Ray detection device for aerial cableway based on unmanned aerial vehicle

Abstract

The invention belongs to the technical field of aerial cableway detection equipment, and particularly relates to a ray detection device for an aerial cableway based on an unmanned aerial vehicle. Comprising an unmanned aerial vehicle body, an unmanned aerial vehicle control terminal, a cold cathode X-ray detection host, a cold cathode X-ray emission module, a cold cathode X-ray detection module, a first wireless signal transceiver module and a second wireless signal transceiver module, the bottom end of the unmanned aerial vehicle body is fixedly connected with a mounting bracket, and the bottom end of the mounting bracket is fixedly connected with a horizontal moving mechanism. According to the high-altitude ropeway nondestructive testing system, efficient, stable and high-precision nondestructive testing of the high-altitude ropeway is completed through full-process cooperative work of airborne end accurate in-position, high-altitude ropeway rigid limiting, autonomous moving scanning, synchronous cleaning protection, real-time imaging detection, airflow interference protection and data wireless return, and the high-altitude ropeway nondestructive testing system is adaptive to outdoor high-altitude complex working environments; the core problems of tedious operation, weak anti-interference capability, poor imaging stability, incomplete detection coverage and the like in the prior art are solved.

Description

Technical Field

[0001] This invention belongs to the technical field of high-altitude cableway inspection equipment, and in particular relates to a radiographic inspection device for high-altitude cableways based on unmanned aerial vehicles. Background Technology

[0002] As a special transportation equipment operating along overhead lines, aerial ropeways share the same characteristics as large-scale amusement rides, including overhead operation, high load capacity, and high frequency of service. Their operational safety is directly related to the personal and property safety of passengers; accidents can easily cause serious casualties and severe social impact. Currently, the number of aerial ropeway-type special equipment in China continues to grow, with consistently high annual operating frequency. Most aerial ropeways in use have been in service for a long time, and their core components, such as support structures, load-bearing parts, and critical welds, are prone to varying degrees of performance degradation and internal damage.

[0003] Traditional high-altitude cableway inspection relies on manual climbing or the construction of high-altitude work platforms, which presents problems such as high operational safety risks, low inspection efficiency, and incomplete coverage. Conventional visual inspections also cannot identify hidden defects inside components. Using drones equipped with cold cathode X-ray inspection equipment for high-altitude inspection eliminates the need for work platforms, allowing direct access to large-span, hidden inspection points of the cableway at high altitudes. This avoids the risks of manual high-altitude operations, significantly improving inspection efficiency and coverage. At the same time, the lightweight and easy-to-equip cold cathode X-ray inspection equipment can perform non-destructive testing of core components at high altitudes, accurately identifying hidden defects such as internal cracks and material degradation. This provides precise and quantitative scientific data for the safety assessment of high-altitude cableways, effectively compensating for the shortcomings of existing inspection technologies.

[0004] In practical engineering operations using drones equipped with cold cathode X-ray inspection equipment to inspect high-altitude cableways, existing technical solutions have significant shortcomings and cannot meet the application requirements for efficient, stable, and high-precision inspection of high-altitude cableways. On the one hand, the flight control operation of drones is quite difficult. Especially when drones carry inspection equipment to carry out continuous scanning and inspection along the axis of the high-altitude cableway, operators need to manually and finely adjust the drone's flight attitude, flight trajectory and hovering position throughout the process. The operation process is cumbersome and the workload of personnel is heavy, which seriously restricts the convenience and overall inspection efficiency of the high-altitude cableway inspection operation. On the other hand, high-altitude cableway inspection operations are mostly conducted in open high-altitude environments, making them highly susceptible to interference from external factors such as ambient airflow and sudden gusts. This can easily cause drones to become unstable in flight attitude and exhibit irregular shifts in hovering position. Consequently, the onboard cold cathode X-ray inspection equipment may experience synchronous shaking and positional shifts, making it impossible to guarantee the relative positional accuracy between the inspection equipment and the inspected parts of the high-altitude cableway. This severely affects the imaging stability and data accuracy of X-ray inspections. In extreme cases, the inspected area may even be missed, making it impossible to achieve full coverage inspection of key stress-bearing parts of the high-altitude cableway. Ultimately, this weakens the overall effectiveness of high-altitude cableway safety inspections and reduces the reliability of the inspection results.

[0005] To address this issue, we propose a UAV-based X-ray inspection device for high-altitude cableways. Summary of the Invention

[0006] The purpose of this invention is to address the above-mentioned problems by providing a radiographic inspection device for high-altitude cableways based on unmanned aerial vehicles (UAVs).

