Unmanned aerial vehicle bird nest cleaning device with visual function

Abstract

The invention discloses an unmanned aerial vehicle bird nest cleaning device with a visual function, and relates to the technical field of unmanned aerial vehicle application, the unmanned aerial vehicle bird nest cleaning device comprises an unmanned aerial vehicle body, the unmanned aerial vehicle body cooperates with a camera to observe the position of a high-altitude bird nest on power transmission tower equipment, and then the relative position of a clamping plate and the bird nest is adjusted through the unmanned aerial vehicle body; the height of the clamping plates is adjusted through the lifting mechanism, the orientation of the clamping plates is adjusted through the steering mechanism, and the effect of driving the two clamping plates to get close to each other to clamp a bird nest is achieved through cooperation of the stepping motor, the bidirectional lead screw and the sliding block. Then the unmanned aerial vehicle body is controlled to take down the bird nest, then the bird nest removing and cleaning operation on the power transmission tower equipment can be completed, finally, under the action of the unmanned aerial vehicle body, the bird nest is brought to the ground, then the stepping motor is started to control the two clamping plates to be loosened, and the whole device is small, small, low in energy loss and safe and reliable in use.

Description

Technical Field

[0001] The invention relates to the technical field of unmanned aerial vehicle applications, and in particular to a bird nest cleaning device of an unmanned aerial vehicle with a visual function. Background Art

[0002] Birds often build nests in power transmission towers. Regardless of whether the bird nests are built on the horizontal components of the tower or at the intersection of the tower and the line, they will bring many adverse effects. For example, the corrosive substances contained in bird excrement will cause corrosion damage to the tower components and lines. Bird nests will become damp due to weather and excretion, and while covering objects such as the tower and lines, causing moisture, they will also block sunlight, making it impossible for moisture to evaporate and causing irreparable damage to objects such as equipment and cables.

[0003] In order to solve the damage caused by bird nests to outdoor power equipment, it is necessary to regularly clean bird nests high up in the power equipment. There are three main existing ways to clean bird nests. One is to manually climb to a high place and use insulating rods to remove the bird nests, which poses certain safety risks. The second is to use high-power laser equipment to burn and cut the bird nests at a long distance and then make them fall, which is very expensive. The third is to use a special vehicle equipped with a robotic arm to approach the bird nest and then grab and remove it, which consumes a lot of energy. Therefore, a device with high safety, low cost and easy use is needed to remove and clean the high-altitude bird nests on the transmission tower equipment. Summary of the invention

[0004] The purpose of the present invention is to provide a drone bird nest cleaning device with visual function to solve the problems raised by the above background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a drone bird nest cleaning device with visual function, comprising a drone body, wherein the bottom of the drone body is equipped with cameras near the four corners, the bottom of the drone body is fixedly connected with a plurality of mounting columns near the middle position, and the bottom of the drone body is connected with a lifting mechanism through the mounting columns, the bottom of the lifting mechanism is provided with a steering mechanism, the bottom of the steering mechanism is provided with a clamping mechanism, the lifting mechanism comprises a connecting plate, the top four corners of the connecting plate are fixedly connected to the bottom ends of the plurality of mounting columns by bolts, a first electric push rod with a telescopic rod facing downward is fixedly installed at the bottom of the connecting plate off the center, and the surface of the telescopic end of the first electric push rod is fixed with a mounting plate by a group of bolts in a clamping and fixing manner, the clamping mechanism comprises a mounting table, the bottom left side of the mounting table protrudes downward and is L-shaped as a whole, a first rotating seat is fixedly connected to the protruding part of the bottom of the mounting table, a first rotating block is rotatably connected between the inner surface walls of the first rotating seat by a rotating pin, and a clamping seat is welded to the right side of the first rotating block.

[0006] Preferably, the right surface of the clamping seat is provided with a sliding groove extending to the left and composed of a rectangle and a circle, the front and rear outer surfaces of the clamping seat are fixedly connected with side plates, and a bidirectional screw rod is rotatably connected between the outer surfaces of the two side plates through a bearing, and a stepper motor is installed on the front surface of one of the clamping seats, and the output end of the stepper motor and the front end of the bidirectional screw rod are fixedly connected.

