Power transmission line inspection method based on unmanned aerial vehicle

Abstract

The invention relates to the technical field of power transmission line inspection, in particular to an unmanned aerial vehicle-based power transmission line inspection method, which comprises the following steps of S1, dividing an inspection area of an unmanned aerial vehicle according to an actual power transmission line environment and a distribution state; s2, classifying and numbering targets in the patrol area; s3, setting a patrol path of the unmanned aerial vehicle according to the condition of the patrol area; s4, the unmanned aerial vehicle is released for inspection; s5, the unmanned aerial vehicle automatically identifies and marks the target with the abnormal state, and meanwhile video recording is carried out; s6, performing manual identification by using the image and the video acquired by the unmanned aerial vehicle to avoid misjudgment; and S7, after the inspection is completed, the unmanned aerial vehicle returns along a predetermined path. According to the invention, the power transmission line can be patrolled by means of the unmanned aerial vehicle, so that facilities such as a power tower in the field can be patrolled conveniently, and the efficiency and quality of patrolling work are greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of power transmission line inspection, and in particular to a power transmission line inspection method based on an unmanned aerial vehicle. Background Art

[0002] Transmission lines refer to cable or line systems used to transmit high-voltage electricity. They can span long distances, connect power plants and substations, and even reach users directly. The main function of transmission lines is to efficiently and safely transmit the electrical energy generated during the power generation process to various electricity users.

[0003] In the prior art, under the requirement of ensuring the stable operation of transmission lines, it currently mainly relies on manual inspection work on a regular basis. The operation method is that power personnel climb up the power tower to achieve close observation of the transmission line. However, when the power tower of the transmission line is located in the wild environment, manual inspection faces many difficulties. The complex terrain, harsh natural conditions and inconvenient transportation in the wild will cause serious obstacles to manual inspection work, greatly reducing the efficiency and quality of the inspection work, and it is difficult to meet the needs of efficient operation and maintenance of modern transmission lines.

[0004] Therefore, a transmission line inspection method based on UAV is proposed. Summary of the invention

[0005] The purpose of this invention is to solve the many difficulties faced by manual inspections. The complex terrain, harsh natural conditions and inconvenient transportation in the field will cause serious obstacles to manual inspections and greatly reduce the efficiency and quality of inspections. A transmission line inspection method based on drones is proposed.

[0006] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solution: a transmission line inspection method based on a drone, comprising the following steps:

[0007] S1. Divide the patrol area of ​​the drone according to the actual transmission line environment and distribution status;

[0008] S2. Classify and number the targets within the patrol area;

[0009] S3. Setting the patrol path of the drone according to the situation of the patrol area;

[0010] S4, launching the drone for inspection;

[0011] S5, the drone automatically identifies and marks targets with abnormal status, and simultaneously records the video;

[0012] S6. Using the images and videos collected by the drone to perform manual recognition to avoid misjudgment;

[0013] S7. After the inspection is completed, the drone returns along the predetermined path.

[0014] Preferably, the UAV comprises a body and an optical camera, a driving motor is fixedly connected to the surface of the body, a propeller is fixedly connected to the output end of the driving motor, a landing gear is fixedly connected to the surface of the body, a fill light is fixedly connected to the body, and further comprises: a buffer structure arranged on the arc surface of the landing gear for buffering the body, the buffer structure comprising a double-layer tube rotatably mounted on the arc surface of the landing gear, a torsion spring for reducing the impact force between the landing gear and the ground, and a force plate for increasing the ground contact area of ​​the landing gear; a limiting structure arranged on the arc surface of the landing gear for limiting the position of the force plate, the limiting structure comprising a limiting rod slidably passing through the landing gear; a telescopic structure arranged on the surface of the body for facilitating shooting in a narrow position, the telescopic structure comprising a servo motor fixedly mounted on the surface of the body, and a gear and a rack for adjusting the position of the optical camera.

