An unmanned aerial vehicle system for detecting steel cables of high-altitude cableways

Abstract

The present invention relates to the technical field of amusement facility detection, and specifically relates to an unmanned aerial vehicle system for detecting steel cables of an aerial ropeway, comprising: a rotor unmanned aerial vehicle wirelessly communicating with a ground control station or a flight controller, an end operation execution mechanism, a planar two-degree-of-freedom sliding guide rail mechanism, and a steel cable detection device; wherein, the rotor unmanned aerial vehicle is connected to the end operation execution mechanism; the end operation execution mechanism is fixedly arranged on the planar two-degree-of-freedom sliding guide rail mechanism; the steel cable detection device is installed below the planar two-degree-of-freedom sliding guide rail mechanism for adjusting the position of the steel cable detection device, and is used for detecting whether the steel cable of the aerial ropeway is damaged. The present invention realizes the function of controlling the detection moving speed of the steel cable detection device on the high-altitude steel cable by adopting a special structure of the end execution structure. The function of accurately adjusting the position of the steel cable detection device is realized by adopting the manner of the planar two-degree-of-freedom sliding guide rail. The function of detecting whether the steel cable of the aerial ropeway is damaged is realized by adopting the steel cable detection device.

Description

Technical Field

[0001] The present invention relates to the technical field of amusement facility detection, and specifically relates to an unmanned aerial vehicle system for detecting steel cables of high-altitude cableways. Background Art

[0002] At present, the detection of high-altitude cableways mainly relies on inspectors carrying detection equipment to conduct on-site detection of wire breaks and wear of the cableways. The detection workload is large, the labor intensity is high, and the detection level is easily affected by the level and mentality of the inspectors. At the same time, it is very difficult to reach the detection points at higher positions by manpower, resulting in the inability to achieve a comprehensive detection of amusement facilities. The detection data is scattered and cannot be analyzed systematically, which also leads to an incomplete and inaccurate risk analysis of high-altitude cableways. In addition, the existing inspection robots are large in size, inconvenient to use, difficult to cross obstacles, and have low detection efficiency. Summary of the Invention

[0003] The purpose of the present invention is to provide an unmanned aerial vehicle system for detecting steel cables of high-altitude cableways, which can realize the comprehensive and continuous detection function of unmanned aerial vehicles for various high-altitude cableway steel cables.

[0004] The technical solution adopted by the present invention to achieve the above purpose is: an unmanned aerial vehicle system for detecting steel cables of high-altitude cableways, including: a rotary-wing unmanned aerial vehicle wirelessly communicating with a ground control station or a flight controller, an end operation execution mechanism, a planar two-degree-of-freedom sliding guide rail mechanism, and a steel cable detection device;

[0005] Among them, the rotary-wing unmanned aerial vehicle is connected to the end operation execution mechanism; the end operation execution mechanism is fixedly arranged on the planar two-degree-of-freedom sliding guide rail mechanism;

[0006] The rotary-wing unmanned aerial vehicle is used to pull and drive the end operation execution mechanism to move along the steel cable under the control of the ground control station or the flight controller;

[0007] The end operation execution mechanism is used to carry the planar two-degree-of-freedom sliding guide rail mechanism, and then drive the steel cable detection device to conduct detection on the steel cable;

[0008] The planar two-degree-of-freedom sliding guide rail mechanism is used to adjust the position of the steel cable detection device on the steel cable;

[0009] The steel cable detection device is installed below the planar two-degree-of-freedom sliding guide rail mechanism and is used to detect whether there is damage to the steel cable of the high-altitude cableway.

