A method, device and equipment for evaluating the crimping state of a strain clamp

Abstract

The application discloses a kind of tensioning pipe crimping state evaluation method, device and equipment, based on unmanned aerial vehicle execution, unmanned aerial vehicle is provided with LCR tester and at least two mechanical arms, the end of each mechanical arm is provided with measuring probe, depth camera and force sensor, the end of each measuring probe is provided with probe, method includes: the current image of the tensioning pipe to be measured is obtained by depth camera;Probe is connected with the two ends of the tensioning pipe to be measured according to the current image, and the contact force between probe and the tensioning pipe to be measured is obtained by force sensor;When contact force is greater than or equal to preset expected force, the impedance value of the tensioning pipe to be measured is obtained by LCR tester based on differential compensation measurement algorithm;The crimping state of the tensioning pipe to be measured is determined according to impedance value.The application can effectively cope with the challenge of high-altitude operation environment, reduce the operation difficulty and make the test result more accurate, intuitive and easy to understand, and can be widely applied in the field of power system technology.

Description

Technical Field

[0001] This application relates to the field of power system technology, and in particular to a method, apparatus and equipment for evaluating the crimping condition of tension pipes. Background Technology

[0002] Currently, conventional inspection methods for tension pipes rely on manual measurement or subjective assessment. These methods not only have questionable accuracy but also often require operators to work at high altitudes, posing significant potential safety risks. On the other hand, while UAV X-ray imaging systems offer a degree of safety and accuracy, their high degree of precision in controlling the UAV's flight position makes accurately locating the tension pipe under test and quickly completing the imaging process quite challenging. As for ultrasonic imaging, although it allows for non-destructive testing, the resulting spectral signals are often not intuitive enough, requiring operators to possess strong image interpretation skills. Summary of the Invention

[0003] The main objective of this application is to propose a method, apparatus, and equipment for evaluating the pressure bonding status of tension pipes, which can effectively address the challenges of high-altitude working environments, reduce operational difficulty, and make test results more intuitive and easier to understand.

[0004] To achieve the above objectives, one aspect of this application proposes a method for evaluating the compression condition of tension pipes, executed by a drone. The drone is equipped with an LCR tester and at least two robotic arms. Each robotic arm is equipped with a measuring probe, a depth camera, and a force sensor at its end. Each measuring probe is equipped with a probe at its end. The method includes the following steps: The current image of the tension pipe under test is obtained through the depth camera; The probe is connected to both ends of the tension tube under test according to the current image, and the contact force between the probe and the tension tube under test is obtained through the force sensor. When the contact force is greater than or equal to the preset expected force, the impedance value of the tension pipe under test is obtained by the LCR tester based on the differential compensation measurement algorithm. The crimping state of the tension pipe under test is determined based on the impedance value.

[0005] In some embodiments, connecting the probe to both ends of the tension-resistant tube under test based on the current image specifically includes: Based on the current image, locate the conductors at both ends of the tension pipe under test, and determine the optimal contact points at both ends of the tension pipe under test; Perform point cloud analysis on the current image to obtain the point cloud analysis results; Based on the point cloud analysis results, the two probes are connected to the two optimal contact points respectively.

[0006] In some embodiments, after acquiring the contact force between the probe and the tension pipe under test via the force sensor, the method further includes: When the contact force is less than the expected force, calculate the deviation between the contact force and the expected force; A position correction amount is generated based on the deviation, and then the length of the probe extension or retraction is adjusted based on the position correction amount until the contact force is greater than or equal to the desired force.

[0007] In some embodiments, the probe includes a first probe and a second probe located on different robotic arms. The first probe includes a first current terminal and a first potential terminal, and the second probe includes a second current terminal and a second potential terminal. The acquisition of the impedance value of the tension-resistant tube under test using the LCR tester based on a differential compensation measurement algorithm specifically includes: An excitation current is input to the tension tube under test through the first current terminal and the second current terminal; The first common-mode voltage and the second common-mode voltage across the tension tube under test are acquired through the first potential terminal and the second potential terminal, respectively. The common-mode interference component is calculated based on the first common-mode voltage and the second common-mode voltage; Calculate the estimated value of the common-mode interference component, and then calculate the differential-mode voltage signal based on the first common-mode voltage, the second common-mode voltage, and the estimated value; The impedance value is calculated based on the differential mode voltage signal and the current value of the excitation current.

[0008] In some embodiments, before determining the crimping state of the tension pipe under test based on the impedance value, the method further includes: Determine an impedance threshold, which is used to characterize the presence of an oxide layer or a contaminant layer on the surface of the tension pipe under test; When the impedance value is greater than the impedance threshold, the probe is controlled to vibrate laterally to destroy the oxide layer or dirt layer on the surface of the tested tension pipe.

