Power transmission tower full-tower bolt loosening rapid detection method, system, device and medium

Abstract

The application discloses a power transmission tower bolt loosening rapid detection method, system, equipment and medium based on elastic shock wave, belongs to the field of nondestructive testing, and solves the problem of accurately identifying local bolt loosening in a complex truss structure in the prior art. It comprises the following steps: a topological correlation model of a target structure is established, and a coded excitation composed of sub-shock wave packets with distinguishable identifiers is applied to a preset excitation position; a response signal at a preset measurement position is obtained, and the response signal is decomposed into path segment response characteristics associated with each candidate elastic wave propagation path segment; by self-calibration comparison of the path segment response characteristics of the to-be-detected path and the reference path, an abnormal propagation segment is identified, the abnormal propagation segment is mapped to the topological correlation model, and a suspected loosening area is located. Therefore, the application can reduce the workload of point-by-point detection on the tower, and realize rapid screening, topological positioning and re-measurement confirmation of the bolt loosening area of the power transmission tower.

Description

Technical Field

[0001] This invention relates to the field of non-destructive testing technology, and in particular to a rapid detection method, system, equipment and medium for loose bolts on the entire transmission tower. Background Technology

[0002] Transmission towers, as crucial load-bearing structures for overhead transmission lines, typically consist of tower legs, main members, diagonal members, crossarms, node plates, connecting plates, and numerous bolted connections. During long-term operation, transmission towers are continuously subjected to factors such as wind loads, conductor tension, temperature variations, icing, vibration and impact, and corrosion from the operating environment. This can lead to reduced preload, increased gaps, or localized loosening at some bolted connections, ultimately affecting the reliability of the tower's structural connections.

[0003] Existing methods for detecting bolt loosening mainly include manual inspection, torque verification, image recognition, contact vibration testing, and ordinary acoustic or impact response testing. However, transmission towers have a large number of bolts, are distributed at great heights, and have complex connection nodes. Manual inspection of each bolt is inefficient and carries high operational risks. Image recognition methods have limited ability to identify minor loosening or decreases in preload, which are not obvious changes in appearance. Contact sensing requires the deployment of sensors, which is difficult to adapt to rapid inspection of the entire tower. Ordinary impact testing methods often use single impacts or spectral changes at a single measurement point as the basis for judgment, which is difficult to accurately distinguish elastic wave propagation paths, environmental vibration interference, and local bolt loosening responses in complex truss structures.

[0004] Therefore, there is an urgent need for a rapid detection method, system, equipment, and medium for loose bolts on the entire transmission tower. Summary of the Invention

[0005] To address the problem of accurately identifying localized bolt loosening in complex truss structures in existing technologies, this invention provides a rapid detection method, system, equipment, and medium for bolt loosening across the entire transmission tower. This method combines the topological relationships of tower members, coded excitation response, and non-contact vibration measurement data to achieve rapid bolt loosening location. The specific technical solution is as follows: A rapid detection method for loose bolts across the entire transmission tower includes the following steps: A topological correlation model of the target structure is established. Then, based on the topological correlation model, the excitation position, the vibration measurement position are preset and candidate elastic wave propagation paths are generated. The candidate elastic wave propagation paths are divided into several propagation segments. An coded excitation with distinguishable identification is applied to a preset excitation position, and then the response signal at the preset vibration measurement position is acquired. The response signal is then decomposed into path segment response characteristics of each propagation segment. A reference path is obtained from the topological association model of the path to be inspected. By performing self-calibration comparison of the path segment response characteristics of the path to be inspected and the reference path, abnormal propagation segments are identified. The abnormal propagation segments are then mapped to the topological association model to locate loose areas.

[0006] Preferably, establishing the topological association model includes: Obtain structural description information of the target structure; Based on the structural description information, the structural components, connecting components, and connector clusters in the target structure are abstracted into first-type units, second-type units, and third-type units, respectively, and unit identifiers are configured. Based on the physical connections between the units, an association network is constructed to describe the hierarchical and connection relationships between the first type of units, the second type of units, and the third type of units; In the associated network, at least one excitation node corresponding to a preset excitation position and multiple vibration measurement nodes corresponding to preset vibration measurement positions can be identified. Several candidate elastic wave propagation paths from the excitation node to each vibration measurement node can also be identified.

[0007] Preferably, several candidate elastic wave propagation paths are generated from the excitation node to each vibration measurement node, and then the candidate elastic wave propagation paths are segmented, including: Traverse the associated network to generate all candidate elastic wave propagation paths from the excitation node to each vibration measurement node; Record the cell identifiers of all first-class and second-class cells that each candidate elastic wave propagation path sequentially passes through; Based on the differences in wave propagation characteristics along the path, each candidate elastic wave propagation path is divided into several sequentially connected propagation segments, and a propagation segment type identifier is assigned. Establish a mapping relationship between each propagation segment and the third type of unit it passes through or is physically connected to, so that abnormal propagation segments can be associated with candidate connector clusters.

[0008] Preferably, generating the path segmentation response features includes: The arrangement rules and synchronous triggering signals of the coded excitation are obtained. The coded excitation is a combination of several sub-shock wave packets formed by the arrangement rules. Then, based on the arrangement rules and synchronous triggering signals of the coded excitation, the wave packet identification and start reference time of each sub-shock wave packet in the response signal are determined. For each sub-shock wave packet, the time retrieval interval corresponding to each propagation segment is defined on its corresponding candidate elastic wave propagation path according to the order of the propagation segments and the estimated propagation parameters. Within each of the time retrieval intervals, valid response segments related to the sub-shock wave packet are captured, and the time window in which the valid response segment is located is the valid response segment. From the effective response segments, at least one response feature index describing its wave characteristics is extracted and labeled, and bound to the corresponding wave packet identity, vibration measurement node and propagation segment to generate path segment response features.

