Line detection system

Abstract

The invention provides a line detection system. The line detection system comprises an unmanned aerial vehicle, a cable walking vehicle, a mobile imaging device and a control device, the unmanned aerial vehicle is used for transporting the cable walking vehicle to a to-be-detected line; the cable walking vehicle comprises a driving module, a guiding and supporting module, a hoisting and positioning module and a power supply module. The mobile imaging device comprises an X-ray imaging module and a driving module. And the control device is used for sending instructions to the unmanned aerial vehicle system, the cable walking vehicle and the mobile imaging device and receiving data returned by the unmanned aerial vehicle system, the cable walking vehicle and the mobile imaging device to obtain a detection result. The line detection system can realize overall regulation and control of the unmanned aerial vehicle, the cable walking vehicle and the mobile imaging device through the control device, so that integrated operation of directional delivery, autonomous advancing and accurate detection of the power transmission line is realized, and the detection efficiency of the power transmission line is improved.

Description

Technical Field

[0001] This application relates to the field of power transmission line testing technology, specifically to a line testing system. Background Technology

[0002] Transmission lines are the core carriers for power transmission in power systems. However, when lines exposed to the elements for extended periods are subjected to severe weather and other factors, internal defects are difficult to detect. These internal defects reduce the current-carrying capacity and mechanical strength of the transmission lines, affecting their safe operation. Therefore, achieving efficient inspection of transmission lines is a problem that needs to be solved. Summary of the Invention

[0003] This application provides a line detection system, which aims to achieve efficient detection of power transmission lines by coordinating and controlling a drone, a cable-carrying vehicle, and a mobile imaging device through a control device.

[0004] In a first aspect, embodiments of this application provide a line detection system, including: a drone, a cable-carrying vehicle, a mobile imaging device, and a control device; The drone is used to transport the cable-carrying vehicle to the line to be inspected according to the line inspection task; The cable-carrying vehicle includes a drive module, a guide support module, a hoisting and positioning module, and a power supply module; The mobile imaging device includes an X-ray imaging module and a driving module; The control device is used to issue commands to the UAV, the cable-carrying vehicle, and the mobile imaging device, and to receive data returned by the UAV, the cable-carrying vehicle, and the mobile imaging device to obtain the detection results of the line detection task.

[0005] The mobile imaging device is connected to the cable-carrying vehicle via a connection structure, which includes an interface structure and a snap-fit ​​structure. The interface structure is a connection part that meets preset connection parameters, and the snap-fit ​​structure is a locking part that restricts the relative displacement between the mobile imaging device and the cable-carrying vehicle.

[0006] The cable-carrying vehicle and the mobile imaging device are assembled by using positioning pins and positioning holes.

[0007] The cable-carrying vehicle further includes one or more of an infrared thermal imager module, a discharge detector module, and an ultrasonic flaw detector module; the mobile imaging device further includes one or more of a gyroscope module, an accelerometer module, and a distance sensor module.

[0008] The cable-walking vehicle includes multiple rollers driven by the drive module. When performing line detection tasks, the rollers are located on the line to be detected.

[0009] The cable-walking vehicle's guide support module includes multiple trapezoidal guide supports. The inclined surfaces of the guide supports are connected to the roller grooves of the cable-walking vehicle. The guide supports are used to limit the lateral displacement of the cable-walking vehicle on the line to be inspected.

[0010] The guide support is located below the cable traveling vehicle and is used to adjust the height of the cable traveling vehicle.

[0011] When the mobile imaging device is connected to the cable-driven vehicle via a connecting structure, the power supply module of the cable-driven vehicle is used to supply power to the cable-driven vehicle and multiple modules of the mobile imaging device.

[0012] The X-ray imaging module of the mobile imaging device includes an X-ray emission source and an imaging detector. During the detection task, the X-ray emission source and the imaging detector maintain a constant distance while moving synchronously.

[0013] The driving module of the mobile imaging device includes a synchronous belt drive mechanism and a CNC servo motor, which are used to control the displacement of the mobile imaging device.

[0014] As can be seen in this embodiment, the control device first plans the flight path of the UAV based on the location and environmental information of the line to be inspected. Then, the UAV, carrying the cable-moving vehicle, takes off and arrives at the designated location of the line to be inspected. The cable-moving vehicle's hoisting and positioning module then docks and secures itself with the power transmission line. Afterward, the control device sends a travel command to the cable-moving vehicle. The cable-moving vehicle's guide support module adjusts its position to fit the power transmission line, and the drive module propels the device autonomously along the power transmission line. Simultaneously, the power supply module continuously supplies power to the vehicle and the mounted mobile imaging device, transmitting its position and status data back to the control device in real time. While the cable-moving vehicle is moving, the control device simultaneously controls the drive module of the mobile imaging device, causing the X-ray imaging module to adjust its detection angle and perform X-ray scanning of the power transmission line. The scanned detection data is then transmitted to the control device. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of a line detection system provided in an embodiment of this application; Figure 2 This is a schematic diagram of a cable-carrying vehicle provided in an embodiment of this application; Figure 3 This is a schematic diagram of a mobile imaging device provided in an embodiment of this application; Figure 4 This is a schematic diagram of the interface of a control device provided in an embodiment of this application; Figure 5 This is a schematic diagram of a process for line detection based on a line detection system provided in an embodiment of this application; Figure 6 This is a schematic diagram of the structure of a line detection device provided in an embodiment of this application; Figure 7 This is a schematic diagram of the structure of a computer provided in an embodiment of this application. Detailed Implementation

[0017] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0018] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0019] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0020] Transmission lines are the core carriers for power transmission in power systems. However, when lines exposed to the elements for extended periods are subjected to severe weather and other factors, internal defects are difficult to detect. These internal defects reduce the current-carrying capacity and mechanical strength of the transmission lines, affecting their safe operation. Therefore, achieving efficient inspection of transmission lines is a problem that needs to be solved.