[0009] In some embodiments, determining the crimping state of the tension pipe under test based on the impedance value specifically includes: The impedance value is repeatedly acquired a preset number of times, and then the average impedance value is calculated. Obtain the heating power of the transmission line corresponding to the tested tension pipe; If the average impedance is greater than the preset impedance standard value and the heating power is greater than the preset heating power standard value, the tested tension pipe is determined to be in a faulty crimping state. If the average impedance is greater than the preset impedance standard value, and the heating power is less than or equal to the preset heating power standard value, the tested tension pipe is determined to be in an abnormal compression state. If the average impedance is less than or equal to the preset impedance standard value, and the heating power is less than or equal to the preset heating power standard value, the tested tension pipe is determined to be in a normal crimping state.

[0010] In some embodiments, the drone is further equipped with a temperature sensor, and the method further includes: Prepare several samples of tension-resistant pipes with different defects; Obtain the impedance test values ​​of each of the tension pipe samples under different ambient temperatures, and construct a defect-impedance comparison table of tension pipes under different ambient temperatures; The current ambient temperature is obtained through the temperature sensor. Based on the current ambient temperature, the impedance value is compared with the tension pipe defect-impedance comparison table to obtain the defect assessment result of the tested tension pipe.

[0011] To achieve the above objectives, another aspect of this application proposes a tension pipe crimping condition evaluation device, based on a drone. The drone is equipped with an LCR tester and at least two robotic arms. Each robotic arm has a measuring probe, a depth camera, and a force sensor at its end. Each measuring probe has a probe at its end. The device includes: The image acquisition module is used to acquire the current image of the tension pipe under test through the depth camera; The contact force acquisition module is used to connect the probe to both ends of the tension pipe under test according to the current image, and to acquire the contact force between the probe and the tension pipe under test through the force sensor. The impedance measurement module is used to obtain the impedance value of the tension pipe under test by the LCR tester based on the differential compensation measurement algorithm when the contact force is greater than or equal to the preset expected force. The crimping condition assessment module is used to determine the crimping condition of the tension pipe under test based on the impedance value.

[0012] To achieve the above objectives, another aspect of this application provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the method described above.

[0013] To achieve the above objectives, another aspect of the embodiments of this application proposes a computer program product, including a computer program that, when executed by a processor, implements the aforementioned method.

[0014] The embodiments of this application include at least the following beneficial effects: The method, apparatus, and equipment for evaluating the crimping status of tension pipes in this application are based on a drone carrying a robotic arm and an LCR tester. The robotic arm is positioned by a depth camera and force sensor at its end, and the position and angle of the robotic arm are automatically adjusted to make the probe contact the two ends of the tension pipe. After the probe makes good contact with the two ends of the tension pipe, the corresponding impedance value is measured by the LCR tester based on the differential compensation measurement algorithm. Finally, the impedance value reading is fed back to the operator through the drone image transmission system, thereby realizing the function of remotely and automatically evaluating the crimping status of tension pipes. This effectively addresses the challenges of high-altitude working environments, reduces the difficulty of operation, and makes the test results more accurate, intuitive, and easy to understand. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the embodiments of this application are described below. It should be understood that the drawings described below are only for the purpose of clearly illustrating some embodiments of the technical solutions in this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0016] Figure 1 A flowchart illustrating the steps of a method for evaluating the crimping condition of a tension pipe according to an embodiment of this application; Figure 2 This is a schematic diagram of an unmanned aerial vehicle (UAV) voltage testing according to one embodiment of this application; Figure 3 This is a schematic diagram of resistance measurement provided in one embodiment of this application; Figure 4 This is a flowchart illustrating a method for evaluating the crimping condition of a tension pipe according to an embodiment of this application. Figure 5 This is a schematic diagram of the structure of a tension pipe compression condition evaluation device provided in one embodiment of this application; Figure 6 This is a schematic diagram of the hardware structure of an electronic device provided in one embodiment of this application.

[0017] Figure reference numerals: 100, tension tube under test; 201, first probe; 202, second probe; 300, LCR tester. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit it. In the following description, when referring to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with those of this application; they are merely examples of apparatuses and methods consistent with some aspects of the embodiments of this application as detailed in the appended claims.

[0019] Unless otherwise defined, 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 application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0020] The continuous development and advancement of power systems has driven increasing attention to grid reliability. In this field, transmission lines play a central role, ensuring not only efficient power transmission and system economy but also power supply stability and grid continuity. Tension pipes, in particular, as key components connecting transmission lines, directly impact the stability and safety of the entire transmission process. Tension pipes must simultaneously possess the dual functions of bearing mechanical tension and exhibiting good conductivity, and once installed, they are typically not disassembled; therefore, their installation quality is crucial to the reliability of power transmission. Existing methods for inspecting the condition of tension pipes include manual visual inspection, UAV-assisted X-ray imaging, and ultrasonic imaging, each with its own advantages and limitations.