[0015] By setting up a buffer structure, when the UAV lands, the torsion spring can use its own torque to buffer the double-layer tube, thereby delaying the landing speed of the body. After the outrigger contacts the ground, it will support the landing gear. At this time, the impact force on the body will be greatly reduced, thereby effectively avoiding the body from being damaged due to the landing gear hitting the ground quickly. By setting up a limit structure, when the UAV needs to be retracted, the position of the force plate can be limited, thereby reducing the space occupied by the force plate, making it convenient to store the UAV, and improving the convenience of carrying the UAV. By setting up a telescopic structure, when the UAV patrols the narrow part of the power tower, it is convenient to extend the optical camera into the narrow part of the power tower for shooting, thereby improving the practicality of the UAV.

[0016] Preferably, the force-bearing plate is fixedly mounted on the arc surface of the double-layer tube, the arc surface of the landing gear is rotatably connected with a swivel, the swivel is against one end of the double-layer tube, the torsion spring is fixedly connected between the swivel and the double-layer tube, the torsion spring is sleeved on the arc surface of the landing gear, the inner thread of the swivel is connected with a threaded rod, the arc surface of the landing gear is fixedly connected with a support leg, and the vertical cross-section of the force-bearing plate is "J" shaped.

[0017] The effect achieved by the above components is: when the fuselage moves downward, the landing gear will squeeze the double-layer tube, and the double-layer tube will rotate and twist the torsion spring. At this time, the torsion spring will use its own torque to buffer the double-layer tube, thereby delaying the landing speed of the fuselage. After that, the legs will contact the ground to support the landing gear. At this time, the impact force on the fuselage will be greatly reduced, thereby effectively avoiding the damage of the fuselage due to the rapid impact of the landing gear on the ground.

[0018] Preferably, one end of the threaded rod is rotatably connected to a circular plate, and a friction pad is fixedly connected to the surface of the circular plate.

[0019] The effect achieved by the above components is that the friction pad increases the friction between the threaded rod and the landing gear.

[0020] Preferably, a protrusion is fixedly connected to the arc surface of the double-layer tube, and a positioning block is fixedly connected to the arc surface of the landing gear.

[0021] The effect achieved by the above components is that the positioning block cooperates with the protrusion to limit the rotation direction of the double-layer tube, thereby facilitating the adjustment of the torsion force of the torsion spring.

[0022] Preferably, a damping ring is fixedly connected to the arc surface of the landing gear, and the damping ring abuts against one end of the double-layer tube.

[0023] The effect achieved by the above components is that the damping ring can slow down the rotation speed of the double-layer tube, preventing the torsion spring from rotating in the opposite direction due to its own torque, causing the machine body to be bounced up and cause secondary damage.

[0024] Preferably, one end of the limit rod is fixedly connected with a pull ring, the arc surface of the landing gear is fixedly connected with a fixing block, the limit rod slides through the fixing block, and one end of the limit rod is provided with an inclined surface.

[0025] The effect achieved by the above components is: when the drone needs to be retracted, the force plate is rotated upward, and the double-layer tube will drive the protrusion to move as the force plate rotates. The protrusion will contact the inclined surface of the limit rod, and the protrusion will squeeze the limit rod. The limit rod will pass through the fixed block and the landing gear. After the arc surface of the limit rod contacts the protrusion, the limit rod reaches the position of the limit protrusion, thereby limiting the position of the force plate, thereby reducing the space occupied by the force plate, making it easier to store the drone, and improving the convenience of carrying the drone.

[0026] Preferably, a leaf spring is fixedly connected to the arc surface of the limiting rod, and one end of the leaf spring is fixedly connected to the fixing block.

[0027] The effect achieved by the above components is that when the leaf spring contracts, the limit rod will slide and return to its original position with the help of the elastic force of the leaf spring.

[0028] Preferably, the output end of the servo motor is fixedly connected to the gear, a clamp is fixedly connected to the surface of the body, the clamp is slidably connected to the rack, the rack is meshed with the gear, and the rack is fixedly connected to the optical camera.

