Single-wire X-ray detection robot and online detection method and control system thereof

Abstract

The invention belongs to the technical field of power transmission line detection, and discloses a single-wire X-ray detection robot and an online detection method and control system thereof. The single-wire X-ray detection robot comprises a main support, a walking mechanism, an imaging mechanism and a quick release mechanism. Wherein the two walking mechanisms are connected to the two ends of the main support respectively, the walking mechanisms are used for advancing along a wire, and the area, between the two walking mechanisms, of part of the main support forms an imaging area; the imaging mechanism is arranged opposite to the imaging area and is used for shooting a pre-detection area of a lead in the imaging area or a to-be-detected piece to form a detection image; the quick release mechanism is detachably connected with the two walking mechanisms and the imaging mechanism, and the main support and the quick release mechanism form a triangle. According to the invention, the problem that the high efficiency of operation cannot be ensured by a climbing shooting mode in the traditional power transmission line detection is solved, the labor difficulty requirement and intensity of workers are reduced, and the radiation risk and the climbing operation risk are avoided.

Description

Technical Field

[0001] This invention relates to the field of power transmission line inspection technology, and in particular to a single conductor X-ray inspection robot and its online inspection method and control system. Background Technology

[0002] Overhead transmission lines are the main form of power transmission, and their health status is related to the reliability and security of the power grid.

[0003] During long-term operation, conductors and their crimping fittings (such as tension clamps, splicing tubes, suspension clamps, etc.) are subjected to harsh external environmental factors such as wind vibration, galloping, icing, lightning strikes, overload, and material aging, which may cause internal damage (such as broken steel core strands, damaged aluminum strands, internal cracks and voids caused by poor crimping, overheating oxidation, etc.). These internal defects pose potential safety hazards and can easily lead to wire breakage and disconnection accidents, causing power outages and even personal injury.

[0004] Traditional tension clamp inspection methods rely on taking photos from heights, which cannot guarantee the efficiency of the operation. At the same time, it requires high labor intensity and involves serious drawbacks such as radiation risks and risks associated with working at heights. Summary of the Invention

[0005] This invention provides a single-conductor X-ray inspection robot and its online inspection method and control system to solve the problem that the traditional high-altitude shooting method for power transmission line inspection cannot guarantee the efficiency of the operation, while reducing the labor difficulty and intensity of workers, avoiding radiation risks and high-altitude operation risks; and taking into account the technical problems of stability and reliability.

[0006] To address the aforementioned technical problems, this invention provides a single-lead X-ray inspection robot, comprising: a main support, an imaging mechanism, and a walking mechanism and a quick-release mechanism mounted on the main support;

[0007] The two walking mechanisms are respectively disposed at both ends of the main support. The walking mechanisms are used to travel along the guide wire. The area formed by the two walking mechanisms in the main support serves as the imaging area.

[0008] The imaging mechanism is disposed opposite to the imaging area and is used to form a detection image by photographing the pre-detection area of ​​the wire or the object to be detected within the imaging area.

[0009] The quick-release mechanism is detachably connected to the two walking mechanisms and the imaging mechanism respectively, and the main support and the quick-release mechanism form a triangular structure.

[0010] As a preferred embodiment, the walking mechanism includes a walking wheel and guard wheels located at both ends of the walking wheel. The walking wheel has a limiting groove for accommodating the wire, and the outer diameter of the guard wheel is larger than the maximum outer diameter of the walking wheel.

[0011] As a preferred embodiment, the outer diameter of the guard wheel gradually increases from the side that contacts the walking wheel to the other side.

[0012] As a preferred embodiment, the walking mechanism further includes a drive shaft and a drive member. The drive shaft passes through the walking wheel and the guard wheel. The drive member is connected to the main support and is connected to the drive shaft to drive the drive shaft to rotate, so that the walking wheel travels along the guide wire. The drive member is located on one side of the walking wheel along the axial direction.

[0013] As a preferred embodiment, the quick-release mechanism includes two connecting rods, one end of which is detachably connected to the two main supports, and the other end of which is detachably connected to the imaging mechanism.

[0014] As a preferred embodiment, one end of the connecting rod is provided with a first connecting component, the first connecting component including a first insert and a first locking member, the first insert being inserted into the walking mechanism or the main support, the first locking member passing through the connecting rod, the insert being connected to the walking mechanism or the main support, and the width of the first insert gradually decreasing along the insertion direction.

[0015] As a preferred embodiment, the first connecting assembly further includes a first reinforcing member sleeved on the connecting rod, the first insert being disposed on the first reinforcing member, and the first connecting assembly further includes a housing connected to the main bracket, the housing having a guide groove, and the first reinforcing member being disposed within the guide groove.

[0016] As a preferred embodiment, the other end of the connecting rod is provided with a second connecting assembly, the second connecting assembly including a second insert and a second locking member, the second insert being slidably connected to the connecting rod along the axial direction, the second insert being inserted into the imaging mechanism, the second locking member passing through the connecting rod, the second insert being connected to the imaging mechanism, and the width of the second insert gradually decreasing along the insertion direction.

[0017] As a preferred embodiment, two cameras are respectively installed on the main support near the two walking mechanisms, and the cameras capture images of the wires being picked up.

[0018] As a preferred embodiment, the main support is equipped with an antenna, and the imaging mechanism and the camera can transmit image information to the ground processing terminal via the wireless signal of the antenna.

