An automated pole-climbing high-endurance obstacle-removable high-voltage circuit inspection drone

Abstract

The present invention provides an automated pole-climbing high-endurance obstacle-removable high-voltage circuit inspection drone, including the fuselage of the drone. The fuselage of the drone consists of front and rear parts, which are connected by a telescopic rod of the drone fuselage. Above the fuselage of the drone, there is a photovoltaic system and rotors. Below the fuselage of the drone, there are landing gears, an image system, an obstacle-crossing pole-climbing mechanism, and an obstacle-removing mechanism. The present invention has great advantages in removing simple obstacles and autonomously crossing obstacles and climbing poles. In terms of energy consumption, the present invention has a solar panel to provide as much energy as possible for its operation. In addition, the obstacle-crossing pole-climbing mechanism can save a part of the energy. The present invention has low requirements for working environmental conditions. Even in harsh weather such as wind, rain, snow, and fog, the device can completely rely on the obstacle-crossing pole-climbing mechanism to slowly conduct inspection work on high-voltage wires. The stability of the gripper greatly guarantees the safety of the present invention in such harsh weather.

Description

Technical Field

[0001] The present invention relates to an automated pole-climbing high-endurance obstacle-removable high-voltage circuit inspection drone. Background Art

[0002] The existing drones for power inspection are mainly divided into two types. One is the fixed-wing drone inspection, and the other is the multi-rotor drone inspection. Fixed-wing drones fly fast and have strong endurance, and are often used for rapid inspection of long-distance channels. However, fixed-wing drones cannot hover and have insufficient ability to inspect the details of transmission lines. Multi-rotor drones fly slowly and have the function of hovering at a fixed point, which can observe specific inspection targets in detail and is conducive to defect detection. In other fields, track or hanging-rail drones for inspection are also a method for detecting linear targets, but they are not suitable for power inspection on high-voltage transmission lines. Therefore, the mainstream in the industry is still multi-rotor drone inspection.

[0003] Power inspection drones are mainly used to ensure the safe operation of power facilities and conduct inspection on transmission and distribution equipment (including power generation, power supply, and power reception) and their line channels. They have various functions, such as closely detecting overhead transmission lines, accurately discovering defects such as broken wires and damaged insulators, and avoiding operations such as manual tower climbing and route walking, effectively reducing labor intensity, improving operation and maintenance efficiency, and controlling the risk of personnel casualties. Power inspection drones also have the function of taking high-definition photos and videos to transmit the situation of the transmission circuit in a timely manner.

[0004] The main structure of the existing power inspection drones includes the drone body, control system, power system, image and communication equipment, etc. The body is the core part of the entire device and is used to carry various scientific instruments and other equipment. The rotors are the basic components for the normal flight and operation of the inspection drones. The power system includes rotor motors, batteries, etc., which are responsible for providing the power required for the inspection drones to fly and operate normally. The control system controls the movement trajectory of the drone through various computer programs and components such as single-chip microcomputers. Technologically mature power inspection companies can also use computer programs to specify the fixed cruise routes of the inspection drones. In addition to the above components, the inspection drones also include many other components. For example, they also have image and communication equipment for taking photos and videos and transmitting the specific circuit situation to the technical department. The coordinated cooperation of these components enables the inspection drones to efficiently and low-costly perform inspection tasks in place of humans at high altitudes.

[0005] Circuit inspection drones have obvious advantages. Specifically, the advantage of drones for circuit inspection is that they can inspect the high-altitude circuit conditions from all directions and multiple fields, collect high-altitude circuit conditions, and send complex circuit maintenance problems to the technical department for more comprehensive analysis and solutions. This function reduces the workload of power inspection department staff, improves safety and reduces labor costs. If manual methods are still used in harsh environments such as rainy and foggy weather, it is not only dangerous but also inefficient.

[0006] Problems and shortcomings of existing technologies

[0007] 1) The current multi-rotor power inspection drones are not highly intelligent and highly dependent on skilled drone pilots, but the current supply of talent in this area is far less than the demand. At the same time, due to the complex use environment and poor viewing angle of drone power inspections, it is difficult for the pilot to accurately judge the distance between the drone and the tower, and between the drone and the adjacent power lines, resulting in difficulty in adjusting the drone's attitude, inaccurate target positioning, affecting the inspection effect, and even causing control errors, which brings great safety hazards to power drone inspections. In addition, its high energy consumption, poor endurance, weak ability to resist bad weather, and inability to remove simple obstacles, such as kite lines and ice on power lines in winter, require manual intervention to deal with these problems after discovery, resulting in low inspection efficiency.

[0008] 2) Although today’s rail or rail-mounted drone inspections are fast, they do not have autonomous obstacle-crossing capabilities, such as avoiding insulators and removing obstacles, and their own structure and power supply methods are not suitable for inspections of high-voltage transmission lines.

[0009] 3) Other current power inspection robots, such as Zhejiang Guozi's "outdoor wheeled inspection robot", can only work on the ground and cannot survey the conditions of specific circuits at high altitudes. They need to be equipped with a special backup energy storage vehicle to provide power, which is extremely inconvenient and cannot work in extreme weather conditions. Summary of the invention

[0010] Purpose of the invention: The technical problem to be solved by the present invention is to provide an automated pole-climbing, high-endurance, obstacle-removing, high-voltage circuit inspection drone in response to the deficiencies in the prior art, comprising a drone body, the drone body comprising a front part and a rear part, the front and rear parts being connected by a telescopic rod of the drone body, a photovoltaic system and a rotor being arranged above the drone body, and a landing gear, an image system, an obstacle-climbing pole mechanism and an obstacle-removing mechanism being arranged below the drone body.

[0011] The front and rear parts of the fuselage of the drone are telescopically extended through the drone fuselage telescopic rods. The drone fuselage telescopic rods are two and are respectively arranged in two slide grooves of the same length on the drone fuselage.

[0012] The image system includes a ball hinge rod, a 180° rotatable camera, and a ball hinge base. Among them, the 180° rotatable camera is fixedly connected to the ball hinge rod, and the ball hinge rod is connected to the ball hinge base through the spherical structure at its upper part to form a spherical pair.

[0013] The obstacle-crossing and pole-climbing mechanism includes a telescopic mechanism. The telescopic mechanism is arranged directly below the fuselage of the UAV, and the rotor motor is arranged inside the fuselage of the UAV, directly below the rotor.

