A live-line inspection device for high-voltage power equipment

Abstract

This invention discloses a live-line inspection device for high-voltage power equipment, comprising a lifting column, an autonomous navigation mobile platform, a multi-degree-of-freedom detection gimbal, a dual-spectrum imaging module, and a main controller. The autonomous navigation mobile platform is located at the bottom of the lifting column, the multi-degree-of-freedom detection gimbal is mounted on the top of the lifting column, the dual-spectrum imaging module is fixedly mounted on one end of the multi-degree-of-freedom detection gimbal, and the main controller is mounted on one end of the top of the autonomous navigation mobile platform. The advantages of this invention compared to existing technologies are: the multi-degree-of-freedom detection gimbal allows the camera to point in any direction in space, achieving truly blind-spot-free inspection of power equipment, including its bottom surface; the autonomous navigation mobile platform enables high-precision autonomous positioning, path planning, and obstacle avoidance; and the main controller, with its built-in inspection task planning module, adaptive attitude control module, and image analysis module, achieves automatic control, real-time data analysis, and defect early warning, all without manual intervention throughout the entire process.

Description

Technical Field

[0001] This invention relates to the field of power equipment technology, specifically to a live-line inspection device for high-voltage power equipment. Background Technology

[0002] Power equipment is a power production and consumption system composed of power generation, transmission, transformation, distribution, and consumption. It converts primary energy from nature into electricity through power generation devices, and then supplies this electricity to various users through transmission, transformation, and distribution. With the development of smart grid systems, the coverage of substations and power lines is becoming increasingly extensive. To ensure the safe and stable operation of power equipment and to promptly detect defects or potential hazards, high-voltage power equipment live-line inspection devices have long been needed to conduct regular or irregular inspections of power equipment, collect necessary data, and promptly grasp the operating status of the power equipment.

[0003] Patent document CN221743590U discloses a power equipment inspection device, including a movable base. A lifting and rotating mechanism is fixedly mounted on the top of the movable base, and a tilting adjustment mechanism is mounted on the top of the lifting and rotating mechanism. A visible light camera and an infrared thermal imaging camera are respectively connected to both sides of the tilting adjustment mechanism. The tilting adjustment mechanism includes a receiving box, a bidirectional hydraulic cylinder, a rack, a side plate, a gear, and a connecting rod. The receiving box is fixedly mounted on the top of the output shaft of the unidirectional hydraulic cylinder, and the bidirectional hydraulic cylinder is fixedly mounted inside the receiving box, with its output shafts extending to both sides of the receiving box. This invention can conveniently complete the photographic inspection of the top and sides of power equipment, providing better inspection results and applicability to different types of power equipment. Its actual use effect is more ideal, but the existing technology still has shortcomings: (1) The adjustment range of the existing inspection device is limited. The "tilt adjustment mechanism" of the device is essentially a pitch swing mechanism based on a gear and rack. Its rotation axis is horizontal, which can only make the camera "nod" in a vertical plane. The overall horizontal rotation of the camera (i.e., "shaking") depends on manually rotating the "turntable", which is not only troublesome, but also cannot guarantee its rotation range, accuracy and speed. More importantly, this structure cannot realize the detection of the camera facing directly upward (upward shooting of the top) or facing diagonally backward, because the movement of the connecting rod and the camera will be mechanically interfered by the housing box, side plate and other structures. As a result, the camera has low adjustment freedom and cannot realize 360-degree omnidirectional, blind-angle detection, especially it is difficult to shoot the bottom surface and concave structure of the equipment.

[0004] (2) The existing inspection devices have a low degree of automation. Changing the inspection station requires manual pushing of the device. The movement of the device is highly dependent on manual pushing, which makes it time-consuming and labor-intensive to move in large substations. In addition, it requires manual judgment and manual rotation of the turntable to alternate between visible light and infrared cameras. The operation is cumbersome and cannot achieve synchronous and rapid comparison detection. At the same time, the height, angle and rotation of the camera at each detection point need to be manually adjusted step by step by operating the hydraulic cylinder and turntable. The process is cumbersome and there is no automatic control throughout. All adjustments, movements and switching require manual participation, resulting in low inspection efficiency, high labor intensity and poor detection consistency.