[0009] Preferably, the self-calibration comparison includes: In the topological correlation model, a reference path is determined for the path to be inspected according to a preset selection rule; the preset selection rule gives priority to other candidate elastic wave propagation paths that are symmetrical or similar to the path to be inspected. The path segment response features of the path to be inspected are compared segment by segment with the path segment response features of the reference path, wherein the comparison items are the same response feature indicators with the same wave packet identity and the same propagation segment type identity. When the difference in the comparison results exceeds the preset judgment threshold, a corresponding abnormal deviation identifier is generated for the propagation segment, and it is merged with the original path segment response feature to form a self-calibration response feature.

[0010] Preferably, identifying the abnormal propagation segment includes: Consistency check is performed on the self-calibration response characteristics of the same propagation segment: when the abnormal deviation indicator appears in at least two valid response segments corresponding to different wave packet identity indicators within the same propagation segment, or when the abnormal deviation indicator is included in the self-calibration response characteristics from different vibration measurement nodes, the propagation segment is determined to be an abnormal propagation segment.

[0011] Preferably, the areas suspected of being loose include: Obtain all anomaly propagation segments and their mapping relationship with the third type of unit; Filter out the candidate third-class units pointed to by the mapping relationship; A composite determination is performed on the candidate third type unit. When the determination conditions are met, it is identified as a loosening source. The determination conditions include: the unit is located in the intersection or adjacent area of ​​multiple abnormal propagation segments, and the unit is pointed to by multiple abnormal propagation segments corresponding to different wave packet identities.

[0012] A rapid detection system for loose bolts on the entire transmission tower, applied to the method described above, includes: an excitation module, a vibration measurement module, and a data processing module; The excitation module is used to apply a coded elastic shock wave consisting of multiple sub-shock wave packets with distinguishable identification to the target structure and to provide a synchronous trigger signal. The vibration measurement module is used to collect vibration response signals of the target structure at multiple vibration measurement locations under the action of coded elastic shock waves, and can be associated with and stored with excitation parameters. The data processing module is used to establish a topology model, control coding excitation, generate path segment response features, self-calibrate and compare to identify abnormal propagation segments, and map and locate suspected loose areas.

[0013] A computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps of the rapid detection method for loose bolts throughout a power transmission tower as described above.

[0014] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the rapid detection method for loose bolts throughout a power transmission tower as described above.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention transforms the detection of loose bolts on power transmission towers from a traditional single-point response judgment to a full-tower detection process based on topology propagation segments by combining coded elastic shock waves, topology correlation models, segmented response fingerprints, reference path self-calibration, abnormal propagation segment mapping, and local retesting mechanisms.

[0016] Because each sub-shock wave packet has a wave packet identification identifier, the effective response segments corresponding to each sub-shock wave packet can be identified from the shock response signal according to the coding relationship during the detection process, reducing the influence of random background vibration on the effective response. Since the candidate elastic wave propagation path is divided into common propagation segment, bifurcation propagation segment, node propagation segment, and receiving propagation segment, abnormal responses can be limited to specific propagation segments, rather than just remaining at the level of the entire path or a single measuring point. In addition, since symmetrical paths, similar paths, or stable paths are used for on-site self-calibration, it can adapt to the response differences of different tower types, different installation states, and different field environments. At the same time, by further mapping abnormal propagation segments to bolt group units and determining the bolt group scattering center, it is possible to quickly identify suspected loose bolt groups by node plates, connecting plates, rod ends, or crossarm connection areas. For candidate bolt groups within the common propagation segment, this invention performs local retesting by varying the excitation position, reverse excitation, or lateral excitation, avoiding misjudgments based solely on the intersection relationship of the common path. Attached Figure Description

[0017] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0018] Figure 1 This is a flowchart of the method of the present invention. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0021] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0022] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0023] Example 1, referring to Figure 1 This is one embodiment of the present invention, which provides a rapid detection method for loose bolts throughout a power transmission tower, including: Step 1: Establish a topological correlation model of the target structure, then based on the topological correlation model, preset the excitation position, preset the vibration measurement position, and generate candidate elastic wave propagation paths, and divide the candidate elastic wave propagation paths into several propagation segments; Step 2: Apply a coded excitation with distinguishable identification to the preset excitation position, then obtain the response signal at the preset vibration measurement position, and decompose the response signal into the path segment response characteristics of each propagation segment; Step 3: Obtain the reference path of the path to be inspected in the topology association model. By performing self-calibration comparison of the path segment response characteristics of the path to be inspected and the reference path, identify the abnormal propagation segment, map the abnormal propagation segment to the topology association model, and locate the loose area.

[0024] It should be noted that by establishing a pole-node-bolt group topology model, the transmission tower is divided into pole units, node units, bolt group units, and candidate elastic wave propagation paths. Then, by applying coded elastic shock waves with wave packet identification, the responses of different sub-shock wave packets can be distinguished and tracked.

[0025] Furthermore, non-contact vibration measurement equipment is used to collect background vibration signals and impact response signals from multiple measurement locations. A basic segmental response fingerprint is generated using effective response segments, propagation segment numbers, and wave packet identifiers, and on-site self-calibration is performed using a reference path. Abnormal propagation segments are then identified based on recurring reference path deviation markers and mapped to bolt group units. This addresses the challenges of quickly screening loose bolt areas across the entire transmission tower, locating abnormal paths, misjudging common propagation segments, and lacking a verification mechanism for suspected local areas.

[0026] Example 2 is an embodiment of the present invention, based on the rapid detection method for loose bolts in the entire transmission tower provided in the previous embodiment.

[0027] It should be noted that, in this embodiment, the preset parameters, threshold parameters, encoding parameters, path parameters, response window parameters, fingerprint parameters, reference path parameters, anomaly judgment parameters, and local retest parameters involved can all be configured according to the tower structure, member size, bolt group distribution, excitation device output capability, non-contact vibration measurement equipment sampling capability, on-site environmental vibration state, reference path response state, repeated acquisition results, or historical detection data of the transmission tower.

[0028] The parameters can be manually input before testing, or automatically generated based on tower type data and pre-collected data on site, and can be updated during testing based on background interference and changes in the reference path.

