Power transmission line inspection unmanned aerial vehicle with positioning and line tracking functions

Abstract

A power transmission line inspection unmanned aerial vehicle with positioning and line tracking functions comprises an unmanned aerial vehicle body, rotors are installed above the unmanned aerial vehicle body, a flight camera is arranged on the front side of the unmanned aerial vehicle body, a binocular camera and a line laser transmitter are arranged at the bottom of the unmanned aerial vehicle body, and a power module, a GPS module and a wireless transceiver module are installed in the unmanned aerial vehicle body. The unmanned aerial vehicle has the positive effects that the precise positioning and line tracking functions of the power transmission line are realized, the unmanned aerial vehicle can be kept stable in the flying process, the balance of the vehicle body can be kept during clamping, and the hanging adaptability of the unmanned aerial vehicle on an iron tower is improved. The unmanned aerial vehicle is hung on the iron tower after completing the inspection task, the unmanned aerial vehicle can be successfully found for recovery operation according to the position of the iron tower even if the follow-up electric quantity is completely consumed, and the efficiency of the whole circuit inspection operation is effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of power transmission line inspection equipment, in particular to a power transmission line inspection drone with positioning and line tracking functions. Background Art

[0002] Transmission line inspection is an important part of power operation and maintenance. Its purpose is to understand the operating status of the line, promptly discover equipment defects and problems that threaten line safety, and ensure the safe and reliable operation of the transmission line. Transmission line inspections in complex environments such as outdoor mountainous areas usually use drones. Drones have positioning and line tracking functions, and can identify and track power equipment such as transmission lines. Compared with manual inspections, drones not only improve inspection efficiency and quality, but also effectively reduce the risks and costs of manual inspections. The maximum inspection mileage of currently used drones is half of the flight distance at full power, and half of the power needs to be reserved for return. The inspection mileage will be greatly reduced, reducing the efficiency of the overall circuit inspection. Summary of the invention

[0003] The purpose of the present invention is to provide a transmission line inspection drone with positioning and line tracking functions, which does not require additional power to be reserved for return. After completing the inspection task, the drone can be controlled to be clamped and fixed on the crossarm angle steel bracket of the tower, thereby extending the inspection mileage and solving the problems in the prior art.

[0004] The technical solution adopted by the present invention to solve its technical problems is: a power transmission line inspection drone with positioning and line tracking functions, including an unmanned aerial vehicle body, a rotor installed above the unmanned aerial vehicle body, a flight camera provided on the front side of the unmanned aerial vehicle body, a binocular camera and a line laser transmitter provided on the bottom of the unmanned aerial vehicle body, a power module, a GPS module and a wireless transceiver module installed in the unmanned aerial vehicle body, a telescopic frame that can be extended to both sides is installed below the unmanned aerial vehicle body, and the two sets of telescopic frames are symmetrically arranged around the axis of the unmanned aerial vehicle body, a counterweight is installed at the end of the telescopic frame on one side, and a clamping and locking mechanism is installed at the end of the telescopic frame on the other side. When the telescopic frame is in a retracted state, the counterweight and the clamping and locking mechanism are both located within the range below the rotor, and when the telescopic frame is extended, the counterweight and the clamping and locking mechanism are both extended out of the range below the rotor. The clamping and locking mechanism can be clamped and fixed on the angle steel bracket of the iron tower, and the clamping and locking mechanism includes a clamping seat, an outer opening of the clamping seat is set, a first clamping block that can move horizontally is installed on the inner side of the clamping seat opening, and a second clamping block that can move vertically is installed on the lower side of the clamping seat opening, a first spring is provided between the first clamping block and the clamping seat, and the first spring always has the tendency to make the first clamping block extend toward the opening position, and a second spring is provided between the second clamping block and the clamping seat, and the second spring always has the tendency to make the second clamping block press the first clamping block upward, when the telescopic frame extends to drive the clamping and locking mechanism to clamp the angle steel bracket, the angle steel bracket can overcome the elastic force of the first spring to push the first clamping block away from the second clamping block, and the angle steel bracket is clamped and fixed by the first clamping block and the second clamping block. The telescopic frame includes two groups of folding rod mechanisms arranged side by side, each folding rod mechanism includes a first folding tube, a second folding tube, a third folding tube and a fourth folding tube that are hingedly connected, one end of the first folding tube is hingedly installed on the drone body, and the clamping seat and the counterweight block are respectively hingedly installed on the end of the fourth folding tube, and the positions where the first folding tube and the second folding tube, the second folding tube and the third folding tube, and the third folding tube and the fourth folding tube are hingedly connected are all provided with through grooves, the interior of each folding tube is a cavity, and a third spring is installed in the cavity at the connection position of adjacent folding tubes, the third spring always has the tendency to make the first folding tube and the second folding tube, the second folding tube and the third folding tube be located in the same straight line position, and a contraction locking device is also installed between the telescopic frame and the drone body, the contraction locking device can overcome the elastic force of the third spring, so that the folding rod mechanism is in a folded and stored state, so that the counterweight block and the clamping locking mechanism are located within the range below the rotor. The retractable locking device includes two electric push rods and hooks arranged at the bottom of the drone body. When the telescopic rod of each electric push rod is extended, it can form a closed space with the corresponding hook. The telescopic rods of the two electric push rods are respectively connected to the counterweight block and the clamping seat with a pull rope. One end of the pull rope is fixed on the counterweight block and the clamping seat, and the other end of the pull rope is provided with a first pull ring that matches the telescopic rod. When the telescopic rod of the electric push rod is retracted, it is separated from the first pull ring and can drive the telescopic frame to extend to both sides.The bottom of the unmanned vehicle body is provided with two T-slots arranged side by side, the length direction of the T-slots is consistent with the extension direction of the clamping seat, a T-block is installed in the T-slot, and the T-block is hingedly installed at the position where the second folding tube and the third folding tube are connected. A positioning slot is provided on the side of the second clamping block, and a mounting hole is provided in the clamping seat. A push plate is provided in the mounting hole. A positioning plug plate matching the positioning slot is provided on the side of the push plate close to the second clamping block. Guide wheels are installed on the upper and lower surfaces of the positioning plug plate. A fourth spring is provided on the other side of the push plate. The fourth spring always has a tendency to push the positioning plug plate to move close to the second clamping block. When the second clamping block moves up to clamp and fix the angle steel bracket, the positioning plug plate enters the positioning slot for limiting. A connected through hole is also provided on one side of the mounting hole. An unlocking rope is installed on the push plate, and a second pull ring is provided at one end of the unlocking rope passing through the through hole. A rotatable oblique baffle is hingedly installed on the upper side of the clamping seat opening. The length of the oblique baffle is greater than the width of the clamping seat opening. When the oblique baffle is rotated and pressed against the upper side of the clamping seat opening, the angle steel bracket can enter the opening of the clamping seat.