[0005] (3) The existing inspection devices have low intelligence, data acquisition and analysis are separated, and the detection data needs to be manually analyzed afterward, which makes it impossible to realize real-time early warning of faults and reduces the practicality of the device.

[0006] The information disclosed in this background section is intended only to enhance the understanding of the overall background of the invention and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to overcome the above-mentioned defects and provide a live inspection device for high-voltage power equipment.

[0008] To solve the above-mentioned technical problems, the technical solution provided by the present invention is: a live-line inspection device for high-voltage power equipment, comprising a lifting column, characterized in that: An autonomous navigation mobile platform, wherein the autonomous navigation mobile platform is located at the bottom of the lifting column; A multi-degree-of-freedom detection gimbal, wherein the multi-degree-of-freedom detection gimbal is installed on the top of the lifting column; A dual-spectral imaging module, which is fixedly installed at one end of a multi-degree-of-freedom detection gimbal; The main controller is installed at one end of the top of the autonomous navigation mobile platform.

[0009] Furthermore, the autonomous navigation mobile platform integrates a lidar, an inertial measurement unit, and a satellite positioning module.

[0010] Furthermore, the lifting column includes a support column, the upper end of which has a rectangular groove, and a screw is rotatably connected to the bottom of the inner wall of the rectangular groove. The lower end of which has a cavity, the bottom of which has a servo motor fixedly installed, the output shaft of which is fixedly connected to one end of the screw. A lifting rod is slidably connected to the top of the rectangular groove, the lifting rod is threaded onto the screw, and a top plate is fixedly connected to the top of the lifting rod.

[0011] Furthermore, the multi-degree-of-freedom detection gimbal includes a cavity two opened inside the top plate. A servo motor two is fixedly installed at the bottom of the inner wall of the cavity two. The output shaft of the servo motor two extends to the top of the top plate and is fixedly connected to a turntable one at its end. A drive housing one is fixedly connected to the top of the turntable one. Servo electric cylinders are fixedly installed at both ends of one side of the drive housing one.

[0012] Furthermore, a drive housing two is fixedly installed at the output end of the servo electric cylinder. A cavity three is opened inside the drive housing two. A servo motor three is fixedly installed at one end of the inner wall of the cavity three. The output shaft of the servo motor three extends to the outside of the drive housing two and is fixedly connected to a turntable two at its end. A mounting block is fixedly connected to one side of the turntable two.

[0013] Furthermore, the dual-spectrum imaging module includes a visible light camera, an infrared thermal imaging camera, and an environmental perception module, with the visible light camera and the infrared thermal imaging camera fixedly installed at both ends of the bottom of the mounting block.

[0014] Furthermore, the environmental perception module includes a laser rangefinder and an ultrasonic sensor. The laser rangefinder is fixedly installed on one side of the mounting block, and the ultrasonic sensor is fixedly installed around the autonomous navigation mobile platform.

[0015] Furthermore, the main controller has a built-in inspection task planning module, an adaptive attitude control module, and an image analysis module.

[0016] Furthermore, a battery is fixedly installed at the other end of the top of the autonomous navigation mobile platform.

