A power transmission line inspection device and method of use thereof

Abstract

The present application relates to the technical field of circuit detection, and more particularly to a power transmission line flaw detection device and a use method thereof, which comprises a horizontal plate, a left side plate and a right side plate vertically arranged at the lower sides of the left and right ends of the horizontal plate, a driving wheel arranged at the lower side of the horizontal plate, a first driven wheel mounted on each of the left and right side plates, an ultrasonic detection assembly mounted on each of the left and right side plates, a visual detection module mounted on the front side of each of the left and right side plates, a counterweight box arranged at the lower side of each of the left and right side plates, and a hoisting assembly arranged at the upper side of the horizontal plate for cooperation with a drone for hoisting. The present application solves the problem in the prior art that the device is single visual detection, which can only find surface defects and cannot detect internal cracks, core wire breakage and other hidden damages.

Description

Technical Field

[0001] This invention relates to the field of circuit testing technology, specifically to a power transmission line flaw detection device and its usage method. Background Technology

[0002] As a critical component of the power system, transmission lines are exposed to the natural environment for extended periods, enduring multiple effects such as mechanical tension, wind loads, temperature variations, and electrochemical corrosion. This makes them highly susceptible to defects such as fatigue cracks, strand breakage, and internal damage. If these defects are not detected and addressed promptly, they can lead to serious accidents such as line fractures and tower collapses, threatening the safe and stable operation of the power grid.

[0003] Currently, defect detection in power transmission lines mainly relies on three methods: manual inspection, helicopter inspection, and robotic inspection. Manual inspection is labor-intensive, dangerous, and difficult to detect internal defects in conductors; helicopter inspection is costly, limited by weather conditions, and cannot accurately identify defects; while existing inspection robots can walk along conductors and take images, they have the following technical limitations: First, existing devices mostly use single-vision inspection, which can only detect surface defects and cannot detect hidden damage such as internal cracks or broken core wires; second, their obstacle-crossing ability is insufficient, and they are prone to getting stuck at fittings such as spacers and crimping pipes; third, the fit between the detection module and the conductor surface is difficult to guarantee, affecting the detection accuracy.

[0004] Therefore, there is an urgent need for a transmission line flaw detection device that can adapt to complex line environments and has comprehensive detection capabilities for internal and external defects. Summary of the Invention

[0005] The purpose of this invention is to provide a flaw detection device for power transmission lines, which solves the problem that in the prior art, most devices use single visual inspection, which can only detect surface defects and cannot detect hidden damage such as internal cracks and core wire breaks in conductors.

[0006] To solve the above-mentioned technical problems, the first technical solution adopted by the present invention is as follows:

[0007] A flaw detection device for power transmission lines includes a horizontal plate and a left and right side plates vertically arranged at the lower sides of the left and right ends of the horizontal plate. A drive wheel is provided on the lower side of the horizontal plate, and a first driven wheel is installed on both the left and right side plates. An ultrasonic detection component is installed on both the left and right side plates, and a visual inspection module is installed on the front side of both the left and right side plates. A counterweight box is provided on the lower side of both the left and right side plates, and a hoisting component for hoisting with a drone is provided on the upper side of the horizontal plate.

[0008] A further technical solution is that the drive wheel is mounted on the lower side of the middle of the horizontal plate via a first mounting bracket. A first rotating groove is provided on the lower side of the first mounting bracket. The drive wheel is rotatably connected to the first rotating groove via a first rotating shaft. One end of the first rotating shaft is placed on the outside of the first mounting bracket and is coaxially connected to a first gear. A drive motor is mounted on the lower side of the horizontal plate. A second gear is mounted on the output shaft of the drive motor. The first gear and the second gear mesh and transmit power.

[0009] A further technical solution is that the left and right side plates are both inclined downwards with second mounting brackets near the horizontal plate. The lower end of each of the two second mounting brackets is provided with a second rotating groove. The first driven wheel is rotatably connected to the second rotating groove through a second rotating shaft. There are two or more first driven wheels in the front-back direction.