[0021] Conventional inspection methods for tension pipes rely on manual measurement or subjective assessment. These methods are not only questionable in accuracy, but also often require operators to work at high altitudes, posing significant potential safety risks. On the other hand, while UAV X-ray imaging systems offer a degree of safety and accuracy, their high degree of precision in controlling the UAV's flight position makes accurately locating the tension pipe under test and quickly completing the imaging process quite challenging. As for ultrasonic imaging, although it allows for non-destructive testing, the resulting spectral signals are often not very intuitive, requiring operators to have a high level of image interpretation skills.

[0022] In view of this, this application proposes a method for evaluating the crimping status of tension pipes, which is implemented using a drone equipped with a robotic arm and an LCR tester. The robotic arm is positioned using a depth camera and force sensor at its end, and its position and angle are automatically adjusted to bring the probe into contact with both ends of the tension pipe. Once the probe makes good contact with both ends of the tension pipe, the corresponding impedance value is measured using the LCR tester based on a differential compensation measurement algorithm. Finally, the impedance value reading is fed back to the operator through the drone's image transmission system, thereby realizing the function of remotely and automatically evaluating the crimping status of tension pipes. This effectively addresses the challenges of high-altitude working environments, reduces operational difficulty, and makes the test results more accurate, intuitive, and easy to understand.

[0023] Reference Figure 1 , Figure 1 This is a flowchart illustrating the steps of a method for evaluating the crimping condition of a tension pipe according to an embodiment of this application. This embodiment proposes a method for evaluating the crimping condition of a tension pipe, which is executed by a drone. The drone is equipped with an LCR tester and at least two robotic arms. Each robotic arm has a measuring probe, a depth camera, and a force sensor at its end. Each measuring probe has a probe at its end. The method may include, but is not limited to, the following steps S101 to S104: Step S101: Obtain the current image of the tension pipe under test using a depth camera; Specifically, the method for evaluating the crimping status of tension pipes in this application is based on a drone. This drone has sufficient payload capacity to carry two lightweight humanoid robotic arms and an LCR tester directly to high-altitude power transmission lines, and can be remotely controlled. The drone's robotic arm is equipped with a depth camera at its end, which acquires real-time images of the tension pipe under test, providing data support for subsequent automatic adjustment of the robotic arm.

[0024] It should be noted that the tension pipe crimping condition evaluation method of this application integrates the advantages of drones and lightweight robotic arms, using an LCR tester to perform precise AC impedance testing on the tension pipe. The drone overcomes the operational challenges in complex terrain conditions and enables remote control operation; while two flexible lightweight robotic arms can quickly and accurately adjust the probe position of the measuring device. Compared to existing tension pipe inspection methods, this solution effectively addresses the challenges of high-altitude operating environments, improves operational efficiency, and reduces the risk of repetitive labor. Furthermore, compared to drone-based X-ray imaging systems, this solution offers greater operational freedom and higher operational efficiency; compared to ultrasonic systems, the presented test results are more accurate and intuitive to understand.

[0025] Step S102: Connect the probe to both ends of the tension pipe under test according to the current image, and obtain the contact force between the probe and the tension pipe under test through the force sensor; As an optional implementation, the step of connecting the probe to both ends of the tension-resistant tube under test based on the current image can be further divided into the following steps S1021 to S1023: Step S1021: Locate the conductors at both ends of the tension pipe under test according to the current image, and determine the optimal contact points at both ends of the tension pipe under test; Step S1022: Perform point cloud analysis on the current image to obtain the point cloud analysis results; Step S1023: Based on the point cloud analysis results, connect the two probes to the two optimal contact points respectively.

[0026] Specifically, such as Figure 2 The diagram illustrates a drone-based voltage testing system. The drone carries a base station, communicating with the ground via the base station. The drone's base station then provides Wi-Fi communication to the robotic arm, extending the operating distance to over 50 meters. Maintenance personnel remotely control the drone to approach the power line under inspection and use sensors on the drone to test for voltage. During this process, the robotic arm is retracted as much as possible to minimize its impact on the drone's flight. If power is present, work is prohibited. If power is confirmed to be off, the drone is controlled to fly close to the tension pipe under test on the power transmission line. The robotic arm's vision system identifies and locates the tension pipe, while the depth camera on the robotic arm uses an artificial intelligence target recognition algorithm to identify the conductors at both ends of the tension pipe and determine the optimal contact point. Subsequently, both robotic arms perform point cloud analysis on the images captured by the cameras, adjusting their poses to control the probes, ensuring that both probes stably and reliably contact the optimal contact points on both sides of the tension pipe.

[0027] Understandably, the optimal contact point should be located outside the crimped area, on the uncrimped exposed wire, and at a certain distance from the crimp boundary (e.g., 5-10 cm).

[0028] As a further optional implementation, after obtaining the contact force between the probe and the tension pipe under test using a force sensor, the tension pipe crimping condition evaluation method may further include the following steps S1024 to S1025: Step S1024: When the contact force is less than the expected force, calculate the deviation between the contact force and the expected force; Step S1025: Generate a position correction amount based on the deviation, and then adjust the length of the probe extension or retraction based on the position correction amount until the contact force is greater than or equal to the desired force.

