Unmanned aerial vehicle inspection device and inspection method

Abstract

The invention discloses an unmanned aerial vehicle inspection device and method, the unmanned aerial vehicle inspection device comprises an unmanned aerial vehicle, a laser ranging camera, a holder, a telescopic device and an ultrasonic detection device, the telescopic device is installed on the unmanned aerial vehicle, and the ultrasonic detection device is connected with the telescopic device through the holder. The laser ranging camera is connected with the first end of the unmanned aerial vehicle through the holder, and the laser ranging camera and the ultrasonic detection device are both located below the unmanned aerial vehicle. The invention belongs to the technical field of unmanned aerial vehicles, and aims to solve the problem that in the prior art, iron tower inspection cannot inspect the nut loosening condition. The technical effects are that the anti-loosening condition of the nut can be reliably and accurately detected, the loosening condition of the nut can be timely detected, and the stability of an iron tower can be guaranteed.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, specifically to a UAV inspection device and a UAV inspection method. Background Art

[0002] As a critical infrastructure for power transmission, the safe and stable operation of power transmission lines directly affects the reliability of electricity supply for social production and people's livelihoods. Traditional transmission line inspections mainly rely on manual foot patrols, where inspectors must carry testing tools and check each section of the line. However, because transmission lines often traverse complex terrains such as mountains, forests, and deserts, manual inspections face numerous challenges: not only are they time-consuming and labor-intensive, but inspectors also face safety risks such as severe weather and wildlife attacks, resulting in extremely high labor intensity; at the same time, manual inspections are inefficient and cannot meet the ever-increasing demands of power grid operation and maintenance.

[0003] With the development and application of drone technology, the methods of power transmission line inspection have been revolutionized. Drones, with their flexibility, maneuverability, and ease of operation, can quickly reach areas inaccessible to humans, efficiently completing basic condition checks of power transmission lines, such as identifying obvious faults like broken lines, collapsed towers, and damaged insulators. This significantly reduces the labor intensity of manual inspections and improves inspection efficiency.

[0004] However, the current application of drones in power transmission line inspection still has limitations. Existing drone inspections mainly rely on visible light cameras or simple infrared imaging equipment, which can only perform macroscopic inspections of power transmission lines and cannot conduct in-depth inspections of the details of critical components such as towers. In particular, the nuts on the towers, as important connecting parts that ensure the stability of the tower structure, directly affect the stability of the tower if they become loose. In the early stages of nut loosening, it is difficult to detect by visual inspection or conventional inspection methods. Once the loosening of the nuts is not detected and addressed in time, it may cause local structural instability of the tower, or even lead to serious accidents such as tower collapse. Summary of the Invention

[0005] Therefore, the present invention provides a drone inspection device to solve the above-mentioned problems in the prior art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: According to a first aspect of the present invention, a drone inspection device includes a drone, a laser rangefinder camera, a gimbal, a telescopic device, and an ultrasonic detection device. The telescopic device is mounted on the drone. The ultrasonic detection device is connected to the telescopic device via the gimbal. The laser rangefinder camera is connected to a first end of the drone via the gimbal. Both the laser rangefinder camera and the ultrasonic detection device are located below the drone.

[0007] Furthermore, it also includes an infrared imager, which is mounted on the drone.

[0008] Furthermore, the telescopic device includes an electric telescopic rod and a sliding block. One end of the electric telescopic rod is mounted on the drone, and the other end of the electric telescopic rod is connected to the sliding block. The sliding block is slidably connected to the bottom shell of the drone, and the ultrasonic detection device is connected to the sliding block through a gimbal.

[0009] Furthermore, the telescopic device also includes a slide rail and a slide track. The slide rail is installed on the bottom of the drone, and the slide track is installed on the sliding block. The slide track and the slide rail are slidably connected.

[0010] Furthermore, it also includes a support frame, through which the gimbal equipped with the laser rangefinder camera is connected to the drone.