[0021] In this embodiment, the control device first plans the flight path of the UAV based on the location and environmental information of the line to be inspected. Then, the UAV, carrying the cable-moving vehicle, takes off and arrives at the designated location on the line to be inspected. The cable-moving vehicle's hoisting and positioning module then docks and secures itself with the power transmission line. The control device then sends a movement command to the cable-moving vehicle. The cable-moving vehicle's guide support module adjusts its position to fit the power transmission line, and the drive module propels the device autonomously along the power transmission line. Simultaneously, the power supply module continuously supplies power to the vehicle and the mounted mobile imaging device, transmitting its position and status data back to the control device in real time. While the cable-moving vehicle is moving, the control device simultaneously controls the drive module of the mobile imaging device, causing the X-ray imaging module to adjust its detection angle and perform X-ray scanning of the power transmission line. The scanned detection data is then transmitted to the control device.

[0022] For the specific structure of the line detection system provided in this application embodiment, please refer to [link / reference needed]. Figure 1 , Figure 1 This is a schematic diagram of a line detection system provided in an embodiment of this application. The line detection system includes a drone 10, a cable-moving vehicle 20, a mobile imaging device 30, and a control device. The control device is used to issue commands to the drone 10, the cable-moving vehicle 20, and the mobile imaging device 30, and to receive data returned by the drone 10, the cable-moving vehicle 20, and the mobile imaging device 30 to obtain the detection results of the line detection task. Specifically, the control device first plans the flight path of the drone 10 based on the location and environmental information of the line to be detected. Then, the drone 10 carries the cable-moving vehicle 20 and takes off, arriving at the designated location of the line to be detected. Afterward, the cable-moving vehicle 20 moves autonomously along the power transmission line. At the same time, the mobile imaging device 30 mounted on the cable-moving vehicle 20 adjusts the detection angle through an X-ray imaging module to perform X-ray scanning detection on the line to be detected. The detection data obtained from the scanning is transmitted to the control device, and the control device obtains the results of the line detection task based on the detection data.

[0023] Based on this, this application provides a line detection system, which will be described in detail below with reference to the accompanying drawings.

[0024] Please refer to it again. Figure 1 ,like Figure 1 As shown, the line inspection system includes a drone 10, a cable-moving vehicle 20, a mobile imaging device 30, and a control device. The drone 10 is used to transport the cable-moving vehicle 20 to the line to be inspected according to the line inspection task. The cable-moving vehicle 20 includes a drive module, a guide support module, a hoisting and positioning module, and a power supply module. The mobile imaging device 30 includes an X-ray imaging module and a drive module. The control device is used to issue commands to the drone 10, the cable-moving vehicle 20, and the mobile imaging device 30, and to receive data returned by the drone 10, the cable-moving vehicle 20, and the mobile imaging device 30 to obtain the inspection results of the line inspection task.

[0025] The drone 10 is used for equipment delivery in the complex environment of power transmission lines. The drone 10 can be a multi-rotor drone, a fixed-wing drone, or a combination of fixed-wing and multi-rotor structures. The drone 10 can carry the cable-carrying vehicle 20 to the designated section of the line to be inspected according to the line inspection task instructions issued by the control device.

[0026] The UAV 10 is equipped with a GPS or BeiDou dual-mode positioning module, enabling positioning accuracy down to the centimeter level. The UAV 10 can also be configured with a flight attitude stabilization control system, a distance sensing module, and a wireless transmission module for communication with the control device. During delivery, the UAV 10 transmits real-time data to the control device, including its flight altitude, position coordinates, remaining battery power, and load status. After the cable-carrying vehicle 20 completes its docking and fixation with the power transmission line, the UAV 10 receives a return command from the control device, autonomously plans its return path, and returns to the designated take-off and landing point.

[0027] The cable-walking vehicle 20 serves as the mounting platform for the mobile imaging device 30, enabling it to autonomously travel along the power transmission line. The overall structure of the cable-walking vehicle 20 can be made of lightweight, high-strength alloy materials, adaptable to different specifications of power transmission conductors (such as LGJ type steel-cored aluminum stranded wire, JL / G1A type steel-cored aluminum stranded wire, etc.). For details, please refer to... Figure 2 , Figure 2 This is a schematic diagram of a cable-carrying vehicle provided in an embodiment of this application, as shown below. Figure 2 As shown, the cable-carrying vehicle 20 comprises four core modules: The drive module consists of a brushless DC motor, a reduction gear set, and anti-slip drive wheels. The motor output power can be dynamically adjusted according to the line slope and load weight. The anti-slip drive wheels are made of high-friction rubber to prevent slippage during movement. The drive module receives commands from the control device regarding travel speed, direction, and start / stop, driving the cable-walking vehicle 20 along the transmission line. Simultaneously, it provides real-time feedback on motor speed, operating temperature, and other status data.

[0028] The guide support module consists of guide wheel sets, elastic support arms, and angle sensors. The guide wheel sets are symmetrically distributed on both sides of the guide wire. The preload of the elastic support arms ensures the trolley always travels along the guide wire's central axis. The angle sensors detect the trolley's tilt angle (lateral and longitudinal) in real time and transmit the data back to the control device. If a deviation trend is detected, the control device issues adjustment commands, and the guide wheel sets are fine-tuned to correct the posture and prevent derailment.

[0029] The hoisting and positioning module consists of an electric clamp, a positioning sensor, and a locking mechanism. When the UAV 10 carrying the cable-carrying trolley 20 arrives at the designated location, the positioning sensor identifies the position of the power transmission line, controls the electric clamp to open and fit onto the line, and then the locking mechanism is activated to ensure that the cable-carrying trolley 20 is firmly connected to the line. After docking is completed, a docking success signal is sent to the control device.

