Method for detecting surface defects and internal metal damage of a cable and detection aircraft

Abstract

A cable surface disease and internal metal damage detection method and detection aircraft, comprising: the detection aircraft is sleeved on the outer periphery of the cable to be detected, and the inner wall of the detection aircraft is self-adaptively attached to the cable surface; a power relationship formula of the detection aircraft in the detection process is established, in which the rotating power component provides power, the fixed power component provides power, and the rotating power component and the horizontal direction form an included angle, and the target included angle under the current working condition is solved; the detection aircraft is driven to ascend along the axial direction of the cable, and according to the target included angle, the inclination posture of the rotating power component is adjusted through the angle adjusting mechanism; in the ascending process of the detection aircraft, the camera device in the detection aircraft continuously collects the cable surface image information, and the internal metal detection module in the detection aircraft detects the internal metal defect condition of the cable; the obtained surface image and the internal metal defect data of the cable are analyzed, and the comprehensive detection result of the cable surface disease and internal damage is output.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicles (UAVs), specifically to a method for detecting surface defects and internal metal damage in cables, and an aircraft for such detection. Background Technology

[0002] Bridge cables are critical load-bearing components of long-span bridges such as cable-stayed bridges and suspension bridges, and their performance directly affects the overall structural safety and service life of the bridge. During long-term use, bridge cables are affected by environmental factors such as sunlight, rain and snow erosion, moisture corrosion, and temperature changes, making the protective layer on the cable surface prone to surface corrosion, cracking, and damage. If these problems are not detected and addressed in time, they can lead to corrosion, cracks, and even breakage of the internal steel cables, causing serious safety accidents. Therefore, regular and accurate inspection of bridge cables is a crucial part of bridge maintenance. The inspection must cover both surface defects and internal metal damage to comprehensively assess the cable's health status.

[0003] In related technologies, bridge cable inspection mainly employs three methods: manual inspection, traditional drone long-distance imaging, and crawling robot inspection. Manual inspection requires inspectors to climb to the cable location and inspect for defects using the naked eye or simple tools, which suffers from low efficiency, high safety risks, and significant influence of human factors on inspection accuracy. Traditional drones are easily affected by wind at high altitudes, making stable hovering difficult. To avoid collisions with the cables, they must maintain a considerable distance, resulting in insufficient image clarity and difficulty in capturing minute defects on the cable's protective layer, leading to poor inspection accuracy. Furthermore, a single drone flight cannot cover the entire cable area, creating blind spots. Crawling robots can get close to the cables, acquire high-definition images, and inspect internal defects. However, they generally rely on the friction between tracks / rollers and the cable surface for movement. These tracks / rollers are prone to abrading the cable's protective layer, and when the cable surface has protrusions, depressions, or uneven wear, slippage and jamming can occur, preventing continuous operation. Summary of the Invention

[0004] This application provides a method and an aerial vehicle for detecting surface defects and internal metal damage in cables, which can solve the technical problems of high risk and low efficiency of manual inspection and insufficient inspection accuracy; difficulty of traditional UAVs in balancing safe distance and high-definition imaging; and the strong dependence of crawling robots on the surface condition of cables due to their reliance on rollers for movement.

[0005] In a first aspect, embodiments of this application provide a method for detecting surface defects and internal metal damage in cables, comprising: placing a detection aircraft around the outer periphery of the cable to be tested, and adaptively fitting the inner wall of the detection aircraft to the cable surface; establishing a rotating power component in the detection aircraft to provide power during the testing process. Power is provided by a fixed power unit. Angle with the horizontal direction of the rotating power component The dynamic relationship is derived, and the target angle under the current working condition is solved. The drive detection aircraft continues to ascend along the cable axis, and adjusts its trajectory according to the target angle. The tilt attitude of the rotating power component is dynamically adjusted by the angle adjustment mechanism; during the ascent of the inspection aircraft, the camera device in the inspection aircraft is used to continuously collect cable surface image information, and the internal metal detection module in the inspection aircraft is used to detect internal metal defects in the cable; the acquired surface images and internal metal defect data of the cable are analyzed to output a comprehensive inspection result of cable surface defects and internal damage.

[0006] In conjunction with the first aspect, in one embodiment, the rotational power component makes an angle with the horizontal direction. The dynamic relationship is as follows , , , , ; in: To test the total power of the aircraft's power components, To detect the constant relating the power of an aircraft's propulsion system to its dynamics, To detect the number of fixed propulsion components of the aircraft, To measure the total mass of the aircraft, g is the acceleration due to gravity. To detect the projected area of ​​the aircraft, The angle of inclination of the cable. To provide support for the test aircraft by the cable, For manually controlled detection of aircraft acceleration, To test the air resistance and frictional drag experienced by the aircraft, and To detect the wind speed at the location of the aircraft.