[0017] The advantages of this invention compared to the prior art are: (1) In this invention, by setting up a multi-degree-of-freedom detection gimbal, a high-precision multi-degree-of-freedom detection gimbal is used to replace the combination of the "lifting and rotating mechanism" and the "tilt adjustment mechanism". The gimbal should be able to achieve 360° continuous horizontal rotation and 360° pitch, thereby achieving true "all-around no dead angle" shooting. The multi-degree-of-freedom detection gimbal allows the camera to point in any direction in space, realizing true no dead angle detection of power equipment including the bottom surface, solving the problem that the existing technology cannot shoot from the bottom and the side and rear, realizing all-around no dead angle detection, and improving the detection range of the device; (2) In this invention, the autonomous navigation mobile platform and the multi-degree-of-freedom detection gimbal are set up. The autonomous navigation mobile platform (AMR) replaces the simple mobile base with a handle. By integrating the lidar, inertial measurement unit and satellite positioning module, it is used to build environmental maps, achieve high-precision autonomous positioning, path planning and navigation obstacle avoidance. With the automatic adjustment of the multi-degree-of-freedom detection gimbal servo, there is no need for manual pushing or manual switching. From moving to positioning, to attitude adjustment, data collection and analysis, the whole process does not require manual intervention. The environmental perception module assists in alignment to avoid manual operation errors. It realizes autonomous navigation and adaptive attitude control, ensuring the consistency and comparability of detection results under different times and different personnel operations. A single person can remotely monitor multiple devices, which greatly reduces labor intensity and improves work efficiency and safety. (3) In this invention, the visible light camera, infrared thermal imaging camera and laser rangefinder are set up in parallel by setting up a dual-spectrum imaging module and a main controller to achieve pixel-level fusion and synchronous acquisition. By integrating a main controller with a built-in inspection task planning module, adaptive attitude control module and image analysis module, automatic control, real-time data analysis and defect early warning are realized, thereby realizing a real-time closed loop of "detection-analysis-early warning". Once an abnormal temperature or appearance defect is found, an alarm can be set up immediately and the precise location and image evidence can be uploaded, which facilitates the rapid response of maintenance personnel and improves the practicality of the device. Attached Figure Description

[0018] Figure 1 This invention relates to a three-dimensional live-line inspection device for high-voltage power equipment. Figure 1 .

[0019] Figure 2 This invention relates to a three-dimensional live-line inspection device for high-voltage power equipment. Figure 2 .

[0020] Figure 3 This is a front view of a live-line inspection device for high-voltage power equipment according to the present invention.

[0021] Figure 4 This is a front sectional view of a live-line inspection device for high-voltage power equipment according to the present invention.

[0022] Figure 5 This invention relates to a live-line inspection device for high-voltage power equipment. Figure 4 Enlarged structural diagram at point A in the middle.

[0023] Figure 6 This invention relates to a live-line inspection device for high-voltage power equipment. Figure 4 Enlarged structural diagram at point B in the middle.

[0024] The diagram shows: 1. Autonomous navigation mobile platform; 2. Lifting column; 201. Support column; 202. Screw; 203. Servo motor one; 204. Lifting rod; 205. Top plate; 3. Multi-degree-of-freedom detection gimbal; 301. Servo motor two; 302. Turntable one; 303. Drive housing one; 304. Servo electric cylinder; 305. Drive housing two; 306. Servo motor three; 307. Turntable two; 308. Mounting block; 4. Dual-spectrum imaging module; 401. Visible light camera; 402. Infrared thermal imaging camera; 403. Environmental perception module; 5. Main controller; 6. Battery. Detailed Implementation

[0025] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses consistent with some aspects of this disclosure as detailed in the appended claims.

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0027] like Figures 1 to 6 As shown, this embodiment proposes a live-line inspection device for high-voltage power equipment, including an autonomous navigation mobile platform 1. The autonomous navigation mobile platform 1 integrates a lidar, an inertial measurement unit, and a satellite positioning module. The autonomous navigation mobile platform 1 adopts an AMR (Autonomous Mobile Robot), which is an existing product on the market. Its connection method and control method are also existing technologies, and will not be described in detail here.

[0028] Specifically, by integrating lidar, inertial measurement unit and satellite positioning module to build environmental map, the entire device is carried and driven by autonomous navigation mobile platform 1 (AMR) to move along the planned path, replacing the simple mobile base with handle, achieving high-precision autonomous positioning, path planning and navigation obstacle avoidance, without the need for manual pushing, greatly reducing labor intensity.