[0007] Preferably, sliding blocks are symmetrically slidably embedded between the inner walls of the sliding groove, the right surfaces of the two sliding blocks are fixedly connected with clamps, and the opposite surfaces of the two clamps are provided with mutually meshing anti-slip grooves, the sliding blocks and the sliding grooves are consistent in shape and size, and the surfaces are penetrated by the outer surface threads of the bidirectional screw.

[0008] Preferably, the steering mechanism consists of a servo motor, a connecting shaft, a first pulley, a synchronous belt, a second pulley and a connecting disk, wherein the first pulley and the second pulley are of the same size and both have special-shaped through holes in the center, wherein the top end of the connecting shaft is provided with a special-shaped hole matching the shape of the output end of the servo motor, wherein the connecting disk consists of a circular disk, a plurality of circular pins and a pin matching the shape of the special-shaped through hole in the center of the second pulley.

[0009] Preferably, the servo motor is installed on the top of the mounting plate and away from the first electric push rod. The output end of the servo motor rotates through the bottom of the mounting plate and is plugged into the connecting shaft. The bottom end of the connecting shaft is inserted into the special-shaped hole at the center of the first pulley and fixed by welding. The synchronous belt is sleeved in the grooves of the first pulley and the second pulley.

[0010] Preferably, the circular disc in the connecting disc fits tightly with the bottom of the second pulley, and the multiple circular pins and the central pin in the connecting disc all penetrate the bottom of the second pulley, and the pin in the connecting disc that matches the shape of the special-shaped through hole in the center of the second pulley extends to the top of the second pulley and is rotatably connected to the mounting plate through a bearing welded on the surface, the bottom of the circular disc in the connecting disc and the top of the mounting platform are welded and fixed, and the positions of the protrusions at the bottom of the connecting disc and the mounting platform correspond to each other.

[0011] Preferably, a second rotating seat is fixedly connected to the bottom of the mounting platform on one side away from the first rotating seat, a second rotating block is rotatably connected between the inner surface walls of the second rotating seat via a rotating pin, a second electric push rod is installed on the outer surface of the second rotating block, the second electric push rod, the stepper motor, the servo motor and the first electric push rod are all electrically connected to the internal power supply and control main board of the drone body through lines, and the camera is electrically connected to the internal control main board of the drone body through a signal line.

[0012] Preferably, a third rotating seat is fixedly connected to the top of the clamping seat near the clamping plate, and a third rotating block is rotatably connected between the inner surface walls of the third rotating seat via a rotating pin. The outer surface of the third rotating block is fixedly connected to the telescopic end of the second electric push rod by welding, and the second electric push rod is inclined.

[0013] Preferably, the bottom of the connecting plate is fixedly connected to a stabilizing sleeve near the four corners, the cross-section of the stabilizing sleeve is circular and a circular groove is provided inside, and the top of the mounting plate is fixedly connected to a sliding rod near the four corners, and the top end of the sliding rod is slidably inserted inside the stabilizing sleeve.

[0014] Preferably, a limiting groove is provided on the outer surface of the stabilizing sleeve, and a raised limiting block is fixedly connected to the outer surface of the sliding rod near the top end, and the outer surface of the limiting block and the inner surface wall of the limiting groove are slidably fitted, and two U-shaped support frames are symmetrically installed at the bottom of the drone body at a position outside the mounting column, and the bottom of the support frame is lower than the bottom of the clamping seat.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. When the present invention is used, the position of the high-altitude bird's nest on the transmission tower equipment can be observed through the drone body and the camera, and then the relative position of the clamping plate and the bird's nest is adjusted through the drone body, the height of the clamping plate is adjusted through the lifting mechanism, and the direction of the clamping plate is adjusted through the steering mechanism. The stepper motor, the bidirectional screw rod and the sliding block cooperate to drive the two clamping plates to approach each other and clamp the bird's nest. Then, the drone body is controlled to remove the bird's nest to complete the removal and cleaning of the bird's nest on the transmission tower equipment. Finally, the bird's nest is brought to the ground under the action of the drone body, and the stepper motor is started to control the two clamping plates to loosen. The overall device is compact, has low energy loss, and is safe and reliable when used.

[0016] 2. When the present invention is used, if a bird's nest cannot be removed and cleaned horizontally, the second electric push rod can be started to extend. At this time, the second electric push rod will generate a thrust obliquely downward to the clamping seat below, so that the clamping seat drives the two clamping plates to rotate downward under the action of the first rotating seat and the first rotating block. After the clamping plates are adjusted, they can be clamped from above or obliquely above the bird's nest, thereby achieving the effect of removing bird's nests in tricky positions and improving flexibility during use.