[0007] In conjunction with the first aspect, in one embodiment, the simultaneous use of a camera device in the detection aircraft to continuously acquire cable surface image information and the use of an internal metal detection module in the detection aircraft to detect internal metal defects in the cable includes: continuously acquiring cable surface image information using the camera device; when the cable image is normal, controlling the detection aircraft to continuously move upward along the cable axis; when defects appear in the cable image, controlling the detection aircraft to stop at the defect location and driving the internal metal detection module in the detection aircraft to detect internal metal defects in the cable.

[0008] In conjunction with the first aspect, in one embodiment, the detection aircraft includes an outer frame and a plurality of auxiliary positioning components installed on the inner wall of the outer frame. The step of fitting the detection aircraft onto the outer periphery of the cable to be detected and making the inner wall of the detection aircraft adaptively fit the surface of the cable includes: making one end of the auxiliary positioning component away from the outer frame abut against the outer periphery of the cable to be detected.

[0009] In conjunction with the first aspect, in one embodiment, a pad is sandwiched between the outer frame and the auxiliary positioning component, and before the detection aircraft is fitted onto the outer periphery of the cable to be detected, the method includes: obtaining the diameter of the cable to be detected, and selecting a pad of corresponding thickness based on the obtained diameter.

[0010] Secondly, embodiments of this application provide an aerial vehicle for detecting surface defects and internal metal damage in cables, comprising: an outer frame, the outer frame including a fixed frame, an opening on one side of the fixed frame, and a door frame hinged to the opening; multiple auxiliary positioning components, each of the multiple auxiliary positioning components being installed on the inner peripheral wall of the outer frame, and the multiple auxiliary positioning components being arranged at intervals along the circumference of the outer frame, the side of each auxiliary positioning component away from the outer frame being used to abut against the cable to be tested; and at least two rotational power components, each of the at least two rotational power components being installed on the outer frame, and at least two The rotating power assembly is symmetrically arranged along the circumference of the outer frame; two sets of fixed power sleeves are installed on the outer frame, and the two sets of rotating fixed power sleeves are symmetrically arranged along the circumference of the outer frame, with the fixed power sleeves and the rotating power assembly spaced apart; multiple camera devices are fixed on the outer frame and spaced apart along the circumference of the outer frame; an internal metal detection module is installed on the outer frame and is electrically connected to the camera devices via a controller.

[0011] In conjunction with the second aspect, in one embodiment, the rotating power assembly includes: a rotating electric support fixed to the outer frame, the rotating electric support having a bearing base mounted on it; a stepper motor mounted on the bearing base; and a machine arm connected to the output shaft of the stepper motor, the machine arm having a first blade drive assembly mounted on it.

[0012] In conjunction with the second aspect, in one embodiment, the detection aircraft further includes a flight control and power supply module, which is mounted on the outer frame; the rotating power assembly includes two components, and the planes on which the two rotating power assemblies are located are parallel to the planes on which the flight control and power supply module is located.

[0013] In conjunction with the second aspect, in one embodiment, each set of fixed power units includes two fixed power components, both of which are fixed to the outer frame, and the two fixed power components are respectively disposed on opposite sides of the rotating power components on corresponding sides.

[0014] In conjunction with the second aspect, in one embodiment, the auxiliary positioning components all include: a metal tube detachably connected to the outer frame, an elastic element installed in the cavity of the metal tube, one end of the elastic element being fixed to the end of the metal tube near the outer frame; and a rubber roller, one end of which is fixed to a support rod, the rubber roller being connected to the end of the elastic element away from the outer frame via the support rod, and the end of the rubber roller away from the support rod being used to abut against the cable.

[0015] The beneficial effects of the technical solutions provided in this application include: By fitting the inspection aircraft around the cable, a rotating power component provides lift and forward propulsion to the aircraft as it ascends, counteracting gravity. This prevents damage to the cable's protective surface layer during high-gravity flight. During the aircraft's ascent, a camera and metal detection module detect surface images and internal metal defects, enabling a comprehensive assessment of the cable's health. This addresses the challenges of high-risk, inefficient, and inaccurate manual inspection; the difficulty of balancing safe distance and high-definition imaging with traditional drones; and the dependence of crawling robots on cable surface conditions due to reliance on rollers. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A flowchart illustrating an aircraft method for detecting cable surface defects and internal metal damage, as provided in an embodiment of this application. Figure 2 A first-view three-dimensional structural diagram of the aircraft for detecting cable surface defects and internal metal damage provided in the embodiments of this application; Figure 3 A second-view three-dimensional structural diagram of the aircraft for detecting cable surface defects and internal metal damage provided in an embodiment of this application; Figure 4A three-dimensional structural diagram of the detection aircraft sleeved on the cable provided in an embodiment of this application; Figure 5 This is a front view schematic diagram of the rotating power assembly provided in an embodiment of this application; Figure 6 This is a schematic diagram of the front view structure of the auxiliary positioning component provided in the embodiments of this application.