[0029] Furthermore, in this embodiment, the parameters involving preset, threshold, tolerance, and benchmark can be determined based on the tower type parameters of the transmission tower, the size of the pole, the detection environment, the output capacity of the excitation device, the sampling frequency of the non-contact vibration measurement equipment, the results of repeated on-site acquisition, historical detection data, or the results of manual calibration.

[0030] The preset parameters and thresholds are not limited to fixed values. They can be determined by on-site calibration before detection or updated during detection based on background vibration signals and reference path response signals.

[0031] The specific implementation method of step one in Example 1 is as follows: S101: Obtain the structural description information of the target structure.

[0032] In this embodiment, the target structure can be defined as a power transmission tower, the topology association model is defined as a member-node-bolt group topology model, and the structural description information includes structural components, connecting components, and connector clusters. Among them, the structural components include tower legs, main members, diagonal members, and crossarms, the connecting components include node plates, connecting plates, crossarm root connection areas, and tower leg connection areas, and the connector clusters can be defined as bolt groups.

[0033] It should be noted that the structural description information may be derived from power transmission tower design drawings, 3D point cloud data, UAV inspection images, manually entered information, or a combination of the above.

[0034] S102: Based on the structural description information, the structural components, connecting components, and connector clusters in the target structure are abstracted into first-type units, second-type units, and third-type units, respectively, and unit identifiers are configured. Specifically: Based on the obtained structural description information, the tower legs, main members, diagonal members, and crossarms of the transmission tower are divided into member units (first unit); node plates, connecting plates, crossarm root connection areas, and tower leg connection areas are divided into node units (second unit); and multiple bolts located in the same node plate, the same connecting plate, the same member end, the same crossarm connection area, or the same tower leg connection area are divided into bolt group units (third unit). After completing the unit division, corresponding numbers are assigned to each member unit, node unit, and bolt group unit.

[0035] Furthermore, configuration unit identifiers can be used. For example, rod units can be set as M01, M02, and M03; node units can be set as N01, N02, and N03; and bolt group units can be set as B01, B02, and B03. The above numbering is only used to distinguish different structural units and does not limit the numbering format.

[0036] S103: Constructing an inter-unit network: Based on the physical connections between units, construct an inter-unit network describing the hierarchy and connections between the first type of units, the second type of units, and the third type of units. In this embodiment, the inter-unit network is defined as a topology structure established by numbering and connection relationships, as follows: It should be noted that a member-node-bolt group topology model is established using the aforementioned numbering and connection relationships. This topology model includes at least member element numbers, node element numbers, bolt group element numbers, excitation node numbers, vibration measurement node numbers, candidate elastic wave propagation path numbers, propagation segment numbers, and associated bolt group numbers. The associated bolt group numbers represent the bolt group elements that a certain propagation segment passes through or is adjacent to.

[0037] It should be noted that the rod-node-bolt group topology model in this embodiment is not required to be completely equivalent to the finite element model. It is mainly used to establish the connection correspondence between the excitation position, vibration measurement position, rod element, node element, bolt group element and candidate elastic wave propagation path.

[0038] S104: Determine the excitation node and vibration measurement node, and generate candidate elastic wave propagation paths.

[0039] It should be noted that in the aforementioned network, at least one excitation node corresponding to a preset excitation position and multiple vibration measurement nodes corresponding to preset vibration measurement positions can be identified, as well as several candidate elastic wave propagation paths from the excitation node to each vibration measurement node.

[0040] It should be noted that after establishing the member-node-bolt group topology model, at least one excitation node and multiple vibration measurement nodes are determined in this topology model. The excitation node can be located at the bottom of the main member of the tower leg, the node of the main member of the tower body, the root of the crossarm, the end of the diagonal member, or other locations that are convenient for installing the excitation device and can input shock waves into the tower structure.

[0041] Furthermore, vibration measurement nodes can be located near tower legs, main members, diagonal members, crossarms, gusset plates, or areas with densely connected bolt groups. Based on the connection relationships between excitation nodes, vibration measurement nodes, member elements, node elements, and bolt group elements, candidate elastic wave propagation paths from the excitation node to each vibration measurement node are generated.

[0042] It should be noted that, since the transmission tower is a truss structure, there can be multiple candidate elastic wave propagation paths between the same excitation node and the same vibration measurement node.

[0043] S105: Divide the propagation segment and establish a mapping relationship with the third type of unit.

[0044] First, for each candidate elastic wave propagation path, the numbers of the rod elements, nodes, and bolt groups it passes through are recorded, and the candidate elastic wave propagation path is divided into at least one of the following: common propagation segment, bifurcation propagation segment, node propagation segment, and receiving propagation segment.

[0045] It should be noted that the common propagation segment refers to the common propagation part from the excitation position to the point where multiple candidate elastic wave propagation paths bifurcate; the bifurcation propagation segment refers to the propagation part from the end of the common propagation segment to the point where they separate in different member directions; the node propagation segment refers to the propagation part passing through node plates, connecting plates, or bolt group units; and the receiving propagation segment refers to the propagation part near the vibration measurement position.

[0046] Then, a correspondence is established between each propagation segment and the bolt group units it passes through or is adjacent to, so that abnormal propagation segments can be mapped to suspected loose bolt groups in the future.

[0047] Furthermore, to make the correspondence between effective response segments and propagation segments clearer, when establishing candidate elastic wave propagation paths, a propagation segment order and propagation segment type identifier are set for each propagation segment in each candidate elastic wave propagation path. In this embodiment, the propagation segment type identifier is defined as the propagation segment number. Through the propagation segment number, it can be clearly identified whether the current propagation segment is a common propagation segment, a forked propagation segment, a node propagation segment, or a receiving propagation segment.

[0048] It should be noted that the propagation segment sequence is used to indicate the sequential position of the propagation segment between the excitation node and the vibration measurement node, and the propagation segment type is used to indicate whether the propagation segment belongs to a common propagation segment, a bifurcation propagation segment, a node propagation segment, or a receiving propagation segment.

[0049] Finally, a mapping relationship is established between each propagation segment and the third type of unit. Specifically, the third type of unit that is mapped to the propagation segment is the third type of unit that the propagation segment passes through, and the third type of unit that has a physical connection with the propagation segment.

