Method for detecting compression fittings of power transmission lines controlled by assembly linkage and robot

Abstract

The application belongs to the technical field of electric power robots. A kind of transmission line crimping hardware detection method and robot of assembly linkage control are presented, polarizer and camera assembly are fixed on rotary rudder, the synchronization alignment of visual guidance and ray emission is realized;Probe assembly realizes multi-degree-of-freedom attitude adjustment through side swing mechanism and turnover mechanism;When upper layer wire linkage positioning detection, rotary rudder drives camera to identify target and synchronously adjusts polarizer, walking assembly and side swing mechanism are iteratively adjusted, to ensure that flat panel probe completely covers target area and then carries out ray imaging;When lower layer wire turnover cooperative detection, probe is first placed to safety position, after being turned over 180°, it is reapproached target, and imaging is carried out after being accurately adjusted through image feedback again.The application realizes the independent and accurate detection of crimping hardware of different position wires, and significantly improves the detection efficiency and adaptability.

Description

Technical Field

[0001] This invention relates to the field of power robot technology, and in particular to a method and robot for detecting transmission line crimp fittings with component linkage control. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] In recent years, with the continuous expansion of the scale of high-voltage and ultra-high-voltage overhead transmission lines, the demand for operational status inspection of crimp fittings, key connecting components of these lines, has become increasingly urgent. X-ray non-destructive testing technology, due to its ability to effectively identify internal defects, has become an important means of quality assessment for crimp fittings. To adapt to the high-altitude live-line working environment, X-ray inspection systems based on robotic platforms have been widely researched and applied. These systems typically integrate a walking mechanism, X-ray emission source, detector, and vision module, aiming to achieve automated, non-contact inspection of crimp fittings on conductors to ensure the safe and stable operation of the power grid.

[0004] However, existing inspection robots generally suffer from insufficient versatility, making it difficult to efficiently handle the inspection of upper and lower rows of crimped fittings with various wire splitting patterns (such as single wire, horizontal / vertical / oblique double split, quadruple split, etc.) using a single device. Specifically, their detectors are mostly fixedly installed or only have a single degree of freedom adjustment capability. When inspecting the lower row of wires, they often cannot effectively cover the target area due to the orientation of the imaging surface. Furthermore, they lack a coordinated linkage mechanism with the emission source, vision system, and locomotion mechanism, resulting in the inability to autonomously complete the accurate positioning and complete imaging of upper and lower rows of fittings under complex spatial constraints. Summary of the Invention

[0005] To address the shortcomings of existing inspection robots in terms of versatility and adaptability to various types of split conductors, this invention provides a method and robot for inspecting transmission line crimp fittings with component linkage control. This enables a single device to efficiently inspect various types of split conductor crimp fittings, significantly improving the versatility and automation level of the inspection robot.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: In a first aspect, the present invention provides a method for detecting crimp fittings of power transmission lines with component linkage control.

[0007] A method for detecting crimp fittings in power transmission lines using component-linked control is applied to a detection robot comprising a body support, a walking assembly, a transmitter assembly, a detector assembly, and a camera assembly. The walking assembly, transmitter assembly, and detector assembly are all fixed to the body support. The transmitter assembly includes a transmitter and a polarizer, both of which are fixed to a rotating servo motor. The detector assembly includes a flat panel detector, a detector support, a flipping mechanism, and a side-swinging mechanism. The detection method includes: The upper-layer conductor linkage positioning and detection steps include: a rotating servo motor drives the camera assembly to identify the position of the upper-layer first sub-conductor and simultaneously adjusts the polarizer alignment; a walking assembly drives the detection robot to move above the crimping hardware of the upper-layer first sub-conductor; a side-swing mechanism drives the detector bracket to swing, bringing the flat panel detector closer to the crimping hardware of the first sub-conductor; combined with the image feedback from the camera assembly, the position is iteratively adjusted through the walking assembly and the side-swing mechanism; after the flat panel detector completely covers the target area of ​​the crimping hardware of the upper-layer first sub-conductor, X-ray imaging detection is performed. The lower-layer conductor flipping collaborative detection steps include: rotating the servo motor, identifying the lower-layer first sub-conductor through the camera component and adjusting the polarizer for alignment, the side-swing mechanism swinging the detector bracket to a safe position, the flipping mechanism driving the flat panel detector to flip 180°, and then using the side-swing mechanism to bring the detector bracket closer to the lower-layer first sub-conductor crimping fitting. Combining the image feedback from the camera component, the position is iteratively adjusted through the walking component and the side-swing mechanism. After the flat panel detector completely covers the target area of ​​the lower-layer first sub-conductor crimping fitting, X-ray imaging detection is performed.

[0008] In one implementation of the first aspect of the present invention, before the upper conductor linkage positioning detection step, an upper conductor adaptive adjustment step is further included, comprising: Before the inspection robot is hoisted onto the line, the side swing mechanism and the flipping mechanism rotate together to keep the flat plate detector parallel to the body support on the side where the detector assembly is installed. The inspection robot is lifted from the ground support by a heavy-duty drone and placed on one side of the upper first sub-conductor of the four-split circuit, so that the inspection robot is positioned behind the crimping hardware of the upper first sub-conductor. The robot's online status is confirmed by detecting the robot's body pose sensor. If it is normal, the upper-level wire linkage positioning detection step is initiated.

[0009] In one implementation of the first aspect of the present invention, the upper conductor linkage positioning detection step, in which the rotating servo drives the camera assembly to identify the position of the upper first sub-conductor and synchronously adjust the polarizer alignment, includes: With 0° directly below the transmitter as the reference point, and counterclockwise rotation as the positive direction, after the detection robot is online, the rotating servo drives the camera assembly to rotate within a set angle range. The field of view of the camera assembly covers the upper first sub-wire and the lower first sub-wire. The camera assembly acquires operational images in real time and identifies and determines the first sub-conductor of the upper layer through a pre-trained image recognition algorithm. The rotating servo drives the transmitter polarizer and camera assembly to rotate, so that the transmitter beam axis and the camera viewing angle axis are aligned with the first sub-conductor of the upper layer.

[0010] In one implementation of the first aspect of the present invention, in the upper conductor linkage positioning detection step, the position is iteratively adjusted by the walking component and the side-swing mechanism in conjunction with the image feedback of the camera component. After the flat panel detector completely covers the target area of ​​the upper first sub-conductor crimping hardware, X-ray imaging detection is performed, including: The walking component drives the inspection robot to move forward along the guide wire. When the image recognition algorithm detects the crimping fitting of the first sub-guide wire in the operation image captured by the camera component, the walking component stops moving and the inspection robot stops above the crimping fitting of the first sub-guide wire. After the inspection robot stops above the crimping fitting to be inspected, it drives the detector bracket to swing inward toward the inside of the wire through the side swing mechanism, so that the flat plate detector is close to the crimping fitting of the first sub-wire on the upper layer. Using image recognition algorithms, the system confirms whether the flat panel detector fully covers the crimping fittings of the lower-level conductor in the operational images captured by the camera component. If not, the system adjusts the position of the inspection robot on the line using the walking component and adjusts the distance between the flat panel detector and the crimping fitting of the upper first sub-conductor using the side-swing mechanism. If the system covers the fittings, the transmitter component emits a beam of light to the crimping fitting of the upper first sub-conductor, the flat panel detector captures the image, and the transmitted image is transmitted back to the ground control station in real time for processing and analysis.

[0011] In one implementation of the first aspect of the present invention, a side-swing mechanism is fixed on the body support, and the side-swing mechanism is used to drive the detector support to rotate about an axis parallel to the walking direction of the detection robot; a flipping mechanism is arranged on the detector support, and the flipping mechanism is used to drive it to flip about an axis perpendicular to the walking direction of the detection robot; the camera assembly is rigidly linked with the rotating servo motor so that the camera's field of view axis is parallel to the transmitter's beam axis.

[0012] In one implementation of the first aspect of the present invention, after the crimping fittings of the upper first sub-conductor and the lower first sub-conductor are both inspected, a drone is used to hoist the inspection robot onto the upper second sub-conductor, and the upper second sub-conductor and the lower second sub-conductor are inspected in sequence.

[0013] Secondly, the present invention provides a transmission line crimping fitting inspection robot with component linkage control.