[0029] Specifically, to address the contact instability issues caused by drone hovering jitter, wind disturbances, and micro-movements of robotic arms, this application embodiment develops an active constant force control probe. The probe's end is connected to a force sensor, and the contact force read by the force sensor is used to adjust the contact force between the probe and the wire in real time, ensuring a constant and stable contact pressure even under external disturbances. In some optional embodiments, the probe end force sensor is a six-dimensional force sensor, installed between the end flange of the robotic arm and the probe holder, to detect the contact force vector between the probe and the wire in real time; the probe body is made of elastic conductive material, and the rear end is driven by a micro linear servo module, which can adjust the displacement at the micrometer level along the probe axis; the UAV onboard embedded controller runs an active compliant control algorithm, reads the force sensor data at a sampling frequency of more than 1 kHz, and outputs action commands to the joint drivers of the robotic arm or the linear module at the probe end.

[0030] In the initial contact phase, the robotic arm moves the probe close to the wire surface, while a force sensor monitors the generated contact force in real time. Contact is considered complete when the contact force is greater than 0.5N. Then, in the constant force adjustment phase, the controller reads the contact force at a 1kHz cycle. When the contact force is less than the preset desired force, the force deviation is calculated, and a position correction is generated using an impedance model. This correction drives the robotic arm or end effector to quickly extend or retract the probe, ensuring the error between the contact force and the desired force does not exceed 0.2N. Furthermore, when the drone is subject to gusts of wind causing instantaneous movement, the force sensor detects a sudden change in contact force. The impedance control algorithm quickly adjusts the probe extension / retraction length based on the dynamic deviation, pulling the contact force back to the set value within a short time, achieving dynamic constant force tracking.

[0031] Understandably, this expected force can be set based on the actual surface condition of the conductor, contact reliability requirements, and probe structure. For example, the expected force can be set to values ​​such as 3N or 5N.

[0032] It should be noted that, in this embodiment, a depth camera and an artificial intelligence target recognition algorithm are used to precisely adjust the position and angle of the two arms after locating the tension pipe under test, ensuring good contact between the probe and both ends of the tension pipe. The probe is then finely adjusted in real time using the feedback of the contact force, which can maintain a constant and stable contact pressure under external disturbances, providing a stable electrical contact basis for micro-resistance measurement, thereby improving the measurement accuracy of the impedance value.

[0033] Step S103: When the contact force is greater than or equal to the preset expected force, the impedance value of the tension pipe under test is obtained by the LCR tester based on the differential compensation measurement algorithm. It should be noted that, in order to eliminate the influence of UAV flight attitude changes and electromagnetic interference from the circuit environment on micro-resistance measurement, this application embodiment embeds a differential compensation measurement algorithm into the LCR tester. This algorithm utilizes the dual-current-dual-potential structure of a four-wire probe to acquire and differentially process common-mode interference signals in the measurement circuit in real time, and performs dynamic compensation in conjunction with a reference channel, which can significantly improve measurement accuracy and anti-interference capability.

[0034] Reference Figure 3 , Figure 3The resistance measurement schematic diagram provided in one embodiment of this application, further as an optional implementation, includes a first probe 201 and a second probe 202 located on different robotic arms. The first probe 201 includes a first current terminal and a first potential terminal, and the second probe 202 includes a second current terminal and a second potential terminal. The step of obtaining the impedance value of the tension tube 100 under test by the LCR tester 300 based on the differential compensation measurement algorithm can be further divided into the following steps S1031 to S1035: Step S1031: Input excitation current to the tension tube under test through the first current terminal and the second current terminal; Step S1032: Collect the first common-mode voltage and the second common-mode voltage across the two ends of the tension tube under test through the first potential terminal and the second potential terminal, respectively. Step S1033: Calculate the common-mode interference component based on the first common-mode voltage and the second common-mode voltage; Step S1034: Calculate the estimated value of the common-mode interference component, and then calculate the differential-mode voltage signal based on the first common-mode voltage, the second common-mode voltage, and the estimated value. Step S1035: Calculate the impedance value based on the differential mode voltage signal and the current value of the excitation current.

[0035] Specifically, based on the conventional four-wire system, this application embodiment further introduces a dual-current-dual-potential differential architecture: each probe cable uses shielded twisted-pair cable, wherein the shielding layer is grounded; each of the two robotic arms has a set of probes at its end, the first probe including a first current terminal I. + and the first potential terminal V + The second probe includes a second current terminal I. - Second potential terminal V - The two current terminals and two potential terminals are respectively connected to the corresponding ports of the LCR tester; the first current terminal I + With the first potential terminal V + Forming the first channel, the second current terminal I - With the second potential terminal V - This forms a second channel. The wiring structures of the two channels are symmetrical and laid in parallel inside the robotic arm, so that the intensity of spatial electromagnetic interference they sense is basically equal.

