the position vector of the center of the imaging plate or X-ray emitter in the geocentric coordinate system. This indicates the offset distance along the y-axis;

[0030] The rotation quaternion is represented as:

[0031] ;

[0032] in, Represents a rotation quaternion. Indicates the real part, Both represent the imaginary part;

[0033] The rotation quaternion The following formulas can be used to obtain the result:

[0034] ;

[0035] ;

[0036] ;

[0037] ;

[0038] in, Represents the position vector in the geocentric coordinate system The gravitational vector is expressed as... , express The gravitational acceleration at any given moment in the imaging plate coordinate system or the X-ray emitter coordinate system is expressed as: , Represents the weight parameters. express The acceleration detected by the inertial sensor at any given time. express Gravitational acceleration at all times in the imaging plate coordinate system or the X-ray emitter coordinate system This represents the y-axis direction vector of the imaging plate or X-ray emitter in the geocentric coordinate system. This represents the y-axis direction vector in the imaging plate coordinate system or the X-ray emitter coordinate system. This represents the x-axis direction vector of the imaging plate or X-ray emitter in the geocentric coordinate system. This represents the x-axis direction vector in the imaging plate coordinate system or the X-ray emitter coordinate system.

[0039] As an optional technical solution of the present invention, the calculation of the predicted position and rotation values ​​of the imaging plate and X-ray emitter based on the detection data of the inertial sensor and the position vector and rotation quaternion of the imaging plate and X-ray emitter in the geocentric coordinate system includes:

[0040] If the detection data from the inertial sensor is obtained, the rotation prediction value is calculated using the Madgwick algorithm, and is expressed as:

[0041] ;

[0042] ;

[0043] ;

[0044] ;

[0045] ;

[0046] in, express The rotation prediction value at time 10:00. express The predicted acceleration value at time 10:00. The weight parameter represents a value between 0 and 1. express Predicted angular velocity at time [time]. express The updated value of the predicted angular velocity at time step. express Predicted angular velocity at time [time]. Represents a rotation quaternion. express The angular velocity detected by the inertial sensor at any given moment. express The angular velocity detected by the inertial sensor at any given moment. Represents the cross product of vectors. Indicates weight, , This indicates the moment when the rotation quaternion is obtained;

[0047] The predicted position value is calculated using the position vectors obtained at two time points, and is expressed as follows:

[0048] ;

[0049] ;

[0050] in, express Predicted location value at time. They represent Position vector at any given time;

[0051] If the detection data from the inertial sensor is not available, the calculation process for the rotation prediction value is as follows:

[0052] ;

[0053] in, express The rotation prediction value at time 10:00. express The angular velocity detected by the inertial sensor at any given time.

[0054] As an optional technical solution of the present invention, the calculation of the positional offset and rotational offset values ​​of the imaging plate from the X-ray emitter based on the positional and rotational prediction values ​​of the imaging plate and the X-ray emitter includes:

[0055] The pose transformation from the geocentric coordinate system to the imaging plate coordinate system is expressed as follows: This includes the predicted position and rotation of the imaging plate;

[0056] The pose transformation from the geocentric coordinate system to the X-ray emitter coordinate system is expressed as follows: This includes the predicted position and rotation values ​​of the X-ray emitter;

[0057] The pose transformation from the imaging plate to the X-ray emitter is represented as follows:

[0058] ;

[0059] in, This represents the pose transformation from the imaging plate to the X-ray emitter;

[0060] Based on the pose transformation from the imaging plate to the X-ray emitter, rotation offset value and distance offset value are obtained. The position offset value from the imaging plate to the X-ray emitter is calculated based on the rotation offset value and distance offset value, so that after controlling the first UAV to move the position offset value and rotation offset value, the imaging plate is facing the X-ray emitter.