[0010] A further technical solution is that the left and right side plates are both inclined to be mounted with electric telescopic rods on the lower side of the second mounting bracket. The output shaft of the electric telescopic rod is provided with a third mounting bracket. The upper end of the third mounting bracket is provided with a third rotating groove. A second driven wheel is rotatably mounted in the third rotating groove through a third rotating shaft. There are two or more second driven wheels arranged in the front-back direction.

[0011] A further technical solution is that the left and right sides of the plate are recessed with clearance grooves at the positions corresponding to the third mounting bracket.

[0012] A further technical solution is that mounting plates are installed on the front sides of both the left and right side panels, and a vision inspection module is installed on each of the two mounting plates. The vision inspection module includes a high-definition camera and a supplementary light.

[0013] A further technical solution is that an ultrasonic testing assembly is installed in both the second and third rotating slots. The ultrasonic testing assembly includes a fixed block, a movable block, and an ultrasonic probe. The fixed block is fixed in the second or third rotating slot. A movable hole is provided at the end of the fixed block away from the second or third rotating slot. The movable block is slidably disposed in the movable hole. A pressure sensor is provided at the bottom of the movable hole. The movable block is connected to the pressure sensor through a spring. A first mounting hole is provided at the end of the movable block away from the spring. The ultrasonic probe is installed in the first mounting hole.

[0014] A further technical solution is that the movable block has a second mounting hole on the front side of the first mounting hole, a nozzle is installed in the second mounting hole, a liquid storage tank is installed in the counterweight box, an electric pump is installed in the liquid storage tank, the output pipe of the electric pump is connected to the nozzle, and a coupling agent is added to the liquid storage tank.

[0015] A further technical solution is to install a battery unit, a processing module, and a communication module inside the counterweight box.

[0016] A further technical solution is that the hoisting assembly includes a connecting rod vertically mounted on the upper side of the horizontal plate, with an electromagnet at the upper end of the connecting rod.

[0017] The second technical solution adopted in this invention is:

[0018] A method for detecting flaws in power transmission lines, based on a method for detecting flaws in a power transmission line flaw detection device in the first technical solution, includes the following steps: Step S1, controlling a drone to fly above the flaw detection device, using the attraction between an electromagnet and the drone's lifting end to hoist the flaw detection device to the target cable position, controlling the drone to descend so that the left and right side plates are respectively placed on the left and right sides of the cable, and the driving wheel and the first driven wheel are in contact with the upper surface of the cable; Step S2, activating the electric telescopic rod to extend, driving the third mounting bracket and the second driven wheel to move towards the cable until the second driven wheel is in contact with the lower surface of the cable, forming a circumferential clamping structure for the cable with the driving wheel and the first driven wheel, while the counterweight box provides a downward swing torque to maintain the stability of the device's attitude; Step S3, the walking detection step activates the drive electric... The machine, driven by gear transmission, rotates the drive wheel, propelling the entire device along the cable. During this movement, the visual inspection module acquires images of the cable surface to identify surface defects, while the ultrasonic probe in the ultrasonic inspection component performs ultrasonic scanning of the cable's interior to identify hidden damage. In step S4, the processing module receives real-time inspection data from the visual inspection module and the ultrasonic inspection component, performs defect identification and location analysis, and remotely transmits the inspection data and analysis results to the ground monitoring terminal via the communication module. In step S5, when the flaw detection device reaches the connection point between the cable and the electrical stake or encounters an insurmountable obstacle, the electric telescopic rod is shortened to release the clamp, the drone is activated to re-attract the electromagnet, and the device is hoisted to the next section of cable, repeating steps S1-S4 until the entire line inspection is completed.