[0014] The obstacle-removing mechanism includes obstacle-removing linkage rods, fixed rods, obstacle-removing blocks, obstacle-removing blades, and fixed inner rings. There are a total of 4 obstacle-removing linkage rods, which are divided into two pairs, front and back. The two front obstacle-removing linkage rods are respectively connected to two obstacle-removing blocks, and the obstacle-removing blades are installed on the surfaces of the two obstacle-removing blocks. The two rear obstacle-removing linkage rods are respectively connected to the two fixed inner rings through the two fixed inner rings.

[0015] The telescopic mechanism includes linkage rods, fixed covers, grippers, telescopic sheets, a telescopic mechanism connection and fuselage lifting port, fixed bolts, main linkage blocks, and fixed end shells. There are a total of 4 grippers, which are divided into two pairs, front and back. The two pairs of grippers are respectively connected to the front and rear fixed end shells through the front and rear main linkage blocks;

[0016] There are two fixed covers in total, front and back. Each is tightly connected to the front and rear fixed end shells through fixed bolts; Each fixed cover is equipped with a linkage rod, and the linkage rod cooperates with the small hole under the fuselage of the UAV; The telescopic sheets are connected to each other, and the left and right telescopic sheets are connected to the telescopic mechanism connection and fuselage lifting port fixed to the fixed end shell.

[0017] The rotor is installed inside the protective shell.

[0018] The photovoltaic system includes solar panels.

[0019] The working process of the UAV includes ground standby, takeoff process, and falling process;

[0020] The ground standby includes: When the UAV is not taking off, it is in a retracted standby state. At this time, the UAV body telescopic rod in the fuselage of the UAV contracts to the shortest state, and the telescopic mechanism also contracts to the shortest state. At the same time, the grippers and obstacle-removing linkage rods are in the deployed standby state. At this time, the UAV relies on the landing gear to be placed on the ground stably;

[0021] The takeoff process includes a general traveling process for non-obstacle-removing and non-obstacle-crossing, a traveling process for obstacle-crossing, a traveling process for obstacle-removing, and a process for inspecting high-voltage power towers;

[0022] The general traveling process for non-obstacle-removing and non-obstacle-crossing includes:

[0023] After the UAV reaches the designated area, under the assistance of the image system, the pilot will operate the UAV to slowly descend to a suitable position. Subsequently, the front and rear pairs of grippers of the telescopic mechanism will close and firmly grasp the high-voltage wire. During this process, the obstacle removal mechanism is still in the deployed standby state, and the telescopic rod of the UAV fuselage and the telescopic mechanism are still in the contracted state;

[0024] The described traveling process that requires obstacle crossing includes:

[0025] Step a1, the front side body of the UAV in the traveling direction crosses the obstacle, specifically including:

[0026] Step a1-1, the gripper on the front side in the traveling direction opens;

[0027] Step a1-2, the telescopic mechanism connected to the fuselage lifting port on the rear side of the UAV in the traveling direction will push the front side body of the UAV in the traveling direction and the telescopic rod of the UAV fuselage to rise, making their height slightly higher than the obstacle, and the rising range is the range that the telescopic rod of the UAV fuselage can slide up in the chute;

[0028] Step a1-3, the telescopic mechanism and the telescopic rod of the UAV fuselage will extend synchronously, pushing the front side body of the UAV in the traveling direction over the obstacle, and the pushing distance forward is X times the length of the UAV fuselage in the traveling direction when it is in the closed state;

[0029] Step a1-4, the telescopic mechanism connected to the fuselage lifting port on the rear side of the UAV in the traveling direction will push the front side body of the UAV in the traveling direction and the telescopic rod of the UAV fuselage to slide down to the height before lifting;

[0030] Step a1-5, the gripper on the front side in the traveling direction closes and re-grasps the high-voltage transmission line;

[0031] Step a2, the rear side body of the UAV in the traveling direction crosses the obstacle, specifically including:

[0032] Step a2-1, the gripper on the rear side in the traveling direction opens;

[0033] Step a2-2, the telescopic mechanism connected to the fuselage lifting port on the front side of the UAV in the traveling direction will push the rear side body of the UAV in the traveling direction and the telescopic rod of the UAV fuselage to rise, making their height slightly higher than the obstacle, and the rising range is the range that the telescopic rod of the UAV fuselage can slide up in the chute;

[0034] Step a2-3, the telescopic mechanism and the telescopic rod of the UAV fuselage will contract synchronously, pulling the rear side body of the UAV in the traveling direction over the obstacle, and making the front and rear side bodies of the UAV in the traveling direction merge again;

[0035] Step a2-4: The telescopic mechanism on the front side of the UAV's traveling direction is connected to the fuselage lifting port, which will push the rear-side body of the UAV and the UAV fuselage telescopic rod to slide down to the height before lifting.

[0036] Step a2-5: The gripper on the rear side of the traveling direction closes and re-grips the high-voltage transmission line.

[0037] After steps a1 to a2 are completed, the UAV completes an obstacle-crossing process.

[0038] The traveling process for obstacle removal includes:

[0039] When the UAV reaches the designated area, it will slowly descend to a suitable position. Subsequently, the four obstacle-removing linkage rods of the obstacle-removing mechanism start to merge. When the merging is complete, the obstacle-removing block of the obstacle-removing mechanism on the front side of the traveling direction starts to rotate, and the obstacle-removing mechanism on the rear side of the traveling direction forms a tight fit with the high-voltage wire. Subsequently, using the principle of thrust balance and fixed orbit setting, it starts to remove obstacles along a fixed working path. When an obstacle appears in the moving path, the rotating obstacle-removing block uses the obstacle-removing blades on its surface to remove it.

[0040] During the traveling process for obstacle removal, it also includes the traveling process for obstacle crossing:

[0041] Step b1: The front-side body of the UAV crosses an obstacle, specifically including:

[0042] Step b1-1: The gripper and the obstacle-removing linkage rod on the front side of the traveling direction open.

[0043] Step b1-2: The telescopic mechanism on the rear side of the UAV's traveling direction is connected to the fuselage lifting port, which will push the front-side body of the UAV and the UAV fuselage telescopic rod to rise, making their height slightly higher than the obstacle. The rising range is the range where the UAV fuselage telescopic rod can slide up in the chute.

[0044] Step b1-3: The telescopic mechanism and the UAV fuselage telescopic rod will extend synchronously to push the front-side body of the UAV over the obstacle. The pushing distance forward is X times the length of the UAV fuselage in the traveling direction when it is in the closed state.