[0061] Compared with the prior art, the beneficial effects of the present invention are:

[0062] This invention provides an X-ray flaw detection system for tension clamps. By using two drones working in coordination with a detection method, it is possible to completely detect tension clamps on three vertically distributed conductors using only drones. This eliminates the need for personnel to climb the tower, reducing operational safety risks and improving the efficiency of X-ray flaw detection. Attached Figure Description

[0063] Figure 1 This is a schematic diagram of the structure of the first UAV in an embodiment of the present invention;

[0064] Figure 2 This is a schematic diagram of the structure of the second UAV in an embodiment of the present invention.

[0065] Figure descriptions: 1. Imaging plate, 2. Retraction and extension mechanism, 3. X-ray emitter. Detailed Implementation

[0066] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0067] Example 1

[0068] This embodiment provides an X-ray flaw detection system for tension clamps, including a controller, a first UAV, and a second UAV.

[0069] like Figure 1 As shown, a retraction mechanism 2 is installed at the lower end of the first drone, and an imaging plate 1 is installed at the movable end of the retraction mechanism. The imaging plate 1 moves closer to or further away from the first drone through the retraction mechanism.

[0070] In this embodiment, the take-up and release mechanism 2 includes a reel and a traction rope. The reel is mounted on the lower end of the first UAV. One end of the traction rope is wound around the reel, and the other end is connected to the imaging plate 1. The reel is used to retrieve or release the traction rope.

[0071] like Figure 2 As shown, the lower end of the second drone is equipped with an X-ray emitter 3 and a camera. The X-ray emitter 3 emits in the same direction as the camera, and the camera is used to observe the frontal view of the X-ray emitter.

[0072] Both the imaging plate 1 and the X-ray emitter 3 are equipped with inertial sensors and RTK sensors. The inertial sensors are used to detect the attitude data of the imaging plate 1 or the X-ray emitter 3, and the RTK sensors are used to detect the latitude and longitude data of the imaging plate 1 or the X-ray emitter 3. Two RTK sensors are each installed on the imaging plate 1 and the X-ray emitter 3.

[0073] The first UAV, the second UAV, the launch and take-off mechanism, the imaging plate, the X-ray transmitter 3, the camera inertial sensor, and the RTK sensor are all connected to the controller.

[0074] Example 2

[0075] This embodiment provides a detection method based on the X-ray flaw detection system in Embodiment 1, including:

[0076] Step 1: After controlling the first UAV to fly above the highest conductor, control the deployment and retraction mechanism to lower the imaging plate to the tension clamp.

[0077] Specifically, the first drone is controlled to fly directly above the highest conductor, then moved back one to two meters, and then the rope on the reel is slowly released so that the imaging plate is behind the tension clamp.

[0078] Step 2: After controlling the second drone to fly above the highest conductor, control the X-ray emitter to point towards the tension clamp according to the camera's shooting angle.

[0079] Specifically, the second drone is controlled to continuously adjust its position according to the camera's viewpoint, so that the camera's viewpoint is directly facing the tension clamp.

[0080] Step 3: Acquire the detection data from the inertial sensor and RTK sensor, and calculate the positional offset and rotational offset values ​​from the imaging plate to the X-ray emitter based on the detection data. Specifically, this includes:

[0081] Step 3.1: Based on the latitude and longitude data detected by the RTK sensor and the pre-constructed imaging plate coordinate system and X-ray emitter coordinate system, calculate the position vector and rotation quaternion of the imaging plate and X-ray emitter in the geocentric coordinate system.

[0082] Because the detection data from RTK sensors is highly reliable, it is preferred to use this data to calculate the position vector and rotation quaternion. The calculation methods for the position vector and rotation quaternion of the imaging plate and X-ray emitter are the same.

[0083] The latitude and longitude data detected by the RTK sensor are converted into coordinates in the geocentric coordinate system, as follows:

[0084] ;

[0085] ;

[0086] in, and This represents the latitude and longitude data detected by two RTK sensors. These represent the x-axis, y-axis, and z-axis data after conversion from the latitude and longitude data of the first RTK sensor. These represent the x-axis, y-axis, and z-axis data after the latitude and longitude data from the second RTK sensor have been converted.

