CN113086195A - High-voltage line damage detection unmanned aerial vehicle - Google Patents
High-voltage line damage detection unmanned aerial vehicle Download PDFInfo
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- CN113086195A CN113086195A CN202110418725.2A CN202110418725A CN113086195A CN 113086195 A CN113086195 A CN 113086195A CN 202110418725 A CN202110418725 A CN 202110418725A CN 113086195 A CN113086195 A CN 113086195A
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- 238000001514 detection method Methods 0.000 title claims abstract description 14
- 230000005540 biological transmission Effects 0.000 claims abstract description 7
- 230000000007 visual effect Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 description 5
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 3
- 230000000903 blocking effect Effects 0.000 description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/52—Tilting of rotor bodily relative to fuselage
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
- G06V20/176—Urban or other man-made structures
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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Abstract
The invention discloses an unmanned aerial vehicle for detecting high-voltage wire damage, relates to the field of high-voltage wire detection, and aims to solve the problems that when the existing unmanned aerial vehicle collects images of high-voltage cables, the definition of the collected images cannot be guaranteed, and the difficulty of subsequent processing is increased, and the unmanned aerial vehicle comprises: the first rotor fixing arm and the second rotor fixing arm are symmetrically arranged at two ends of the machine body; two ends of the first rotor wing reversing rotating shaft respectively penetrate through the side walls of the two sides of the machine body and are in running fit with the side walls of the machine body through bearings, a pair of first rotor wing motor brackets are symmetrically fixed at the two ends of the first rotor wing reversing rotating shaft, and the two ends of the first rotor wing reversing rotating shaft are respectively fixed with the motors of the corresponding rotor wings through the first rotor wing motor brackets at the same side; the first rotor wing reversing motor is fixed in the machine body, and a power output shaft of the first rotor wing reversing motor is in transmission fit with the first rotor wing reversing rotating shaft through a gear set; the cable surface image acquisition device is used for acquiring an image of the cable surface; the roller bracket and the cable surface image acquisition device are positioned on the same side; the roller is arranged on the roller bracket.
Description
Technical Field
The invention relates to the field of high-voltage wire detection.
Background
Along with unmanned aerial vehicle's popularization, also adopt unmanned aerial vehicle to make a video recording the detection on high altitude high voltage cable surface gradually and detect through image analysis's mode, but because high voltage cable all is in the high altitude, remote control mode that operating personnel passed through carries out remote control to unmanned aerial vehicle, can be because the interference of signal, and the atmospheric pressure of high altitude department, restriction such as air current, unmanned aerial vehicle can produce the condition such as swing when high voltage cable is pressed close to in the high altitude, thereby lead to the camera that carries need adjust the focus constantly when gathering the image and carry out clear map image collection, or carry out the image clarity through follow-up image processing method after directly gathering the image, this kind of condition is because frequent shake once, the definition of gathering the image can't be guaranteed, the difficulty of follow-up processing has been increased.
Disclosure of Invention
The invention aims to solve the problems that when an existing unmanned aerial vehicle collects images of a high-voltage cable, due to frequent shaking, the definition of the collected images cannot be guaranteed, and the difficulty of subsequent processing is increased, and provides an unmanned aerial vehicle for detecting the damage of the high-voltage cable.