[0014] A transmission line crimping fitting inspection robot with component linkage control includes: a body support, a walking component, a transmitter component, a detector component, and a camera component, wherein the walking component, the transmitter component, and the detector component are all fixed on the body support; The transmitter assembly includes a transmitter and a polarizer. Both the polarizer and the camera assembly are fixed on a rotating servo. The camera assembly is rigidly linked to the rotating servo to make the camera's field of view axis parallel to the transmitter's beam axis. The detector assembly includes a flat panel detector, a detector bracket, a flipping mechanism, and a side-swing mechanism. The side-swing mechanism is fixed on the body bracket and is used to drive the detector bracket to rotate around an axis parallel to the direction of travel of the detection robot. The flipping mechanism is arranged on the detector bracket and is used to drive it to flip around an axis perpendicular to the direction of travel of the detection robot. When inspecting the crimping fittings of the upper sub-conductor, the imaging process is completed after the camera component identifies and positions the device, the walking component moves it into place, the side-swing mechanism adjusts the position of the detector, and the process is iteratively optimized. When inspecting the crimping fittings of the lower sub-conductor, after the camera component identifies and positions the device, the side-swing mechanism first moves the flat panel detector to a safe position, and then the flipping mechanism flips the flat panel detector 180°. The imaging process is completed after the position is iteratively optimized.

[0015] In one implementation of the second aspect of the present invention, a control box assembly, a power supply box assembly, and a hoisting assembly for hoisting the UAV are connected to the body support.

[0016] In one implementation of the second aspect of the present invention, the walking component consists of two sets of cross wheels, each set of cross wheels including a drive wheel and an auxiliary wheel arranged in a cross pattern, and the walking component is used to drive the detection robot body to move forward and backward and to perform differential steering.

[0017] In one implementation of the second aspect of the present invention, the flipping mechanism includes a flipping motor and a flipping support shaft, the detector bracket is a rectangular frame structure, the flat plate detector is fixedly connected to the flipping support shaft, the flipping support shaft is connected to the output end of the flipping motor, and the flat plate detector can rotate in the internal space of the rectangular frame structure. The side-swing mechanism includes a side-swing motor, a first gear, a second gear, and a side-swing support shaft. The side-swing motor is fixed on the body support. The output shaft of the side-swing motor is connected to the first gear. The first gear meshes with the second gear. The second gear is connected to the side-swing support shaft. The side-swing support shaft is connected to the detector support.

[0018] Compared with the prior art, the beneficial effects of the present invention are: This invention innovatively proposes a component-linked control method for detecting transmission line crimping fittings and develops a component-linked control robot for detecting transmission line crimping fittings. Through the component-linked control mechanism, it effectively solves the technical problems of insufficient versatility and difficulty in adapting to various types of split conductors in existing detection robots. By rigidly linking the polarizer and camera assembly to a rotating servo motor, synchronous positioning of the emission source and vision system is achieved, ensuring precise alignment of the ray emission angle with the target conductor. The detector assembly adopts a composite adjustment structure of a flipping mechanism and a side-swing mechanism, enabling the flat panel detector to have multi-degree-of-freedom spatial adjustment capabilities, flexibly adapting to different spatial positions of upper and lower conductors. During upper conductor detection, the detector quickly achieves accurate coverage of the target area through iterative adjustments of camera recognition, the walking assembly, and the side-swing mechanism. During lower conductor detection, the detector is first moved to a safe position, then flipped 180°, and then readjusted to the target position, effectively overcoming the limitation of the imaging surface orientation of traditional fixed detectors. This solution achieves efficient inspection of various types of split wire crimping fittings by a single device through the coordinated operation of the transmitter, detector and vision system, significantly improving the versatility and automation level of the inspection robot.

[0019] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0020] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0021] Figure 1 A schematic diagram of the hoisting of the inspection robot is provided as an exemplary embodiment of the present invention; Figure 2 A schematic diagram of the robot structure provided as an exemplary embodiment of the present invention; Figure 3 A schematic diagram of a hoisting assembly provided for an exemplary embodiment of the present invention; Figure 4 A schematic diagram of a walking component provided for an exemplary embodiment of the present invention; Figure 5 A schematic diagram of transmitter beam angle rotation provided as an exemplary embodiment of the present invention; Figure 6 A schematic diagram of a camera assembly provided for an exemplary embodiment of the present invention; Figure 7 A schematic diagram of the mounting method of the flat panel detector and the detector bracket provided in an exemplary embodiment of the present invention; Figure 8A schematic diagram of a side-swing mechanism provided for an exemplary embodiment of the present invention; Figure 9 A schematic diagram of the connection between the body support and the detector assembly provided in an exemplary embodiment of the present invention; Figure 10 A schematic diagram of a transmission line crimping fitting detection method with component linkage control provided as an exemplary embodiment of the present invention; Figure 11 A schematic diagram of a crimping fitting for the upper sub-conductor provided as an exemplary embodiment of the present invention; Figure 12 A flowchart illustrating the autonomous detection process of the upper-layer conductor of the detection robot, as provided in an exemplary embodiment of the present invention; Figure 13 A schematic diagram of the detector assembly rotation provided for an exemplary embodiment of the present invention; Figure 14 A schematic diagram of a detection fitting for a lower-layer conductor crimping device is provided as an exemplary embodiment of the present invention; Figure 15 A flowchart illustrating the autonomous detection process of the lower-level conductor by the detection robot, as provided in an exemplary embodiment of the present invention; The components include: 1. Transport drone; 2. Flexible hoisting mechanism; 3. Inspection robot; 4. Power transmission line; 5. Airframe support; 6. Walking assembly; 6-1. Drive wheel; 6-2. Auxiliary wheel; 7. Transmitter assembly; 7-1. Transmitter; 7-2. Polarizer; 8. Detector assembly; 8-1. Flat panel detector; 8-2. Detector bracket; 8-3. Tilting motor; 8-4. Tilting support shaft; 8-5. Side swing motor; 8-6. First gear; 8-7. Second gear; 8-8. Side swing support shaft; 9. Camera assembly; 10. Hoisting assembly; 10-1. Connecting base; 11. Power supply box assembly; 12. Control box assembly; 13. Rotary servo motor; 14. Upper first sub-conductor; 15. Lower first sub-conductor. Detailed Implementation

[0022] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0023] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0024] This embodiment proposes a component-linked control system for inspecting transmission line crimp fittings. It aims to provide a universal inspection platform adaptable to various conductor splitting patterns (including single conductor, horizontal double-split, vertical double-split, oblique double-split, and quadruple-split). Through a sophisticated mechanical structure and linked control logic, it achieves autonomous and efficient inspection of the upper and lower rows of crimp fittings on transmission lines. Figure 1 and Figure 2 As shown, the entire system consists of three main parts: a carrier drone 1, a flexible hoisting mechanism 2, and a testing robot 3. These parts work collaboratively to complete the entire process from deployment, positioning, testing, and decommissioning. The core innovation of this invention lies in its multi-degree-of-freedom linkage control mechanism, which enables a single testing device to adapt to various complex conductor layouts without requiring specialized equipment for different splitting patterns. This significantly reduces equipment costs and maintenance complexity, while simultaneously improving the flexibility and efficiency of on-site operations.

[0025] The transport drone 1 serves as an external transport vehicle, its main function being to safely transport the inspection robot 3 from the ground to the high-altitude power transmission line 4 and to retrieve it after the operation is completed. The transport drone 1 and the inspection robot 3 are not rigidly connected, but rather attached via a flexible hoisting mechanism 2.

[0026] The flexible lifting mechanism 2 consists of flexible insulated ropes and high-strength epoxy resin insulated rods. This design not only ensures the absolute electrical insulation performance between the carrier drone 1 and the inspection robot 3 to meet the safety requirements of high-voltage live-line work, but its flexibility also allows it to absorb a certain amount of dynamic impact during the lifting process, ensuring smooth operation.