[0011] Furthermore, each gimbal has a servo arm and a servo clip. The servo arm is rotatably connected to the UAV, and the servo clip is rotatably connected to the servo arm. The ultrasonic detection device is connected to the servo clip of one gimbal, and the infrared imager is connected to the servo clip of the other gimbal.

[0012] Furthermore, each of the gimbals also includes a connector, which is mounted on the UAV, and the servo arm is rotatably connected to the connector.

[0013] Furthermore, the servo arm includes a first servo and a rotating arm, the servo clamp includes a second servo and a clamping housing, the rotating arm is rotatably connected to the connecting seat via the first servo, the clamping housing is rotatably connected to the rotating arm via the second servo, one of the gimbals has the ultrasonic detection device connected to its clamping housing, and the other gimbal has the infrared imager connected to its clamping housing.

[0014] Furthermore, it also includes a controller, which is mounted on the drone, and the drone, the laser rangefinder camera, the gimbal, the telescopic device, and the ultrasonic detection device are all electrically connected to the controller.

[0015] According to a second aspect of the present invention, a method for unmanned aerial vehicle (UAV) inspection includes the following steps: Step S100: Use a drone to inspect the towers along the predetermined route; Step S200: Detect the location of the nut using a laser rangefinder camera; Step S300: Take pictures of the tower using a laser rangefinder camera to identify the surface data of the tower; Step S400: The telescopic device moves the ultrasonic detection device out from under the drone; Step S500: The drone drives the ultrasonic testing device to the position corresponding to the nut; Step S600: Detect the nut loosening data using an ultrasonic testing device; Step S700: Feed back the tower surface data and nut loosening data to the ground control base station; Step S800: After receiving the data on loose nuts and the surface data of the iron tower, the ground control base station stores and analyzes them. If an anomaly is found in the analysis, an alarm is issued. Step S900: Maintenance personnel perform maintenance work according to the alarm prompts.

[0016] This invention has the following advantages: The laser rangefinder camera effectively detects and precisely positions each nut, while simultaneously photographing and inspecting the line and tower frame along the transmission line. The telescopic device allows the ultrasonic testing device to move to the outer end of the drone, ensuring contact between the ultrasonic testing device and the nut during nut loosening detection. While the ultrasonic probe contacts the nut, the drone's rotor and other components are spaced apart from the corresponding nut positions, thus avoiding any impact on the detection structure. The ultrasonic testing device enables reliable and accurate detection of nut loosening, ensuring timely detection of nut loosening and guaranteeing the stability of the transmission tower. Attached Figure Description

[0017] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0018] The structures, proportions, sizes, etc. illustrated in this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed herein, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should still fall within the scope of the technical content disclosed in the present invention.

[0019] Figure 1 This is a perspective view of a drone inspection device provided for some embodiments of the present invention.

[0020] Figure 2This is a first perspective view of the gimbal of a drone inspection device provided in some embodiments of the present invention.

[0021] Figure 3 This is a second perspective view of the gimbal of a drone inspection device provided in some embodiments of the present invention.

[0022] Figure 4 This is a flowchart of a drone inspection method provided for some embodiments of the present invention.

[0023] In the diagram: 1. UAV, 2. Infrared imager, 3. Support frame, 4. Laser rangefinder camera, 5. Gimbal, 51. Connector, 52. Servo arm, 521. Rotating arm, 522. First servo, 53. Servo clip, 531. Second servo, 532. Clamp, 6. Ultrasonic detection device, 7. Controller, 8. Battery, 9. Electric telescopic rod, 10. Sliding block, 11. Slide rail, 12. Slide track. Detailed Implementation

[0024] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] like Figures 1 to 3 As shown, a drone inspection device according to a first aspect embodiment of the present invention includes a drone, a laser rangefinder camera, a gimbal, a telescopic device, and an ultrasonic detection device. The telescopic device is mounted on the drone. The ultrasonic detection device is connected to the telescopic device via the gimbal. The laser rangefinder camera is connected to the first end of the drone via the gimbal. Both the laser rangefinder camera and the ultrasonic detection device are located below the drone.

