Power transmission overhead line hanging foreign matter cleaning device and method based on unmanned aerial vehicle

Abstract

The invention relates to the technical field of cable foreign matter cleaning, in particular to a power transmission overhead line hanging foreign matter cleaning device and method based on an unmanned aerial vehicle, the cleaning device comprises an unmanned aerial vehicle body and a seat body, the seat body is fixedly connected with the unmanned aerial vehicle body, and the cleaning device is characterized in that the seat body further comprises a mechanical arm, a replaceable clamping jaw and a control mainboard (2); the mechanical arm has multiple degrees of freedom and is used for connecting the seat body and the clamping jaw; the clamping jaw is used for clamping and cleaning foreign matters, an additional mounting structure is arranged on the clamping jaw, and a cleaning tool is additionally mounted on the clamping jaw when the foreign matters are difficult to clean; and the control mainboard (2) is used for controlling the mechanical arm to act and the clamping jaw to open and close. The unmanned aerial vehicle is provided with the high-definition camera and the flexible mechanical arm, the cleaning requirements of foreign matter of various shapes, sizes and positions can be met, and clamping, shearing and stripping can be flexibly dealt with by replacing and additionally installing different cleaning tools.

Description

Technical Field

[0001] The present invention belongs to the technical field of cable foreign matter cleaning, and specifically relates to a device and method for cleaning foreign matter hanging on overhead power transmission lines based on an unmanned aerial vehicle. Background Art

[0002] Hanging objects such as plastic films, kites, sky lanterns, balloons, etc. often float to overhead lines with the wind, causing short circuits or tripping of lines, affecting the safe operation of the power grid, causing line tripping, power outages, and even fires, which poses a great safety hazard to the operation of overhead power lines. The traditional method is for line maintenance personnel to climb towers or use laser cannons to remove them. The former is time-consuming and laborious, has great safety risks, and is inefficient; the latter is difficult to aim at the thin kite line because the laser cannon has a large energy loss in the atmosphere, and the power is reduced, and the on-site preparation time is long.

[0003] With the continuous maturity of drone technology, drone power inspection has entered the stage of large-scale application. Taking advantage of the flexibility, convenience and easy control of drones, the drones can be modified and equipped with cleaning devices to quickly remove hanging foreign objects. However, the existing drone-based foreign object cleaning devices can generally only use the end grippers to clamp and clean foreign objects. The cleaning method is single. When facing floating objects such as plastic films, kites, sky lanterns, balloons, etc., ordinary clamps cannot effectively handle foreign objects, and excessive pulling will cause damage to the lines.

[0004] The Chinese invention with publication number CN111645081A provides a lightweight robotic arm system mounted on a drone, including a drone body, a robotic arm and a robotic claw. The robotic arm is installed under the drone body, and the robotic claw is installed at the end of the robotic arm. However, the device can only perform grasping operations through the clamping claws. When facing stubborn foreign objects hanging on the line, a heating fuse device and a cutting device are still required to fuse or cut to achieve the cleaning effect. Summary of the invention

[0005] The purpose of the present invention is to provide a device and method for cleaning foreign objects hanging on overhead power transmission lines based on a drone, so as to solve the problem that the cleaning method for foreign objects hanging on the lines in the background technology is single and the cleaning is not thorough.

[0006] In order to achieve the above object, the present invention adopts the following technical solution: A device for cleaning foreign matter hanging on overhead power transmission lines based on a drone, comprising a drone body and a seat body, wherein the seat body is connected and fixed to the drone body, and characterized in that the seat body also comprises a mechanical arm, a replaceable clamping claw and a control mainboard; The mechanical arm has multiple degrees of freedom and is used to connect the seat body and the gripper; A clamping jaw is used to clamp and clean foreign objects. The clamping jaw is provided with a mounting structure. When the foreign objects are difficult to clean, a cleaning tool is mounted on the clamping jaw. The control main board is used to control the movement of the robot arm and the opening and closing of the gripper.