[0030] Power supply module: Provides power to the cable-laying vehicle 20 and its mounted mobile imaging device 30. The power supply module can consist of a high-capacity lithium battery pack, a power management unit, and a charging interface. The lithium battery pack uses lithium iron phosphate material, which has high safety, long cycle life, and a wide operating temperature range, and can meet the needs of continuous operation. The power management unit is responsible for stable voltage output, power monitoring, overcharge and over-discharge protection, and real-time transmission of remaining power data to the control device. When the power is lower than the threshold, a low power alarm is triggered, reminding the control device to plan a return trip or replace the battery.

[0031] The mobile imaging device 30 is used to detect internal defects in the cable inspection system. Mounted on the cable trolley 20, the mobile imaging device 30 moves synchronously with the cable trolley 20 along the cable to be inspected, completing an imaging scan of the entire cable section. Its core components include an X-ray imaging module and a drive module. (See also...) Figure 3 , Figure 3 This is a schematic diagram of a mobile imaging device provided in an embodiment of this application, as shown below. Figure 3 As shown, the modules are as follows: The X-ray imaging module penetrates the insulation and conductor structure of the circuit under inspection, capturing internal defects (such as conductor breakage, insulation aging, and internal air gaps), and converts the invisible X-ray signals into analyzable digital image data. Specifically, the X-ray imaging module includes an X-ray emitting unit, an X-ray receiving unit, and a data transmission unit. The X-ray emitting unit emits X-rays according to instructions from the control device. The radiation energy can be adaptively adjusted based on the material and thickness of the circuit under inspection, ensuring penetration while avoiding secondary damage. The X-ray receiving unit receives the X-rays after they have penetrated the circuit, converts the X-ray photons into visible light signals via a scintillator, then converts them into electrical signals via a photodetector, and finally outputs digital image data. The output digital image data can undergo preprocessing operations such as noise reduction, enhancement, and edge extraction. The data transmission unit transmits the preprocessed image data to the control device via a wireless communication link, and also supports local caching to prevent information loss due to data transmission interruptions.

[0032] The control device is a ground-based intelligent management and control platform that integrates data processing, command scheduling, and status monitoring functions. It can be equipped with dedicated line detection and management software, as well as a data storage module, a wireless communication module, and a human-machine interface. The control device can also be a portable handheld intelligent management and control terminal, such as a remote control with a display interface or a mobile phone.

[0033] Please refer to Figure 4 , Figure 4 This is a schematic diagram of the interface of a control device provided in an embodiment of this application, such as... Figure 4 As shown, the control device interface can include multiple areas, such as a line information overview area displaying the overall route of the transmission line to be inspected in the form of a thumbnail map, an equipment status monitoring area, a command operation area, and a monitoring data display area. Specifically, the line information overview area displays the overall route of the transmission line to be inspected in the form of a thumbnail map, marking the line sections that have been inspected, are being inspected, and are yet to be inspected, while also displaying current outdoor environmental data such as temperature, humidity, and wind speed. The equipment status monitoring area can monitor the current location, remaining power, and operating status (normal / abnormal / standby) of the drone, cable trolley, and mobile imaging device. The command operation area includes drone deployment / recall buttons, cable trolley start / pause / speed adjustment buttons, and mobile imaging device angle adjustment / detection start / stop buttons. The command operation area can also input specific command parameters, such as the drone's flight altitude and the cable trolley's travel speed.

[0034] The control device controls and transmits information to equipment such as drones and cable-walking vehicles using a built-in wireless communication module. Before the line detection system starts operating, the control device completes communication pairing with the drone, cable-walking vehicle, and mobile imaging device to establish a dedicated encrypted communication link. During the directional delivery phase, the control device sends instructions on the flight path and delivery location to the drone through the communication link, while receiving the flight status and location information returned by the drone. After confirming the delivery is completed, it sends a return instruction. During the autonomous movement and precise detection phase, the control device sends instructions on the movement speed and movement range to the cable-walking vehicle, and instructions on the detection angle and detection frequency to the mobile imaging device. It also continuously receives the location and movement status data returned by the cable-walking vehicle, as well as the detection data returned by the mobile imaging device.

[0035] In one possible implementation, the mobile imaging device is connected to the cable-carrying vehicle via a connection structure, the connection structure including an interface structure and a snap-fit ​​structure, the interface structure being a connection part that meets preset connection parameters, and the snap-fit ​​structure being an engaging part that restricts the relative displacement between the mobile imaging device and the cable-carrying vehicle.

[0036] The connection structure is used to enable the docking and disassembly of the mobile imaging device 30 and the cable-driven vehicle 20. The connection structure adopts a combination design of interface structure and snap-fit ​​structure.

[0037] Specifically, the interface structure serves as the basic carrier for docking between the two, and is used for mechanical positioning, signal transmission and power supply. The snap-fit ​​structure serves as an auxiliary fixing component, which is used to limit the relative displacement of the two in the lateral and longitudinal directions, so as to prevent the mobile imaging device 30 from becoming loose or shifting when the cable-carrying vehicle 20 is moving or when the environment is bumpy.

[0038] The interface structure adopts a standardized quick-release design, and all parameters comply with industry-standard specifications for power transmission line testing equipment, ensuring universal interoperability between mobile imaging devices 30 and cable trolleys 20 across different batches and models. Preset connection parameters may include, but are not limited to, mechanical dimensions (interface diameter, insertion / removal stroke, positioning pin spacing, etc., with an error ≤0.1mm), signal transmission parameters (supporting synchronous transmission of image data from the X-ray imaging module and control signals from the drive module, with a transmission rate ≥1Gbps), and power supply parameters (output voltage stable at 24V DC, maximum power supply current ≥10A, adapting to the power requirements of the mobile imaging device). Internally, the interface can integrate gold-plated contacts to reduce signal attenuation and oxidation loss, guide positioning grooves to assist in quick alignment and insertion / removal, and a foolproof structure to prevent damage from reverse insertion. Externally, it can be made of high-strength engineering plastic material, possessing wear-resistant and corrosion-resistant properties, suitable for complex outdoor environments.