[0029] The effect achieved by the above components is: controlling the output end of the servo motor to rotate, the gear will drive the rack to slide along the surface of the splint, and the sliding of the rack will drive the optical camera to move, thereby facilitating the optical camera to be inserted into the narrow space of the power tower for shooting, thereby improving the practicality of the drone.

[0030] Preferably, a rectangular plate is fixedly connected to the surface of the body, an electric push rod is fixedly connected to the surface of the rectangular plate, a U-shaped plate is fixedly connected to the output end of the electric push rod, a rubber block is fixedly connected to the surface of the U-shaped plate, a connecting plate is fixedly connected to the surface of the U-shaped plate, and the connecting plate is slidably connected to the fixed plate.

[0031] The effects achieved by the above components are: the output end of the electric push rod is controlled to extend, the U-shaped plate will drive the rubber block to move upward and against the surface of the rack, thereby limiting the position of the rack, and then limiting the position of the optical camera, making it convenient for the optical camera to take stable photos, and the movement of the U-shaped plate will drive the connecting plate to slide along the surface of the fixed plate, and the connecting plate can achieve the effect of limiting the moving path of the U-shaped plate.

[0032] Compared with the prior art, the advantages and positive effects of the present invention are:

[0033] 1. In the present invention, the transmission lines can be inspected with the help of drones, thereby facilitating the inspection of facilities such as power towers located in the wild, greatly improving the efficiency and quality of the inspection work.

[0034] 2. In the present invention, by setting a buffer structure, when the UAV lands, the torsion spring can use its own torque to buffer the double-layer tube, thereby delaying the landing speed of the fuselage. After the legs touch the ground, they will support the landing gear. At this time, the impact force on the fuselage will be greatly reduced, thereby effectively avoiding the damage of the fuselage due to the rapid impact of the landing gear on the ground.

[0035] 3. In the present invention, by setting a limit structure, when the drone needs to be retracted, the position of the force plate can be limited, thereby reducing the space occupied by the force plate, making it convenient to store the drone, and improving the convenience of carrying the drone.

[0036] 4. In the present invention, by providing a telescopic structure, when the drone is inspecting the narrow space of the power tower, it is convenient to extend the optical camera into the narrow space of the power tower for shooting, thereby improving the practicality of the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 is a flow chart of the present invention;

[0038] Figure 2 It is a schematic diagram of the overall structure of the present invention;

[0039] Figure 3 It is a structural schematic diagram of the body of the present invention;

[0040] Figure 4 For the present invention Figure 1 Schematic diagram of the local structure;

[0041] Figure 5This is a schematic diagram of the split structure of the double-layer tube of the present invention;

[0042] Figure 6 It is a structural schematic diagram of the limit rod of the present invention;

[0043] Figure 7 For the present invention Figure 2 Schematic diagram of the local structure;

[0044] Figure 8 It is a structural schematic diagram of the servo motor of the present invention;

[0045] Fig. 9 It is a structural schematic diagram of the U-shaped plate of the present invention.

[0046] Legend: 1. Airframe; 2. Driving motor; 3. Propeller; 4. Landing gear; 5. Fill light; 6. Optical camera; 7. Buffer structure; 701. Double-layer tube; 702. Force plate; 703. Swivel; 704. Torsion spring; 705. Threaded rod; 706. Leg; 707. Round plate; 708. Friction pad; 709. Positioning block; 710. Bump; 711. Damping ring; 8. Limiting structure; 81. Limiting rod; 82. Fixed block; 83. Inclined surface; 84. Pull ring; 85. Leaf spring; 9. Telescopic structure; 91. Servo motor; 92. Gear; 93. Clamp; 94. Rack; 95. Rectangular plate; 96. Electric push rod; 97. U-shaped plate; 98. Rubber block; 99. Connecting plate. DETAILED DESCRIPTION

[0047] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described below in conjunction with the accompanying drawings and embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0048] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways than those described herein. Therefore, the present invention is not limited to the specific embodiments of the following disclosure.