[0019] Accordingly, the present invention also provides an online detection method, applied to a single-lead X-ray inspection robot as described in any of the above claims, comprising:

[0020] Images of the conductor are acquired using a camera and imaging mechanism;

[0021] The conductor image is preprocessed, and key points are extracted from the preprocessed conductor image. Based on the extracted key points, the target to be detected in the conductor image is identified.

[0022] The target to be detected is subjected to contour extraction, and the extracted contour is optimized to locate the vertex position of the optimized contour.

[0023] Based on the vertex positions, the original conductor image is segmented, and based on the key points of the image, the extracted contours are marked in the segmented conductor image to obtain a detection image;

[0024] The detected image is transmitted to a ground processing terminal so that the ground processing terminal can perform detection on the detected image.

[0025] As a preferred embodiment, acquiring the conductor image via a camera and imaging mechanism specifically includes:

[0026] Using a camera, capture images of the forward guide wire and the rear guide wire at both ends of the main support.

[0027] The imaging mechanism captures an image of the conductor under test in the imaging plate area formed in the middle of the main support.

[0028] The traverse images include: forward traverse image, backward traverse image, and imaging traverse image.

[0029] As a preferred embodiment, the detected image includes: a forward detection image, a backward detection image, and an imaging detection image; the ground processing terminal performs detection on the detected image, specifically including:

[0030] Display the outlines of the conductors marked in the forward detection image, the backward detection image, and the imaging detection image;

[0031] Based on the conductor outline in the forward detection image, the system determines in real time whether there are abrupt changes in the conductor outline during the forward movement; if abrupt changes are found, a shutdown alarm is triggered.

[0032] Based on the rear-detected image and the current positioning information, the forward speed is calculated during the forward movement, and the current position is displayed in real time.

[0033] Based on the conductor contour in the imaging detection image, it is determined in real time whether there are abrupt changes in the conductor contour during the forward movement; if there are abrupt changes, the key points of the image in the imaging detection image are extracted again, and the type of equipment on the conductor is identified based on the key points of the image.

[0034] As a preferred embodiment, the preprocessing of the conductor image specifically includes:

[0035] Gaussian filtering is applied to the acquired conductor image to obtain a denoised conductor image;

[0036] Image enhancement is performed on the denoised conductor image based on the preset histogram to obtain the preprocessed conductor image.

[0037] As a preferred embodiment, the step of extracting key points from the preprocessed conductor image and identifying the target to be detected in the conductor image based on the extracted key points specifically includes:

[0038] According to the preset edge detection algorithm, edge detection is performed on the preprocessed conductor image, and binarization is performed through threshold segmentation to obtain a binarized image;

[0039] Edge points are extracted from the binarized image to obtain key points of the image;

[0040] Based on the key points of the image, identify the conductor, imaging plate area and / or conductor device in the conductor image as the target to be detected.

[0041] As a preferred embodiment, the step of extracting the contour of the target to be detected, optimizing the extracted contour, and locating the vertex positions of the optimized contour specifically includes:

[0042] The contour of the target to be detected is extracted using a contour extraction algorithm to obtain the target contour; wherein, the target contour includes: wire contour, imaging plate area contour and / or wire device contour;

[0043] The target contour is simplified into a polygon, and each vertex of the simplified target contour is extracted. Each vertex is then located in the original guide wire image to obtain the vertex position.

[0044] As a preferred embodiment, the step of marking the extracted contour in the cut wire image based on the key points of the image to obtain the detection image specifically includes:

[0045] Based on the key points of the image, the extracted wire outline, imaging plate area outline and / or wire device outline are marked in the cut wire image, and the image within the imaging plate area and its wire outline, imaging plate area outline and / or wire device outline are used as the detection image.

[0046] Accordingly, the present invention also provides a control system, comprising: a ground processing terminal and a single-lead X-ray inspection robot as described in any of the above;

[0047] The ground processing terminal and the single-wire X-ray inspection robot are wirelessly connected via an antenna.

[0048] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0049] The technical solution of this invention enables movement along the conductor via two forward and backward traveling mechanisms, enhancing flexibility and autonomous inspection. Simultaneously, an imaging zone is formed in the main support area located between the two traveling mechanisms. The imaging mechanism acquires an image of the interior of the object under test, thereby completing the pre-inspection of the conductor area located in the imaging zone or photographing the object under test. A quick-release mechanism allows for rapid installation and disassembly of the traveling and imaging mechanisms, facilitating transportation and storage. Furthermore, the triangular structure formed by the main support and the quick-release mechanism enhances overall structural stability. In summary, this inspection device solves the problem of insufficient efficiency in traditional high-altitude photography methods for power transmission line inspection, while reducing the labor difficulty and intensity for workers and avoiding radiation and high-altitude operation risks. Attached Figure Description

[0050] Figure 1 : A schematic diagram of the structure of the single-lead X-ray inspection robot provided in an embodiment of the present invention;

[0051] Figure 2 : Front view of the single-wire X-ray inspection robot provided in an embodiment of the present invention;

[0052] Figure 3 : Rear view of the single-lead X-ray inspection robot provided in an embodiment of the present invention;

[0053] Figure 4 : An exploded view of the walking mechanism provided in an embodiment of the present invention;

[0054] Figure 5 : An exploded view of the first connecting component provided in an embodiment of the present invention;

[0055] Figure 6 : An exploded view of the second connecting component provided in an embodiment of the present invention;