[0039] The latching structure is a mechanical locking part, installed on the outside of the interface structure, forming a double-fixed guarantee with the interface. The elastic claws of the latching structure can be made of spring steel, possessing good elastic recovery capability. After the interface of the mobile imaging device 30 and the cable trolley 20 is properly connected, the claws will automatically spring up and embed into the positioning slots on the equipment side, restricting the relative displacement of the two in both lateral and longitudinal directions. Simultaneously, the latching structure is equipped with a convenient push-button unlocking button, allowing operators to complete the unlocking operation without special tools.

[0040] As can be seen, in this example, by setting up a standardized quick-release interface and a snap-fit ​​connection structure, the mobile imaging device is docked with the cable trolley through standardized parameters, and the snap-fit ​​structure locks the relative displacement to prevent loosening and displacement during detection. Quick assembly and disassembly can be achieved without special tools, thus improving the efficiency of line inspection operations.

[0041] In one possible implementation, the cable-carrying vehicle and multiple modules in the mobile imaging device are assembled by locating pins and locating holes.

[0042] The positioning pins and holes are the positioning structures used in assembling the cable-stayed vehicle's more than 20 modules (such as drive modules and guide support modules) and the mobile imaging device's more than 30 modules (such as X-ray imaging modules and drive modules). Specifically, a clearance fit design can be adopted between rigid positioning pins and precision positioning holes, with the clearance controlled between 0.02-0.05mm to ensure that the positional accuracy of the assembled modules meets operational requirements. The positioning pins are preferably made of high-strength alloy steel, with a surface hardened and chrome-plated finish, possessing high hardness (HRC≥55) and wear resistance. The diameter specifications are divided into several standardized types according to the module dimensions. The positioning holes are located on the mating end faces of each module, with a depth slightly longer than the length of the positioning pin, reserving assembly redundancy space to prevent damage to the modules caused by excessively tight insertion of the positioning pins.

[0043] The weight of the cable-walking vehicle (more than 20 modules, such as drive modules and guide support modules) and the mobile imaging device (more than 30 modules, such as X-ray imaging modules and drive modules) is controlled within 20kg. Through the cooperation of press-type positioning pins and positioning holes, operators can complete the assembly and disassembly of the cable-walking vehicle 20 and the mobile imaging device 30 without professional tools.

[0044] As can be seen in this example, the lightweight modular design and the combination of positioning pins and positioning holes enable quick assembly and disassembly without professional tools, which can reduce transportation costs and logistics space occupation in complex terrains, and improve the efficiency of line inspection operations.

[0045] In one possible implementation, the cable-carrying vehicle further includes one or more of an infrared thermal imager module, a discharge detector module, and an ultrasonic flaw detector module; the mobile imaging device further includes one or more of a gyroscope module, an accelerometer module, and a distance sensor module.

[0046] The cable traveling vehicle 20, based on the drive module, guide support module, hoisting and positioning module, and power supply module, can further integrate one or more of the following modules as needed: infrared thermal imager module, discharge detector module, and ultrasonic flaw detector module.

[0047] The infrared thermal imager module captures infrared radiation signals from the cable surface and converts the temperature distribution into a thermal image. The discharge detector module uses a built-in high-frequency sensor to capture pulse currents and electromagnetic wave signals generated by partial discharges inside or on the surface of the cable insulation layer, enabling the detection of latent defects such as insulation gaps, cracks, and surface discharges. The ultrasonic flaw detector module emits high-frequency ultrasonic signals and receives echo signals reflected from internal cable defects (such as conductor strand breaks, insulation layer delamination, and damage to the metal shielding layer), calculating the location, size, and shape of the defects to achieve non-destructive testing of the cable's internal structure.

[0048] The mobile imaging device 30, based on the X-ray imaging module and the drive module, can integrate one or more of the following modules as needed: gyroscope module, accelerometer module, and distance sensor module.

[0049] The gyroscope module detects changes in the angular velocity of the imaging module and outputs real-time attitude data such as the deflection angle and rotation direction of the imaging device. This compensates for attitude deviations caused by the cable carrier's bumps and cable bends, and by feeding back attitude calibration signals to the control device, ensures that the X-ray imaging module remains perpendicularly aligned with the line under inspection, avoiding image blurring and missed defects due to angular deviations. The accelerometer module detects changes in the module's acceleration to calculate the imaging device's moving speed, displacement, and vibration amplitude. The distance sensor module measures the distance between the imaging module and the surface of the line under inspection by emitting laser or ultrasonic signals.

[0050] As can be seen in this example, the cable-walking vehicle and the mobile imaging device integrate multiple types of extended detection modules to achieve multi-dimensional joint detection of cables, including X-ray imaging, infrared thermometry, partial discharge, and ultrasonic flaw detection. At the same time, it ensures stable imaging posture and accurate detection position, improves the accuracy of line detection, and provides data support for the safe operation of the line.

[0051] In one possible implementation, the cable-carrying vehicle includes a plurality of rollers driven by the drive module, wherein the rollers are positioned on the line to be inspected when performing a line inspection task.

[0052] The cable traveling vehicle 20 is equipped with multiple sets of rollers to carry multiple modules and move along the line to be tested. All rollers are powered by the drive module. When performing line testing tasks, the rollers directly contact the surface of the line to be tested, support the overall weight of the traveling vehicle and complete actions such as traveling, turning and braking.

[0053] Specifically, the roller can adopt a split-type encapsulation structure, consisting of an inner metal hub and an outer wear-resistant elastic material. The metal hub is responsible for transmitting the torque of the drive module and has high strength and deformation resistance, capable of bearing the total weight of the vehicle and all detection modules. The outer elastic material adopts an anti-slip texture design, which increases the friction with the track surface to prevent the vehicle from slipping when climbing slopes, turning, or when the track surface is wet. On the other hand, it can buffer vibrations during travel and avoid damage to the track insulation layer caused by hard contact.