[0005] The positive effect of the present invention is that: the transmission line inspection drone with positioning and line tracking functions described in the present invention realizes the precise positioning and line tracking functions of the transmission line by integrating a binocular camera, a line laser transmitter, a GPS module and a wireless transceiver module. The two sides of the bottom of the drone body are provided with telescopic frames that can be extended and retracted. The end of the telescopic frame on one side is equipped with a counterweight block, and the end of the telescopic frame on the other side is equipped with a clamping and locking mechanism. The entire drone can be mounted on the angle steel bracket of the iron tower through the clamping and locking mechanism. The design of the above structure can not only keep the drone stable during flight, but also help to keep the body balanced when clamping. The spring design of the clamping and locking mechanism makes the clamping process adaptive, and can achieve stable clamping of angle steel brackets of different sizes without complicated operations, thereby improving the adaptability of the drone to be mounted on the iron tower. There is no need to reserve extra power for return flight, which effectively extends the inspection mileage. After completing the inspection task, the drone is mounted on the iron tower. Even if the subsequent power is consumed, the drone can be found smoothly according to the position of the iron tower for recovery operation, which effectively improves the efficiency of the overall circuit inspection operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 It is a front view of the present invention; Figure 3 yes Figure 2 Bottom view of Figure 4 It is a structural schematic diagram of the clamping and locking mechanism; Figure 5 yes Figure 3 A partial enlarged view of middle I; Figure 6 It is a schematic diagram of the telescopic frame and the counterweight block extending out; Figure 7 yes Figure 3 An enlarged view of the AA section view; Figure 8 It is a schematic diagram of the state of the present invention being clamped on the iron cross arm angle steel bracket; Fig. 9 yes Figure 8 A partial enlarged view of middle II; Fig.10 yes Fig. 9 A cross-sectional view of the structure; Fig.11 It is a structural schematic diagram of an inclined baffle plate arranged in the opening of a clamping seat. DETAILED DESCRIPTION

