Unmanned aerial vehicle intelligent nest for power transmission line tower footing vegetation recovery and working method of unmanned aerial vehicle intelligent nest

Abstract

The invention discloses an unmanned aerial vehicle intelligent nest for power transmission line tower footing vegetation recovery and a working method thereof.The unmanned aerial vehicle intelligent nest comprises a machine room, a positioning mechanism, an endurance mechanism, a water storage mechanism and a control system, the positioning mechanism comprises an AGV and a parking apron, and the endurance mechanism is installed on one side of the machine room and comprises a power source and a telescopic power interface; the power source is a storage battery charging and discharging power source, the telescopic power source interface is located on one side face, the water storage mechanism comprises a water storage tank, a water outlet pipe and an electromagnetic valve, the water storage tank is fixedly installed on the rear portion of the machine room, and the control system is connected with the positioning mechanism, the endurance mechanism and the water storage mechanism. The endurance mechanism and the water storage mechanism in the intelligent nest can provide support for endurance and water adding of the unmanned aerial vehicle, the problem that the vegetation recovery survival rate is low due to drought in the northwest region is solved, meanwhile, the unmanned aerial vehicle is adopted to replace traditional manual watering to complete vegetation recovery, and the working efficiency is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of power transmission line maintenance, and in particular to an intelligent drone nest for restoring vegetation on a tower base of a power transmission line. Background Art

[0002] With the progress of society and the development of technology, power construction has spread all over the country. After the tower base construction of the power transmission and transformation project is completed, vegetation restoration is required due to certain damage caused to the bottom of the tower base during the construction process. The basic approach is to loosen the soil under the tower base and sow grass seeds to complete the vegetation restoration. However, due to the dry weather in the northwest region, the survival rate of the vegetation restoration process is low. At the same time, the power tower bases are widely distributed, and manual watering requires laying very long water pipes, which is inefficient. With the development of drone technology, drones are usually used instead of manual work to complete this work, but the working time and water storage capacity of drones are limited, and it is difficult to work continuously to complete the vegetation restoration of the corresponding area. Summary of the invention

[0003] In order to overcome the above problems, the purpose of the present invention is to provide an intelligent drone nest for vegetation restoration at the base of power transmission line towers. The endurance mechanism and water storage mechanism inside the intelligent nest can provide support for the endurance and water addition of the drone, thereby overcoming the problem of low survival rate of vegetation restoration caused by drought in the northwest region. At the same time, drones are used to replace traditional manual watering to complete vegetation restoration, greatly improving work efficiency.

[0004] The technical solution adopted by the present invention is: including a machine room, a positioning mechanism, a cruising mechanism, a water storage mechanism, and a control system. The positioning mechanism includes an AGV trolley and a helipad. The AGV trolley adopts a magnetic strip navigation, and the magnetic strip is pasted on the ground in the machine room. The helipad is fixedly installed on the AGV trolley. The cruising mechanism is installed on one side of the machine room, including a power supply and a telescopic power supply interface. The power supply is a battery charging and discharging power supply, and the telescopic power supply interface is located on one side. The water storage mechanism includes a water tank, a water outlet pipe, and a solenoid valve. The water tank is fixedly installed at the rear of the machine room, the water outlet pipe is installed on the side of the water tank, and the solenoid valve is installed at the connection between the water outlet pipe and the water tank. The control system is connected with the positioning mechanism, the cruising mechanism, and the water storage mechanism.

[0005] The apron includes support columns, fixed beams, a top plate, detection sensors, positioning grooves, locking push rods, and a battery compartment. The support columns and fixed beams form a frame structure. The bottom surface of the support columns is fixedly installed on the upper surface of the AGV vehicle. The beams are installed between two adjacent support columns. The top plate is fixedly installed on the top surface of the support columns. The detection sensor is installed above the top plate. A positioning groove is provided on the upper surface of the top plate. The locking push rod is installed at one end of the positioning groove. The battery compartment is installed below the top plate.

[0006] Furthermore, the telescopic power interface includes a power interface male connector, an electric push rod, and a motor. The power interface male connector is installed at the front end of the electric push rod, the motor is connected to the rear end of the electric push rod, the interior of the electric push rod is a hollow structure, and the connecting wire of the power interface male connector passes through the interior of the electric push rod and is connected to the power supply.