The invention discloses an unmanned aerial vehicle for detecting damage of a high-voltage wire, which comprises a machine body, a first rotor fixing arm, a second rotor fixing arm, four rotors, a first rotor reversing motor, a cable surface image acquisition device and at least one cable roller frame, wherein the first rotor fixing arm and the second rotor fixing arm are arranged on the machine body;
the first rotor fixing arm and the second rotor fixing arm are symmetrically arranged at two ends of the machine body, and two rotors are respectively fixed at two ends of the first rotor fixing arm and the second rotor fixing arm;
the first rotor fixing arm comprises a first rotor reversing rotating shaft and a pair of first rotor motor brackets;
two ends of the first rotor reversing rotating shaft respectively penetrate through the side walls of the two sides of the machine body and are in rotating fit with the side walls of the machine body through bearings; a pair of first rotor motor brackets are symmetrically fixed at two ends of the first rotor reversing rotating shaft, and two ends of the first rotor reversing rotating shaft are respectively fixed with the motors of the corresponding rotors through the first rotor motor brackets at the same side;
the first rotor wing reversing motor is fixed in the machine body, and a power output shaft of the first rotor wing reversing motor is in transmission fit with the first rotor wing reversing rotating shaft through a gear set, so that when the power output shaft of the first rotor wing reversing motor rotates, the first rotor wing reversing rotating shaft is driven to rotate;
the cable surface image acquisition device is fixed on the upper surface or the lower surface of the machine body and is used for acquiring images of the cable surface;
the cable roller frame comprises a roller bracket and a roller;
the roller wheel bracket is fixed on the upper surface or the lower surface of the machine body and is positioned at the same side with the cable surface image acquisition device;
the running roller is located on the running roller support, and can rotate along the length direction of cable for the running roller support.
The invention has the beneficial effects that:
the cable roller frame is additionally arranged, the cable roller frame can enable the device to keep relatively stable and keep a certain distance with a high-voltage cable all the time, and therefore the cable surface image acquisition device can always adopt the same focal length without frequently zooming to acquire images. The high-voltage cable plays a role in guiding and relatively fixing, frequent shaking of the unmanned aerial vehicle is reduced, the probability of acquiring high-definition images is improved, and subsequent image processing and identification are facilitated.
Drawings
Fig. 1 is a schematic structural view of a high-voltage wire breakage detection unmanned aerial vehicle with a cable roller frame according to the present invention;
fig. 2 is a schematic structural view of the high-voltage wire breakage detection unmanned aerial vehicle with two cable roller frames and a cable surface image acquisition device in a first state according to the present invention;
fig. 3 is a schematic structural view of the high-voltage wire breakage detection unmanned aerial vehicle with two cable roller frames and a cable surface image acquisition device in a second state according to the present invention;
fig. 4 is a schematic top cross-sectional structural view of a first rotor fixing arm of the unmanned aerial vehicle for detecting damage to a high-voltage line according to the present invention;
fig. 5 is a schematic top cross-sectional structural view of a second rotor fixing arm of the unmanned aerial vehicle for detecting damage to a high-voltage line according to the present invention;
fig. 6 is a schematic structural view of an opening state of a cable roller frame in the unmanned aerial vehicle for detecting high-voltage wire breakage according to the present invention;
fig. 7 is a schematic cross-sectional structural view of a closed state of a cable roller frame in the high-voltage wire breakage detection unmanned aerial vehicle according to the present invention.
Detailed Description
In a first specific embodiment, the high-voltage wire damage detection unmanned aerial vehicle of the embodiment comprises a machine body 1, a first rotor fixing arm 2, a second rotor fixing arm 3, four rotors 4, a first rotor reversing motor 5, a cable surface image acquisition device 6 and at least one cable roller frame 8;
the first rotor fixing arm 2 and the second rotor fixing arm 3 are symmetrically arranged at two ends of the machine body 1, and two rotors 4 are respectively fixed at two ends of the first rotor fixing arm 2 and the second rotor fixing arm 3;
the first rotor fixing arm 2 comprises a first rotor reversing rotating shaft 2-1 and a pair of first rotor motor brackets 2-2;
two ends of the first rotor reversing rotating shaft 2-1 respectively penetrate through the side walls of the two sides of the machine body 1 and are in rotating fit with the side walls of the machine body 1 through bearings; a pair of first rotor motor brackets 2-2 are symmetrically fixed at two ends of the first rotor reversing rotating shaft 2-1, and two ends of the first rotor reversing rotating shaft 2-1 are respectively fixed with a motor of the corresponding rotor 4 through the first rotor motor brackets 2-2 at the same side;
the first rotor wing reversing motor 5 is fixed in the machine body 1, and a power output shaft of the first rotor wing reversing motor 5 is in transmission fit with the first rotor wing reversing rotating shaft 2-1 through a gear set, so that when the power output shaft of the first rotor wing reversing motor 5 rotates, the first rotor wing reversing rotating shaft 2-1 is driven to rotate;
the cable surface image acquisition device 6 is fixed on the upper surface or the lower surface of the machine body 1 and is used for acquiring images of the cable surface;
the cable roller frame 8 comprises a roller bracket 8-1 and a roller 8-2;
the roller bracket 8-1 is fixed on the upper surface or the lower surface of the machine body 1 and is positioned at the same side with the cable surface image acquisition device 6;
the roller 8-2 is arranged on the roller bracket 8-1 and can rotate along the length direction of the cable relative to the roller bracket 8-1.