[0007] To achieve the above objectives, the present invention adopts the following technical solution: a high-altitude cableway X-ray detection device based on a drone, comprising a drone body, a drone control terminal, a cold cathode X-ray detection host, a cold cathode X-ray emitting module, a cold cathode X-ray detection module, a first wireless signal transceiver module and a second wireless signal transceiver module, wherein a mounting bracket is fixedly connected to the bottom end of the drone body, and a horizontal moving mechanism is fixedly connected to the bottom end of the mounting bracket. An attitude stabilization mechanism is fixedly connected to the lower surface of the mounting bracket; The bottom end of the attitude stabilization mechanism is fixedly connected to a mounting plate, the top ends of the cold cathode X-ray emitting module and the cold cathode X-ray detection module are fixedly connected to the lower surface of the mounting plate, the upper surface of the first wireless signal transceiver module is fixedly connected to the upper surface of the mounting plate, and a micro PLC controller is fixedly connected to the upper surface of the mounting plate. Two symmetrically distributed limiting mechanisms are fixedly connected to the lower surface of the mounting plate; The UAV control terminal and the outer wall of the cold cathode X-ray detection host are both equipped with a protective mechanism.

[0008] In the aforementioned X-ray inspection device for high-altitude cableways based on unmanned aerial vehicles, the horizontal movement mechanism includes a miniature air pump fixedly connected to the lower surface of a mounting bracket. A flexible hose is fixedly connected to the outlet end of the miniature air pump, and a U-shaped metal tube is fixedly connected to the outlet end of the flexible hose. The outer wall of the U-shaped metal tube is fixedly connected to the upper surface of a mounting plate. Both outlet ends of the U-shaped metal tube are fixedly connected to C-shaped hollow cylinders. Air jet oblique holes are opened on the rear sides of both C-shaped hollow cylinders. A fixed through-hole is opened at the top of one of the C-shaped hollow cylinders, and a temperature sensor is fixedly connected to the wall of the fixed through-hole. An installation through-hole is opened on the outer wall of the U-shaped metal tube near the temperature sensor, and an electric heating tube is fixedly connected to the wall of the installation through-hole. Multiple metal mesh sheets are fixedly sleeved on the heating end wall of the electric heating tube. Two auxiliary mechanisms are fixedly connected to the inner walls of both C-shaped hollow cylinders.

[0009] In the aforementioned X-ray inspection device for high-altitude cableways based on unmanned aerial vehicles, the auxiliary mechanism includes two crossbars fixedly connected to the inner wall of a C-shaped hollow cylinder. A rolling bearing is fixedly sleeved on the wall of each crossbar, and a cableway positioning concave wheel is fixedly sleeved on the outer wall of the outer ring of the rolling bearing. The bottom ends of the two cableway positioning concave wheels are both located on the central axis of the C-shaped hollow cylinder, and the jetting directions of the plurality of jetting oblique holes are all aligned with the central axis of the C-shaped hollow cylinder.

[0010] In the aforementioned X-ray inspection device for high-altitude cableways based on unmanned aerial vehicles, the attitude stabilization mechanism includes four T-shaped rods fixedly connected to the lower surface of the mounting bracket. An outer cylinder is movably sleeved on the wall of each T-shaped rod, and the bottom end of the outer cylinder is fixedly connected to the upper surface of the mounting plate. A low-stiffness buffer spring is sleeved on the wall of each T-shaped rod, and the two ends of the low-stiffness buffer spring are fixedly connected to the inner wall of the top end of the outer cylinder and the outer wall of the bottom end of the T-shaped rod, respectively.

[0011] In the aforementioned X-ray inspection device for aerial cableways based on unmanned aerial vehicles, the limiting mechanism includes a U-shaped plate fixedly connected to the lower surface of the mounting plate. The outer walls of the two vertical parts of the U-shaped plate are provided with fixing holes, and electric push rods are fixedly connected to the walls of the fixing holes. A U-shaped block is fixedly connected to the moving end of the electric push rod. Through holes are provided on the upper and lower surfaces of the U-shaped block, and connecting bearings are fixedly connected to the walls of the through holes. Limiting concave wheels are fixedly connected to the inner walls of the two connecting bearings. A wire brush is fixedly connected to the side of the U-shaped block near the C-shaped hollow cylinder by bolts.

[0012] In the above-mentioned X-ray inspection device for high-altitude cableways based on UAVs, the protective mechanism includes a protective placement plate that contacts the outer wall of the UAV control terminal and the cold cathode X-ray inspection host. A protective carrying case is fixedly connected to the edge side wall of the protective placement plate. A rectangular through hole is opened on the side wall of the protective carrying case, and the wall of the rectangular through hole is fixedly connected to the outer wall of the second wireless signal transceiver module.

[0013] In the above-mentioned X-ray inspection device for high-altitude cableways based on unmanned aerial vehicles, a fixed through hole is provided on the upper surface of the protective placement plate, and a control panel is fixedly connected to the wall of the fixed through hole. A storage battery is fixedly connected inside the protective carrying case, and a maintenance through hole that cooperates with the storage battery is provided on the upper surface of the protective placement plate.

[0014] In the aforementioned X-ray inspection device for high-altitude cableways based on unmanned aerial vehicles, two symmetrically distributed weight-reducing through holes are provided on the lower surface of the mounting bracket.