[0007] Optionally, the seat body includes a quick-release plate, a cache rack, a data interface, a power supply, and an antenna. The quick-release plate is provided with mounting holes and mounting slots, the cache rack is installed on the quick-release plate, the control main board is arranged on the cache rack, the cache rack is installed with a power supply for power supply, the data interface is connected to the control main board and the data cable of the drone body, and an antenna for sending and receiving wireless signals is arranged at the bottom of the seat body.

[0008] Optionally, the mechanical arm includes a main arm and an extension rod, and the main arm and the extension rod are rotatably connected, a first-level rotating servo is installed at the bottom of the cache rack, a rotating flange is connected to the first-level rotating servo, the rotating flange is connected to a first bracket by bolts, two first-level deflection servos are installed on the No. 1 bracket, the first-level deflection servo is fixed to the No. 1 bracket by bolts, the first end of the main arm is fixedly connected to the No. 2 bracket by bolts, the No. 2 bracket is a U-shaped bracket, the two ends of the No. 2 bracket are respectively connected to the output ends of the two first-level deflection servos, the second end of the main arm is fixedly connected to the No. 3 bracket, a second-level deflection servo is installed on the No. 3 bracket, the two ends of the No. 3 bracket are drivingly connected to the output shaft of the second-level deflection servo, the No. 3 bracket and the second-level deflection servo can rotate relative to each other, and a fixing seat is fixedly installed on the second-level deflection servo, the first end of the extension rod is fastened in the fixing seat, and the second end of the extension rod is fastened with a rotating seat.

[0009] Optionally, the clamp includes a fixed clamp, a movable clamp, a clamp servo, and a fourth bracket, the fourth bracket is connected to the rotating seat, the fixed clamp is fixedly installed on the fourth bracket by bolts, two clamp servos are fixedly installed in the fourth bracket, the two sides of the movable clamp are respectively connected to the output shafts of the two clamp servos, the clamp servo controls the rotation of the movable clamp, and the movable clamp cooperates with the fixed clamp to complete the opening and closing action of the clamp.

[0010] Optionally, the fixed clamp is provided with a mounting hole and a mounting groove, the movable clamp is provided with a mounting hole and a mounting groove, and mounting plates are provided on both sides of the movable clamp for adding a cleaning tool.

[0011] Optionally, a lighting bracket is fixedly mounted on the fourth bracket by bolts, and a lighting lamp is provided on the lighting bracket.

[0012] Optionally, the rotating seat and the fourth bracket are rotatably connected, and a secondary rotating servo is also installed on the fourth bracket, and the output shaft of the secondary rotating servo is transmission-connected to the rotating seat.

[0013] Optionally, the robotic arm is also provided with a high-definition camera, which identifies foreign objects hanging on the line and sends real-time images to a controller on the ground through a control mainboard after identification.

[0014] Another aspect of the present invention provides a method for cleaning foreign objects hanging on overhead power transmission lines based on drones, characterized in that the method comprises using the device for cleaning foreign objects hanging on overhead power transmission lines based on drones, and the specific steps are as follows: (1) Check the UAV platform to ensure its airworthiness, including battery power, propeller integrity and positioning accuracy, and enable the RTK function; (2) Select a suitable cleaning tool, one of the gripping tools, shearing tools or stripping tools, based on the expected type of foreign matter, and install it on the gripper of the drone. Check the camera to ensure that the image transmission is clear and stable. (3) Control the drone to take off and use GPS and high-definition cameras to assist in positioning, fly to the location of the foreign object, and use the real-time image from the high-definition camera to accurately locate and observe the specific situation of the foreign object; (4) According to the type of foreign matter and the actual situation, select the appropriate cleaning tool to operate. For small foreign matter, use the clamp to clamp and remove it. For entangled foreign matter, add a shearing tool to cut it off. For foreign matter adhering to the line, add a fuse tool to melt and peel it off. (5) After cleaning is completed, use a high-definition camera to confirm that foreign matter has been completely removed; (6) Control the UAV to return safely to the take-off point and conduct subsequent inspection and maintenance.

