An unmanned aerial vehicle system for cable car ropeway detection

Abstract

The present invention relates to the technical field of amusement facility detection, and particularly relates to a drone system for detecting a cable car ropeway. The system includes a rotary-wing drone, a rotating device, a clamping detection device, and a rope launching and retrieving device. The rotating device is connected to the rotary-wing drone and has a degree of freedom to rotate about a vertical axis. The clamping detection device is connected to the rotating device and is used to detect the cable car ropeway. At least one pair of rope launching and retrieving devices are provided on opposite sides of the clamping detection device, and a pair of rope launching and retrieving devices are used to capture the cable car ropeway. The present invention realizes the comprehensive and continuous detection function of the drone for the cable car ropeway of the suspended cable car in the inaccessible area at high altitude, has high control precision, accurate detection, no damage to the cable car ropeway, and improves work efficiency and safety.

Description

Technical Field

[0001] The present invention relates to the technical field of amusement facility detection, and particularly relates to an unmanned aerial vehicle system for detecting a cable car ropeway. Background Art

[0002] The detection of the steel wire rope of a passenger ropeway is clearly stipulated in the national standard "GB9075-88". It is related to the safe operation of the ropeway and is an essential technical detection work. The level of its detection accuracy directly affects the judgment of the service life of the steel wire rope. At present, there are three methods for detecting steel wire ropes: manual visual inspection method, damage detection method, and non-destructive flaw detection method. Visual detection technology is an improvement and replacement of the manual visual inspection method. All of these three methods require the cable car ropeway to be removed, and then rely on the visual inspection of the detector or the detection equipment carried by the detector to detect the steel wire rope. The detection workload is large, the labor intensity is high, and the detection level is easily affected by the level and mentality of the detector. Moreover, the damage detection method cannot detect the steel wire rope without damaging it. Although visual detection technology can detect the ropeway at a high altitude by relying on an unmanned aerial vehicle and a camera, it can only detect the defects on the surface of the steel wire rope and is powerless against the defects inside the steel wire rope. The electromagnetic sensor detection device can achieve non-destructive detection of the cable car ropeway, but currently it can only be operated manually on the ground. If it is used for high-altitude operation, a robotic arm is required to hold the sensor, which requires high control accuracy and has not been achieved yet. Summary of the Invention

[0003] Aiming at the above problems, the purpose of the present invention is to provide an unmanned aerial vehicle system for detecting a cable car ropeway, which can realize the comprehensive and continuous detection function of the unmanned aerial vehicle for the ropeway of the suspended cable car in an inaccessible area at a high altitude. The cable car ropeway is generally a steel wire rope, and the present invention can also be used for detecting other high-altitude steel wire ropes.

[0004] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0005] An unmanned aerial vehicle system for detecting a cable car ropeway provided by the present invention includes a rotary-wing unmanned aerial vehicle, a rotating device, a clamping detection device, and a rope launching and recovering device. The rotating device is connected to the rotary-wing unmanned aerial vehicle and has a degree of freedom of rotating around a vertical axis. The clamping detection device is connected to the rotating device and is used for detecting the cable car ropeway. At least one pair of rope launching and recovering devices are arranged on opposite sides of the clamping detection device, and a pair of rope launching and recovering devices are used for capturing the cable car ropeway.

[0006] The rotor UAV includes a blade protection device, rotors, a vision guidance system, arms, a fuselage, and a UAV landing bracket. A plurality of arms are radially arranged around the fuselage, and rotors are provided at the ends of each arm. The blade protection device is connected to the plurality of arms and is located outside the rotors. The blade protection device is used to protect the rotors. The vision guidance system is arranged on the blade protection device and is used for autonomous obstacle avoidance of the rotor UAV. The UAV landing bracket is arranged at the bottom of the blade protection device.

[0007] The blade protection device includes a plurality of ducts arranged circumferentially and connected in sequence, and the rotors are accommodated in the corresponding ducts.

[0008] A fall protection device for safe landing is provided at the top of the fuselage; a tension sensor is provided at the bottom of the fuselage, and the tension sensor is connected to the rotating device.

[0009] The rotating device includes a sling, a housing, a battery, a servo I, a gear transmission assembly, a gear shaft, a connecting plate, and a control circuit board. The gear shaft is rotatably installed at the bottom of the housing. The battery, the servo I, the gear transmission assembly, and the control circuit board are all arranged in the housing. The servo I is connected to the gear shaft through the gear transmission assembly. The battery supplies power to the servo I, and the control circuit board is used to control the servo I. The connecting plate is arranged outside the housing and is connected to the gear shaft. One end of the sling is connected to the top of the housing, and the other end is connected to the rotor UAV.