[0019] Compared with existing technologies, the advantages of this invention are as follows: When using this application for transmission line flaw detection, a drone connected to a hoisting assembly is used to fly the entire device to the location of the transmission line. Then, the left and right side plates are placed on the left and right sides of the cable, respectively, and lowered. A counterweight box helps maintain the correct posture of the entire device. With the cooperation of the driving wheel and the first driven wheel, the device can clamp the cable and move along it for inspection. Furthermore, when the cable cannot pass through the connection point with the power pole, it can be re-hoisted to the next cable section using a drone, making operation convenient. By setting a visual inspection module, surface damage to the transmission line can be inspected through image detection; by setting an ultrasonic inspection assembly, internal damage to the transmission line can be inspected through ultrasonic detection. This dual internal and external inspection method allows for comprehensive detection of the transmission line's health status. Attached Figure Description

[0020] Figure 1 This is a schematic cross-sectional view of a transmission line flaw detection device according to the present invention. Figure 1 .

[0021] Figure 2 This is a schematic cross-sectional view of a transmission line flaw detection device according to the present invention. Figure 2 .

[0022] Figure 3 for Figure 1 A partial schematic diagram.

[0023] Figure 4 This is a schematic diagram of the ultrasonic testing component of a power transmission line flaw detection device according to the present invention.

[0024] Figure 5 This is a top view of a power transmission line flaw detection device according to the present invention.

[0025] Icons: 1-Horizontal plate, 2-Left side plate, 3-Right side plate, 4-Drive wheel, 5-First driven wheel, 6-Vision inspection module, 7-Counterweight box, 8-First mounting bracket, 9-First rotating groove, 10-First rotating shaft, 11-First gear, 12-Drive motor, 13-Second gear, 14-Second mounting bracket, 15-Second rotating groove, 16-Second rotating shaft, 17-Electric telescopic rod, 18-Third mounting bracket, 19-Third rotating groove, 20-Third rotating shaft, 21-Second driven wheel, 22-Allowing groove, 23-Mounting piece, 24-Fixed block, 25-Moving block, 26-Ultrasonic probe, 27-Moving hole, 28-Pressure sensor, 29-Spring, 30-First mounting hole, 31-Second mounting hole, 32-Nozzle, 33-Reservoir tank, 34-Battery section, 35-Connecting rod, 36-Electromagnet, 37-Cable. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0027] Figures 1 to 5 The image shows an embodiment of the present invention.

[0028] Example:

[0029] A power transmission line flaw detection device includes a horizontal plate 1 and a left side plate 2 and a right side plate 3 vertically arranged at the lower sides of the left and right ends of the horizontal plate 1. A drive wheel 4 is provided on the lower side of the horizontal plate 1. First driven wheels 5 are installed on both the left side plate 2 and the right side plate 3. An ultrasonic testing assembly is installed on both the left side plate 2 and the right side plate 3. A visual inspection module 6 is installed on the front side of both the left side plate 2 and the right side plate 3. A counterweight box 7 is provided on the lower side of both the left side plate 2 and the right side plate 3. A lifting assembly for use with a drone is provided on the upper side of the horizontal plate 1. When using this device for power transmission line flaw detection, the drone connects to the lifting assembly to fly the entire device to the location of the power transmission line. Then, the left side plate 2 and the right side plate 3 are placed on the left and right sides of the cable 37 respectively and lowered. The counterweight box 7 helps maintain the correct posture of the entire device. With the cooperation of the drive wheel and the first driven wheels 5, the device can clamp the cable 37 and move along the cable 37 to perform inspection. Furthermore, when the connection between cable 37 and the power pile is impassable, this application allows for easy re-installation of the cable 37 to the next section using a drone. By setting up a visual inspection module 6, damage to the surface of the transmission line can be inspected using image detection. By setting up an ultrasonic inspection component, damage inside the transmission line can be inspected using ultrasonic detection. Through this dual internal and external inspection method, the health status of the transmission line can be comprehensively assessed.