[0045] Step b1-4: The telescopic mechanism on the rear side of the UAV's traveling direction is connected to the fuselage lifting port, which will push the front-side body of the UAV and the UAV fuselage telescopic rod to slide down to the height before lifting.

[0046] Step b1-5: The gripper and the obstacle-removing linkage rod on the front side of the traveling direction close and re-grip the high-voltage transmission line.

[0047] Step b2: The rear-side body of the UAV crosses an obstacle, specifically including:

[0048] Step b2-1, the gripper and the obstacle removal linkage rod at the rear side of the traveling direction open;

[0049] Step b2-2, the telescopic mechanism connection at the front side of the UAV traveling direction and the fuselage lifting and lowering port will push the fuselage at the rear side of the UAV traveling direction and the UAV fuselage telescopic rod to lift, so that their heights are slightly higher than the obstacle, and the rising range is the slidable range of the UAV fuselage telescopic rod in the chute;

[0050] Step b2-3, the telescopic mechanism and the UAV fuselage telescopic rod will contract synchronously, pull the fuselage at the rear side of the UAV traveling direction over the obstacle, and merge the fuselages on the front and rear sides of the UAV traveling direction again;

[0051] Step b2-4, the telescopic mechanism connection at the front side of the UAV traveling direction and the fuselage lifting and lowering port will push the fuselage at the rear side of the UAV traveling direction and the UAV fuselage telescopic rod to slide down to the height before lifting;

[0052] Step b2-5, the gripper and the obstacle removal linkage rod at the rear side of the traveling direction close and re-grasp the high-voltage transmission line;

[0053] After step b1 to step b2 are completed, the UAV completes a process of crossing an obstacle during obstacle removal;

[0054] The process for inspecting high-voltage electric towers includes:

[0055] Control the UAV to rise to the designated airspace, then switch to the automatic flight patrol inspection mode, let the UAV perform cyclic inspection in the designated airspace around the high-voltage electric tower according to a fixed flight route, and the technical department checks the high-voltage electric tower in real time through the image system, evaluates the damage and collapse possibilities of the high-voltage electric tower in different aspects, and formulates corresponding solutions.

[0056] The falling process includes:

[0057] After the work is completed, the extension rod of the UAV and the telescopic mechanism connection and the lifting and lowering port contract to the shortest state, the fuselage of the UAV is in a merged state, the grippers of the obstacle crossing and pole climbing mechanism and the obstacle removal linkage rods are all in an open state, and then control the UAV to leave the working area after detaching from the wire; after descending, the UAV lands steadily on the ground relying on the landing gear;

[0058] During the ground standby, takeoff process, and falling process, the solar panel continuously converts solar energy into electrical energy.

[0059] Due to the rapid development of China's power grid nowadays, power facilities are gradually advanced, and with the development of China's UHV transmission technology, the transmission voltage is getting higher and higher, and the requirements for the safety and reliability of transmission lines are also getting higher and higher.

[0060] In view of the problem that the current main multi-rotor circuit inspection drones are difficult to operate and easy to collide with the lines, the drone described in the present invention can be gripped on the inspected line by a gripper, which greatly reduces the difficulty of operation by reducing the degree of freedom of operation, and avoids the consequences of the drone yaw due to operator misjudgment. At the same time, because the drone's gripper is gripping on the line, when encountering small obstacles commonly seen on high-voltage transmission lines, such as spacers and displaced shock-absorbing hammers, the drone described in the present invention can also rely on the front and rear split design and obstacle climbing mechanism to quickly cross the obstacles one after another. Taking into account the swing of high-voltage transmission lines in the wind at high altitudes, such a split obstacle crossing greatly reduces the difficulty of docking and saves time for obstacle crossing, compared to the method in which the drone is completely separated from the wires, flies over the obstacles and then re-docking.

[0061] In response to the high energy consumption and low endurance problems of drones currently used mainly for high-voltage circuit inspections, the present invention installs additional solar panels above the original drone fuselage and adopts the principle of converting solar energy into electrical energy to extend the normal working time of the power inspection drone as much as possible, and enables it to be charged more conveniently when on standby in harsh terrain.

[0062] In view of the high working environment requirements of drones currently used in high-voltage transmission line inspections, the above-mentioned obstacle climbing mechanism can enable the power inspection drone of the present invention to form a tight connection with the high-voltage wires. In bad weather such as wind, rain, snow and fog, ordinary power inspection drones cannot fly and inspect normally. The drone of the present invention can use the gripping clamp in the obstacle climbing mechanism to greatly enhance its working stability and ensure that it continues to work safely on the high-voltage wires.

[0063] In winter, high-voltage transmission lines are prone to ice, and line ice is a serious natural disaster for the power supply system, which can cause the tower poles of high-voltage circuits to fall or break, and in severe cases, cause power outages in the entire power grid. Cold raindrops condense on the wires, forming ice on the wires. If all the wires within a range are covered with ice and snow, this is line ice. Ice covers turn thin wires into popsicles, and for high-voltage wires that transmit electricity over long distances, the iron towers supporting the high-voltage wires increase the load. Severe ice covers make the iron tower unable to support these wires and collapse. In view of the problem that the current high-voltage circuit inspection drones are unable to remove common obstacles in the working path, such as ice and kite lines, resulting in low inspection efficiency, the present invention has the ability to quickly remove common obstacles on the moving path. Thereby, while ensuring that the present invention can carry out inspection work safely and stably, it improves the safety of high-voltage transmission line circuits, greatly improves inspection efficiency, and reduces maintenance costs and labor costs.

[0064] Beneficial effects: The present invention mainly uses an obstacle-crossing and obstacle-removing unmanned aerial vehicle (UAV) as a carrier for line inspection of high-voltage transmission lines. Compared with other power inspection methods, especially the method of manually operating the UAV throughout the process for power inspection, its advantages lie in greatly reducing labor costs and improving inspection efficiency. Compared with other existing power inspection UAVs, the present invention pays more attention to automation, intelligence, and innovation, and has great advantages in removing simple obstacles and autonomously crossing obstacles and climbing poles. In terms of energy consumption, the present invention is equipped with a solar panel to provide as much energy as possible for its operation. In addition, the obstacle-crossing and pole-climbing mechanism can save a part of the energy. At the same time, the present invention has low requirements for working environmental conditions. Even in harsh weather such as wind, rain, snow, and fog, the device can completely rely on the obstacle-crossing and pole-climbing mechanism to slowly conduct inspection work on high-voltage wires, and the stability of the gripper greatly guarantees the safety of the present invention in such harsh weather. Brief Description of the Drawings

[0065] The following further specifically describes the present invention in conjunction with the drawings and specific embodiments, and the above and / or other advantages of the present invention will become clearer.