[0056] Figure 7 : A schematic diagram of the connection between the shielding box and part of the second connecting components provided in an embodiment of the present invention;

[0057] Figure 8 : A flowchart illustrating the steps of the online detection method provided in this embodiment of the invention;

[0058] Figure 9 : A schematic diagram of the control system of the single-lead X-ray inspection robot provided in an embodiment of the present invention;

[0059] The reference numerals for the accompanying drawings in the specification are as follows:

[0060] 100. Wire;

[0061] 1. Main bracket; 11. Lifting ring; 12. Panel; 121. Screen; 122. Switch button; 13. Support plate; 14. First socket; 141. Slot; 15. Second socket; 16. Pan / tilt head;

[0062] 2. Walking mechanism; 21. Imaging area; 211. Imaging plate; 22. Walking wheel; 221. Limiting groove; 23. Guard wheel; 24. Drive shaft; 25. Drive component; 26. Bearing;

[0063] 3. Imaging mechanism; 31. Shielding box; 32. Coaxial camera;

[0064] 4. Quick-release mechanism; 41. Connecting rod; 42. First connecting assembly; 421. First insert block; 423. First locking element; 424. First reinforcing element; 425. Outer shell; 4251. Guide groove; 426. First protective shell; 43. Second connecting assembly; 431. Second insert block; 432. Second locking element; 433. Second reinforcing element; 434. Second protective shell; 4341. Mounting base;

[0065] 5. Camera;

[0066] 6. Antenna. Detailed Implementation

[0067] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0068] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0069] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0070] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0071] Example 1

[0072] Please see Figures 1-3 This embodiment relates to a single-conductor X-ray inspection robot (hereinafter referred to as the "inspection robot"). This inspection device is mainly used for flaw detection of the pre-inspection area of ​​the conductor 100 or of the components to be inspected on the conductor 100. The components to be inspected can be crimping fittings on the conductor 100, including but not limited to tension clamps, splicing tubes, and suspension clamps. This inspection device can perform imaging inspection of the pre-inspection area of ​​the conductor 100 and the components to be inspected, thereby promptly eliminating safety hazards caused by internal damage on the transmission line and further preventing accidents.

[0073] Specifically, the inspection robot includes a main support 1, a walking mechanism 2, an imaging mechanism 3, and a quick-release mechanism 4. Two walking mechanisms 2 are connected to both ends of the main support 1, and are used to travel along the guide wire 100. The area of ​​the main support 1 between the two walking mechanisms 2 forms an imaging area 21. The imaging mechanism 3 is positioned opposite the imaging area 21 and is used to form an inspection image by photographing the pre-detection area of ​​the guide wire 100 or the object to be inspected within the imaging area 21. The quick-release mechanism 4 is detachably connected to the two walking mechanisms 2 and the imaging mechanism 3, and the main support 1 and the quick-release mechanism 4 form a triangle.

[0074] Specifically, the main support 1 is a cubic box structure, with a U-shaped hoisting ring 11 on the main frame, enabling unmanned aerial vehicle (UAV) hoisting for loading and unloading. After the UAV hoists the detection device to any position on the guide wire 100, it can move to the designated shooting position by controlling the walking mechanism 2, greatly improving the convenience of the device, overcoming the need for manual handling or hoisting onto the tower, reducing construction difficulty, and improving work efficiency. It avoids manual climbing operations and improves work efficiency.

[0075] In this embodiment, the main support 1 can integrate a control system and a power system to power the imaging mechanism 3 and the walking mechanism 2, and to control the imaging and walking functions. Specific control software and programs can be developed based on available technologies; this embodiment will not elaborate further. Additionally, a panel 12 is integrated on one side of the main support 1. The panel 12 includes a start / stop switch 122 and a screen 121 for displaying the status of the detection device. This enhances the automation level of the detection device.

[0076] In this embodiment, the main support 1 has two opposite ends along the extension direction of the conductor 100, and a walking mechanism 2 is provided at each end. The two walking mechanisms 2 enable the main support 1 to move along the conductor 100 and cross the vibration damper, thereby improving flexibility and autonomous detection. At the same time, an imaging area 21 is formed in the area of ​​the main support 1 located between the two walking mechanisms 2. An imaging plate 211 is provided in the imaging area 21, and the imaging mechanism 3 can use coaxial shooting preview.

[0077] The specific implementation process of coaxial shooting preview includes: image preprocessing, which includes denoising and contrast enhancement. Gaussian filtering is used for denoising, and histogram equalization is used for image enhancement, with the goal of eliminating noise and improving image quality. Target detection and localization are mainly used to extract edge key points of the shooting range and identify targets (conductor 100 / tension clamp, etc.), perform edge detection, and perform binarization using threshold segmentation. Contour optimization includes extracting contour targets and simplifying polygons, optimizing contour continuity and reducing redundant vertices, and locating the position of each vertex in the image. Target processing involves cutting the original image based on the vertex positions obtained in the previous step (cutting the area covered by imaging plate 211), and labeling / depicting the contours of the imaging targets (conductor 100 / tension clamp, etc.). Output results: outputting the cut and labeled image.

[0078] Imaging mechanism 3 uses X-ray imaging. By emitting X-rays that penetrate the workpiece, the remaining rays excite the imaging plate 211 to generate image information, thereby obtaining an image of the workpiece's interior. This allows for pre-detection of the wire 100 located in imaging area 21 or for photographic inspection of the workpiece. Quick-release mechanism 4 enables rapid installation and disassembly of the walking mechanism 2 and imaging mechanism 3, facilitating transportation and storage. Furthermore, the triangular arrangement of the main support 1 and quick-release mechanism 4 enhances the overall structural stability.