[0026] In the above embodiments, it should be noted that the drone is an existing patrol drone capable of positioning and cruising, the laser rangefinder camera is an existing camera that integrates laser rangefinder technology and camera imaging function, and the ultrasonic detection device is an existing ultrasonic detector, whose ultrasonic detection probe is an existing ultrasonic detector integrated with the ultrasonic detector.

[0027] The distance between the laser rangefinder camera and the bottom of the drone is greater than the distance between the ultrasonic detection device and the bottom of the drone.

[0028] The technical effects achieved by the above embodiments are as follows: By setting up a laser rangefinder camera, the location of each nut can be effectively detected and accurately positioned, while the line and tower frame of the tower along the route can be photographed and inspected. By setting up a telescopic device, the ultrasonic detection device can be moved to the outer end of the drone so that the ultrasonic detection device contacts the nut to detect the nut's loosening. When the ultrasonic detection device's ultrasonic probe contacts the nut, the drone's rotor and other components are spaced apart from the corresponding nut locations, so they will not affect the detection structure. The ultrasonic detection device enables reliable and accurate detection of the nut's loosening, allowing for timely detection of nut loosening and ensuring the stability of the tower.

[0029] Optional, such as Figures 1 to 3 As shown, in some embodiments, an infrared imager is also included, which is mounted on the drone.

[0030] In the above optional embodiments, it should be noted that the infrared imager is an existing infrared thermal imager.

[0031] The advantages of the above optional embodiments are as follows: the infrared imager can detect abnormal temperature of the tower, detect tower material corrosion and poor contact at the connection, and cooperate with the ultrasonic detection device and the laser rangefinder to form a triple detection of the tower, thereby achieving comprehensive detection of the tower.

[0032] Optional, such as Figures 1 to 3 As shown, in some embodiments, the telescopic device includes an electric telescopic rod and a sliding block. One end of the electric telescopic rod is mounted on the drone, and the other end of the electric telescopic rod is connected to the sliding block. The sliding block is slidably connected to the bottom shell of the drone, and the ultrasonic detection device is connected to the sliding block through a gimbal.

[0033] In the above optional embodiments, it should be noted that the electric telescopic pole is connected to the drone by means of threaded connection, riveting, snap-fit, or welding, and the sliding block is connected to the electric telescopic pole by means of snap-fit, screwing, or riveting; the cross-sectional shape of the sliding block is "L".

[0034] The advantages of the above optional embodiments are: the coordinated arrangement of the electric telescopic rod and the sliding block enables the telescopic device to reliably move the ultrasonic detection device outside the drone.

[0035] Optional, such as Figures 1 to 3 As shown, in some embodiments, the telescopic device further includes a slide rail and a slide track, the slide rail being mounted on the bottom of the drone, the slide track being mounted on the sliding block, and the slide track being slidably connected to the slide rail.

[0036] In the above optional embodiments, it should be noted that the slide rail and the drone are connected by means of screwing, snapping, bonding or riveting; the slide track and the sliding block are connected by means of screwing, snapping, bonding or riveting.

[0037] The advantages of the above optional embodiments are that reliable movement of the ultrasonic testing device is achieved through the cooperative arrangement of the slide rail and the slide channel.

[0038] Optional, such as Figures 1 to 3 As shown, in some embodiments, a support frame is also included, through which the gimbal with the laser rangefinder camera is connected to the drone.

[0039] In the above optional embodiments, it should be noted that the support frame and the drone are connected by means of screwing, snapping, gluing or riveting; the length of the support frame is greater than the distance between the lowest point of the ultrasonic detection device and the bottom wall of the drone.