[0030] The drive wheel 4 is mounted on the lower side of the middle of the horizontal plate 1 via the first mounting bracket 8. A first rotating groove 9 is provided on the lower side of the first mounting bracket 8. The drive wheel 4 is rotatably connected to the first rotating groove 9 via a first rotating shaft 10. One end of the first rotating shaft 10 is located outside the first mounting bracket 8 and is coaxially connected to a first gear 11. A drive motor 12 is mounted on the lower side of the horizontal plate 1. A second gear 13 is mounted on the output shaft of the drive motor 12. The first gear 11 and the second gear 13 mesh and transmit power. Figure 1 or Figure 3 As shown, the drive motor 12 drives the second gear 13 to rotate, which in turn drives the first gear 11 and the first rotating shaft 10 to rotate, thus driving the drive wheel 4 to rotate. In this way, the force of the entire device pressing on the cable 37 is almost concentrated on the drive wheel 4, thereby providing sufficient friction for the drive wheel 4 to drive the entire device to move along the cable 37.

[0031] Both the left side plate 2 and the right side plate 3 have second mounting brackets 14 inclined downwards near the horizontal plate 1. Each second mounting bracket 14 has a second rotating groove 15 at its lower end. First driven wheels 5 are rotatably connected to the second rotating groove 15 via a second rotating shaft 16. Two or more first driven wheels 5 are arranged along the front-to-back direction. During hoisting, the drive wheel 4 and the first driven wheels 5 are positioned against the upper side of the cable 37, allowing the device to maintain a correct posture under its own weight during initial installation. Furthermore, the second rotating groove 15 is elongated along the front-to-back direction, and multiple first driven wheels 5 are arranged within it, further enhancing the stability of the device during movement.

[0032] Both the left side plate 2 and the right side plate 3 are inclined towards the underside of the second mounting bracket 14 and mounted with electric telescopic rods 17. The output shafts of the electric telescopic rods 17 are each equipped with a third mounting bracket 18. The upper end of the third mounting bracket 18 has a third rotating groove 19. A second driven wheel 21 is rotatably mounted within the third rotating groove 19 via a third rotating shaft 20. Two or more second driven wheels 21 are arranged along the front-to-back direction. During hoisting, the electric telescopic rod 17 is shortened to avoid affecting the contact between the cable 37 and the driving wheel 4 and the first driven wheel 5. After placement, the electric telescopic rod 17 is extended to bring the second driven wheels 21 into contact with the lower part of the cable 37, thereby cooperating with the driving wheel 4 and the first driven wheel 5 to clamp the cable 37. This ensures the device is stably mounted on the cable 37 and will not fall off even under shaking or wind conditions. The third rotating groove 19 is also elongated along the front-to-back direction, and two or more second driven wheels 21 are arranged within it, thereby improving the overall stability of the device.

[0033] On opposite sides of the left side plate 2 and the right side plate 3, at the position corresponding to the third mounting bracket 18, there are recessed clearance grooves 22. By providing clearance grooves 22, when the electric telescopic rod 17 is shortened, a portion of the third rotating bracket is allowed to enter the clearance grooves 22 to ensure that the cable 37 smoothly engages with the driving wheel 4 and the first driven wheel 5.

[0034] Mounting plates 23 are installed on the front sides of both the left side panel 2 and the right side panel 3. A vision inspection module 6 is mounted on each mounting plate 23, and the vision inspection module 6 includes a high-definition camera and a supplementary light. The mounting plates 23 effectively secure the vision inspection module 6. Furthermore, images are captured from both sides of the cable 37, providing comprehensive imaging of the cable 37.