[0050] Step two is as follows: S201: Apply a coded stimulus with a distinguishable identifier to a preset stimulus position; In this embodiment, a coded elastic shock wave excitation device is used to generate a coded excitation (in this embodiment, a coded elastic shock wave) based on a programming rule and applied to a transmission tower. The coded elastic shock wave excitation device, used to apply a coded elastic shock wave to the transmission tower, includes an impact head, a drive mechanism, a mounting fixture, and a trigger control unit.

[0051] It should be noted that the impact head is used to contact the tower legs, main members, diagonal members, crossarm roots, or areas near the node plates of the transmission tower, and to input short-term impact loads into the tower structure.

[0052] It should be noted that the driving mechanism is used to drive the impact head to generate sub-shock wave packets with different impact energy levels. The driving mechanism can be an electromagnetic driving mechanism, a mechanical spring energy storage and release mechanism, a pneumatic driving mechanism, or a piezoelectric driving mechanism.

[0053] It should be noted that the mounting fixture is used to fix the excitation device in the preset excitation position, so that the impact head can act on the tower members or node area in the preset direction.

[0054] In this embodiment, the preset excitation position can be located at the bottom of the main material of the tower leg, the node of the main material of the tower body, the root of the crossarm, etc.

[0055] It should be noted that the trigger control unit is used to control the application order, time interval, impact energy level and impact direction of multiple sub-shock wave packets according to preset coding rules, and to send synchronous trigger signals.

[0056] In this embodiment, the excitation arrangement rule is as follows: the coded elastic shock wave consists of at least two sub-shock wave packets, each of which is an elastic wave response unit generated by an independent short-term shock load. The sub-shock wave packets are distinguished by at least one of the following: application sequence, time interval, shock energy level, and shock direction. Furthermore, each sub-shock wave packet corresponds to a wave packet identification identifier, which can be formed by one or more combinations of the application sequence number, time interval number, shock energy level number, and shock direction number of the sub-shock wave packet.

[0057] In one specific embodiment, the coded elastic shock wave includes three sub-shock wave packets P1, P2, and P3. P1 is a low-energy shock applied along the main material direction, P2 is a high-energy shock applied along the main material direction, and P3 is a low-energy shock applied along the diagonal material direction. Furthermore, the time interval between P1 and P2 is different from the time interval between P2 and P3.

[0058] It should be noted that P1, P2 and P3 each have different wave packet identification identifiers.

[0059] In other embodiments, coded elastic shock waves can also employ non-equidistant time coding, energy level coding, direction coding, or a combination of the above coding methods. As long as each sub-shock wave packet can be distinguished in the shock response signal and can be associated with the corresponding effective response segment, it can be used as a coded elastic shock wave.

[0060] S202: Obtain the response signal at the preset vibration measurement position; When an coded elastic shock wave is applied, shock response signals at multiple measurement locations are collected using a non-contact vibration measurement device. When the non-contact vibration measurement device is a multi-point synchronous acquisition device, shock response signals at multiple measurement locations can be collected simultaneously during the application of a single coded elastic shock wave.

[0061] It should be noted that the non-contact vibration measurement equipment is used to collect the vibration response signal of the power transmission tower under the action of coded elastic shock waves. The non-contact vibration measurement equipment can be a laser vibrometer, a scanning laser vibrometer, a multi-point laser vibration measurement system, or a laser Doppler vibration measurement device.

[0062] Furthermore, in this embodiment, before applying the coded elastic shock wave, background vibration signals of a preset duration are collected at multiple vibration measurement locations using a non-contact vibration measurement device. The background vibration signals are used to determine the background vibration reference at each measurement location and to identify background interference segments in the subsequent impact response signal.

[0063] It should be noted that vibration response signals at multiple vibration measurement locations can be acquired simultaneously or acquired point by point according to a preset scanning sequence.

[0064] When the non-contact vibration measurement device is a single-point scanning device, it can collect the impact response signals at multiple vibration measurement locations point by point according to the preset scanning sequence. During point-by-point acquisition, one or more coded elastic shock waves are applied to each vibration measurement location, and the background vibration signal, impact response signal and corresponding coded elastic shock wave parameters collected at that vibration measurement location are associated and stored.

[0065] It should be noted that, to ensure data comparability across different vibration measurement locations, the excitation parameters of each coded elastic shock wave are linked to its corresponding measurement location. These excitation parameters include the number of sub-shock wave packets, packet identification, application time interval, impact energy level, impact direction, and excitation location. If the coded elastic shock wave excitation parameters for different measurement locations are inconsistent, the response fingerprint for that measurement location is individually marked, or a new coded elastic shock wave consistent with other measurement locations is applied and the data is re-acquired.

[0066] It should be noted that for multiple impact response signals repeatedly acquired at the same vibration measurement location, data that have fewer background interference markers and complete wave packet identification can be retained as subsequent analysis data.

[0067] S203: Decompose the response signal into path segment response characteristics of each propagation segment.

[0068] In this embodiment, the response characteristic indicators include the first wave arrival marker, the main response segment marker, the reflection response segment marker, the abnormal deviation marker is defined as the reference path deviation marker (such as the first wave offset type, the main response weakening type, the reflection enhancement type, etc.), the self-calibration response characteristic is defined as the self-calibration segmented response fingerprint, and the loosening source is defined as the bolt group scattering center.

[0069] S2031: Mark the background interference segment and the candidate response segment to determine the wave packet application time.

[0070] The background vibration signal at each vibration measurement location is associated and stored with the corresponding impact response signal at that location. Background interference segments are then marked in the impact response signal based on the background vibration signal. Simultaneously, candidate response segments corresponding to each sub-shock wave packet are marked in the impact response signal based on the wave packet identification of each sub-shock wave packet.

[0071] Furthermore, the application time of each sub-shock wave packet is determined according to the synchronous trigger signal of the excitation device, and the application time sequence and wave packet identification of each sub-shock wave packet are determined according to the preset coding rules.

[0072] S2032: Determine the background vibration reference and the first wave arrival marker.