[0054] The rollers are divided into drive rollers and driven rollers according to their installation position and function: the drive rollers are directly connected to the output shaft of the drive module; the driven rollers play an auxiliary support and guiding role, and adaptively adjust their angle according to the route to ensure that the vehicle moves smoothly along the route axis.

[0055] The cable traveling vehicle 20 features a symmetrical roller layout, with the number of rollers adapted to the specifications of the cable to be inspected (such as diameter and laying method), for example, 4-6 sets. For instance, in overhead cable inspection scenarios, the cable traveling vehicle 20 uses an upper and lower clamping roller layout, with the upper two sets of rollers and the lower two sets of rollers forming a clamping structure that securely engages with the cable surface, preventing the vehicle from falling off during high-altitude operations. In buried cable trench inspection scenarios, the cable traveling vehicle 20 is equipped with 6 sets of rollers; the bottom four sets of rollers support the vehicle's movement along the guide rails within the trench, while the two sets of rollers on either side act as limiters, preventing the vehicle from deviating from the preset path.

[0056] All rollers are controlled by a unified drive module. After the control device issues a travel command, the drive module's power unit (such as a servo motor) transmits torque to the metal hub of the drive roller, causing it to rotate. The friction between the drive roller and the track surface is converted into the travel power of the vehicle, driving the driven roller to rotate synchronously, thus enabling the vehicle to move at a constant speed along the track. When turning or adjusting the travel speed is required, the drive module can adjust the speed difference between different drive rollers to complete the turning action of the vehicle. At the same time, it adjusts the output torque in real time according to the control device's instructions to adapt to the travel resistance under different slopes and track materials. When the detection task is completed or an emergency occurs, the drive module triggers the braking function, locking the rotation shaft of the drive roller to achieve emergency braking of the vehicle.

[0057] As can be seen in this example, the multiple sets of drive rollers on the cable-moving vehicle firmly adhere to the line to be tested and move smoothly, ensuring the stability of the line testing process.

[0058] In one possible implementation, the guide support module of the cable-walking vehicle includes a plurality of trapezoidally arranged guide supports, the inclined surfaces of which engage with the roller grooves of the cable-walking vehicle, and the guide supports are used to limit the lateral displacement of the cable-walking vehicle on the line to be inspected.

[0059] The guide support features a trapezoidal cross-section integrated molding structure, with the main body made of high-strength lightweight alloy. The inclined surface of the trapezoidal structure is the core functional surface, and the inclination angle of the inclined surface is customized according to the groove angle of the roller groove to ensure a close surface contact with the side wall of the roller groove, rather than a line contact or point contact, effectively improving the limiting stability. The top and bottom of the guide support are rounded to prevent damage to the circuit insulation layer or roller groove structure due to sharp corners during movement.

[0060] The guide support module adopts a distributed trapezoidal layout. With the central axis of the cable-moving vehicle as the center of symmetry, guide supports are symmetrically set on both sides of the roller assembly. Each set of rollers is equipped with two sets of guide supports, located at the front and rear ends of the rollers respectively. The installation height of all guide supports is distributed in a trapezoidal gradient, with the guide supports near the middle of the vehicle being installed at a slightly higher height and the guide supports near the ends of the vehicle being installed at a slightly lower height, forming a trapezoidal profile that is high in the middle and low at both ends. The layout spacing is precisely calculated based on the roller wheelbase, and the spacing error between adjacent guide supports is controlled within a small range, ensuring that at least two sets of guide supports are always effectively connected to the roller groove during the movement and turning of the vehicle.

[0061] The inclined surface of the guide support and the side wall of the roller groove form a wedge-shaped mating pair. When the cable trolley is mounted on the line to be inspected, the roller engages with the line surface, and the inclined surface of the guide support simultaneously embeds into the gap of the side wall of the roller groove, forming a mechanical limiting constraint. When the trolley tends to deviate laterally due to line bending, wind disturbance, or road bumps, the inclined surface of the guide support will generate a reverse supporting force with the side wall of the roller groove to counteract the lateral deviation force and prevent the trolley from sliding to both sides, thus achieving the limiting effect.

[0062] As can be seen in this example, the cable trolley guide support module uses multiple sets of trapezoidal guide supports that are precisely connected to the roller grooves, thereby effectively limiting the lateral displacement of the cable trolley, realizing the limiting function, and ensuring that the cable trolley travels stably along the line to be tested.

[0063] In one possible implementation, the guide support is located below the cable-carrying vehicle, and the guide support is used to adjust the height of the cable-carrying vehicle.

[0064] The guide support module, in addition to its lateral limiting function, also enables height adjustment of the cable trolley due to its installation beneath it. Specifically, the guide support beneath the trolley employs a telescopic trapezoidal structure. The main support body consists of a fixed section and a sliding section, connected by a precision lead screw or elastic telescopic rod. The extension stroke of the sliding section can be set as needed. The inclined surface of the guide support and the mating end of the roller groove are equipped with an angle-adaptive joint, maintaining a tight fit between the inclined surface and the roller groove during height adjustment, thus not affecting the lateral limiting effect. The main support body is made of a high-strength, lightweight alloy, meeting load-bearing requirements while avoiding compromising the lightweight characteristics of the trolley due to structural weight increase.

[0065] Before or after line inspection, the height of the cable trolley can be adjusted via the guide support module to raise the bottom moving mechanism (rollers, drive gears, etc.) of the trolley, preventing wear and corrosion caused by direct contact between the mechanism and the ground, extending the equipment's service life, and reducing maintenance costs. During line inspection, the relative height between the trolley and the line can be dynamically adjusted according to the diameter and surface morphology of the line to be inspected, ensuring that the roller assembly always maintains the optimal contact posture.