[0036] When the contact pressure exceeds the desired force, the LCR tester is triggered to perform a measurement. The LCR tester selects a low-frequency impedance mode with a test frequency of 100Hz. During the test, the resistance component is read as the primary criterion, and the phase angle is used as an auxiliary criterion. This is because at high frequencies, the distributed inductance and capacitance of the conductor can cause interference. A larger excitation current (e.g., 1A) is set to improve the signal-to-noise ratio, and the impedance measurement range is selected as milliohms. During measurement, a low-frequency AC excitation current is injected into the two ends of the tension tube under test through the two current terminals, and the voltage drop across the two potential terminals is detected independently. Since the current loop and voltage loop are separated, the influence of lead resistance and contact resistance can be effectively eliminated.

[0037] During drone flight, power frequency electromagnetic fields generated by high-voltage transmission lines, inverter harmonics, and wireless communication radio frequency signals can couple onto the measurement cable, generating common-mode interference voltage. Therefore, the embedded differential compensation measurement algorithm extracts common-mode interference in real time using two potential signals (V... + V - Common-mode voltage is detected at the floating ground reference point to obtain the first and second common-mode voltages. Since the spatial electromagnetic interference induced by the two lines is approximately equal and in phase, the common-mode interference component in the current environment can be extracted in real time by summing and averaging. Simultaneously, the LCR tester integrates a reference channel that is completely symmetrical to the main measurement channel. This channel is connected to a high-precision reference resistor and is in the same electromagnetic environment as the main probe; therefore, the common-mode interference induced by the reference channel is highly consistent with that of the main channel. + / V - Ground voltage detection is used to quickly determine if common-mode interference is excessive, serving as an auxiliary criterion for system health monitoring or triggering reconnection, while the reference channel is used for precise dynamic compensation. During algorithm operation, the system synchronously samples the main channel voltage, reference channel voltage, and excitation current value. Using the known reference resistance and current values ​​of the reference channel, the theoretical differential-mode component is subtracted from its output to obtain an accurate estimate of the common-mode interference at the current moment. Subsequently, this estimate is dynamically subtracted from the main channel measurement value to obtain a clean differential-mode voltage signal, which, combined with the known excitation current value, calculates the true impedance value of the tension tube under test.

[0038] Step S104: Determine the crimping state of the tension pipe under test based on the impedance value.

[0039] Specifically, theoretically, measuring the impedance of a tension pipe requires disassembling it for testing, but this operation is quite cumbersome. Considering the relatively small impedance of the tension pipe and the fact that the parallel impedance of the external circuit is much greater than the impedance of the tension pipe, this embodiment simplifies the operation. With the power off, the probe is directly contacted at both ends of the tension pipe under test. A low-frequency alternating current is applied to the tension pipe using an LCR meter to approximate its impedance value. The test result is then transmitted back to the operator. After the test is completed, the operator controls the robotic arm retraction device, which allows the drone to fly back to the ground. The entire testing process is as follows: Figure 4 As shown.

[0040] As a further optional implementation, before the step of determining the crimping state of the tension pipe under test based on the impedance value, the tension pipe crimping state evaluation method may further include the following steps S1041 to S1042: Step S1041: Determine the impedance threshold. The impedance threshold is used to characterize the presence of an oxide layer or a contaminant layer on the surface of the tension pipe under test. Step S1042: When the impedance value is greater than the impedance threshold, control the probe to vibrate laterally to destroy the oxide layer or dirt layer on the surface of the tension pipe being tested.

[0041] Specifically, to address the issue of inaccurate contact resistance caused by oxide and contamination layers on the surface of power transmission conductors, this application introduces an adaptive membrane-breaking contact mechanism based on impedance feedback. After the probe contacts the conductor, the contact impedance value is monitored in real time. If the detected impedance is higher than a preset impedance threshold (indicating a significant impact from the oxide or contamination layer), the membrane-breaking action is automatically triggered: while maintaining constant force control, the probe applies a small-amplitude axial vibration (micro-vibration mode) to physically pierce or grind through the surface oxide layer until the contact impedance drops to the normal range. This process uses contact impedance as a feedback closed loop to automatically adjust the membrane-breaking depth and vibration frequency, ensuring direct contact between the probe and the conductor's base metal to obtain a true electrical connection.

[0042] As an optional implementation, the step of determining the crimping state of the tension pipe under test based on the impedance value can be further divided into the following steps S1043 to S1047: Step S1043: Repeat the acquisition of impedance values ​​a preset number of times, and then calculate the average impedance value. Specifically, to eliminate measurement errors caused by accidental factors, after the LCR tester completes one impedance value measurement, it uses a robotic arm to control the probe to leave the tension pipe under test and then re-identify and measure the contact multiple times (e.g., three times). Then, it transmits the multiple measured impedance values ​​and their average value (i.e., the impedance mean) back to the ground, thereby effectively suppressing the reading error caused by contact fluctuations and ensuring measurement repeatability and reliability.