[0015] Optionally, in step (5), it is also necessary to check whether the power transmission line is damaged.

[0016] The beneficial effects of the present invention are as follows: The drone is equipped with a high-definition camera and a flexible robotic arm, which can adapt to the cleaning needs of foreign objects of various shapes, sizes and positions. Whether it is clamping, shearing or peeling, it can be flexibly responded by replacing and adding different cleaning tools; Using drones to clean foreign objects avoids the high risks brought by manual climbing and significantly improves the safety of operations. Drones can complete operations without touching high-voltage lines, reducing the occurrence of safety accidents such as electric shock. Drones have the ability to move quickly and accurately locate, and can quickly find foreign objects and clean them up, which greatly improves work efficiency compared to traditional manual cleaning methods; Through the intuitive and easy-to-use operation interface, operators can easily control the drone to clean foreign objects. The integration of high-definition video streaming and flight control functions makes the operation more convenient and accurate. Compared with traditional laser cannons or manual climbing methods, using drones for foreign body cleaning has lower cost investment and maintenance costs. Drones have low operating costs and can be reused, reducing long-term operating costs. Drones are able to operate in complex environments and are less restricted by terrain and weather conditions, especially in hard-to-reach areas, where they can effectively complete cleanup tasks; Fast and effective foreign object cleaning can shorten power outage time of transmission lines, improve the reliability and stability of power systems, and reduce power outages caused by foreign objects. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings in the specification, which constitute a part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0018] In the attached picture: Figure 1 This is a three-dimensional structural diagram of a device for cleaning foreign matter hanging on overhead power lines based on a drone according to the present invention; Figure 2 This is a three-dimensional structural diagram of a base body of a foreign body cleaning device for overhead power transmission lines based on a drone according to the present invention; Figure 3 This is a three-dimensional structural diagram of the clamping jaws of a foreign body cleaning device for overhead power transmission lines based on a drone of the present invention, wherein the clamping jaws are in an open state; Figure 4 The present invention is a three-dimensional structural diagram of a mechanical arm of a transmission overhead line foreign matter cleaning device based on a drone.

[0019] Among them: 1. Quick release plate; 2. Control main board; 3. First-level rotary servo; 4. Main arm; 5. No. 3 bracket; 6. Second-level deflection servo; 7. Fixed seat; 8. Extension rod; 9. Second-level rotary servo; 10. No. 4 bracket; 11. Gripping claw servo; 12. Fixed splint; 13. Movable splint; 14. Antenna; 15. Rotating flange; 16. No. 1 bracket; 17. First-level deflection servo; 18. No. 2 bracket; 19. Cache rack; 20. Rotating seat; 21. Lighting lamp; 22. Lighting bracket; 23. Movable shaft; 24. Data interface. DETAILED DESCRIPTION

[0020] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other without conflict.

[0021] The following detailed description is an exemplary description, which is intended to provide further detailed description of the present invention. Unless otherwise specified, all technical terms used in the present invention have the same meaning as those generally understood by those skilled in the art to which the present application belongs. The terms used in the present invention are only for describing specific embodiments, and are not intended to limit exemplary embodiments according to the present invention.

[0022] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0023] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, the meaning of "multiple" is two or more. In the description of the present invention, it should be noted that, unless otherwise clearly specified and defined, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] Example 1 like Figure 1-Figure 4 As shown, a device for cleaning foreign objects hanging on overhead power transmission lines based on a drone comprises a drone body and a base body, the base body is connected and fixed to the drone body, and is characterized in that the base body also comprises a mechanical arm, a replaceable clamp and a control mainboard 2; The mechanical arm has multiple degrees of freedom and is used to connect the seat body and the gripper; A clamping jaw is used to clamp and clean foreign objects. The clamping jaw is provided with a mounting structure. When the foreign objects are difficult to clean, a cleaning tool is mounted on the clamping jaw. The control main board 2 is used to control the movement of the robot arm and the opening and closing of the gripper.