[0079] Please see the appendix Figure 2 and attached Figure 4 Optionally, the walking mechanism 2 includes a walking wheel 22 and guard wheels 23 located at both ends of the walking wheel 22. The walking wheel 22 has a limiting groove 221 for accommodating the wire 100, and the outer diameter of the guard wheel 23 is larger than the maximum outer diameter of the walking wheel 22.

[0080] Specifically, the traveling wheel 22 is made of wear-resistant material to reduce wear during long-term rolling contact with the conductor 100. Meanwhile, the limiting groove 221 is V-shaped, effectively limiting the conductor 100 and allowing it to travel along its extension direction. Larger outer diameter guard wheels 23 are further provided on both sides of the traveling wheel 22, widening the travel structure and ensuring the conductor 100 is stably contained within the limiting groove 221 of the traveling wheel 22. Even when encountering structures such as shock absorbers during travel, it can easily overcome obstacles, improving obstacle-crossing capability.

[0081] Optionally, the outer diameter of the guard wheel 23 gradually increases from the side that contacts the walking wheel 22 to the other side.

[0082] In this embodiment, the guard wheel 23 is conical and its diameter gradually increases, thereby ensuring smooth obstacle crossing.

[0083] Optionally, the walking mechanism 2 also includes a drive shaft 24 and a drive member 25. The drive shaft 24 passes through the walking wheel 22 and the guard wheel 23. The drive member 25 is connected to the main support 1 and is connected to the drive shaft 24 to drive the drive shaft 24 to rotate so that the walking wheel 22 travels along the guide wire 100. The drive member 25 is located on one side of the walking wheel 22 along the axial direction.

[0084] In this embodiment, two opposing support plates 13 are connected to one end of the main support 1 extending outward. The support plates 13 can be hollow structures. A drive component 25 is mounted on one of the support plates 13. The drive component 25 can be a rotary motor and directly drives a transmission shaft 24. The transmission shaft 24 passes sequentially through one support plate 13, one guard wheel 23, one traveling wheel 22, another guard wheel 23, and another support plate 13. A bearing 26 is provided between the guard wheel 23 and the transmission shaft 24. The transmission shaft 24 and the traveling wheel 22 are connected by a key.

[0085] Optionally, the quick-release mechanism 4 includes two connecting rods 41, one end of which is detachably connected to the two main supports 1, and the other end of which is detachably connected to the imaging mechanism 3.

[0086] Specifically, the connecting rod 41 can be a hollow tube or a solid rod. One end of the connecting rod 41 is connected to the support plate 13 of the main support 1 that is away from the drive component 25, and the other end of the connecting rod 41 is connected to the imaging mechanism 3. By setting the two connecting rods 41 at a certain angle, the overall detection device presents a triangular structure.

[0087] Please see Figure 5 Optionally, one end of the connecting rod 41 is provided with a first connecting component 42. The first connecting component 42 includes a first insert 421 and a first locking member 423. The first insert 421 is inserted into the walking mechanism 2 or the main support 1. The first locking member 423 passes through the connecting rod 41 and the insert and is connected to the walking mechanism 2 or the main support 1. The width of the first insert 421 gradually decreases along the insertion direction.

[0088] Specifically, the first connecting assembly 42 further includes a first reinforcing member 424 sleeved on the connecting rod 41. One side of the first reinforcing member 424 is curved, and the other side is flat. The flat side is used to fix and install the first insert 421. The number of first inserts 421 can be one or more. One end of the first reinforcing member 424 abuts against one end of the connecting rod 41, thereby limiting the first reinforcing member 424 axially. A first socket 14 is provided on the corresponding support plate 13. A V-shaped slot 141 is formed on the first socket 14 to facilitate insertion and mating with the first insert 421. At the same time, the width of the first insert 421 gradually decreases along the insertion direction, which can also accommodate the V-shaped slot 141, providing good centering and guiding effects, facilitating the insertion of both and improving the efficiency of assembly and disassembly.

[0089] Furthermore, the first connecting assembly 42 also includes a housing 425 connected to the support plate 13. The housing 425 has a guide groove 4251, and the first reinforcing member 424 is disposed within the guide groove 4251. The guide groove 4251 of the housing 425 has a guiding and limiting function, which is beneficial to the rapid positioning of the first reinforcing member 424. The first locking member 423 can be a screw, wherein the first locking member 423 first passes through the assembly of the housing 425 and the connecting rod 41, and continues to pass through the first insert 421 and the first socket 14, and finally achieves connection with the support plate 13. The first locking member 423 can further improve the stability of the connection and prevent loosening of the insertion.

[0090] Furthermore, the first connecting assembly 42 also includes a first protective shell 426, which partially extends into the guide groove 4251 and covers the first reinforcing member 424.

[0091] Please see the appendix Figure 6 and attached Figure 7 Optionally, the other end of the connecting rod 41 is provided with a second connecting component 43. The second connecting component 43 includes a second insert 431 and a second locking member 432. The second insert 431 can be slidably connected to the connecting rod 41 along the axial direction. The second insert 431 is inserted into the imaging mechanism 3. The second locking member 432 passes through the connecting rod 41 and the second insert 431 and is connected to the imaging mechanism 3. The width of the second insert 431 gradually decreases along the insertion direction.