[0087] Based on the imaging plate coordinate system or X-ray emitter coordinate system, the position vector of the center of the imaging plate or X-ray emitter in the geocentric coordinate system is expressed as:

[0088] ;

[0089] in, This represents the position vector of the center of the imaging plate or X-ray emitter in the geocentric coordinate system. This represents the offset distance on the y-axis. The position of the imaging plate center or the X-ray emitter center in the geocentric coordinate system is the midpoint of the two RTK sensors, offset by a certain distance from the y-axis.

[0090] The rotation quaternion is represented as:

[0091] ;

[0092] in, Represents a rotation quaternion. Indicates the real part, Both represent the imaginary part.

[0093] The rotation quaternion The following formulas can be used to obtain the result:

[0094] ;

[0095] ;

[0096] ;

[0097] ;

[0098] in, Represents the position vector in the geocentric coordinate system The gravitational vector is expressed as... , express The gravitational acceleration at any given moment in the imaging plate coordinate system or the X-ray emitter coordinate system is expressed as: , Represents the weight parameters. , Represents a constant. express The acceleration detected by the inertial sensor at any given time. express Gravitational acceleration at all times in the imaging plate coordinate system or the X-ray emitter coordinate system This represents the y-axis direction vector of the imaging plate or X-ray emitter in the geocentric coordinate system, obtained by subtracting the coordinates of the two RTK sensors. This represents the y-axis direction vector in the imaging plate coordinate system or the X-ray emitter coordinate system. , This represents the x-axis direction vector of the imaging plate or X-ray emitter in the geocentric coordinate system, and is also related to... as well as Vertical and with a module length of 1, This represents the x-axis direction vector in the imaging plate coordinate system or the X-ray emitter coordinate system. .

[0099] Inertial sensors can measure gravitational acceleration; however, they can only measure linear acceleration. The linear acceleration measured by an inertial sensor equals the gravitational acceleration only when the object is at rest or in uniform motion. However, imaging panels or drones do not always maintain these states. Therefore, it is necessary to filter the linear acceleration of the inertial sensor to remove noise introduced by sudden acceleration. .

[0100] Step 3.2: Based on the detection data of the inertial sensor and the position vector and rotation quaternion of the imaging plate and X-ray emitter in the geocentric coordinate system, calculate the predicted position and rotation values ​​of the imaging plate and X-ray emitter.

[0101] If the detection data from the inertial sensor is obtained, the rotation prediction value is calculated using the Madgwick algorithm, and is expressed as:

[0102] ;

[0103] ;

[0104] ;

[0105] ;

[0106] ;

[0107] in, express The rotation prediction value at time 10:00. express The predicted acceleration value at time 10:00. The weight parameter represents a value between 0 and 1. express Predicted angular velocity at time [time]. express The updated value of the predicted angular velocity at time step. express Predicted angular velocity at time [time]. Represents a rotation quaternion. express The angular velocity detected by the inertial sensor at any given moment. express The angular velocity detected by the inertial sensor at any given moment. Represents the cross product of vectors. Indicates weight, , This indicates the moment when the rotation quaternion is obtained.

[0108] In this embodiment, When calculating linear acceleration using inertial sensors, the original linear acceleration data from the inertial sensors is not used; instead, filtered linear acceleration is used, as shown in step 3.1.

[0109] The predicted position value is calculated using the position vectors obtained at two time points, and is expressed as follows:

[0110] ;

[0111] ;

[0112] in, express Predicted location value at time. They represent The position vector at any given time.

[0113] If the detection data from the inertial sensor is not available, the calculation process for the rotation prediction value is as follows:

[0114] ;

[0115] in, express The rotation prediction value at time 10:00. express The angular velocity detected by the inertial sensor at any given time.

[0116] Step 3.3: Based on the predicted position and rotation values ​​of the imaging plate and the X-ray emitter, calculate the position offset and rotation offset values ​​of the imaging plate to the X-ray emitter.

[0117] The pose transformation from the geocentric coordinate system to the imaging plate coordinate system is expressed as follows: It includes the predicted position and rotation values ​​of the imaging plate.