[0017] 3. When the present invention is used, when the first electric push rod is retracted to drive the mounting plate to rise to the highest point, the bottom of the support frame will be higher than the bottom of the clamping seat. At this time, the support frame plays a supporting role after the drone body directly lands, avoiding damage to the device after contact with the ground. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1A three-dimensional diagram of a bird nest cleaning device of a drone with a visual function according to the present invention; Figure 2 This is an expanded view of a drone bird nest cleaning device with a visual function according to the present invention; Figure 3 A bottom view of a bird nest cleaning device of a drone with a visual function according to the present invention; Figure 4 It is a partial structural side view of a drone bird nest cleaning device with visual function according to the present invention; Figure 5 This is a partial structural expansion diagram of a drone bird nest cleaning device with visual function according to the present invention; Figure 6 This is a schematic diagram of the lifting mechanism structure of a drone bird nest cleaning device with visual function according to the present invention; Figure 7 This is a schematic diagram of the steering mechanism structure of a bird nest cleaning device of a drone with a visual function according to the present invention; Figure 8 The present invention is a schematic diagram of the structure of a clamping mechanism of a bird nest cleaning device of a drone with a visual function.

[0019] In the figure: 1, drone body; 11, camera; 12, support frame; 13, mounting column; 2, lifting mechanism; 201, connecting plate; 202, first electric push rod; 203, stabilizing sleeve; 204, limiting groove; 205, sliding rod; 206, limiting block; 207, mounting plate; 3, steering mechanism; 301, servo motor; 302, connecting shaft; 303, first pulley; 304, synchronous belt; 305, second pulley; 3 06. Connecting plate; 4. Clamping mechanism; 401. Mounting table; 402. First rotating seat; 403. First rotating block; 404. Clamping seat; 405. Sliding groove; 406. Side plate; 407. Bidirectional screw rod; 408. Stepping motor; 409. Sliding block; 410. Clamping plate; 411. Second rotating seat; 412. Second rotating block; 413. Second electric push rod; 414. Third rotating block; 415. Third rotating seat. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the implementation regulations described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] Example 1: Please refer to Figure 1-Figure 8As shown, the present invention provides a technical solution: a drone bird nest cleaning device with a visual function, comprising a drone body 1, wherein the bottom of the drone body 1 near the four corners is equipped with cameras 11, and the bottom of the drone body 1 near the middle position is fixedly connected with a plurality of mounting columns 13, and the bottom of the drone body 1 is connected with a lifting mechanism 2 through the mounting columns 13, and the bottom of the lifting mechanism 2 is provided with a steering mechanism 3, and the bottom of the steering mechanism 3 is provided with a clamping mechanism 4, and the lifting mechanism 2 includes a connecting plate 201, and the four corners of the top of the connecting plate 201 are fixedly connected to the bottom ends of the plurality of mounting columns 13 by bolts, and the bottom of the connecting plate 201 is fixedly installed with a first electric push rod 202 with a telescopic rod facing downward at a position offset from the center, and The telescopic end surface of the first electric push rod 202 is fixed with a mounting plate 207 by a group of bolts in a clamping and fixing manner. The clamping mechanism 4 includes a mounting platform 401. The bottom left side of the mounting platform 401 protrudes downward and is L-shaped as a whole. The bottom protrusion of the mounting platform 401 is fixedly connected with a first rotating seat 402. The first rotating block 403 is rotatably connected between the inner surface walls of the first rotating seat 402 through a rotating pin. A clamping seat 404 is welded on the right side of the first rotating block 403. A sliding groove 405 extending to the left and composed of a combination of a rectangle and a circle is provided on the right surface of the clamping seat 404. The front and rear outer surfaces of the clamping seat 404 are fixedly connected with side plates 406. A bidirectional screw rod 407 is rotatably connected between the outer surfaces of the two side plates 406 through bearings. A stepper motor 408 is installed on the front surface of one of the clamping seats 404, and the output end of the stepper motor 408 is fixedly connected to the front end of the bidirectional screw rod 407. A sliding block 409 is symmetrically slidably embedded between the inner surface walls of the sliding groove 405. The right surfaces of the two sliding blocks 409 are fixedly connected to a clamping plate 410, and the opposite surfaces of the two clamping plates 410 are provided with mutually meshing anti-slip grooves. The sliding block 409 and the sliding groove 405 have the same shape and size, and the surface is penetrated by the outer surface thread of the bidirectional screw rod 407. The steering mechanism 3 is composed of a servo motor 301, a connecting shaft 302, a first pulley 303, a synchronous belt 304, a second pulley 305 and a connecting disk 306, wherein the first pulley 303 and the second pulley 305 have the same size and are both opened at the center. A special-shaped through hole is provided, wherein the top end of the connecting shaft 302 is provided with a special-shaped hole matching the shape of the output end of the servo motor 301, wherein the connecting disk 306 is composed of a disk, a plurality of circular plug posts and a plug post matching the shape of the special-shaped through hole at the center of the second pulley 305, the servo motor 301 is installed on the top of the mounting plate 207 and away from the position of the first electric push rod 202, the output end of the servo motor 301 rotates through the bottom of the mounting plate 207 and is plugged and connected with the connecting shaft 302, the bottom end of the connecting shaft 302 is inserted into the special-shaped hole at the center of the first pulley 303 and fixed by welding, the synchronous belt 304 is sleeved in the grooves of the first pulley 303 and the second pulley 305, the disk in the connecting disk 306 and the bottom of the second pulley 305 are tightly fitted,The multiple circular plugs and the central plug in the connecting disk 306 all penetrate the bottom of the second pulley 305, and the plug in the connecting disk 306 that matches the shape of the central special-shaped through hole of the second pulley 305 extends to the top of the second pulley 305 and is rotatably connected to the mounting plate 207 through the bearing welded on the surface. The bottom of the circular disk in the connecting disk 306 and the top of the mounting platform 401 are welded and fixed, and the connecting disk 306 corresponds to the protrusion at the bottom of the mounting platform 401.