[0027] like Figure 3As shown, the top of the body support 5 of the inspection robot 3 is equipped with a dedicated hoisting assembly 10. This hoisting assembly 10 includes a connecting base 10-1, which is securely fixed to the body support 5 using high-strength bolts. The top of the connecting base 10-1 is designed with a narrow hook point, which forms a reliable and quick connection with the end of the flexible hoisting mechanism 2, allowing the carrier drone 1 to easily grab and release the inspection robot 3. During online operations, the carrier drone 1 first grabs the inspection robot 3, which is in a standby state on the ground, then flies up to the target transmission line 4 (e.g., the upper sub-conductor on one side of a four-split line), slowly descends, and precisely places the inspection robot 3 on the conductor, positioning it initially behind the crimping fitting to be inspected. After placement, the carrier drone 1 detaches from the hoisting assembly 10, freeing up space for subsequent autonomous inspection operations. During the detachment process, the robotic arm of the carrier drone 1 drives the flexible hoisting mechanism 2 to detach from the hoisting component 10, and then slowly rises to ensure that there is no disturbance or impact on the inspection robot 3. The entire detachment process is precisely controlled by personnel at the ground control station through video monitoring to ensure safety.

[0028] The main structure of the inspection robot 3 is built around the body support 5, which is made of lightweight, high-strength materials. The body support 5 serves as the load-bearing base for the entire robot, providing a stable mounting platform and structural support for all internal and external functional modules. The overall structure of the body support 5 is a rectangular frame with reinforcing ribs around its perimeter to improve overall rigidity. The top has mounting holes for the hoisting assembly 10, the bottom has mounting seats for fixing the walking assembly 6, and the sides have mounting platforms for the transmitter assembly 7 and the detector assembly 8, respectively. The power supply assembly 11 and the control assembly 12 are centrally located within the internal cavity of the body support 5. The power supply assembly 11 provides a stable and continuous power supply to the walking assembly 6, the transmitter assembly 7, the detector assembly 8, the camera assembly 9, and various sensors and controllers. The control box assembly 12 is the control center of the entire inspection robot 3. It integrates a main control processor, communication module, storage unit, and various interface circuits. It is responsible for receiving image data from the camera assembly 9, running pre-trained image recognition algorithms to determine the positions of wires and crimping hardware, generating control commands based on the recognition results, and coordinating the actions of actuators such as the walking assembly 6, transmitter assembly 7, and detector assembly 8 through drive circuits. Finally, it transmits the acquired X-ray transmission images back to the ground control station in real time for analysis and processing. The control box assembly 12's outer shell employs an electromagnetic shielding design to prevent external electromagnetic interference from affecting the normal operation of the internal circuitry. It also includes a cooling fan and temperature sensor to ensure it will not be damaged by overheating during prolonged operation.

[0029] like Figure 4As shown, the mobility of the inspection robot 3 is provided by a walking assembly 6 mounted on its body support 5. The walking assembly 6 consists of two sets of cross wheels arranged at intervals, each set including a drive wheel 6-1 and an auxiliary wheel 6-2. The drive wheel 6-1 and the auxiliary wheel 6-2 are mounted at a cross angle on the wheel axle support, working together to clamp the power transmission line 4.

[0030] Each drive wheel 6-1 is driven by an independent drive motor. By controlling the speed difference between the front and rear sets of drive wheels 6-1, the robot 3 can move forward, backward, and perform differential steering along the power transmission line 4. This cross-wheel layout not only provides strong gripping force, ensuring the robot walks stably on the smooth conductor, but also significantly improves its anti-tipping stability when walking on the line due to the larger span design. The outer surface of the drive wheels 6-1 is equipped with anti-slip textures to increase friction with the conductor, while the auxiliary wheels 6-2 have a smooth surface design and mainly serve a supporting and guiding function.

[0031] In the inspection process, the main task of the walking assembly 6 is to drive the entire machine body along the guide wire to accurately position it directly above the crimping fitting to be inspected, or, after the detector has been initially adjusted, to fine-tune the machine body position based on feedback to ensure complete coverage of the imaging area. The drive motor of the walking assembly 6 is connected to the drive wheel 6-1 via a reducer, and the output shaft of the reducer is fixedly connected to the hub of the drive wheel 6-1 via a keyway to ensure effective torque transmission. The wheel axle bracket is fixed to the upper part of the machine body bracket 5 with bolts, and its interior is equipped with bearings to support the rotational movement of the drive wheel 6-1 and the auxiliary wheel 6-2.

[0032] To achieve non-destructive X-ray inspection, the inspection robot 3 has a transmitter assembly 7 and a detector assembly 8 arranged opposite each other on its support frame 5, located on either side of the power transmission line 4 being inspected. Figure 6 As shown, the core of transmitter assembly 7 is transmitter 7-1, which is securely encapsulated within a transmitter housing and arranged in a horizontal layout. A polarizer 7-2 is mounted at the front end of transmitter 7-1 to control and direct the emission direction of the X-ray beam (e.g., ...). Figure 5 As shown, the emitted X-rays form a 20° fan shape. The key innovation lies in the fact that the polarizer 7-2 is not independently driven, but rather directly connected to the output shaft of a rotating servo 13 via a rigid structural component. Similarly, the camera assembly 9 is also connected to the output shaft of the same rotating servo 13 via another rigid structural component. This design allows the polarizer 7-2 and the camera assembly 9 to form a rigidly linked whole.

[0033] When the rotary servo 13 operates, it synchronously and at the same angle drives the polarizer 7-2 and the camera assembly 9 to rotate around the same axis. As a result, regardless of the angle of the rotary servo 13, the optical viewing angle axis of the camera assembly 9 always maintains a strictly parallel relationship with the X-ray beam axis emitted by the transmitter 7-1. This linkage mechanism is the basis for achieving precise positioning: the camera assembly 9 first scans the working area with its wide field of view, uses image recognition algorithms to lock onto the target sub-guide wire (whether it is the upper or lower layer), and then the rotary servo 13 drives the entire linkage unit to rotate, so that the camera's line of sight is precisely aligned with the target. At the same time, the emission direction of the X-ray beam is also automatically calibrated to the same target, thereby ensuring a high degree of consistency between visual guidance and physical detection.

[0034] The housing of the rotary servo 13 is fixed to the front end of the transmitter box by bolts. Its output shaft passes through the box wall and is rigidly connected to the linkage structure of the polarizer 7-2 and the camera assembly 9. The linkage structure is made of high-strength aluminum alloy to ensure that it will not deform or loosen during long-term use.

[0035] like Figure 6 As shown, a linkage mounting base is fixedly installed on the output shaft of the rotary servo 13. This linkage mounting base is a one-piece molded aluminum alloy structure with two mutually perpendicular mounting planes. The first mounting plane is used to fix the polarizer 7-2, and the second mounting plane is used to fix the camera assembly 9. The polarizer 7-2 is rigidly connected to the first mounting plane of the linkage mounting base by four M4 bolts, and the camera assembly 9 is rigidly connected to the second mounting plane of the linkage mounting base by four M3 bolts. The center hole of the linkage mounting base is engaged with the output shaft of the rotary servo 13 via a keyway, and is axially fixed by a shaft end retaining ring and a lock nut to ensure that it will not loosen under long-term vibration. The housing of the rotary servo 13 is fixed to the front flange of the transmitter chassis by four countersunk screws, and the transmitter chassis is firmly connected to one side mounting surface of the body bracket 5 by eight M6 bolts.

[0036] like Figure 7 As shown, the design of detector assembly 8 is key to solving the versatility problem of this invention. Its core lies in giving the flat panel detector 8-1 multi-degree-of-freedom spatial attitude adjustment capability. Detector assembly 8 mainly includes the flat panel detector 8-1, the detector support 8-2 for supporting it, and a composite dual-axis adjustment mechanism. This dual-axis adjustment mechanism is composed of a side-swing mechanism and a flipping mechanism, which work together to enable the flat panel detector 8-1 to flexibly adapt to detection targets in different positions and orientations. The side-swing mechanism enables a wide range of horizontal swing.

[0037] Specifically, the lateral swing mechanism includes a lateral swing motor 8-5, a first gear 8-6, a second gear 8-7, and a lateral swing support shaft 8-8, all fixed to the body support 5. The output shaft of the lateral swing motor 8-5 is fixedly connected to the first gear 8-6, which meshes with the second gear 8-7, which in turn is fixedly connected to the lateral swing support shaft 8-8. One end of the detector bracket 8-2 is mounted on the lateral swing support shaft 8-8 via a bearing. When the lateral swing motor 8-5 starts, its rotational motion is transmitted through the meshing of the first gear 8-6 and the second gear 8-7, converting it into the rotation of the lateral swing support shaft 8-8. This, in turn, drives the entire detector bracket 8-2 and its flat panel detector 8-1 to swing horizontally around an axis parallel to the direction of travel of the detection robot 3 (i.e., the axis of the power transmission line 4). This action allows the flat panel detector 8-1 to move closer to the inside of the conductor to contact the crimping fitting, or to swing outward to avoid obstacles. The side-swing motor 8-5 is fixed to the other side of the body bracket 5 via a motor mount. The first gear 8-6 on its output shaft meshes with the second gear 8-7 fixed to the side-swing support shaft 8-8. The side-swing support shaft 8-8 is mounted on the bearing housing of the body bracket 5 via a pair of angular contact bearings to ensure smooth rotation. One end of the detector bracket 8-2 is connected to the side-swing support shaft 8-8 via a keyway to ensure effective torque transmission.