[0035] Both the second rotating groove 15 and the third rotating groove 19 are equipped with ultrasonic testing components. Each ultrasonic testing component includes a fixed block 24, a movable block 25, and an ultrasonic probe 26. The fixed block 24 is fixed to either the second or third rotating groove 15. A movable hole 27 is provided at the end of the fixed block 24 away from the second or third rotating groove 19. The movable block 25 is slidably disposed within the movable hole 27. A pressure sensor 28 is provided at the bottom of the movable hole 27. The movable block 25 is connected to the pressure sensor 28 via a spring 29. A first mounting hole 30 is provided at the end of the movable block 25 away from the spring 29, and the ultrasonic probe 26 is mounted within the first mounting hole 30. By using the spring 29, the ultrasonic probe 26 can be made to fit tightly against the surface of the cable 37, thereby improving the accuracy of the detection. Furthermore, the pressure sensor 28 can determine whether the spring 29 is functioning properly and whether the pressure provided by the spring 29 meets the requirement for a tight fit of the ultrasonic probe 26.

[0036] The movable block 25 has a second mounting hole 31 on the front side of the first mounting hole 30. A nozzle 32 is installed in the second mounting hole 31. A liquid storage tank 33 is installed inside the counterweight box 7. An electric pump is installed in the liquid storage tank 33. The output pipe of the electric pump is connected to the nozzle 32. Coupling agent is added to the liquid storage tank 33. To further improve the detection accuracy of the ultrasonic probe 26, a small amount of coupling agent is sprayed out in front of the ultrasonic probe 26 through the electric pump and the nozzle 32 as the ultrasonic probe 26 moves to fill the gap between the ultrasonic probe 26 and the surface of the cable 37, thereby improving the detection accuracy. After the coupling agent is used up, it can be hoisted down and refilled.

[0037] The counterweight box 7 houses a battery unit 34, a processing module, and a communication module. The processing module controls all electrically powered equipment within the device, enabling automatic forward movement, extension and retraction of the electric telescopic rod 17, and operation of the ultrasonic probe 26 and the electric pump. The communication module transmits data from the ultrasonic probe 26 and the high-definition camera to the operator's terminal.

[0038] The hoisting assembly includes a connecting rod 35 vertically mounted on the upper side of the horizontal plate 1, with an electromagnet 36 mounted at the upper end of the connecting rod 35. An iron plate or a component that can be attracted by the electromagnet 36 is connected below the drone via a rod or rope. When the electromagnet 36 is energized, it automatically attracts the component, allowing the entire device to move along with the drone. This facilitates the installation of the device onto the cable 37 and its retrieval.

[0039] Example 2:

[0040] Regarding the aforementioned transmission line flaw detection device, this embodiment provides a specific transmission line flaw detection method. This method fully utilizes the structural characteristics of the device to achieve efficient, accurate, and comprehensive detection of transmission lines. Specifically, it includes the following operational stages:

[0041] Preliminary preparations and hoisting deployment

[0042] First, the electromagnet 36 is energized on the ground for a self-test to ensure that its adsorption force with the iron hoisting platform at the bottom of the UAV meets the requirements for safe hoisting. Generally, the adsorption force should be more than three times the total weight of the device. The level of coupling agent in the reservoir 33 is checked to ensure it is sufficient to complete the testing tasks of the preset sections. Simultaneously, the battery unit 34 is fully charged, the processing module and communication module are activated, and a wireless communication link is established with the ground control station.

[0043] The drone carrying the device is controlled to fly and hover approximately 5-10 meters above the section of the power transmission line to be inspected. The operator observes the relative position of the cable 37 and the device using real-time images transmitted back by the visual inspection module 6. The drone is slowly lowered, and when the device approaches the cable 37, the electrically operated telescopic boom 17 is fully retracted. At this point, the third mounting bracket 18 is partially housed within the clearance slot 22, ensuring sufficient opening spacing between the left side plate 2 and the right side plate 3 across the cable 37.

[0044] Continue descending until the driving wheel 4 and the first driven wheel 5 simultaneously contact the upper surface of the cable 37. At this point, the counterweight box 7 naturally swings down under the influence of gravity, positioning the device's center of gravity below the cable 37 and establishing a stable initial suspension posture. Control the drone to release the upward traction force on the electromagnet 36 or disconnect the electromagnet power supply, allowing the device to be fully supported on the cable 37.