[0015] Compared with existing technologies, the advantages of a drone-based X-ray inspection device for high-altitude cableways are: 1. By setting a limiting mechanism, in conjunction with an auxiliary mechanism and a C-shaped hollow cylinder, the core problem of existing technologies for high-altitude cableway cold cathode X-ray detection positioning reference relying on the flight trajectory of the UAV, and the UAV flight control deviation easily leading to inaccurate detection position and imaging misalignment, is solved. This achieves the effect of forming radial multi-dimensional limiting constraints on the high-altitude cableway, transferring the detection positioning reference from the UAV body to the high-altitude cableway itself, accurately locking the relative positions of the cold cathode X-ray emitting module, the cold cathode X-ray detection module and the cableway to be inspected, ensuring that the detection module and the to be inspected part are always accurately aligned, laying the foundation for subsequent stable imaging. At the same time, the wire brush can be positioned synchronously with the limiting action to complete the adhesion of the cleaning component to the outer wall of the high-altitude cableway, without affecting the rolling movement of the detection mechanism along the cableway axis.

[0016] 2. By setting up a horizontal moving mechanism, in conjunction with the cableway positioning concave wheel and limiting concave wheel, the problem of the existing technology requiring drones to fly along the entire cableway and manual precision control for high-altitude cableway inspection is solved. This process is cumbersome, the workload of personnel is heavy, and intermittent fixed-point inspection is prone to blind spots and incomplete coverage. The new technology achieves the effect of providing independent axial movement power for the cold cathode X-ray inspection equipment. By using the jet recoil force of the airflow to propel the inspection mechanism along the cableway axis, the drone only needs to maintain a basic hovering posture, thereby driving the drone body to move forward synchronously. This greatly reduces the difficulty of operation and the workload, realizes continuous and uninterrupted rolling inspection, avoids blind spots, completes full coverage inspection of key stress parts of the cableway, and significantly improves inspection efficiency.

[0017] 3. By incorporating an electric heating element, metal mesh, and temperature sensor, along with the jet nozzles of the horizontal moving mechanism and the wire brushes of the limiting mechanism, the problem of oil stains and impurities adhering to the surface of the high-altitude cableway easily interfering with X-ray imaging is solved. This achieves the effect of integrated synchronous operation of moving drive, heating and softening, and cleaning and blowing. It can precisely control the temperature of the airflow to soften stubborn deposits on the cableway surface, and use the wire brushes to complete physical cleaning. At the same time, the directional airflow blows away floating dust and fallen impurities, effectively eliminating the interference of surface impurities on imaging, and significantly improving the clarity of the detection imaging and the accuracy of internal defect identification.

[0018] 4. By incorporating an attitude stabilization mechanism, along with limiting and auxiliary mechanisms, the system effectively addresses the problem of drone attitude instability and irregular fluctuations caused by sudden gusts and environmental airflow interference in high-altitude open environments. This in turn causes synchronous shaking and displacement of the detection equipment, resulting in blurred images and inaccurate data. The system achieves a flexible isolation effect against drone fluctuations. In the horizontal direction, the limiting concave wheel and the cableway positioning concave wheel form a strong and rigid lateral limiting constraint, preventing the core detection mechanism from horizontally deflecting or shifting with the drone. In the vertical direction, the combination of the T-shaped rod, outer cylinder, and low-stiffness buffer spring absorbs and cancels the impact force and displacement generated by the vertical fluctuations of the drone, achieving flexible vibration isolation between the drone body and the mounting plate. This effectively cuts off the transmission path of drone fluctuations to the core detection components, ensuring the relative positional accuracy of the detection module and the cableway inspection area throughout the process, and significantly improving the imaging stability and detection data accuracy of X-ray detection. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of a high-altitude cableway X-ray inspection device based on an unmanned aerial vehicle (UAV) provided by the present invention. Figure 2 yes Figure 1 A three-dimensional structural diagram of the intermediate-cold cathode X-ray emission module and the cold cathode X-ray detection module; Figure 3 This is a partial three-dimensional structural diagram of the auxiliary mechanism in a high-altitude cableway X-ray inspection device based on an unmanned aerial vehicle (UAV) provided by the present invention. Figure 4 This is a partial three-dimensional structural diagram of the electric heating tube in a high-altitude cableway X-ray inspection device based on an unmanned aerial vehicle (UAV) provided by the present invention. Figure 5 This is a partial three-dimensional structural diagram of a micro air pump in a high-altitude cableway X-ray inspection device based on an unmanned aerial vehicle (UAV) provided by the present invention. Figure 6 This is a cross-sectional schematic diagram of the attitude stabilization mechanism in a high-altitude cableway X-ray inspection device based on an unmanned aerial vehicle (UAV) provided by the present invention. Figure 7This is a side view of the limiting mechanism in a high-altitude cableway X-ray inspection device based on an unmanned aerial vehicle (UAV) provided by the present invention. Figure 8 This is a partial three-dimensional structural diagram of the limiting mechanism in a high-altitude cableway X-ray inspection device based on an unmanned aerial vehicle (UAV) provided by the present invention. Figure 9 This is a three-dimensional structural diagram of the mounting bracket portion in a high-altitude cableway X-ray inspection device based on an unmanned aerial vehicle (UAV) provided by the present invention.