[0038] like Figure 8 and Figure 9 As shown, the transmission link of the side-swing mechanism is as follows: The output shaft of the side-swing motor 8-5 is connected to the inner hole of the first gear 8-6 via a flat key. The first gear 8-6 is a 20-tooth spur gear (optional number of teeth) with a module of 1.5 (optional module). The second gear 8-7 is a 40-tooth spur gear (optional number of teeth) with the same module of 1.5 (optional module), forming a 2:1 reduction ratio with the first gear 8-6. The second gear 8-7 is fixedly connected to one end of the side-swing support shaft 8-8 via a keyway. The other end of the side-swing support shaft 8-8 is mounted in the bearing seat of the body bracket 5 via a deep groove ball bearing. One end of the detector bracket 8-2 is provided with a cylindrical mounting sleeve, which is fitted onto the side-swing support shaft 8-8 with an interference fit and circumferentially fixed with two radial locating pins. The housing of the side-swing motor 8-5 is fixed to the motor mounting base of the body bracket 5 with four M5 screws. A shock-absorbing rubber pad is provided between the motor mounting base and the body bracket 5.

[0039] The flipping mechanism is responsible for changing the orientation of the imaging surface of the flat panel detector 8-1. The flipping mechanism includes a flipping motor 8-3 and a flipping support shaft 8-4 mounted on the detector bracket 8-2. The flat panel detector 8-1 is rigidly fixed to the flipping support shaft 8-4, and both ends of the flipping support shaft 8-4 are mounted on the detector bracket 8-2 via bearings and connected to the output of the flipping motor 8-3. Since the flat panel detector 8-1 is a single-sided imaging device, its effective imaging surface must face the X-ray source. When detecting the upper conductor, the imaging surface faces upward; when detecting the lower conductor, it must be flipped 180 degrees so that the imaging surface faces downward. The flipping motor 8-3 drives this crucial attitude conversion. The detector bracket 8-2 itself is designed as a rectangular frame structure, providing ample internal space for the 180-degree flipping of the flat panel detector 8-1 and avoiding motion interference. The tilting motor 8-3 is mounted on the side arm of the detector bracket 8-2. Its output shaft is connected to the tilting support shaft 8-4 via a coupling. The tilting support shaft 8-4 is mounted on the frame of the detector bracket 8-2 via another pair of bearings. The flat panel detector 8-1 is fixed to the tilting support shaft 8-4 via a mounting flange on its back. Anti-loosening gaskets are provided between the mounting flange and the tilting support shaft 8-4 to prevent loosening under long-term vibration.

[0040] The transmission link of the flipping mechanism is as follows: The output shaft of the flipping motor 8-3 is connected to one end of the flipping support shaft 8-4 via a flexible coupling. Both ends of the flipping support shaft 8-4 are mounted in the bearing seats on both sides of the detector bracket 8-2 via a pair of angular contact bearings. The back of the flat panel detector 8-1 is equipped with a mounting flange, which is fixedly connected to the middle of the flipping support shaft 8-4 by four M4 bolts. The housing of the flipping motor 8-3 is fixed to the side arm of the detector bracket 8-2 via two L-shaped brackets. An insulating gasket is provided between the L-shaped brackets and the detector bracket 8-2 to prevent electromagnetic interference.

[0041] In the specific engineering implementation, the chassis support 5 serves as the installation benchmark for all components, and its structural strength and rigidity are crucial. The connecting base 10-1 of the hoisting assembly 10 is fixed to the top plate of the chassis support 5 by multiple countersunk bolts, ensuring that it will not loosen during hoisting. The wheel axle brackets of the walking assembly 6 are fixed to the upper sides of the chassis support 5 by welding or bolting, and the motor leads of the drive wheels 6-1 are introduced into the control box assembly 12 through the wire groove inside the chassis support 5. The transmitter housing of the transmitter assembly 7 is fixed to one side of the chassis support 5 by bolts, and the transmitter 7-1 inside is isolated from the housing by shock-absorbing pads to reduce vibration during operation. The housing of the rotary servo 13 is fixed to the front end of the transmitter housing, and its output shaft passes through the housing wall and is rigidly connected to the linkage structure of the polarizer 7-2 and the camera assembly 9. The installation of the detector assembly 8 is even more precise. The side-swing motor 8-5 is fixed to the other side of the body bracket 5 via a motor mount. Its output shaft has a first gear 8-6 that meshes with a second gear 8-7 fixed to the side-swing support shaft 8-8. The side-swing support shaft 8-8 is mounted on the bearing housing of the body bracket 5 via a pair of angular contact bearings to ensure smooth rotation. One end of the detector bracket 8-2 is connected to the side-swing support shaft 8-8 via a keyway to ensure effective torque transmission. The tilting motor 8-3 is mounted on the side arm of the detector bracket 8-2. Its output shaft is connected to the tilting support shaft 8-4 via a coupling, and the tilting support shaft 8-4 is mounted on the frame of the detector bracket 8-2 via another pair of bearings. The flat panel detector 8-1 is fixed to the tilting support shaft 8-4 via a mounting flange on its back.

[0042] The main control board inside the control box assembly 12 communicates with the drivers of the walking assembly 6, the side-swing motor 8-5, the tilting motor 8-3, and the controller of the rotary servo 13 via a CAN bus or RS485 bus. The video signal from the camera assembly 9 is directly connected to the image processing unit of the main control board via a high-speed data cable. The power supply assembly 11 provides different voltage levels to various electrical components via a DC-DC module. The entire system achieves a high degree of automation and intelligence through preset control logic and real-time image feedback. The main control processor of the control box assembly 12 uses a high-performance embedded processor with a real-time operating system, capable of handling multiple tasks simultaneously, including image recognition, motion control, and data communication. The image processing unit uses a dedicated image processing chip, enabling rapid identification and positioning of wires and crimping fittings. The communication module supports multiple communication protocols, including Wi-Fi, 4G / 5G, and LoRa, ensuring stable communication with the ground control station in various environments. The storage unit uses a solid-state drive, capable of storing large amounts of detection data and system logs.

[0043] Based on the aforementioned inspection robot, this embodiment also proposes a method for inspecting transmission line crimp fittings using component linkage control, such as... Figure 10 As shown, it includes: S1001: Upper-layer conductor linkage positioning and detection steps, including: rotating servo motor drives camera assembly to identify the position of upper-layer first sub-conductor and synchronously adjust polarizer alignment; walking assembly drives detection robot to move above upper-layer first sub-conductor crimping hardware; side swing mechanism drives detector bracket to swing, so that flat panel detector is close to the first sub-conductor crimping hardware; combined with image feedback from camera assembly, position is iteratively adjusted through walking assembly and side swing mechanism; after flat panel detector completely covers the target area of ​​upper-layer first sub-conductor crimping hardware, X-ray imaging detection is performed. S1002: The lower layer conductor flipping collaborative detection step includes: rotating the servo motor, identifying the lower layer first sub-conductor through the camera component and adjusting the polarizer alignment, the side-swing mechanism swinging the detector bracket to a safe position, the flipping mechanism driving the flat panel detector to flip 180°, and then using the side-swing mechanism to bring the detector bracket closer to the lower layer first sub-conductor crimping hardware, combined with the image feedback from the camera component, the position is iteratively adjusted through the walking component and the side-swing mechanism, and after the flat panel detector completely covers the target area of ​​the lower layer first sub-conductor crimping hardware, X-ray imaging detection is performed.

[0044] Before step S1001, the side-swing motor 8-5 and the tilting motor 8-3 will work together to adjust the flat panel detector 8-1 to a retracted state parallel to the body support 5 to prevent collisions during hoisting.