[0043] Step S1044: Obtain the heating power of the transmission line corresponding to the tension pipe under test; Step S1045: If the average impedance is greater than the preset impedance standard value and the heating power is greater than the preset heating power standard value, the tested tension pipe is determined to be in a faulty crimping state. Step S1046: If the average impedance is greater than the preset impedance standard value and the heating power is less than or equal to the preset heating power standard value, the tested tension pipe is determined to be in an abnormal compression state. Step S1047: If the average impedance is less than or equal to the preset impedance standard value, and the heating power is less than or equal to the preset heating power standard value, the tested tension pipe is determined to be in normal crimping state.

[0044] Specifically, under a certain current, the higher the resistance, the greater the heating power. Therefore, this application embodiment combines the heating power limit of the transmission line to judge whether the crimping state of the tension pipe is qualified. If the detected impedance value of the corresponding tension pipe is higher than the impedance standard value, and the heating power is greater than the heating power standard value, it indicates that there may be problems such as poor contact, looseness, or contamination at the crimping connection of the tested tension pipe. Therefore, the tested tension pipe is determined to be in a faulty crimping state, and line maintenance should be arranged immediately. If the detected impedance value of the corresponding tension pipe is higher than the impedance standard value, but the heating power is less than or equal to the heating power standard value, it indicates that the tested tension pipe has a general defect, but the heating power still meets the standard. Therefore, the tested tension pipe is determined to be in an abnormal crimping state, and the tension pipe at this point is marked for periodic impedance or infrared detection to ensure the safety of power transmission. If the detected average impedance value of the corresponding tension pipe is less than or equal to the impedance standard value, and the heating power is less than or equal to the heating power standard value, it indicates that the crimping connection of the tested tension pipe is in an ideal operating condition. The tested tension pipe is determined to be in a normal crimping state and no action is required.

[0045] As an optional implementation, the drone is also equipped with a temperature sensor, and the method for evaluating the tension pipe pressing condition may further include the following steps S105 to S108: Step S105: Prepare several tension pipe samples with different defects; Step S106: Obtain the impedance test values ​​of each tension pipe sample under different ambient temperatures, and construct a defect-impedance comparison table of tension pipe under different ambient temperatures. Specifically, measurements were taken on ground-based conductor segments of the same type and well-crimped tension pipes of the same type, recording their normal resistance and phase angle values. Over time, the internal material of the tension pipe may age, oxidize, or corrode, potentially increasing the resistance. Poor contact, loosening, or contamination at the crimped joints of the tension pipe can cause additional contact resistance when current flows, further increasing the overall resistance. If this resistance exceeds a certain threshold, it can pose a danger to the transmission line. Therefore, tension pipe samples with typical defects (different crimping qualities) were fabricated, and impedance measurements were performed using an LCR meter with low-frequency AC current. This yielded a table showing the typical crimping defects of various tension pipes and their corresponding resistance and phase angle values. The measurements were then repeated at different temperatures to obtain normal resistance thresholds and a corresponding table of tension pipe defects and impedance. During actual on-line measurements, appropriate judgment criteria were selected based on different temperatures.

[0046] Step S107: Obtain the current ambient temperature using a temperature sensor; Step S108: Based on the current ambient temperature, compare the impedance value with the tension pipe defect-impedance comparison table to obtain the defect assessment result of the tension pipe under test.

[0047] Specifically, while measuring the impedance value, the current ambient temperature is recorded by the temperature sensor on the drone. Based on the current ambient temperature, the measured impedance value is compared with the tension pipe defect-impedance comparison table obtained in the previous experiment. This allows for a preliminary assessment of the tension pipe's condition and existing defects, resulting in a defect assessment result for the tested tension pipe. If the pipe is not up to standard, it is disassembled and replaced for further in-depth inspection.

[0048] Furthermore, to address the safety isolation and electromagnetic interference issues in high-voltage line environments, this application embodiment also constructs an opto-isolation and floating-ground measurement architecture: the excitation source and acquisition end of the LCR tester are powered by independent batteries on the high-voltage side, achieving a floating-ground operating mode with no direct electrical connection to the UAV fuselage or ground equipment. Measurement signals are transmitted to the UAV communication system via optical fiber and then wirelessly transmitted back to the ground, achieving complete opto-isolation between the high and low voltage sides. This architecture effectively eliminates the safety hazards of signal transmission under high-voltage environments, while avoiding ground loop interference and ensuring the stable operation of the measurement system.