[0118] The pose transformation from the geocentric coordinate system to the X-ray emitter coordinate system is expressed as follows: This includes the predicted position and rotation values ​​of the X-ray emitter.

[0119] The pose transformation from the imaging plate to the X-ray emitter is represented as follows:

[0120] ;

[0121] in, This represents the pose transformation from the imaging plate to the X-ray emitter.

[0122] Based on the pose transformation from the imaging plate to the X-ray emitter, rotation offset value and distance offset value are obtained. The position offset value from the imaging plate to the X-ray emitter is calculated based on the rotation offset value and distance offset value, so that after controlling the first UAV to move the position offset value and rotation offset value, the imaging plate is facing the X-ray emitter.

[0123] Step 4: Based on the position offset value and rotation offset value, control the first UAV and the take-up and take-down mechanism so that the imaging plate moves to the straight line where the X-ray emitter and the tension clamp are located.

[0124] Specifically, the position of the first drone is adjusted and the rope on the reel is wound up or down to move the imaging plate. The imaging plate is moved to the straight line where the X-ray emitter and the tension clamp are located. At this time, the X-ray emitter is facing the imaging plate and the tension clamp, and the imaging angle is optimal.

[0125] Step 5: Control the X-ray emitter to emit X-rays and receive imaging data from the imaging plate.

[0126] If the image quality does not meet the requirements, adjust the exposure time, readjust the position of the imaging plate, and retake the image. After photographing the tension clamp of the current conductor, first manipulate the second drone to move it directly in front of the tension clamp of the next conductor. Then, based on the positional relationship between the imaging plate and the X-ray transmitter, move the position of the first drone and adjust the position of the imaging plate by raising and lowering the rope, and take another image.

[0127] Step Six: Control the second drone to return, and control the retraction mechanism to retract before controlling the first drone to return.

[0128] After photographing the tension clamps of the three vertically distributed conductors, the second drone returned directly, while the first drone needed to retrieve the rope first to prevent the rope from getting tangled in other obstacles during the descent.

[0129] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0130] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0131] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0132] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0133] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An X-ray flaw detection system for a strain clamp, characterized by, The controller, the first unmanned aerial vehicle and the second unmanned aerial vehicle are included. A retractable mechanism (2) is installed at the lower end of the first unmanned aerial vehicle, and an imaging plate (1) is installed at the movable end of the retractable mechanism. An X-ray emitter (3) and a camera are installed at the lower end of the second unmanned aerial vehicle, and the emission direction of the X-ray emitter (3) is the same as the shooting direction of the camera. Inertial sensors and RTK sensors are installed on the imaging plate (1) and the X-ray emitter (3), the inertial sensors are used to detect the attitude data of the imaging plate (1) or the X-ray emitter (3), and the RTK sensors are used to detect the latitude and longitude data of the imaging plate (1) or the X-ray emitter (3). The first unmanned aerial vehicle, the second unmanned aerial vehicle, the retractable mechanism, the imaging plate, the X-ray emitter (3), the camera, the inertial sensors and the RTK sensors are all connected to the controller.

2. The x-ray inspection system for strain clamp according to claim 1, wherein, The retractable mechanism (2) includes a reel and a traction rope, the reel is installed at the lower end of the first unmanned aerial vehicle, one end of the traction rope is wound on the reel, and the other end is connected to the imaging plate (1).

3. The x-ray inspection system for strain clamp of claim 1, wherein, Two RTK sensors are installed on the imaging plate (1) and the X-ray emitter (3).