Specifically, as shown in fig. 1 to 5, the whole unmanned aerial vehicle adopts the existing unmanned aerial vehicle structure and is improved based on the existing unmanned aerial vehicle.
The method of high-voltage line breakage detection unmanned aerial vehicle is through the cable surface image collection device 6 collection that self carried corresponding high-voltage cable's surface image, then give the surface image to image processing module (not shown in the figure, do not belong to the protection device of this application) through network or the mode of self transmission after saving earlier with surface image, image processing module handles the image through current image recognition algorithm, report to the police to the staff behind the damage department on the surface of discernment high-voltage cable, then whether need maintenance or change through staff's inquiry or observe corresponding damaged position on the spot.
This unmanned aerial vehicle is detected in high-voltage line damage possesses flight control system of current unmanned aerial vehicle, a remote control mode for making operating personnel pass through carries out remote control to this device, but be subject to the interference of signal, and the atmospheric pressure of high altitude department, restrictions such as air current, unmanned aerial vehicle can produce the condition such as swing when high-voltage cable is pressed close to in the high altitude, thereby lead to cable surface image collection device 6 that carries to need to adjust the focus ceaselessly when gathering the image and carry out clear map image collection, or carry out the image clarity through follow-up image processing method behind the direct acquisition image.
Therefore, the cable roller frame 8 is additionally arranged, the cable roller frame 8 can enable the device to keep relatively stable and keep a certain distance with the high-voltage cable all the time, and then the cable surface image acquisition device 6 can always adopt the same focal length without frequently zooming to acquire images.
The specific use method is that the roller 8-2 in the cable roller frame 8 is pressed above the high-voltage cable 13, at the moment, the lifting force provided by the high-voltage wire damage detection unmanned aerial vehicle can be smaller than or equal to the gravity of the high-voltage wire damage detection unmanned aerial vehicle, the roller 8-2 is in tight contact with the high-voltage cable 13, the state that the high-voltage cable 13 lifts the device is formed, and therefore the device can keep a certain distance from the high-voltage cable 13 all the time.
The process that the cable roller frame 8 is sleeved outside the high-voltage cable can be realized by acquiring images through the cable surface image acquisition device 6, various parameters of the cable roller frame 8, such as an opening angle, the height of the inner wall of the roller wheel connecting frame 8-1-1 and the like, can be known in advance, when the top end of the unmanned aerial vehicle is a certain distance away from the high-voltage cable through geometric calculation, the roller wheel connecting frame 8-1-1 and the machine body connecting frame 8-1-2 can be closed, so that the cable roller frame 8 is just sleeved outside the high-voltage cable, and the distance can be calculated through the existing image ranging algorithm by utilizing the high-voltage cable image acquired by the cable surface image acquisition device 6.
The high-voltage cable also can provide certain pulling force for this device, and then saves the energy of this device, and under the extreme condition, when running roller 8-2 was put up on the high-voltage cable, under the sufficient prerequisite of high-voltage cable bearing capacity, rotor 4 did not provide lift. Simultaneously, because running roller 8-2 erects on the high-voltage cable, the high-voltage cable also can provide the location ability for this device, and then makes this device can not deviate the object of gathering at the in-process of gathering the image.