[0022] In this embodiment, the drone body 1 in the device is a DJI-Mini4PRO with a flight time of 30-50 minutes. The remote control device is a DJIRC-N2, which can remotely control the drone body 1 for flight. The camera 11 is a FCB-EV9500M with about 4.17 million pixels, a MIPI interface, a 30x high-definition integrated camera core, and has functions such as wide dynamic range, image stabilization and noise reduction. The working voltage of the first electric push rod 202, the servo motor 301, the stepper motor 408 and the second electric push rod 413 in the device are all 12V, and the drone body 1 is connected by wire. The internal main power supply is powered and connected to the internal control mainboard of the drone body 1 by wire. When using this device to clean and remove high-altitude bird nests on outdoor power transmission tower equipment, the drone body 1 is controlled by the remote control to fly and approach the bird nest. During the process, the camera 11 continuously captures images of the spatial position of the bird nest and transmits the image information to the remote control screen in the user's hand in real time through the control board in the drone body 1, and adjusts the position of the drone body 1 according to the position of the bird nest. Then, the first electric push rod 202 is started and the mounting plate 207 is pushed downward to drive the splint 410 to move to a height level with the bird nest. After that, according to the direction of the bird's nest, the servo motor 301 is started at this time to drive the first pulley 303 to rotate through the connecting shaft 302. When the first pulley 303 rotates, the rotational force is transmitted to the second pulley 305 through the synchronous belt 304. Since the second pulley 305 is connected to the connecting disk 306 and the connecting disk 306 is rotatably connected through the bearing and the mounting plate 207, the second pulley 305 will rotate with the connecting disk 306 under the action of the synchronous belt 304, thereby playing a role in adjusting the direction of the bottom mounting platform 401, so that the clamping plate 410 is facing the direction of the bird's nest, and then the drone body 1 is controlled to drive the two opened clamping plates 410 After moving to a suitable position for clamping the bird's nest, start the stepper motor 408 to drive the bidirectional screw rod 407 to rotate. After the bidirectional screw rod 407 rotates, it will drive the two sliding blocks 409 inside the sliding groove 405 to approach each other, so that the two clamping plates 410 on the outside of the sliding block 409 are close to each other to complete the clamping of the bird's nest. Then, the drone body 1 is controlled to remove the bird's nest to complete the removal and cleaning of the bird's nest on the transmission tower equipment. Finally, under the action of the drone body 1, the bird's nest is brought to the ground and the stepper motor 408 is started to control the two clamping plates 410 to loosen. The overall device is compact, has low energy loss, and is safe and reliable when used.