[0066] Taking a line inspection task as an example, when the cable trolley is mounted on the line to be inspected, the distance sensor module measures the distance between the bottom of the trolley and the surrounding structure of the line (such as cable brackets and trench bottom) in real time, and collects the line diameter data and feeds it back to the control device. The control device compares the measured data with the preset height threshold. When the height of the trolley is too high, resulting in insufficient roller clamping force, or when the height is too low, resulting in the bottom of the trolley scraping against the surrounding structure, a height adjustment command is issued. After receiving the command, the drive component (micro servo motor) of the guide support drives the lead screw or telescopic rod to extend or retract, causing the sliding section to move along the fixed section, thereby adjusting the overall height of the trolley upward or downward. After the height is adjusted to the correct position, the self-locking structure of the guide support is activated to lock the position of the telescopic section and prevent the height of the trolley from shifting due to vibration during travel.

[0067] As can be seen in this example, the guide support structure under the cable-carrying vehicle can be adaptively adjusted in height to adapt to cables of different diameters and complex scenarios, ensuring stable contact between the rollers and the cable during cable inspection tasks and improving the accuracy of the inspection data.

[0068] In one possible implementation, when the mobile imaging device is connected to the cable trolley via a connection structure, the power supply module of the cable trolley is used to supply power to the cable trolley and multiple modules of the mobile imaging device.

[0069] When the mobile imaging device 30 docks with the cable trolley 20 via the connection structure, the power supply module of the cable trolley 20, relying on the centralized power supply of lithium batteries and the DC-DC voltage regulation system, provides unified power to multiple modules of both the mobile imaging device 30 and the cable trolley 20. The power supply module uses a 24V / 10Ah high-capacity lithium battery pack as the unified power source. The DC-DC voltage regulator converts the voltage to 12V (for the imaging module of the mobile imaging device) and 5V (for the sensors and controllers of both devices), covering the power needs of the cable trolley's own drive module, guide support module, and extended detection module, as well as meeting the power supply requirements of the mobile imaging device's X-ray imaging and drive modules, thus achieving integrated management of multi-module power supply.

[0070] As can be seen in this example, after the mobile imaging device is connected to the cable trolley, it is powered by the power supply module of the cable trolley. This simplifies the power supply operation, reduces the maintenance burden, realizes integrated management of power supply for multiple modules, and ensures the stable operation of the mobile imaging device and the cable trolley modules.

[0071] In one possible implementation, the X-ray imaging module of the mobile imaging device includes an X-ray emission source and an imaging detector, wherein the X-ray emission source and the imaging detector maintain a constant distance while moving synchronously during the detection task.

[0072] The X-ray emission source is the component that generates X-rays, emitting them towards the object being inspected (such as a cable) so that the rays penetrate the object. The imaging detector is the component that receives the X-rays after they have penetrated the object, converting the received ray signals into visual image signals, ultimately forming an image of the internal structure of the object. The two work together to achieve X-ray flaw detection imaging. During the inspection process, they must maintain a stable relative position to ensure clear and accurate imaging.

[0073] The mobile imaging device employs a synchronous belt drive mechanism and a CNC servo drive system to construct a precise motion system with closed-loop feedback control. The synchronous belt drive features zero backlash and high transmission efficiency, and when combined with a CNC servo motor, it can achieve high-precision displacement control of ±0.1mm. Simultaneously, the device is equipped with position sensors to collect motion trajectory data in real time, and the drive parameters are dynamically calibrated by a microcontroller. Even under complex operating conditions with a maximum track tilt of 30° and a maximum load of 50kg, it can maintain linear stability of motion, providing a core guarantee for the synchronous movement and constant spacing between the X-ray emission source and the imaging detector.

[0074] Synchronous belt drives transmit motion through the meshing of equidistant transverse teeth on the inner surface of the belt and corresponding grooves on the pulleys. Compared to friction belt drives, synchronous belt drives eliminate relative slippage between the pulleys and the belt, ensuring a constant rotational speed ratio between the driving and driven pulleys. This achieves a strictly constant transmission ratio, providing precise motion synchronization support for the synchronous movement and constant spacing of the X-ray emission source and imaging detector in a mobile imaging device.

[0075] The mobile imaging device employs a brushed motor servo system, which operates based on closed-loop control principles. This system collects real-time position and speed feedback data from the moving components and compares and corrects this data with preset input commands. This ensures precise tracking of the input with the output, achieving high-precision control of the moving components' position and speed. Motion errors are strictly limited to a small range, guaranteeing the overall motion accuracy and response speed of the device. For example, to meet the needs of different motion dimensions, four brushed servo motors are configured. These motors have clearly defined roles and work collaboratively: one motor drives the forward and backward movement of the detection platform, achieving vertical adjustment of the detection area; two motors control the vertical movement of the X-ray machine's imaging mechanism, achieving precise adjustment of the detection height; and one motor controls the left and right translation of the X-ray machine's imaging mechanism, achieving horizontal coverage of the detection area. The number of motors can be flexibly increased or decreased according to the actual expansion needs of the motion functions, adapting to complex motion control scenarios.

[0076] As can be seen in this example, during the detection task, the X-ray emission source and the imaging detector move synchronously and maintain a constant distance. The high-precision displacement control of the synchronous belt drive and CNC servo drive system avoids the image blurring and overlapping problems caused by vibration of traditional equipment, improves the imaging clarity and defect identification capability, and thus ensures the accuracy of X-ray detection.

[0077] In one possible implementation, please refer to Figure 5 , Figure 5 This is a schematic diagram of a circuit detection process based on a circuit detection system provided in an embodiment of this application, as shown below. Figure 5 As shown, line testing based on a line testing system includes the following steps: S501, receives line detection tasks.

[0078] Among them, the executing entity of S501-S504 can be a control device.

[0079] S501 is the initiation stage of the line testing process based on the line testing system. It receives the line testing task instruction issued by the line testing system or manually entered. The instruction content must include the basic information of the line to be tested, which may include, but is not limited to, parameters such as the line start and end points, line number, key testing areas, and testing accuracy requirements.

