Power transmission line partial discharge unmanned aerial vehicle inspection device

Abstract

The invention discloses a power transmission line partial discharge unmanned aerial vehicle inspection device, and belongs to the technical field of power transmission line detection.The inspection device comprises a plurality of fixing rings, the fixing rings are linearly arranged, connecting rods are arranged on the side edges of the fixing rings for connection, and the fixing rings and the connecting rods are assembled to form a frame structure; an unmanned aerial vehicle assembly is installed on the frame structure to achieve flight, a detector is assembled in the frame structure, an adjusting mechanism is assembled on the frame structure, and a set of pulleys are symmetrically arranged on the adjusting mechanism. Forward power is provided through an unmanned aerial vehicle propeller. The device carries the pulley through the adjusting mechanism, can be stably lapped on the power transmission line to slide, can continuously advance along the line in cooperation with advancing power provided by an unmanned aerial vehicle propeller, and solves the problems that a traditional unmanned aerial vehicle is prone to being interfered by airflow during hovering detection, and the detection range is limited.

Description

Technical Field

[0001] This invention belongs to the field of power transmission line inspection technology, specifically relating to a UAV inspection device for partial discharge of power transmission lines. Background Technology

[0002] With the continuous expansion of the power grid, the total length of 110kV and above transmission lines in my country has exceeded 1.8 million kilometers. As the core carrier of power transmission, the safe operation of transmission lines is directly related to the stable and reliable power supply of the power system. Partial discharge is an important early warning signal of insulation defects in transmission lines. Timely and accurate detection of partial discharge points is a key link to avoid the expansion of line faults and reduce the risk of unplanned outages. Traditional manual inspection methods are greatly limited by terrain and weather conditions, which is not only inefficient (high cost per kilometer of inspection) but also difficult to achieve comprehensive coverage in complex terrain areas such as high mountains and river crossings, making it difficult to accurately identify early partial discharge hazards.

[0003] Furthermore, while some inspection devices integrate detection functions, they still have shortcomings in terms of operational safety and data traceability. For example, Chinese invention patent CN117451953A discloses an overhead line conductor inspection flaw detector, which detects conductor defects through a detection probe. However, this device lacks a stable connection structure with the transmission line, making it unable to autonomously travel along the line for inspection. It also lacks an anti-slip limiting mechanism, making it prone to positional shifts when operating on inclined lines, affecting detection accuracy. Simultaneously, most existing inspection devices do not integrate mileage measurement functions. Even if a partial discharge signal is detected, it is difficult to accurately trace the mileage of the discharge point, causing inconvenience for subsequent maintenance work.

[0004] Furthermore, strong electromagnetic environments can cause attenuation of UAV control signals. Traditional hovering inspections are prone to signal instability under UHV lines. While sliding inspections along the line can shorten the distance between the detection components and the conductor, reducing signal transmission loss, existing sliding inspection devices suffer from inconvenient pulley spacing adjustment, cannot adapt to conductors of different specifications, and have low integration of power supply and detection modules, resulting in complex operation processes. Therefore, there is an urgent need to develop a UAV inspection device for partial discharge of power transmission lines that combines flexibility, stable travel capability, precise positioning, and high-efficiency detection performance to solve the problems of poor versatility, insufficient detection continuity, and ambiguous discharge point location in existing technologies. Summary of the Invention

[0005] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0006] To address the problems mentioned in the background section, the present invention adopts the following technical solution.

[0007] A UAV inspection device for partial discharge of power transmission lines includes multiple fixed rings arranged linearly. The fixed rings are connected by connecting rods on their sides, and the fixed rings and connecting rods are assembled to form a frame structure. A UAV component is mounted on the frame structure to enable flight, and a detector is installed inside the frame structure. An adjustment mechanism is mounted on the frame structure, and a set of pulleys is symmetrically arranged on the adjustment mechanism. In use, the device is driven close to the power transmission line by the UAV propellers, and slides on the power transmission line by connecting with the pulleys. If necessary, the UAV propellers provide forward propulsion.

[0008] Preferably, the adjustment mechanism includes a pair of mounting brackets, with one end of the mounting bracket fixed to a fixing ring on the edge and the other end of the mounting bracket fixed to a fixing ring in the middle. The end of the mounting bracket is rotatably connected to a first bracket by a pin seat, and a pulley is connected to one side of the end of the first bracket by a bearing.