[0049] In summary, based on the tension pipe crimping status assessment method proposed in this application, power grid maintenance personnel can remotely perform tension pipe crimping status assessments by issuing commands through portable terminal devices, provided that power safety regulations permit. The entire assessment process is completed far from high-voltage electrical facilities, significantly reducing personal safety risks. Furthermore, by employing a robotic arm in conjunction with a vision recognition system, the impedance measuring device can quickly approach the tension pipe under test and accurately measure its resistance, improving work efficiency and ensuring operator safety, thus achieving intelligent power grid monitoring and maintenance. This method shows great application potential, especially in complex terrains such as mountainous areas or on ultra-high-voltage transmission lines, and has the possibility of widespread adoption.

[0050] The above describes the method for evaluating the compression condition of tension pipes according to embodiments of this application. It can be recognized that the embodiments of this application have the following advantages: First, by using a depth camera and an artificial intelligence target recognition algorithm, the position and angle of the double arms are precisely adjusted after the tension pipe under test is located to ensure good contact between the probe and both ends of the tension pipe. The probe is then finely adjusted in real time using the feedback of the contact force, which can maintain a constant and stable contact pressure under external disturbances. This provides a stable electrical contact basis for micro-resistance measurement, thereby improving the measurement accuracy of the impedance value.

[0051] Second, a differential compensation measurement algorithm is embedded in the LCR tester. Utilizing the dual-current-dual-potential structure of the four-wire probe, it acquires and differentially processes the common-mode interference signal in the measurement circuit in real time. Combined with the reference channel, it performs dynamic compensation, which can significantly improve measurement accuracy and anti-interference capability.

[0052] Third, an adaptive membrane-breaking contact mechanism based on impedance feedback is introduced to monitor the contact impedance value in real time. Based on the impedance value and impedance threshold, it is determined whether the oxide layer or contamination layer on the surface of the tension pipe under test has a significant impact. Then, the surface oxide layer is punctured or ground through physical means until the contact impedance drops to the normal range, which can ensure that the probe is in direct contact with the metal substrate of the wire and obtain the true electrical connection state.

[0053] Fourth, a floating ground measurement architecture based on fiber optic transmission and independent power supply on the high-voltage side was constructed, realizing complete opto-isolation between the LCR tester and the UAV fuselage and ground equipment, which can effectively eliminate safety hazards and ground loop interference under high-voltage environment.

[0054] Reference Figure 5 This application also provides a device for evaluating the bonding condition of tension pipes, which is based on a drone. The drone is equipped with an LCR tester and at least two robotic arms. Each robotic arm is equipped with a measuring probe, a depth camera, and a force sensor at its end. Each measuring probe is equipped with a probe at its end. The device includes: The image acquisition module is used to acquire the current image of the tension pipe under test through a depth camera; The contact force acquisition module is used to connect the probe to both ends of the tension pipe under test according to the current image, and to acquire the contact force between the probe and the tension pipe under test through a force sensor. The impedance measurement module is used to obtain the impedance value of the tension pipe under test by using an LCR tester based on a differential compensation measurement algorithm when the contact force is greater than or equal to the preset expected force. The crimping condition assessment module is used to determine the crimping condition of the tension pipe under test based on the impedance value.

[0055] It is understood that the content of the above method embodiments is applicable to the present device embodiments. The specific functions implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0056] This application also provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the above-described method. This electronic device can be any smart terminal, including tablet computers, in-vehicle computers, etc.

[0057] It is understood that the content of the above method embodiments is applicable to this device embodiment. The specific functions implemented by this device embodiment are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0058] Please see Figure 6 , Figure 6 The hardware structure of an electronic device according to another embodiment is illustrated. The electronic device includes: The processor 1001 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application. The memory 1002 can be implemented as a read-only memory (ROM), static storage device, dynamic storage device, or random access memory (RAM). The memory 1002 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 1002 and is called and executed by the processor 1001 using the methods described in the embodiments of this application. Input / output interface 1003 is used to implement information input and output; The communication interface 1004 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.). Bus 1005 transmits information between various components of the device (e.g., processor 1001, memory 1002, input / output interface 1003, and communication interface 1004); The processor 1001, memory 1002, input / output interface 1003 and communication interface 1004 are connected to each other within the device via bus 1005.

[0059] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method.

[0060] It is understood that the content of the above method embodiments is applicable to this storage medium embodiment. The specific functions implemented in this storage medium embodiment are the same as those in the above method embodiments, and the beneficial effects achieved are also the same as those achieved in the above method embodiments.

[0061] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0062] It is understood that the content of the above method embodiments is applicable to the embodiments of this program product. The specific functions implemented by the embodiments of this program product are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0063] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0064] The embodiments described in this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided by the embodiments of this application. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

[0065] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of this application, and may include more or fewer steps than shown, or combine certain steps, or different steps.

[0066] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0067] Those skilled in the art will understand that all or some of the steps in the methods disclosed above, as well as the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0068] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0069] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0070] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0071] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0072] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0073] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes multiple instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0074] The preferred embodiments of the present application have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of the present application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and substance of the embodiments of the present application shall be within the scope of the claims of the present application.