[0020] In the diagram: 1. UAV body; 2. UAV control terminal; 3. Cold cathode X-ray inspection host; 4. Cold cathode X-ray emission module; 5. Horizontal movement mechanism; 51. Miniature air pump; 52. Hose; 53. U-shaped metal tube; 54. C-shaped hollow cylinder; 55. Air jet oblique hole; 56. Temperature sensor; 57. Electric heating tube; 58. Metal mesh; 6. Auxiliary mechanism; 61. Crossbar; 62. Rolling bearing; 63. Cableway positioning concave wheel; 7. Attitude stabilization mechanism; 71. T-shaped rod; 72. Outer cylinder; 73. Low stiffness. 8. Buffer spring, 8. Limiting mechanism, 81. U-shaped plate, 82. Electric push rod, 83. U-shaped block, 84. Connecting bearing, 85. Limiting concave wheel, 86. Steel wire brush, 9. Protective mechanism, 91. Protective placement plate, 92. Protective carrying case, 10. Cold cathode X-ray detection module, 11. First wireless signal transceiver module, 12. Second wireless signal transceiver module, 13. Mounting plate, 14. Micro PLC controller, 15. Mounting bracket, 16. Control panel, 17. Battery, 18. Weight reduction through hole. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] like Figures 1-9As shown, a high-altitude cableway X-ray inspection device based on a drone includes a drone body 1, a drone control terminal 2, a cold cathode X-ray inspection host 3, a cold cathode X-ray emission module 4, a cold cathode X-ray detection module 10, a first wireless signal transceiver module 11, and a second wireless signal transceiver module 12. A mounting bracket 15 is fixedly connected to the bottom of the drone body 1. A horizontal moving mechanism 5 is fixedly connected to the bottom of the mounting bracket 15. The horizontal moving mechanism 5 includes a miniature air pump 51 fixedly connected to the lower surface of the mounting bracket 15. A hose 52 is fixedly connected to the air outlet of the miniature air pump 51. A U-shaped metal tube 53 is fixedly connected to the air outlet of the hose 52. The outer wall of the U-shaped metal tube 53 is fixedly connected to the upper surface of the mounting plate 13. Both air outlets of the U-shaped metal tube 53 are fixedly connected to C-shaped hollow cylinders 54. The rear sides of both C-shaped hollow cylinders 54 are... The system includes jet inlet 55, a fixed through hole at the top of one of the C-shaped hollow cylinders 54, and a temperature sensor 56 fixedly connected to the wall of the fixed through hole. A mounting through hole is provided on the outer wall of the U-shaped metal tube 53 near the temperature sensor 56, and an electric heating tube 57 is fixedly connected to the wall of the mounting through hole. Multiple metal meshes 58 are fixedly sleeved on the heating end of the electric heating tube 57. Two auxiliary mechanisms 6 are fixedly connected to the inner walls of both C-shaped hollow cylinders 54. The auxiliary mechanism 6 includes two crossbars 61 fixedly connected to the inner walls of the C-shaped hollow cylinders 54. Rolling bearings 62 are fixedly sleeved on the walls of the crossbars 61. Cable positioning concave wheels 63 are fixedly sleeved on the outer walls of the outer rings of the rolling bearings 62. The bottom ends of the two cable positioning concave wheels 63 are located on the central axis of the C-shaped hollow cylinder 54. The jet direction of the multiple jet inlet 55 is aligned with the central axis of the C-shaped hollow cylinder 54.

[0023] A posture stabilization mechanism 7 is fixedly connected to the lower surface of the mounting bracket 15. The posture stabilization mechanism 7 includes four T-shaped rods 71 ​​fixedly connected to the lower surface of the mounting bracket 15. An outer cylinder 72 is movably sleeved on the rod wall of the T-shaped rod 71. The bottom end of the outer cylinder 72 is fixedly connected to the upper surface of the mounting plate 13. A low-stiffness buffer spring 73 is sleeved on the rod wall of the T-shaped rod 71. The two ends of the low-stiffness buffer spring 73 are fixedly connected to the inner wall of the top end of the outer cylinder 72 and the outer wall of the bottom end of the T-shaped rod 71, respectively.