[0045] Two-adaptive clamping and attitude adjustment

[0046] After the device is loaded, the processing module automatically starts the clamping program: it controls the electric telescopic rods 17 on both sides to extend synchronously and slowly, pushing the third mounting bracket 18 and the second driven wheel 21 to move obliquely upward toward the cable 37. As the second driven wheel 21 gradually approaches and contacts the lower surface of the cable 37, the driving wheel 4, the first driven wheel 5 and the second driven wheel 21 form a three-point encircling structure, clamping the cable 37 between them.

[0047] At this point, the gravitational torque provided by the counterweight box 7 and the clamping force provided by the electric telescopic rod 17 form a force balance, ensuring the device remains stable and does not detach even under wind load conditions of level 5-6. The pressure sensor 28 monitors the contact pressure between each driven wheel and the cable 37 in real time. When the pressure difference between the two sides exceeds a set threshold, such as 20%, the processing module adjusts the extension and retraction of the electric telescopic rods 17 on both sides to achieve automatic leveling of the device's posture, ensuring that the ultrasonic probe 26 remains perpendicular to the surface of the cable 37.

[0048] Three-mode inspection and testing

[0049] After clamping is completed, the formal testing phase begins. The processing module starts the drive motor 12, which drives the drive wheel 4 to travel along the cable 37 at a constant speed of 0.1-0.5 m / s through the meshing of the first gear 11 and the second gear 13.

[0050] Visual inspection process: The high-definition camera in visual inspection module 6 continuously captures images of the surface of cable 37 at a frequency of 30 frames per second. The supplementary lighting automatically adjusts its brightness according to the ambient light intensity to ensure image clarity. The processing module uses edge detection algorithms and deep learning models to perform real-time image analysis and identify defects such as broken strands, wear, corrosion, and foreign object entanglement on the surface.

[0051] Ultrasonic testing procedure: While the device is moving, the electric pump in the reservoir 33 continuously sprays coupling agent onto the surface of the cable 37 through nozzle 32 at a micro-flow rate of 0.5-1 mL / s. Nozzle 32 is located approximately 2-3 cm in front of the ultrasonic probe 26, ensuring that the coupling agent evenly covers the testing area before ultrasonic testing. Under the elastic force of spring 29 with a preset pressure range of 2-5 N, the ultrasonic probe 26 tightly adheres to the cable 37, emitting high-frequency ultrasonic waves in the range of 1-10 MHz and receiving echo signals. By analyzing the echo time and amplitude, hidden damage such as internal cracks, core wire breaks, and strand breaks can be identified.

[0052] The pressure sensor 28 continuously monitors the compression of the spring 29. If the pressure changes abruptly due to unevenness on the surface of the cable 37, the processing module adjusts the compensation displacement of the electric telescopic rod 17 in real time to maintain the constant contact pressure of the ultrasonic probe 26, ensuring the consistency and reliability of the detection data.

[0053] Four-in-one obstacle crossing and segmented detection

[0054] When the device encounters obstacles that cannot be directly crossed, such as tension clamps, spacers, or the connection between cable 37 and the tower, the vision detection module 6 identifies the obstacle features, and the processing module automatically generates an obstacle-crossing command.

[0055] Release clamping: Control the electric telescopic rod 17 to shorten, the second driven wheel 21 disengages from the lower surface of the cable 37, and the third mounting bracket 18 retracts to avoid the relief groove 22;

[0056] Drone takeover: Ground control personnel operate the drone to descend above the device, energize the electromagnet 36, and the drone lifts the device from the cable 37 by electromagnetic attraction.

[0057] Obstacle crossing and relocation: The drone carrying the device flies over the obstacle and arrives above the next section of cable 37. The above hoisting deployment and clamping and fixing steps are repeated to continue subsequent testing.

[0058] During this process, the processing module marks the end coordinates of the previous cable segment 37 and the starting coordinates of the next segment as consecutive nodes of the same detection task, ensuring the integrity and continuity of the detection data for the entire line.