[0073] It should be noted that the background vibration reference can be determined based on the background vibration signal acquired before the application of the coded elastic shock wave. Specifically, the background vibration reference can be determined based on the average amplitude, peak value, root mean square value, envelope amplitude, or a combination thereof of the background vibration signal.

[0074] Furthermore, when the impact response signal first exceeds the background vibration reference within the time retrieval interval and continues to meet the preset duration, the position is determined as the first wave arrival marker.

[0075] It should be noted that the preset duration is used to exclude instantaneous noise spikes. If the background vibration signal exceeds the background vibration reference within a certain time period, or if that time period overlaps with subsequent valid response segments, then that time period is marked as a background interference segment.

[0076] S2033: Extract valid response segments within the time retrieval interval.

[0077] It should be noted that after determining the application time and identification of each sub-shock wave packet, the time retrieval interval is determined based on the candidate elastic wave propagation path between the vibration measurement position and the excitation position. Within the time retrieval interval, the starting response position corresponding to each sub-shock wave packet is identified, and the effective response segment of the corresponding sub-shock wave packet is extracted based on the starting response position.

[0078] Furthermore, after the effective response segments are extracted, each effective response segment is associated with its corresponding wave packet identifier, vibration measurement location number, candidate elastic wave propagation path number, and propagation segment number. The propagation segment number indicates whether the effective response segment corresponds to a common propagation segment, a bifurcation propagation segment, a node propagation segment, or a receiving propagation segment.

[0079] It should be noted that if a valid response segment overlaps with a background interference segment, or if the background vibration signal exceeds the preset background reference within the corresponding time range, then the valid response segment will be marked as an interference valid response segment.

[0080] Furthermore, the valid response segment of the interference is not used as the sole criterion for determining the abnormal propagation segment. If the same reference path deviation mark still appears after repeated acquisition of the valid response segment, the data corresponding to the valid response segment can be used to determine the abnormal propagation segment.

[0081] Furthermore, when the time retrieval intervals corresponding to different candidate elastic wave propagation paths overlap, the overlapping responses are assigned based on wave packet identification, propagation segment order, vibration measurement location, reference path correspondence, and local re-measurement results. Alternatively, the overlapping responses are marked as responses to be confirmed, or repeated acquisition is triggered.

[0082] S2034: Extract response feature indicators and generate path segment response features.

[0083] In this embodiment, the path segment response feature is defined as the basic segment response fingerprint, the path to be detected can be defined as the candidate elastic wave propagation path to be detected, and the reference path can be defined as a symmetric path, a similar path, or a stable path.

[0084] It should be noted that this embodiment generates a basic segmented response fingerprint based on the effective response segments. The basic segmented response fingerprint refers to the data record generated before reference path self-calibration, based on the correlation between the effective response segments and wave packet identification, vibration measurement location, candidate elastic wave propagation path, and propagation segment.

[0085] Furthermore, the basic segmented response fingerprint includes at least the wave packet identification, vibration measurement location number, candidate elastic wave propagation path number, propagation segment number, effective response segment number, first wave arrival marker, main response segment marker, reflection response segment marker, and background interference marker.

[0086] It should be noted that the first wave arrival marker is used to indicate the first valid response position of the corresponding sub-shock wave packet within the corresponding propagation segment. In one embodiment, a background vibration reference is determined based on the background vibration signal. When a response position that exceeds the background vibration reference and continues to meet a preset duration appears for the first time within the valid response segment, that response position is used as the first wave arrival marker.

[0087] It should be noted that the main response segment marker is used to indicate the time period in which the response amplitude or response energy is concentrated within the corresponding propagation segment.

[0088] In one implementation, the time period in which the continuous response amplitude is greater than the background vibration reference is found within the effective response segment, or the time period in which the response energy is concentrated, or the time period in which the response envelope exists continuously, and this time period is determined as the main response segment.

[0089] It should be noted that the reflection response segment marker is used to indicate the time period in which a secondary response or a backpropagation response occurs within the corresponding propagation segment.

[0090] In one implementation, if a secondary response that differs from the first response in terms of time position, phase change, arrival order, or response amplitude change occurs within a preset time range after the main response segment, the time period in which the secondary response occurs is determined as the reflection response segment.

[0091] Furthermore, the background interference marker is used to indicate whether the corresponding valid response segment is affected by background vibration. When the background interference segment overlaps with the valid response segment, or when the background vibration signal exceeds the preset background reference within the corresponding time range, a background interference marker is added to the valid response segment.

[0092] Step three includes identifying abnormal propagation segments and locating loose areas. In this embodiment, an abnormal propagation segment is defined as a common propagation segment, forked propagation segment, node propagation segment, or receiving propagation segment that is determined to be abnormal, and a loose area is defined as a group of suspected loose bolts. First, the abnormal propagation segment is identified as follows: S301: Determine the reference path according to the preset selection rules.

[0093] It should be noted that after generating the basic piecewise response fingerprint, a reference path is selected from the candidate elastic wave propagation paths. The reference path can be a symmetric path, a similar path, or a stable path.

[0094] It should be noted that a symmetrical path refers to a candidate elastic wave propagation path that has a symmetrical relationship with the candidate elastic wave propagation path to be detected in the left-right direction, front-back direction, or same layer structure of the transmission tower.

[0095] It should be noted that similar paths refer to candidate elastic wave propagation paths that pass through the same type of bar elements, node elements, or bolt group elements as the candidate elastic wave propagation path to be detected.

[0096] It should be noted that a stable path refers to a candidate elastic wave propagation path that passes through a continuous main material section, a tower leg main material section, or a preset reference connection section.

[0097] In one implementation, the reference path is selected according to the following priority: symmetric paths are preferred; when no suitable symmetric path exists, similar paths are selected; when neither symmetric nor similar paths are applicable, stable paths are selected.

[0098] Furthermore, when multiple reference paths exist, the path with fewer background interference markers is selected as the reference path. When a reference path itself has background interference markers, abnormal propagation segments, or incomplete wave packet responses, it is not used as a valid reference path for the current path to be detected. Instead, other symmetrical paths, similar paths, or stable paths are selected.