[0029] The autonomous navigation mobile platform 1 is equipped with a lifting column 2 at its top. The lifting column 2 includes a support column 201, which is vertically fixed to the top of the autonomous navigation mobile platform 1. A rectangular groove is opened at the upper end of the support column 201. A screw 202 is rotatably connected to the bottom of the inner wall of the rectangular groove. A cavity is opened at the lower end of the support column 201. A servo motor 203 is fixedly installed at the bottom of the inner wall of the cavity. The output shaft of the servo motor 203 is fixedly connected to one end of the screw 202. A lifting rod 204 is slidably connected to the top of the rectangular groove. The lifting rod 204 is threaded to the screw 202. A top plate 205 is fixedly connected to the top of the lifting rod 204. Limiting grooves are opened at both ends of the inner wall of the rectangular groove. Limiting sliders are fixedly connected to both ends of the bottom of the lifting rod 204. The limiting sliders are slidably connected in the limiting grooves, thereby facilitating the limiting and guiding of the movement of the lifting rod 204.

[0030] Specifically, by starting the servo motor 203, the screw 202 is driven to rotate. The screw 202 drives the lifting rod 204 to move up and down in the rectangular groove. The lifting rod 204 drives the top plate 205 to move up and down.

[0031] A multi-degree-of-freedom detection gimbal 3 is installed on the top of the lifting column 2. The multi-degree-of-freedom detection gimbal 3 includes a cavity 2 inside the top plate 205. A servo motor 2 301 is fixedly installed on the bottom of the inner wall of the cavity 2. The output shaft of the servo motor 2 301 extends above the top plate 205 and is fixedly connected to a turntable 1 302 at its end. The top of the top plate 205 has an annular slide groove 1. The bottom of the turntable 1 302 is fixedly connected to an annular slide seat 1. Several balls are installed at the bottom of the annular slide seat 1. The annular slide seat 1 is slidably connected to the annular slide groove 1 through the balls. This makes the relative sliding between the annular slide seat 1 and the annular slide groove 1 more stable and smooth, improves the stability of the connection between the turntable 1 302 and the top plate 205, and reduces the pressure on the output bearing of the servo motor 2 301.

[0032] Specifically, by starting servo motor 2 301, the turntable 1 302 is driven to rotate, thereby achieving 360° continuous horizontal rotation. Servo motor 2 301 integrates a high-precision encoder to ensure the accuracy of angle control. All of the above are existing products on the market, and their connection methods and control methods are existing technologies, which will not be elaborated here.

[0033] A drive housing 303 is fixedly connected to the top of the turntable 302. Servo electric cylinders 304 are fixedly installed at both ends on one side of the drive housing 303. A drive housing 305 is fixedly installed at the output end of the servo electric cylinder 304.

[0034] Specifically, by activating the servo electric cylinder 304, the drive housing 305 is moved, thereby facilitating the adjustment of the distance between the servo electric cylinder 304 and the electrical equipment to be tested. The servo electric cylinder 304 is an existing product on the market, and its connection method and control method are existing technologies, which will not be described in detail here.

[0035] A cavity three is formed inside the drive housing 305. A servo motor 306 is fixedly installed on one end of the inner wall of the cavity three. The output shaft of the servo motor 306 extends to the outside of the drive housing 305 and is fixedly connected to a turntable 307 at its end. A mounting block 308 is fixedly connected to one side of the turntable 307. An annular groove 2 is formed on one side of the drive housing 305. An annular slide block 2 is fixedly connected to the side of the turntable 307 near the drive housing 305. Several balls are installed at the bottom of the annular slide block 2. The annular slide block 2 is slidably connected to the annular groove 2 through the balls. This makes the relative sliding between the annular slide block 2 and the annular groove 2 more stable and smooth, improves the stability of the connection between the turntable 307 and the drive housing 305, and reduces the pressure on the output bearing of the servo motor 306.