[0025] The above scheme is a UAV-based power transmission overhead line hanging foreign matter cleaning device, which cleans the hanging foreign matter on the line by controlling the gripper with multiple degrees of freedom of the mechanical arm, and can be equipped with other cleaning tools, providing more cleaning methods, adapting to more kinds of foreign matter, and cleaning more comprehensively. It solves the problem that the existing UAV has a single cleaning method for the line and the cleaning is not comprehensive.

[0026] As a preferred example of the above embodiment, Figure 2 As shown, the seat body includes a quick-release plate 1, a cache rack 19, a data interface 24, a power supply, and an antenna 14. The quick-release plate 1 is provided with mounting holes and mounting slots. The cache rack 19 is installed on the quick-release plate 1. The control main board 2 is arranged on the cache rack 19. A power supply for power supply is installed on the cache rack 19. The data interface 24 connects the control main board 2 and a data cable of the drone body. An antenna 14 for sending and receiving wireless signals is arranged at the bottom of the seat body. The integrated design of electronic components such as the control main board 2 improves the reliability and stability of the device.

[0027] As a specific example, the quick release plate 1 is made of a 0.2 mm thick 3K carbon fiber plate and is fixed to the bottom of the drone by eight bolts. The installation holes are consistent with the holes of commonly used drones.

[0028] As a preferred example of the above embodiment, Figure 4 As shown, the mechanical arm includes a main arm 4 and an extension rod 8, the main arm 4 and the extension rod 8 are rotatably connected, a first-level rotating servo 3 is installed at the bottom of the cache frame 19, a rotating flange 15 is connected to the first-level rotating servo 3, the rotating flange 15 is connected to a No. 1 bracket 16 by bolts, two first-level deflection servos 17 are installed on the No. 1 bracket 16, the first-level deflection servo 17 is fixed to the No. 1 bracket 16 by bolts, the first end of the main arm 4 is fixedly connected to the No. 2 bracket 18 by bolts, the No. 2 bracket 18 is a U-shaped frame, and the No. 2 bracket 18 is The two ends are respectively connected to the output ends of two first-level deflection servos 17, the second end of the main arm 4 is fixedly connected to the No. 3 bracket 5, and the No. 3 bracket 5 is installed with a second-level deflection servo 6. The two ends of the No. 3 bracket 5 are transmission connected to the output shaft of the second-level deflection servo 6, the No. 3 bracket 5 and the second-level deflection servo 6 can rotate relative to each other, and the second-level deflection servo 6 is fixedly installed with a fixing seat 7, the first end of the extension rod 8 is fastened to the fixing seat 7, and the second end of the extension rod 8 is fastened to the rotating seat 20, which can flexibly adjust the posture to meet the needs of cleaning foreign objects at different positions.

[0029] When in use, the first-level rotary servo 3 drives the rotary flange 15 to rotate axially along the output shaft of the No. 1 rotary servo. The rotation of the rotary flange 15 drives the No. 1 bracket 16 to rotate, and the No. 1 bracket 16 drives the No. 2 bracket 18 to rotate, thereby driving the main arm 4 on the No. 2 bracket 18 to rotate in the vertical direction. At the same time, the first-level deflection servo 17 drives the No. 2 bracket 18 to deflect relative to the No. 1 bracket 16, and the No. 2 bracket 18 drives the main arm 4 to rotate in the horizontal direction; the second-level deflection servo 6 drives itself to rotate relative to the No. 3 bracket 5, thereby driving the extension rod 8 to deflect, adjusting the angle change between the extension rod 8 and the main arm 4, and realizing three-degree-of-freedom control of the robotic arm.