[0018] In the picture: 1. Rotary power assembly; 11. Rotary electric support; 12. Stepper motor; 13. Arm; 14. First blade drive assembly; 2. Fixed power assembly; 21. Fixed support; 22. Second blade drive assembly; 3. Camera device; 4. Auxiliary positioning components; 41. Metal tube; 42. Elastic element; 43. Rubber roller; 5. Outer frame; 51. Circular component; 52. Axial support component; 53. Door frame; 6. Pad; 7. Flight control and power supply modules; 8. Cables. Detailed Implementation

[0019] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0020] This application provides a method for detecting surface defects and internal metal damage in cables, which can solve the technical problems of high risk and low efficiency of manual inspection and insufficient detection accuracy; difficulty of traditional drones in balancing safe distance and high-definition imaging; and the strong dependence of crawling robots on the surface condition of cables due to their reliance on rollers for movement.

[0021] See Figure 1 The image shown is a method for detecting surface defects and internal metal damage in cables according to an embodiment of this application, which may include the following steps: S1: The detection aircraft is placed around the outer periphery of the cable 8 to be tested, and the inner wall of the detection aircraft is adaptively fitted to the surface of the cable 8; the inner wall of the detection aircraft is adaptively fitted to the cable 8 to be tested, and can automatically adapt to changes in the diameter and surface morphology of the cable 8 to ensure upward stability.

[0022] S2: During the detection process, the rotating power component 1 in the aircraft is powered. Fixed power unit 2 provides power Angle with the horizontal direction of the rotating power component 1 The dynamic relationship is derived, and the target angle under the current working condition is solved. In this embodiment of the application, the detection aircraft can utilize the rotating power assembly 1 and the fixed power assembly 2 to provide upward propulsion.

[0023] S3: Drive the detection aircraft to continuously ascend along the axial direction of cable 8, and adjust the target angle accordingly. The tilt attitude of the rotating power assembly 1 is dynamically adjusted by an angle adjustment mechanism. In this embodiment, adjusting the tilt attitude of the rotating power assembly 1 can provide lift and forward propulsion to the detection aircraft to counteract gravity, preventing damage to the surface protective layer of the cable 8 when the detection aircraft is under high gravity.

[0024] S4: During the ascent of the detection aircraft, the camera device 3 in the detection aircraft continuously collects image information of the surface of the cable 8, and the internal metal detection module in the detection aircraft detects the internal metal defects of the cable 8. In this embodiment, since the inner wall of the detection aircraft and the surface of the cable 8 are adaptively fitted, the distance between the camera device 3 and the cable 8 is basically constant during the ascent of the detection aircraft. At this time, the shooting distance of the camera device 3 is close and stable, the shooting angle is constant, and the shooting quality is good and the accuracy is high.

[0025] S5: Analyze the acquired surface images and internal metal defect data of cable 8, and output the comprehensive detection results of apparent defects and internal damage of cable 8.

[0026] In this embodiment, the detection aircraft is fitted around the outer periphery of the cable 8. During the continuous ascent driven by the fixed power component 2, the rotating power component 1 provides lift and forward propulsion to the detection aircraft to counteract gravity, preventing damage to the protective layer of the cable 8 surface when the aircraft is under significant weight. In other words, the fixed power component 2 and the rotating power component 1 can cooperate to counteract part or all of the weight of the detection aircraft, allowing it to simultaneously carry the camera device 3 and the internal metal detection module, and detect both the damage to the outer protective layer and the internal metal of the cable 8. During the continuous ascent, the camera device 3 and the metal detection module are used to detect surface image information and internal metal defects of the cable 8, respectively, achieving a comprehensive assessment of the cable 8's health status. This solves the technical problems of high risk and low efficiency of manual inspection, insufficient inspection accuracy, difficulty in balancing safe distance and high-definition imaging with traditional UAVs, and the strong dependence of crawling robots on the surface condition of the cable 8 due to their reliance on rollers for movement.

[0027] In some alternative embodiments, the rotational power assembly 1 makes an angle with the horizontal direction. The dynamic relationship is as follows ; , , , ; in: To test the total power of the aircraft's power components, To detect the constant relating the power of an aircraft's propulsion system to its dynamics, To detect the number of fixed power units 2 of the aircraft, To determine the total mass of the aircraft, g is the acceleration due to gravity, measured in meters per second squared, typically taken as 9.8. To measure the projected area of ​​the aircraft, the unit is square meters. The inclination angle of the cable is 8 degrees. The support force of cable 8 on the tested aircraft is expressed in Newtons. (This is from an embodiment of the application.) Let's define it as less than 30 Newtons and greater than 10 Newtons. This is the acceleration of a manually controlled aircraft, measured in meters per second squared. This is a manually set value. To measure the air resistance and frictional drag experienced by an aircraft, the unit is Newton, and To detect the wind speed at the location of the aircraft, the unit is meters per second. In this embodiment, the clockwise rotation of the rotating power component 1 is considered a positive angle, and the target angle range is... In addition, the rotating power assembly 1 provides power. Power is provided by stationary power unit 2 All units are Newtons. It should be understood that this is to solve for the target angle under the current operating conditions. This can refer to solving for the total power of the aircraft's power components within a specified range. The minimum value is the target angle. The value of, that is This indicates solving within a specified range. Minimum value of the target angle The value of .

