Unmanned aerial vehicle system for high-altitude long-span steel cable detection and detection method thereof

Abstract

The invention relates to the technical field of high-altitude cableway detection, in particular to an unmanned aerial vehicle system for high-altitude long-span steel cable detection and a detection method of the unmanned aerial vehicle system. The system comprises a rotor unmanned aerial vehicle, a retracting and releasing device, a guiding and positioning system, an active driving system and a steel cable detection sensor, the guiding and positioning system is arranged at the front end of the bottom of the rotor unmanned aerial vehicle, and the guiding and positioning system is used for recognizing and positioning a high-altitude long-span steel cable; the retracting and releasing device is arranged under the fuselage of the unmanned rotorcraft and is used for releasing and recovering the active driving system and the steel cable detection sensor; the steel cable detection sensor is arranged on the active driving system and is used for detecting a high-altitude long-span steel cable; and the recovery active driving system is used for walking and attitude control on the high-altitude long-span steel cable. According to the invention, the unmanned aerial vehicle can detect the surface wear and internal wire breakage of the steel cable under the guidance of the guiding and positioning system, and the unmanned aerial vehicle can comprehensively and continuously detect the high-altitude unreachable areas of various high-altitude long-span steel cables.

Description

Technical Field

[0001] The present invention relates to the technical field of high-altitude ropeway detection, and in particular to an unmanned aerial vehicle system and a detection method thereof for high-altitude long-span steel cable detection. Background Art

[0002] At present, the inspection of high-altitude long-span fixed steel cables mainly relies on inspectors to carry inspection equipment and slide down the steel cables for on-site inspection. The inspection workload is large, the labor intensity is high, and the inspection level is easily affected by the level and mentality of the inspectors. At the same time, it is difficult to reach the inspection points at higher positions by manpower, resulting in the inability to achieve comprehensive inspection of high-altitude long-span steel cables, incomplete inspection data, and inability to conduct systematic data analysis, which also leads to incomplete and incomplete risk analysis of high-altitude long-span steel cables. Summary of the invention

[0003] In view of the above problems, the purpose of the present invention is to provide a drone system and a detection method for high-altitude long-span steel cables detection, which can realize the drone's comprehensive and continuous detection function of various high-altitude long-span steel cables in inaccessible areas at high altitude.

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

[0005] On the one hand, the present invention provides an unmanned aerial vehicle system for detecting high-altitude long-span steel cables, comprising a rotorcraft unmanned aerial vehicle, a retractable device, a guidance and positioning system, an active drive system and a steel cable detection sensor, wherein the guidance and positioning system is arranged at the front end of the bottom of the fuselage of the rotorcraft unmanned aerial vehicle, and the guidance and positioning system is used to identify and locate the high-altitude long-span steel cables; the retractable device is arranged directly below the fuselage of the rotorcraft unmanned aerial vehicle, and the retractable device is used to release and recover the active drive system and the steel cable detection sensor; the steel cable detection sensor is arranged on the retractable active drive system, and the steel cable detection sensor is used for detecting high-altitude long-span steel cables; the recovery active drive system is used for walking on the high-altitude long-span steel cables and posture control.

[0006] The active drive system includes an active drive system main structure, an auxiliary lift unit, a variable configuration drive unit and a traveling unit, wherein the auxiliary lift unit is arranged at the center of the active drive system main structure, and the auxiliary lift unit is used to provide lift in the vertical direction; four variable configuration drive units are respectively arranged on the front and rear and left and right sides of the active drive system main structure, and the driving end of each variable configuration drive unit is connected to a traveling unit, the variable configuration drive unit is used to adjust the angle of the traveling unit in the horizontal direction, and the traveling unit is used to walk along a high-altitude long-span steel cable and control the posture.

[0007] The auxiliary lift unit includes an auxiliary lift rotor motor, an auxiliary lift rotor motor mounting bracket and an auxiliary rotor, wherein the auxiliary lift rotor motor is installed in the central hole of the active drive system body structure through the auxiliary lift rotor motor mounting bracket, the output end of the auxiliary lift rotor motor is connected to the auxiliary rotor, and the rotation axis of the auxiliary rotor is arranged in the vertical direction.