[0023] Embodiment 2: Figure 1-Figure 8 As shown, a second rotating seat 411 is fixedly connected to the side of the bottom of the mounting platform 401 away from the first rotating seat 402, a second rotating block 412 is rotatably connected between the inner surface walls of the second rotating seat 411 through a rotating pin, a second electric push rod 413 is installed on the outer surface of the second rotating block 412, the second electric push rod 413, the stepper motor 408, the servo motor 301 and the first electric push rod 202 are all electrically connected to the internal power supply and control main board of the drone body 1 through lines, the camera 11 is electrically connected to the internal control main board of the drone body 1 through a signal line, a third rotating seat 415 is fixedly connected to the top of the clamping seat 404 near the splint 410, a third rotating block 414 is rotatably connected between the inner surface walls of the third rotating seat 415 through a rotating pin, the outer surface of the third rotating block 414 is fixedly connected to the telescopic end of the second electric push rod 413 by welding, and the second electric push rod 413 is inclined.

[0024] In this embodiment, when in use, if a bird's nest cannot be removed and cleaned from the horizontal direction, the second electric push rod 413 can be started to extend. At this time, the second electric push rod 413 will generate an oblique downward thrust on the lower clamping seat 404, so that the clamping seat 404 drives the two clamping plates 410 to rotate downward under the action of the first rotating seat 402 and the first rotating block 403. After the clamping plates 410 are adjusted, they can be clamped from above or obliquely above the bird's nest, thereby having the effect of removing the bird's nest in a tricky position, thereby improving the flexibility during use. When the second electric push rod 413 is extended and retracted, its tail will cooperate with the second rotating seat 411 and the second rotating block 412 to rotate with the mounting platform 401, and the end of its extended end will rotate with the clamping seat 404 through the third rotating block 414 and the third rotating seat 415, thereby offsetting motion interference.

[0025] Embodiment 3: Figure 1-Figure 4 and Figure 6 As shown, the bottom of the connecting plate 201 near the four corners are fixedly connected with a stabilizing sleeve 203, the cross-section of the stabilizing sleeve 203 is circular and a circular groove is provided inside, the top of the mounting plate 207 near the four corners are fixedly connected with a sliding rod 205, the top end of the sliding rod 205 is slidably inserted into the inside of the stabilizing sleeve 203, the outer surface of the stabilizing sleeve 203 is provided with a limiting groove 204, the outer surface of the sliding rod 205 near the top is fixedly connected with a raised limiting block 206, the outer surface of the limiting block 206 and the inner surface wall of the limiting groove 204 are slidably fitted, the bottom of the drone body 1 is located outside the mounting column 13, and two U-shaped support frames 12 are symmetrically installed, and the bottom of the support frame 12 is lower than the bottom of the clamping seat 404.

[0026] In this embodiment, when in use, when the first electric push rod 202 extends and pushes the mounting plate 207 down, the sliding rod 205 on the top of the mounting plate 207 will slide inside the stabilizing sleeve 203 at the bottom of the connecting plate 201, thereby limiting the moving path of the mounting plate 207, allowing it to descend stably and linearly, and with the cooperation of the limiting block 206 and the limiting groove 204, it plays a role in limiting the descending distance of the sliding rod 205 and the mounting plate 207, avoiding excessive descending stroke of the mounting plate 207 and resulting in a decrease in stability, thereby improving the reliability of the device when in use, and when the first electric push rod 202 contracts and drives the mounting plate 207 to rise to the highest point, the bottom of the support frame 12 will be higher than the bottom of the clamping seat 404, and at this time, the support frame 12 plays a supporting role after the drone body 1 directly lands, avoiding damage to the device after contact with the ground.