[0010] The clamping and detecting device includes a servo II, a link mechanism, a clamping device housing I, a swing rod mechanism, an electromagnetic detection sensor, and a clamping device housing II. The tops of the clamping device housing I and the clamping device housing II are hinged through a hinge shaft. The tops of the clamping device housing I and the clamping device housing II are connected to the rotating device through a swing rod mechanism.

[0011] The electromagnetic detection sensor is of an annular split structure and is embedded in the corresponding surfaces of the clamping device housing I and the clamping device housing II. The servo II is arranged on the clamping device housing I and is hinged to the clamping device housing II through a link mechanism. The servo II is used to drive the clamping device housing I and the clamping device housing II to open or close.

[0012] The rope launching and recovering device includes an electromagnet, a wire winding and unwinding mechanism, a rope, a locking mechanism, and a bracket. The bracket is connected to the clamping and detecting device. The wire winding and unwinding mechanism and the locking mechanism are both arranged on the bracket. One end of the rope is connected to the wire winding and unwinding mechanism, and the other end is connected to the electromagnet. The wire winding and unwinding mechanism is used to release or recover the electromagnet, and the locking mechanism is used to lock the recovered electromagnet.

[0013] The wire winding and unwinding mechanism includes a wire winding wheel, a large spring baffle, a large spring, a motor and a housing. The motor is arranged on the back of the bracket, and the output end is connected to the wire winding wheel. The wire winding wheel is used for winding the rope. The large spring baffle is arranged on the front of the bracket and is provided with a wire passing hole for the rope to pass through. The large spring is sleeved on the rope, and both ends are respectively abutted against the electromagnet and the large spring baffle. The housing covers the outside of the motor.

[0014] The locking mechanism includes two groups of claw assemblies symmetrically arranged on both sides of the electromagnet. The two groups of claw assemblies cooperate to tightly hold the electromagnet.

[0015] The claw assembly includes a ratchet tooth, a ratchet wheel, a torsion spring, a small spring, a small spring baffle, a servo arm, a servo III and a claw. The claw is installed on the bracket through a rotating shaft. A ratchet wheel is arranged at the rear end of the claw. A torsion spring is arranged on the rotating shaft. The torsion spring drives the claw to open outwards by elastic force.

[0016] The ratchet tooth is hinged on the bracket. The small spring baffle is arranged on the bracket. The small spring is connected between the small spring baffle and the ratchet tooth. The small spring makes the ratchet tooth engage with the ratchet wheel.

[0017] The servo III is arranged on the bracket, and the output end is connected to the servo arm. The servo III drives the ratchet tooth to rotate through the servo arm, so that the ratchet tooth is disengaged from the ratchet wheel.

[0018] The advantages and beneficial effects of the present invention are as follows:

[0019] 1. The present invention provides an unmanned aerial vehicle system for detecting a cable car ropeway, which can realize the comprehensive and continuous detection function of the cable car ropeway suspended by the unmanned aerial vehicle in the inaccessible area at high altitude, with high control precision, accurate detection, no damage to the cable car ropeway, and improved work efficiency and safety.

[0020] 2. By adopting a carbon fiber integrally formed fuselage, the present invention reduces the overall weight of the whole machine while improving the overall strength. By adopting a vision guidance system based on a monocular or binocular vision sensor to guide the unmanned aerial vehicle to the vicinity of the cable car ropeway, the requirement for the vision system is reduced and the cost is reduced.

[0021] 3. By adopting an electromagnetic sensor to detect defects such as broken wires, skipped wires and wear of the cable car ropeway, the accuracy is higher than that of a vision sensor. By using the unmanned aerial vehicle to tow the electromagnetic sensor to detect the surface and internal defects of the steel wire rope, the high-altitude work of manual labor is avoided and the safety is improved.

[0022] 4. The present invention improves the ability of the drone rotor to operate safely by adopting a ducted blade protection device, improves the efficiency of the drone rotor in providing lift, and reduces the impact of the complex structure of the amusement facility on the safe operation of the rotor; adopts a parachute-type fall protection device to achieve drone fall protection and improve the survivability of the drone in high-altitude flight inspection operations.