[0008] The variable configuration drive unit includes a variable configuration rotor drive motor and a variable configuration rotor bracket, wherein the variable configuration rotor drive motor is arranged on the main structure of the active drive system, the output end of the variable configuration rotor drive motor is connected to the variable configuration rotor bracket, the variable configuration rotor bracket is used to install the traveling unit, and the variable configuration rotor drive motor drives the variable configuration rotor bracket to rotate around the vertical axis.

[0009] The traveling unit comprises an attitude control rotor blade, an attitude control rotor motor, an active traveling driving wheel and an active traveling driving motor, wherein the active traveling driving wheel is a hollow structure, the active traveling driving motor is arranged on the inner side of the active traveling driving wheel, and the output end is connected to the active traveling driving wheel, and the active traveling driving motor drives the active traveling driving wheel to rotate;

[0010] The two sides of the active driving motor are coaxially connected to the two attitude control rotor motors, and the output ends of the two attitude control rotor motors are connected to the two attitude control rotor blades respectively; the attitude control rotor motor drives the attitude control rotor blades to rotate, thereby adjusting the posture of the active driving system.

[0011] The steel cable detection sensor includes a steel cable sensor connecting frame, an opening and closing drive mechanism, an auxiliary disengagement mechanism, a steel cable surface wear detection unit and an internal broken wire detection unit, wherein the steel cable sensor connecting frame is connected to the main structure of the active drive system, the opening and closing drive mechanism is arranged on the steel cable sensor connecting frame and is connected to the internal broken wire detection unit, the opening and closing drive mechanism is used to drive the internal broken wire detection unit to open and close, and the internal broken wire detection unit is used to detect broken wire defects inside the steel cable; the auxiliary disengagement mechanism is arranged on the internal broken wire detection unit, and the auxiliary disengagement mechanism is used to drive the internal broken wire detection unit to disengage from the high-altitude long-span steel cable; the steel cable surface wear detection unit is arranged at the end of the internal broken wire detection unit, and is used for steel cable surface defect detection.

[0012] The opening and closing drive mechanism includes an automatic opening and closing drive servo and an automatic opening and closing drive gear; four automatic opening and closing drive servos are arranged on the steel cable sensor connecting frame, and the output ends of the four automatic opening and closing drive servos are respectively connected to four automatic opening and closing drive gears, two of which are meshed with each other and are respectively connected to the two sides of one end of the internal broken wire detection unit; the other two automatic opening and closing drive gears are meshed with each other and are respectively connected to the two sides of the other end of the internal broken wire detection unit.

[0013] The auxiliary disengagement mechanism includes two groups of disengagement units arranged symmetrically; the disengagement unit includes an auxiliary disengagement drive motor, an auxiliary disengagement drive bracket and a linear module, wherein the auxiliary disengagement drive motor is arranged on the outside of the internal broken wire detection unit, and the output end of the auxiliary disengagement drive motor is connected to the auxiliary disengagement drive bracket through the linear module, the auxiliary disengagement drive bracket is a semi-circular ring structure, and is located at the end of the internal broken wire detection unit, and the auxiliary disengagement drive brackets on both sides embrace the outside of the high-altitude long-span steel cable; the auxiliary disengagement drive motor drives the auxiliary disengagement drive bracket through the linear module to realize the auxiliary disengagement of the internal broken wire detection unit from the steel cable.

[0014] The front and rear sides of the main structure of the active drive system are respectively provided with guide positioning frames, and the guide positioning frames have an extended guide opening and a positioning notch for positioning the high-altitude long-span steel cable.

[0015] Another aspect of the present invention provides a detection method for the UAV system for high-altitude long-span wire rope detection as described above, wherein the rotor UAV is used as the power source for the entire process of high-altitude long-span wire rope detection by the wire rope detection sensor, and the wire rope detection sensor is moved along the wire rope by pulling the traction rope of the retracting device, and has the ability to adjust the position of the active drive system and the wire rope detection sensor in a large range;

[0016] The guidance and positioning system uses laser radar to perform three-dimensional reconstruction of the high-altitude long-span steel cable, and uses line structured light to identify and locate the high-altitude long-span steel cable, providing relative position information for the release and recovery active drive system of the retractable device and the steel cable detection sensor;

[0017] The auxiliary lift unit drives the posture of the active drive system to achieve posture control of the wire rope detection sensor and the wire rope upper line point to be detected;

[0018] The variable configuration drive unit drives the traveling units around the main structure of the active drive system to change the angles, thereby obtaining the optimal attitude rotor drive layout;

[0019] The attitude control rotor blades and attitude control rotor motor adopt a coaxial rotor drive configuration to drive the posture of the active drive system, realize the posture control of the wire rope detection sensor and the wire rope upper line point to be detected, and can differentially control the speed of the attitude control rotor motor to provide auxiliary power for the active driving wheel to move forward;

[0020] The steel cable detection sensor adopts the magnetic leakage or residual magnetic detection principle to realize the detection of broken wire defects inside the steel cable.