[0028] Specifically, after the aircraft's controller issues a takeoff command, based on the aircraft's mass... Aircraft projected area Aircraft acceleration 8. Cable tilt angle Wind speed Calculate the adjustment angle of the rotating power component 1. (The angle with the horizontal direction is positive when rotated clockwise), the rotation power component 1 provides power. Fixed power unit 2 provides power The control and detection aircraft can maintain a certain acceleration. Forward movement (acceleration, deceleration, and constant speed), with the rotating power component 1 and the fixed power component 2 working together as a power system, can balance most of the self-weight of the detection aircraft and control the supporting force of the cable 8 on the detection aircraft. The friction force should be less than 30 Newtons and greater than 10 Newtons to avoid excessive friction between the testing aircraft and cable 8, which could damage the protective layer on the surface of cable 8, while ensuring that the inner wall of the testing aircraft and cable 8 remain in close contact.

[0029] In some optional embodiments, the simultaneous use of the camera device 3 in the detection aircraft to continuously acquire surface image information of the cable 8, and the use of the internal metal detection module in the detection aircraft to detect internal metal defects in the cable 8, may include: continuously acquiring surface image information of the cable 8 using the camera device 3; when the cable 8 image is normal, controlling the detection aircraft to continuously move upward along the cable 8 axis; when defects appear in the cable 8 image, controlling the detection aircraft to stop at the defect location, and driving the internal metal detection module in the detection aircraft to detect internal metal defects in the cable 8. That is, the internal metal detection module does not perform detection throughout the entire process, but is only triggered to start when the image information captured by the camera device 3 indicates that the cable 8 has surface damage. This setting is because the internal metal detection module has high power consumption and large data volume, and fixed-point triggering start and stop can significantly save energy and reduce the pressure of acquiring, storing and processing invalid scan data, thereby improving detection efficiency. In addition, this setting can also reduce the unnecessary running time of the internal metal detection module, reduce heat generation and wear, and improve the long-term reliability of the equipment.

[0030] In some optional embodiments, the detection aircraft includes an outer frame 5 and multiple auxiliary positioning components 4 installed on the inner wall of the outer frame 5. The step of fitting the detection aircraft onto the outer periphery of the cable 8 to be tested, and ensuring that the inner wall of the detection aircraft adaptively fits the surface of the cable 8, may include: positioning one end of the auxiliary positioning component 4 away from the outer frame 5 against the outer periphery of the cable 8 to be tested. In this embodiment, installing multiple auxiliary positioning components 4 on the inner wall of the outer frame 5 allows the outer frame 5 to maintain a constant distance from the cable 8, reducing the impact of high-altitude winds on the outer frame 5 and enabling stable forward movement.

[0031] In some optional embodiments, a pad 6 is sandwiched between the outer frame 5 and the auxiliary positioning component 4. Before placing the detection aircraft on the outer periphery of the cable 8 to be detected, the process may include: obtaining the diameter of the cable 8 to be detected, and selecting a pad 6 of corresponding thickness based on the obtained diameter. It should be understood that replacing the pad 6 with a different thickness can adjust the radial distance between the auxiliary positioning component 4 and the cable 8. That is, by replacing the pad 6 between the auxiliary positioning component and the outer frame 5, the contact between the side of the auxiliary positioning component away from the pad 6 and the cable 8 can be adjusted, thus adapting to cables 8 of different diameters.

[0032] See Figure 2 As shown, this application embodiment also provides an aerial vehicle for detecting surface defects and internal metal damage of cables, which may include: an outer frame 5, the outer frame 5 including a fixed frame, an opening on one side of the fixed frame, and a door frame 53 hinged to the opening; a plurality of auxiliary positioning components 4, the plurality of auxiliary positioning components 4 are all installed on the inner peripheral wall of the outer frame 5, and the plurality of auxiliary positioning components 4 are arranged at intervals along the circumference of the outer frame 5, the side of the auxiliary positioning component 4 away from the outer frame 5 is used to abut against the cable 8 to be tested; at least two rotational power components 1, at least two of the rotational power components 1 are all installed on the outer frame 5, and at least Two rotating power components 1 are symmetrically arranged along the circumference of the outer frame 5; two sets of fixed power sleeves are installed on the outer frame 5, and the two sets of rotating fixed power sleeves are symmetrically arranged along the circumference of the outer frame 5, with the fixed power sleeves and the rotating power components 1 spaced apart; multiple camera devices 3 are fixed on the outer frame 5, and the multiple camera devices 3 are spaced apart along the circumference of the outer frame 5; an internal metal detection module is installed on the outer frame 5, and the internal metal detection module and the camera devices 3 are electrically connected through a controller.