[0023] 5. The present invention installs a smooth ceramic gasket at the opening of the clamping detection device to reduce friction damage during the towing process of the drone.

[0024] 6. The rope launching and recovery device of the present invention can clamp the electromagnetic detection sensor on the cable car ropeway through a set of fixed actions, which reduces the requirements for positioning and control accuracy, avoids the operation of the mechanical arm, and reduces costs; the rope launching and recovery device uses ratchets and ratchet wheels to lock the electromagnet, which can cut off the power to the rope recovery motor after the rope is recovered, reducing energy consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is an axonometric diagram of a drone system for cable car and ropeway inspection according to the present invention;

[0026] Figure 2 This is a front view of a drone system for cable car and ropeway inspection according to the present invention;

[0027] Figure 3 Schematic diagram of the structure of the rotary-wing UAV in the present invention;

[0028] Figure 4 It is a structural schematic diagram of the rotating device in the present invention;

[0029] Figure 5 Schematic diagram of the structure of the clamping detection device in the present invention;

[0030] Figure 6 This is a schematic structural diagram of the rope launching and recovery device of the present invention;

[0031] Figure 7 for Figure 6 AA cross-sectional view;

[0032] Figure 8 This is a flowchart of the workflow of a drone system for cable car and ropeway inspection according to the present invention.

[0033] In the figure: 1 is a rotor unmanned aerial vehicle, 101 is a blade protection device, 102 is a rotor, 103 is a vision guidance system, 104 is a fall protection device, 105 is an arm, 106 is a fuselage, 107 is a tension sensor, 108 is an unmanned aerial vehicle landing bracket, 2 is a rotating device, 201 is a lifting ring I, 202 is a sling, 203 is an upper housing, 204 is a battery, 205 is a servo I, 206 is a pinion, 207 is a lower housing, 208 is a connecting plate, 209 is a thrust bearing, 210 is a gear shaft, 211 is a lifting ring II, 212 is a control circuit board, 3 is a clamping detection device, 301 is a servo II, 302 is a linkage mechanism, 303 is a clamping device housing I, 304 is a swing rod mechanism, 305 is a hinge shaft, 306 is a lifting ring III, 307 is an electromagnetic detection sensor, 308 is a clamping device housing II, 4 is a rope launching and recovering device, 401 is an electromagnet, 402 is a wire winding wheel, 403 is a rope, 404 is a ratchet tooth, 405 is a ratchet wheel, 406 is a coil spring, 407 is a large spring baffle, 408 is a large spring, 409 is a small spring, 410 is a small spring baffle, 411 is a servo arm, 412 is a bracket, 413 is a motor, 414 is a servo III, 415 is a housing, 416 is a gripper. Detailed implementation mode

[0034] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0035] As Figure 1-2 shown, a drone system for cable car ropeway detection provided by the present invention includes a rotor drone 1, a rotating device 2, a clamping detection device 3 and a rope launching and recovering device 4. The rotating device 2 is connected to the rotor drone 1 and has a degree of freedom to rotate about a vertical axis; the clamping detection device 3 is connected to the rotating device 2 and is used for detecting the cable car ropeway; at least one pair of rope launching and recovering devices 4 are arranged on opposite sides of the clamping detection device 3, and a pair of rope launching and recovering devices 4 are used for capturing the cable car ropeway. The present invention can realize the comprehensive and continuous detection function of the drone for the cable car ropeway of the suspended cable car in the inaccessible area at high altitude, with high control precision, accurate detection, no damage to the cable car ropeway, and improved work efficiency and safety.

[0036] As Figure 3As shown in the figure, in the embodiment of the present invention, the rotary-wing unmanned aerial vehicle 1 adopts a multi-rotor configuration. Specifically, the rotary-wing unmanned aerial vehicle 1 includes a blade protection device 101, rotors 102, a vision guidance system 103, booms 105, a fuselage 106, and an unmanned aerial vehicle landing bracket 108. A plurality of booms 105 are radially arranged around the fuselage 106, and rotors 102 are provided at the ends of the respective booms 105. The blade protection device 101 is connected to the plurality of booms 105 and is located outside the rotors 102. The blade protection device 101 is used to protect the rotors 102; the vision guidance system 103 is arranged on the blade protection device 101 and is used for autonomous obstacle avoidance of the rotary-wing unmanned aerial vehicle 1; the unmanned aerial vehicle landing bracket 108 is arranged at the bottom of the blade protection device 101.