[0009] Preferably, a screw is rotatably connected to the upper surface of the mounting bracket by a bearing, the threads on a pair of screws are opposite in direction, and a threaded sleeve is threaded to the screw, and a second bracket is rotatably connected to the threaded sleeve by a pin, the upper end of the second bracket being pinned to the waist of the first bracket by a pin.

[0010] Preferably, a motor is mounted on the lower surface of one of the mounting brackets, and the drive end of the motor is connected to the end of one of the screws by a belt, and the screws are connected to each other by a short shaft.

[0011] Preferably, a wheel rim conversion plate is connected to the other side of one of the first brackets via a bearing, and a connecting shaft is provided at the center of the wheel rim conversion plate to connect with the center of the pulley on the first bracket. A wheel speed sensor is mounted on one side of the wheel rim conversion plate and is fixed on the first bracket. When the pulley travels on the power transmission line, it synchronously drives the wheel rim conversion plate to rotate. When the wheel rim conversion plate rotates, the wheel speed sensor records the number of rotations.

[0012] Preferably, a limiting component is assembled on the other side of another first bracket. The limiting component consists of a ratchet and ratchet teeth, wherein the ratchet is connected to the center of the pulley on the first bracket via a coupling shaft, and the ratchet teeth are fixed on the first bracket and mesh with the ratchet.

[0013] Preferably, the drone component includes a cantilever fixed to a fixed ring, with a connecting rod passing through the cantilever, a driver mounted on the upper surface of the cantilever, and a drone propeller intercepted at the driving end of the driver.

[0014] Preferably, the detector includes a circuit board, and an ultrasonic collector is provided at one end of the circuit board. The ultrasonic collector is located at one end of the frame structure and protrudes. The inspection device uses the ultrasonic collector to detect and expose partial discharge points during its travel on the power transmission line.

[0015] Preferably, the circuit board is further provided with a signal sensing module, a data processing module and a power supply module, and the signal sensing module, the data processing module, the power supply module and the ultrasonic acquisition device are connected by signals.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: (1) In this invention, the device is equipped with pulleys through an adjustment mechanism, which can be stably attached to and slide on the power transmission line. With the forward propulsion provided by the UAV propellers, it can continuously move along the line, solving the problems of traditional UAV hovering detection being easily affected by airflow interference and having a limited detection range, and greatly improving the continuity and accuracy of partial discharge detection. At the same time, the screw and sleeve with reverse threads in the adjustment mechanism can drive the second support to move, thereby adjusting the angle of the first support, realizing flexible adjustment of the pulley spacing and height, adapting to power transmission lines of different specifications, and enhancing the versatility of the device.

[0017] (2) In this invention, when the pulley rotates, it synchronously drives the wheel rim conversion plate to rotate. The wheel speed sensor can record the number of rotations of the wheel rim conversion plate. Combined with the pulley circumference, the travel distance of the device along the line can be calculated, which is convenient for accurately locating the position of the partial discharge point and providing a clear directional basis for subsequent line maintenance, thereby improving the efficiency of fault diagnosis. Furthermore, the ratchet and ratchet teeth of the limiting component mesh to restrict the pulley from rotating in the opposite direction, preventing the device from slipping on the transmission line due to wind or its own weight, ensuring the stability and safety of the inspection process, and preventing the device from falling off or the detection trajectory from deviating.

[0018] (3) The device of the present invention integrates the UAV flight component, the partial discharge detection component and the hanging walking structure into the same frame. It can complete the whole process of "flying and hanging the line - inspecting along the line - collecting partial discharge signals" without the need for additional equipment assistance. This simplifies the inspection operation steps, reduces the cost of manpower and equipment investment, and the ultrasonic collector protrudes from one end of the frame structure. When the device travels along the line, it can contact the surface of the transmission line and the surrounding area at a closer distance, reduce signal transmission loss, improve the sensitivity and accuracy of partial discharge ultrasonic signal collection, and help to detect potential line insulation defects in a timely manner. Attached Figure Description

[0019] Figure 1 The overall structure of the inspection device in this invention Figure 1 .

[0020] Figure 2 The overall structure of the inspection device in this invention Figure 2 .

[0021] Figure 3 The overall structure of the inspection device in this invention Figure 3 .