[0024] The bottom of the attitude stabilization mechanism 7 is fixedly connected to a mounting plate 13. The tops of the cold cathode X-ray emitting module 4 and the cold cathode X-ray detection module 10 are both fixedly connected to the lower surface of the mounting plate 13. The upper surface of the first wireless signal transceiver module 11 is fixedly connected to the upper surface of the mounting plate 13. A micro PLC controller 14 is fixedly connected to the upper surface of the mounting plate 13. Two symmetrically distributed limiting mechanisms 8 are fixedly connected to the lower surface of the mounting plate 13. The limiting mechanism 8 includes a U-shaped plate 81 fixedly connected to the lower surface of the mounting plate 13, and two vertical parts of the U-shaped plate 81. The outer wall of the device is provided with fixing holes, and electric push rods 82 are fixedly connected to the wall of the fixing holes. U-shaped blocks 83 are fixedly connected to the moving end of the electric push rods 82. Through holes are provided on the upper and lower surfaces of the U-shaped blocks 83, and connecting bearings 84 are fixedly connected to the wall of the through holes. Limiting concave wheels 85 are fixedly connected to the inner walls of the two connecting bearings 84. A wire brush 86 is fixedly connected to the side of the U-shaped block 83 near the C-shaped hollow cylinder 54 by bolts. The wire brush 86 connected by bolts is easy to replace, so that the device has continuous and reliable cleaning performance.

[0025] The outer walls of the UAV control terminal 2 and the cold cathode X-ray detection host 3 are jointly provided with a protective mechanism 9. The protective mechanism 9 includes a protective placement plate 91 that contacts the outer walls of the UAV control terminal 2 and the cold cathode X-ray detection host 3. A protective carrying case 92 is fixedly connected to the edge side wall of the protective placement plate 91. A rectangular through hole is opened on the side wall of the protective carrying case 92, and the wall of the rectangular through hole is fixedly connected to the outer wall of the second wireless signal transceiver module 12. This mechanism can improve the portability and protection of the cold cathode X-ray detection host 3 and the UAV control terminal 2.

[0026] The upper surface of the protective placement plate 91 is provided with a fixing through hole, and the control panel 16 is fixedly connected to the hole wall. The inside of the protective carrying case 92 is fixedly connected with a storage battery 17. The upper surface of the protective placement plate 91 is provided with a maintenance through hole that cooperates with the storage battery 17. The lower surface of the mounting bracket 15 is provided with two symmetrically distributed weight-reduction through holes 18.

[0027] The miniature air pump 51, electric heating element 57, and electric push rod 82 are all electrically connected to the output terminal of the miniature PLC controller 14 via wires. The temperature sensor 56 is electrically connected to the input terminal of the miniature PLC controller 14 via wires. The power supply of the UAV body 1 provides power to the miniature air pump 51, electric heating element 57, electric push rod 82, and miniature PLC controller 14. The above-mentioned electrical equipment and electrical connections are all existing technologies and will not be described in detail here.

[0028] The operating principle of the present invention is described as follows: When the high-altitude cableway of the amusement facility needs to be inspected, the protective carrying case 92 is opened first, and the drone control terminal 2 is taken out from the protective placement plate 91. The protective carrying case 92 can provide comprehensive physical protection for the core equipment on the ground end, avoiding damage from bumps, dust and rain during outdoor operations. At the same time, the cold cathode X-ray inspection host 3 is wirelessly connected to the cold cathode X-ray emission module 4 and the cold cathode X-ray detection module 10 through the second wireless signal transceiver module 12 and the first wireless signal transceiver module 11. The cold cathode X-ray inspection host 3 and the second wireless signal transceiver module 12 are powered by the battery 17. The first wireless signal transceiver module 11, the cold cathode X-ray emission module 4 and the cold cathode X-ray detection module 10 are powered by the power supply of the drone body 1. After the staff completes the equipment power-on self-test, the detection parameters are preset through the control panel 16 to prepare for subsequent inspection operations. After preparation, the staff started the drone body 1 through the drone control terminal 2. The drone body 1, through the mounting bracket 15 fixed at the bottom, simultaneously carried the attitude stabilization mechanism 7, the mounting plate 13, and the cold cathode X-ray emission module 4, the cold cathode X-ray detection module 10, the first wireless signal transceiver module 11, the micro PLC controller 14, the horizontal movement mechanism 5, and the limit mechanism 8 fixed on the mounting plate 13. They flew together to the area of ​​the high-altitude cableway to be inspected. The staff used the drone control terminal 2 to fine-tune the spatial position of the drone body 1, so that the high-altitude cableway to be inspected was accurately placed in the cold cathode X-ray emission module. Within the detection gap between block 4 and the cold cathode X-ray detection module 10, two C-shaped hollow cylinders 54 are simultaneously fitted onto the outer periphery of the high-altitude cableway. The cableway positioning concave wheel 63 of the auxiliary mechanism 6 is in close contact with the outer wall of the high-altitude cableway, completing the positioning preparation before detection. During this process, the cableway positioning concave wheel 63 can rotate freely on the crossbar 61 through the rolling bearing 62, which not only realizes the pre-positioning of the X-ray detection device and the high-altitude cableway, but also provides a precise reference for the subsequent limiting mechanism 8 to limit and lock the high-altitude cableway. The weight reduction through hole 18 opened on the mounting bracket 15 can effectively reduce the overall weight of the airborne end and improve the endurance and load stability of the UAV body 1. Once in place, the staff sends a limit control command via the control panel 16. The command is transmitted in real time to the micro PLC controller 14 via the second wireless signal transceiver module 12 and the first wireless signal transceiver module 11. The micro PLC controller 14 synchronously controls the electric push rods 82 of the two sets of limit mechanisms 8 to start. The moving ends of the electric push rods 82 extend synchronously, pushing the U-shaped block 83 towards the direction of the aerial cableway until the symmetrically arranged limit concave wheels 85 on both sides are respectively attached to the outer walls of the two sides of the aerial cableway, stably limiting the aerial cableway between the two limit concave wheels 85. Through the cooperation of the limit concave wheels 85 on both sides and the cableway positioning concave wheels 63 of the auxiliary mechanism 6, a radial multi-dimensional limit constraint is formed on the aerial cableway, thereby limiting the cold cathode X-ray emission module 4 and the cold cathode X-ray detection module 10. The relative position of the aerial cableway to be inspected is completely positioned. This step solves the core defect of the existing technology that the positioning benchmark for aerial cableway inspection relies on the flight trajectory of the UAV. The positioning benchmark is transferred from the UAV body 1 to the aerial cableway itself, which effectively avoids the problem of inaccurate detection position caused by the flight control deviation of the UAV body 1. It ensures that the cold cathode X-ray emission module 4 and the cold cathode X-ray detection module 10 are always accurately aligned with the aerial cableway to be inspected, laying the foundation for subsequent stable imaging. At the same time, the limiting concave wheel 85 can rotate freely through the connecting bearing 84, which will not affect the subsequent rolling movement of the inspection mechanism along the axial direction of the aerial cableway. The steel wire brush 86 on the U-shaped block 83 is in place synchronously with the limiting action, closely adhering to the outer wall of the aerial cableway, preparing for the subsequent cleaning of the aerial cableway surface.