[0010] The rotary-wing unmanned aerial vehicle is of a multi-rotor configuration, including: a fuselage, arms, rotors, and a power system;

[0011] A plurality of arms parallel to the top surface of the fuselage are evenly arranged on the outer side of the fuselage; the ends of the arms are provided with rotors rotating in the horizontal plane;

[0012] A power system is suspended directly below the geometric center of the fuselage. The power system communicates wirelessly with a ground control station or a flight controller, and is connected to a plurality of rotors respectively through connecting lines, and is used to provide rotational power for the rotors according to instructions communicated wirelessly by the ground control station or the flight controller;

[0013] A fall protection device is fixedly installed directly above the geometric center of the fuselage, and the fall protection device communicates wirelessly with a ground control station or a flight controller, and is used to protect the rotor UAV after it falls;

[0014] A buckle is provided below the power system, and the buckle is connected to the end operation execution mechanism through a flexible rope.

[0015] A circular blade protection cover is provided circumferentially on each rotor;

[0016] The blade protection cover is a ducted blade protection cover, and the blade protection cover is fixedly connected to the arm of the corresponding rotor; adjacent blade protection covers are connected to form an integral structure.

[0017] The fall protection device includes: a controller, a parachute device, a wireless communication module and a sensor assembly connected to the controller;

[0018] The controller communicates wirelessly with a ground control station or a flight controller through the wireless communication module, and is used to execute the action of opening the parachute device after receiving the sent protection instruction;

[0019] The sensor assembly includes: a speed sensor and an acceleration sensor connected to the controller, which are used to detect the speed value or acceleration value of the current rotor UAV and send them to the controller. When the speed value or acceleration value exceeds the set threshold, the controller controls the execution of the action of opening the parachute device.

[0020] The fuselage and the arm are an integral structure made of carbon fiber material.

[0021] A vision sensor for detecting the position of the cable detection device is provided at the detection position of the cable detection device;

[0022] The vision sensor is connected to the drive motor of the planar two-degree-of-freedom sliding guide mechanism through the controller of the planar two-degree-of-freedom sliding guide mechanism, so as to obtain the compensation amount for detecting the position of the cable detection device through the controller of the planar two-degree-of-freedom sliding guide mechanism, control the movement of the drive motor corresponding to the X-axis or Y-axis, and realize the real-time adjustment of the relative position between the cable detection device and the cable.

[0023] The end operation execution mechanism includes: a base, a connecting arm, a blade, a protection cover and an operation control system;

[0024] The base is a rectangular base, and a plurality of connecting arms are provided extending outward along the diagonal of the base; adjacent connecting arms are symmetric with each other along the center line of the base;

[0025] A propeller blade is rotatably provided at the end of the connecting arm; a circular protective cover is provided circumferentially on the propeller blade; the protective cover is a ducted protective cover, and the protective cover is fixedly connected to the connecting arm;

[0026] The operation control system is provided on the base and is respectively connected to a plurality of propeller blades through connecting lines;

[0027] The bottom surface of the base is fixed on the slider of the planar two-degree-of-freedom sliding guide mechanism to move along the X-axis or Y-axis direction with the slider;

[0028] A rope fixing box is provided at the center of the top surface of the base. One end of a flexible rope is fixedly arranged in the rope fixing box, and the other end is connected to the buckle below the power system.

[0029] The operation control system includes: a control unit, a plurality of propeller blade drivers connected to the control unit, an instruction receiving module, and a power supply module;

[0030] The control unit is used to receive control instructions from the ground control station or the flight controller through the instruction receiving module, and control the corresponding propeller blade driver to drive the propeller blade motor of the corresponding propeller blade to rotate at the instructed speed according to the control instructions, so as to realize the control of the moving direction and moving speed of the end operation execution mechanism;

[0031] The power supply module is connected to the propeller blade motor for controlling the rotation of the propeller blade to provide rotational power for the propeller blade.

[0032] The base, the connecting arm, the propeller blade, and the protective cover are all made of carbon fiber material.

[0033] The steel cable detection device is a steel cable flaw detector with a Hall element sensor to collect steel cable defect signals through electromagnetic detection to realize the damage detection of the steel cable.

[0034] The present invention has the following beneficial effects and advantages:

[0035] 1. Through the traction method of the rotor unmanned aerial vehicle, the present invention pulls the end execution mechanism and then drives the steel cable detection device to slide and detect on the high-altitude cableway steel cable, which can not only cope with the comprehensive and continuous detection of various high-altitude cableway steel cables, but also reduce the manual workload and the detection risk of high-altitude operations.