[0037] In the embodiment of the present invention, the blade protection device 101 includes a plurality of ducts arranged circumferentially and connected in sequence, and the rotors 102 are accommodated in the corresponding ducts. Preferably, the blade protection device 101 is processed by a carbon fiber integral molding process. The overall structural form of the blade protection device 101 adopts a duct type structure and a streamlined outer shape, which improves the ability of the unmanned aerial vehicle rotor to operate safely, improves the efficiency of the unmanned aerial vehicle rotor to provide lift, and reduces the influence of the complex structure of the amusement facility on the safe operation of the rotor.

[0038] Furthermore, a fall protection device 104 for safe landing is provided at the top of the fuselage 106. The fall protection device 104 is composed of a safety parachute device and is arranged directly above the fuselage 106. The fall protection device 104 can autonomously detect the fall acceleration or speed of the unmanned aerial vehicle system, and then open the safety parachute device to achieve fall protection of the unmanned aerial vehicle. At the same time, the fall protection device 104 can also receive a protection instruction sent by a ground control station or a flight controller and open the safety parachute device to achieve fall protection of the unmanned aerial vehicle, improving the survival ability of the unmanned aerial vehicle for high-altitude flight detection operations.

[0039] Furthermore, a tension sensor 107 is provided at the bottom of the fuselage 106, and the tension sensor 107 is connected to the rotating device 2. The height of the rotary-wing unmanned aerial vehicle 1 is adjusted according to the numerical change of the tension sensor 107, so that the clamping detection device 3 is close to the cableway of the suspended cable car.

[0040] In this embodiment, the fuselage 106 and the booms 105 are processed by a carbon fiber integral molding process, reducing the overall weight of the machine while improving the overall strength and stability of the machine. A power system is provided inside the fuselage 106, and the power system can adopt a pure electric power mode, a hybrid electric and fuel power mode, or a fuel cell power mode, and can be selected according to different operation times and detection requirements.

[0041] In this embodiment, the vision guidance system 103 is composed of three vision sensors and is arranged around the blade protection device 101. The vision guidance system 103 realizes the autonomous obstacle avoidance function of the rotary-wing unmanned aerial vehicle 1 through multi-vision sensor fusion positioning, ensuring that the rotary-wing unmanned aerial vehicle 1 can perform detection operations near the cable of the cable car, and has functions such as obstacle avoidance, automatically detecting the position of the cable, and automatically detecting along the cable.

[0042] As Figure 4 shown, in the embodiment of the present invention, the rotating device 2 includes a sling 202, a housing, a battery 204, a servo motor I 205, a gear transmission assembly, a gear shaft 210, a connecting plate 208 and a control circuit board 212. The gear shaft 210 is rotatably installed at the bottom of the housing. The battery 204, the servo motor I 205, the gear transmission assembly and the control circuit board 212 are all arranged in the housing. The servo motor I 205 is connected to the gear shaft 210 through the gear transmission assembly. The battery 204 supplies power to the servo motor I 205, and the control circuit board 212 is used to control the servo motor I 205. The connecting plate 208 is arranged on the outside of the housing and is connected to the gear shaft 210. One end of the sling 202 is connected to the sling ring I 201 at the top of the housing, and the other end is connected to the tension sensor 107 at the bottom of the rotary-wing unmanned aerial vehicle 1.

[0043] Specifically, the housing includes an upper housing 203 and a lower housing 207 connected to each other. The gear shaft 210 is installed on the lower housing 207 through a thrust bearing 209, and the sling ring I 201 is arranged on the upper housing 203. The gear transmission assembly includes a small gear 206 and a large gear. The small gear 206 is arranged at the output end of the servo motor I 205, and the large gear is arranged on the gear shaft 210 and meshes with the small gear 206. The servo motor I 205 adopts a brushless servo integrated joint high-torque motor, and the continuous rotation angle range is greater than 360 degrees.

[0044] As Figure 5As shown in the figure, in the embodiment of the present invention, the clamping detection device 3 includes a servo motor II 301, a link mechanism 302, a clamping device housing I 303, a swing rod mechanism 304, an electromagnetic detection sensor 307 and a clamping device housing II 308. The tops of the clamping device housing I 303 and the clamping device housing II 308 are hinged through a hinge shaft 305, and the tops of the clamping device housing I 303 and the clamping device housing II 308 are connected to the rotating device 2 through the swing rod mechanism 304. The electromagnetic detection sensor 307 is a ring-shaped split structure and is embedded in the corresponding surfaces of the clamping device housing I 303 and the clamping device housing II 308 to achieve non-destructive high-precision detection of the wire rope cableway. The servo motor II 301 is arranged on the clamping device housing I 303 and is hinged to the clamping device housing II 308 through the link mechanism 302. The servo motor II 301 is used to drive the clamping device housing I 303 and the clamping device housing II 308 to open or close. A cylindrical cavity is formed between the clamping device housing I 303 and the clamping device housing II 308 after they are closed.