[0027] The effect and working principle of the entire mechanism are as follows: when using the device to clean and remove high-altitude bird nests on outdoor power transmission tower equipment, the drone body 1 is controlled by the remote control to fly and approach the bird nest. During the process, the camera 11 continuously captures images of the spatial position of the bird nest and transmits the image information to the remote control screen in the user's hand in real time through the control panel in the drone body 1, and adjusts the position of the drone body 1 according to the position of the bird nest. After that, the first electric push rod 202 is started and the mounting plate 207 is pushed downward to drive the splint 410 to move to the same height as the bird nest. According to the direction of the bird nest, the servo motor 301 is started at this time through the connecting shaft 302 drives the first pulley 303 to rotate. When the first pulley 303 rotates, the rotational force is transmitted to the second pulley 305 through the synchronous belt 304. Since the second pulley 305 is connected to the connecting disk 306 and the connecting disk 306 is rotatably connected through the bearing and the mounting plate 207, the second pulley 305 will rotate with the connecting disk 306 under the action of the synchronous belt 304, thereby adjusting the direction of the bottom mounting platform 401, so that the clamping plate 410 is facing the direction of the bird's nest. Subsequently, the drone body 1 is controlled to drive the two opened clamping plates 410 to move to a suitable position for clamping the bird's nest, and then the stepping motor 408 is started to drive the bidirectional screw rod 407 to rotate. After the bidirectional screw rod 407 rotates, it will drive the two sliding blocks 409 inside the sliding groove 405 to approach each other, so that the two clamping plates 410 outside the sliding block 409 are close to each other to complete the clamping of the bird's nest. Then, the drone body 1 is controlled to remove the bird's nest to complete the removal and cleaning of the bird's nest on the transmission tower equipment. Finally, under the action of the drone body 1, the bird's nest is brought to the ground and the stepper motor 408 is started to control the two clamping plates 410 to loosen. The overall device is compact, has low energy loss, is safe and reliable when used, and when in use, if a bird's nest that cannot be removed and cleaned from the horizontal direction is encountered, the second electric push rod 413 can be started to extend. At this time, the second electric push rod 413 will generate a thrust obliquely downward to the clamping seat 404 below, so that the clamping seat 404 drives the two clamping plates 410 to rotate downward under the action of the first rotating seat 402 and the first rotating block 403. After the clamping plates 410 are adjusted, they can be clamped from above or obliquely above the bird's nest, thereby having the effect of dismantling the bird's nest in a tricky position, thereby improving the flexibility during use. When the first electric push rod 202 shrinks and drives the mounting plate 207 to rise to the highest point, the bottom of the support frame 12 will be higher than the bottom of the clamping seat 404. At this time, the support frame 12 plays a supporting role after the drone body 1 directly lands, avoiding damage to the device after contact with the ground.

[0028] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A bird nest cleaning device for a drone with visual function, comprising a drone body (1), characterized in that: The bottom of the drone body (1) is provided with cameras (11) near the four corners, the bottom of the drone body (1) is fixedly connected with a plurality of mounting columns (13) near the middle, and the bottom of the drone body (1) is connected with a lifting mechanism (2) via the mounting columns (13), the bottom of the lifting mechanism (2) is provided with a steering mechanism (3), and the bottom of the steering mechanism (3) is provided with a clamping mechanism (4); The lifting mechanism (2) comprises a connecting plate (201), the four corners of the top of the connecting plate (201) are fixedly connected to the bottom ends of a plurality of mounting columns (13) by means of bolts, a first electric push rod (202) with a telescopic rod facing downward is fixedly mounted at a position offset from the center of the bottom of the connecting plate (201), and a mounting plate (207) is mounted on the surface of the telescopic end of the first electric push rod (202) by means of a group of bolts in a clamping and fixing manner; The clamping mechanism (4) comprises a mounting platform (401), the left side of the bottom of the mounting platform (401) protrudes downward and is L-shaped as a whole, a first rotating seat (402) is fixedly connected to the protruding portion of the bottom of the mounting platform (401), a first rotating block (403) is rotatably connected between the inner surface walls of the first rotating seat (402) via a rotating pin, and a clamping seat (404) is welded to the right side of the first rotating block (403).

2. The drone bird nest cleaning device with visual function according to claim 1, characterized in that: The right surface of the clamping seat (404) is provided with a sliding groove (405) extending to the left and composed of a rectangle and a circle. The front and rear outer surfaces of the clamping seat (404) are fixedly connected to side plates (406). A bidirectional lead screw (407) is rotatably connected between the outer surfaces of the two side plates (406) via a bearing. A stepper motor (408) is installed on the front surface of one of the clamping seats (404). The output end of the stepper motor (408) is fixedly connected to the front end of the bidirectional lead screw (407).