[0040] The advantages of the above optional embodiments are: the support frame can effectively ensure that the laser rangefinder camera can take pictures of the tower without being affected by the ultrasonic detection device.

[0041] Optional, such as Figures 1 to 3 As shown, in some embodiments, each gimbal has a servo arm and a servo clip, the servo arm being rotatably connected to the UAV, and the servo clip being rotatably connected to the servo arm. The ultrasonic detection device is connected to the servo clip of one gimbal, and the infrared imager is connected to the servo clip of the other gimbal.

[0042] Optional, such as Figures 1 to 3 As shown, in some embodiments, each gimbal also includes a connector mounted on the UAV, and the servo arm is rotatably connected to the connector.

[0043] In the above optional embodiments, it should be noted that the connector is installed on the drone by means of screwing, snapping, gluing, or riveting.

[0044] The advantages of the above-mentioned optional embodiments are as follows: By connecting the ultrasonic detection device and the infrared imager to two gimbals respectively, this UAV inspection device can quickly capture macroscopic defects such as abnormal overall tower temperature and insulator overheating through the infrared imager, and accurately locate minute hidden dangers such as loose nuts using the ultrasonic detection device, thus solving the problem of the single inspection method in the existing system. Secondly, the multi-layered rotation setting of the gimbal, which combines the rotatable connection between the servo motor and the servo motor arm with the rotatable connection between the servo motor arm and the connecting seat, gives both the infrared imager and the ultrasonic detection device a high degree of spatial freedom. It can automatically adjust the detection angle according to the complex structure of the tower, ensuring that the detection device maintains the optimal detection distance and attitude with the target part, effectively solving the problem that fixed installation methods cannot reach complex positions.

[0045] Optional, such as Figures 1 to 3 As shown, in some embodiments, the servo arm includes a first servo and a rotating arm, the servo clamp includes a second servo and a clamping housing, the rotating arm is rotatably connected to the connecting seat via the first servo, and the clamping housing is rotatably connected to the rotating arm via the second servo. The ultrasonic detection device is connected to the clamping housing of one of the gimbals, and the infrared imager is connected to the clamping housing of the other gimbal.

[0046] In the above optional embodiments, it should be noted that the first servo motor is connected to the rotating arm by means of screwing or clamping, and the output shaft of the first servo motor is connected to the connecting seat by means of screwing or clamping; the second servo motor is connected to the housing by means of screwing or clamping, and the output shaft of the second servo motor is connected to the rotating arm by means of screwing or clamping; the ultrasonic detection device is connected to the housing of one of the gimbals by means of screwing or clamping, and the infrared imager is connected to the housing of the other gimbal by means of screwing or clamping.

[0047] The advantages of the above optional embodiments are as follows: the gimbal structure driven by dual servo motors enables multi-dimensional attitude adjustment of the ultrasonic detection device and the infrared imager. The first servo motor drives the rotating arm to rotate horizontally, and the second servo motor drives the chuck to achieve vertical pitch, allowing the ultrasonic detection device and the infrared imager to be flexibly positioned in three-dimensional space.

[0048] When drones inspect steel towers, for complex components such as crossarms and diagonal braces, the detection angle can be adjusted by the coordinated rotation of dual servo motors to ensure that the ultrasonic detection probe of the ultrasonic testing device is perpendicular to the end face of the nut; the infrared lens of the infrared imager is facing the surface being tested to avoid blind spots caused by viewing angle deviation.

[0049] Meanwhile, the chuck design facilitates quick replacement of different testing equipment, and the dual servo motors independently drive the structure, enhancing the spatial adaptability of the testing device. It can efficiently cover the testing needs of various parts of the tower, significantly improving the flexibility and accuracy of UAV inspections.

[0050] Optional, such as Figures 1 to 3 As shown, in some embodiments, a controller is also included, which is mounted on the drone, and the drone, the laser rangefinder camera, the gimbal, the telescopic device, and the ultrasonic detection device are all electrically connected to the controller.