[0033] See Figure 3 and Figure 4As shown in the embodiment of this application, the outer frame 5 is a modular frame. The outer frame 5 may include multiple spaced annular members 51 and axial support members 52 connecting the multiple annular members 51. It should be understood that each annular member 51 has an opening, and the openings of all the annular members 51 together form the opening of the outer frame 5, so that a door frame 53 can be hinged at the opening. When it is necessary to fit the outer frame 5 around the cable 8, the door frame 53 can be opened to insert or remove the cable 8 from the opening. Preferably, there are three or more annular members 51, and three in this application, and eight axial support members 52. Furthermore, the structure of the annular members 51 does not necessarily have to be a circle or an ellipse, but can also be a polygon, as long as it is an axisymmetric structure. An axisymmetric structure can ensure that the detection aircraft is subjected to balanced forces, stable movement, and constant detection distance after the cable 8 is fitted. Optionally, both the annular component 51 and the axial support component 52 can be designed as hollow structures to further reduce the overall weight of the detection aircraft, improve its endurance and portability, and facilitate disassembly, assembly, and maintenance.

[0034] See Figure 6 As shown, in some optional embodiments, the rotating power assembly 1 may include: a rotating electric support 11, which is fixed to the outer frame 5 and has a bearing base; a stepper motor 12, which is mounted on the bearing base; and a robotic arm 13, which is connected to the output shaft of the stepper motor 12 and has a first blade drive assembly 14. In this embodiment, the rotating electric support 11 may be fixed between two adjacent annular parts 51, and the fixing method may be by bolts. The rotating electric supports 11 of the two rotating power assemblies 1 are symmetrically distributed about the central axis of the door frame 53. The bearing base is installed inside the rotating electric support 11, and the robotic arm 13 is connected to the output shaft of the stepper motor 12 through the bearing base, so that when the stepper motor 12 drives the bearing base to rotate, it drives the robotic arm 13 to rotate and adjust the angle. In this embodiment, the first blade drive assembly 14 includes a brushless motor and blades. In this embodiment of the application, the fixed power assembly 2 may include a second blade drive assembly 22. The second blade drive assembly 22 may be fixed to the outer frame 5 by a fixed support 21 fixed to the outer frame 5. The second blade drive assembly 22 may include a fixed arm 13, and a brushless motor and blades installed on the fixed arm 13.

[0035] In some optional embodiments, the detection aircraft may further include a flight control and power supply module 7, which is mounted on the outer frame 5; the rotating power assembly 1 includes two components, and the planes of the two rotating power assemblies 1 are parallel to the plane of the flight control and power supply module 7. In this embodiment, the flight control and power supply module 7 may include a flight controller and a battery; the flight controller and battery are mounted on the outside of the annular component 51 via a control board and a power supply board, and the flight controller is signal-connected to the stepper motor 12 of the rotating power system. The planes of the rotating power assemblies 1 and the flight control and power supply module 7 are parallel to each other, that is, the planes of the flight control and power supply module 7 are parallel to the line connecting the two rotating power assemblies 1. This arrangement allows the overall center of gravity of the detection aircraft to be aligned with the axis of the cable 8, eliminating off-center load torque and improving upward stability. Preferably, the flight controller uses a dedicated UAV flight control chip, and the battery 63 is a lithium battery with a capacity of not less than 10000mAh.

[0036] In this embodiment, the camera device 3 includes four cameras, specifically high-definition industrial cameras with a resolution of at least 1080P. These cameras are mounted at 90-degree intervals on the annular component 51 located on the top surface, with their lenses facing the surface of the cable 8. Each camera is responsible for capturing surface images of the cable 8 within a 90-degree range. The four cameras work together to achieve omnidirectional, blind-spot-free imaging of the cable 8 surface. A controller electrically connected to the four cameras can be integrated into the flight control and power supply module 7. Furthermore, the flight control and power supply module 7 can also integrate an ultrasonic flaw detector with an internal metal detection module. The ultrasonic probe of the metal detection module is connected to a telescopic support, which is installed on the inner wall of the annular component 51 or on the axial support component 52. In this embodiment, the telescopic support is installed on the middle annular component 51. The ultrasonic flaw detector is a digital ultrasonic flaw detector, fixedly installed on the control board of the flight control and power supply module 7. The ultrasonic probe is a straight probe, installed on the telescopic support. The telescopic support is an electric telescopic cylinder, installed inside the bottom annular component 51. The telescopic end of the electric telescopic cylinder is fixedly connected to the ultrasonic probe, which can control the ultrasonic probe to move closer to or away from the surface of the cable 8. In this embodiment, the flight controller is connected to the brushless motor and stepper motor 12 of the rotating power assembly 1, the brushless motor of the fixed power assembly 2, the camera, the ultrasonic flaw detector of the internal metal detection module, and the electric telescopic cylinder to realize signal transmission and control. The controller is a ground remote controller, connected to the flight control via wireless signal, which can send signals to each system, device, and module remotely, and receive detection data and flight data fed back by each module. The battery supplies power to all electrical modules of the entire aircraft.