[0059] V. Data Management and Recycling

[0060] The detection data is transmitted back to the ground monitoring center in real time via 4G / 5G or private network communication modules, establishing a detection file that includes defect type, location coordinates linked via the UAV's GPS positioning system, severity level, and image / ultrasonic atlas. For identified severe defects, such as internal core wire breakage exceeding 30% of the cross-section, the device automatically stops and issues an alarm, awaiting manual review.

[0061] After completing the inspection of all sections, the drone flies above the device, uses the electromagnet 36 to lift the device off the cable 37, and retrieves it to the ground. All power is then switched off, the local backup data stored in the processing module is exported, and residual coupling agent is cleaned from the nozzle 32, completing the flaw detection operation.

[0062] Through the above methods, this embodiment realizes automated, intelligent, and all-round flaw detection of transmission lines, which improves efficiency by more than 80% compared with traditional manual inspection, and can effectively detect internal hidden defects that are not visible to the naked eye, significantly improving the safety and reliability of power grid operation.

[0063] Although the invention has been described herein with reference to several illustrative embodiments, it should be understood that many other modifications and implementations can be devised by those skilled in the art, which will fall within the scope and spirit of the principles disclosed herein. More specifically, various variations and modifications can be made to the components and / or layout of the subject matter arrangement within the scope of the disclosure, drawings, and claims. Besides variations and modifications to the components and / or layout, other uses will be apparent to those skilled in the art.

Claims

1. A flaw detection device for power transmission lines, characterized in that, It includes a horizontal plate (1) and a left side plate (2) and a right side plate (3) arranged vertically on the lower sides of the left and right ends of the horizontal plate (1). The lower side of the horizontal plate (1) is provided with a drive wheel (4). The left side plate (2) and the right side plate (3) are each equipped with a first driven wheel (5). The left side plate (2) and the right side plate (3) are each equipped with an ultrasonic detection component. The front side of the left side plate (2) and the right side plate (3) are each equipped with a visual detection module (6). The lower side of the left side plate (2) and the right side plate (3) are each equipped with a counterweight box (7). The upper side of the horizontal plate (1) is provided with a hoisting component for hoisting in conjunction with a drone.

2. The transmission line flaw detection device according to claim 1, characterized in that: The drive wheel (4) is mounted on the lower side of the middle part of the horizontal plate (1) via the first mounting bracket (8). The lower side of the first mounting bracket (8) is provided with a first rotating groove (9). The drive wheel (4) is rotatably connected to the first rotating groove (9) via a first rotating shaft (10). One end of the first rotating shaft (10) is placed on the outside of the first mounting bracket (8) and is coaxially connected with a first gear (11). A drive motor (12) is mounted on the lower side of the horizontal plate (1). A second gear (13) is mounted on the output shaft of the drive motor (12). The first gear (11) and the second gear (13) mesh and drive each other.

3. The transmission line flaw detection device according to claim 1, characterized in that: The left side plate (2) and the right side plate (3) are both inclined downwards with a second mounting bracket (14) near the horizontal plate (1). The lower end of the two second mounting brackets (14) is provided with a second rotating groove (15). The first driven wheel (5) is rotatably connected to the second rotating groove (15) through the second rotating shaft (16). There are two or more first driven wheels (5) in the front-back direction.

4. The transmission line flaw detection device according to claim 3, characterized in that: The left side plate (2) and the right side plate (3) are both inclined to the underside of the second mounting bracket (14) and an electric telescopic rod (17) is installed. The output shaft of the electric telescopic rod (17) is provided with a third mounting bracket (18). The upper end of the third mounting bracket (18) is provided with a third rotating groove (19). A second driven wheel (21) is rotatably arranged in the third rotating groove (19) through a third rotating shaft (20). There are two or more second driven wheels (21) in the front-back direction.