[0051] In the above optional embodiments, it should be noted that the controller and the drone are connected by means of screws or snaps; the infrared imager and the electric telescopic pole are both electrically connected to the controller.

[0052] The advantages of the above optional embodiments are as follows: the controller integrates and controls devices such as drones and laser rangefinders to achieve coordinated operations. This ensures that all devices work together; for example, after laser rangefinder positioning, the controller instructs the gimbal to adjust its angle and the telescopic device to drive the probe for detection, thus improving the automation and accuracy of inspections.

[0053] like Figure 4 As shown, a drone inspection method according to a second aspect embodiment of the present invention includes the following steps: Step S100: Use a drone to inspect the towers along the predetermined route; Step S200: Detect the location of the nut using a laser rangefinder camera; Step S300: Take pictures of the tower using a laser rangefinder camera to identify the surface data of the tower; Step S400: The telescopic device moves the ultrasonic detection device out from under the drone; Step S500: The drone drives the ultrasonic testing device to the position corresponding to the nut; Step S600: Detect the nut loosening data using an ultrasonic testing device; Step S700: Feed back the tower surface data and nut loosening data to the ground control base station; Step S800: After receiving the data on loose nuts and the surface data of the iron tower, the ground control base station stores and analyzes them. If an anomaly is found in the analysis, an alarm is issued. Step S900: Maintenance personnel perform maintenance work according to the alarm prompts.

[0054] In the above optional embodiments, it should be noted that step S100: the predetermined route for the UAV to inspect the towers along the predetermined route is a spiral layered flight path.

[0055] In addition, the following steps are included: during the entire process of drone inspection of the tower, an infrared imager is used to conduct a comprehensive damage detection of the tower and the infrared data is fed back to the ground control base station. After receiving the damage data, the ground control base station stores and analyzes it. If the analysis shows any abnormalities, an alarm is issued.

[0056] Throughout the entire process of drone inspection of power towers, the methods for using infrared imagers to conduct comprehensive inspections of the towers include: First, the drone follows a pre-set spiral-shaped, layered flight path to inspect the tower. During flight, the infrared imager captures images at a frequency of 10 frames per second, and the gimbal automatically adjusts its angle according to the tower's structure to ensure clear imaging of all parts. When encountering complex structures, such as crossarm intersections, the drone automatically hovers to take multi-angle shots and acquire more comprehensive infrared data.

[0057] Second, the UAV transmits the collected infrared data to the ground control base station in real time through the controller. The ground control base station classifies and stores the data according to time and location information, and automatically overlays it onto the corresponding position of the 3D model to form a dynamic infrared data layer.

[0058] Third, staff at the ground control base station can manually observe the differences between the infrared data layer and the normal state through a 3D visualization platform, focusing on areas with abnormal temperatures. Once abnormalities such as sudden temperature changes or local overheating are detected, the system will immediately issue an audible and visual alarm and mark the specific location in the 3D model to facilitate quick location and handling by maintenance personnel.

[0059] Data on the tower surface, loose nuts, and damage are all fed back to the ground control base station via the controller.

[0060] Step S200: Detecting the location of the nut using a laser rangefinder camera includes the following steps: Step S210: Adjust the laser rangefinder camera to line scan mode, align it with the area to be measured on the tower, and ensure that the laser beam covers the plane or component where the nut may be located.

[0061] Step S220: Control the laser rangefinder camera to move at a constant speed along the predetermined flight path of the UAV, and the laser beam synchronously scans the surface to collect distance data and visible light images of each point in real time, generating composite data with depth information.

[0062] Step S230: Simultaneously compare images during the scanning process to identify the position of the nut.

[0063] Step S240: Calculate the spatial coordinates of the selected area, and combine the three-dimensional point cloud data of laser ranging to determine the planar position and depth information of each nut, so as to achieve synchronous positioning of multiple nuts.