[0099] Furthermore, if no other available reference path exists, the path to be detected and the candidate reference path are repeatedly collected, and the reference path is re-determined based on the basic segmented response fingerprint after repeated collection.

[0100] S302: Compare response feature indicators segment by segment to generate abnormal deviation indicators.

[0101] It should be noted that during on-site self-calibration, the basic segmented response fingerprint of the candidate elastic wave propagation path to be detected is compared with the basic segmented response fingerprint of the reference path.

[0102] It should be noted that, when making comparisons, it is preferable to compare the basic segment response fingerprints that have the same wave packet identity, the same propagation segment type, and the same vibration measurement location type. The comparison objects include at least one of the first wave arrival marker, the main response segment marker, and the reflection response segment marker.

[0103] Furthermore, reference path deviation markers are generated based on the comparison results. Reference path deviation markers may include first-wave offset type reference path deviation markers, main response attenuation type reference path deviation markers, reflection enhancement type reference path deviation markers, or composite type reference path deviation markers.

[0104] Furthermore, the reference path deviation marker is written into the corresponding basic segmented response fingerprint to form a self-calibrating segmented response fingerprint.

[0105] It should be noted that when the effective response segment corresponding to the basic segment response fingerprint has background interference markers, the basic segment response fingerprint is removed, downweighted, or the markers are collected repeatedly.

[0106] It should be noted that the generation of reference path deviation markers may include the following process: The basic segmental response fingerprints of the candidate elastic wave propagation path to be detected are matched with the basic segmental response fingerprints of the reference path according to the same wave packet identity, the same propagation segment type, and the same vibration measurement location type.

[0107] Furthermore, if the first arrival marker of the candidate elastic wave propagation path to be detected deviates from the first arrival marker of the reference path by more than a preset time tolerance, a first-wave offset reference path deviation marker is generated.

[0108] Furthermore, if the main response segment of the candidate elastic wave propagation path to be detected is weakened by more than a preset amplitude tolerance or energy tolerance relative to the main response segment of the reference path, a main response weakening reference path deviation mark is generated.

[0109] Furthermore, if the reflection response segment of the candidate elastic wave propagation path to be detected is enhanced by more than the preset amplitude tolerance, duration tolerance, or occurrence tolerance of the reflection response segment of the reference path, a reflection-enhanced reference path deviation marker is generated.

[0110] It should be noted that the preset time tolerance, preset amplitude tolerance, preset energy tolerance, preset duration tolerance, and preset occurrence frequency tolerance can be determined based on the reference path of the same tower, historical detection data, on-site repeated collection results, or manual calibration results.

[0111] S303: Perform a consistency check to determine the abnormal propagation segment.

[0112] It should be noted that in this embodiment, the abnormal propagation segment is determined based on the reference path deviation marker in the self-calibration segmented response fingerprint.

[0113] In one implementation, a propagation segment is identified as an anomalous propagation segment when a reference path deviation marker in the same propagation segment appears in valid response segments corresponding to at least two different wave packet identities, or in self-calibrated segmented response fingerprints corresponding to at least two different vibration measurement locations.

[0114] It should be noted that the anomalous features include at least one of the following: the first arrival marker shifts relative to the reference path, the main response segment marker weakens relative to the reference path, and the reflection response segment marker strengthens relative to the reference path.

[0115] Furthermore, after the abnormal propagation segment is determined, the abnormal propagation segment is associated with and stored in conjunction with the candidate elastic wave propagation path number, propagation segment number, wave packet identification, vibration measurement location number, and reference path deviation mark.

[0116] It should be noted that, when determining abnormal propagation segments, valid response segments with background interference markers are not used as the sole basis for determining abnormal propagation segments.

[0117] Furthermore, if the reference path deviation marker of the same propagation segment only appears in the valid response segment corresponding to a wave packet identity and does not appear in other vibration measurement locations or repeated acquisitions, then the propagation segment is marked as a propagation segment to be confirmed.

[0118] It should be noted that if the same type of reference path deviation marker reappears in the propagation segment to be confirmed after repeated acquisition, reverse local retesting, lateral local retesting, variable energy level local retesting, or variable excitation position local retesting, then the propagation segment to be confirmed will be updated as an abnormal propagation segment.

[0119] The specific locations of the loose areas are as follows: S311: Filter candidate third-class units based on mapping relationships.

[0120] It should be noted that after identifying the abnormal propagation segment, the abnormal propagation segment is mapped to the member-node-bolt group topology model to find candidate bolt group elements located within or adjacent to the abnormal propagation segment.

[0121] S312: Perform a composite determination to identify the source of loosening.

[0122] It should be noted that for a candidate bolt group element located in a bifurcation propagation segment, node propagation segment, or receiving propagation segment, the candidate bolt group element is determined as the bolt group scattering center when it meets at least two of the following conditions: the candidate bolt group element is located in the intersection region, adjacent region, or common passing region of at least two anomalous propagation segments. At least one of the upstream propagation segment, the node propagation segment, and the downstream propagation segment of the candidate bolt group unit has a reference path deviation mark, and the reference path deviation mark is associated with the node propagation segment where the candidate bolt group unit is located; The candidate bolt group element is mapped in at least two anomalous propagation segments corresponding to different wave packet identities.

[0123] It should be noted that for candidate bolt group elements located only within the common propagation segment, they are not directly determined as bolt group scattering centers based on the common passage relationship of multiple abnormal propagation segments. Instead, they are determined as candidate bolt group elements of the common segment and further confirmed through local retesting.

[0124] It should be noted that when mapping the abnormal propagation segment to the bolt group element, if multiple candidate bolt group elements are located in the same abnormal propagation segment, they are sorted according to the spatial relationship between each candidate bolt group element and the abnormal propagation segment, the propagation segment order, the reference path deviation markers of the upstream and downstream propagation segments, and the local retest results.

[0125] Furthermore, candidate bolt group elements located in the intersection region, adjacent region, or simultaneously mapped by anomalous propagation segments corresponding to multiple wave packet identifiers are preferentially used as bolt group scattering centers.