[0036] 2. By adopting a carbon fiber integrally formed fuselage and arms, the present invention reduces the overall weight of the machine while improving the overall strength of the machine.

[0037] 3. By adopting the special structure of the end execution mechanism, the present invention realizes the function of controlling the detection moving speed of the steel cable detection device on the high-altitude steel cable.

[0038] 4. The present invention realizes the precise position adjustment function of the cable detection device by adopting a planar two-degree-of-freedom sliding guide; and realizes the function of detecting whether the aerial cableway cable is damaged by adopting the cable detection device.

[0039] 5. The present invention adopts a ducted blade protective cover, which improves the safe operation ability of the UAV rotor, increases the efficiency of the UAV rotor providing lift, and reduces the influence of the complex structure of the amusement facility on the safe operation of the rotor.

[0040] 6. The present invention adopts a parachute-type fall protection device to realize the fall protection of the UAV and improve the survival ability of the UAV in high-altitude flight detection operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a schematic structural diagram of the aerial cableway cable detection UAV system of the present invention;

[0042] Figure 2 It is a schematic structural diagram of the aerial cableway cable detection UAV in the present invention;

[0043] Figure 3 It is a schematic structural diagram of the end effector in the present invention;

[0044] Figure 4 It is a schematic structural diagram of the planar two-degree-of-freedom sliding guide in the present invention;

[0045] In the figure: 1 is a rotor UAV, 101 is the fuselage, 102 is the arm, 103 is the rotor, and 104 is the power system, 2 is a flexible rope, 3 is the end effector, 301 is the base, 302 is the connecting arm, 303 is the blade, 304 is the protective cover, 4 is the planar two-degree-of-freedom sliding guide mechanism, 5 is the cable detection device, 6 is the fall protection device, and 7 is the blade protective cover. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0046] In order to make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0047] The present invention realizes the detection of the aerial cable by the cable detection device 5 through the rotor UAV 1 carrying the flexible rope 2, the end operation actuator 3, the planar two-degree-of-freedom sliding guide mechanism 4, the cable detection device 5, the fall protection device 6, and the blade protective cover 7.

[0048] Such as Figure 1As shown in the figure, a drone system for detecting the steel cable of an aerial ropeway provided by the present invention includes: a rotary-wing drone 1, an end operation execution mechanism 3, a planar two-degree-of-freedom sliding guide mechanism 4, and a steel cable detection device 5. The rotary-wing drone 1 adopts a multi-rotor configuration. A flexible rope 2 is arranged directly below the fuselage. The end operation execution mechanism 3 is arranged at the other end of the flexible rope 2. The planar two-degree-of-freedom sliding guide mechanism 4 is arranged directly below the end operation execution mechanism 3. The steel cable detection device 5 is installed directly below the planar two-degree-of-freedom sliding guide mechanism 4;

[0049] The rotary-wing drone 1 is used to pull the end operation execution mechanism 3 to move along the steel cable under the control of a ground control station or a flight controller;

[0050] The end operation execution mechanism 3 is used to carry the planar two-degree-of-freedom sliding guide mechanism 4, and then drive the steel cable detection device 5 to perform detection on the steel cable;

[0051] The planar two-degree-of-freedom sliding guide mechanism 4 is used to adjust the position of the steel cable detection device 5 on the steel cable;

[0052] The steel cable detection device 5 is used to detect whether the steel cable of the aerial ropeway is damaged.

[0053] As Figure 2 shown in the figure, in the embodiment of the present invention, the rotary-wing drone 1 includes a fuselage 101, arms 102, rotors 103, and a power system 104.

[0054] Specifically, the arms 102 are evenly distributed around the fuselage 101. The rotors 103 are installed at the ends of the arms 102. The power system 104 is hoisted and arranged directly below the geometric center of the fuselage.