[0021] The advantages and beneficial effects of the present invention are:

[0022] 1. The present invention provides an unmanned aerial vehicle system for high-altitude long-span steel cable detection. The unmanned aerial vehicle drives the entire detection system to drive and pull the detection sensor, so that the detection sensor can automatically move up and down the cable and detect the entire high-altitude long-span steel cable. The whole detection system can be retracted and extended by adopting a retraction and extension device, which facilitates the fully autonomous and full-process operation of the unmanned aerial vehicle.

[0023] 2. The present invention realizes functions such as three-dimensional reconstruction of the entire steel cable and accurate identification of upper and lower cable points by adopting structured light sensors and lidar sensors.

[0024] 3. The present invention adopts a variable configuration active drive system to achieve precise control of the position of the detection sensor relative to the steel cable, thereby improving the ability of the detection sensor to automatically go up and down the cable; the variable configuration active drive system is adopted to realize automatic or remote control walking detection of the detection sensor along the steel cable, and assists the unmanned aerial vehicle to pull the detection sensor to realize the full-line detection function along the high-altitude long-span steel cable.

[0025] 4. The present invention adopts an automatic opening and closing unit drive detection sensor to realize the automatic opening and closing function; and adopts an auxiliary detachment unit drive detection sensor to realize the automatic detachment function of the steel cable. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of a UAV system for high-altitude long-span wire rope detection according to the present invention;

[0027] Figure 2 It is a structural schematic diagram of the active drive system in the present invention;

[0028] Figure 3 It is a structural schematic diagram of the traveling unit in the present invention;

[0029] Figure 4 It is a schematic diagram of the structure of the steel cable detection sensor in the present invention.

[0030] In the figure: 1 is a rotor UAV, 2 is a retractable device, 3 is a guidance and positioning system, 4 is an active drive system, 401 is a main structure of the active drive system, 402 is an auxiliary lift rotor motor, 403 is an auxiliary lift rotor motor mounting bracket, 404 is a variable configuration rotor drive motor, 405 is a variable configuration rotor bracket, 406 is an attitude control rotor blade, 407 is an attitude control rotor motor, 408 is a travel active drive wheel, 409 is a travel active drive motor, 410 is a guidance and positioning bracket, 411 is an auxiliary rotor, 5 is a steel cable detection sensor, 501 is a steel cable sensor connecting bracket, 502 is an automatic opening and closing drive servo, 503 is an automatic opening and closing drive gear, 504 is an auxiliary disengagement drive motor, 505 is an auxiliary disengagement drive bracket, 506 is a steel cable surface wear detection unit, 507 is an internal broken wire detection unit, and 508 is a linear module. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] like Figure 1 As shown, an embodiment of the present invention provides an unmanned aerial vehicle system for high-altitude long-span steel cable detection, including a rotor drone 1, a retracting device 2, a guidance and positioning system 3, an active drive system 4 and a steel cable detection sensor 5, wherein the rotor drone 1 adopts a multi-rotor configuration to provide lift for the entire detection system; the guidance and positioning system 3 is arranged at the front end of the bottom of the fuselage of the rotor drone 1, and the guidance and positioning system 3 is used to identify and locate the high-altitude long-span steel cable; the retracting device 2 is arranged directly below the fuselage of the rotor drone 1, and the retracting device 2 is used to release and recover the active drive system 4 and the steel cable detection sensor 5; the steel cable detection sensor 5 is arranged on the retracting active drive system 4, and the steel cable detection sensor 5 is used for high-altitude long-span steel cable detection, and the steel cable detection sensor 5 can be automatically opened and closed and equipped with a visual detection unit; the active drive system 4 is used for walking and posture control on the high-altitude long-span steel cable, and the recovery active drive system 4 adopts a variable mode rotor and an autonomously drivable wheel group configuration.