[0022] Figure 4 This is a top view of the inspection device in this invention.

[0023] Figure 5 This is a side view of the inspection device in this invention.

[0024] Figure 6 This is a front view of the inspection device in this invention.

[0025] Figure 7 The sliding mechanism structure in this invention Figure 1 .

[0026] Figure 8 The sliding mechanism structure in this invention Figure 2 .

[0027] Figure 9 This is a structural diagram of the detector in this invention.

[0028] The correspondence between the labels and component names in the attached figures is as follows: 100. Fixing ring; 101. Connecting rod; 102. Cantilever; 103. UAV propeller; 104. Mounting bracket; 104a. Screw; 104b. Motor; 105. Screw sleeve; 105a. First bracket; 105b. Second bracket; 106. Pulley; 106a. Limiting assembly; 106b. Wheel rim conversion plate; 106c. Wheel speed sensor; 107. Detector; 107a. Circuit board; 107b. Signal sensor module; 107c. Data processing module; 107d. Power supply module; 107e. Ultrasonic acquisition device. Detailed Implementation

[0029] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0030] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0031] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places throughout this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that mutually excludes other embodiments. The present invention provides the following embodiments.

[0032] See Figure 1-3 This diagram illustrates the structure of a UAV inspection device for partial discharge of power transmission lines in this embodiment. The device includes multiple fixed rings 100 arranged linearly. Connecting rods 101 are provided on the sides of each fixed ring 100 for connection. The connecting rods 101 and the fixed rings 100 are rigidly connected by welding or bolting, ensuring that the assembled frame structure has sufficient mechanical strength to withstand wind loads and vibrations during outdoor high-altitude inspections. A UAV component is mounted on the frame structure for flight functionality, and a detector 107 is installed within the frame structure for collecting and analyzing partial discharge signals from the power transmission line. The frame structure is equipped with an adjustment mechanism, and a set of pulleys 106 are symmetrically arranged on the adjustment mechanism. The wheel surface of the pulleys 106 is made of wear-resistant and insulating rubber material, which can not only avoid discharge when in contact with the power transmission line, but also improve the service life of the pulleys 106. In use, the rotation of the drone propellers 103 generates lift to drive the device to the vicinity of the power transmission line. The operator can adjust the attitude of the device through remote control, and then use the pulleys 106 to smoothly slide on the power transmission line. If necessary, the differential rotation of the drone propellers 103 provides forward power to drive the device to move at a constant speed along the power transmission line, ensuring the continuity of the inspection operation.

[0033] See Figure 7The adjustment mechanism of this embodiment includes a pair of mounting brackets 104, with one end of the mounting bracket 104 fixed to the edge fixing ring 100 and the other end of the mounting bracket 104 fixed to the middle fixing ring 100. The mounting bracket 104 and the fixing ring 100 are connected by a flange for easy disassembly and maintenance. The end of the mounting bracket 104 is rotatably connected to the first bracket 105a by a pin seat. A wear-resistant bushing is provided in the pin seat to reduce friction loss when the first bracket 105a rotates. The pulley 106 is connected to one side of the end of the first bracket 105a by a bearing. The bearing is a sealed deep groove ball bearing, which can effectively prevent outdoor dust and rainwater from entering and ensure the flexibility of the pulley 106 rotation. The upper surface of the mounting bracket 104 is rotatably connected to a screw 104a via a bearing. The threads on a pair of screws 104a are opposite in direction, and a threaded sleeve 105 is threadedly connected to the screw 104a. The inner wall of the threaded sleeve 105 is provided with an internal thread that matches the screw 104a, ensuring that the threaded sleeve 105 can move smoothly along the axial direction of the screw 104a. A second bracket 105b is rotatably connected to the threaded sleeve 105 via a pin. The upper end of the second bracket 105b is pinned to the waist of the first bracket 105a via a pin, forming a linkage structure. One of the mounting brackets 104 has a motor 104b mounted on its lower surface. The motor 104b is a miniature geared motor, which has the characteristics of high torque and stable speed. The drive end of the motor 104b is connected to the end of one of the screws 104a by a belt. The screws 104a are connected by a short shaft. The two ends of the short shaft are fixed to the screws 104a by couplings, which ensures that when the motor 104b is driven, a pair of screws 104a can rotate synchronously in opposite directions, thereby driving two screw sleeves 105 to move towards or away from each other along the screws 104a. The swing angle of the first bracket 105a is adjusted by the transmission of the second bracket 105b, so as to realize the flexible adjustment of the distance between the pulleys 106 to adapt to the transmission lines of different diameter specifications.