[0030] As a preferred example of the above embodiment, the extension rod 8 is a hollow rod with wiring inside. Both ends of the extension rod 8 are clamped and fixed by a fixed seat 7 and a rotating seat 20, which makes it convenient to unscrew the fixed seat 7 and the rotating seat 20 to replace extension rods 8 of different lengths to adapt to different cleaning environments. When the foreign object is located deeper and the drone cannot move directly to the corresponding position, the extension rod 8 can move the clamp deep into the foreign object position for cleaning.

[0031] As a preferred example of the above embodiment, Figure 3 As shown, the clamp includes a fixed clamp plate 12, a movable clamp plate 13, a clamp servo 11, and a fourth bracket 10. The fourth bracket 10 is connected to a rotating seat 20. The fixed clamp plate 12 is fixedly mounted on the fourth bracket 10 by bolts. The two clamp servos 11 are fixedly mounted in the fourth bracket 10. The two sides of the movable clamp plate 13 are respectively connected to the output shafts of the two clamp servos 11. The two sides of the movable clamp plate are respectively fixed with movable shafts 23. The movable shaft 23 is fixedly connected to the output shaft. The clamp servo 11 controls the rotation of the movable clamp plate 13. The movable clamp plate 13 cooperates with the fixed clamp plate 12 to complete the opening and closing action of the clamp.

[0032] The robotic arm and gripper are modular in design, which is easy to disassemble and replace, reducing maintenance costs.

[0033] As a preferred example of the above embodiment, the fixed clamp is provided with a mounting hole and a mounting groove, the movable splint 13 is provided with a mounting hole and a mounting groove, and mounting plates are arranged on both sides of the movable splint 13 for adding cleaning tools. When the cleaning tool needs to be added, the movable splint 13 is driven to open to form a 90° angle with the fixed splint 12, and the end face and side face of the cleaning tool are respectively fixed to the movable splint 13 and the fixed splint 12 by bolts, and then transported to the position where the line needs to be cleaned by a drone for cleaning.

[0034] The cleaning tool can also be pre-installed on the fixed clamping plate 12, so that the clamping claw can have both the clamping and cleaning functions and other cleaning functions, and the foreign objects can be cleaned in a variety of ways when the drone flies to the location of the foreign objects.

[0035] As a preferred example of the above embodiment, a lighting bracket 22 is fixedly installed on the fourth bracket 10 by bolts, and a lighting lamp 21 is provided on the lighting bracket 22. The lighting lamp 21 can provide sufficient light to ensure that foreign objects can be accurately cleaned at night or in low-light environments.

[0036] As a preferred example of the above embodiment, the rotating seat 20 and the fourth bracket 10 are rotatably connected, and a secondary rotating servo 9 is also installed on the fourth bracket 10. The output shaft of the secondary rotating servo 9 is transmission-connected with the rotating seat 20. The rotation of the second rotating servo drives the clamping jaw to rotate, adjust the angle of the clamping jaw, adapt to the cleaning work of foreign objects in different directions, and realize four-degree-of-freedom control of the robotic arm.

[0037] As a preferred example of the above embodiment, a height tracking sensor is provided on the clamp. When the height of the clamp is higher than the base, the height raising action of the robotic arm is invalid, thereby protecting the normal operation of the drone body and avoiding damage to the drone body due to misoperation of the robotic arm.

[0038] As a preferred example of the above embodiment, the power source is a lithium battery.

[0039] As a preferred example of the above embodiment, a high-definition camera is also provided on the robotic arm. The high-definition camera identifies foreign objects hanging on the line and sends real-time images to the controller on the ground through the control mainboard 2 after identification.