[0033] In the embodiment of the present invention, the rotor UAV 1 serves as the power source for the entire process of high-altitude long-span wire rope detection of the wire rope detection sensor 5. The wire rope detection sensor 5 moves along the wire rope by pulling the traction rope of the retracting and releasing device 2, and has the ability to adjust the positions of the active drive system 4 and the wire rope detection sensor 5 within a large range. Specifically, the rotor UAV 1 adopts an integrated carbon fiber fuselage structure, the power battery is built into the cabin, and the bottom of the fuselage is a flat structure, which is convenient for the installation of the retracting and releasing device 2 and the guiding and positioning system 3. The retracting and releasing device 2 adopts an electric winch to retract the rope to realize the retraction and release of the active drive system 4 and the wire rope detection sensor 5, and a force sensor is provided at the end of the retracting and releasing device, which can detect the movement and stress state of the active drive system 4 and the wire rope detection sensor 5 in real time.

[0034] Furthermore, the guidance and positioning system 3 is composed of a structured light sensor and a lidar sensor. The guidance and positioning system 3 reconstructs the high-altitude long-span steel cable in three dimensions through the lidar, identifies and locates the high-altitude long-span steel cable through line structured light, and provides relative position information for the retracting device 2 to release and recover the active drive system 4 and the steel cable detection sensor 5.

[0035] like Figure 2As shown, in the embodiment of the present invention, the active drive system 4 includes an active drive system body structure 401, an auxiliary lift unit, a variable configuration drive unit and a traveling unit, wherein the auxiliary lift unit is arranged at the center of the active drive system body structure 401, and the auxiliary lift unit is used to provide lift in the vertical direction; four variable configuration drive units are respectively arranged at the front and rear and left and right sides of the active drive system body structure 401, and the driving end of each variable configuration drive unit is connected to a traveling unit, the variable configuration drive unit is used to adjust the angle of the traveling unit in the horizontal direction, and the traveling unit is used to walk along the high-altitude long-span steel cable and control the posture.

[0036] Furthermore, guide positioning frames 410 are respectively provided on the front and rear sides of the active drive system main body structure 401. The guide positioning frames 410 have an extended guide opening and a positioning notch for positioning high-altitude long-span steel cables. The guide size can be changed according to the diameter of the steel cable to be detected, thereby realizing the guidance of the steel cable detection sensor 5 during the cable detection process.

[0037] like Figure 2 As shown, in an embodiment of the present invention, the auxiliary lift unit includes an auxiliary lift rotor motor 402, an auxiliary lift rotor motor mounting bracket 403 and an auxiliary rotor 411, wherein the auxiliary lift rotor motor 402 is installed in the central hole of the active drive system body structure 401 through the auxiliary lift rotor motor mounting bracket 403, the output end of the auxiliary lift rotor motor 402 is connected to the auxiliary rotor 411, and the rotation axis of the auxiliary rotor 411 is arranged along the vertical direction.

[0038] Specifically, the active drive system main structure 401 and the auxiliary lift rotor motor mounting bracket 403 are both made of carbon fiber structure. The auxiliary lift rotor motor 402 drives the auxiliary rotor 411 to rotate, thereby driving the posture of the active drive system 4, and realizing the posture control of the wire rope detection sensor 5 and the wire rope upper line point to be detected.

[0039] like Figure 2 As shown, in an embodiment of the present invention, the variable configuration drive unit includes a variable configuration rotor drive motor 404 and a variable configuration rotor bracket 405, wherein the variable configuration rotor drive motor 404 is arranged on the active drive system body structure 401, and the output end of the variable configuration rotor drive motor 404 is connected to the variable configuration rotor bracket 405, and the variable configuration rotor bracket 405 is used to install the travel unit. The variable configuration rotor drive motor 404 drives the variable configuration rotor bracket 405 to rotate around the vertical axis, and the optimal attitude rotor drive layout is obtained by changing the angle of the variable configuration rotor bracket 405 around the active drive system body structure 401.