[0007] Furthermore, the outer side of the male plug of the power interface is made of magnetic material.

[0008] Furthermore, the outer side of the female power interface of the battery compartment is made of magnetic material.

[0009] Furthermore, the control system includes a computer and a PLC programmable logic controller, the computer is connected to the PLC programmable logic controller, and the PLC programmable logic controller is connected to the electric push rod, detection sensor, locking push rod, and solenoid valve of the telescopic power interface.

[0010] Furthermore, the helipad also includes an XYZ robotic arm and a clamp. The XYZ robotic arm is installed in front of the support column. There are two Z-axis robotic arms, which are fixedly installed in front of the two support columns respectively. There is one Y-axis robotic arm, which is slidably installed between the two Z-axis robotic arms and can move up and down. There is one X-axis robotic arm, which is slidably installed on the Y-axis robotic arm and can move left and right. The clamp is slidably installed on the X-axis robotic arm and can move forward and backward.

[0011] Furthermore, a rainwater collection mechanism is designed on the top of the intelligent machine nest room, and the rainwater collection mechanism includes a rainwater collection bucket and a connecting pipe. There are multiple rainwater collection buckets, which are evenly arranged on the top of the room. The top of the rainwater collection bucket is a funnel structure, and the bottom is connected to the interface of the connecting pipe. One end of the connecting pipe passes through the mounting hole on the top of the room and is connected to the water storage barrel.

[0012] Furthermore, a filter is designed inside the rainwater collection bucket.

[0013] The working method of the UAV intelligent nest for restoration of vegetation at the base of transmission line towers is to perform the following steps:

[0014] (1) The drone flies along the planned path: The drone flies along the tower base of the transmission line where vegetation is to be restored;

[0015] (2) The drone waters the vegetation at the tower base within the planned path;

[0016] (3) After reaching the flight time t, the UAV refills water and / or electricity in the nearest smart nest.

[0017] Furthermore, the flight distance L of the drone is:

[0018] L=v*t

[0019] Among them, v represents the flight speed of the drone, and t represents the flight time of the drone;

[0020] The UAV adopts a uniform flight state during the watering process, and the constraint condition of the flight time t is:

[0021] t=min(t p , t H )

[0022] Among them, t p Indicates the flight time of the drone, t H Indicates the effective watering time of the drone's water tank.

[0023] Beneficial effects of the present invention:

[0024] 1. The endurance mechanism of the intelligent machine nest is used to replace the endurance battery of the drone, and the water storage mechanism is used to replenish the water in the water tank of the drone. The endurance mechanism and the water storage mechanism provide support for the long-term operation of the drone, which can effectively ensure the survival rate of vegetation during the tower base vegetation restoration process.

[0025] 2. A rainwater collection mechanism is designed on the top of the intelligent machine nest room to collect rainwater on rainy days and sprinkle it again in dry weather, which is conducive to the recovery of vegetation under the tower base and realize sustainable operation.

[0026] 3. The endurance mechanism charges the battery compartment through the retractable power interface, thereby completing the charging of the battery in the battery compartment. The water storage mechanism adds water to the water tank of the drone by controlling the opening and closing of the solenoid valve. The entire process does not require human participation, realizing intelligent vegetation restoration and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic diagram of the three-dimensional structure of the UAV intelligent nest for restoration of vegetation at the base of a transmission line tower proposed by the present invention;

[0028] Figure 2 This is a schematic diagram of the intelligent drone nest positioning mechanism for restoration of vegetation at the base of a transmission line tower proposed by the present invention;

[0029] Figure 3 This is a flow chart of the control process of the intelligent drone nest for restoration of vegetation at the base of a transmission line tower proposed by the present invention;

[0030] Figure 4 This is a schematic diagram of the Z-axis mechanical arm structure of the XYZ mechanical arm of the UAV intelligent machine nest for restoration of vegetation at the base of a transmission line tower proposed by the present invention;

[0031] Figure 5This is a schematic diagram of the Y-axis mechanical arm structure of the XYZ mechanical arm of the UAV intelligent machine nest for restoration of vegetation at the base of a transmission line tower proposed by the present invention;

[0032] Figure 6 This is a schematic diagram of the X-axis mechanical arm structure of the UAV intelligent machine nest XYZ mechanical arm for restoration of vegetation at the base of a transmission line tower proposed in the present invention.