[0045] In this embodiment, the link mechanism 302 includes two links hinged to each other. The ends of the two links are respectively hinged to the output end of the servo motor II 301 and the clamping device housing II 308. The servo motor II 301 drives the link mechanism 302 to realize the opening and closing of the clamping detection device 3. The clamping detection device 3 should be able to realize the opening and closing at any angle between 0 degrees and 180 degrees. Further, a smooth ceramic gasket is installed at the opening of the clamping detection device 3 to reduce the friction damage during the dragging process of the unmanned aerial vehicle.

[0046] In this embodiment, the swing rod mechanism 304 includes two groups of swing rods arranged in a "V" shape. The upper ends of the swing rods are hinged to the suspension rings II 211 provided at the bottom of the connecting plate 208 in the rotating device 2, and the lower ends of the swing rods are hinged to the suspension rings III 306 at the top of the clamping device housing I 303 or the clamping device housing II 308.

[0047] In this embodiment, the clamping detection device 3 performs real-time online detection of the wire rope cableway through the electromagnetic detection sensor 307, and can transmit the wire rope cableway detection signal to the ground end in real time. It can also autonomously judge whether there are defects in the cable car cableway according to the detection signal and choose whether to issue an alarm. The cable car cableway is generally a wire rope. The electromagnetic sensor is used to detect defects such as broken wires, skipped wires, and wear of the cable car cableway, which has a higher accuracy rate than the visual sensor; the electromagnetic sensor is towed by the unmanned aerial vehicle to detect the surface and internal defects of the wire rope, avoiding manual high-altitude work and improving safety. The present invention can also be used for the detection of other high-altitude wire ropes.

[0048] In an embodiment of the present invention, the rope launching and recovering device 4 is located around the clamping and detecting device 3, and the number thereof is even, and the device is symmetrically distributed on both sides along the axis of the cylindrical cavity of the clamping and detecting device 3. Preferably, two pairs of rope launching and recovering devices 4 are symmetrically arranged around the clamping and detecting device 3, that is, four rope launching and recovering devices 4. Using two pairs of rope launching and recovering devices 4 can better avoid the state where the axis of the cylindrical cavity in the middle of the clamping and detecting device 3 is not parallel to the axis of the cable car ropeway, and the center of gravity is in the middle. As Figure 6-7 shown, the rope launching and recovering device 4 includes an electromagnet 401, a wire winding and unwinding mechanism, a rope 403, a locking mechanism and a bracket 412. The bracket 412 is connected to the clamping and detecting device 3. The wire winding and unwinding mechanism and the locking mechanism are both arranged on the bracket 412. One end of the rope 403 is connected to the wire winding and unwinding mechanism, and the other end is connected to the electromagnet 401. The wire winding and unwinding mechanism is used to release or recover the electromagnet 401, and the locking mechanism is used to lock the recovered electromagnet 401.

[0049] In this embodiment, the rope 403 is made of a wire with high tensile strength or an ordinary wire wrapped with nylon material with high tensile strength to supply power to the electromagnet 401.

[0050] In an embodiment of the present invention, the wire winding and unwinding mechanism includes a wire winding wheel 402, a large spring baffle 407, a large spring 408, a motor 413 and a housing 415. The motor 413 is arranged on the back of the bracket 412, and the output end is connected to the wire winding wheel 402. The wire winding wheel 402 is used to wind the rope 403. The large spring baffle 407 is arranged on the front of the bracket 412 and is provided with a wire passing hole for the rope 403 to pass through. The large spring 408 is sleeved on the rope 403, and both ends thereof are respectively abutted against the electromagnet 401 and the large spring baffle 407. The housing 415 covers the outside of the motor 413.