[0066] Figure 1 Side view of an automated pole-climbing, high-endurance, obstacle-removing high-voltage circuit inspection UAV.

[0067] Figure 2 Bottom view of an automated pole-climbing, high-endurance, obstacle-removing high-voltage circuit inspection UAV.

[0068] Figure 3 Two-side axonometric view of an automated pole-climbing, high-endurance, obstacle-removing high-voltage circuit inspection UAV.

[0069] Figure 4 Schematic diagram of the obstacle-crossing and pole-climbing mechanism.

[0070] Figure 5 Schematic diagram of a 180° rotatable camera.

[0071] Figure 6a Schematic diagram of the obstacle-removing mechanism in the closed working state.

[0072] Figure 6b Schematic diagram of the obstacle-removing mechanism in the deployed standby state.

[0073] Figure 7 Schematic diagram of the front half of the UAV fuselage. Detailed Embodiments

[0074] The present invention provides an automated pole-climbing high-endurance obstacle-removable high-voltage circuit inspection drone. The fuselage 201 of the drone is divided into front and rear parts, which are connected by a drone fuselage telescopic rod 104. A photovoltaic system 101 and rotors 102 are provided above the fuselage, and a landing gear 203, an image system 204 as shown in Figure 5 , an obstacle-crossing pole-climbing mechanism as shown in Figure 4 , and an obstacle-removing mechanism as shown in Figure 6a , Figure 6b are provided below the fuselage.

[0075] The specific structure is as shown in Figures 1 to 7 .

[0076] As shown in Figure 1 , Figure 2 and Figure 7 , the photovoltaic system includes solar panels.

[0077] The rotors 102 are installed in a protective shell 202.

[0078] When the drone fuselage 201 expands and contracts, it relies on the drone fuselage telescopic rod 104 that both parts have, which is located in two chutes 701 of the same length on the fuselage. The specific structure of the image system 204 is as shown in Figure 5 , and it includes a ball hinge rod 501, a 180° rotatable camera 502, and a ball hinge base 503. Among them, the 180° rotatable camera 502 is fixedly connected to the ball hinge rod 501, and the ball hinge rod 501 is connected to the ball hinge base 503 through the spherical structure on its upper part, and the two form a spherical pair.

[0079] The obstacle-crossing pole-climbing mechanism includes a telescopic mechanism 205, and the telescopic mechanism 205 is placed directly below the drone fuselage 201. A rotor motor 206 is arranged inside the drone fuselage 201, directly below the rotor 102.

[0080] As shown in Figure 3 and Figure 6a , Figure 6b , the obstacle-removing mechanism includes Figure 6a , Figure 6b an obstacle-removing linkage rod 601, a fixed rod 602, an obstacle-removing block 603, an obstacle-removing blade 604, and a fixed inner ring 605 as shown.

[0081] There are a total of 4 obstacle-removing linkage rods 601, as shown in Figure 6b , which are divided into front and rear pairs. The two front obstacle-removing linkage rods 601 are respectively connected to two obstacle-removing blocks 603, and several obstacle-removing blades 604 are installed on the surfaces of the two obstacle-removing blocks 603. The two rear obstacle-removing linkage rods 601 are respectively connected to two fixed inner rings 605 through two fixed inner rings 605.

[0082] The obstacle removal linkage rod 601 and the fixed linkage rod 602 contract together to grip the high-voltage wire 103 (schematic). Subsequently, after the fixed inner ring 605 is in close fit with the high-voltage wire 103 (schematic), the obstacle removal block 603 starts to rotate, and the icing or kite string and other common obstacles are removed by using the obstacle removal blade 604.

[0083] As Figure 4 shown, the linkage rod 401 cooperates with the small hole below the fuselage 201 of the drone. The fixed cover 402 is tightly connected to the fixed end shell 408 through the fixing bolt 406. The telescopic mechanism 205 includes the linkage rod 401, the fixed cover 402, the gripper 403, the telescopic sheet 404, the telescopic mechanism connection and the fuselage lifting port 405, the fixing bolt 406, the main linkage block 407 and the fixed end shell 408.

[0084] There are a total of 4 grippers 403, as Figure 4 shown, divided into two pairs, front and back. The two pairs of grippers 403 are respectively connected to the front and back two fixed end shells 408 through the front and back two main linkage blocks 407;

[0085] There are a total of two fixed covers 402, front and back. Each is tightly connected to the front and back two fixed end shells 408 through two fixing bolts 406; each fixed cover 402 is equipped with a linkage rod 401, and the linkage rod 401 cooperates with the small hole below the fuselage 201 of the drone; as Figure 4 shown, the telescopic sheets 404 are connected to each other, and the telescopic sheets 404 at the left and right ends are connected to the telescopic mechanism connection and the fuselage lifting port 405 fixed on the fixed end shell 408.

[0086] The working principle and process of the drone of the present invention include:

[0087] Standby on the ground:

[0088] For the convenience of storage and transportation, the drone is in a contracted standby state when it has not taken off. At this time, the drone body telescopic rod 104 in the drone body 201 is contracted to the shortest state, and the telescopic mechanism 205 in the obstacle crossing climbing rod mechanism below it is also contracted to the shortest state. At the same time, the grippers 403 and the obstacle removal linkage rod 601 in the obstacle crossing climbing device below are in the unfolded standby state as Figure 6b shown. The drone can be placed on the ground stably by relying on the landing gear 203 at this time.

[0089] Takeoff process:

[0090] The present invention requires manual control to rise to the height of the working area where the specified high-voltage circuit is located.

[0091] For the general traveling process that does not require obstacle removal and obstacle crossing:

[0092] When the drone reaches the designated area, with the assistance of the image system (204), the drone will be operated by the driver to slowly descend to a suitable position. Subsequently, the front and rear pairs of grippers 403 of the telescopic mechanism 205 will close and firmly grip the high-voltage wire. During this process, the obstacle removal mechanism remains in the deployed standby state as shown in Figure 6b , and the telescopic rod 104 of the drone fuselage and the telescopic mechanism 205 of the obstacle climbing rod mechanism remain in the retracted state.