[0037] In some optional embodiments, each set of fixed power units includes two fixed power components 2, both of which are fixed to the outer frame 5, and are respectively located on opposite sides of the rotating power components 1 on corresponding sides. That is, in this embodiment, there are four fixed power components 2, which are symmetrically distributed about the central axis of the door frame 53. In other words, with the central axis of the door frame 53 as a reference, each side of the outer frame 5 has one rotating power component 1 and two fixed power components 2, and on each side, the rotating power component 1 is located between two fixed power components 2. That is, in this embodiment, there can be a total of 2n rotating power components 1 and fixed power components 2, where n is greater than or equal to 3. Therefore, in the 2n number, there are 2 rotating power components 1 and 2n-2 fixed power components 2.

[0038] See Figure 5 As shown, in some optional embodiments, the auxiliary positioning component 4 may include: a metal tube 41, which is detachably connected to the outer frame 5, and an elastic element 42 installed in the cavity of the metal tube 41, one end of which is fixed to the end of the metal tube 41 near the outer frame 5; and a rubber roller 43, one end of which is fixed to a support rod, and the rubber roller 43 is connected to the end of the elastic element 42 away from the outer frame 5 via the support rod, the end of which is used to abut against the cable 8. In this embodiment, the elastic element 42 may be a spring, and a pad 6 may be sandwiched between the metal tube 41 and the outer frame 5. The pad 6 may be L-shaped, formed by splicing two hollow plates, with its long sides detachably connected to the metal tube 41 and the outer frame 5, and its short side providing partial support for the metal tube 41. When the detection aircraft is fitted around the cable 8, the axial direction of the metal tube 41 is parallel to the radial direction of the annular component 51. The rubber roller 43 contacts the cable 8, and the elastic component 42 is compressed. The attitude of the detection aircraft is adjusted so that the line connecting the two rotating power components 1 is horizontal, and the door frame 53 is closed. In this embodiment, there are eight auxiliary positioning components 4, which are divided into two groups of four, and are evenly distributed and installed on the first and third annular components 51. Preferably, the surface of the rubber roller 43 is provided with anti-slip texture to increase the friction with the surface of the cable 8 and at the same time avoid wear on the protective layer of the cable 8.

[0039] In some optional embodiments, before installing the detection aircraft onto cable 8, the three annular components 51, multiple axial support components 52, and door frame 53 can be assembled using bolts and hinges to form an outer frame 5. Ensure that all bolts are tightened and the outer frame 5 is secure. Then, sequentially install the rotating power assembly 1, fixed power assembly 2, camera, internal metal detection module, flight control, and power supply module 7 onto the corresponding positions on the outer frame 5. Connect the wiring of each module, organize and secure the wiring, ensuring a stable connection without poor contact. Finally, start the battery of the power supply module to power the entire detection aircraft. The flight controller performs an initial self-test, checking the working status of the brushless motor and stepper motor 12 of the rotating power component 1, the flexibility of the spring and rubber roller 43 of the auxiliary positioning component, the imaging effect of the camera, the working status of the ultrasonic flaw detector and ultrasonic probe of the internal metal detection module, and the power supply voltage and current status of the power supply module. If an abnormality is detected in any module or system, the flight controller will issue a buzzer alarm signal and transmit the abnormality information to the ground controller so that the staff can promptly troubleshoot the fault (such as loose wiring, damaged components, etc.). If the self-test shows no abnormalities, the flight controller enters standby mode and waits for takeoff command.

[0040] In this embodiment of the application, the total mass of the aircraft is detected. =5kg, Detect the projected area of ​​the aircraft =0.8m 2 8. Cable tilt angle =30°, 8 pairs of cables to test the support force of the aircraft =20N, Detecting the acceleration of the aircraft =1m / s 2 and the wind speed at the altitude of the aircraft. =2m / s, air density =1.2kg / m 3 For example: according to The range of values Solve for the total power of the detection aircraft. At its minimum, the rotation angle of the rotary power component 1 .