[0045] After going online and confirming that the pose is normal, proceed to the upper-layer conductor detection stage in step S1001, such as... Figure 11 and Figure 12 As shown, the rotating servo motor 13 first drives the camera assembly 9 to perform a wide-range scan, identify and lock onto the upper first sub-conductor 14, and then precisely align it. The walking assembly 6 then drives the body forward until it stops directly above the pressing hardware. Next, the side-swing motor 8-5 starts, driving the detector bracket 8-2 to swing inward, bringing the flat panel detector 8-1 closer to the hardware. During this process, the camera assembly 9 continuously provides image feedback, and the control system iteratively adjusts the minute displacements of the walking assembly 6 and the swing angle of the side-swing mechanism until it is confirmed that the flat panel detector 8-1 has completely covered the target area. At this point, the transmitter 7-1 emits X-rays to complete the imaging.

[0046] The upper conductor detection stage in step S1001 involves the following steps: First, the rotary servo motor 13 drives the camera assembly 9 to rotate upwards to a +30 degree position, and the camera assembly 9 begins scanning the upper area. When the image recognition algorithm detects the upper first sub-conductor 14, the rotary servo motor 13 fine-tunes its angle to precisely align the optical axis of the camera assembly 9 with the center of the conductor. Simultaneously, the drive wheel 6-1 of the walking assembly 6 begins to rotate, driving the detection robot 3 forward along the power transmission line 4. When the crimping fitting is detected entering the camera's field of view, the walking assembly 6 decelerates and precisely positions itself, placing the crimping fitting at the center of the camera's field of view. Next, the side-swing motor 8-5 starts, driving the first gear 8-6 to rotate, which in turn drives the side-swing support shaft 8-8 to rotate via the second gear 8-7, causing the detector bracket 8-2 to swing inwards to a +45 degree position. During this process, the camera assembly 9 continuously acquires images, and the control system adjusts the minute displacements of the walking assembly 6 and the swing angle of the side-swing mechanism in real time based on the image feedback. When it is confirmed that the imaging area of ​​the flat panel detector 8-1 completely covers the crimping fitting, the control system sends a trigger signal to the transmitter 7-1, the transmitter 7-1 emits X-rays, the flat panel detector 8-1 receives the transmission image and transmits it to the control box assembly 12.

[0047] More specifically, the following implementation process is provided: (1) Robot ground preparation.

[0048] Before the inspection robot 3 is hoisted onto the line, the side swing motor 8-5 and the flip motor 8-3 rotate together to ensure that the flat panel detector 8-1 and the body support 5 on the side where the detector assembly 8 is installed remain parallel to each other, preventing collisions.

[0049] (2) Robot hoisting and online.

[0050] The inspection robot 3 is lifted from the ground support by the carrier drone 1 and placed into the upper first sub-conductor on one side of the four-split circuit, so that the position of the inspection robot 3 is behind the crimping hardware to be inspected.

[0051] The online status of robot 3 is confirmed by the body posture sensor of robot 3. If it is normal, the online operation process is started.

[0052] (3) Confirm the position of the conductor.

[0053] After the inspection robot 3 is put into operation, the rotary servo motor 13 drives the camera assembly 9 to rotate slowly within a range of 30° to 70° (0° is directly below the transmitter 7-1, and counterclockwise rotation is positive). The field of view of the camera assembly 9 can cover the upper and lower conductors. The camera assembly 9 acquires images of the operation in real time and identifies and determines the position of the upper first sub-conductor through an image recognition algorithm. After confirming the position of the conductor, the rotary servo motor 13 drives the polarizer 7-2 of the transmitter 7-1 and the camera assembly 9 to rotate, so that the beam axis of the transmitter 7-1 and the viewing angle axis of the camera assembly 9 are aligned with the upper first sub-conductor, effectively covering the target area to be inspected.

[0054] (4) Adjustment of the body position.

[0055] The walking component 6 drives the inspection robot 3 to move forward along the guide wire. When the inspection robot 3 is found in the operation image captured by the camera component 9 through the image recognition algorithm, the walking component 6 stops moving and the inspection robot 3 stops above the inspection tool.

[0056] (5) Adjustment of linkage mechanism.

[0057] After the inspection robot 3 stops above the crimping fitting to be inspected, it drives the detector bracket 8-2 to swing inward toward the wire via the side swing motor 8-5, so that the flat plate detector 8-1 is close to the crimping fitting.

[0058] The image recognition algorithm is used to confirm whether the flat panel detector 8-1 completely covers the crimping fitting of the lower row of wires in the operation image acquired by the camera component 9: 1) If it does not cover, the walking component 6 is used to adjust the online position of the inspection robot 3, and the side swing motor 8-5 is used to adjust the distance between the flat panel detector 8-1 and the crimping fitting; 2) If it covers, the transmitter 7-1 emits an X-ray beam to the crimping fitting of the first sub-wire of the upper layer, the flat panel detector 8-1 acquires the image, and the transmitted image is transmitted back to the ground control station in real time for processing and analysis.

[0059] (6) Detector assembly 8 is reset.

[0060] After the X-ray inspection of the first sub-conductor crimping fitting is completed, the side-swing motor 8-5 and the flip motor 8-3 rotate together to ensure that the flat panel detector 8-1 and the body support 5 on the side where the detector assembly 8 is installed remain parallel to each other to prevent collisions.

[0061] In step S1002, as Figure 13 , Figure 14 and Figure 15As shown, the rotary servo motor 13 first rotates downwards to identify and lock the lower first sub-conductor 15. To avoid collisions with the conductor during the flipping process, the side-swing motor 8-5 first swings the entire detector bracket 8-2 outwards to a safe position. At this safe position, the flipping motor 8-3 starts, driving the flat panel detector 8-1 to precisely flip 180 degrees, so that its imaging surface faces downwards. After the flipping is complete, the side-swing motor 8-5 reverses its direction, swinging the detector bracket 8-2 along with the flipped flat panel detector 8-1 back inwards, closer to the lower pressure fitting. Similarly, through camera image feedback, the system iteratively fine-tunes the walking and side-swing movements again, ensuring full coverage of the imaging area before performing X-ray imaging. After the inspection is complete, all mechanisms reset, and the carrier drone 1 can intervene again to hoist the inspection robot 3 to the other side of the conductor or the lower conductor, thus completing a comprehensive inspection of the entire four-split circuit.

[0062] More specifically, the process includes: First, the rotary servo motor 13 drives the camera assembly 9 downwards to a position of -30 degrees, and the camera assembly 9 begins scanning the area below. When the image recognition algorithm detects the first sub-conductor 15 in the lower layer, the rotary servo motor 13 fine-tunes the angle to ensure that the optical axis of the camera assembly 9 is precisely aligned with the center of the conductor. To avoid collisions with the conductor during the flipping process, the side-swing motor 8-5 first swings the detector bracket 8-2 outwards to a safe position of -15 degrees. At this safe position, the flipping motor 8-3 starts, driving the flipping support shaft 8-4 to rotate 180 degrees, causing the imaging surface of the flat panel detector 8-1 to flip from facing upwards to facing downwards. After the flipping is complete, the side-swing motor 8-5 reverses its direction, swinging the detector bracket 8-2 along with the flipped flat panel detector 8-1 back inwards to a position of +45 degrees. Similarly, through camera image feedback, the system iteratively fine-tunes the movement and side-swing again to ensure full coverage of the imaging area before performing X-ray imaging.

[0063] More specifically, the following implementation process is provided: (1) Confirm the position of the conductor.

[0064] After inspecting the crimping hardware of the first sub-conductor on the upper layer, the rotary servo motor 13 drives the transmitter 7-1, polarizer 7-2, and camera assembly 9 to slowly rotate downwards. An image recognition algorithm identifies and determines the position of the lower row of conductors. Once the conductor position is confirmed, the rotary servo motor 13 drives the transmitter 7-1, polarizer 7-2, and camera assembly 9 to rotate, ensuring that the beam axis of the transmitter 7-1 and the viewing angle axis of the camera assembly 9 are aligned with the first sub-conductor on the lower layer, effectively covering the target area to be inspected.

[0065] (2) Adjustment of the body position.

[0066] When the image recognition algorithm detects the crimping fitting to be inspected in the working image captured by the camera component 9, the walking component 6 drives the inspection robot 3 to move forward or backward along the wire. When the crimping fitting to be inspected is detected in the working image captured by the camera component 9, the walking component 6 stops moving, and the inspection robot 3 stops above the crimping fitting to be inspected.