In the process of gathering images, this high-voltage line breakage detects unmanned aerial vehicle can have two kinds of modes of advancing, one kind exactly is the same with current unmanned aerial vehicle's flight mode, and wherein 4 rotors 4 are under flight control system control, respectively have corresponding rotational speed and turn to, finally make the total advancing direction of this device for advancing along the length direction of high-voltage cable. Another is as shown in fig. 2 and fig. 3, in this case, the rotor 4 does not provide lift force or provides a small portion of lift force, the first rotor reversing motor 5 adopts a step motor, receives a reversing motor control signal of an upper computer or a flight control system, and makes the first rotor reversing motor 5 drive the first rotor reversing rotating shaft 2-1 to rotate by a certain angle, so that the pair of rotors 4 located on the first rotor fixing arm 2 generally face the rear of the overall advancing direction of the device, and is switched from the first state to the second state, and then the rotors 4 are rotated to provide a reaction force, so that the device moves along the high-voltage cable at a set speed.
Further, a second rotor reversing motor 7 is also included; the second rotor fixing arm 3 comprises a second rotor reversing rotating shaft 3-1 and a pair of second rotor motor brackets 3-2;
two ends of a second rotor reversing rotating shaft 3-1 respectively penetrate through the side walls of the two sides of the machine body 1 and are in rotating fit with the side walls of the machine body 1 through bearings; a pair of second rotor motor brackets 3-2 is symmetrically fixed at two ends of the second rotor reversing rotating shaft 3-1, and two ends of the second rotor reversing rotating shaft 3-1 are respectively fixed with the motor of the corresponding rotor 4 through the second rotor motor brackets 3-2 at the same side;
the second rotor reversing motor 5 is fixed in the machine body 1, and a power output shaft of the second rotor reversing motor 7 is in transmission fit with the second rotor reversing rotating shaft 3-1 through a gear set, so that when the power output shaft of the second rotor reversing motor 7 rotates, the second rotor reversing rotating shaft 3-1 is driven to rotate.
Specifically, as shown in fig. 5, the second rotor fixing arm 3 also adopts a rotatable structure, so that the device can be adjusted to a corresponding structure when the device needs to move in the opposite direction, and the device does not need to move after being turned integrally.
Further, the roller bracket 8-1 comprises a roller connecting frame 8-1-1, a machine body connecting frame 8-1-2 and a bracket motor 8-1-3;
the section of the roller connecting frame 8-1-1 is square, and one side of the roller connecting frame 8-1-1 is provided with an opening, so that two ends of the roller connecting frame 8-1-1 are formed at the opening;
one end of the machine body connecting frame 8-1-2 is fixed with the machine body, and the other end is positioned at the opening and is provided with a motor groove 9;
the body of the bracket motor 8-1-3 is fixed in the motor groove 9, and the power output shaft of the bracket motor 8-1-3 penetrates out of the side wall of the other end of the body connecting frame 8-1-2;
one end of the roller connecting frame 8-1-1 is fixed with the power output shaft, so that the power output shaft is used as a hinge shaft 10 to hinge one end of the roller connecting frame 8-1-1 with the other end of the machine body connecting frame 8-1-2;
when the power output shaft of the bracket motor 8-1-3 rotates, one end of the roller connecting frame 8-1-1 is driven to rotate around the power output shaft, and then the other end of the roller connecting frame 8-1-1 is driven to be far away from or close to the machine body connecting frame 8-1-2, so that the opening of the roller connecting frame 8-1-1 is exposed or sealed through the machine body connecting frame 8-1-2.
Specifically, the roller bracket 8-1 is generally symmetrical in structure for balancing, but in order to allow the high-voltage cable to enter the roller link 8-1-1, the roller link 8-1-1 is required to have an opening, so that the roller link 8-1-1 is provided with an adjustable opening and is closed when necessary, and the center of gravity is located in the center to keep balance. When the high-voltage cable is close to, the opening is opened through the bracket motor 8-1-3, and the opening as shown in fig. 6-7 is already relatively large, so that the high-voltage cable can easily enter the roller connecting bracket 8-1-1.
As shown in fig. 1, under the condition that adopts single cable roller frame 8, when opening and shutting, need unmanned aerial vehicle's balanced module to adjust, adjust the lift of four rotors 4, when making single cable roller frame 8 move at the focus, this device still keeps balanced.