Claims

1. A method for evaluating the crimping condition of tension pipes, characterized in that, Based on the execution of a drone, the drone is equipped with an LCR tester and at least two robotic arms. Each robotic arm has a measuring probe, a depth camera, and a force sensor at its end. Each measuring probe has a probe at its end. The method includes the following steps: The current image of the tension pipe under test is obtained through the depth camera; The probe is connected to both ends of the tension tube under test according to the current image, and the contact force between the probe and the tension tube under test is obtained through the force sensor. When the contact force is greater than or equal to the preset expected force, the impedance value of the tension pipe under test is obtained by the LCR tester based on the differential compensation measurement algorithm. The crimping state of the tension pipe under test is determined based on the impedance value.

2. The method according to claim 1, characterized in that, The step of connecting the probe to both ends of the tension-resistant tube under test based on the current image specifically includes: Based on the current image, locate the conductors at both ends of the tension pipe under test, and determine the optimal contact points at both ends of the tension pipe under test; Perform point cloud analysis on the current image to obtain the point cloud analysis results; Based on the point cloud analysis results, the two probes are connected to the two optimal contact points respectively.

3. The method according to claim 1, characterized in that, After acquiring the contact force between the probe and the tension pipe under test through the force sensor, the method further includes: When the contact force is less than the expected force, calculate the deviation between the contact force and the expected force; A position correction amount is generated based on the deviation, and then the length of the probe extension or retraction is adjusted based on the position correction amount until the contact force is greater than or equal to the desired force.

4. The method according to claim 1, characterized in that, The probe includes a first probe and a second probe located on different robotic arms. The first probe includes a first current terminal and a first potential terminal, and the second probe includes a second current terminal and a second potential terminal. The process of obtaining the impedance value of the tension-resistant pipe under test using the LCR tester based on a differential compensation measurement algorithm specifically includes: An excitation current is input to the tension tube under test through the first current terminal and the second current terminal; The first common-mode voltage and the second common-mode voltage across the tension tube under test are acquired through the first potential terminal and the second potential terminal, respectively. The common-mode interference component is calculated based on the first common-mode voltage and the second common-mode voltage; Calculate the estimated value of the common-mode interference component, and then calculate the differential-mode voltage signal based on the first common-mode voltage, the second common-mode voltage, and the estimated value; The impedance value is calculated based on the differential mode voltage signal and the current value of the excitation current.

5. The method according to claim 1, characterized in that, Before determining the crimping state of the tension pipe under test based on the impedance value, the method further includes: Determine an impedance threshold, which is used to characterize the presence of an oxide layer or a contaminant layer on the surface of the tension pipe under test; When the impedance value is greater than the impedance threshold, the probe is controlled to vibrate laterally to destroy the oxide layer or dirt layer on the surface of the tested tension pipe.

6. The method according to claim 1, characterized in that, The step of determining the crimping state of the tension pipe under test based on the impedance value specifically includes: The impedance value is repeatedly acquired a preset number of times, and then the average impedance value is calculated. Obtain the heating power of the transmission line corresponding to the tested tension pipe; If the average impedance is greater than the preset impedance standard value and the heating power is greater than the preset heating power standard value, the tested tension pipe is determined to be in a faulty crimping state. If the average impedance is greater than the preset impedance standard value, and the heating power is less than or equal to the preset heating power standard value, the tested tension pipe is determined to be in an abnormal compression state. If the average impedance is less than or equal to the preset impedance standard value, and the heating power is less than or equal to the preset heating power standard value, the tested tension pipe is determined to be in a normal crimping state.

7. The method according to any one of claims 1 to 6, characterized in that, The drone is also equipped with a temperature sensor, and the method further includes: Prepare several samples of tension-resistant pipes with different defects; Obtain the impedance test values ​​of each of the tension pipe samples under different ambient temperatures, and construct a defect-impedance comparison table of tension pipes under different ambient temperatures; The current ambient temperature is obtained through the temperature sensor. Based on the current ambient temperature, the impedance value is compared with the tension pipe defect-impedance comparison table to obtain the defect assessment result of the tested tension pipe.

8. A device for evaluating the crimping condition of tension pipes, characterized in that, Based on drone execution, the drone is equipped with an LCR tester and at least two robotic arms. Each robotic arm has a measuring probe, a depth camera, and a force sensor at its end. Each measuring probe has a probe at its end. The device includes: The image acquisition module is used to acquire the current image of the tension pipe under test through the depth camera; The contact force acquisition module is used to connect the probe to both ends of the tension pipe under test according to the current image, and to acquire the contact force between the probe and the tension pipe under test through the force sensor. The impedance measurement module is used to obtain the impedance value of the tension pipe under test by the LCR tester based on the differential compensation measurement algorithm when the contact force is greater than or equal to the preset expected force. The crimping condition assessment module is used to determine the crimping condition of the tension pipe under test based on the impedance value.

9. An electronic device, characterized in that, The electronic device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the method of any one of claims 1 to 7.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the method of any one of claims 1 to 7.

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