[0051] In the embodiments of the present invention, in order to prevent the electromagnet 401 from being launched by the large spring 408 when the motor 413 is powered off after the electromagnet 401 is recovered, a locking mechanism is designed. Specifically, the locking mechanism includes two groups of claw assemblies symmetrically arranged on both sides of the electromagnet 401, and the two groups of claw assemblies cooperate to tightly hold the electromagnet 401. Specifically, the claw assembly includes a ratchet tooth 404, a ratchet wheel 405, a winding spring 406, a small spring 409, a small spring baffle 410, a servo arm 411, a servo III 414 and a claw 416. The claw 416 is installed on the bracket 412 through a rotating shaft. A ratchet wheel 405 is provided at the rear end of the claw 416, and a clamping groove is provided on the front working surface of the claw 416. A winding spring 406 is provided on the rotating shaft of the claw 416, and the winding spring 406 drives the claw 416 to open outwards by its elastic force. The ratchet tooth 404 is hinged on the bracket 412. The small spring baffle 410 is arranged on the bracket 412. The small spring 409 is connected between the small spring baffle 410 and the ratchet tooth 404. The small spring 409 makes the ratchet tooth 404 engage with the ratchet wheel 405, so that the ratchet tooth 404 can block the ratchet wheel 405, thereby restricting the rotation of the claw 416. The servo III 414 is arranged on the bracket 412, and its output end is connected to the servo arm 411. The servo III 414 drives the ratchet tooth 404 to rotate through the servo arm 411, so that the ratchet tooth 404 disengages from the ratchet wheel 405. At this time, the claw 416 can rotate, and thus the electromagnet 401 can be smoothly launched by the large spring 408. When recovering the electromagnet 401, the movement of the electromagnet 401 is relied on to push the claw 416 to rotate inwards, so that the claw 416 blocks the electromagnet 401 through the clamping groove, and then the claw 416 is locked by the ratchet tooth 404.

[0052] In the embodiments of the present invention, after the rope launching and recovering device 4 reaches a certain height above the wire rope cableway, the electromagnets 401 are launched in pairs in sequence. In order to avoid interference between the electromagnets, after the rope 403 and the electromagnet 401 are launched by the large spring 408, the electromagnet 401 is powered on. The rope launching and recovering device 4 uses the ratchet wheel 405, the ratchet tooth 404, and the servo arm 411 to realize the locking function of the electromagnet during rope recovery, so that the electromagnet 401 will not be launched when the motor 413 is powered off, reducing power consumption; when the electromagnet 401 needs to be launched, the servo arm 411 is used to drive the ratchet tooth 404 to disengage from the ratchet wheel 405 to eliminate the limit. The claw 416 opens outwards under the action of the winding spring 406 and no longer locks the electromagnet 401; when the servo arm 411 does not drive the ratchet tooth 404, the ratchet tooth 404 is reset by the small spring 409, that is, it engages with the ratchet wheel 405.

[0053] In an embodiment of the present invention, the rotating device 2 is connected to the clamping and detecting device 3 by a swing rod mechanism 304. By rotating the servo motor II 301, the axis direction of the cylindrical cavity of the clamping and detecting device 3 is adjusted to be parallel to the axis direction of the cableway, so as to ensure that after the rope 403 is launched, the electromagnet 401 is located on both sides of the cable car cableway, thereby improving the success rate of capturing the cable car steel wire rope. The electromagnetic detection sensor 307 is installed inside the clamping and detecting device 3 and can detect broken wires, wear, and defects on the surface or inside of the cable car cableway. The signal detected by the electromagnetic detection sensor 307 can be transmitted back to the ground end in real time through the communication system, or the computer can be selected to intelligently judge whether there are defects in the current detection section according to the detection signal and select whether to issue a warning. The rope launching and recovering device 4 can clamp the electromagnetic detection sensor 307 on the cable car cableway through a set of fixed actions, reducing the requirements for positioning and control accuracy, avoiding the operation of the robotic arm, and reducing the cost; in the rope launching and recovering device 4, the electromagnet 401 is locked by the ratchet teeth 404 and the ratchet wheel 405, so that the motor 413 can be powered off after the rope 403 is recovered, reducing the power consumption.

[0054] As Figure 8 shown, a drone system for cable car cableway detection provided by the present invention has the following working process:

[0055] First, after the present invention guides the rotor drone 1 to a position near the approximate upper part of the cable car cableway through the vision guiding system 103, the rotor drone 1 vertically ascends a certain height, and this height should be longer than the length of the sling 202, generally 1.2 - 1.4 times the length of the sling 202. The extension line of the straight line formed by the rotating device 2 and the rotor drone 1 should intersect the cable car cableway. From the perspective of the rotor drone 1, the rotating device 2 exactly covers a part of the cable car cableway.