[0055] The rotary-wing drone 1 is of a multi-rotor configuration, including: a fuselage 101, arms 102, rotors 103, and a power system 104;

[0056] A plurality of arms 102 parallel to the top surface of the fuselage 101 are evenly arranged on the outer side of the fuselage 101; rotors 103 that rotate along the horizontal plane are provided at the ends of the arms 102;

[0057] A power system 104 is hoisted and installed directly below the geometric center of the fuselage 101. The power system 104 communicates wirelessly with a ground control station or a flight controller, and is respectively connected to a plurality of rotors 103 through connecting wires, and is used to provide rotational power for the rotors 103 according to the instructions communicated wirelessly with the ground control station or the flight controller;

[0058] A fall protection device 6 is fixedly installed directly above the geometric center of the fuselage 101, and the fall protection device 6 communicates wirelessly with a ground control station or a flight controller, and is used to protect the rotary-wing drone 1 after it falls;

[0059] There is a latch below the power system 104, and the latch is connected to the end operation execution mechanism 3 through a flexible rope 2.

[0060] Both the fuselage 101 and the arm 102 adopt the carbon fiber integral molding process to improve the overall strength and stability of the aircraft.

[0061] The power system 104 is a prior art to realize a remote-controlled rotor UAV controller;

[0062] The power system 104 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;

[0063] As Figure 1 shown, a circular blade protection cover is provided circumferentially on each rotor 103;

[0064] The blade protection cover is a ducted blade protection cover, and the blade protection cover is fixedly connected to the arm 102 of the corresponding rotor 103; adjacent blade protection covers are connected to form an integral structure.

[0065] As Figure 1 、 Figure 3 shown, in the embodiment of the present invention, the end operation execution mechanism 3 includes: a base 301, a connecting arm 302, a blade 303, a protection cover 304 and an operation control system;

[0066] The base 301 is a rectangular base, and a plurality of connecting arms 302 are provided extending outward along the diagonal of the base 301; adjacent connecting arms 302 are symmetric with each other along the center line of the base;

[0067] A blade 303 is rotatably provided at the end of the connecting arm 302; a circular protection cover 304 is provided circumferentially on the blade 303; the protection cover is a ducted protection cover, and the protection cover 304 is fixedly connected to the connecting arm 302;

[0068] In the above, the base 301, the connecting arm 302, the blade 303 and the protection cover 304 all adopt the carbon fiber integral molding process to improve the structural strength and stability.

[0069] The operation control system is provided on the base 301 and is respectively connected to a plurality of blades 303 through connecting wires;

[0070] The bottom surface of the base 301 is fixed on the slider of the planar two-degree-of-freedom sliding guide mechanism 4 to move in the X-axis or Y-axis direction along with the slider;

[0071] A rope fixing box is provided at the center of the top surface of the base 301. One end of the flexible rope 2 is fixedly arranged in the rope fixing box, and the other end is connected to the latch below the power system 104.

[0072] The operation control system includes: a control unit, a plurality of blade drivers connected to the control unit, an instruction receiving module, and a power supply module;

[0073] The control unit is configured to receive control instructions from a ground control station or a flight controller through the instruction receiving module, and control the corresponding blade driver to drive the blade motor of the corresponding blade 303 to rotate at the commanded speed according to the control instructions, so as to control the moving direction and moving speed of the end operation execution mechanism 3;

[0074] The power supply module is connected to the blade motor for controlling the rotation of the blade 303 to provide rotational power for the blade 303.

[0075] As Figure 1 、 Figure 4 shown, the planar two-degree-of-freedom sliding guide mechanism 4 adjusts the position of the cable detection device 5 in real time by adjusting the relative position.