[0067] (3) Adjustment of linkage mechanism.

[0068] After the inspection robot 3 stops above the crimping fitting to be inspected, it drives the detector bracket 8-2 to swing outwards from the conductor via the side-swing motor 8-5. When the detector bracket 8-2 swings outwards to a safe position, the flip motor 8-3 drives the flat panel detector 8-1 to rotate 180°, changing the orientation of the imaging surface of the flat panel detector 8-1 from top to bottom, preparing for the inspection of the crimping fitting of the lower row of conductors. After the flat panel detector 8-1 completes its flip, the side-swing motor 8-5 drives the detector bracket 8-2 to swing inwards from the conductor, bringing the flat panel detector 8-1 closer to the crimping fitting.

[0069] The image recognition algorithm is used to confirm whether the flat panel detector 8-1 completely covers the crimping fitting of the lower row of conductors to be inspected in the operation image acquired by the camera component 9: 1) If it is not covered, the online position of the inspection robot 3 is adjusted by the walking component 6, and the distance between the flat panel detector 8-1 and the crimping fitting is adjusted by the side swing motor 8-5; 2) If it is covered, the transmitter 7-1 emits an X-ray beam to the crimping fitting of the first sub-conductor of the lower layer, the flat panel detector 8-1 acquires the image, and transmits the transmission image back to the ground control station in real time for processing and analysis.

[0070] (4) Detector assembly 8 is reset.

[0071] After completing the X-ray inspection of the lower wire crimping fittings, the inspection robot 3 reverses the steps of the linkage mechanism adjustment, and the side swing motor 8-5 and the flip motor 8-3 rotate together to ensure that the flat plate detector 8-1 and the body support 5 on the side where the detector assembly 8 is installed remain parallel to each other to prevent collisions.

[0072] (5) Return to a safe position.

[0073] After completing the X-ray inspection of the crimp fittings of a certain phase conductor, the walking component 6 drives the inspection robot 3 to move backward along the conductor to a safe position, providing conditions for hoisting off the line or switching positions.

[0074] If the hardware of the upper and lower rows of conductors on the other side of the four-split line has not yet been inspected, the transport drone 1 will lift the inspection robot 3 and place it into the upper second sub-conductor on the other side, that is, adjust the inter-line operation position and repeat the inspection operation process.

[0075] If the inspection of the upper and lower rows of conductor fittings on both sides of the four-split line has been completed, the transport drone 1 will lift the inspection robot 3 from the line 4 that has been inspected and place it on another line 4 to be inspected to continue the work, that is, adjust the phase-to-phase operation position. If the inspection of all line 4 crimp fittings on this tower has been completed, the transport drone 1 will lift the inspection robot 3 from the line 4 that has been inspected and place it on the ground support to end the operation.

[0076] The detection strategy of this invention is adjusted accordingly for different splitting patterns. In a single-conductor scenario, only one detection process for the upper conductor needs to be performed. In a horizontal double-split scenario, after detecting one side of the conductor, the carrier drone 1 lifts the robot to the other side of the conductor for repeated detection. In a vertical or diagonal double-split scenario, the detection of the upper and lower conductors needs to be completed sequentially at the same location. For the most complex four-split lines, the carrier drone 1 needs to intervene twice, placing the robot on the upper sub-conductors on the left and right sides respectively, and performing a complete upper and lower conductor detection process on each side. This flexible operating mode allows a single device to cover all common overhead transmission line detection needs, greatly improving the versatility of the equipment and the efficiency of on-site operations. During actual operation, operators at the ground control station can observe the detection progress in real time through the monitoring screen and intervene manually when necessary, such as adjusting detection parameters or repositioning.

[0077] In terms of safety protection, this invention incorporates multiple safety mechanisms. First, during hoisting, the flexible hoisting mechanism 2 between the transport drone 1 and the inspection robot 3 ensures electrical insulation, preventing high-voltage electric shock accidents. Second, during inspection, the X-ray emission of the transmitter 7-1 is strictly controlled and only activated after confirming that the flat panel detector 8-1 is correctly positioned and unobstructed. Third, during movement, the walking assembly 6 is equipped with anti-slip and anti-derailment devices to ensure that the inspection robot 3 does not detach from the wires. Fourth, during flipping and swaying, the detector assembly 8 is equipped with position sensors and limit switches to prevent excessive movement from damaging the equipment. Fifth, in the event of a communication interruption, the inspection robot 3 automatically enters a safety mode, stopping all movement and waiting for reconnection. These safety mechanisms collectively ensure the safety and reliability of the entire inspection process.

[0078] During hoisting, the flexible insulating rope of the flexible hoisting mechanism 2 is made of aramid fiber with a breaking strength of not less than 5000N, and the insulating rod is made of high-strength epoxy resin composite material. The narrow attachment point of the connecting base 10-1 is equipped with a spring locking mechanism. When the flexible hoisting mechanism 2 is attached, the spring locking mechanism automatically locks to prevent accidental detachment. During the testing process, the transmitter 7-1 is equipped with a double safety interlock: the first is a mechanical interlock, which is only released when the flat panel detector 8-1 reaches the predetermined position; the second is an electrical interlock, where the control system monitors the position sensor signal of the flat panel detector 8-1 in real time, and only allows the transmitter 7-1 to start after the position signal is confirmed to be in place. During travel, the hubs of the drive wheel 6-1 and the auxiliary wheel 6-2 are equipped with anti-derailment retaining rings, which are fixed to the hubs by welding to ensure that they will not detach from the wires in strong winds or vibrations. During the flipping and swaying process, mechanical limit blocks are provided on both the lateral sway support shaft 8-8 and the flipping support shaft 8-4. The limit blocks are fixed to the machine body bracket 5 and the detector bracket 8-2 by bolts to prevent excessive movement from damaging the equipment.

[0079] In terms of fault handling, this invention also incorporates a comprehensive fault diagnosis and recovery mechanism. When a component malfunctions, the control system immediately detects and records the fault information, while simultaneously attempting to switch to standby mode or execute a safety shutdown procedure. For example, if camera component 9 malfunctions, the system will attempt to detect it using preset position parameters; if walking component 6 malfunctions, the system will attempt to fine-tune it using single-sided drive; if communication is interrupted, the system will attempt to reconnect or enter standby mode. All fault information is recorded in the storage unit for subsequent analysis and maintenance. Furthermore, the system has a self-test function, performing self-tests on each component upon startup to ensure the equipment is in normal working condition.

[0080] When camera assembly 9 malfunctions, the control system detects image signal loss or abnormality and records a fault code. The system attempts to switch to a preset mode, using the position parameters saved from the last successful detection. If the preset mode fails to complete the detection, the system enters a safety mode, stopping all movement and awaiting manual intervention. When one of the drive wheels 6-1 of the walking assembly 6 malfunctions, the control system detects abnormal motor current or encoder signal loss and records a fault code. The system attempts to use the other drive wheel 6-1 for single-sided drive, achieving fine-tuning positioning through differential control. If single-sided drive also fails to complete the detection, the system enters a safety mode. When communication is interrupted, the control system detects a communication timeout and records a fault code. The system attempts to re-establish the connection; if the connection cannot be restored within a preset time, the system enters a standby mode, maintaining the current position and waiting for reconnection. All fault information is recorded in the storage unit of control box assembly 12, including fault codes, occurrence time, and pre-fault status parameters, for subsequent analysis and maintenance.

[0081] In terms of maintenance, the design of this invention fully considers the convenience of on-site maintenance. All key components adopt a modular design, allowing for quick disassembly and replacement. For example, the transmitter assembly 7, detector assembly 8, and walking assembly 6 can all be replaced as a single module without disassembling the entire unit. The power supply box assembly 11 and control box assembly 12 also adopt a drawer-type design, allowing for easy pull-out maintenance. All connecting cables use quick connectors for easy disassembly and connection. In addition, the system also has a maintenance mode, in which individual components can be manually controlled for testing and calibration, facilitating troubleshooting and equipment debugging by on-site maintenance personnel.