[0049] like Figure 1 As shown, the present invention provides a transmission line inspection method based on a drone, comprising the following steps:

[0050] S1. Divide the patrol area of ​​the drone according to the actual transmission line environment and distribution status;

[0051] S2. Classify and number the targets within the patrol area;

[0052] S3. Setting the patrol path of the drone according to the situation in the patrol area;

[0053] S4, release the drone for inspection;

[0054] S5. The drone automatically identifies and marks targets with abnormal status and records the video at the same time;

[0055] S6. Use images and videos collected by drones for manual identification to avoid misjudgment;

[0056] S7. After the inspection is completed, the drone returns along the predetermined path.

[0057] like Figure 2-Figure 9 As shown, the UAV includes a body 1 and an optical camera 6, a driving motor 2 is fixedly connected to the surface of the body 1, a propeller 3 is fixedly connected to the output end of the driving motor 2, a landing gear 4 is fixedly connected to the surface of the body 1, a fill light 5 is fixedly connected inside the body 1, and also includes: a buffer structure 7 arranged on the arc surface of the landing gear 4 for buffering the body 1, the buffer structure 7 includes a double-layer tube 701 rotatably mounted on the arc surface of the landing gear 4, a torsion spring 704 for reducing the collision force between the landing gear 4 and the ground, and a force plate 702 for increasing the ground contact area of ​​the landing gear 4; a limiting structure 8 arranged on the arc surface of the landing gear 4 for limiting the position of the force plate 702, the limiting structure 8 includes a limiting rod 81 sliding through the landing gear 4; a telescopic structure 9 arranged on the surface of the body 1 for facilitating shooting in a narrow position, the telescopic structure 9 includes a servo motor 91 fixedly mounted on the surface of the body 1, a gear 92 and a rack 94 for adjusting the position of the optical camera 6.

[0058] like Figure 4-Figure 5As shown, the force plate 702 is fixedly installed on the arc surface of the double-layer tube 701, the arc surface of the landing gear 4 is rotatably connected with a swivel 703, the swivel 703 is against one end of the double-layer tube 701, the torsion spring 704 is fixedly connected between the swivel 703 and the double-layer tube 701, the torsion spring 704 is sleeved on the arc surface of the landing gear 4, the internal thread of the swivel 703 is connected with a threaded rod 705, the arc surface of the landing gear 4 is fixedly connected with a support leg 706, the vertical section of the force plate 702 is "J" shaped, when the fuselage 1 moves downward, the landing gear 4 will squeeze the double-layer tube 701, the double-layer tube 701 will rotate and twist the torsion spring 704, at this time the torsion spring 704 will use its own torque to buffer the double-layer tube 701, thereby delaying the landing speed of the fuselage 1, and then the support leg 706 will contact the ground to support the landing gear 4, at this time the impact force on the fuselage 1 will be greatly reduced, thereby effectively avoiding The fuselage 1 is damaged due to the landing gear 4 hitting the ground quickly. One end of the threaded rod 705 is rotatably connected to a circular plate 707. The surface of the circular plate 707 is fixedly connected to a friction pad 708. The friction pad 708 serves to increase the friction between the threaded rod 705 and the landing gear 4. The arc surface of the double-layer tube 701 is fixedly connected to a protrusion 710. The arc surface of the landing gear 4 is fixedly connected to a positioning block 709. The positioning block 709 cooperates with the protrusion 710 to limit the rotation direction of the double-layer tube 701, thereby facilitating the adjustment of the torsion force of the torsion spring 704. The arc surface of the landing gear 4 is fixedly connected to a damping ring 711. The damping ring 711 is against one end of the double-layer tube 701. The damping ring 711 can slow down the rotation speed of the double-layer tube 701 to prevent the torsion spring 704 from rotating in the opposite direction due to its own torque, resulting in the fuselage 1 being bounced up and causing secondary damage.