[0041] First, calculate the resistance: ; Then calculate the power provided by the rotating power component 1. : The fixed power unit 2 provides power. : Note that power must be supplied to fixed power component 2. : achievable Calculate the total power of the drone for: According to the above formula, take ,Right now At that time, the total power of the drone Minimum is Comparison of the highest total power of drones Power consumption can be reduced by approximately 35% or more.

[0042] Furthermore, based on the calculation results, the flight controller controls the stepper motor 12 of the rotating electric support 11 to drive the arm 13 to rotate 4.05°, controls the brushless motor of the rotating power assembly 1 to output 22.57N of power, and controls the brushless motor of the fixed power assembly 2 to output 25.80N of power, so that the detection aircraft maintains a speed of 1m / s. 2 The acceleration rises at a constant speed, while simultaneously controlling the supporting force of cable 8 on the detection aircraft. Maintaining a constant N of 20N prevents wear on the protective layer of cable 8 and ensures that the rubber roller 43 of the auxiliary positioning component fits tightly against cable 8.

[0043] In this embodiment, after the inspection aircraft is installed, it ascends at a constant speed according to a set acceleration. The flight control system adjusts various power parameters in real time to maintain stable flight attitude. During flight, four cameras and an internal metal detection module can be activated, and all detection data and flight control data (including flight speed, altitude, power parameters, support force, etc.) are transmitted synchronously to the ground controller in real time. The cameras collect real-time image information of the cable 8 surface, which is then transmitted to the ground controller. Image recognition algorithms are used to identify defects such as cracks, damage, and corrosion on the cable 8 surface. When a crack wider than 0.1 mm is detected at a certain location on the cable 8 surface, the flight control system records the altitude, coordinates, and other information of that location, and controls the aircraft to stop stably at the defect location. The internal metal detection module is activated, and the telescopic support (electric telescopic cylinder) is extended to make the ultrasonic probe in close contact with the surface of the cable 8. The ultrasonic flaw detector emits ultrasonic pulse waves to detect defects such as rust and cracks in the internal metal of the cable 8. The detection data is transmitted to the ground controller in real time, and the staff observes and records the detection results simultaneously.

[0044] Furthermore, after the inspection of a single cable 8 is completed, the staff issues an end-of-inspection command through the controller, shutting down the camera and internal metal detection module. The flight control system automatically saves all inspection data (including surface image data, internal defect detection data, flight data, etc.) to the storage module. Then, based on the real-time altitude of the inspection aircraft, it is controlled to descend at a constant speed. When the altitude is less than 10 meters, the flight control system automatically reduces the aircraft's speed to 0.3 m / s, decelerating until the aircraft lands smoothly. Finally, the door frame 53 is opened, the inspection aircraft is removed from cable 8, the power supply module is shut off, and the inspection of a single cable 8 is completed.

[0045] It should be noted that in this embodiment, n=3 (there are 2 rotating power components 1 and 4 fixed power components 2), but the present invention is not limited to this number. n can be adjusted to positive integers such as 4 and 5 according to the size, weight and other requirements of the aircraft being tested. The corresponding number of fixed supports 21 is 2n-2, which ensures uniform power output and stable flight. The thickness of the pad 6 can be flexibly changed according to the diameter of the cable 8 to be tested, to adapt to different specifications of cable 8. The acceleration, support force and other parameters in flight control can be manually set according to the actual testing requirements to ensure the safety and accuracy of the testing process.

[0046] In the description of this application, it should be noted that the terms "upper," "lower," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0047] It should be noted that in this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0048] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A method for detecting surface defects and internal metal damage in cables, characterized in that, It includes: The detection aircraft is placed around the outer periphery of the cable (8) to be tested, and the inner wall of the detection aircraft is adaptively fitted to the surface of the cable (8); During the testing process, the rotating power component (1) of the aircraft is tested to provide power.

1. Fixed power component (2) provides power Angle with the horizontal direction of the rotating power component (1) The dynamic relationship is derived, and the target angle under the current working condition is solved. ; The drive detection aircraft continues to ascend along the axis of cable (8), and according to the target angle... The tilting attitude of the rotating power component (1) is dynamically adjusted by the angle adjustment mechanism; During the ascent of the inspection aircraft, the camera device (3) in the inspection aircraft is used to continuously collect surface image information of the cable (8), and the internal metal detection module in the inspection aircraft is used to detect internal metal defects in the cable (8). The obtained surface images and internal metal defect data of the cable (8) are analyzed to output the comprehensive detection results of the apparent defects and internal damage of the cable (8).