[0092] Specifically, at the other end of the connecting rod 41, the imaging mechanism 3 has a shielding box 31 for shielding and protecting the internal X-ray radioactive source. Additionally, the shielding box 31 serves as the main support structure of the forming mechanism. The second socket 15 is fixed to the outer wall of the shielding box 31, and a V-shaped slot 141 is formed on the second socket 15 to facilitate insertion and mating with the second insert block 431. The width of the second insert block 431 gradually decreases along the insertion direction, also accommodating the V-shaped slot 141, providing good centering and guiding effects, facilitating insertion and improving assembly and disassembly efficiency.

[0093] The second connecting assembly 43 also includes a second reinforcing member 433 and a second protective shell 434. The second reinforcing member 433 has a structure similar to the first reinforcing member 424. One side of the second reinforcing member 433 is curved, and the other side is flat. The flat side is used to fix the second insert 431. The number of second inserts 431 can be one or more. One end of the second reinforcing member 433 abuts against the other end of the connecting rod 41, thereby limiting the second reinforcing member 433 axially. The second locking member 432 can be a screw. The second protective shell 434 covers the second reinforcing member 433. The second locking member 432 passes through the second protective shell 434, the second reinforcing member 433, and the connecting rod 41, and continues through the second insert 431 and the second socket 15 to connect with the shielding box 31. The second locking member 432 can further improve the stability of the connection and prevent the plug from loosening.

[0094] Furthermore, the second protective housing 434 is provided with an outwardly extending mounting base 4341 for mounting the coaxial camera 32.

[0095] Optionally, two cameras 5 are respectively installed on the main support 1 near the two walking mechanisms 2, and the cameras 5 capture images of the picking up the wire 100.

[0096] Two pan-tilt units 16 are symmetrically arranged on the main support 1, and two cameras 5 are respectively mounted on the pan-tilt units 16. During the movement of the entire detection device, the two cameras 5 can capture and monitor in real time, and can promptly observe the front and back sides of the device to avoid missing the pre-detection area or the part to be detected on the guide wire 100, thereby improving the positioning accuracy of the entire detection device. The camera 5 can be remotely controlled to adjust its pitch field of view, thereby improving the accuracy of capturing the surrounding environment.

[0097] Optionally, the main support 1 is equipped with an antenna 6, and the imaging mechanism 3 and camera 5 can transmit image information to the ground through the wireless signal of the antenna.

[0098] In this embodiment, antenna 6 is mounted on the main support 1. Ground operators can send and receive control information with antenna 6 via a remote control device, thereby enabling operators to perform operations, observations, and identifications on the ground, improving convenience. In addition, the use of wireless transmission avoids the limitations of wired transmission on the movement of the detection device, further enhancing convenience.

[0099] Implementing the above embodiments has the following effects:

[0100] In this embodiment of the invention, two forward and backward traveling mechanisms enable the device to move along the conductor, enhancing flexibility and autonomous inspection. Simultaneously, an imaging zone is formed in the main support area between the two traveling mechanisms. The imaging mechanism acquires an image of the interior of the object under test, thereby completing the pre-inspection of the conductor area located in the imaging zone or photographing the object under test. A quick-release mechanism allows for rapid installation and disassembly of the traveling and imaging mechanisms, facilitating transportation and storage. The triangular structure formed by the main support and the quick-release mechanism also enhances overall structural stability. In summary, this inspection device solves the problem of insufficient efficiency in traditional high-altitude photography methods for power transmission line inspection, while reducing the workload and intensity for workers and avoiding radiation and high-altitude operation risks.

[0101] Example 2

[0102] Please see Figure 8 The present invention also provides an online detection method, applied to a detection robot as described in any of the above claims, comprising the following steps S101-S105:

[0103] S101: Acquire images of the conductor using a camera and imaging mechanism.

[0104] Optionally, acquiring the conductor image via a camera and imaging mechanism specifically includes:

[0105] Using a camera, capture images of the forward guide wire and the rear guide wire at both ends of the main support.

[0106] The imaging mechanism captures an image of the conductor under test in the imaging plate area formed in the middle of the main support.

[0107] The traverse images include: forward traverse image, backward traverse image, and imaging traverse image.

[0108] Specifically, cameras are positioned at both ends of the main support of the inspection robot to capture images of the front and rear ends of the main support, i.e., the forward and rearward directions. Preferably, the imaging mechanism consists of an X-ray generator (X-ray machine) and a digital detection imaging plate (imaging plate area). The generator emits X-rays that penetrate the workpiece, and the remaining rays excite the imaging plate to generate image information. This image information is then acquired by a camera to obtain images and / or internal images of the conductor and the equipment workpiece on it.

[0109] S102: Preprocess the conductor image and extract key points from the preprocessed conductor image. Based on the extracted key points, identify the target to be detected in the conductor image.

[0110] Optionally, the preprocessing of the conductor image specifically includes:

[0111] Gaussian filtering is applied to the acquired conductor image to obtain a denoised conductor image;

[0112] Image enhancement is performed on the denoised conductor image based on the preset histogram to obtain the preprocessed conductor image.

[0113] Specifically, Gaussian filtering is applied to the original conductor image for noise reduction. Gaussian filtering is equivalent to low-pass filtering in the frequency domain, which can suppress high-frequency noise (such as sensor thermal noise and quantization noise) while preserving the low-to-mid-frequency information of the conductor edge, thus avoiding false edges in subsequent edge detection.