[0034] See Figure 8In this embodiment, one side of the first bracket 105a is connected to a wheel rim conversion plate 106b via a bearing. The wheel rim conversion plate 106b is made of lightweight metal, and its outer circumference is evenly provided with several tooth-like protrusions to facilitate the wheel speed sensor 106c to accurately identify the number of rotations. A connecting shaft is provided at the center of the wheel rim conversion plate 106b to connect with the center of the pulley 106 on the first bracket 105a, ensuring that the pulley 106 and the wheel rim conversion plate 106b rotate synchronously. A wheel speed sensor 106c is mounted on one side of the wheel rim conversion plate 106b. c uses a Hall effect sensor, which has the advantages of fast response speed and high measurement accuracy. The wheel speed sensor 106c is fixed on the first bracket 105a. When the pulley 106 moves on the power line, it synchronously drives the wheel rim conversion plate 106b to rotate. When the wheel rim conversion plate 106b rotates, its toothed protrusions will periodically approach and move away from the wheel speed sensor 106c, triggering the sensor to generate pulse signals. By counting the pulse signals using the wheel speed sensor 106c, the number of rotations can be recorded. Combined with the circumference parameter of the pulley 106, the travel distance of the device can be accurately calculated. Another first bracket 105a is equipped with a limiting component 106a on the other side. The limiting component 106a consists of a ratchet and a ratchet tooth. The ratchet is connected to the center of the pulley 106 on the first bracket 105a through a coupling shaft. The ratchet tooth is fixed on the first bracket 105a and meshes with the ratchet. This one-way limiting structure can restrict the pulley 106 from rotating in the opposite direction, preventing the device from slipping backward due to gravity on the inclined power transmission line, and ensuring the stability and safety of the inspection process.

[0035] See Figure 4 , Figure 5 and Figure 6 The drone component in this embodiment includes a cantilever 102 fixed on a fixing ring 100. The cantilever 102 is made of high-strength carbon fiber, which has the characteristics of being lightweight and highly rigid, and can effectively reduce the overall weight of the device. The connecting rod 101 passes through the cantilever 102, further improving the connection strength between the cantilever 102 and the frame structure. The upper surface of the cantilever 102 is equipped with a driver. The driver uses a brushless motor, which has the characteristics of low operating noise and long endurance. The drive end of the driver is connected to a drone propeller 103. The drone propeller 103 adopts an efficient airfoil design, which can generate sufficient lift at low speeds to meet the power requirements of the device for flight and travel.

[0036] See Figure 1 and Figure 9The detector 107 in this embodiment includes a circuit board 107a. Various electronic components are integrated on the circuit board 107a using a surface mount technology, which reduces the size while improving signal transmission efficiency. An ultrasonic collector 107e is provided at the end of the circuit board 107a. The ultrasonic collector 107e is a high-sensitivity ultrasonic sensor, and the ultrasonic collector 107e is located at one end of the frame structure and protrudes, so that it can be closer to the surface of the power transmission line. During the inspection device's movement on the power transmission line, the ultrasonic collector 107e is used to capture the ultrasonic signals generated by partial discharge in real time, thereby accurately detecting and locating the partial discharge point. The circuit board 107a is also equipped with a signal sensing module 107b, a data processing module 107c, and a power supply module 107d. The signal sensing module 107b is used to perform preliminary filtering and amplification on the raw signal acquired by the ultrasonic acquisition device 107e. The data processing module 107c has a built-in dedicated algorithm that can extract and analyze features from the processed signal to determine the severity of partial discharge. The power supply module 107d uses a large-capacity lithium battery pack to provide a stable power supply for the entire detector 107 and other electrical components of the device. Furthermore, the signal sensing module 107b, the data processing module 107c, the power supply module 107d, and the ultrasonic acquisition device 107e are connected by shielded wires to reduce the impact of external electromagnetic interference on the detection signal.