[0076] As Figure 4 shown, the planar two-degree-of-freedom sliding guide mechanism 4 is a prior art, and its essence is a two-dimensional slide table, including: a fixed platform, a first slide table, and a second slide table;

[0077] Among them, the fixed platform is rectangular and square, one side of the fixed platform is fixedly connected to 3, and the other side is fixedly connected to the base of the first slide table;

[0078] Two first guide rails are arranged in parallel on both sides of the first slide table, and a first slider is slidably arranged on the first guide rail; a lead screw parallel to the first guide rail is inserted at the center of the first slider;

[0079] One end of the lead screw of the first guide rail is rotatably connected to the stop block on the base, and the other end is connected to the first drive motor; the first drive motor is fixed on the base of the first slide table;

[0080] The two-dimensional slide table further includes: a first motor driver and a second motor driver. Among them, the first motor driver is electrically connected to the controller and the first drive motor respectively, and is used to drive the first drive motor to rotate. The second motor driver is electrically connected to the controller and the second drive motor respectively, and is used to drive the second drive motor to rotate;

[0081] The second slide table is installed above the first slide table and is fixedly connected to the first slider to move with the first slider, and the second slide table is arranged in a cross with the first slide table;

[0082] The structure of the second slide table is the same as that of the first slide table.

[0083] As Figure 1 shown, in this embodiment, the cable detection device 5 is a TCK.W-ZN wire rope flaw detector, and the cable detection device 5 in the present invention is not limited to this model;

[0084] The wire rope detection device 5 is driven by the end effector 3 to move on the cableway wire rope.

[0085] At the detection position of the wire rope detection device 5, a vision sensor is provided for detecting the position of the wire rope detection device 5.

[0086] The vision sensor is connected to the drive motor of the planar two-degree-of-freedom sliding guide mechanism 4 through the controller of the planar two-degree-of-freedom sliding guide mechanism 4, so as to obtain the compensation amount for detecting the position of the wire rope detection device 5 through the controller of the planar two-degree-of-freedom sliding guide mechanism 4, control the movement of the drive motor corresponding to the X-axis or Y-axis, and realize the real-time adjustment of the relative position between the wire rope detection device 5 and the wire rope.

[0087] Furthermore, the wire rope detection device 5 is based on electromagnetic theory and uses electromagnetic detection method for detection. The Hall element sensor is used to collect the wire rope defect signals, so as to realize the detection of various damages such as broken wires, corrosion, fatigue, wear, and deformation of the wire rope.

[0088] As Figure 1 shown, the fall protection device 6 includes: a controller, a parachute device, a wireless communication module, and a sensor assembly connected to the controller, and is arranged directly above the fuselage.

[0089] The controller communicates wirelessly with the ground control station or the flight controller through the wireless communication module. After receiving the sent protection instruction, it executes the action of opening the parachute device.

[0090] The sensor assembly includes: a speed sensor and an acceleration sensor connected to the controller, which are used to detect the speed value or acceleration value of the current rotary-wing unmanned aerial vehicle 1 and send it to the controller. When the speed value or acceleration value exceeds the set threshold, the controller controls the execution of the action of opening the parachute device.

[0091] The fall protection device 6 can autonomously detect the fall acceleration or speed of the unmanned aerial vehicle system, and then open the safety parachute device to achieve the fall protection of the unmanned aerial vehicle. At the same time, the fall protection device 6 can also receive the protection instruction sent by the ground control station or the flight controller and open the safety parachute device to achieve the fall protection of the unmanned aerial vehicle, which better plays a role in protecting the unmanned aerial vehicle system.

[0092] As Figure 1 shown, the blade protection cover 7 is composed of a ducted blade protection device and is uniformly arranged around the rotor. The blade protection cover 7 is processed by a carbon fiber integral molding process, and the overall structure form adopts a ducted structure and a streamlined outer shape.

[0093] A kind of unmanned aerial vehicle system for high-altitude cableway wire rope detection and its detection method provided by the present invention are as follows:

[0094] The rotary-wing unmanned aircraft 1 is controlled by a ground control station or a flight controller to operate and take off. The rotary-wing unmanned aircraft 1 drags the end effector 3 through a flexible rope 2 to realize the movement operation of the unmanned aircraft system along the cableway. The end effector 3 adjusts the rotation speed of each rotor according to the control instruction sent from the ground to realize the control of the moving direction and the moving detection speed of the steel cable detection device 5 driven by the end effector 3 on the cableway.