[0040] Another aspect of the present invention provides a method for cleaning foreign objects hanging on overhead power transmission lines based on drones, characterized in that the method comprises using the device for cleaning foreign objects hanging on overhead power transmission lines based on drones, and the specific steps are as follows: (1) Check the UAV platform to ensure its airworthiness, including battery power, propeller integrity and positioning accuracy, and enable the RTK function; (2) Select a suitable cleaning tool, one of the gripping tools, shearing tools or stripping tools, based on the expected type of foreign matter, and install it on the gripper of the drone. Check the camera to ensure that the image transmission is clear and stable. (3) Control the drone to take off and use GPS and high-definition cameras to assist in positioning, fly to the location of the foreign object, and use the real-time image from the high-definition camera to accurately locate and observe the specific situation of the foreign object; (4) According to the type of foreign matter and the actual situation, select the appropriate cleaning tool to operate. For small foreign matter, use the clamp to clamp and remove it. For entangled foreign matter, add a shearing tool to cut it off. For foreign matter adhering to the line, add a fuse tool to melt and peel it off. (5) After cleaning is completed, use a high-definition camera to confirm that foreign matter has been completely removed; (6) Control the UAV to return safely to the take-off point and conduct subsequent inspection and maintenance.

[0041] As a preferred example of the above embodiment, in step (4), when encountering seriously entangled foreign matter, a cleaning tool is installed on the clamping jaws, such as a small cutting device, such as a small electric saw, to cut the foreign matter, and a special cleaning tool is used to clean it until the foreign matter is completely removed.

[0042] As a preferred example of the above embodiment, in step (4), when encountering stubborn foreign objects such as a hornet's nest, a heating and fusing tool is installed on the clamping jaws, such as a small laser cannon or a heating wire to cut the foreign objects, and a special cleaning tool is used to clean them until the foreign objects are completely removed.

[0043] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0044] It is known from common technical knowledge that the present invention can be implemented by other embodiments that do not deviate from its spirit or essential features. Therefore, the above disclosed embodiments are only illustrative in all respects and are not exclusive. All changes within the scope of the present invention or within the scope equivalent to the present invention are included in the present invention.

Claims

1. A device for cleaning foreign objects hanging on overhead power lines based on a drone, comprising a drone body and a seat body, wherein the seat body is connected and fixed to the drone body, and is characterized in that: The base also includes a mechanical arm, a replaceable clamping claw and a control mainboard (2); The mechanical arm has multiple degrees of freedom and is used to connect the seat body and the gripper; A clamping jaw is used to clamp and clean foreign objects. The clamping jaw is provided with a mounting structure. When the foreign objects are difficult to clean, a cleaning tool is mounted on the clamping jaw. The control main board (2) is used to control the movement of the mechanical arm and the opening and closing of the gripper.

2. The device for cleaning foreign matter hanging on overhead power lines based on a drone as claimed in claim 1, characterized in that: The seat body comprises a quick-release plate (1), a cache rack (19), a data interface (24), a power supply, and an antenna (14); the quick-release plate (1) is provided with a mounting hole and a mounting slot; the quick-release plate (1) is provided with a cache rack (19); the control main board (2) is arranged on the cache rack (19); a power supply for power supply is installed on the cache rack (19); the data interface (24) is connected to a data line between the control main board (2) and a drone body; and an antenna (14) for transmitting and receiving wireless signals is provided at the bottom of the seat body.

3. The device for cleaning foreign matter hanging on overhead power lines based on a drone as claimed in claim 2, characterized in that: The mechanical arm comprises a main arm (4) and an extension rod (8), wherein the main arm (4) and the extension rod (8) are rotatably connected, a first-stage rotating servo (3) is installed at the bottom of the cache rack (19), a rotating flange (15) is connected to the first-stage rotating servo (3), the rotating flange (15) is connected to a first bracket (16) by bolts, two first-stage deflection servos (17) are installed on the first bracket (16), the first-stage deflection servos (17) are fixed to the first bracket (16) by bolts, the first end of the main arm (4) is fixedly connected to a second bracket (18) by bolts, and the second bracket (18) is U-shaped. The main arm (4) comprises a support frame, two ends of the second support frame (18) are respectively connected to the output ends of two first-level deflection steering gears (17), the second end of the main arm (4) is fixedly connected to the third support frame (5), the third support frame (5) is installed with a second-level deflection steering gear (6), the two ends of the third support frame (5) are drivingly connected to the output shaft of the second-level deflection steering gear (6), the third support frame (5) and the second-level deflection steering gear (6) can rotate relative to each other, the second-level deflection steering gear (6) is fixedly installed with a fixing seat (7), the first end of the extension rod (8) is fastened and installed in the fixing seat (7), and the second end of the extension rod (8) is fastened and installed with a rotating seat (20).