[0080] The S502 controls the drone to transport the cable-carrying vehicle to the line to be inspected according to the line inspection task.

[0081] The drone, equipped with a cable-carrying vehicle, plans the optimal flight path based on the line location information received from the S501 system during the line inspection task. During flight, the drone maintains a stable flight attitude using its own flight control system. Furthermore, a detection location positioning system can be developed later by embedding it into the remote controller app or ground station. Utilizing the drone's built-in flight control trajectory, real-time latitude and longitude coordinate data can be extracted. Combined with the high-precision positioning information from the BeiDou Navigation Satellite System and the preset location information of the line to be inspected, intelligent positioning functionality is achieved, accurately locating the deployment point of the line to be inspected. Upon reaching the deployment point, the drone performs the deployment operation, smoothly placing the cable-carrying vehicle on the line to be inspected, completing the transportation task.

[0082] S503 controls the cable-moving vehicle to travel on the line to be inspected and collects information about the line through a mobile imaging device.

[0083] The cable-walking vehicle is equipped with a mobile imaging device and moves autonomously along the line to be inspected. During the journey, the cable-walking vehicle maintains a constant speed and stability. The X-ray emission source and imaging detector in the mobile imaging device move synchronously and maintain a constant distance, scanning and inspecting the internal and surface conditions of the line using X-ray flaw detection technology.

[0084] The X-ray emission source emits X-rays into the line, and the imaging detector receives the X-ray signal after it penetrates the line and converts it into visual image data. At the same time, it collects relevant information such as appearance defects and structural abnormalities of the line. After the collection is completed, all detection data is transmitted to the control device in real time.

[0085] S504, determine the detection result of the line detection task based on the returned information.

[0086] The control device receives line inspection data transmitted from the S503 and analyzes and processes image data, defect information, and other content. Using a preset defect identification algorithm, it determines whether the line has faults such as cracks, broken strands, or wear, and accurately marks the fault location, type, and severity. Based on the accuracy requirements of the line inspection task, it generates a complete line inspection result, including an overview of the inspected line, fault details, and inspection conclusions, providing a basis for decision-making regarding line maintenance and repair.

[0087] As can be seen in this example, the S501 first receives the line inspection task to clarify the relevant parameters of the line to be inspected. Then, relying on the UAV to deliver the cable-carrying vehicle at a fixed point, combined with the remote controller or ground station with an embedded positioning system, intelligent positioning is achieved using flight control trajectory and Beidou positioning to ensure the accuracy of delivery. Afterwards, the cable-carrying vehicle carries a mobile imaging device to travel along the line and collect high-definition inspection data to complete the core flaw detection. Finally, the control device analyzes the data to generate the inspection results. Through integrated line inspection, the entire process from start-up to result output of the inspection task is automated and accurate. At the same time, the UAV's intelligent positioning function improves the inspection efficiency in complex scenarios, and the stable inspection capability of the mobile imaging device ensures the accuracy of line inspection.

[0088] Please see Figure 6 , Figure 6 This is a schematic diagram of the structure of a line testing device provided in an embodiment of this application, as shown below. Figure 6 As shown, the line testing device 600 includes: The first processing unit 601 is used to receive the line inspection task. The second processing unit 602 is used to control the UAV to transport the cable-moving vehicle to the line to be inspected according to the line inspection task. The third processing unit 603 is used to control the cable-moving vehicle to move on the line to be inspected and collect information about the line through a moving imaging device. The fourth processing unit 604 is used to determine the inspection result of the line inspection task based on the returned information.

[0089] It is worth noting that the specific functional implementation of the line testing device 600 is described above. Figure 5 The data processing method described is as follows: for example, the first processing unit 601 is used to implement the relevant content of S501, the second processing unit 602 is used to implement the relevant content of S502, the third processing unit 603 is used to implement the relevant content of S503, and the fourth processing unit 604 is used to implement the relevant content of S504. Each unit or module in the line detection device 600 can be individually or entirely merged into one or more other units or modules, or some of the units or modules can be further divided into multiple functionally smaller units or modules. This achieves the same operation without affecting the technical effect of the embodiments of the present invention. The above-mentioned units or modules are divided according to logical functions. In practical applications, the function of one unit (or module) is implemented by multiple units (or modules), or the function of multiple units (or modules) is implemented by one unit (or module).

[0090] Based on the description of the above method embodiments and related device embodiments, please refer to... Figure 7 , Figure 7 This is a schematic diagram of the structure of a computer provided in an embodiment of this application. Figure 7The computer 700 shown includes a processor 701, a memory 702, a communication interface 703, and a bus 704. The processor 701, memory 702, and communication interface 703 are interconnected via the bus 704. Optionally, the memory 702 may be a ROM, a static storage device, a dynamic storage device, or RAM.

[0091] Memory 702 can store executable program code. When the executable program code stored in memory 702 is executed by processor 701, processor 701 and communication interface 703 are used for execution. Figure 5 The illustrated embodiment includes the steps of a method for line detection based on a line detection system.

[0092] The processor 701 employs a general-purpose CPU, microprocessor, application-specific integrated circuit (ASIC), GPU, or one or more integrated circuits to execute relevant programs to perform the line detection method based on the line detection system according to the method embodiments of this application.

[0093] The processor 701 can also be an integrated circuit chip with signal processing capabilities. In implementation, each step of the circuit detection method based on the circuit detection system of this application can be completed by the integrated logic circuits in the hardware of the processor 701 or by instructions in software form. Optionally, the processor 701 is a general-purpose processor, DSP, ASIC, FPGA, or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The processor can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor is a microprocessor or any conventional processor, etc. The steps of the methods disclosed in the embodiments of this application can be directly embodied in the execution of a hardware decoding processor, or can be executed by a combination of hardware and software modules in the decoding processor. Optional software modules are located in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The storage medium is located in the memory 702. The processor 701 reads the information in the memory 702 and, in conjunction with its hardware, performs the functions required by the modules included in the line detection device 600 of this application embodiment, or performs the line detection method based on the line detection system of this application method embodiment.