[0059] like Figure 5 and Figure 6 As shown, one end of the limit rod 81 is fixedly connected with a pull ring 84, the arc surface of the landing gear 4 is fixedly connected with a fixing block 82, the limit rod 81 slides through the fixing block 82, and one end of the limit rod 81 is provided with an inclined surface 83. When the drone needs to be retracted, the force plate 702 is rotated upward, and the double-layer tube 701 rotates with the force plate 702 to drive the protrusion 710 to move, and the protrusion 710 will contact the inclined surface 83 of the limit rod 81, and the protrusion 710 will squeeze the limit rod 81, and the limit rod 81 will pass through the fixing block 8 2 and the landing gear 4, after the arc surface of the limit rod 81 contacts the protrusion 710, the limit rod 81 reaches the position of the limiting protrusion 710, thereby limiting the position of the force plate 702, thereby reducing the space occupied by the force plate 702, making it convenient to store the drone, and improving the convenience of carrying the drone. The arc surface of the limit rod 81 is fixedly connected with a leaf spring 85, one end of the leaf spring 85 is fixedly connected to the fixing block 82, and when the leaf spring 85 contracts, the limit rod 81 will slide and reset with the help of the elastic force of the leaf spring 85.

[0060] like Figure 7-Figure 9As shown, the output end of the servo motor 91 is fixedly connected to the gear 92, and a clamping plate 93 is fixedly connected to the surface of the body 1. The clamping plate 93 is slidably connected to the rack 94, and the rack 94 is meshed with the gear 92. The rack 94 is fixedly connected to the optical camera 6. The output end of the servo motor 91 is controlled to rotate, and the gear 92 will drive the rack 94 to slide along the surface of the clamping plate 93. The sliding of the rack 94 will drive the optical camera 6 to move, so as to facilitate the optical camera 6 to be inserted into the narrow space of the power tower for shooting, thereby improving the practicality of the drone. A rectangular plate 95 is fixedly connected to the surface of the body 1, and an electric push rod 9 is fixedly connected to the surface of the rectangular plate 95. 6. The output end of the electric push rod 96 is fixedly connected with a U-shaped plate 97, the surface of the U-shaped plate 97 is fixedly connected with a rubber block 98, the surface of the U-shaped plate 97 is fixedly connected with a connecting plate 99, the connecting plate 99 is slidably connected with the fixed plate, and the output end of the electric push rod 96 is controlled to extend, the U-shaped plate 97 will drive the rubber block 98 to move upward and press against the surface of the rack 94, thereby limiting the position of the rack 94, and further limiting the position of the optical camera 6, so as to facilitate the optical camera 6 to take stable photos, and the movement of the U-shaped plate 97 will drive the connecting plate 99 to slide along the surface of the fixed plate, and the connecting plate 99 can achieve the effect of limiting the moving path of the U-shaped plate 97.

[0061] The overall working principle is that when it is necessary to inspect the power transmission line, the drive motor 2 is turned on, the drive motor 2 will drive the propeller 3 to rotate, the propeller 3 can provide lift to make the drone take off, and then the power transmission line can be inspected with the help of the drone. In this process, the optical camera 6 and the fill light 5 can be used to take clear pictures and videos of the power transmission line. After the inspection is completed, the drone is controlled to land. In this process, the force plate 702 will touch the ground first. As the body 1 continues to move downward, the landing gear 4 will squeeze the double-layer tube 701, and the double-layer tube 701 will rotate and twist the torsion spring 704. At this time, the torsion spring 704 will use its own torque to buffer the double-layer tube 701, thereby delaying the landing speed of the body 1. Then the support leg 706 will contact the ground to support the landing gear 4. At this time, the impact force on the body 1 will be greatly reduced, thereby effectively avoiding the body 1 from being damaged due to the rapid impact of the landing gear 4 on the ground. When the double-layer tube 701 rotates, the damping ring 711 can further slow down the rotation speed of the double-layer tube 701, and prevent the torsion spring 704 from rotating in the opposite direction due to its own torque, causing the body 1 to be bounced up and causing secondary damage. When the torsion of the torsion spring 704 needs to be adjusted, the rotating ring 703 is rotated. The rotation of the rotating ring 703 will twist the torsion spring 704 or relax the torsion spring 704. At this time, the torsion of the torsion spring 704 can be adjusted. After the adjustment is completed, the threaded rod 705 is rotated. The threaded rod 705 will drive the circular plate 707 to move with the help of the thread. The movement of the circular plate 707 will cause the friction pad 708 to press against the arc surface of the landing gear 4, thereby limiting the position of the threaded rod 705, and then limiting the position of the rotating ring 703. The friction pad 708 can achieve the effect of increasing the friction between the threaded rod 705 and the landing gear 4. The positioning block 709 cooperates with the protrusion 710 to limit the rotation direction of the double-layer tube 701, thereby facilitating the adjustment of the torsion of the torsion spring 704.