3. The drone bird nest cleaning device with visual function according to claim 2, characterized in that: Sliding blocks (409) are symmetrically slidably embedded between the inner surface walls of the sliding groove (405), and the right surfaces of the two sliding blocks (409) are fixedly connected with clamping plates (410), and the opposite surfaces of the two clamping plates (410) are provided with mutually meshing anti-slip grooves. The sliding blocks (409) and the sliding groove (405) have the same shape and size, and the surfaces are penetrated by the outer surface threads of the bidirectional screw rod (407).

4. The drone bird nest cleaning device with visual function according to claim 3 is characterized by: The steering mechanism (3) is composed of a servo motor (301), a connecting shaft (302), a first pulley (303), a synchronous belt (304), a second pulley (305) and a connecting disk (306), wherein the first pulley (303) and the second pulley (305) are of the same size and are both provided with a special-shaped through hole at the center, wherein the top end of the connecting shaft (302) is provided with a special-shaped hole matching the shape of the output end of the servo motor (301), and wherein the connecting disk (306) is composed of a circular disk, a plurality of circular plug posts and a plug post matching the shape of the special-shaped through hole at the center of the second pulley (305).

5. The drone bird nest cleaning device with visual function according to claim 4, characterized in that: The servo motor (301) is mounted on the top of the mounting plate (207) and away from the first electric push rod (202); the output end of the servo motor (301) rotates to pass through the bottom of the mounting plate (207) and is plugged into the connecting shaft (302); the bottom end of the connecting shaft (302) is inserted into the special-shaped hole at the center of the first pulley (303) and fixed by welding; the synchronous belt (304) is sleeved in the grooves of the first pulley (303) and the second pulley (305).

6. The drone bird nest cleaning device with visual function according to claim 5, characterized in that: The circular disc in the connecting disc (306) fits tightly with the bottom of the second pulley (305), and the multiple circular plugs and the central plug in the connecting disc (306) all penetrate the bottom of the second pulley (305), and the plug in the connecting disc (306) that matches the shape of the central special-shaped through hole of the second pulley (305) extends to the top of the second pulley (305) and is rotatably connected to the mounting plate (207) through a bearing welded on the surface, the bottom of the circular disc in the connecting disc (306) and the top of the mounting platform (401) are welded and fixed, and the positions of the protrusions at the bottom of the connecting disc (306) and the mounting platform (401) correspond to each other.

7. The drone bird nest cleaning device with visual function according to claim 6, characterized in that: A second rotating seat (411) is fixedly connected to a side of the bottom of the mounting platform (401) away from the first rotating seat (402); a second rotating block (412) is rotatably connected between the inner surface walls of the second rotating seat (411) via a rotating pin; a second electric push rod (413) is mounted on the outer surface of the second rotating block (412); the second electric push rod (413), the stepper motor (408), the servo motor (301) and the first electric push rod (202) are all electrically connected to an internal power supply and a control mainboard of the drone body (1) via a line; and the camera (11) is electrically connected to an internal control mainboard of the drone body (1) via a signal line.

8. The drone bird nest cleaning device with visual function according to claim 7, characterized in that: A third rotating seat (415) is fixedly connected to the top of the clamping seat (404) near the clamping plate (410), and a third rotating block (414) is rotatably connected between the inner surface walls of the third rotating seat (415) via a rotating pin. The outer surface of the third rotating block (414) is fixedly connected to the telescopic end of the second electric push rod (413) by welding, and the second electric push rod (413) is inclined.

9. The drone bird nest cleaning device with visual function according to claim 8, characterized in that: The bottom of the connection plate (201) is fixedly connected to a stabilizing sleeve (203) near the four corners, the stabilizing sleeve (203) has a circular cross-section and is provided with a circular groove inside, and the top of the mounting plate (207) is fixedly connected to a sliding rod (205) near the four corners, the top end of the sliding rod (205) being slidably inserted inside the stabilizing sleeve (203).

10. The drone bird nest cleaning device with visual function according to claim 9, characterized in that: The outer surface of the stabilizing sleeve (203) is provided with a limiting groove (204), and a raised limiting block (206) is fixedly connected to the outer surface of the sliding rod (205) near the top, and the outer surface of the limiting block (206) and the inner surface wall of the limiting groove (204) are slidably fitted, and two U-shaped support frames (12) are symmetrically installed at a position outside the mounting column (13) at the bottom of the drone body (1), and the bottom of the support frame (12) is lower than the bottom of the clamping seat (404).

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