[0033] Description of Reference Numerals

[0034] 1-machine room, 11-rainwater collection bucket, 12-connecting pipe, 2-positioning mechanism, 21-AGV trolley, 22-helipad, 221-support column, 222-fixed beam, 223-top plate, 224-positioning groove, 225-XYZ robotic arm, 226-gripper, 3-endurance mechanism, 4-water storage mechanism, 51-left arm, 52-right arm 52, 53-reinforcement angle, 54-welding plate, 55-idler, 56-Z-axis motor, 57-slider, 58-support plate, 59-sensor, 61-X-axis support plate, 62-X-axis motor, 63-ball screw, 71-Y-axis support plate, 72-Y-axis motor. DETAILED DESCRIPTION

[0035] The specific implementation of the present invention is described below in conjunction with the accompanying drawings and embodiments:

[0036] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the conditions under which the present invention can be implemented. Any structural modification, change in proportional relationship or adjustment of size should still fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention.

[0037] At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" cited in this specification are only for the convenience of description and are not used to limit the scope of implementation of the present invention. Changes or adjustments to their relative relationships should be regarded as the scope of implementation of the present invention without substantially changing the technical content.

[0038] like Figures 1 to 6As shown, it shows a specific implementation mode of the present invention: the intelligent drone nest for restoration of vegetation at the base of a transmission line tower disclosed in the present invention comprises a machine room 1, a positioning mechanism 2, a cruising mechanism 3, a water storage mechanism 4, and a control system. The positioning mechanism 2 comprises an AGV trolley 21 and a helipad 22. The AGV trolley 2 adopts a magnetic strip navigation, and the magnetic strip is pasted on the ground in the machine room 1. The helipad 22 is fixedly mounted on the AGV trolley 21. The cruising mechanism 3 is installed on one side of the machine room, including a power supply and a telescopic power supply interface. The power supply is a battery charging and discharging power supply, and the telescopic power supply interface is located on one side. The water storage mechanism 4 comprises a water tank, a water outlet pipe, and a solenoid valve. The water tank is fixedly mounted at the rear of the machine room, the water outlet pipe is mounted on the side of the water tank, and the solenoid valve is mounted at the connection between the water outlet pipe and the water tank. The control system connects the positioning mechanism 2, the cruising mechanism 3, and the water storage mechanism 4.

[0039] In the present invention, Figure 1 As shown, the opening and closing of the machine room 1 is realized by infrared automatic recognition. After the door of the machine room 1 is opened, the AGV trolley 21 of the positioning mechanism 2 waits for the drone to land on the helipad 22 according to the preset route. Then the AGV trolley 21 replaces the battery and takes water according to the route to complete the endurance work. The entire battery replacement and water taking process is realized by controlling the corresponding mechanism through the control system, without manual participation, thus improving efficiency, improving the quality of vegetation restoration around the transmission tower base, and ensuring the green and sustainable development of the construction site.

[0040] The apron 22 includes a support column 221, a fixed beam 222, a top plate 223, a detection sensor, a positioning groove 224, a locking push rod, and a battery compartment. The support column 221 and the fixed beam 222 form a frame structure. The bottom surface of the support column 221 is fixedly installed on the upper surface of the AGV trolley 21, the fixed beam 222 is installed between two adjacent support columns 221, the top plate 223 is fixedly installed on the top surface of the support column 221, the detection sensor is installed above the top plate 223, a positioning groove 224 is opened on the upper surface of the top plate 223, the locking push rod is installed at one end of the positioning groove 224, and the battery compartment is installed below the top plate.

[0041] In the present invention, Figure 2As shown, the support column 221 plays a supporting role, and the frame structure composed of the fixed beam 222 is convenient for the UAV on the top plate 223 to land and carry out corresponding replenishment. The support column 221 is connected by the fixed beam 222 to make its structure more stable. The detection sensor is used to detect whether there is a UAV landing on the top plate 223 for replenishment. The detection is achieved by an infrared sensor. After the UAV lands, the corresponding landing gear position is moved into the positioning groove 224 by the positioning groove 224, which is convenient for positioning the UAV. The position of the landing gear is further determined by the locking push rod to achieve accurate positioning of the UAV. The battery compartment is used to store charged batteries.