[0062] When the drone needs to be retracted, the force plate 702 is rotated upward, and the double-layer tube 701 rotates along with the force plate 702 to drive the protrusion 710 to move, and the protrusion 710 contacts the inclined surface 83 of the limiting rod 81, and the protrusion 710 squeezes the limiting rod 81, and the limiting rod 81 passes through the fixed block 82 and the landing gear 4 and stretches the leaf spring 85. When the protrusion 710 is rotated to a suitable position, the leaf spring 85 contracts, and the limiting rod 81 slides in the opposite direction with the elastic force of the leaf spring 85 and resets. The arc surface of the rod 81 will contact the protrusion 710, and the limit rod 81 will reach the position of limiting the protrusion 710, thereby limiting the position of the force plate 702, thereby reducing the space occupied by the force plate 702, making it convenient to store the drone, and improving the convenience of carrying the drone. When the drone needs to be used again, pull the pull ring 84 to disengage the limit rod 81 from the protrusion 710, and the torsion spring 704 will use its own torque to rotate the protrusion 710 and press against the surface of the positioning plate.

[0063] When the drone is patrolling the narrow area of ​​the power tower, the output end of the servo motor 91 is controlled to rotate, and the gear 92 will drive the rack 94 to slide along the surface of the clamping plate 93. The sliding of the rack 94 will drive the optical camera 6 to move, so as to facilitate the optical camera 6 to be inserted into the narrow area of ​​the power tower for shooting, thereby improving the practicality of the drone. After that, the output end of the electric push rod 96 is controlled to extend, and the U-shaped plate 97 will drive the rubber block 98 to move upward and against the surface of the rack 94, thereby limiting the position of the rack 94, and then limiting the position of the optical camera 6, facilitating the optical camera 6 to shoot stably. The movement of the U-shaped plate 97 will drive the connecting plate 99 to slide along the surface of the fixed plate, and the connecting plate 99 can achieve the effect of limiting the moving path of the U-shaped plate 97.

[0064] The above description is only a preferred embodiment of the present invention and does not limit the present invention in other forms. Any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes and apply it to other fields. However, any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still falls within the protection scope of the technical solution of the present invention.

Claims

1. A transmission line inspection method based on drone, characterized in that: The following steps are involved: S1. Divide the patrol area of ​​the drone according to the actual transmission line environment and distribution status; S2. Classify and number the targets within the patrol area; S3. Setting the patrol path of the drone according to the situation of the patrol area; S4, launching the drone for inspection; S5, the drone automatically identifies and marks targets with abnormal status, and simultaneously records the video; S6. Using the images and videos collected by the drone to perform manual recognition to avoid misjudgment; S7. After the inspection is completed, the drone returns along the predetermined path.