[0114] Specifically, image enhancement mainly involves enhancing the denoised conductor image through preset histogram equalization, which stretches and redistributes the image's grayscale dynamic range to maximize the grayscale difference between the conductor and the background, thereby improving the stability of edge detection.

[0115] In this embodiment, the image preprocessing stage includes two parts: denoising and contrast enhancement. Gaussian filtering is used for denoising, and histogram equalization is used for image enhancement. The goal is to eliminate noise and improve image quality. By combining Gaussian filtering and histogram enhancement, the system can maintain clear edges and reduce false detection rate in low-light and high-ISO scenes.

[0116] Optionally, the step of extracting key points from the preprocessed conductor image and identifying the target to be detected in the conductor image based on the extracted key points specifically includes:

[0117] According to the preset edge detection algorithm, edge detection is performed on the preprocessed conductor image, and binarization is performed through threshold segmentation to obtain a binarized image;

[0118] Edge points are extracted from the binarized image to obtain key points of the image;

[0119] Based on the key points of the image, identify the conductor, imaging plate area and / or conductor device in the conductor image as the target to be detected.

[0120] Preferably, the preset edge detection algorithm can be the Canny algorithm. Specifically, the Canny operator (or the Sobel+Prewitt combination) is used to calculate the gradient magnitude and direction. After non-maximum suppression, hysteresis thresholding is performed using dual thresholds (high and low) to obtain a binary edge map. Since the contrast has been enhanced in image preprocessing, the high and low thresholds can be set to fixed values ​​to reduce parameter adjustments caused by changes in ambient light. Connectivity analysis is performed on the binary edge map, retaining the connected components with larger areas, and then extracting their edge points to obtain image key points.

[0121] Specifically, image key points are input into a pre-trained template matching or lightweight CNN (such as MobileNet-SSD) and compared with wires, imaging plates, and wire devices in the feature space; or RANSAC fitting is performed using geometric constraints (preferably, wires are approximately straight lines, imaging plates are rectangular, and wire devices are empirically processed to be approximately irregular polygons) to classify and locate the target to be detected.

[0122] S103: Extract the contour of the target to be detected, optimize the extracted contour, and locate the vertex position of the optimized contour.

[0123] Optionally, the step of extracting the contour of the target to be detected, optimizing the extracted contour, and locating the vertex positions of the optimized contour specifically includes:

[0124] The contour of the target to be detected is extracted using a contour extraction algorithm to obtain the target contour; wherein, the target contour includes: wire contour, imaging plate area contour and / or wire device contour;

[0125] The target contour is simplified into a polygon, and each vertex of the simplified target contour is extracted. Each vertex is then located in the original guide wire image to obtain the vertex position.

[0126] In this embodiment, contour optimization includes extracting contour targets and simplifying polygons, optimizing contour continuity and reducing redundant vertices, and locating the position of each vertex in the image. Specifically, contour target extraction involves applying OpenCV's findContours or other preferred equivalent algorithms to the binarized edge image (or mask) obtained through the aforementioned steps. These algorithms employ border following or topological analysis (Suzuki algorithm) to output closed or open contour chains composed of continuous pixels. Since categories such as conductors, imaging plates, and conductor equipment have been distinguished in the previous steps, the following can be extracted in parallel: conductor contours (slender, low curvature), imaging plate region contours (rectangular or near-rectangular), and conductor equipment contours (insulators, clamps, etc., with specific geometric shapes).

[0127] Specifically, in polygon simplification, the following steps can be performed on each contour chain:

[0128] a. Draw a straight line segment between the first and last points of the outline;

[0129] b. Calculate the perpendicular distance from all points on the contour to the line segment, and find the maximum distance d_max;

[0130] c. If d_max < ε (preset tolerance, e.g., 1–2 pixels), then the entire contour is approximated as a straight line segment;

[0131] d. Otherwise, divide the contour in two at the point corresponding to d_max and process the two segments recursively.

[0132] Thus, the final result is a polyline (polygon) with far fewer vertices than the original pixels, which both preserves shape features and eliminates redundant data.

[0133] Specifically, vertex localization maps the simplified polygon vertex coordinates (x′, y′) back to the original traverse image coordinate system (unscaled and uncropped). If ROI cropping or scaling occurred earlier, it needs to be multiplied by the inverse transformation matrix to ensure that the vertex positions correspond one-to-one with the actual image.

[0134] S104: Based on the vertex position, the original conductor image is cut, and based on the key points of the image, the extracted contour is marked in the cut conductor image to obtain a detection image.

[0135] Optionally, the step of marking the extracted contour in the cut wire image based on the key points of the image to obtain the detection image specifically includes:

[0136] Based on the key points of the image, the extracted wire outline, imaging plate area outline and / or wire device outline are marked in the cut wire image, and the image within the imaging plate area and its wire outline, imaging plate area outline and / or wire device outline are used as the detection image.

[0137] Specifically, the original image is cut according to the vertex position obtained in the previous step, that is, the area covered by the imaging plate is cut, and the outline of the imaging target (wire / tension clamp, etc.) is marked / depicted to obtain the final acquired detection image.

[0138] S105: The detected image is transmitted to the ground processing terminal so that the ground processing terminal can detect the detected image.