[0095] The planar two-degree-of-freedom sliding guide rail mechanism 4 equipped with a vision sensor obtains the compensation amount for detecting the position of the steel cable detection device 5 through the controller of the planar two-degree-of-freedom sliding guide rail mechanism 4, and controls the driving motor of the X-axis sliding guide rail or the Y-axis sliding guide rail of the corresponding planar two-degree-of-freedom sliding guide rail mechanism 4 to move, so as to realize the real-time adjustment of the relative position between the steel cable detection device 5 and the steel cable, and the precise adjustment of the position of the steel cable detection device 5 in real time.

[0096] The steel cable detection device 5 is driven by the end effector 3 to move on the cableway steel cable. Based on the electromagnetic theory, the electromagnetic detection method is adopted for detection. The Hall element sensor is used to collect the steel cable defect signal to realize the detection of various damages of the steel cable, including wire breakage, corrosion, fatigue, wear, deformation, etc.

[0097] The fall protection device 6 independently detects the fall acceleration or speed of the unmanned aircraft system, and then opens the safety parachute device to realize the fall protection of the unmanned aircraft. At the same time, the fall protection device 6 can also receive the protection instruction sent from the ground control station or the flight controller and open the safety parachute device to realize the fall protection of the unmanned aircraft.

[0098] The blade protection cover 7 is processed by a carbon fiber integral molding process, and the overall structure form adopts a ducted structure and a streamlined outer shape to prevent the rotor 103 or the blade 303 from being damaged by touching external obstacles.

[0099] The present invention can realize the comprehensive and continuous detection of various high-altitude cableway steel cables by the unmanned aircraft, reduce the manual workload, and reduce the high-altitude detection risk.

[0100] The above is only the implementation mode of the present invention and is not used to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, expansion, 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 detecting steel cables of an aerial ropeway, characterized in that, Comprising: A rotary-wing unmanned aerial vehicle (1) that wirelessly communicates with a ground control station or a flight controller, an end operation execution mechanism (3), a planar two-degree-of-freedom sliding guide mechanism (4), and a cable detection device (5); Wherein, the rotary-wing unmanned aerial vehicle (1) is connected to the end operation execution mechanism (3); the end operation execution mechanism (3) is fixedly arranged on the planar two-degree-of-freedom sliding guide mechanism (4); The rotary-wing unmanned aerial vehicle (1) is used to pull the end operation execution mechanism (3) to move along the cable under the control of a ground control station or a flight controller; The end operation execution mechanism (3) is used to carry the planar two-degree-of-freedom sliding guide mechanism (4), and then drive the cable detection device (5) to perform detection on the cable; The planar two-degree-of-freedom sliding guide mechanism (4) is used to adjust the position of the cable detection device (5) on the cable; The cable detection device (5) is installed below the planar two-degree-of-freedom sliding guide mechanism (4) and is used to detect whether there is damage to the cable of the high-altitude cableway; The rotary-wing unmanned aerial vehicle (1) is of a multi-rotor configuration and includes: a fuselage (101), arms (102), rotors (103), and a power system (104); A plurality of arms (102) parallel to the top surface of the fuselage (101) are evenly arranged on the outer side of the fuselage (101); the ends of the arms (102) are provided with rotors (103) that rotate in the horizontal plane; A power system (104) is suspended directly below the geometric center of the fuselage (101). The power system (104) wirelessly communicates with a ground control station or a flight controller and is respectively connected to a plurality of rotors (103) through connecting lines, and is used to provide rotational power for the rotors (103) according to instructions wirelessly communicated by a ground control station or a flight controller; A fall protection device (6) is fixedly arranged directly above the geometric center of the fuselage (101), and the fall protection device (6) wirelessly communicates with a ground control station or a flight controller and is used to protect the rotary-wing unmanned aerial vehicle (1) after it falls; A buckle is arranged below the power system (104), and the buckle is connected to the end operation execution mechanism (3) through a flexible rope (2); A vision sensor for detecting the position of the cable detection device (5) is arranged at the detection position of the cable detection device (5); The vision sensor is connected to the drive motor of the planar two-degree-of-freedom sliding guide mechanism (4) through the controller of the planar two-degree-of-freedom sliding guide mechanism (4), so as to obtain the compensation amount for detecting the position of the cable detection device (5) through the controller of the planar two-degree-of-freedom sliding guide mechanism (4), control the movement of the drive motor corresponding to the X-axis or Y-axis, and realize real-time adjustment of the relative position between the cable detection device (5) and the cable; The end operation execution mechanism (3) includes: a base (301), a connecting arm (302), a blade (303), a protective cover (304), and an operation control system; The base (301) is a rectangular base, and a plurality of connecting arms (302) are extended outward along the diagonal of the base (301); adjacent connecting arms (302) are symmetric to each other along the center line of the base; A blade (303) is rotatably provided at the end of the connecting arm (302); a circular protective cover (304) is provided circumferentially on the blade (303); the protective cover is a ducted protective cover, and the protective cover (304) is fixedly connected to the connecting arm (302); The operation control system is provided on the base (301) and is connected to a plurality of blades (303) respectively through connecting wires; The bottom surface of the base (301) is fixed on the slider of the planar two-degree-of-freedom sliding guide mechanism (4) to move along with the slider in the X-axis or Y-axis direction; A rope fixing box is provided at the center of the top surface of the base (301). One end of the flexible rope (2) is fixedly arranged in the rope fixing box, and the other end is connected to the buckle below the power system (104).