[0093] Regarding the traveling process that requires obstacle crossing:

[0094] On high-voltage transmission lines, there are often small-volume obstacles such as spacer dampers and displaced shock-proof hammers. When the drone encounters them during travel, it will cross the obstacles. To complete obstacle crossing quickly and efficiently, the rotors of the drone will be used to maintain horizontal stability, and the obstacle climbing rod mechanism will be mainly responsible for enabling the entire drone to cross the obstacle.

[0095] (1) Obstacle crossing of the front side body of the drone during travel

[0096] First step, the gripper 403 on the front side of the traveling direction opens. Second step, the telescopic mechanism connection on the rear side of the traveling direction of the drone and the fuselage lifting port 405 will push the front side body of the drone and the telescopic rod 104 of the drone fuselage to rise, making their height slightly higher than the obstacle, and the rising range is the upward sliding range of the telescopic rod 104 of the drone fuselage in the chute 701. Third step, the telescopic mechanism 205 and the telescopic rod 104 of the drone fuselage will extend synchronously to push the front side body of the drone over the obstacle, and the pushing distance forward is 1.2 times the length of the drone fuselage 201 in the traveling direction in the closed state. Fourth step, the telescopic mechanism connection on the rear side of the traveling direction of the drone and the fuselage lifting port 405 will push the front side body of the drone and the telescopic rod 104 of the drone fuselage to slide down to the height before lifting. Fifth step, the gripper 403 on the front side of the traveling direction closes and re-grips the high-voltage transmission line.

[0097] (2) Obstacle crossing of the rear side body of the drone during travel

[0098] First step: The gripper 403 at the rear side of the traveling direction opens. Second step: The telescopic mechanism connected to the fuselage lifting port 405 at the front side of the UAV's traveling direction pushes up the fuselage and the UAV fuselage telescopic rod 104 at the rear side of the UAV's traveling direction, making their heights slightly higher than the obstacle. The rising range is the slidable range of the UAV fuselage telescopic rod 104 in the chute 701. Third step: The telescopic mechanism 205 and the UAV fuselage telescopic rod 104 contract synchronously, pulling the fuselage at the rear side of the UAV's traveling direction over the obstacle and making the fuselages on both the front and rear sides of the UAV's traveling direction merge again. Fourth step: The telescopic mechanism connected to the fuselage lifting port 405 at the front side of the UAV's traveling direction pushes down the fuselage and the UAV fuselage telescopic rod 104 at the rear side of the UAV's traveling direction to the height before lifting. Fifth step: The gripper 403 at the rear side of the traveling direction closes and re-grips the high-voltage transmission line.

[0099] After the above process ends, the UAV completes an obstacle-crossing process.

[0100] For the traveling process that requires obstacle removal:

[0101] When the UAV reaches the designated area, it will slowly descend to a suitable position. Subsequently, the four obstacle-removing linkage rods 401 of the obstacle-removing mechanism start to merge. When the merging is complete, the obstacle-removing block 603 of the obstacle-removing mechanism at the front side of the traveling direction starts to rotate, and the obstacle-removing mechanism at the rear side of the traveling direction forms a tight fit with the high-voltage wire. Subsequently, using the principle of thrust balance and the fixed orbit setting, it starts to remove obstacles along a fixed working path. When other common obstacles such as ice coating or kite strings appear in the moving path, the rotating obstacle-removing block can use the obstacle-removing blade 604 on its surface to remove them.

[0102] For the traveling process that requires obstacle crossing during obstacle removal:

[0103] 1) Obstacle crossing of the front-side fuselage of the UAV

[0104] First step: The gripper 403 and the obstacle removal linkage rod 601 on the front side of the traveling direction open. Second step: The telescopic mechanism connection to the fuselage lifting port 405 on the rear side of the UAV's traveling direction will push up the fuselage on the front side of the UAV's traveling direction and the UAV fuselage telescopic rod 104, making their height slightly higher than the obstacle, and the rising range is the slidable range of the UAV fuselage telescopic rod 104 in the chute 701. Third step: The telescopic mechanism 205 and the UAV fuselage telescopic rod 104 will extend synchronously, pushing the fuselage on the front side of the UAV over the obstacle, and the pushing distance forward is 1.2 times the length of the UAV fuselage 201 in the traveling direction when in the closed state. Fourth step: The telescopic mechanism connection to the fuselage lifting port 405 on the rear side of the UAV's traveling direction will push down the fuselage on the front side of the UAV's traveling direction and the UAV fuselage telescopic rod 104, sliding down to the height before lifting. Fifth step: The gripper 403 and the obstacle removal linkage rod 601 on the front side of the traveling direction close, and re-grip the high-voltage transmission line.

[0105] (2) Obstacle crossing of the rear-side fuselage of the UAV

[0106] First step: The gripper 403 and the obstacle removal linkage rod 601 on the rear side of the traveling direction open. Second step: The telescopic mechanism connection to the fuselage lifting port 405 on the front side of the UAV's traveling direction will push up the fuselage on the rear side of the UAV's traveling direction and the UAV fuselage telescopic rod 104, making their height slightly higher than the obstacle, and the rising range is the slidable range of the UAV fuselage telescopic rod 104 in the chute 701. Third step: The telescopic mechanism 205 and the UAV fuselage telescopic rod 104 will contract synchronously, pulling the fuselage on the rear side of the UAV over the obstacle, and merging the front and rear fuselages of the UAV again. Fourth step: The telescopic mechanism connection to the fuselage lifting port 405 on the front side of the UAV's traveling direction will push down the fuselage on the rear side of the UAV's traveling direction and the UAV fuselage telescopic rod 104, sliding down to the height before lifting. Fifth step: The gripper 403 and the obstacle removal linkage rod 601 on the rear side of the traveling direction close, and re-grip the high-voltage transmission line.

[0107] After the above process, the UAV completes a process of obstacle crossing required during obstacle removal.

[0108] Regarding the process of inspecting high-voltage power towers:

[0109] First, manually control the drone to ascend to the designated airspace, and then switch to the automatic flight patrol inspection mode, which allows it to perform cyclic inspections in the designated airspace around the high-voltage power tower along a fixed flight route. The technical department can use a 180° rotatable camera to inspect the high-voltage power tower in real time, quickly locate multiple key structural points of the high-voltage power tower through the generated point cloud data and images, and then scan and take high-definition photos, enabling maintenance personnel to observe the damage conditions of the key points of the support structure from multiple angles. Thus, the possibility of damage and collapse of the high-voltage power tower in different aspects can be evaluated, and corresponding solutions can be formulated.