[0036] Specifically, by starting the servo motor 306, the turntable 2 307 is driven to rotate, and the turntable 2 307 drives the mounting block 308 to rotate, thereby achieving a 360° pitch angle adjustment. The servo motor 306 integrates a high-precision encoder to ensure the accuracy of angle control. All of the above are existing products on the market, and their connection methods and control methods are existing technologies, which will not be elaborated here.

[0037] A dual-spectrum imaging module 4 is fixedly installed at one end of the multi-degree-of-freedom detection gimbal 3. The dual-spectrum imaging module 4 includes a visible light camera 401, an infrared thermal imaging camera 402, and an environmental perception module 403. The visible light camera 401 and the infrared thermal imaging camera 402 are fixedly installed at both ends of the bottom of the mounting block 308.

[0038] Specifically, by integrating the visible light camera 401 and the infrared thermal imaging camera 402 at the bottom of the mounting block 308, the target can be photographed and recorded simultaneously, achieving synchronous data acquisition. The environmental perception module 403 assists in alignment, avoiding human operation errors.

[0039] The environmental perception module 403 includes a laser rangefinder and an ultrasonic sensor. The laser rangefinder is fixedly installed on one side of the mounting block 308. The optical axis of the laser rangefinder is parallel to the main optical axis of the visible light camera 401 and the infrared thermal imaging camera 402. The ultrasonic sensor is fixedly installed around the autonomous navigation mobile platform 1. The ultrasonic sensor is used to detect obstacles and avoid collisions during movement. Both the laser rangefinder and the ultrasonic sensor are existing products on the market, and their connection methods and control methods are existing technologies, which will not be described in detail here.

[0040] Specifically, the laser rangefinder, along with the visible light camera 401 and the infrared thermal imaging camera 402, is integrated and driven by the multi-degree-of-freedom detection gimbal 3. When the gimbal rotates horizontally and tilts to align with a specific detection point on the power equipment, the laser rangefinder's beam is simultaneously aligned with that point. The distance it measures is the straight-line distance from the imaging module to the target point, facilitating subsequent fine-tuning of the gimbal or calculation of three-dimensional spatial coordinates. The target distance is fed back in real time through the environmental perception module 403. Combined with the autonomous navigation mobile platform 1 and the multi-degree-of-freedom detection gimbal 3, fully automatic and high-precision adaptive aiming at the inspection point is achieved, completely overcoming the shortcomings of existing technologies that rely on manual labor, have limited detection range, and low automation.

[0041] The autonomous navigation mobile platform 1 has a main controller 5 installed at one end of its top. The main controller 5 has a built-in inspection task planning module, an adaptive attitude control module, and an image analysis module. The main controller 5 is electrically connected to the autonomous navigation mobile platform 1, the servo motor 203 of the lifting column 2, the servo motor 301 of the multi-degree-of-freedom detection gimbal 3, the servo electric cylinder 304, and the dual-spectrum imaging module 4, respectively. It is used to control the movement of the device, adjust the detection height and attitude, and synchronously acquire and process dual-spectrum image data.

[0042] The image analysis module includes an infrared thermal image analysis unit, a visible light image analysis unit, and a data fusion and report generation unit. The infrared thermal image analysis unit is used to perform temperature analysis on the thermal images acquired by the infrared thermal imager 420 and identify overheating fault points based on temperature thresholds or temperature difference models. The visible light image analysis unit is used to perform target recognition, status indicator light recognition, instrument reading recognition, or appearance defect detection on the visible light images acquired by the visible light camera 410. The data fusion and report generation unit is used to fuse and compare the visible light images and infrared thermal images from the same time and perspective, and automatically generate an inspection report containing anomaly point annotations, temperature data, and location information.

[0043] Specifically, the inspection task planning module generates the movement path of the autonomous navigation mobile platform 1 and the stopping position of each inspection point based on the preset three-dimensional coordinates of the power equipment inspection points. The adaptive attitude control module automatically calculates and controls the extension height of the lifting column 2 and the horizontal and pitch angles of the multi-degree-of-freedom detection gimbal 3 after the device arrives at any inspection point, based on the preset target three-dimensional coordinates of the inspection point and the real-time distance information fed back by the environmental perception module 403, so that the optical axis of the dual-spectrum imaging module 4 is accurately aligned with the part to be measured.