4. A method of inspection based on the X-ray inspection system according to any one of claims 1 to 3, characterized in that, The controller controls the first unmanned aerial vehicle to fly above the highest conductor, then controls the retractable mechanism to make the imaging plate descend to the strain clamp, controls the second unmanned aerial vehicle to fly above the highest conductor, then controls the X-ray emitter to face the strain clamp according to the shooting angle of the camera, obtains the detection data of the inertial sensors and the RTK sensors, and calculates the position offset value and the rotation offset value of the imaging plate to the X-ray emitter according to the detection data, controls the first unmanned aerial vehicle and the retractable mechanism to make the imaging plate move to the straight line where the X-ray emitter and the strain clamp are located according to the position offset value and the rotation offset value, controls the X-ray emitter to emit X-rays, and receives the imaging data of the imaging plate, controls the second unmanned aerial vehicle to return, and controls the first unmanned aerial vehicle to return after the retractable mechanism is retracted. The controller controls the first unmanned aerial vehicle to fly above the highest conductor, then controls the retractable mechanism to make the imaging plate descend to the strain clamp, controls the second unmanned aerial vehicle to fly above the highest conductor, then controls the X-ray emitter to face the strain clamp according to the shooting angle of the camera, obtains the detection data of the inertial sensors and the RTK sensors, and calculates the position offset value and the rotation offset value of the imaging plate to the X-ray emitter according to the detection data, controls the first unmanned aerial vehicle and the retractable mechanism to make the imaging plate move to the straight line where the X-ray emitter and the strain clamp are located according to the position offset value and the rotation offset value, controls the X-ray emitter to emit X-rays, and receives the imaging data of the imaging plate, controls the second unmanned aerial vehicle to return, and controls the first unmanned aerial vehicle to return after the retractable mechanism is retracted. The controller controls the first unmanned aerial vehicle to fly above the highest conductor, then controls the retractable mechanism to make the imaging plate descend to the strain clamp, controls the second unmanned aerial vehicle to fly above the highest conductor, then controls the X-ray emitter to face the strain clamp according to the shooting angle of the camera, obtains the detection data of the inertial sensors and the RTK sensors, and calculates the position offset value and the rotation offset value of the imaging plate to the X-ray emitter according to the detection data, controls the first unmanned aerial vehicle and the retractable mechanism to make the imaging plate move to the straight line where the X-ray emitter and the strain clamp are located according to the position offset value and the rotation offset value, controls the X-ray emitter to emit X-rays, and receives the imaging data of the imaging plate, controls the second unmanned aerial vehicle to return, and controls the first unmanned aerial vehicle to return after the retractable mechanism is retracted. The controller controls the first unmanned aerial vehicle to fly above the highest conductor, then controls the retractable mechanism to make the imaging plate descend to the strain clamp, controls the second unmanned aerial vehicle to fly above the highest conductor, then controls the X-ray emitter to face the strain clamp according to the shooting angle of the camera, obtains the detection data of the inertial sensors and the RTK sensors, and calculates the position offset value and the rotation offset value of the imaging plate to the X-ray emitter according to the detection data, controls the first unmanned aerial vehicle and the retractable mechanism to make the imaging plate move to the straight line where the X-ray emitter and the strain clamp are located according to the position offset value and the rotation offset value, controls the X-ray emitter to emit X-rays, and receives the imaging data of the imaging plate, controls the second unmanned aerial vehicle to return, and controls the first unmanned aerial vehicle to return after the retractable mechanism is retracted. The controller controls the first unmanned aerial vehicle to fly above the highest conductor, then controls the retractable mechanism to make the imaging plate descend to the strain clamp, controls the second unmanned aerial vehicle to fly above the highest conductor, then controls the X-ray emitter to face the strain clamp according to the shooting angle of the camera, obtains the detection data of the inertial sensors and the RTK sensors, and calculates the position offset value and the rotation offset value of the imaging plate to the X-ray emitter according to the detection data, controls the first unmanned aerial vehicle and the retractable mechanism to make the imaging plate move to the straight line where the X-ray emitter and the strain clamp are located according to the position offset value and the rotation offset value, controls the X-ray emitter to emit X-rays, and receives the imaging data of the imaging plate, controls the second unmanned aerial vehicle to return, and controls the first unmanned aerial vehicle to return after the retractable mechanism is retracted. ​ ​ 5. The detection method according to claim 4, characterized in that, ​ ​ ​ ​ 6. The detection method according to claim 5, characterized in that, ​ ​ ； ； wherein, and denote the longitude and latitude data detected by two RTK sensors, denote the converted x-axis, y-axis, z-axis data of the longitude and latitude data of the first RTK sensor, respectively, denote the converted x-axis, y-axis, z-axis data of the longitude and latitude data of the second RTK sensor, respectively; Based on the imaging plate coordinate system or the X-ray emitter coordinate system, the position vector of the center of the imaging plate or the X-ray emitter in the geocentric coordinate system is represented as: ； wherein, represents a position vector of the center of the imaging panel or the X-ray emitter in the geocentric coordinate system, represents an offset distance in the y-axis; The rotation quaternion is represented as: ； wherein represents a rotation quaternion, represents a real part, all represent an imaginary part; the rotation quaternion are solved simultaneously by the following equations: ； ； ； ； wherein, a position vector in the geocentric coordinate system a gravity vector of the position vector , denotes a gravity acceleration at the imaging plate coordinate system or the x-ray emitter coordinate system at the time t, is denoted by , denotes a weight parameter, denotes a detected acceleration of the inertial sensor at the time t, denotes a gravity acceleration at the imaging plate coordinate system or the x-ray emitter coordinate system at the time t, denotes a y-axis direction vector of the imaging plate or the x-ray emitter in the geocentric coordinate system, denotes a y-axis direction vector in the imaging plate coordinate system or the x-ray emitter coordinate system, denotes a x-axis direction vector of the imaging plate or the x-ray emitter in the geocentric coordinate system, denotes a x-axis direction vector in the imaging plate coordinate system or the x-ray emitter coordinate system.