[0042] Specifically, the apron 22 also includes an XYZ robotic arm 225 and a clamp 226. The XYZ robotic arm 225 is installed in front of the support column 221. There are two Z-axis robotic arms, which are fixedly installed in front of the two support columns 221 respectively. There is one Y-axis robotic arm, which is slidably installed between the two Z-axis robotic arms and can move up and down. There is one X-axis robotic arm, which is slidably installed on the Y-axis robotic arm and can move left and right. The clamp 226 is slidably installed on the X-axis robotic arm and can move forward and backward.

[0043] In the present invention, the XYZ robotic arm 225 moves up and down, left and right, and front and back so that the clamp 226 thereon takes out the battery in the battery compartment and replaces it in the battery compartment of the drone. The entire process is intelligent, with regional manual participation, which improves work efficiency. In the process of replacing the battery, the used battery in the drone is first taken out, and then the charged battery in the battery compartment is taken out and placed in the drone, so that the drone can achieve continuous flight. Finally, the used battery is placed in the battery compartment for charging in preparation for the next replacement.

[0044] Example

[0045] In the present invention, Figure 4 , Figure 5 , Figure 6As shown, the Z-axis robot arm is not only a carrier for up-and-down movement, but also a support for the entire XYZ robot arm 225. It is divided into a left arm 51 and a right arm 52. The left and right arms are fixed on the crossbeam by a reinforcing angle 53. Its function is to transport the X-axis robot arm, the Y-axis robot arm and the gripper 226 to the working position. Considering the synchronization and load capacity of the Z-axis movement, a chain transmission method is selected. Three idler wheels 55 and a Z-axis motor 56 are installed in the middle part of the crossbeam through a welding plate 54. The chain is connected to the gears of the ball screws on the left and right sides to form a chain. The ball screw is installed in the Z-axis robot arm in a fixed-fixed manner, the screw nut on the ball screw is connected to the slider 57, and a support plate 58 is installed on the other side of the slider. An X-axis support plate 61 is fixed on the support plate 58, and an X-axis motor 62 of the X-axis robot arm is installed inside the right support plate 61. The three sensors 59 are all magnetic sensors, among which the upper and lower sensors 59 are used to limit the displacement of the robot arm to avoid exceeding the stroke, and the middle sensor 59 is used to facilitate the robot arm to return to the origin. The sensor principles of the X-axis and Y-axis robots are the same.

[0046] The X-axis robot transports the Y-axis robot and the clamp 226 to a horizontal position. The X-axis motor 62 of the X-axis robot is installed under the X-axis support plate 61. The X-axis motor 61 is connected to the ball screw 63 through a pulley structure. The ball screw 63 adopts a fixed-fixed installation method. The screw nut on the ball screw 63 is connected to the slider, and the guide rail crosses the slider. The Y-axis support plate 71 is fixed on the other side of the slider.

[0047] The stroke of the Y-axis robot arm should not be too long to avoid collision with the apron 22 and the battery compartment. The clamp 226 can be used for the final grasping work. The Y-axis motor 72 is installed at the tail of the Y-axis robot arm. The Y-axis motor 72 is connected to the ball screw through a pulley structure. The screw nut of the ball screw is connected to the slider. The other side of the slider is fixed on the Y-axis support plate 71. The ball screw is driven to rotate by the Y-axis motor 72, and then the entire Y-axis robot arm is driven to move horizontally. A cylinder fixing plate made of aluminum profile is installed on the Y-axis robot arm to fix the SMC cylinder.

[0048] Specifically, the telescopic power interface includes a power interface male head, an electric push rod, and a motor. The power interface male head is installed at the front end of the electric push rod, and the motor is connected to the tail end of the electric push rod. The interior of the electric push rod is a hollow structure, and the connecting wire of the power interface male head passes through the interior of the electric push rod and is connected to the power supply.

[0049] In the present invention, an electric push rod and a motor are used to realize a telescopic power supply structure, which can charge the battery compartment after the AGV trolley 21 reaches the corresponding position, thereby charging the batteries in the battery compartment and ensuring battery life.

[0050] Specifically, the outer side of the male plug of the power interface is made of magnetic material.

[0051] Specifically, the outer side of the female power interface of the battery compartment is made of magnetic material.

[0052] In the present invention, magnetic material is used to ensure that the male power interface of the telescopic power interface is accurately connected to the female power interface on the battery compartment side during the telescopic process, which is reliable and effective.