[0040] like Figure 3As shown, in an embodiment of the present invention, the traveling unit includes an attitude control rotor blade 406, an attitude control rotor motor 407, an active traveling drive wheel 408 and an active traveling drive motor 409, wherein the active traveling drive wheel 408 is a hollow structure, the active traveling drive motor 409 is arranged on the inner side of the active traveling drive wheel 408, and the output end is connected to the active traveling drive wheel 408, and the active traveling drive motor 409 drives the active traveling drive wheel 408 to rotate; the two sides of the active traveling drive motor 409 are coaxially connected to the two attitude control rotor motors 407, and the output ends of the two attitude control rotor motors 407 are respectively connected to the two attitude control rotor blades 406; the attitude control rotor motor 407 drives the attitude control rotor blades 406 to rotate, thereby adjusting the posture of the active driving system 4, and realizing the posture control of the wire rope detection sensor 5 and the upper line point of the wire rope to be detected.

[0041] Furthermore, if Figure 3 As shown, the attitude control rotor blades 406 and the attitude control rotor motor 407 adopt a coaxial double-blade layout, which are symmetrically arranged on both sides of the active travel drive motor 409, and can be respectively controlled in speed, and by controlling the differential state, the counter-torque offset is achieved or it serves as an auxiliary power for the active travel drive wheel 408 to move forward. At the same time, the active travel drive motor 409 adopts a hollow outer rotor structure, and the active travel drive wheel 408 is connected to the shell of the active travel drive motor 409 through a bracket, and the active travel drive motor 409 provides the main power for the active travel drive wheel 408 to move forward.

[0042] Furthermore, the auxiliary lift rotor motor 402 arranged at the center of the active drive system main body structure 401 provides power lift, and the attitude control rotor blades 406 and the attitude control rotor motor 407 evenly distributed around the active drive system main body structure 401 provide attitude control lift, thereby realizing the position and attitude control of the active drive system 4, ensuring that the opening direction of the wire rope detection sensor 5 is consistent with the direction of the cableway during the online process of the wire rope detection sensor 5.

[0043] like Figure 4As shown, in an embodiment of the present invention, the steel cable detection sensor 5 includes a steel cable sensor connecting frame 501, an opening and closing driving mechanism, an auxiliary disengagement mechanism, a steel cable surface wear detection unit 506 and an internal broken wire detection unit 507, wherein the steel cable sensor connecting frame 501 is connected to the active drive system main body structure 401, the opening and closing driving mechanism is arranged on the steel cable sensor connecting frame 501, and is connected to the internal broken wire detection unit 507, the opening and closing driving mechanism is used to drive the internal broken wire detection unit 507 to open and close, and the internal broken wire detection unit 507 is used for internal broken wire defect detection of the steel cable; the auxiliary disengagement mechanism is arranged on the internal broken wire detection unit 507, and the auxiliary disengagement mechanism is used to drive the internal broken wire detection unit 507 to disengage from the high-altitude long-span steel cable; the steel cable surface wear detection unit 506 is arranged at the end of the internal broken wire detection unit 507, and is used for surface defect detection of the steel cable.

[0044] like Figure 4 As shown, in the embodiment of the present invention, the opening and closing driving mechanism includes an automatic opening and closing driving steering gear 502 and an automatic opening and closing driving gear 503; four automatic opening and closing driving steering gears 502 are arranged on the steel cable sensor connecting frame 501, and the output ends of the four automatic opening and closing driving steering gears 502 are respectively connected to the four automatic opening and closing driving gears 503, two of which are meshed with each other and are respectively connected to the two sides of one end of the internal broken wire detection unit 507; the other two automatic opening and closing driving gears 503 are meshed with each other and are respectively connected to the two sides of the other end of the internal broken wire detection unit 507. By controlling the automatic opening and closing driving steering gear 502 to drive the automatic opening and closing driving gear 503, the internal broken wire detection unit 507 is opened and closed automatically or remotely.

[0045] like Figure 4 As shown, in an embodiment of the present invention, the auxiliary disengagement mechanism includes two groups of disengagement units arranged symmetrically; the disengagement unit includes an auxiliary disengagement drive motor 504, an auxiliary disengagement drive bracket 505 and a linear module 508, wherein the auxiliary disengagement drive motor 504 is arranged on the outside of the internal broken wire detection unit 507, and the output end of the auxiliary disengagement drive motor 504 is connected to the auxiliary disengagement drive bracket 505 through the linear module 508, the auxiliary disengagement drive bracket 505 is a semi-circular ring structure, and is located at the end of the internal broken wire detection unit 507, and the auxiliary disengagement drive bracket 505 on both sides embrace the outside of the high-altitude long-span steel cable; the auxiliary disengagement drive motor 504 drives the auxiliary disengagement drive bracket 505 through the linear module 508, so as to realize the auxiliary disengagement of the internal broken wire detection unit 507 from the steel cable.