[0029] After the limit lock is completed, the micro PLC controller 14 synchronously starts the horizontal moving mechanism 5 and the cold cathode X-ray detection equipment. The micro air pump 51 of the horizontal moving mechanism 5 works to generate compressed air. The air is delivered to the U-shaped metal tube 53 through the hose 52, and then split into two C-shaped hollow cylinders 54. Finally, it is directionally sprayed backward through the jet nozzles 55 on the rear side of the C-shaped hollow cylinders 54. Using the recoil force generated by the air jet, the mounting plate 13 carrying the cold cathode X-ray detection component moves forward along the high-altitude cableway axis through the cableway positioning concave wheel 63 and the limiting concave wheel 85, thereby driving the UAV body 1 forward synchronously. This step solves the problem in existing technologies where high-altitude cableway inspection requires drones to fly along the entire cableway and be manually controlled precisely. The continuous scanning power along the cableway is entirely provided by the horizontal movement mechanism 5. The drone body 1 only needs to maintain a basic hovering attitude and maintain the working altitude. There is no need for operators to manually adjust the flight trajectory and attitude throughout the process, which greatly reduces the difficulty of operation and workload for operators and significantly improves the inspection efficiency. At the same time, the continuous rolling scanning is uninterrupted and without intervals, avoiding the scanning blind spot problem of intermittent fixed-point inspection, and realizing full coverage inspection of key stress parts of the high-altitude cableway.

[0030] During the movement of the inspection mechanism, the micro PLC controller 14 can synchronously activate the electric heating tube 57 according to the surface contamination of the aerial cableway. The electric heating tube 57, together with multiple metal meshes 58 attached to the outer wall, uniformly heats the airflow inside the U-shaped metal tube 53 near the temperature sensor 56. The temperature sensor 56 can monitor the airflow temperature in real time and convert the detected temperature value into an electrical signal, which is then fed back to the micro PLC controller 14. If the temperature value detected by the temperature sensor 56 is lower than the preset temperature threshold of the micro PLC controller 14, the micro PLC controller 14 needs to adjust the heating power of the electric heating tube 57 in a timely manner until the airflow temperature detected by the temperature sensor 56 reaches the standard, and the heated airflow is then transported. The material is delivered to the jet nozzle 55 and sprayed directionally onto the outer wall of the aerial cableway. This heats and softens the thick oil stains and stubborn deposits adhering to the surface of the aerial cableway. Simultaneously, a steel wire brush 86, which moves synchronously with the detection mechanism, physically cleans the softened impurities. The jet direction of the jet nozzle 55 is aligned with the central axis of the C-shaped hollow cylinder 54, allowing for the simultaneous blowing away of floating dust and detached impurities after cleaning. This solves the problem of interference from surface impurities on the aerial cableway to X-ray imaging, significantly improving the clarity of the detection image and the accuracy of internal defect identification. It achieves integrated synchronous operation of mobile drive, heating and softening, and cleaning and blowing, eliminating the need for additional cleaning mechanisms. This simplifies the structure of the airborne device, reduces the payload weight, and further adapts to the payload requirements of UAVs.