5. The transmission line flaw detection device according to claim 1, characterized in that: The left side plate (2) and the right side plate (3) are both recessed with relief grooves (22) at the position corresponding to the third mounting bracket (18).

6. The transmission line flaw detection device according to claim 1, characterized in that: Mounting plates (23) are installed on the front sides of both the left side plate (2) and the right side plate (3). The visual inspection module (6) is installed on both mounting plates (23). The visual inspection module (6) includes a high-definition camera and a fill light.

7. A transmission line flaw detection device according to claim 4, characterized in that: The ultrasonic testing assembly is installed in both the second rotating groove (15) and the third rotating groove (19). The ultrasonic testing assembly includes a fixed block (24), a movable block (25), and an ultrasonic probe (26). The fixed block (24) is fixed in the second rotating groove (15) or the third rotating groove (19). A movable hole (27) is provided at one end of the fixed block (24) away from the second rotating groove (15) or the third rotating groove (19). The movable block (25) is slidably disposed in the movable hole (27). A pressure sensor (28) is provided at the bottom of the movable hole (27). The movable block (25) is connected to the pressure sensor (28) through a spring (29). A first mounting hole (30) is provided at one end of the movable block (25) away from the spring (29). The ultrasonic probe (26) is installed in the first mounting hole (30).

8. A transmission line flaw detection device according to claim 7, characterized in that: The movable block (25) has a second mounting hole (31) on the front side of the first mounting hole (30). A nozzle (32) is installed in the second mounting hole (31). A liquid storage tank (33) is installed in the counterweight box (7). An electric pump is installed in the liquid storage tank (33). The output pipe of the electric pump is connected to the nozzle (32). A coupling agent is added to the liquid storage tank (33).

9. A flaw detection device for transmission lines according to claim 7, characterized in that: The hoisting assembly includes a connecting rod (35) vertically arranged on the upper side of the horizontal plate (1), and an electromagnet (36) is provided at the upper end of the connecting rod (35); the counterweight box (7) is provided with a battery unit (34), a processing module and a communication module.

10. A method for detecting flaws in transmission lines, characterized in that, The flaw detection method based on the flaw detection device of the transmission line according to claim 9 includes the following steps: Step S1, control the UAV to fly above the flaw detection device, and use the electromagnet (36) to engage with the UAV hoisting end to hoist the flaw detection device to the target cable (37) position. Control the UAV to descend so that the left side plate (2) and right side plate (3) are respectively placed on the left and right sides of the cable (37), and the driving wheel (4) and the first driven wheel (5) are both in contact with the upper surface of the cable (37); Step S2, start the electric telescopic rod (17) to extend, drive the third mounting bracket (18) and the second driven wheel (21) to move toward the cable (37) until the second driven wheel (21) is in contact with the lower surface of the cable (37), and forms a ring clamping structure for the cable (37) in conjunction with the driving wheel (4) and the first driven wheel (5). At the same time, the counterweight box (7) provides a downward swing torque to keep the device's posture stable; Step S3, walk the detection step. The drive motor (12) is started and the drive wheel (4) is driven to rotate through gear transmission, which drives the entire device to move along the cable (37). During the movement, the visual inspection module (6) collects images of the surface of the cable (37) to identify surface defects, and the ultrasonic probe (26) in the ultrasonic inspection component performs ultrasonic scanning on the inside of the cable (37) to identify hidden damage. In step S4, the processing module receives the detection data of the visual inspection module (6) and the ultrasonic inspection component in real time, performs defect identification and location analysis, and transmits the detection data and analysis results remotely to the ground monitoring terminal through the communication module. In step S5, when the flaw detection device moves to the connection between the cable (37) and the electric pile or encounters an insurmountable obstacle, the electric telescopic rod (17) is shortened to release the clamp, the drone is started to re-attract the electromagnet (36), the device is hoisted to the next section of cable (37), and steps S1-S4 are repeated until the entire line inspection is completed.

Images