[0046] Preferably, two groups of detachment units are symmetrically provided at both ends of the internal broken wire detection unit 507, wherein the auxiliary detachment drive bracket 505 is made of non-metallic material and is symmetrically arranged on both sides of the internal broken wire detection unit 507, and the auxiliary detachment drive motor 504 drives the auxiliary detachment drive bracket 505 through the linear module 508 to realize the auxiliary detachment of the internal broken wire detection unit 507 of the steel cable from the steel cable, thereby reducing the attraction between the internal broken wire detection unit 507 of the steel cable and the steel cable.

[0047] Furthermore, the wire rope surface wear detection unit 506 uses a visual sensor to detect wire rope surface defects in real time, and the internal wire breakage detection unit 507 uses leakage magnetic or residual magnetic detection principles to achieve wire breakage defect detection inside the wire rope.

[0048] In this embodiment, the internal broken wire detection unit 507 is a commercially available product purchased from Luoyang Willup Testing Technology Co., Ltd., and its model is TCK.W-5G wire rope non-destructive flaw detector.

[0049] The present invention provides an unmanned aerial vehicle system for detecting high-altitude long-span steel cables. The unmanned aerial vehicle drives the entire detection system to drive and pull the detection sensor, so as to realize automatic upper and lowering of the detection sensor and full-line detection along the high-altitude long-span steel cable; the retraction and extension of the entire detection system is realized by adopting a retraction and extension device, so as to facilitate the fully autonomous and full-process operation of the unmanned aerial vehicle; the three-dimensional reconstruction of the entire steel cable and the precise identification of the upper and lower cable points are realized by adopting a structured light sensor and a laser radar sensor; the precise control of the relative position of the detection sensor to the steel cable is realized by adopting a variable configuration active drive system, so as to improve the automatic upper and lowering and lowering ability of the detection sensor; the variable configuration active drive system is adopted to realize automatic or remote control walking detection of the detection sensor along the steel cable, and the unmanned aerial vehicle is assisted in pulling the detection sensor to realize the full-line detection function along the high-altitude long-span steel cable; the automatic opening and closing unit is adopted to drive the detection sensor to realize the automatic opening and closing function; the auxiliary detachment unit is adopted to drive the detection sensor to realize the automatic detachment function of the steel cable.

[0050] like Figure 1-4 As shown, another embodiment of the present invention provides a method for detecting a high-altitude long-span steel cable, which is implemented by the UAV system for detecting a high-altitude long-span steel cable in the above embodiment. The detection method includes the following steps: the rotor UAV 1 is used as the power source for the entire process of high-altitude long-span steel cable detection of the steel cable detection sensor 5, and the steel cable detection sensor 5 is moved along the steel cable by towing the traction rope of the retracting device 2, and has the ability to adjust the position of the active drive system 4 and the steel cable detection sensor 5 within a large range;

[0051] The guidance and positioning system 3 reconstructs the high-altitude long-span steel cable in three dimensions through laser radar, identifies and locates the high-altitude long-span steel cable through line structured light, and provides relative position information for the retractable device 2 to release and recover the active drive system 4 and the steel cable detection sensor 5;

[0052] The auxiliary lift unit drives the posture of the active drive system 4 to realize the posture control of the wire rope detection sensor 5 and the upper line point of the wire rope to be detected;

[0053] The variable configuration drive unit drives the traveling units around the active drive system body structure 401 to change the angle, so as to obtain the optimal attitude rotor drive layout;

[0054] The attitude control rotor blades 406 and the attitude control rotor motor 407 adopt a coaxial rotor drive configuration to drive the posture of the active drive system 4, realize the posture control of the wire rope detection sensor 5 and the wire rope upper line point to be detected, and can also differentially control the speed of the attitude control rotor motor 407 to provide auxiliary power for the active driving wheel 408 to move forward;

[0055] The wire rope detection sensor 5 adopts the magnetic leakage or residual magnetic detection principle to realize the broken wire defect detection inside the wire rope.