[0094] The communication interface 703 uses transceiver-related devices such as, but not limited to, transceivers. The bus 704 may include a pathway for transmitting information between various components of the computer 700 (e.g., memory 702, processor 701, communication interface 703).

[0095] It should be noted that, although Figure 7The computer 700 shown only illustrates the memory, processor, and communication interface. However, those skilled in the art should understand that in specific implementations, the computer 700 may also include other devices necessary for normal operation. Furthermore, depending on specific needs, those skilled in the art should understand that the computer 700 may also include hardware devices for implementing other additional functions. Moreover, those skilled in the art should understand that the computer 700 may only include the devices necessary for implementing the embodiments of this application, and may not necessarily include... Figure 7 All the devices shown.

[0096] This application provides a computer-readable storage medium storing a computer program for electronic data interchange. The computer program includes execution instructions for performing some or all of the steps of any of the methods for line detection based on a line detection system as described in the above embodiments of the method for line detection based on a line detection system. The computer includes an electronic client device.

[0097] This application provides a computer program product, which includes a computer program operable to enable the computer to perform some or all of the steps of any of the line detection methods based on the line detection system described in the above method embodiments. The computer program product may be a software installation package.

[0098] It should be noted that, for any of the aforementioned embodiments of the line detection method based on the line detection system, for the sake of simplicity, they are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, because according to this application, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also understand that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily essential to this application.

[0099] The embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of a method, computer, storage medium, and program product for line detection based on a line detection system. The descriptions of the embodiments above are only for the purpose of helping to understand the method and its core ideas. At the same time, for those skilled in the art, based on the ideas of a method, computer, storage medium, and program product for line detection based on a line detection system of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

[0100] This application is described with reference to flowchart illustrations and / or block diagrams of methods, hardware products, 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.

[0101] 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 functions specified in one or more boxes. Memory may include: flash drives, read-only memory (ROM), random access memory (RAM), hard disks or optical disks, etc.

[0102] Although this application has been described herein in conjunction with various embodiments, those skilled in the art, by reviewing the accompanying drawings, disclosure, and appended claims, will understand and implement other variations of the disclosed embodiments in carrying out the claimed application. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude multiple instances. While different dependent claims may recite certain measures, this does not mean that these measures cannot be combined to produce a good effect.

[0103] Those skilled in the art will understand that all or part of the steps in the various methods of any of the above-described embodiments of the method for line testing based on a line testing system can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage device, which may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a disk, or an optical disk, etc.

[0104] It is understood that any product that is controlled or configured to execute the processing method of the flowchart described in the embodiment of the method for line detection based on a line detection system of this application, such as the apparatus and computer program product of the above flowchart, falls within the scope of the related products described in this application.

[0105] Obviously, those skilled in the art can make various modifications and variations to the circuit detection system provided in this application without departing from the spirit and scope of this application. Therefore, if these modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include these modifications and variations.

Claims

1. A circuit detection system, characterized in that, include: Unmanned aerial vehicles, cable-operated vehicles, mobile imaging devices, and control devices; The drone is used to transport the cable-carrying vehicle to the line to be inspected according to the line inspection task; The cable-carrying vehicle includes a drive module, a guide support module, a hoisting and positioning module, and a power supply module; The mobile imaging device includes an X-ray imaging module and a driving module; The control device is used to issue commands to the UAV, the cable-carrying vehicle, and the mobile imaging device, and to receive data returned by the UAV, the cable-carrying vehicle, and the mobile imaging device to obtain the detection results of the line detection task.

2. The line detection system as described in claim 1, characterized in that, The mobile imaging device is connected to the cable-carrying vehicle through a connection structure. The connection structure includes an interface structure and a snap-fit ​​structure. The interface structure is a connection part that meets preset connection parameters, and the snap-fit ​​structure is a locking part that restricts the relative displacement between the mobile imaging device and the cable-carrying vehicle.

3. The line detection system as described in claim 1, characterized in that, The cable-carrying vehicle and the multiple modules in the mobile imaging device are assembled by using positioning pins and positioning holes.

4. The line detection system as described in claim 1, characterized in that, The cable-carrying vehicle also includes one or more of an infrared thermal imager module, a discharge detector module, and an ultrasonic flaw detector module; the mobile imaging device also includes one or more of a gyroscope module, an accelerometer module, and a distance sensor module.

5. The line detection system as described in claim 1, characterized in that, The cable-walking vehicle includes multiple rollers driven by the drive module. When performing a line detection task, the rollers are positioned on the line to be detected.

6. The line detection system as described in claim 5, characterized in that, The guide support module of the cable traveling vehicle includes multiple trapezoidal guide supports. The inclined surfaces of the guide supports are connected to the roller grooves of the cable traveling vehicle. The guide supports are used to limit the lateral displacement of the cable traveling vehicle on the line to be inspected.

7. The line detection system as described in claim 6, characterized in that, The guide support is located below the cable traveling vehicle and is used to adjust the height of the cable traveling vehicle.

8. The line detection system as described in claim 1, characterized in that, When the mobile imaging device is connected to the cable trolley via a connecting structure, the power supply module of the cable trolley is used to supply power to the cable trolley and multiple modules of the mobile imaging device.

9. The line detection system as described in claim 1, characterized in that, The X-ray imaging module of the mobile imaging device includes an X-ray emission source and an imaging detector. During the line inspection task, the X-ray emission source and the imaging detector maintain a constant distance while moving synchronously.

10. The line detection system as described in claim 1, characterized in that, The drive module of the mobile imaging device includes a synchronous belt drive mechanism and a CNC servo motor, which are used to control the displacement of the mobile imaging device.

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