[0056] Secondly, launch the electromagnets 401 and the ropes 403 on a pair of rope launching and recovering devices 4. After launching, power on the electromagnets 401. When the electromagnets 401 swing, rely on the magnetic force of the electromagnets 401 to make the two electromagnets 401 adsorb together to form a closed loop including the cable car cableway.

[0057] Judge whether the two ropes surround the cable car cableway: The rotor drone 1 slowly ascends, and at the same time, detect the value of the tension sensor 107. If the value measured by the tension sensor 107 increases while the height of the rotor drone 1 hardly changes, then the rope 403 has successfully captured the cable car cableway. If the tension value of the tension sensor 107 remains unchanged while the rotor drone 1 continues to rise, then the cable car cableway has not been successfully captured. At this time, the electromagnet 401 is powered off, and the rope 403 is recovered; the rotating device 2 needs to rotate a certain angle to deflect the clamping and detecting device 3 by an angle, and then return to the previous step until the rope 403 successfully captures the cable car cableway.

[0058] Launch another pair of electromagnets 401 and ropes 403, and repeat the above steps. To facilitate the detection of whether the ropes of this pair of electromagnets 401 successfully capture the ropes, the ropes 403 on this pair of electromagnets 401 need to be shorter than the previous pair, so that when the rotor UAV 1 ascends, the ropes 403 of the previous pair of electromagnets 401 will not tighten first, causing interference to the value of the tension sensor 107.

[0059] After confirming that all pairs of electromagnets have captured the cable car ropeway, the rope launching and recovering device 4 starts to recover the ropes 403, and the rotor UAV 1 simultaneously reduces its altitude according to the change in the value of the tension sensor 107, so that the clamping and detecting device 3 approaches the cable car ropeway. After the ropes 403 are recovered, the clamping and detecting device 3 closes and clamps the cable car ropeway, and the rotor UAV 1 continues to descend a certain height, about 0.2 - 0.4 times the length of the sling 202. Then the rotor UAV 1 moves along the direction of the cable car ropeway, and at the same time the electromagnetic detection sensor 307 starts to work to check the defects of the cable car ropeway. After a section of the cable car ropeway is detected, the clamping and detecting device 3 opens, and the detection work of this section of the cable car ropeway ends. The rotor UAV 1 flies to the vicinity of the next section of the cable car ropeway and continues to work or returns to the ground station.

[0060] The present invention provides a UAV system for cable car ropeway detection, which can realize the comprehensive and continuous detection function of the cable car ropeway suspended by the UAV in the inaccessible area at high altitude, with high control precision, accurate detection, no damage to the cable car ropeway, and improved work efficiency and safety.

[0061] The above are only the embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, expansions, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. An unmanned aerial vehicle system for cable car ropeway detection, characterized in that, It includes a rotor unmanned aerial vehicle (1), a rotating device (2), a clamping and detecting device (3) and a rope launching and recovering device (4). The rotating device (2) is connected to the rotor unmanned aerial vehicle (1), and the rotating device (2) has a degree of freedom to rotate around the vertical axis; the clamping and detecting device (3) is connected to the rotating device (2) and is used for detecting the cableway; at least one pair of rope launching and recovering devices (4) are arranged on the opposite sides of the clamping and detecting device (3), and a pair of rope launching and recovering devices (4) are used for capturing the cableway. The rotating device (2) includes a sling (202), a housing, a battery (204), a servo motor I (205), a gear transmission assembly, a gear shaft (210), a connecting plate (208) and a control circuit board (212). The gear shaft (210) is rotatably installed at the bottom of the housing. The battery (204), the servo motor I (205), the gear transmission assembly and the control circuit board (212) are all arranged in the housing. The servo motor I (205) is connected to the gear shaft (210) through the gear transmission assembly. The battery (204) supplies power to the servo motor I (205), and the control circuit board (212) is used for controlling the servo motor I (205); the connecting plate (208) is arranged on the outside of the housing and is connected to the gear shaft (210); one end of the sling (202) is connected to the top of the housing, and the other end is connected to the rotor unmanned aerial vehicle (1). The clamping and detecting device (3) includes a servo motor II (301), a link mechanism (302), a clamping device housing I (303), a swing rod mechanism (304), an electromagnetic detection sensor (307) and a clamping device housing II (308). The tops of the clamping device housing I (303) and the clamping device housing II (308) are hinged through a hinge shaft (305). The tops of the clamping device housing I (303) and the clamping device housing II (308) are connected to the rotating device (2) through the swing rod mechanism (304). The electromagnetic detection sensor (307) is of an annular split structure and is embedded in the corresponding surfaces of the clamping device housing I (303) and the clamping device housing II (308); the servo motor II (301) is arranged on the clamping device housing I (303) and is hinged to the clamping device housing II (308) through the link mechanism (302), and the servo motor II (301) is used for driving the clamping device housing I (303) and the clamping device housing II (308) to open or close.