7. The detection method according to claim 5, characterized in that, Based on the detection data of the inertial sensor, the position vector and the rotation quaternion of the imaging plate and the X-ray emitter in the geocentric coordinate system, the position prediction value and the rotation prediction value of the imaging plate and the X-ray emitter are calculated, including: If the detection data of the inertial sensor is obtained, the rotation prediction value is calculated by the Madgwick algorithm, represented as: ； ； ； ； ； wherein, represents a rotation prediction value at a time instant, represents an acceleration prediction value at a time instant, represents a weight parameter between 0 and 1, represents an angular velocity prediction value at a time instant, represents an update value of the angular velocity prediction value at a time instant, represents an angular velocity prediction value at a time instant, represents a rotation quaternion, represents an angular velocity detected by an inertial sensor at a time instant, represents an angular velocity detected by an inertial sensor at a time instant, represents a cross product of vectors, represents a weight, , represents a time instant at which the rotation quaternion is obtained; The position prediction value is calculated by the position vector calculated at two time instants, represented as: ； ； wherein denotes a position prediction value at a time instant, denotes a position vector at a time instant; If the detection data of the inertial sensor is not obtained, the calculation process of the rotation prediction value is represented as: ； wherein, represents the rotation prediction value at the time point, represents the angular velocity detected by the inertial sensor at the time point.

8. The method of claim 5, wherein, Based on the position prediction value and the rotation prediction value of the imaging plate and the X-ray emitter, the position offset value and the rotation offset value of the imaging plate to the X-ray emitter are calculated, including: The pose transformation of the geocentric coordinate system to the imaging plate coordinate system is expressed as which includes a position prediction value and a rotation prediction value of the imaging plate; The pose transformation from the geocentric coordinate system to the X-ray emitter coordinate system is denoted as which comprises a position prediction value and a rotation prediction value of the X-ray emitter; The pose transformation of the imaging plate to the X-ray emitter is represented as: ； wherein, represents the pose transformation of the imaging plate to the X-ray emitter; Based on the pose transformation of the imaging plate to the X-ray emitter, the rotation offset value and the distance offset value are obtained, and the position offset value of the imaging plate to the X-ray emitter is calculated according to the rotation offset value and the distance offset value, so that after the first unmanned aerial vehicle moves the position offset value and the rotation offset value, the imaging plate is directly opposite the X-ray emitter.

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