[0110] Falling process:

[0111] After the work is completed, the extension rod 104 of the drone and the connection of the telescopic mechanism to the lifting and lowering port 405 contract to the shortest state, the drone fuselage 201 is in a combined state, the gripper 403 of the obstacle-overcoming pole-climbing mechanism and the obstacle-removing linkage rod 601 of the obstacle-removing mechanism are both in an open state, and then it is controlled to leave the working area after detaching from the wire. After descending, the drone lands steadily on the ground relying on the landing gear below it.

[0112] During the entire process of standby, takeoff, travel, inspection of the high-voltage power tower, and landing on the ground, the solar panels continuously convert solar energy into electrical energy to extend the endurance of the drone as much as possible.

[0113] Embodiment

[0114] Taking the inspection of the high-voltage transmission line as an example, at this time, the drone will cross obstacles in two parts, the front and the back:

[0115] (1) Obstacle crossing of the front-side body of the drone in the traveling direction

[0116] First step, the gripper 403 on the front side in the traveling direction opens. Second step, the connection of the telescopic mechanism to the fuselage lifting and lowering port 405 on the rear side in the traveling direction of the drone will push the front-side body of the drone in the traveling direction and the telescopic rod 104 of the drone fuselage to rise, making their height slightly higher than the obstacle, and the rising range is the slidable range of the telescopic rod 104 of the drone fuselage in the chute 701. Third step, the telescopic mechanism 205 and the telescopic rod 104 of the drone fuselage will extend synchronously to push the front-side body of the drone in the traveling direction over the obstacle, and the pushing distance forward is 1.2 times the length of the drone fuselage 201 in the traveling direction when in the closed state. Fourth step, the connection of the telescopic mechanism to the fuselage lifting and lowering port 405 on the rear side in the traveling direction of the drone will push the front-side body of the drone in the traveling direction and the telescopic rod 104 of the drone fuselage to slide down to the height before lifting. Fifth step, the gripper 403 on the front side in the traveling direction closes and re-grips the high-voltage transmission line.

[0117] (2) Obstacle crossing of the rear-side body of the drone in the traveling direction

[0118] First step: The gripper 403 at the rear side of the traveling direction opens. Second step: The telescopic mechanism connection at the front side of the UAV traveling direction and the fuselage lifting port 405 will push up the fuselage at the rear side of the UAV traveling direction and the UAV fuselage telescopic rod 104, making their height slightly higher than the obstacle, and the rising range is the slidable range of the UAV fuselage telescopic rod 104 in the chute 701. Third step: The telescopic mechanism 205 and the UAV fuselage telescopic rod 104 will contract synchronously, pulling the fuselage at the rear side of the UAV over the obstacle and merging the fuselages on the front and rear sides of the UAV traveling direction again. Fourth step: The telescopic mechanism connection at the front side of the UAV traveling direction and the fuselage lifting port 405 will push down the fuselage at the rear side of the UAV traveling direction and the UAV fuselage telescopic rod 104 to the height before lifting. Fifth step: The gripper 403 at the rear side of the traveling direction closes and re-grips the high-voltage transmission line.

[0119] After the above process ends, the UAV completes an obstacle-crossing process.

[0120] Taking the example of removing obstacles during inspection on high-voltage transmission lines, when the UAV reaches the designated area, the UAV will slowly descend to a suitable position. Subsequently, the four obstacle-removing linkage rods 401 of the obstacle-removing mechanism start to merge. When the merging is complete, the obstacle-removing block 603 of the obstacle-removing mechanism at the front side of the traveling direction starts to rotate, and the obstacle-removing mechanism at the rear side of the traveling direction forms a tight fit with the high-voltage wire. Subsequently, using the principle of thrust balance and fixed orbit setting, it starts to remove obstacles along a fixed working path. When other common obstacles such as ice coating or kite strings appear in the moving path, the rotating obstacle-removing block can use the obstacle-removing blade 604 on its surface to remove them.

[0121] Taking the example of simultaneously crossing obstacles and removing obstacles during inspection on high-voltage transmission lines, at this time, the UAV will be divided into two parts, front and rear, to cross obstacles respectively:

[0122] 1) The front-side fuselage of the UAV crosses the obstacle

[0123] First step: The gripper 403 and the obstacle removal linkage rod 601 on the front side of the advancing direction open. Second step: The telescopic mechanism connection at the rear side of the UAV's advancing direction and the fuselage lifting port 405 will push up the fuselage on the front side of the UAV's advancing direction and the UAV fuselage telescopic rod 104, making their height slightly higher than the obstacle, and the rising range is the slidable range of the UAV fuselage telescopic rod 104 in the chute 701. Third step: The telescopic mechanism 205 and the UAV fuselage telescopic rod 104 will extend synchronously, pushing the fuselage on the front side of the UAV's advancing direction over the obstacle, and the pushing distance forward is 1.2 times the length of the UAV fuselage 201 in the advancing direction when in the closed state. Fourth step: The telescopic mechanism connection at the rear side of the UAV's advancing direction and the fuselage lifting port 405 will push the fuselage on the front side of the UAV's advancing direction and the UAV fuselage telescopic rod 104 to slide down to the height before lifting. Fifth step: The gripper 403 and the obstacle removal linkage rod 601 on the front side of the advancing direction close and re-grip the high-voltage transmission line.

[0124] (2) Obstacle crossing of the rear-side fuselage of the UAV

[0125] First step: The gripper 403 and the obstacle removal linkage rod 601 on the rear side of the advancing direction open. Second step: The telescopic mechanism connection at the front side of the UAV's advancing direction and the fuselage lifting port 405 will push up the fuselage on the rear side of the UAV's advancing direction and the UAV fuselage telescopic rod 104, making their height slightly higher than the obstacle, and the rising range is the slidable range of the UAV fuselage telescopic rod 104 in the chute 701. Third step: The telescopic mechanism 205 and the UAV fuselage telescopic rod 104 will contract synchronously, pulling the fuselage on the rear side of the UAV's advancing direction over the obstacle and making the front and rear fuselages of the UAV merge again. Fourth step: The telescopic mechanism connection at the front side of the UAV's advancing direction and the fuselage lifting port 405 will push the fuselage on the rear side of the UAV's advancing direction and the UAV fuselage telescopic rod 104 to slide down to the height before lifting. Fifth step: The gripper 403 and the obstacle removal linkage rod 601 on the rear side of the advancing direction close and re-grip the high-voltage transmission line.