[0082] During routine maintenance, the wear of the drive wheel 6-1 and auxiliary wheel 6-2 of the walking assembly 6 should be checked regularly. The inspection method is as follows: First, disconnect the power supply, then manually rotate the drive wheel 6-1 to observe whether its rotation is smooth and whether there is any abnormal noise. If severe wear is found, the drive wheel 6-1 needs to be replaced. When replacing, first remove the fixing bolts on the wheel axle bracket, remove the old drive wheel 6-1, install the new drive wheel 6-1, and then retighten the bolts. The gear meshing of the side-swing mechanism and the tilting mechanism should be checked regularly. The inspection method is as follows: Manually rotate the side-swing motor 8-5 and the tilting motor 8-3 to observe whether the gear meshing is smooth and whether there is any abnormal noise. If gear wear or poor meshing is found, the gear clearance needs to be adjusted or the gears replaced. The reliability of all electrical connections needs to be checked regularly. The inspection method is as follows: Visually inspect all wiring terminals for looseness, oxidation, or burning; retighten or replace the wiring terminals if necessary. The lens of the camera assembly 9 and the window of the transmitter 7-1 need to be cleaned regularly using a dedicated lens cleaning cloth and cleaning agent to avoid scratching the optical surfaces.

[0083] In terms of environmental adaptability, the design of this invention fully considers various harsh environmental conditions. The body support 5 is made of corrosion-resistant material, enabling long-term use in harsh environments such as humidity and salt spray. All electronic components are sealed, providing excellent waterproof and dustproof performance. The power supply assembly 11 and control box assembly 12 are equipped with internal temperature control systems, enabling normal operation in high or low temperature environments. The drive wheels 6-1 and auxiliary wheels 6-2 of the walking assembly 6 are made of wear-resistant material, allowing for long-term use on various wire surfaces without significant wear. Both the transmitter assembly 7 and detector assembly 8 are equipped with protective covers to prevent dust and moisture from entering. The entire system can operate normally within a temperature range of -20℃ to +50℃, adapting to various climatic conditions.

[0084] The chassis frame 5 is made of 6061-T6 aluminum alloy with an anodized surface, forming an oxide film 15-20 micrometers thick, providing excellent corrosion resistance. All external bolts and nuts are made of stainless steel with passivated surfaces to prevent rusting in humid environments. The power supply box assembly 11 and control box assembly 12 have IP67 protection ratings, and all seams are sealed with silicone rubber rings to prevent moisture and dust from entering. The internal circuit boards are coated with conformal coating, providing moisture-proof, mildew-proof, and salt spray-proof functions. The temperature control system includes a heater and a cooling fan. When the ambient temperature is below 0℃, the heater automatically starts to maintain the internal temperature above 5℃; when the ambient temperature is above 40℃, the cooling fan automatically starts to control the internal temperature below 45℃. The drive wheels 6-1 and auxiliary wheels 6-2 of the walking assembly 6 are made of polyurethane with a Shore A hardness of 70-80, providing good wear resistance and grip. The transmitter assembly 7 and the detector assembly 8 are equipped with protective covers made of polycarbonate material, which has good impact resistance and light transmission.

[0085] Regarding the user interface, this invention provides a user-friendly human-machine interface. The ground control station's software interface adopts a graphical design, allowing operators to operate via touchscreen or mouse. The interface displays real-time video feeds, equipment status information, and testing progress. Operators can choose between automatic or manual modes for testing. In automatic mode, the system automatically completes the testing according to a preset process; in manual mode, operators can manually control each component for testing. The interface also provides parameter setting functions, allowing operators to adjust testing parameters such as X-ray intensity, exposure time, and image resolution according to actual conditions. All operations are recorded in detailed operation logs for easy subsequent analysis and traceability.

[0086] In terms of data management, this invention provides comprehensive data management functions. All X-ray images acquired during the inspection process are automatically stored in the storage unit of the control box component 12 and simultaneously transmitted to the ground control station in real time via the communication module. The software at the ground control station can analyze and process these images, such as automatically identifying defects and generating inspection reports. All data is stored in encrypted form to ensure data security. The system also supports data export, allowing inspection data to be exported in a standard format for easy data exchange with other systems. Furthermore, the system has a data backup function, regularly backing up important data to the cloud to prevent data loss.

[0087] The storage unit of control box component 12 uses an industrial-grade solid-state drive, which is shock-resistant and resistant to high and low temperatures. All test data is encrypted and stored using the AES-256 encryption algorithm to ensure data security. Data transmission uses the TCP / IP protocol and is transmitted to the ground control station in real time via 4G / 5G network. The software interface of the ground control station is developed using the Qt framework and supports Windows and Linux operating systems. The left side of the interface displays real-time video footage, and the right side displays equipment status information and test progress. Operators can operate the system via touchscreen or mouse, selecting automatic or manual mode. In automatic mode, the system will automatically complete the test according to the preset process; in manual mode, operators can manually control each component to perform the test. All operations are recorded in detail, including operation time, operation content, and operation results, facilitating subsequent analysis and traceability. The system supports data export, allowing test data to be exported to standard formats such as DICOM, JPEG, and PNG for easy data exchange with other systems. The data backup function uses an incremental backup strategy, automatically backing up new data to the cloud server at 2:00 AM every day, and retaining the backup data for 30 days.

[0088] Regarding system integration, the design of this invention fully considers compatibility with other systems. The control system adopts an open architecture, supporting integration with various third-party systems. For example, it can be integrated with the asset management system of a power company to automatically input the detection results into the asset management system; it can be integrated with a drone management system to realize the automatic scheduling and management of drones; and it can be integrated with a data analysis system to realize in-depth analysis and mining of detection data. All interfaces adopt standard protocols, facilitating system integration and expansion.

[0089] The control system adopts an open architecture, providing RESTful API interfaces to support integration with various third-party systems. When integrated with a power company's asset management system, the system automatically uploads detection results (including image data, defect information, detection time, etc.) to the asset management system via the API interface. The asset management system then updates equipment status and maintenance plans based on the detection results. When integrated with a drone management system, the system transmits the status information of the carrier drone (including location, battery level, flight status, etc.) to the drone management system in real time via the API interface. The drone management system then automatically schedules and manages the drones based on the status information. When integrated with a data analysis system, the system transmits detection data to the data analysis system via the API interface. The data analysis system uses machine learning algorithms to perform in-depth analysis and mining of the detection data, identifying potential defect patterns and trends. All interfaces use JSON format for data exchange and support HTTPS protocol for secure transmission. The system also provides an SDK development package that supports multiple programming languages ​​such as C++, Python, and Java, facilitating secondary development and system integration by third-party developers.

[0090] In terms of cost control, the design of this invention fully considers cost-effectiveness. By adopting a universal design, a single device can adapt to various modular configurations, significantly reducing equipment procurement costs. The modular design allows for quick replacement of faulty components, reducing maintenance costs. The automated design reduces manual operation, lowering labor costs. The high-efficiency design extends the equipment's lifespan, reducing total lifecycle costs. All these design features contribute to the significant cost advantage of this invention.

[0091] In terms of technological innovation, this invention achieves innovation in several aspects. First, in terms of mechanical structure, a multi-degree-of-freedom linkage control mechanism enables universal adaptation to different splitting patterns. Second, in terms of control algorithms, image recognition and feedback control enable precise positioning and automatic detection. Third, in terms of safety protection, multiple safety mechanisms ensure the safety and reliability of the detection process. Fourth, in terms of data management, a comprehensive data management function enables efficient management and utilization of detection data. These technological innovations give this invention a significant technological advantage.

[0092] In terms of application prospects, this invention has broad applicability. First, in the power industry, it can be widely used for the inspection of crimp fittings in overhead transmission lines, improving inspection efficiency and quality. Second, in other industries, such as communications and transportation, it can also be applied to similar high-altitude line inspections. Third, in the scientific research field, it can serve as a platform for researching high-altitude line inspection technologies. Fourth, in the field of education and training, it can serve as a tool for training high-altitude line inspection technicians. These application prospects give this invention significant social and economic value.

[0093] In summary, this invention achieves autonomous and efficient inspection of the upper and lower rows of crimp fittings on transmission line 4 through a sophisticated mechanical structure and linkage control logic. The entire system consists of three main parts: a carrier drone 1, a flexible hoisting mechanism 2, and an inspection robot 3. These parts work collaboratively to complete the entire process from online setup, positioning, inspection, and offline removal. Through a multi-degree-of-freedom linkage control mechanism, a single inspection device can adapt to various complex conductor layouts without requiring specialized equipment for different split types, thus significantly reducing equipment costs and maintenance complexity, while improving the flexibility and efficiency of on-site operations. This multi-degree-of-freedom linkage system, composed of a walking component 6, a rotating servo motor 13, a side-swing mechanism, and a tilting mechanism, is the fundamental guarantee for the high versatility and autonomous operation capabilities of this invention. This invention achieves technological innovations in mechanical structure, control algorithms, safety protection, and data management, possessing significant technical value and application prospects.