[0031] While the inspection agency scans along the aerial cableway, the micro PLC controller 14 controls the cold cathode X-ray emitting module 4 to continuously emit X-rays. When the X-rays penetrate the inspected part of the aerial cableway, defects such as broken wires, corrosion, cracks, and internal damage inside the cableway will cause differences in X-ray attenuation. The X-rays after penetrating the aerial cableway are captured in real time by the cold cathode X-ray detection module 10. The cold cathode X-ray detection module 10 converts the X-ray photon signal into a digital image signal. The digital image signal is wirelessly transmitted in real time to the second wireless signal transceiver module 12 at the ground end via the first wireless signal transceiver module 11, and finally transmitted to the cold cathode X-ray detection host 3 to complete real-time imaging, detection data storage, and visualization of detection results. This enables accurate and non-destructive detection of hidden defects inside the aerial cableway, providing accurate and quantitative scientific data for the safety assessment of the aerial cableway. Moreover, the cold cathode X-ray emitting module 4 and the cold cathode X-ray detection module 10 operate at high altitudes, far away from operators, effectively avoiding radiation damage to personnel.

[0032] The inspection operation is mostly carried out in a high-altitude open environment. When sudden gusts of wind or environmental airflow interference cause the UAV body 1 to become unstable and fluctuate irregularly, this device effectively cuts off the transmission path of the UAV fluctuation to the core inspection component through the coordinated cooperation of the attitude stabilization mechanism 7 and the limiting mechanism 8, ensuring the stability of the inspection throughout the process. When the UAV body 1 deflects horizontally or shifts laterally, the limiting concave wheel 85 of the limiting mechanism 8 and the cableway positioning concave wheel 63 of the auxiliary mechanism 6 engage together on the high-altitude cableway to form a strong rigid lateral limiting constraint, so that the core inspection component always moves along the axis of the high-altitude cableway and will not deflect horizontally or shift in position with the UAV. This ensures that the cold cathode X-ray emission module 4 and the cold cathode X-ray detection module 10 are always accurately aligned with the part to be inspected on the high-altitude cableway, and there will be no problem of missed inspection area or image misalignment. When the UAV body 1 experiences vertical up-and-down fluctuations or altitude shifts, the T-shaped rod 71 of the attitude stabilization mechanism 7 moves synchronously with the UAV body 1. The T-shaped rod 71 slides relative to the outer cylinder 72. Simultaneously, the elastic deformation of the low-stiffness buffer spring 73 absorbs and offsets the impact force and displacement generated by the UAV fluctuations, achieving flexible vibration isolation between the UAV body 1 and the mounting plate 13. In the horizontal direction, the limit constraint cuts off the transmission path of the attitude fluctuations of the UAV body 1 to the cold cathode X-ray detection component of the device, and prevents the cold cathode X-ray emission module 4 and the cold cathode X-ray detection module 10 from experiencing positional jitter. This ensures the relative positional accuracy between the detection module and the part to be inspected on the high-altitude cableway, solving the current problem of UAV jitter directly causing synchronous shifts in the detection equipment, blurred imaging, and inaccurate data. This significantly improves the imaging stability and accuracy of the detection data in X-ray detection.

[0033] After the entire area of ​​the aerial cableway to be inspected is scanned, the micro PLC controller 14 sequentially shuts down the cold cathode X-ray emission module 4 and the horizontal movement mechanism 5, and synchronously controls the electric push rod 82 to retract and reset, releasing the limiting constraints on the aerial cableway. The staff then controls the drone body 1 to fly away from the aerial cableway through the drone control terminal 2, safely return to the ground, and shut down the entire set of equipment to complete the aerial cableway inspection operation. The device in this embodiment completes the efficient, stable, and high-precision non-destructive testing of the aerial cableway through the entire process of precise positioning of the airborne end, rigid limiting of the aerial cableway, autonomous mobile scanning, synchronous cleaning and protection, real-time imaging detection, airflow interference protection, and wireless data transmission. It is suitable for complex outdoor high-altitude working environments and solves the core problems of existing technologies such as cumbersome operation, weak anti-interference ability, poor imaging stability, and incomplete detection coverage.

[0034] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A high-altitude cableway X-ray inspection device based on an unmanned aerial vehicle (UAV), comprising an UAV body (1), a UAV control terminal (2), a cold cathode X-ray inspection host (3), a cold cathode X-ray emission module (4), a cold cathode X-ray detection module (10), a first wireless signal transceiver module (11), and a second wireless signal transceiver module (12), characterized in that, The bottom end of the UAV body (1) is fixedly connected to a mounting bracket (15), and the bottom end of the mounting bracket (15) is fixedly connected to a horizontal moving mechanism (5). The lower surface of the mounting bracket (15) is fixedly connected to an attitude stabilization mechanism (7). The bottom end of the attitude stabilization mechanism (7) is fixedly connected to the mounting plate (13), the top ends of the cold cathode X-ray emitting module (4) and the cold cathode X-ray detection module (10) are fixedly connected to the lower surface of the mounting plate (13), the upper surface of the first wireless signal transceiver module (11) is fixedly connected to the upper surface of the mounting plate (13), and a micro PLC controller (14) is fixedly connected to the upper surface of the mounting plate (13). The lower surface of the mounting plate (13) is fixedly connected to two symmetrically distributed limiting mechanisms (8); The outer walls of the UAV control terminal (2) and the cold cathode X-ray detection host (3) are jointly provided with a protective mechanism (9).