[0126] After the above process, the UAV completes a process of obstacle crossing during obstacle removal.

[0127] In practical applications, the present invention can greatly improve the inspection efficiency and safety of circuit inspection personnel. The specific application scenarios are as follows:

[0128] When the inspection personnel receive a reminder from the public or observe that there are sundries such as kite strings hanging on the transmission line, they can operate the present invention to lift off and dock with the wire at a long distance, and then quickly fly along the wire to the vicinity of the fault point, and start the obstacle removal mode to quickly and safely cut off the kite string.

[0129] When the inspection personnel receive a reminder from the public or observe icing on the high-voltage wires, they can operate the present invention to lift off and dock with the wires at a distance, and then quickly fly along the wires to the vicinity of the icing area and start the de-icing mode to quickly remove the ice.

[0130] In these two processes, there is no need for the inspection personnel to approach the fault point. With the limiting function after docking with the wires, the operation difficulty of the unmanned aerial vehicle is reduced, which not only improves safety but also enhances efficiency.

[0131] During the inspection process of high-voltage power towers, the present invention can generate point cloud data of high-voltage power towers through a single camera using deep learning algorithms, and cooperate with pictures to quickly compare the models of high-voltage power towers in the database, locate the key structural points, so as to help the inspection personnel quickly lock the key points for investigation.

[0132] The present invention provides an automated pole-climbing high-endurance fault-removable high-voltage circuit inspection unmanned aerial vehicle. There are many methods and ways to specifically implement this technical solution. The above is only the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention. Each component not clearly defined in this embodiment can be implemented using existing technologies.

Claims

1. An automated pole-climbing high-endurance obstacle-removable high-voltage circuit inspection drone, characterized in that, It includes the fuselage (201) of the drone. The fuselage (201) of the drone consists of a front part and a rear part, and the front and rear parts are connected by the drone fuselage telescopic rod (104). Above the fuselage (201) of the drone, there are a photovoltaic system (101) and rotors (102). Below the fuselage (201) of the drone, there are landing gears (203), an image system (204), an obstacle-crossing pole-climbing mechanism, and an obstacle-removing mechanism; The obstacle-crossing pole-climbing mechanism includes a telescopic mechanism (205). The telescopic mechanism (205) is arranged directly below the fuselage (201) of the drone, and the rotor motor (206) is arranged inside the fuselage (201) of the drone, directly below the rotor (102); The telescopic mechanism (205) includes a linkage rod (401), a fixed cover (402), a gripper (403), a telescopic piece (404), a telescopic mechanism connection and fuselage lifting port (405), a fixing bolt (406), a main linkage block (407), and a fixed end shell (408); There are a total of 4 grippers (403), divided into two pairs, front and rear. The two pairs of grippers are respectively connected to the front and rear fixed end shells (408) through the two main linkage blocks (407) in the front and rear; There are two fixed covers (402) in total, front and rear. Each is tightly connected to the front and rear fixed end shells (408) through a fixing bolt (406); Each fixed cover (402) is equipped with a linkage rod (401), and the linkage rod (401) cooperates with the small hole below the fuselage (201) of the drone; The telescopic pieces (404) are connected to each other, and the telescopic pieces (404) at the left and right ends are connected to the telescopic mechanism connection and fuselage lifting port (405) fixed on the fixed end shell (408).

2. An automated pole-climbing high-endurance obstacle-removable high-voltage circuit inspection drone according to claim 1, characterized in that, The front and rear parts of the fuselage (201) of the drone are telescoped through the drone fuselage telescopic rod (104). There are two drone fuselage telescopic rods (104), which are respectively arranged in two chutes (701) of the same length on the fuselage (201) of the drone.

3. An automated pole-climbing high-endurance obstacle-removable high-voltage circuit inspection drone according to claim 2, wherein The image system (204) includes a ball hinge rod (501), a 180° rotatable camera (502), and a ball hinge base (503); Among them, the 180° rotatable camera (502) is fixedly connected to the ball hinge rod (501), and the ball hinge rod (501) is connected to the ball hinge base (503) through the spherical structure at its upper part to form a spherical pair.

4. An automated pole-climbing high-endurance obstacle-removable high-voltage circuit inspection drone according to claim 3, characterized in that, The obstacle-removing mechanism includes obstacle-removing linkage rods (601), fixed rods (602), obstacle-removing blocks (603), obstacle-removing blades (604), and fixed inner rings (605); There are a total of 4 obstacle-removing linkage rods (601), divided into two pairs, front and rear. The two front obstacle-removing linkage rods (601) are respectively connected to two obstacle-removing blocks (603), and the obstacle-removing blades (604) are installed on the surfaces of the two obstacle-removing blocks (603). The two rear obstacle-removing linkage rods (601) are respectively connected to the two fixed inner rings (605) through the two fixed inner rings (605).

5. An automated pole-climbing high-endurance obstacle-removable high-voltage circuit inspection drone according to claim 4, characterized in that, The rotor (102) is installed inside the protective shell (202).

6. An automated pole-climbing high-endurance obstacle-removable high-voltage circuit inspection drone according to claim 5, characterized in that, The photovoltaic system (101) includes solar panels.