2. The drone system for cable car ropeway detection according to claim 1, characterized in that The rotor UAV (1) includes a blade protection device (101), a rotor (102), a vision guidance system (103), an arm (105), a fuselage (106), and a UAV landing bracket (108). A plurality of arms (105) are radially arranged around the fuselage (106). The end of each arm (105) is provided with a rotor (102). The blade protection device (101) is connected to the plurality of arms (105) and is located outside the rotor (102). The blade protection device (101) is used to protect the rotor (102). The vision guidance system (103) is arranged on the blade protection device (101) and is used for autonomous obstacle avoidance of the rotor UAV (1). The UAV landing bracket (108) is arranged at the bottom of the blade protection device (101).

3. The drone system for cable car ropeway detection according to claim 2, characterized in that, The blade protection device (101) includes a plurality of ducts arranged circumferentially and connected in sequence. The rotor (102) is accommodated in the corresponding duct.

4. The drone system for cable car ropeway detection according to claim 2, wherein, A fall protection device (104) for safe landing is provided at the top of the fuselage (106). A tension sensor (107) is provided at the bottom of the fuselage (106). The tension sensor (107) is connected to the rotating device (2).

5. The drone system for cable car ropeway detection according to claim 1, characterized in that, The rope launching and recovery device (4) includes an electromagnet (401), a wire winding and unwinding mechanism, a rope (403), a locking mechanism, and a bracket (412). The bracket (412) is connected to the clamping and detecting device (3). The wire winding and unwinding mechanism and the locking mechanism are both arranged on the bracket (412). One end of the rope (403) is connected to the wire winding and unwinding mechanism, and the other end is connected to the electromagnet (401). The wire winding and unwinding mechanism is used to release or recover the electromagnet (401). The locking mechanism is used to lock the recovered electromagnet (401).

6. The drone system for cable car ropeway detection according to claim 5, characterized in that, The wire winding and unwinding mechanism includes a wire winding wheel (402), a large spring baffle (407), a large spring (408), a motor (413), and a housing (415). The motor (413) is arranged on the back of the bracket (412), and the output end is connected to the wire winding wheel (402). The wire winding wheel (402) is used to wind the rope (403). The large spring baffle (407) is arranged on the front of the bracket (412) and is provided with a wire passing hole for the rope (403) to pass through. The large spring (408) is sleeved on the rope (403), and the two ends are respectively abutted against the electromagnet (401) and the large spring baffle (407). The housing (415) covers the outside of the motor (413).

7. The drone system for cable car ropeway detection according to claim 5, characterized in that, The locking mechanism includes two groups of claw assemblies symmetrically arranged on both sides of the electromagnet (401). The two groups of claw assemblies cooperate to tightly hold the electromagnet (401).

8. The drone system for cable car ropeway detection according to claim 7, characterized in that, The gripper assembly includes a ratchet tooth (404), a ratchet wheel (405), a coil spring (406), a small spring (409), a small spring baffle (410), a servo arm (411), a servo III (414) and a gripper (416). The gripper (416) is mounted on the bracket (412) through a rotating shaft. A ratchet wheel (405) is provided at the rear end of the gripper (416). A coil spring (406) is provided on the rotating shaft. The coil spring (406) drives the gripper (416) to open outwards by elastic force. The ratchet tooth (404) is hinged on the bracket (412). The small spring baffle (410) is arranged on the bracket (412). The small spring (409) is connected between the small spring baffle (410) and the ratchet tooth (404). The small spring (409) makes the ratchet tooth (404) engage with the ratchet wheel (405). The servo III (414) is arranged on the bracket (412), and the output end is connected to the servo arm (411). The servo III (414) drives the ratchet tooth (404) to rotate through the servo arm (411), so that the ratchet tooth (404) is disengaged from the ratchet wheel (405).

Images