[0064] Step S300: Taking pictures of the tower with a laser rangefinder camera to identify the surface data of the tower also includes; Step S310: Install a structured light projector on the housing of the gimbal with the laser rangefinder camera by screwing or snapping, and project a grid pattern of checkerboard or sinusoidal stripes onto the surface of the tower. Simultaneously activate the dual-mode acquisition of laser rangefinder and visible light by the laser rangefinder camera.

[0065] Step S320: The controller manipulates the drone to move around the tower along a spiral trajectory. The laser beam generates a dynamic point cloud following the trajectory of the laser rangefinder camera. At the same time, it captures the deformed projection of the grid pattern on the curved surface of the tower. The spatial mapping relationship is established using the calibration parameters of the projector and the laser rangefinder camera to identify the data on the surface of the tower.

[0066] Step S400: The method for the telescopic device to move the ultrasonic detection device from under the drone is to use an electric telescopic pole to move the ultrasonic detection device from under the drone to a position where the drone will not interfere with the detection probe of the ultrasonic detection device to detect the loose nut.

[0067] Step S500: The drone drives the ultrasonic testing device to the position corresponding to the nut; Step S600: Detecting nut looseness data using an ultrasonic testing device may include the following steps: Step S610: Based on the structural characteristics of the iron tower, use 3D modeling software to create a high-precision model of the iron tower and mark the specific position and 3D coordinates of each nut.

[0068] Step S620: Modularize and lightweight the ultrasonic testing device, integrating miniaturized ultrasonic probes, signal transmitters, data storage devices, and positioning modules, and securely mount it on the gimbal below the drone.

[0069] Step S630: Import the 3D model of the tower with the marked nut positions into the UAV flight control system. Combining the flight performance of the UAV with the effective detection distance of the detection device, automatically plan a spiral layered flight path covering all nut detection points.

[0070] Step S640: Control the drone to take off according to the planned path. After reaching the altitude plane where the first layer of nuts is located, fly horizontally to the preset detection point directly in front of the first nut. After the drone hovers and stabilizes, the gimbal automatically rotates to make the ultrasonic probe face the nut, adjusts the distance between the probe and the end face of the nut to the optimal detection position, and ensures that the probe and the nut surface are in close contact through the built-in pressure sensor.

[0071] Step S650: The ultrasonic testing device emits ultrasonic signals, records and stores data such as the intensity and time of the reflected waves. After completing the inspection of this nut, the drone moves sequentially to the positions of other nuts on the same layer and repeats the inspection process. After completing the inspection of one layer, the drone rises to the height of the next layer of nuts until all nuts are covered.

[0072] Step S650: After the UAV completes the inspection, it transmits the data stored in the ultrasonic detection device to the ground control base station through the controller.

[0073] Step S660: Technicians compare ultrasonic reflection data from different locations on the nut, combining this with reference values ​​for the nut's reflection characteristics under normal conditions, and visually observe waveform differences and data fluctuation ranges to determine if the nut is loose. For nuts suspected of being loose, the drone flight path can be replanned for targeted re-inspection and confirmation.

[0074] The beneficial effects of the above-mentioned optional embodiments are as follows: This UAV inspection method achieves high efficiency and accuracy in tower inspection through the collaboration of multiple technologies. First, the UAV flies along a predetermined route, overcoming terrain limitations, expanding the inspection range, improving inspection efficiency, and significantly reducing labor and time costs. Second, the laser rangefinder camera accurately locates the nuts and acquires data on the tower surface, providing basic information for subsequent analysis. Simultaneously, the telescopic device drives the ultrasonic detection device to move flexibly, performing targeted detection of nut loosening; its non-contact detection method avoids secondary damage to the tower structure. Finally, the ground control base station receives the data, stores and analyzes it promptly, and immediately alarms upon detecting abnormalities, enabling maintenance personnel to respond quickly, reducing the probability of failures, and ensuring the safe and stable operation of the tower. This method integrates the mobility of UAVs, the accuracy of laser rangefinders and ultrasonic detection, constructing a comprehensive and intelligent tower inspection system, effectively improving the scientific nature and reliability of tower operation and maintenance.