[0056] The present invention provides an unmanned aerial vehicle system and a detection method for high-altitude long-span steel cable detection, which can realize the detection of steel cable surface wear and internal wire breakage by the unmanned aerial vehicle under the guidance of a guidance and positioning system, and can realize the comprehensive and continuous detection function of the unmanned aerial vehicle for various types of high-altitude long-span steel cables in high-altitude inaccessible areas.

[0057] The above description is only an embodiment of the present invention and is not intended 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. A drone system for high-altitude long-span wire rope inspection, characterized in that: The invention comprises a rotary-wing unmanned aerial vehicle (1), a retractable device (2), a guidance and positioning system (3), an active drive system (4) and a steel cable detection sensor (5), wherein the guidance and positioning system (3) is arranged at the front end of the bottom of the fuselage of the rotary-wing unmanned aerial vehicle (1), and the guidance and positioning system (3) is used to identify and locate the high-altitude long-span steel cable; the retractable device (2) is arranged directly below the fuselage of the rotary-wing unmanned aerial vehicle (1), and the retractable device (2) is used to release and retract the active drive system (4) and the steel cable detection sensor (5); the steel cable detection sensor (5) is arranged on the retractable active drive system (4), and the steel cable detection sensor (5) is used to detect the high-altitude long-span steel cable; the retractable active drive system (4) is used to walk on the high-altitude long-span steel cable and control the posture.

2. The UAV system for high-altitude long-span wire rope inspection according to claim 1 is characterized in that: The active drive system (4) comprises an active drive system main structure (401), an auxiliary lift unit, a variable configuration drive unit and a travel unit, wherein the auxiliary lift unit is arranged at the center of the active drive system main structure (401), and the auxiliary lift unit is used to provide lift in the vertical direction; four variable configuration drive units are respectively arranged at the front and rear and left and right sides of the active drive system main structure (401), and the driving end of each variable configuration drive unit is connected to a travel unit, the variable configuration drive unit is used to adjust the angle of the travel unit in the horizontal direction, and the travel unit is used to walk along a high-altitude long-span steel cable and control the posture.

3. The UAV system for high altitude long span wire rope detection according to claim 2 is characterized in that: The auxiliary lift unit comprises an auxiliary lift rotor motor (402), an auxiliary lift rotor motor mounting frame (403) and an auxiliary rotor (411), wherein the auxiliary lift rotor motor (402) is mounted in a central hole of the active drive system body structure (401) via the auxiliary lift rotor motor mounting frame (403), the output end of the auxiliary lift rotor motor (402) is connected to the auxiliary rotor (411), and the rotation axis of the auxiliary rotor (411) is arranged in a vertical direction.

4. The UAV system for high-altitude long-span wire rope inspection according to claim 2 is characterized in that: The variable configuration drive unit comprises a variable configuration rotor drive motor (404) and a variable configuration rotor bracket (405), wherein the variable configuration rotor drive motor (404) is arranged on the main structure (401) of the active drive system, the output end of the variable configuration rotor drive motor (404) is connected to the variable configuration rotor bracket (405), the variable configuration rotor bracket (405) is used to install the traveling unit, and the variable configuration rotor drive motor (404) drives the variable configuration rotor bracket (405) to rotate around a vertical axis.

5. The UAV system for high-altitude long-span wire rope inspection according to claim 2 is characterized in that: The traveling unit comprises an attitude control rotor blade (406), an attitude control rotor motor (407), an active traveling driving wheel (408) and an active traveling driving motor (409), wherein the active traveling driving wheel (408) is a hollow structure, the active traveling driving motor (409) is arranged on the inner side of the active traveling driving wheel (408), and the output end is connected to the active traveling driving wheel (408), and the active traveling driving motor (409) drives the active traveling driving wheel (408) to rotate; The two sides of the active driving motor (409) are coaxially connected to two attitude control rotor motors (407), and the output ends of the two attitude control rotor motors (407) are respectively connected to two attitude control rotor blades (406); the attitude control rotor motor (407) drives the attitude control rotor blades (406) to rotate, thereby adjusting the posture of the active driving system (4).