[0094] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for detecting crimped fittings in transmission lines using component-linked control, characterized in that, An inspection robot comprising a body support, a walking assembly, a transmitter assembly, a detector assembly, and a camera assembly is provided. The walking assembly, transmitter assembly, and detector assembly are all fixed to the body support. The transmitter assembly includes a transmitter and a polarizer, both of which are fixed to a rotating servo motor. The detector assembly includes a flat panel detector, a detector support, a flipping mechanism, and a side-swinging mechanism. The inspection method includes: The upper-layer conductor linkage positioning and detection steps include: a rotating servo motor drives the camera assembly to identify the position of the upper-layer first sub-conductor and simultaneously adjusts the polarizer alignment; a walking assembly drives the detection robot to move above the crimping hardware of the upper-layer first sub-conductor; a side-swing mechanism drives the detector bracket to swing, bringing the flat panel detector closer to the crimping hardware of the first sub-conductor; combined with the image feedback from the camera assembly, the position is iteratively adjusted through the walking assembly and the side-swing mechanism; after the flat panel detector completely covers the target area of ​​the crimping hardware of the upper-layer first sub-conductor, X-ray imaging detection is performed. The lower-layer conductor flipping collaborative detection steps include: rotating the servo motor, identifying the lower-layer first sub-conductor through the camera component and adjusting the polarizer for alignment, the side-swing mechanism swinging the detector bracket to a safe position, the flipping mechanism driving the flat panel detector to flip 180°, and then using the side-swing mechanism to bring the detector bracket closer to the lower-layer first sub-conductor crimping fitting. Combining the image feedback from the camera component, the position is iteratively adjusted through the walking component and the side-swing mechanism. After the flat panel detector completely covers the target area of ​​the lower-layer first sub-conductor crimping fitting, X-ray imaging detection is performed.

2. The method for detecting transmission line crimp fittings with component linkage control as described in claim 1, characterized in that, Before the upper-level conductor linkage positioning and detection step, there is also an upper-level adaptive adjustment step, including: Before the inspection robot is hoisted onto the line, the side swing mechanism and the flipping mechanism rotate together to keep the flat plate detector parallel to the body support on the side where the detector assembly is installed. The inspection robot is lifted from the ground support by a heavy-duty drone and placed on one side of the upper first sub-conductor of the four-split circuit, so that the inspection robot is positioned behind the crimping hardware of the upper first sub-conductor. The robot's online status is confirmed by detecting the robot's body posture sensor. If it is normal, the upper-level wire linkage positioning detection step is initiated.

3. The method for detecting transmission line crimp fittings with component linkage control as described in claim 1, characterized in that, In the upper-layer conductor linkage positioning detection step, the rotating servo drives the camera assembly to identify the position of the upper-layer first sub-conductor and synchronously adjust the polarizer alignment, including: With 0° directly below the transmitter as the reference point, and counterclockwise rotation as the positive direction, after the detection robot is online, the rotating servo drives the camera assembly to rotate within a set angle range. The field of view of the camera assembly covers the upper first sub-wire and the lower first sub-wire. The camera assembly acquires operational images in real time and identifies and determines the first sub-conductor of the upper layer through a pre-trained image recognition algorithm. The rotating servo drives the transmitter polarizer and camera assembly to rotate, so that the transmitter beam axis and the camera viewing angle axis are aligned with the first sub-conductor of the upper layer.

4. The method for detecting transmission line crimp fittings with component linkage control as described in claim 1, characterized in that, In the upper-layer conductor linkage positioning and detection step, based on the image feedback from the camera component, the position is iteratively adjusted by the walking component and the side-swing mechanism. After the flat panel detector completely covers the target area of ​​the upper-layer first sub-conductor crimping hardware, X-ray imaging detection is performed, including: The walking component drives the inspection robot to move forward along the guide wire. When the image recognition algorithm detects the crimping fitting of the first sub-guide wire in the operation image captured by the camera component, the walking component stops moving and the inspection robot stops above the crimping fitting of the first sub-guide wire. After the inspection robot stops above the crimping fitting to be inspected, it drives the detector bracket to swing inward toward the inside of the wire through the side swing mechanism, so that the flat plate detector is close to the crimping fitting of the first sub-wire on the upper layer. The image recognition algorithm is used to confirm whether the flat panel detector completely covers the upper first sub-conductor crimping hardware in the operation image captured by the camera component. If it does not cover the hardware, the walking component adjusts the online position of the detection robot, and the side-swing mechanism adjusts the distance between the flat panel detector and the upper first sub-conductor crimping hardware. If it covers the hardware, the transmitter component emits a beam of light to the upper first sub-conductor crimping hardware, the flat panel detector captures the image, and the transmitted image is transmitted back to the ground control station in real time for processing and analysis.

5. The method for detecting transmission line crimp fittings with component linkage control as described in any one of claims 1-4, characterized in that, The side-swing mechanism is fixed on the body support and is used to drive the detector support to rotate around an axis parallel to the direction of movement of the detection robot; the flipping mechanism is arranged on the detector support and is used to drive it to flip around an axis perpendicular to the direction of movement of the detection robot; the camera assembly is rigidly linked with the rotating servo motor so that the camera's field of view axis is parallel to the transmitter's beam axis.

6. The method for detecting transmission line crimp fittings with component linkage control as described in any one of claims 1-4, characterized in that, After the crimp fittings of the upper and lower first sub-conductors are inspected, a drone is used to hoist the inspection robot onto the upper second sub-conductor, and the upper and lower second sub-conductors are inspected in sequence.

7. A component-linked control robot for inspecting transmission line crimp fittings, characterized in that, include: The aircraft frame, the walking assembly, the transmitter assembly, the detector assembly, and the camera assembly are all fixed to the aircraft frame. The transmitter assembly includes a transmitter and a polarizer. Both the polarizer and the camera assembly are fixed on a rotating servo. The camera assembly is rigidly linked to the rotating servo so that the camera's field of view axis is parallel to the transmitter's beam axis. The detector assembly includes a flat panel detector, a detector bracket, a flipping mechanism, and a side-swing mechanism. The side-swing mechanism is fixed on the body bracket and is used to drive the detector bracket to rotate around an axis parallel to the direction of travel of the detection robot. The flipping mechanism is arranged on the detector bracket and is used to drive it to flip around an axis perpendicular to the direction of travel of the detection robot. When inspecting the crimping fittings of the upper sub-conductor, the imaging process is completed after the camera component identifies and positions the device, the walking component moves it into place, the side-swing mechanism adjusts the position of the detector, and the process is iteratively optimized. When inspecting the crimping fittings of the lower sub-conductor, after the camera component identifies and positions the device, the side-swing mechanism first moves the flat panel detector to a safe position, and then the flipping mechanism flips the flat panel detector 180°. The imaging process is completed after the position is iteratively optimized.

8. The transmission line crimping fitting inspection robot with component linkage control as described in claim 7, characterized in that, The airframe is equipped with a control box assembly, a power supply box assembly, and a hoisting assembly for lifting the drone.

9. The transmission line crimping fitting inspection robot with component linkage control as described in claim 7, characterized in that, The walking assembly consists of two sets of cross wheels, each set including a drive wheel and an auxiliary wheel arranged in a cross pattern. The walking assembly is used to drive the detection robot to move forward and backward and to perform differential steering.

10. The transmission line crimping fitting inspection robot with component linkage control as described in claim 7, characterized in that, The flipping mechanism includes a flipping motor and a flipping support shaft. The detector bracket is a rectangular frame structure. The flat panel detector is fixedly connected to the flipping support shaft, and the flipping support shaft is connected to the output end of the flipping motor. The flat panel detector can rotate within the internal space of the rectangular frame structure. The side-swing mechanism includes a side-swing motor, a first gear, a second gear, and a side-swing support shaft. The side-swing motor is fixed on the body bracket. The output shaft of the side-swing motor is connected to the first gear. The first gear meshes with the second gear. The second gear is connected to the side-swing support shaft. The side-swing support shaft is connected to the detector bracket.

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