[0075] Although the present invention has been described in detail above with general descriptions and specific embodiments, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of the present invention fall within the scope of protection claimed by the present invention.

[0076] The terms such as "upper," "lower," "left," "right," and "middle" used in this specification are merely for clarity of description and are not intended to limit the scope of the invention. Any changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention.

Claims

1. A drone inspection device, characterized in that, The device includes a drone, a laser rangefinder camera, a gimbal, a telescopic device, and an ultrasonic detection device. The telescopic device is mounted on the drone. The ultrasonic detection device is connected to the telescopic device via the gimbal. The laser rangefinder camera is connected to the first end of the drone via the gimbal. Both the laser rangefinder camera and the ultrasonic detection device are located below the drone.

2. The UAV inspection device according to claim 1, characterized in that, It also includes an infrared imager, which is mounted on the drone.

3. The UAV inspection device according to claim 1, characterized in that, The telescopic device includes an electric telescopic rod and a sliding block. One end of the electric telescopic rod is mounted on the drone, and the other end of the electric telescopic rod is connected to the sliding block. The sliding block is slidably connected to the bottom shell of the drone. The ultrasonic detection device is connected to the sliding block through a gimbal.

4. The UAV inspection device according to claim 3, characterized in that, The telescopic device also includes a slide rail and a slide track. The slide rail is installed on the bottom of the drone, and the slide track is installed on the sliding block. The slide track and the slide rail are slidably connected.

5. The UAV inspection device according to claim 1, characterized in that, It also includes a support frame, through which the gimbal, on which the laser rangefinder camera is mounted, is connected to the drone.

6. The UAV inspection device according to claim 2, characterized in that, Each gimbal has a servo arm and a servo clip. The servo arm is rotatably connected to the UAV, and the servo clip is rotatably connected to the servo arm. The ultrasonic detection device is connected to the servo clip of one gimbal, and the infrared imager is connected to the servo clip of the other gimbal.

7. The unmanned aerial vehicle (UAV) inspection device according to claim 6, characterized in that, Each of the gimbals also includes a connector mounted on the UAV, and the servo arm is rotatably connected to the connector.

8. The UAV inspection device according to claim 7, characterized in that, The servo arm includes a first servo and a rotating arm. The servo clamp includes a second servo and a clamping housing. The rotating arm is rotatably connected to the connecting seat via the first servo. The clamping housing is rotatably connected to the rotating arm via the second servo. The ultrasonic detection device is connected to the clamping housing of one of the gimbals, and the infrared imager is connected to the clamping housing of the other gimbal.

9. The unmanned aerial vehicle (UAV) inspection device according to claim 1, characterized in that, It also includes a controller, which is mounted on the drone. The drone, the laser rangefinder camera, the gimbal, the telescopic device, and the ultrasonic detection device are all electrically connected to the controller.

10. A method for inspecting unmanned aerial vehicles (UAVs), characterized in that, The following steps are involved: Step S100: Use a drone to inspect the towers along the predetermined route; Step S200: Detect the location of the nut using a laser rangefinder camera; Step S300: Take pictures of the tower using a laser rangefinder camera to identify the surface data of the tower; Step S400: The telescopic device moves the ultrasonic detection device out from under the drone; Step S500: The drone drives the ultrasonic testing device to the position corresponding to the nut; Step S600: Detect the nut loosening data using an ultrasonic testing device; Step S700: Feed back the tower surface data and nut loosening data to the ground control base station; Step S800: After receiving the data on loose nuts and the surface data of the iron tower, the ground control base station stores and analyzes them. If an anomaly is found in the analysis, an alarm is issued. Step S900: Maintenance personnel perform maintenance work according to the alarm prompts.

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