The bracket motor 8-1-3 changes the state between the roller connecting frame 8-1-1 and the machine body connecting frame 8-1-2 through the rotation of the power output shaft, and closes or opens a set angle. The support motor 8-1-3 can integrate a control key on a remote controller of the unmanned aerial vehicle, and a worker can carry out field control; or directly controlled by a remote upper computer.
Further, the roller bracket 8-1 also comprises a reset torsion spring 8-1-4;
a torsion spring mounting groove hole 11 is formed in the circumferential direction of a ring hinge shaft 10 at one end of the roller connecting frame 8-1-1;
the reset torsion spring 8-1-4 is positioned in the torsion spring mounting groove hole 11 and is sleeved on the outer side wall of the hinge shaft 10;
one end of the reset torsion spring 8-1-4 is fixed with the roller connecting frame 8-1-1, and the other end is fixed with the machine body connecting frame 8-1-2;
when the reset torsion spring 8-1-4 is in a natural state, the other end of the roller connecting frame 8-1-1 abuts against the machine body connecting frame 8-1-2, so that the opening of the roller connecting frame 8-1-1 is sealed by the machine body connecting frame 8-1-2.
Further, as shown in fig. 6, the reset torsion spring 8-1-4 not only provides a reset pulling force, but also provides a closing pulling force when the roller connecting frame 8-1-1 and the machine body connecting frame 8-1-2 are closed, so that the cable roller frame 8 is kept symmetrical as a whole. And the device also avoids the phenomenon that when the bracket motor 8-1-3 is out of control, the roller bracket 8-1 is suddenly opened, and when the first rotor reversing rotating shaft 2-1 or the second rotor reversing rotating shaft 3-1 is not in time to reset, the device falls and crashes.
Further, the cable surface image acquisition device 6 comprises at least one camera module 6-1;
at least one camera module 6-1 is fixed on two outer side walls inside the roller connecting frame 8-1-1 and is positioned below the roller 8-2.
Specifically, as shown in fig. 1, the camera modules 6-1 are arranged in pairs, but at this time, lenses with large wide angles need to be selected, since image acquisition can be performed only from two sides of the high-voltage cable, and the acquired images can be corrected by an existing image algorithm and the roller 8-2 is subjected to image splicing after being "invisible".
Further, the device also comprises an image acquisition device fixing frame 12; the cable surface image acquisition device 6 comprises at least three camera modules 6-1;
the image acquisition device fixing frame 12 and the cable roller frame 8 are fixed on the same outer surface of the machine body 1;
at least three camera modules 6-1 are fixed on the image acquisition device fixing frame 12, and the visual field edges of the adjacent camera modules 6-1 are intersected and used for respectively acquiring images and splicing the images into a complete cable circumferential image.
Specifically, as shown in fig. 2 to 3, the image collecting device fixing frame 12 is staggered from the cable roller frame 8, the cable roller frame 8 is not shot when the image pickup module 6-1 collects an image, meanwhile, the image collecting device fixing frame 12 also adopts a structure of the tilting portion 12-1, the tilting portions 12-1 on the two sides are respectively fixed with one image pickup module 6-1, the image pickup module 6-1 is also fixed below the image collecting device fixing frame 12, the three image pickup modules 6-1 are in a triangular structure, and the field of view edges of the adjacent image pickup modules 6-1 are intersected at the same time, so that collected images can be spliced based on the intersected edges, and subsequent image processing is facilitated.
Further, the device also comprises a first limiting mechanism 2-3 and a second limiting mechanism 3-3;
a first limiting mechanism 2-3 is fixed on the first rotor reversing rotating shaft 2-1, and a second limiting mechanism 3-3 is fixed on the second rotor reversing rotating shaft 3-1;
the first limiting mechanism 2-3 is used for enabling the rotation angle of the first rotor wing reversing rotating shaft 2-1 to be 0-45 degrees;
the second limiting mechanism 3-3 is used for enabling the rotation angle of the second rotor wing reversing rotating shaft 3-1 to be 0 to minus 45 degrees.