[0053] Specifically, the control system includes a computer and a PLC programmable logic controller, the computer is connected to the PLC programmable logic controller, and the PLC programmable logic controller is connected to the electric push rod, detection sensor, locking push rod, solenoid valve, and clamp 226 of the telescopic power interface.

[0054] In the present invention, Figure 3 As shown, the entire control system is controlled by PLC. When the detection sensor detects that there is a drone that needs to be recharged on the apron 22, the locking push rod is used to accurately locate the position of the drone. After the drone reaches the corresponding position on the apron, the solenoid valve is controlled to open, the water tank is filled with water, and the clamp 226 is controlled to replace the battery.

[0055] Specifically, a rainwater collection mechanism is also designed on the top of the smart machine nest room 1, and the rainwater collection mechanism includes a rainwater collection bucket 11 and a connecting pipe 12. There are multiple rainwater collection buckets 11, which are evenly arranged on the top of the room 1. The top of the rainwater collection bucket 11 is a funnel structure, and the bottom end is connected to the interface of the connecting pipe 12. One end of the connecting pipe 12 passes through the installation hole at the top of the room 1 and is connected to the water storage barrel.

[0056] Specifically, a filter screen is designed inside the rainwater collection bucket 11.

[0057] In the present invention, Figure 1 As shown, the rainwater collection mechanism can collect rainwater on rainy days and sprinkle it again in dry weather, which is beneficial to the recovery of vegetation under the tower base and realizes sustainable operation. The rainwater collection bucket 11 collects rainwater and flows it into the water storage barrel through the connecting pipe 12. The rainwater collection bucket 11 adopts a funnel structure to collect rainwater more effectively, and filters large particles in the outside world through the filter screen to avoid blockage and extend the use time.

[0058] The working method of the UAV intelligent nest for restoration of vegetation at the base of transmission line towers is to perform the following steps:

[0059] (1) The drone flies along the planned path: The drone flies along the tower base of the transmission line where vegetation is to be restored;

[0060] (2) The drone waters the vegetation at the tower base within the planned path;

[0061] (3) After reaching the flight time t, the UAV refills water and / or electricity in the nearest smart nest.

[0062] Specifically, the flight distance L of the UAV is:

[0063] L=v*t

[0064] Among them, v represents the flight speed of the drone, and t represents the flight time of the drone.

[0065] In the present invention, intelligent machine nests are placed on the tower base line road where vegetation restoration is required according to the flight time of the drone. This can achieve continuous watering during the vegetation restoration stage, ensure the power and water supply of the drone during the vegetation restoration process, and effectively assist in vegetation restoration.

[0066] The UAV adopts a uniform flight state during the watering process, and the constraint condition of the flight time t is:

[0067] t=min(t p , t H )

[0068] Among them, t p Indicates the flight time of the drone, t H Indicates the effective watering time of the drone's water tank.

[0069] In the present invention, the flight time of the drone is t p Affected by the battery power, the effective watering time of the drone water tank is t H Affected by the amount of water stored in the water tank, vegetation restoration cannot be achieved if any of these two constraints is missing. Therefore, the flight time of the drone is the minimum of the two, and path planning is achieved based on this constraint.

[0070] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in this field without departing from the purpose of the present invention.

[0071] Many other changes and modifications may be made without departing from the concept and scope of the present invention.It should be understood that the present invention is not limited to the specific embodiments, and the scope of the present invention is defined by the appended claims.