[0139] Optionally, the detected image includes: a forward detection image, a backward detection image, and an imaging detection image; the ground processing terminal performs detection on the detected image, specifically including:

[0140] Display the outlines of the conductors marked in the forward detection image, the backward detection image, and the imaging detection image;

[0141] Based on the conductor outline in the forward detection image, the system determines in real time whether there are abrupt changes in the conductor outline during the forward movement; if abrupt changes are found, a shutdown alarm is triggered.

[0142] Based on the rear-detected image and the current positioning information, the forward speed is calculated during the forward movement, and the current position is displayed in real time.

[0143] Based on the conductor contour in the imaging detection image, it is determined in real time whether there are abrupt changes in the conductor contour during the forward movement; if there are abrupt changes, the key points of the image in the imaging detection image are extracted again, and the type of equipment on the conductor is identified based on the key points of the image.

[0144] In this embodiment, since the detection images are acquired through front and rear cameras and an imaging mechanism, the collected detection images include at least: forward detection images, rear detection images, and imaging detection images. By processing the forward and rear detection images, it is possible to accurately identify whether there are obstacles or forks in the guide wire during the robot's forward movement. This can alert ground operators to correct the guide wire detection route or perform obstacle avoidance. Simultaneously, the rear detection image can record the guide wire situation in real time after the robot's movement and provide a high-altitude operation preview when the robot needs to retreat. This enhances the device's practicality, enabling more convenient actions such as guide wire crawling and vibration damper crossing. Furthermore, the front and rear monitoring cameras allow for precise control of the device to reach the designated area, preventing it from overshooting or failing to reach the intended location.

[0145] Example 3

[0146] Please see Figure 9 The present invention also provides a control system for an inspection robot, comprising: a ground processing terminal and an inspection robot as described in any of the above; the ground processing terminal and the inspection robot are wirelessly connected via an antenna.

[0147] It should be noted that the detection robot is internally configured with a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, it implements the online detection method as described in any of the above embodiments.

[0148] The ground processing terminal can be a computing device such as a desktop computer, laptop, handheld computer, or cloud server. Those skilled in the art will understand that the schematic diagram is merely an example of the terminal device and does not constitute a limitation on the terminal device. It may include more or fewer components than shown, or combine certain components, or use different components. For example, the ground processing terminal device may also include input / output devices, network access devices, buses, etc.

[0149] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor. The processor is the control center of the terminal device, connecting all parts of the terminal device via various interfaces and lines.

[0150] The memory can be used to store the computer programs and / or modules. The processor implements various functions of the terminal device by running or executing the computer programs and / or modules stored in the memory and by calling data stored in the memory. The memory may mainly include a program storage area and a data storage area. The program storage area may store the operating system, applications required for at least one function, etc.; the data storage area may store data created based on the use of the mobile terminal, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as hard disk, RAM, plug-in hard disk, smart media card (SMC), secure digital card (SD card), flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0151] If the modules / units integrated into the ground processing terminal are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the above embodiments of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0152] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. In particular, it should be noted that any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention for those skilled in the art.

Claims

1. A single-wire X-ray inspection robot, characterized by, The utility model relates to a kind of imaging device, including: Main support (1), imaging mechanism (3) and setting on the main support walking mechanism (2) and quick release mechanism (4); Two walking mechanisms (2) are respectively arranged in the two ends of the main support (1), and the walking mechanism (2) is used to travel along the wire (100), and the area formed in the main support (1) of two walking mechanisms (2) is used as imaging area (21). The imaging mechanism (3) is oppositely arranged with the imaging area (21), and is used to form a detection image by shooting the pre-detection area or the detection piece in the imaging area (21) of the wire (100). The quick release mechanism (4) is respectively detachably connected with two walking mechanisms (2) and imaging mechanism (3), and the main support (1) and the quick release mechanism (4) form a triangular structure.

2. A single-wire X-ray inspection robot as claimed in claim 1, characterized in that The walking mechanism (2) includes a walking wheel (22) and a guard wheel (23) located at both ends of the walking wheel (22), the walking wheel (22) has a limiting groove (221) for accommodating the wire (100), and the outer diameter of the guard wheel (23) is greater than the maximum outer diameter of the walking wheel (22).

3. A single-wire X-ray inspection robot as claimed in claim 2, characterized in that The outer diameter of the guard wheel (23) gradually increases from one side to the other side of the contact with the walking wheel (22).

4. A single-wire X-ray inspection robot as claimed in claim 2, characterized in that, The walking mechanism (2) further includes a transmission shaft (24) and a driving member (25), the transmission shaft (24) passes through the walking wheel (22) and the guard wheel (23), the driving member (25) is connected to the main support (1), the driving member (25) is connected with the transmission shaft (24), for driving the transmission shaft (24) to rotate, so that the walking wheel (22) travels along the wire (100), and the driving member (25) is located on one side of the walking wheel (22) in the axial direction.

5. A single-wire X-ray inspection robot as claimed in claim 2, characterized in that, The quick release mechanism (4) includes two connecting rods (41), one end of two connecting rods (41) is respectively detachably connected with two main supports (1), and the other end of two connecting rods (41) is respectively detachably connected with the imaging mechanism (3).

6. A single-wire X-ray inspection robot as claimed in claim 5, characterized in that One end of the connecting rod (41) is provided with a first connecting assembly (42), the first connecting assembly (42) includes a first plug block (421) and a first locking member (423), the first plug block (421) is inserted into the walking mechanism (2) or the main support (1), the first locking member (423) passes through the connecting rod (41), the plug block and the walking mechanism (2) or the main support (1) is connected, and the width of the first plug block (421) gradually decreases along the insertion direction.