2. The drone system for detecting the steel cable of the high-altitude cableway according to claim 1, wherein, A circular blade protective cover is provided circumferentially on each of the rotors (103); The blade protective cover is a ducted blade protective cover, and the blade protective cover is fixedly connected to the arm (102) of the corresponding rotor (103); adjacent blade protective covers are connected to form an integral structure.

3. The drone system for detecting the steel cable of the high-altitude cableway according to claim 1, wherein, The fall protection device (6) includes: a controller and a parachute device, a wireless communication module and a sensor assembly connected to the controller; The controller communicates wirelessly with the ground control station or the flight controller through the wireless communication module, and is used to execute the action of opening the parachute device after receiving the sent protection instruction; The sensor assembly includes: a speed sensor and an acceleration sensor connected to the controller, which are used to detect the speed value or acceleration value of the current rotor unmanned aerial vehicle (1) and send it to the controller. When the speed value or acceleration value exceeds the set threshold, the controller controls the execution of the action of opening the parachute device.

4. The drone system for detecting the steel cable of an aerial ropeway according to claim 1, characterized in that, The fuselage (101) and the arm (102) are an integral structure made of carbon fiber material.

5. The drone system for detecting the steel cable of the high-altitude cableway according to claim 1, characterized in that, The operation control system includes: a control unit and a plurality of blade drivers, an instruction receiving module and a power supply module connected to the control unit; The control unit is used to receive the control instruction from the ground control station or the flight controller through the instruction receiving module, and control the corresponding blade driver to drive the blade motor of the corresponding blade (303) to rotate at the instruction speed according to the control instruction, so as to realize the control of the moving direction and moving speed of the end operation execution mechanism (3); The power supply module is connected to the blade motor used to control the rotation of the blade (303) to provide rotational power for the blade (303).

6. The drone system for detecting the steel cable of the high-altitude cableway according to claim 1, characterized in that, The base (301), the connecting arm (302), the blade (303) and the protective cover (304) are all made of carbon fiber material.

7. The drone system for detecting the steel cable of the high-altitude cableway according to claim 1, wherein, The steel cable detection device (5) is a steel cable flaw detector with a Hall element sensor to collect steel cable defect signals through electromagnetic detection to realize the damage detection of the steel cable.

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