2. The X-ray inspection device for high-altitude cableways based on unmanned aerial vehicles according to claim 1, characterized in that, The horizontal moving mechanism (5) includes a miniature air pump (51) fixedly connected to the lower surface of the mounting bracket (15). The air outlet of the miniature air pump (51) is fixedly connected to a hose (52). The air outlet of the hose (52) is fixedly connected to a U-shaped metal tube (53). The outer wall of the U-shaped metal tube (53) is fixedly connected to the upper surface of the mounting plate (13). Both air outlets of the U-shaped metal tube (53) are fixedly connected to C-shaped hollow cylinders (54). Spray nozzles are opened on the rear side of both C-shaped hollow cylinders (54). An inclined air hole (55) is provided. A fixed through hole is provided at the top of one of the C-shaped hollow cylinders (54), and a temperature sensor (56) is fixedly connected to the wall of the fixed through hole. An installation through hole is provided on the outer wall of the U-shaped metal tube (53) near the temperature sensor (56), and an electric heating tube (57) is fixedly connected to the wall of the installation through hole. Multiple metal meshes (58) are fixedly sleeved on the heating end of the electric heating tube (57). Two auxiliary mechanisms (6) are fixedly connected to the inner walls of both C-shaped hollow cylinders (54).

3. The X-ray inspection device for high-altitude cableways based on unmanned aerial vehicles according to claim 2, characterized in that, The auxiliary mechanism (6) includes two crossbars (61) fixedly connected to the inner wall of the C-shaped hollow cylinder (54). The crossbars (61) are fixedly sleeved with rolling bearings (62). The outer ring of the rolling bearings (62) is fixedly sleeved with cableway positioning concave wheels (63). The bottom ends of the two cableway positioning concave wheels (63) are located on the central axis of the C-shaped hollow cylinder (54). The jet direction of the multiple jet oblique holes (55) is aligned with the central axis of the C-shaped hollow cylinder (54).

4. The X-ray inspection device for high-altitude cableways based on unmanned aerial vehicles according to claim 1, characterized in that, The attitude stabilization mechanism (7) includes four T-shaped rods (71) fixedly connected to the lower surface of the mounting bracket (15). The rod wall of the T-shaped rod (71) is movably sleeved with an outer cylinder (72). The bottom end of the outer cylinder (72) is fixedly connected to the upper surface of the mounting plate (13). The rod wall of the T-shaped rod (71) is sleeved with a low-stiffness buffer spring (73). The two ends of the low-stiffness buffer spring (73) are fixedly connected to the inner wall of the top end of the outer cylinder (72) and the outer wall of the bottom end of the T-shaped rod (71), respectively.

5. A radiographic inspection device for high-altitude cableways based on a drone, as described in claim 4, characterized in that, The limiting mechanism (8) includes a U-shaped plate (81) fixedly connected to the lower surface of the mounting plate (13). The outer walls of the two vertical parts of the U-shaped plate (81) are provided with fixing holes, and the walls of the fixing holes are fixedly connected with electric push rods (82). The moving end of the electric push rods (82) is fixedly connected with a U-shaped block (83). The upper and lower surfaces of the U-shaped block (83) are provided with through holes, and the walls of the through holes are fixedly connected with connecting bearings (84). The inner walls of the two connecting bearings (84) are fixedly connected with limiting concave wheels (85). The side of the U-shaped block (83) near the C-shaped hollow cylinder (54) is fixedly connected with a wire brush (86) by bolts.

6. The X-ray inspection device for high-altitude cableways based on unmanned aerial vehicles according to claim 1, characterized in that, The protective mechanism (9) includes a protective placement plate (91) that contacts the outer wall of the UAV control terminal (2) and the cold cathode X-ray detection host (3). A protective carrying case (92) is fixedly connected to the edge side wall of the protective placement plate (91). A rectangular through hole is opened on the side wall of the protective carrying case (92), and the hole wall of the rectangular through hole is fixedly connected to the outer wall of the second wireless signal transceiver module (12).

7. A radiographic inspection device for high-altitude cableways based on a drone according to claim 6, characterized in that, The upper surface of the protective placement plate (91) is provided with a fixed through hole, and the wall of the fixed through hole is fixedly connected to the control panel (16). The inside of the protective carrying case (92) is fixedly connected to a storage battery (17), and the upper surface of the protective placement plate (91) is provided with a maintenance through hole that cooperates with the storage battery (17).

8. A radiographic inspection device for high-altitude cableways based on unmanned aerial vehicles according to claim 1, characterized in that, The mounting bracket (15) has two symmetrically distributed weight-reducing through holes (18) on its lower surface.

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