[0044] A battery 6 is fixedly installed at the other end of the top of the autonomous navigation mobile platform 1.

[0045] Specifically, the battery 6 is electrically connected to the autonomous navigation mobile platform 1, the servo motor 203 of the lifting column 2, the servo motor 301, servo motor 306 and servo motor 306 of the multi-degree-of-freedom detection gimbal 3, as well as the dual-spectrum imaging module 4 and the main controller 5.

[0046] In practical implementation, the present invention first loads a preset inspection task onto the main controller 5. This task includes the three-dimensional coordinate information of multiple inspection points. Then, it controls the autonomous navigation mobile platform 1 to move to the current inspection point according to the planned path. Based on the coordinates of the current inspection point and environmental perception data, it automatically controls the lifting column 2 and the multi-degree-of-freedom detection gimbal 3. At this time, servo motor 203 is activated to drive the screw 202 to rotate. The screw 202 drives the lifting rod 204 to move up and down within the rectangular slot. The lifting rod 204 drives the top plate 205 to move up and down. Simultaneously, servo electric cylinder 304 is activated to drive the drive housing 305 to move, thus facilitating the adjustment of the distance between the drive housing and the electrical equipment to be inspected. Finally, servo motor 301 is activated to drive the turntable 302. The system rotates, achieving 360° continuous horizontal rotation. Then, servo motor 306 drives turntable 307 to rotate, which in turn drives mounting block 308 to rotate, achieving 360° pitch angle adjustment. This allows the dual-spectrum imaging module 4 to be aligned with the target high-voltage power equipment. Then, the visible light camera 401 and infrared thermal imaging camera 402 are controlled to simultaneously photograph and record the target, achieving synchronous data acquisition. Afterwards, the image analysis module built into the main controller 5 processes and analyzes the acquired dual-spectrum data in real time. If the analysis results detect an anomaly, alarm information and on-site data are immediately uploaded via the communication module. Thus, the high-precision multi-degree-of-freedom detection pan-tilt unit 3 replaces the "lifting and rotating mechanism" and "tilt adjustment mechanism." The combination of these components enables the gimbal to achieve 360° continuous horizontal rotation and 360° pitch, thus achieving true "omnidirectional, blind-spot-free" shooting. The multi-degree-of-freedom detection gimbal 3 allows the camera to point in any direction in space, achieving true blind-spot-free detection of power equipment, including its bottom surface. This solves the problem of existing technologies being unable to shoot from above or to the side and rear, achieving omnidirectional, blind-spot-free detection and improving the device's detection range. Furthermore, by integrating a lidar, inertial measurement unit, and satellite positioning module into an autonomous navigation mobile platform 1 (AMR), replacing the simple mobile base with a handle, high-precision autonomous positioning, path planning, and navigation obstacle avoidance are achieved. Combined with the servo automatic adjustment of the multi-degree-of-freedom detection gimbal 3, no manual pushing or switching is required. From movement to positioning, to attitude adjustment, data collection and analysis, the entire process requires no manual intervention, achieving autonomous navigation and adaptive attitude control. This ensures the consistency and comparability of test results under different times and different personnel operations. A single person can remotely monitor multiple devices, greatly reducing labor intensity and improving work efficiency and safety. By integrating a main controller with built-in inspection task planning, adaptive attitude control, and image analysis modules, automatic control, real-time data analysis, and defect early warning are achieved, thus realizing a real-time closed loop of "detection-analysis-early warning". Once abnormal temperature or appearance defects are detected, an alarm can be triggered immediately and the precise location and image evidence can be uploaded, facilitating rapid response by maintenance personnel and improving the practicality of the device.