6. The UAV system for high-altitude long-span wire rope inspection according to claim 2 is characterized in that: The steel cable detection sensor (5) comprises a steel cable sensor connecting frame (501), an opening and closing driving mechanism, an auxiliary disengagement mechanism, a steel cable surface wear detection unit (506) and an internal broken wire detection unit (507), wherein the steel cable sensor connecting frame (501) is connected to the main structure (401) of the active drive system, the opening and closing driving mechanism is arranged on the steel cable sensor connecting frame (501) and is connected to the internal broken wire detection unit (507), the opening and closing driving mechanism is used to drive the internal broken wire detection unit (507) to open and close, and the internal broken wire detection unit (507) is used to detect broken wire defects inside the steel cable; the auxiliary disengagement mechanism is arranged on the internal broken wire detection unit (507), and the auxiliary disengagement mechanism is used to drive the internal broken wire detection unit (507) to disengage from the high-altitude long-span steel cable; the steel cable surface wear detection unit (506) is arranged at the end of the internal broken wire detection unit (507) and is used to detect surface defects of the steel cable.

7. The UAV system for high altitude long span wire rope inspection according to claim 6, characterized in that: The opening and closing drive mechanism comprises an automatic opening and closing drive servo (502) and an automatic opening and closing drive gear (503); four automatic opening and closing drive servos (502) are arranged on the steel cable sensor connecting frame (501); the output ends of the four automatic opening and closing drive servos (502) are respectively connected to four automatic opening and closing drive gears (503), two of which are meshed with each other and are respectively connected to the two sides of one end of the internal broken wire detection unit (507); the other two automatic opening and closing drive gears (503) are meshed with each other and are respectively connected to the two sides of the other end of the internal broken wire detection unit (507).

8. The UAV system for high altitude long span wire rope inspection according to claim 6, characterized in that: The auxiliary disengagement mechanism comprises two groups of disengagement units which are symmetrically arranged; the disengagement unit comprises an auxiliary disengagement drive motor (504), an auxiliary disengagement drive bracket (505) and a linear module (508), wherein the auxiliary disengagement drive motor (504) is arranged on the outside of the internal broken wire detection unit (507), and the output end of the auxiliary disengagement drive motor (504) is connected to the auxiliary disengagement drive bracket (505) through the linear module (508), the auxiliary disengagement drive bracket (505) is a semi-circular ring structure, and is located at the end of the internal broken wire detection unit (507), and the auxiliary disengagement drive brackets (505) on both sides embrace the outside of the high-altitude long-span steel cable; the auxiliary disengagement drive motor (504) drives the auxiliary disengagement drive bracket (505) through the linear module (508), so as to realize the auxiliary disengagement of the internal broken wire detection unit (507) from the steel cable.

9. The UAV system for high altitude long span wire rope inspection according to claim 2, characterized in that: The front and rear sides of the active drive system body structure (401) are respectively provided with guide positioning frames (410), and the guide positioning frames (410) have an extended guide opening and a positioning notch for positioning a high-altitude long-span steel cable.

10. A detection method for an unmanned aerial vehicle system for high-altitude long-span wire rope detection as claimed in claim 5, characterized in that: The rotor drone (1) is used as a power source for the entire process of high-altitude long-span wire rope detection by the wire rope detection sensor (5), and the wire rope detection sensor (5) is moved along the wire rope by traction of the traction rope of the retractable device (2), and the device has the ability to adjust the positions of the active drive system (4) and the wire rope detection sensor (5) within a large range; The guiding and positioning system (3) performs three-dimensional reconstruction of the high-altitude long-span steel cable through laser radar, identifies and locates the high-altitude long-span steel cable through line structured light, and provides relative position information for the release and recovery active drive system (4) and the steel cable detection sensor (5) of the retracting device (2); The auxiliary lift unit drives the posture of the active drive system (4) to achieve posture control of the wire rope detection sensor (5) and the upper line point of the wire rope to be detected; The variable configuration drive unit drives the traveling units around the active drive system body structure (401) to change the angles, thereby obtaining an optimal attitude rotor drive layout; The attitude control rotor blades (406) and the attitude control rotor motor (407) adopt a coaxial rotor drive configuration to drive the posture of the active drive system (4), realize the posture control of the wire rope detection sensor (5) and the wire rope upper line point to be detected, and can also differentially control the rotation speed of the attitude control rotor motor (407) to provide auxiliary power for the active driving wheel (408) to move forward; The steel cable detection sensor (5) adopts the magnetic leakage or residual magnetic detection principle to realize the detection of broken wire defects inside the steel cable.

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