4. The device for cleaning foreign matter hanging on overhead power lines based on a drone as claimed in claim 3, characterized in that: The clamp comprises a fixed clamp (12), a movable clamp (13), a clamp servo (11), and a fourth bracket (10); the fourth bracket (10) is connected to a rotating seat (20); the fixed clamp (12) is fixedly mounted on the fourth bracket (10) by bolts; two clamp servos (11) are fixedly mounted in the fourth bracket (10); two sides of the movable clamp (13) are respectively connected to the output shafts of the two clamp servos (11); the clamp servo (11) controls the rotation of the movable clamp (13); and the movable clamp (13) cooperates with the fixed clamp (12) to complete the opening and closing action of the clamp.

5. The device for cleaning foreign matter hanging on overhead power transmission lines based on a drone as claimed in claim 4, characterized in that: The fixed clamping jaw is provided with a mounting hole and a mounting groove, the movable clamping plate (13) is provided with a mounting hole and a mounting groove, and mounting plates are arranged on both sides of the movable clamping plate (13) for installing a cleaning tool.

6. The device for cleaning foreign matter hanging on overhead power lines based on a drone as claimed in claim 4, characterized in that: A lighting bracket (22) is fixedly mounted on the fourth bracket (10) by means of bolts, and a lighting lamp (21) is arranged on the lighting bracket (22).

7. The device for cleaning foreign matter hanging on overhead power lines based on a drone as claimed in claim 4, characterized in that: The rotating seat (20) and the fourth bracket (10) are rotatably connected, and a secondary rotating steering gear (9) is also installed on the fourth bracket (10), and the output shaft of the secondary rotating steering gear (9) is drivingly connected to the rotating seat (20).

8. The device for cleaning foreign matter hanging on overhead power lines based on a drone as claimed in claim 1, characterized in that: The mechanical arm is also provided with a high-definition camera, which identifies foreign objects hanging on the line and sends a real-time image to a controller on the ground through a control mainboard (2) after identification.

9. A method for cleaning foreign objects hanging on overhead power lines based on drones, characterized in that: The device for cleaning foreign matter hanging on overhead power transmission lines based on a drone as described in any one of claims 1 to 8 is adopted, and the specific steps are as follows: (1) Check the UAV platform to ensure its airworthiness, including battery power, propeller integrity and positioning accuracy, and enable the RTK function; (2) Select a suitable cleaning tool, one of the gripping tools, shearing tools or stripping tools, based on the expected type of foreign matter, and install it on the gripper of the drone. Check the camera to ensure that the image transmission is clear and stable; (3) Control the drone to take off and use GPS and high-definition cameras to assist in positioning, fly to the location of the foreign object, and use the real-time image from the high-definition camera to accurately locate and observe the specific situation of the foreign object; (4) According to the type of foreign matter and the actual situation, select the appropriate cleaning tool to operate. For small foreign matter, use the clamp to clamp and remove it. For entangled foreign matter, add a shearing tool to cut it off. For foreign matter adhering to the line, add a fuse tool to melt and peel it off. (5) After cleaning is completed, use a high-definition camera to confirm that foreign matter has been completely removed; (6) Control the UAV to return safely to the take-off point and conduct subsequent inspection and maintenance.

10. A method for cleaning foreign matter hanging on overhead power lines based on drones as claimed in claim 9, characterized in that: In the step (5), it is also checked whether the power transmission line is damaged.

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