7. An automated pole-climbing high-endurance obstacle-removable high-voltage circuit inspection drone according to claim 6, characterized in that, The working process of the drone includes ground standby, take-off process, and falling process; The ground standby includes: when the drone is not taking off, it is in a retracted standby state. At this time, the drone body telescopic rod (104) in the drone body (201) is retracted to the shortest state, and the telescopic mechanism (205) is also retracted to the shortest state. At the same time, the gripper (403) and the obstacle removal linkage rod (601) are in the deployed standby state. At this time, the drone is placed steadily on the ground by the landing gear (203); The take-off process includes a general travel process for no obstacle removal and obstacle crossing, a travel process for obstacle crossing, a travel process for obstacle removal, and a process for inspecting high-voltage power towers; The general travel process for no obstacle removal and obstacle crossing includes: When the drone reaches the designated area, with the assistance of the image system (204), the drone will slowly fall to a suitable position under the operation of the driver. Subsequently, the front and rear pairs of grippers (403) of the telescopic mechanism (205) will close and firmly grasp the high-voltage wire. During this process, the obstacle removal mechanism is still in the deployed standby state, and the drone body telescopic rod (104) and the telescopic mechanism (205) are still in the retracted state; The travel process for obstacle crossing includes: Step a1, the front body of the drone in the travel direction crosses the obstacle, specifically including: Step a1-1, the gripper (403) on the front side of the travel direction opens; Step a1-2, the connection between the telescopic mechanism on the rear side of the drone travel direction and the fuselage lifting port (405) will push the front body of the drone in the travel direction and the drone body telescopic rod (104) to rise, making their height slightly higher than the obstacle. The rising range is the range that the drone body telescopic rod (104) can slide upward in the chute (701); Step a1-3, the telescopic mechanism (205) and the drone body telescopic rod (104) will extend synchronously, pushing the front body of the drone in the travel direction over the obstacle. The distance pushed forward is X times the length of the drone body (201) in the travel direction when it is in the closed state; Step a1-4, the connection between the telescopic mechanism on the rear side of the drone travel direction and the fuselage lifting port (405) will push the front body of the drone in the travel direction and the drone body telescopic rod (104) to slide down to the height before lifting; Step a1-5, the gripper (403) on the front side of the travel direction closes and re-grips the high-voltage transmission line; Step a2, the rear body of the drone in the travel direction crosses the obstacle, specifically including: Step a2-1, the gripper (403) on the rear side of the travel direction opens; Step a2-2, the connection between the telescopic mechanism on the front side of the drone travel direction and the fuselage lifting port (405) will push the rear body of the drone in the travel direction and the drone body telescopic rod (104) to rise, making their height slightly higher than the obstacle. The rising range is the range that the drone body telescopic rod (104) can slide upward in the chute (701); Step a2-3, the telescopic mechanism (205) and the drone body telescopic rod (104) will contract synchronously, pulling the rear body of the drone in the travel direction over the obstacle and making the front and rear bodies of the drone in the travel direction merge again; Step a2-4: The telescopic mechanism in the front of the UAV's traveling direction is connected to the fuselage lifting port (405), which will push the rear body of the UAV in the traveling direction and the UAV fuselage telescopic rod (104) to slide down to the height before lifting. Step a2-5: The gripper (403) at the rear in the traveling direction closes and re-grips the high-voltage transmission line. After Steps a1 to a2 are completed, the UAV finishes one obstacle-crossing process. The traveling process for obstacle removal includes: When the UAV reaches the designated area, it will slowly descend to a suitable position. Subsequently, the four obstacle-removing linkage rods (601) of the obstacle-removing mechanism start to merge. When the merging is complete, the obstacle-removing block (603) of the obstacle-removing mechanism in the front of the traveling direction starts to rotate. The obstacle-removing mechanism at the rear in the traveling direction forms a tight fit with the high-voltage wire. Then, using the principle of thrust balance and fixed-rail setting, it starts to remove obstacles along a fixed working path. When an obstacle appears in the moving path, the rotating obstacle-removing block uses the obstacle-removing blade (604) on its surface to remove it. During the traveling process for obstacle removal, it also includes the traveling process for crossing obstacles: Step b1: The front body of the UAV in the traveling direction crosses the obstacle, specifically including: Step b1-1: The gripper (403) and the obstacle-removing linkage rod (601) in the front of the traveling direction open. Step b1-2: The telescopic mechanism in the rear of the UAV's traveling direction is connected to the fuselage lifting port (405), which will push the front body of the UAV in the traveling direction and the UAV fuselage telescopic rod (104) to lift, making their height slightly higher than the obstacle. The rising range is the range where the UAV fuselage telescopic rod (104) can slide up in the chute (701). Step b1-3: The telescopic mechanism (205) and the UAV fuselage telescopic rod (104) will extend synchronously, pushing the front body of the UAV in the traveling direction over the obstacle. The pushing distance forward is X times the length of the UAV fuselage (201) in the traveling direction in the closed state. Step b1-4: The telescopic mechanism in the rear of the UAV's traveling direction is connected to the fuselage lifting port (405), which will push the front body of the UAV in the traveling direction and the UAV fuselage telescopic rod (104) to slide down to the height before lifting. Step b1-5: The gripper (403) and the obstacle-removing linkage rod (601) in the front of the traveling direction close and re-grip the high-voltage transmission line. Step b2: The rear body of the UAV in the traveling direction crosses the obstacle, specifically including: Step b2-1: The gripper (403) and the obstacle-removing linkage rod (601) in the rear of the traveling direction open. Step b2-2: The telescopic mechanism in the front of the UAV's traveling direction is connected to the fuselage lifting port (405), which will push the rear body of the UAV in the traveling direction and the UAV fuselage telescopic rod (104) to lift, making their height slightly higher than the obstacle. The rising range is the range where the UAV fuselage telescopic rod (104) can slide up in the chute (701). Step b2-3: The telescopic mechanism (205) and the UAV fuselage telescopic rod (104) will contract synchronously, pulling the rear body of the UAV in the traveling direction over the obstacle and making the front and rear bodies of the UAV in the traveling direction merge again. Step b2-4: The telescopic mechanism in the front of the drone's traveling direction is connected to the fuselage lifting port (405), which will push the rear body of the drone in the traveling direction and the drone fuselage telescopic rod (104) to slide down to the height before lifting. Step b2-5: The gripper (403) and the obstacle removal linkage rod (601) at the rear of the traveling direction close to re-grip the high-voltage power line. After steps b1 to b2 are completed, the drone finishes one process of obstacle crossing required for obstacle removal. The process for inspecting high-voltage power towers includes: Control the drone to rise to the designated airspace, and then switch to the automatic flight patrol inspection mode, allowing the drone to perform cyclic inspections in the designated airspace around the high-voltage power tower according to a fixed flight route. The technical department checks the high-voltage power tower in real time through the image system (204), evaluates the possibility of damage and collapse of the high-voltage power tower in different aspects, and formulates corresponding solutions.

8. An automated pole-climbing high-endurance obstacle-removable high-voltage circuit inspection drone according to claim 7, characterized in that, The falling process includes: After the work is completed, the drone fuselage telescopic rod (104) and the telescopic mechanism are connected to the lifting port (405) and retracted to the shortest state. The fuselage (201) of the drone is in a combined state. The gripper (403) and the obstacle removal linkage rod (601) of the obstacle crossing and pole climbing mechanism are both in an open state. Then, control the drone to leave the working area after detaching from the wire. After descending, the drone lands steadily on the ground relying on the landing gear (203). During ground standby, takeoff, and falling, the solar panel continuously converts solar energy into electrical energy.

Images