[0047] All electrical components mentioned in this document are electrically connected to the main controller 5 and the storage battery 6. The main controller 5 can be a conventional known device such as a computer for control. The specific embodiments disclosed herein omit detailed descriptions of known functions and components. To ensure device compatibility, the operating methods used are consistent with the parameters of commercially available instruments. Furthermore, the installation, connection, or setting methods of all components in this specification are common mechanical methods, such as welding, threaded connection, and screw connection. The specific structure, model, and coefficient indicators of all components are their own technologies. As long as they can achieve their beneficial effects, they can be implemented. At the same time, the contents not described in detail in this specification are all prior art known to those skilled in the art. The accompanying drawings are structural schematic diagrams used to supplement the text of the specification.

[0048] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A live-line inspection device for high-voltage power equipment, comprising a lifting column (2), characterized in that: Autonomous navigation mobile platform (1), wherein the autonomous navigation mobile platform (1) is located at the bottom of the lifting column (2); A multi-degree-of-freedom detection gimbal (3) is installed on the top of the lifting column (2); Dual-spectrum imaging module (4), which is fixedly installed at one end of the multi-degree-of-freedom detection gimbal (3); The main controller (5) is installed at one end of the top of the autonomous navigation mobile platform (1).

2. The high-voltage power equipment live-line inspection device according to claim 1, characterized in that: The autonomous navigation mobile platform (1) integrates a lidar, an inertial measurement unit, and a satellite positioning module.

3. The live-line inspection device for high-voltage power equipment according to claim 1, characterized in that: The lifting column (2) includes a support column (201). A rectangular groove is provided at the upper end of the support column (201). A screw (202) is rotatably connected to the bottom of the inner wall of the rectangular groove. A cavity is provided at the lower end of the support column (201). A servo motor (203) is fixedly installed at the bottom of the inner wall of the cavity. The output shaft of the servo motor (203) is fixedly connected to one end of the screw (202). A lifting rod (204) is slidably connected to the top of the rectangular groove. The lifting rod (204) is threadedly connected to the screw (202). A top plate (205) is fixedly connected to the top of the lifting rod (204).

4. The high-voltage power equipment live-line inspection device according to claim 3, characterized in that: The multi-degree-of-freedom detection gimbal (3) includes a cavity two opened inside the top plate (205). A servo motor two (301) is fixedly installed at the bottom of the inner wall of the cavity two. The output shaft of the servo motor two (301) extends to the top plate (205) and is fixedly connected to a turntable one (302) at its end. A drive housing one (303) is fixedly connected to the top of the turntable one (302). A servo electric cylinder (304) is fixedly installed at both ends of one side of the drive housing one (303).

5. The live-line inspection device for high-voltage power equipment according to claim 4, characterized in that: The output end of the servo electric cylinder (304) is fixedly installed with a drive housing two (305). The drive housing two (305) has a cavity three inside. A servo motor three (306) is fixedly installed on one end of the inner wall of the cavity three. The output shaft of the servo motor three (306) extends to the outside of the drive housing two (305) and is fixedly connected to a turntable two (307) at its end. A mounting block (308) is fixedly connected to one side of the turntable two (307).

6. The live-line inspection device for high-voltage power equipment according to claim 5, characterized in that: The dual-spectrum imaging module (4) includes a visible light camera (401), an infrared thermal imaging camera (402), and an environmental perception module (403). The visible light camera (401) and the infrared thermal imaging camera (402) are fixedly installed at both ends of the bottom of the mounting block (308).

7. The high-voltage power equipment live-line inspection device according to claim 6, characterized in that: The environmental perception module (403) includes a laser rangefinder and an ultrasonic sensor. The laser rangefinder is fixedly installed on one side of the mounting block (308), and the ultrasonic sensor is fixedly installed around the autonomous navigation mobile platform (1).

8. The live-line inspection device for high-voltage power equipment according to claim 1, characterized in that: The main controller (5) has a built-in inspection task planning module, an adaptive attitude control module, and an image analysis module.

9. The live-line inspection device for high-voltage power equipment according to claim 1, characterized in that: A battery (6) is fixedly installed at the other end of the top of the autonomous navigation mobile platform (1).

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