[0037] The above description, in conjunction with specific embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, several simple deductions or substitutions can be made without departing from the concept of the present invention, and all such deductions or substitutions should be considered to fall within the scope of protection defined by the claims submitted herein.

Claims

1. A UAV inspection device for partial discharge of power transmission lines, comprising multiple fixed rings (100) arranged linearly, wherein the fixed rings (100) are connected by connecting rods (101) on their sides, and the fixed rings (100) and connecting rods (101) are assembled to form a frame structure, a UAV component is mounted on the frame structure to enable flight, and a detector (107) is assembled inside the frame structure, characterized in that: The frame structure is equipped with an adjusting mechanism, and a group of pulleys (106) are symmetrically arranged on the adjusting mechanism. In use, the device is driven by the unmanned aerial propeller (103) to approach the power transmission line, and the pulleys (106) are overlapped on the power transmission line to slide, and the unmanned aerial propeller (103) provides forward power when necessary.

2. The transmission line partial discharge unmanned plane inspection device according to claim 1, characterized in that: The adjusting mechanism comprises a pair of mounting frames (104), one end of the mounting frame (104) is fixed on the edge of the fixed ring (100), the other end of the mounting frame (104) is fixed on the middle of the fixed ring (100), the end of the mounting frame (104) is rotatably connected with the first support (105a) by a pin seat, and the pulley (106) is connected on one side of the end of the first support (105a) by a bearing. 3.The transmission line partial discharge unmanned plane inspection device according to claim 2, characterized in that: The upper surface of the mounting frame (104) is rotatably connected with a screw rod (104a) by a bearing, the screw threads on the pair of screw rods (104a) are opposite in screw direction, a screw sleeve (105) is threadedly connected on the screw rod (104a), the second support (105b) is rotatably connected on the screw sleeve (105) by a pin shaft, and the upper end of the second support (105b) is pinned with the waist of the first support (105a).

4. The transmission line partial discharge unmanned plane inspection device according to claim 3, characterized in that: The lower surface of one of the mounting frames (104) is equipped with a motor (104b), and the driving end of the motor (104b) is sleeved with the end of one of the screw rods (104a) by a belt, and the screw rods (104a) are connected by a short shaft.

5. The transmission line partial discharge unmanned plane inspection device according to claim 2, characterized in that: The other side of one of the first supports (105a) is connected with a wheel rim conversion piece (106b) by a bearing, the center of the wheel rim conversion piece (106b) is provided with a connecting shaft connected with the center of the pulley (106) on the first support (105a), a wheel speed sensor (106c) is arranged on one side of the wheel rim conversion piece (106b), and the wheel speed sensor (106c) is fixed on the first support (105a). When the pulley (106) travels on the power transmission line, the wheel rim conversion piece (106b) is driven to rotate synchronously, and the wheel rim conversion piece (106b) records the number of turns by the wheel speed sensor (106c) when rotating. 6.The transmission line partial discharge unmanned plane inspection device according to claim 2, characterized in that: The other side of the other first support (105a) is equipped with a limiting assembly (106a) composed of a ratchet and a ratchet tooth, the ratchet is connected with the center of the pulley (106) on the first support (105a) by a connecting shaft, and the ratchet tooth is fixed on the first support (105a) and engaged with the ratchet.

7. The transmission line partial discharge unmanned plane inspection device according to claim 6, characterized in that: The unmanned aerial vehicle assembly comprises a cantilever (102) fixed on the fixed ring (100), and a connecting rod (101) penetrating the cantilever (102), the upper surface of the cantilever (102) is equipped with a drive, and the driving end of the drive is intercepted with an unmanned aerial propeller (103). 8.The transmission line partial discharge unmanned plane inspection device according to claim 1, characterized in that: The detector (107) comprises a circuit board (107a), an end of the circuit board (107a) is provided with an ultrasonic collector (107e), and the ultrasonic collector (107e) is located at one end of the frame structure and protrudes, and the ultrasonic collector (107e) is used for detecting and exposing a partial discharge point during the patrol device travels on the power transmission line.

9. The transmission line partial discharge unmanned plane inspection device according to claim 8, characterized in that: The circuit board (107a) is further provided with a signal sensing module (107b), a data processing module (107c) and a power supply module (107d), and the signal sensing module (107b), the data processing module (107c), the power supply module (107d) and the ultrasonic collector (107e) are signal connected.

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