2. The method for detecting surface defects and internal metal damage in cables as described in claim 1, characterized in that: The angle between the rotating power component (1) and the horizontal direction The dynamic relationship is as follows , ， ， ， ； in: To test the total power of the aircraft's power components, To detect the constant relating the power of an aircraft's propulsion system to its dynamics, To detect the number of fixed power components (2) of the aircraft, To measure the total mass of the aircraft, g is the acceleration due to gravity. To detect the projected area of ​​the aircraft, The angle of inclination of cable (8), For the support force of the cable (8) on the test aircraft, For manually controlled detection of aircraft acceleration, To test the air resistance and frictional drag experienced by the aircraft, and To detect the wind speed at the location of the aircraft.

3. The method for detecting surface defects and internal metal damage in cables as described in claim 1, characterized in that, The simultaneous use of the camera device (3) in the detection aircraft to continuously collect surface image information of the cable (8), and the use of the internal metal detection module in the detection aircraft to detect internal metal defects in the cable (8) include: The camera device (3) continuously collects image information of the surface of the cable (8). When there is no abnormality in the image of the cable (8), the detection aircraft is controlled to continue to move upward along the axis of the cable (8). When the image of the cable (8) shows defects, the detection aircraft is controlled to stop at the defect position and the internal metal detection module in the detection aircraft is driven to detect the internal metal defects of the cable (8).

4. The method for detecting surface defects and internal metal damage in cables as described in claim 1, characterized in that, The detection aircraft includes an outer frame (5) and multiple auxiliary positioning components (4) installed on the inner wall of the outer frame (5). The step of fitting the detection aircraft onto the outer periphery of the cable (8) to be tested and adaptively fitting the inner wall of the detection aircraft to the surface of the cable (8) includes: The end of the auxiliary positioning component (4) away from the outer frame (5) is brought into contact with the outer periphery of the cable (8) to be tested.

5. The method for detecting surface defects and internal metal damage in cables as described in claim 4, characterized in that, A pad (6) is sandwiched between the outer frame (5) and the auxiliary positioning component (4), and includes the following before the detection aircraft is fitted onto the outer periphery of the cable (8) to be detected: Obtain the diameter of the cable to be tested (8), and select a pad (6) of corresponding thickness based on the obtained diameter.

6. An aerial vehicle for detecting surface defects and internal metal damage in cables, characterized in that, It includes: The outer frame (5) includes a fixed frame, an opening on one side of the fixed frame, and a door frame is hinged to the opening. Multiple auxiliary positioning components (4) are installed on the inner peripheral wall of the outer frame (5) and the multiple auxiliary positioning components (4) are arranged at intervals along the circumference of the outer frame (5). The side of the auxiliary positioning component (4) away from the outer frame (5) is used to abut against the cable (8) to be tested. At least two rotating power components (1) are installed on the outer frame (5), and at least two rotating power components (1) are arranged symmetrically along the circumference of the outer frame (5). Two sets of fixed power sleeves are installed on the outer frame (5). The two sets of rotating fixed power sleeves are symmetrically arranged along the circumference of the outer frame (5), and the fixed power sleeves and the rotating power assembly (1) are arranged at intervals. Multiple camera devices (3) are fixed to the outer frame (5), and the multiple camera devices (3) are arranged at intervals along the circumference of the outer frame (5); An internal metal detection module is installed on the outer frame (5), and the internal metal detection module is electrically connected to the camera device (3) through a controller.

7. The aircraft for detecting cable surface defects and internal metal damage as described in claim 6, characterized in that, Each of the rotating power components (1) includes: A rotary electric support (11) is fixed to the outer frame (5) and a bearing base is installed on the rotary electric support (11). Stepper motor (12), the stepper motor (12) is mounted on the bearing base; The arm (13) is connected to the output shaft of the stepper motor (12) and is equipped with a first blade drive assembly (14).

8. The aircraft for detecting cable surface defects and internal metal damage as described in claim 6, characterized in that: The detection aircraft also includes a flight control and power supply module (7), which is installed on the outer frame (5). The rotating power assembly (1) comprises two components, and the plane on which the two rotating power assemblies (1) are located is parallel to the plane on which the flight control and power supply module (7) is located.

9. The aircraft for detecting cable surface defects and internal metal damage as described in claim 6, characterized in that: Each set of fixed power units includes two fixed power components (2), both of which are fixed to the outer frame (5), and the two fixed power components (2) are respectively located on opposite sides of the rotating power component (1) on the corresponding side.

10. The aircraft for detecting cable surface defects and internal metal damage as described in claim 6, characterized in that, The auxiliary positioning components (4) all include: A metal tube (41) is detachably connected to the outer frame (5). An elastic element (42) is installed in the cavity of the metal tube (41). One end of the elastic element (42) is fixed to the end of the metal tube (41) near the outer frame (5). A rubber roller (43) is provided with a support rod at one end. The rubber roller (43) is connected to the end of the elastic element (42) away from the outer frame (5) via the support rod. The end of the rubber roller (43) away from the support rod is used to abut against the cable (8).

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