[0126] It should be noted that if it is still impossible to distinguish multiple candidate bolt group units, then all multiple candidate bolt group units will be regarded as suspected loose bolt groups and marked as bolt groups to be reviewed in the same abnormal area in the test result data.

[0127] S313: Confirmed through local retesting.

[0128] It should be noted that for candidate bolt group elements in the common section, at least one of the following methods can be used for confirmation: local retesting at variable excitation position, reverse local retesting, or lateral local retesting.

[0129] In one implementation, the excitation position of the coded elastic shock wave is changed so that the candidate bolt group elements in the original common propagation segment are no longer located in the new common propagation segment. At the same time, the coded elastic shock wave is reapplied and the local shock response signal is acquired.

[0130] Furthermore, based on the local impact response signal, a local basic segmented response fingerprint and a local self-calibration segmented response fingerprint are generated. When the candidate bolt group element is still mapped by the local anomaly propagation segment, it is determined as the bolt group scattering center.

[0131] In another implementation, a reverse-coded elastic shock wave is applied from the opposite side of the candidate bolt group unit of the common segment.

[0132] Furthermore, when a local anomalous propagation segment still maps to a candidate bolt group element of the common segment, it is identified as the bolt group scattering center.

[0133] In another embodiment, when a laterally encoded elastic shock wave is applied along different rod directions, and a local abnormal propagation segment still maps to the candidate bolt group element of the common segment, it is identified as the bolt group scattering center.

[0134] Furthermore, if the local anomaly propagation segment obtained from the retest no longer maps to the candidate bolt group element of the common segment, the bolt group scattering center is re-determined based on the new local anomaly propagation segment.

[0135] It should be noted that after identifying the bolt group corresponding to the scattering center of the bolt group as a suspected loose bolt group, at least one local vibration measurement position is added near the area where the suspected loose bolt group is located, and at least one of the following is performed: reverse local retest, lateral local retest, variable energy level local retest, or variable excitation position local retest.

[0136] It should be noted that reverse local retesting refers to applying a reverse-coded elastic shock wave from the opposite side of the suspected loose bolt group and collecting local impact response signals. Lateral local retesting refers to applying a lateral-coded elastic shock wave along a rod direction different from the initial test and collecting local impact response signals.

[0137] It should be noted that variable energy level local retesting refers to applying a coded elastic shock wave again after changing the shock energy level of at least one sub-shock wave packet, and then collecting the local shock response signal.

[0138] It should be noted that variable excitation position local retesting refers to acquiring the local impact response signal again after changing the excitation position of the coded elastic shock wave.

[0139] It should be noted that after local retesting, the local basic segmented response fingerprint and the local self-calibration segmented response fingerprint are regenerated based on the local impact response signal, and the local anomalous propagation segment is determined. The coded elastic shock wave used in the local retesting can maintain the original wave packet identification unchanged, or it can change the impact energy level, impact direction, or application time interval of at least one sub-shock wave packet.

[0140] It should be noted that if the encoding rules are changed, the local wave packet identity will be reset for the sub-shock wave packets of the local retest, and a correspondence between the local wave packet identity and the wave packet identity in the first detection will be established.

[0141] Furthermore, through this correspondence, it is possible to compare the abnormal propagation segments mapped to the same bolt group element in the initial detection and local retest.

[0142] It should be noted that when a local abnormal propagation segment still maps to the same bolt group scattering center, the bolt group corresponding to the bolt group scattering center is retained as a suspected loose bolt group. When a local abnormal propagation segment does not map to the bolt group scattering center, the suspected loose bolt group is re-determined based on the local abnormal propagation segment.

[0143] S314: Generate detection result data.

[0144] It should be noted that this embodiment generates bolt loosening detection result data based on suspected loose bolt groups. The bolt loosening detection result data may include the suspected loose bolt group number, the tower segment where it is located, the direction it is located, the corresponding node unit number, the corresponding rod unit number, the corresponding abnormal propagation segment number, the corresponding wave packet identification, the vibration measurement location number involved in the location, and the local re-measurement type.

[0145] Furthermore, if a suspected loose bolt group is confirmed through local retesting, the test results data will record the local retest type, local abnormal propagation segment number, and local wave packet identification of the bolt group's scattering center.

[0146] Furthermore, if a group of suspected loose bolts has not been confirmed by local retesting, it will be recorded as a group of bolts to be retested in the test results data.

[0147] Furthermore, if multiple suspected loose bolt groups are located in the same node unit or the same abnormal area, the detection result data records the unit numbers of multiple bolt groups in the abnormal area, as well as the number of abnormal propagation segments, the number of wave packet identifications, and the number of vibration measurement locations involved in the localization corresponding to each bolt group unit.

[0148] It should be noted that the test results data can be output in the form of tables, two-dimensional tower unfolded diagrams, three-dimensional tower model annotation diagrams, or risk area lists.

[0149] Example 3 is an embodiment of the present invention. This embodiment provides a rapid detection system for loose bolts of the entire transmission tower based on elastic shock waves, including an excitation module, a vibration measurement module, and a data processing module.

[0150] The excitation module is used to apply a coded elastic shock wave consisting of multiple sub-shock wave packets with distinguishable identifiers to the target structure and to provide a synchronous trigger signal.

[0151] The vibration measurement module is used to collect vibration response signals of the target structure at multiple vibration measurement locations under the action of coded elastic shock waves, and can be associated with and stored with excitation parameters.

[0152] The data processing module is used to establish a topology model, control coding excitation, generate path segment response features, self-calibrate and compare to identify abnormal propagation segments, and map and locate suspected loose areas.

[0153] This embodiment also provides an electronic device applicable to the rapid detection method for loose bolts in the entire transmission tower based on elastic shock waves, comprising: a memory and a processor; the memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions to realize the rapid detection method for loose bolts in the entire transmission tower based on elastic shock waves proposed in the above embodiment.

[0154] This embodiment also provides a storage medium storing a computer program that, when executed by a processor, implements the rapid detection method for loose bolts across the entire transmission tower based on elastic shock waves, as proposed in the above embodiment.