Specifically, as shown in fig. 2 to 3, the first limiting mechanism 2-3 includes two limiting protrusions 2-3-1 on the first rotor reversing rotating shaft 2-1 and a blocking protrusion 2-3-2 located in the machine body 1 and engaged with the limiting protrusions 2-3-1, and an angle between the two limiting protrusions 2-3-1 is a set angle, so that the first rotor reversing rotating shaft 2-1 rotates within the set angle under the condition that the limiting protrusions 2-3-1 and the blocking protrusions 2-3-2 are engaged. Similarly, the second limiting mechanism 3-3 comprises a limiting bulge 3-3-1 and a matched blocking bulge 3-3-2.
Further, two cable roller frames 8 are symmetrically fixed on the outer surface of the machine body 1.
Specifically, as shown in fig. 1 and 2, two cable roller frames 8 may be symmetrically arranged to maintain the overall balance of the apparatus with an image capturing device holder 12 in between.
Claims (8)
1. An unmanned aerial vehicle for detecting high-voltage wire damage is characterized by comprising a machine body (1), a first rotor fixing arm (2), a second rotor fixing arm (3), four rotors (4), a first rotor reversing motor (5), a cable surface image acquisition device (6) and at least one cable roller frame (8);
the first rotor fixing arm (2) and the second rotor fixing arm (3) are symmetrically arranged at two ends of the machine body (1), and two rotors (4) are respectively fixed at two ends of the first rotor fixing arm (2) and the second rotor fixing arm (3);
the first rotor fixing arm (2) comprises a first rotor reversing rotating shaft (2-1) and a pair of first rotor motor brackets (2-2);
two ends of the first rotor wing reversing rotating shaft (2-1) respectively penetrate through the side walls of two sides of the machine body (1) and are in rotating fit with the side walls of the machine body (1) through bearings; the two ends of the first rotor wing reversing rotating shaft (2-1) are symmetrically fixed with the pair of first rotor wing motor brackets (2-2), and the two ends of the first rotor wing reversing rotating shaft (2-1) are respectively fixed with the motor of the corresponding rotor wing (4) through the first rotor wing motor brackets (2-2) on the same side;
the first rotor wing reversing motor (5) is fixed in the machine body (1), and a power output shaft of the first rotor wing reversing motor (5) is in transmission fit with the first rotor wing reversing rotating shaft (2-1) through a gear set, so that when the power output shaft of the first rotor wing reversing motor (5) rotates, the first rotor wing reversing rotating shaft (2-1) is driven to rotate;
the cable surface image acquisition device (6) is fixed on the upper surface or the lower surface of the machine body (1) and is used for acquiring an image of the cable surface;
the cable roller frame (8) comprises a roller bracket (8-1) and a roller (8-2);
the roller wheel bracket (8-1) is fixed on the upper surface or the lower surface of the machine body (1) and is positioned at the same side as the cable surface image acquisition device (6);
the roller (8-2) is arranged on the roller bracket (8-1) and can rotate relative to the roller bracket (8-1) along the length direction of the cable.
2. The unmanned aerial vehicle for detecting breakage of high voltage line according to claim 1, further comprising a second rotor reversing motor (7); the second rotor fixing arm (3) comprises a second rotor reversing rotating shaft (3-1) and a pair of second rotor motor brackets (3-2);
two ends of the second rotor wing reversing rotating shaft (3-1) respectively penetrate through the side walls of two sides of the machine body (1) and are in rotating fit with the side walls of the machine body (1) through bearings; the pair of second rotor motor brackets (3-2) are symmetrically fixed at two ends of the second rotor reversing rotating shaft (3-1), and two ends of the second rotor reversing rotating shaft (3-1) are respectively fixed with the motor of the corresponding rotor (4) through the second rotor motor brackets (3-2) at the same side;
and the second rotor reversing motor (5) is fixed in the machine body (1), and a power output shaft of the second rotor reversing motor (7) is in transmission fit with the second rotor reversing rotating shaft (3-1) through a gear set, so that when the power output shaft of the second rotor reversing motor (7) rotates, the second rotor reversing rotating shaft (3-1) is driven to rotate.