Claims

1. The intelligent drone nest for restoration of vegetation at the base of transmission line towers is characterized by: It includes a machine room (1), a positioning mechanism (2), a cruising mechanism (3), a water storage mechanism (4), and a control system. The positioning mechanism (2) includes an AGV vehicle (21) and a parking apron (22). The AGV trolley (2) uses a magnetic strip for navigation, the magnetic strip is pasted on the ground in the machine room (1), the apron (22) is fixedly mounted on the AGV trolley (21), the endurance mechanism (3) is mounted on one side of the machine room, and comprises a power supply and a telescopic power interface, the power supply is a battery charging and discharging power supply, the telescopic power interface is located on one side, the water storage mechanism (4) comprises a water tank, a water outlet pipe, and a solenoid valve, the water tank is fixedly mounted at the rear of the machine room, the water outlet pipe is mounted on the side of the water tank, the solenoid valve is mounted at the connection between the water outlet pipe and the water tank, and the control system is connected to the positioning mechanism (2), the endurance mechanism (3), and the water storage mechanism (4); The apron (22) comprises a support column (221), a fixed crossbeam (222), a top plate (223), a detection sensor, a positioning groove (224), a locking push rod, and a battery compartment. The support column (221) and the fixed crossbeam (222) form a frame structure, the bottom surface of the support column (221) is fixedly installed on the upper surface of the AGV trolley (21), the fixed crossbeam (222) is installed between two adjacent support columns (221), the top plate (223) is fixedly installed on the top surface of the support column (221), the detection sensor is installed at a position above the top plate (223), a locking groove (224) is opened on the upper surface of the top plate (223), the locking push rod is installed at one end of the locking groove (224), and the battery compartment is installed below the top plate.

2. The intelligent drone nest for restoration of vegetation at the base of a transmission line tower according to claim 1 is characterized in that: The telescopic power interface includes a power interface male head, an electric push rod, and a motor. The power interface male head is installed at the front end of the electric push rod, and the motor is connected to the rear end of the electric push rod. The interior of the electric push rod is a hollow structure, and the connecting wire of the power interface male head passes through the interior of the electric push rod and is connected to the power supply.

3. The intelligent drone nest for restoration of vegetation at the base of a transmission line tower according to claim 2 is characterized in that: The outer side of the male head of the power interface is made of magnetic material.

4. The intelligent drone nest for restoration of vegetation on the tower base of a power transmission line according to claim 1 is characterized in that: The outer side of the female power interface of the battery compartment is made of magnetic material.

5. The intelligent drone nest for restoration of vegetation on the tower base of a power transmission line according to claim 1 is characterized in that: The control system comprises a computer and a PLC programmable logic controller, wherein the computer is connected to the PLC programmable logic controller, and the PLC programmable logic controller is connected to an electric push rod, a detection sensor, a locking push rod and a solenoid valve of a telescopic power interface.

6. The intelligent drone nest for restoration of vegetation on the tower base of a power transmission line according to claim 1 is characterized in that: The apron (22) further comprises an XYZ mechanical arm (225) and a gripper (226). The XYZ mechanical arm (225) is installed in front of the support column (221), there are two Z-axis mechanical arms, which are fixedly installed in front of the two support columns (221), one Y-axis mechanical arm is slidably installed between the two Z-axis mechanical arms and can move up and down, one X-axis mechanical arm is slidably installed on the Y-axis mechanical arm and can move left and right, and the clamp (226) is slidably installed on the X-axis mechanical arm and can move forward and backward.

7. The intelligent drone nest for restoration of vegetation on the tower base of a power transmission line according to claim 1 is characterized in that: The top of the intelligent machine nest room (1) is also designed with a rainwater collection mechanism, which includes a rainwater collection bucket (11) and a connecting pipe (12). There are a plurality of rainwater collection buckets (11) which are evenly arranged on the top of the machine room (1); the top of the rainwater collection bucket (11) is a funnel structure, and the bottom is connected to the interface of the connecting pipe (12); one end of the connecting pipe (12) passes through the mounting hole at the top of the machine room (1) and is connected to the water storage barrel.

8. The intelligent drone nest for restoration of vegetation on the tower base of a power transmission line according to claim 1 is characterized in that: The rainwater collecting bucket (11) is internally provided with a filter screen.

9. The working method of the UAV intelligent nest for restoration of vegetation at the base of a transmission line tower is characterized by: The following steps are performed using the smart machine nest as described in any one of claims 1 to 8: (1) The drone flies along the planned path: The drone flies along the tower base of the transmission line where vegetation is to be restored; (2) The drone waters the vegetation at the tower base within the planned path; (3) After reaching the flight time t, the UAV refills water and / or electricity in the nearest smart nest.

10. The working method according to claim 9, characterized in that: The flight distance L of the UAV is: L=v*t Among them, v represents the flight speed of the drone, and t represents the flight time of the drone; The UAV adopts a uniform flight state during the watering process, and the constraint condition of the flight time t is: t=min(t p ,t H ) Among them, t p Indicates the flight time of the drone, t H Indicates the effective watering time of the drone's water tank.

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