2. The power transmission line inspection method based on an unmanned aerial vehicle according to claim 1 is characterized in that: The unmanned aerial vehicle comprises a body (1) and an optical camera (6), a driving motor (2) is fixedly connected to the surface of the body (1), a propeller (3) is fixedly connected to the output end of the driving motor (2), a landing gear (4) is fixedly connected to the surface of the body (1), a fill light (5) is fixedly connected inside the body (1), and further comprises: a buffer structure (7) disposed on the arc surface of the landing gear (4) and used for buffering the body (1), the buffer structure (7) comprising a double-layer tube (701) rotatably mounted on the arc surface of the landing gear (4), a torsion spring (704) for reducing the impact force between the landing gear (4) and the ground, and a force plate (702) for increasing the ground contact area of ​​the landing gear (4); A limiting structure (8) disposed on the arc surface of the landing gear (4) and used to limit the position of the force-bearing plate (702), the limiting structure (8) comprising a limiting rod (81) that slides through the landing gear (4); A telescopic structure (9) is arranged on the surface of the machine body (1) and is used to facilitate photographing in a narrow location. The telescopic structure (9) comprises a servo motor (91) fixedly mounted on the surface of the machine body (1), a gear (92) and a rack (94) for adjusting the position of the optical camera (6).

3. A transmission line inspection method based on an unmanned aerial vehicle according to claim 2, characterized in that: The force-bearing plate (702) is fixedly mounted on the arc surface of the double-layer tube (701); the arc surface of the landing gear (4) is rotatably connected with a swivel (703); the swivel (703) abuts against one end of the double-layer tube (701); the torsion spring (704) is fixedly connected between the swivel (703) and the double-layer tube (701); the torsion spring (704) is sleeved on the arc surface of the landing gear (4); the swivel (703) is internally threadedly connected with a threaded rod (705); the arc surface of the landing gear (4) is fixedly connected with a support leg (706); and the vertical section of the force-bearing plate (702) is in a "J" shape.

4. The power transmission line inspection method based on an unmanned aerial vehicle according to claim 3 is characterized in that: One end of the threaded rod (705) is rotatably connected to a circular plate (707), and a friction pad (708) is fixedly connected to the surface of the circular plate (707).

5. The power transmission line inspection method based on drone according to claim 3 is characterized in that: A convex block (710) is fixedly connected to the circular arc surface of the double-layer tube (701), and a positioning block (709) is fixedly connected to the circular arc surface of the landing gear (4).

6. The power transmission line inspection method based on an unmanned aerial vehicle according to claim 3 is characterized in that: A damping ring (711) is fixedly connected to the arc surface of the landing gear (4), and the damping ring (711) abuts against one end of the double-layer tube (701).

7. The power transmission line inspection method based on drone according to claim 5 is characterized in that: One end of the limit rod (81) is fixedly connected to a pull ring (84), the arc surface of the landing gear (4) is fixedly connected to a fixing block (82), the limit rod (81) slides through the fixing block (82), and one end of the limit rod (81) is provided with an inclined surface (83).

8. The power transmission line inspection method based on an unmanned aerial vehicle according to claim 7 is characterized in that: A leaf spring (85) is fixedly connected to the arc surface of the limiting rod (81), and one end of the leaf spring (85) is fixedly connected to the fixing block (82).

9. The power transmission line inspection method based on drone according to claim 2 is characterized in that: The output end of the servo motor (91) is fixedly connected to the gear (92), a clamping plate (93) is fixedly connected to the surface of the body (1), the clamping plate (93) is slidably connected to a rack (94), the rack (94) is meshed with the gear (92), and the rack (94) is fixedly connected to the optical camera (6).

10. A transmission line inspection method based on an unmanned aerial vehicle according to claim 9, characterized in that: A rectangular plate (95) is fixedly connected to the surface of the machine body (1), an electric push rod (96) is fixedly connected to the surface of the rectangular plate (95), an output end of the electric push rod (96) is fixedly connected to a U-shaped plate (97), a rubber block (98) is fixedly connected to the surface of the U-shaped plate (97), a connecting plate (99) is fixedly connected to the surface of the U-shaped plate (97), and the connecting plate (99) is slidably connected to the fixed plate.

Images