3. The unmanned aerial vehicle for detecting high-voltage wire breakage as claimed in claim 2, wherein the roller bracket (8-1) comprises a roller connecting frame (8-1-1), a machine body connecting frame (8-1-2) and a bracket motor (8-1-3);
the section of the roller connecting frame (8-1-1) is square, and one side of the roller connecting frame (8-1-1) is provided with an opening, so that two ends of the roller connecting frame (8-1-1) are formed at the opening;
one end of the machine body connecting frame (8-1-2) is fixed with the machine body, and the other end is positioned at the opening and is provided with a motor groove (9);
the body of the support motor (8-1-3) is fixed in the motor groove (9), and the power output shaft of the support motor (8-1-3) penetrates out of the side wall of the other end of the body connecting frame (8-1-2);
one end of the roller connecting frame (8-1-1) is fixed with the power output shaft, so that the power output shaft is used as a hinge shaft (10) to hinge one end of the roller connecting frame (8-1-1) with the other end of the machine body connecting frame (8-1-2);
when the power output shaft of the bracket motor (8-1-3) rotates, one end of the roller connecting frame (8-1-1) is driven to rotate around the power output shaft, and then the other end of the roller connecting frame (8-1-1) is driven to be far away from or close to the machine body connecting frame (8-1-2), so that the opening of the roller connecting frame (8-1-1) is exposed or sealed through the machine body connecting frame (8-1-2).
4. The unmanned aerial vehicle for detecting high voltage wire breakage of claim 3, wherein the roller bracket (8-1) further comprises a return torsion spring (8-1-4);
a torsion spring mounting groove hole (11) is formed in the circumferential direction of a ring hinge shaft (10) at one end of the roller connecting frame (8-1-1);
the reset torsion spring (8-1-4) is positioned in the torsion spring mounting slotted hole (11) and is sleeved on the outer side wall of the hinged shaft (10);
one end of the reset torsion spring (8-1-4) is fixed with the roller wheel connecting frame (8-1-1), and the other end of the reset torsion spring is fixed with the machine body connecting frame (8-1-2);
when the reset torsion spring (8-1-4) is in a natural state, the other end of the roller connecting frame (8-1-1) abuts against the machine body connecting frame (8-1-2), so that the opening of the roller connecting frame (8-1-1) is closed through the machine body connecting frame (8-1-2).
5. The unmanned aerial vehicle for detecting breakage of high-voltage wire according to one of claims 1 to 4, wherein the cable surface image acquisition device (6) comprises at least one camera module (6-1);
the at least one camera module (6-1) is fixed on two outer side walls inside the roller connecting frame (8-1-1) and is positioned below the rollers (8-2).
6. The unmanned aerial vehicle for detecting high-voltage wire breakage according to one of claims 1 to 4, further comprising an image acquisition device holder (12); the cable surface image acquisition device (6) comprises at least three camera modules (6-1);
the image acquisition device fixing frame (12) and the cable roller frame (8) are fixed on the same outer surface of the machine body (1);
the at least three camera modules (6-1) are fixed on the image acquisition device fixing frame (12), and the visual field edges of the adjacent camera modules (6-1) are intersected and used for respectively acquiring images and then splicing the images into complete cable circumferential images.
7. A high voltage line breakage detection drone according to one of the claims 6, characterized by further comprising a first stop mechanism (2-3) and a second stop mechanism (3-3);
a first limiting mechanism (2-3) is fixed on the first rotor reversing rotating shaft (2-1), and a second limiting mechanism (3-3) is fixed on the second rotor reversing rotating shaft (3-1);
the first limiting mechanism (2-3) is used for enabling the rotation angle of the first rotor wing reversing rotating shaft (2-1) to be 0-45 degrees;
the second limiting mechanism (3-3) is used for enabling the rotation angle of the second rotor wing reversing rotating shaft (3-1) to be 0 to minus 45 degrees.
8. The unmanned aerial vehicle for detecting breakage of high-voltage wire according to any one of claims 1 to 4, wherein the number of the cable roller frames (8) is two, and the two cable roller frames are symmetrically fixed on the outer surface of the machine body (1).
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