7. A single-wire X-ray inspection robot as claimed in claim 6, characterized in that The first connecting assembly (42) further includes a first reinforcing member (424) sleeved on the connecting rod (41), the first plug block (421) is arranged on the first reinforcing member (424), and the first connecting assembly (42) further includes an outer shell (425) connected with the main support (1), the outer shell (425) is provided with a guide groove (4251), and the first reinforcing member (424) is arranged in the guide groove (4251).

8. A single-wire X-ray inspection robot as claimed in claim 5, characterized in that, The other end of the connecting rod (41) is provided with a second connecting assembly (43), the second connecting assembly (43) comprises a second plug block (431) and a second locking piece (432), the second plug block (431) is slidably connected to the connecting rod (41) in the axial direction, the second plug block (431) is inserted into the imaging mechanism (3), and the second locking piece (432) is connected through the connecting rod (41), the second plug block (431) and the imaging mechanism (3), and the width of the second plug block (431) gradually decreases along the insertion direction.

9. A single-wire X-ray inspection robot according to any one of claims 1-8, characterized in that, Two cameras (5) are arranged on the main support (1) near the two walking mechanisms (2) respectively, and the cameras (5) shoot the images of the picked-up wires (100).

10. A single-wire X-ray inspection robot as claimed in claim 9, characterized in that, The main support (1) is provided with an antenna, and the imaging mechanism (3) and the camera (5) can transmit image information to the ground processing terminal through the wireless signal of the antenna.

11. An online detection method, characterized in that, The single-wire X-ray detection robot is applied to the single-wire X-ray detection robot in any one of the above claims 1-10. The camera and the imaging mechanism are used to acquire wire images. The wire images are preprocessed, and image key points of the preprocessed wire images are extracted; and a to-be-detected target in the wire images is identified according to the extracted image key points. The to-be-detected target is subjected to contour extraction, and the extracted contour is optimized to locate a vertex position of the optimized contour. The original wire images are cut according to the vertex position, and the extracted contour is marked in the cut wire images according to the image key points to obtain detection images. The detection images are transmitted to a ground processing terminal, so that the ground processing terminal detects the detection images.

12. The method of claim 11, wherein the step of detecting the presence of the analyte comprises detecting the presence of the analyte by measuring the change in the intensity of the light emitted by the analyte. The camera is used to shoot forward wire images and rear wire images at both ends of the main support. The imaging mechanism is used to shoot to-be-detected wire images of an imaging plate region formed in the middle of the main support. The wire images include the forward wire images, the rear wire images and imaging wire images. The detection images include forward detection images, rear detection images and imaging detection images.

13. The method of claim 12, wherein the step of detecting the presence of the analyte comprises the step of: The wire contour marked in the forward detection images, the rear detection images and the imaging detection images is displayed. ​ Whether a mutation point exists in the wire contour in the forward process is judged in real time according to the wire contour in the forward detection images; if the mutation point exists, shutdown alarm is performed. The forward speed is calculated in the forward process according to the rear detection images and in combination with current positioning information, and the current position is displayed in real time. Whether a mutation point exists in the wire contour in the forward process is judged in real time according to the wire contour in the imaging detection images; if the mutation point exists, image key points in the imaging detection images are reextracted, and the type of equipment on the wire is identified according to the image key points. The wire images are preprocessed.

14. The method of claim 11, wherein the step of detecting the presence of the analyte comprises the step of: ​ ​ The collected conductor image is subjected to Gaussian filtering to obtain a denoised conductor image; The denoised conductor image is subjected to image enhancement according to a preset histogram to obtain a preprocessed conductor image.

15. The method of claim 11, wherein the step of detecting the presence of the analyte comprises the step of: The preprocessed conductor image is subjected to image key point extraction, and a to-be-detected target in the conductor image is recognized according to the extracted image key points, specifically including: ​ An edge detection algorithm is used to detect the edges of the preprocessed conductor image, and threshold segmentation is used to binarize the image to obtain a binarized image; Edge points of the binarized image are extracted to obtain image key points; The conductor image, the imaging plate region and / or the conductor device are recognized as to-be-detected targets according to the image key points.

16. The method of claim 15, wherein the step of detecting the presence of the analyte comprises the step of: The to-be-detected targets are subjected to contour extraction, and the extracted contours are optimized to locate the vertex positions of the optimized contours, specifically including: ​ A contour extraction algorithm is used to extract the contours of the to-be-detected targets to obtain target contours; the target contours include conductor contours, imaging plate region contours and / or conductor device contours; The target contours are simplified into polygons, and the vertices of the simplified target contours are extracted; the vertices are located in the original conductor image to obtain vertex positions.

17. The method of claim 16, wherein the step of detecting the presence of the analyte comprises detecting the presence of the analyte by measuring the change in the intensity of the light emitted by the analyte. The extracted contours are labeled in the cut conductor image according to the image key points to obtain a detection image, specifically including: The conductor contours, the imaging plate region contours and / or the conductor device contours are labeled in the cut conductor image according to the image key points; the image in the imaging plate region and the conductor contours, the imaging plate region contours and / or the conductor device contours are taken as a detection image.

18. A control system characterized by, It includes: a ground processing terminal and a single-conductor X-ray detection robot as claimed in any one of claims 1-10; The ground processing terminal and the single-conductor X-ray detection robot are wirelessly connected through an antenna.

Images