[0155] The storage medium proposed in this embodiment and the method for rapid detection of loose bolts in the entire transmission tower based on elastic shock waves proposed in the above embodiments belong to the same inventive concept. Technical details not described in detail in this embodiment can be found in the above embodiments, and this embodiment has the same beneficial effects as the above embodiments.

[0156] Based on the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk, or optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods of the various embodiments of the present invention.

[0157] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A rapid detection method for loose bolts throughout a power transmission tower, characterized in that, Includes the following steps: A topological correlation model of the target structure is established. Then, based on the topological correlation model, the excitation position, the vibration measurement position are preset and candidate elastic wave propagation paths are generated. The candidate elastic wave propagation paths are divided into several propagation segments. An coded excitation with distinguishable identification is applied to a preset excitation position, and then the response signal at the preset vibration measurement position is acquired. The response signal is then decomposed into path segment response characteristics of each propagation segment. A reference path for the path to be inspected is obtained in the topological association model. By performing self-calibration comparison of the path segment response characteristics of the path to be inspected and the reference path, abnormal propagation segments are identified. The abnormal propagation segments are then mapped to the topological association model to locate loose areas.

2. The rapid detection method for loose bolts throughout a power transmission tower according to claim 1, characterized in that, Establishing the topological association model includes: Obtain structural description information of the target structure, including structural components, connecting components, and a cluster of connectors; Based on the structural description information, the structural components, connecting components, and connector clusters in the target structure are abstracted into first-type units, second-type units, and third-type units, respectively, and unit identifiers are configured. Based on the physical connections between the units, an association network is constructed to describe the hierarchical and connection relationships between the first type of units, the second type of units, and the third type of units; In the associated network, at least one excitation node corresponding to a preset excitation position and multiple vibration measurement nodes corresponding to preset vibration measurement positions are determined, and several candidate elastic wave propagation paths from the excitation node to each vibration measurement node are also determined.

3. The rapid detection method for loose bolts throughout a power transmission tower according to claim 2, characterized in that, The steps for generating the candidate elastic wave propagation path include: Traverse the associated network to generate all candidate elastic wave propagation paths from the excitation node to each vibration measurement node; Record the cell identifiers of all first-class, second-class, and third-class cells that each candidate elastic wave propagation path sequentially passes through; Based on the differences in wave propagation characteristics along the path, each candidate elastic wave propagation path is divided into several sequentially connected propagation segments, and a propagation segment type identifier is assigned. Establish a mapping relationship between each propagation segment and the third type of unit that this propagation segment passes through or is physically connected to.

4. The rapid detection method for loose bolts throughout a power transmission tower according to claim 2, characterized in that, Generating the path segmentation response features includes: The arrangement rules and synchronous triggering signals of the coded excitation are obtained. The coded excitation is a combination of several sub-shock wave packets formed by the arrangement rules. Then, based on the arrangement rules and synchronous triggering signals of the coded excitation, the wave packet identification and start reference time of each sub-shock wave packet in the response signal are determined. For each sub-shock wave packet, on the candidate elastic wave propagation path corresponding to this sub-shock wave packet, the time retrieval interval corresponding to each propagation segment is defined according to the order of the propagation segments and the estimated propagation parameters. Within each of the time retrieval intervals, valid response segments related to the sub-shock wave packet are captured, and the time window in which the valid response segment is located is the valid response segment. From the effective response segments, at least one response feature index describing the wave characteristics of the effective response segments is extracted and labeled, and bound to the corresponding wave packet identity, vibration measurement node and propagation segment to generate path segment response features.

5. The rapid detection method for loose bolts throughout a power transmission tower according to claim 4, characterized in that, The self-calibration comparison includes: In the topological correlation model, a reference path is determined for the path to be inspected according to a preset selection rule; the preset selection rule considers other candidate elastic wave propagation paths that are symmetrical or similar to the path to be inspected. The path segment response features of the path to be inspected are compared segment by segment with the path segment response features of the reference path, wherein the comparison items are the same response feature indicators with the same wave packet identity and the same propagation segment type identity. When the difference in the comparison results exceeds the preset judgment threshold, a corresponding abnormal deviation label is generated for the propagation segment, and the propagation segment is merged with the original path segment response features to form a self-calibration response feature.

6. The rapid detection method for loose bolts throughout a power transmission tower according to claim 5, characterized in that, Identifying the anomalous propagation segment includes: Consistency check is performed on the self-calibration response characteristics of the same propagation segment: when the abnormal deviation indicator appears in at least two valid response segments corresponding to different wave packet identity indicators within the same propagation segment, or when the abnormal deviation indicator is included in the self-calibration response characteristics from different vibration measurement nodes, the propagation segment is determined to be an abnormal propagation segment.

7. The rapid detection method for loose bolts throughout a power transmission tower according to claim 2, characterized in that, The areas suspected of being loose include: Obtain all anomaly propagation segments and the mapping relationship between the anomaly propagation segments and the third type of unit; Filter out the candidate third-class units pointed to by the mapping relationship; A composite determination is performed on the candidate third type unit. When the determination conditions are met, the third type unit is identified as a loosening source. The determination conditions include: the third type unit is located in the intersection or adjacent area of ​​multiple abnormal propagation segments, and the third type unit is pointed to by multiple abnormal propagation segments corresponding to different wave packet identities.

8. A rapid detection system for loose bolts across the entire transmission tower, characterized in that: The method applied to any one of claims 1 to 7 includes: an excitation module, a vibration measurement module, and a data processing module; The excitation module is used to apply a coded elastic shock wave consisting of multiple sub-shock wave packets with distinguishable identification to the target structure and to provide a synchronous trigger signal. The vibration measurement module is used to collect vibration response signals of the target structure at multiple vibration measurement locations under the action of coded elastic shock waves, and store them in association with excitation parameters. The data processing module is used to establish a topology model, control coding excitation, generate path segment response features, self-calibrate and compare to identify abnormal propagation segments, and map and locate suspected loose areas.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the rapid detection method for loose bolts on the entire transmission tower as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the rapid detection method for loose bolts on the entire transmission tower as described in any one of claims 1 to 7.

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