[0007] The power transmission line inspection drone with positioning and line tracking functions described in the present invention is as follows: Figure 1-3 As shown, it includes an unmanned aerial vehicle body 1, and a rotor 2 is installed on the top of the unmanned aerial vehicle body 1 to play a corresponding flight function. A flight camera 33 is provided on the front side of the unmanned aerial vehicle body 1, and a binocular camera 3 and a line laser transmitter 4 are provided on the bottom of the unmanned aerial vehicle body 1. A power module 5, a GPS module 6 and a wireless transceiver module 7 are installed in the unmanned aerial vehicle body 1, wherein the flight camera 33 can collect the scene of the front end of the unmanned aerial vehicle in real time and feed it back to the operator for flight control, the power module 5 can provide the required power for the overall operation of the unmanned aerial vehicle, and the GPS module 6 can realize the positioning function of the unmanned aerial vehicle during flight. The binocular camera 3 and the line laser transmitter 4 can be the Chinese public patent with patent number "CN201810978744.9", and the binocular camera and the line laser transmitter mentioned in a binocular vision-based unmanned aerial vehicle power transmission line automatic tracking method. In combination with the above structure, the use of visual saliency detection and binocular ranging technology can enable the unmanned aerial vehicle to extract, measure and track power lines.

[0008] A telescopic frame that can extend to both sides is installed below the drone body 1. Two sets of telescopic frames are symmetrically arranged with the axis of the drone body 1. The telescopic frame can be a quadrilateral frame with telescopic function, or a bracket with an electric push rod, which can realize the function of extending to both sides of the drone. A counterweight block 8 is installed at the end of one side of the telescopic frame, and a clamping and locking mechanism is installed at the end of the other side of the telescopic frame. The clamping and locking mechanism can be clamped and fixed on the angle steel bracket of the iron tower to realize the hanging of the drone on the iron scaffolding. The setting of the counterweight block 8 can balance the telescopic movement of the clamping and locking mechanism.

[0009] When the telescopic frame is in the retracted state, the counterweight 8 and the clamping and locking mechanism are both located within the range below the rotor 2, which will not affect the normal flight and inspection of the UAV. When the telescopic frame is extended, the counterweight 8 and the clamping and locking mechanism are both extended out of the range below the rotor 2. When the UAV is hovering, the extended clamping and locking mechanism can clamp and fix the angle steel bracket on the tower.

[0010] like Figure 4 As shown, the clamping and locking mechanism includes a clamping seat 9, and the outer opening of the clamping seat 9 is set to allow the angle steel bracket to extend into the opening and achieve clamping and fixing. A first clamping block 10 that can move horizontally is installed on the inner side of the opening of the clamping seat 9, and a second clamping block 11 that can move vertically is installed on the lower side of the opening of the clamping seat 9. A first spring 12 is provided between the first clamping block 10 and the clamping seat 9, and the first spring 12 always has a tendency to make the first clamping block 10 extend to the opening position. A second spring 13 is provided between the second clamping block 11 and the clamping seat 9, and the second spring 13 always has a tendency to make the second clamping block 11 press the first clamping block 10 upward. When the telescopic frame extends to drive the clamping and locking mechanism to clamp the angle steel bracket, the angle steel bracket can overcome the elastic force of the first spring 12 to push the first clamping block 10 away from the second clamping block 11, and achieve clamping and fixing of the angle steel bracket through the first clamping block 10 and the second clamping block 11.

[0011] When the angle steel bracket is not clamped, Figure 4 As shown, the first clamping block 10 extends and is located on the upper side of the second clamping block 11, limiting the second clamping block 11, the first spring 12 is in an extended state, and the second spring 13 is in a retracted state. When the clamping and locking mechanism extends close to the angle steel bracket, the angle steel bracket contacts the first clamping block 10 and overcomes the elastic force of the first spring 12 to allow the first clamping block 10 to move. After the first clamping block 10 moves out from the upper surface of the second clamping block 11, as shown in FIG. Fig.10 As shown, the vertical plate of the angle steel bracket is located between the first clamping block 10 and the second clamping block 11, and the second clamping block 11 is moved vertically upward and pressed against the horizontal plate of the angle steel bracket. At the same time, the first clamping block 10 also clamps the vertical plate of the angle steel. Under the double clamping of the first clamping block 10 and the second clamping block 11, the drone is stably mounted on the angle steel bracket.

[0012] Furthermore, in order to simplify the structure of the telescopic frame and reduce the weight of the entire drone, the telescopic frame includes two sets of folding rod mechanisms arranged side by side, and each folding rod mechanism includes a first folding tube 14, a second folding tube 15, a third folding tube 16 and a fourth folding tube 17 that are hingedly connected. One end of the first folding tube 14 is hingedly mounted on the drone body 1, and the clamping seat 9 and the counterweight block 8 are hingedly mounted on the ends of the fourth folding tube 17, respectively.

[0013] The positions where the first folding tube 14 and the second folding tube 15, the second folding tube 15 and the third folding tube 16, and the third folding tube 16 and the fourth folding tube 17 are hingedly connected are all provided with through grooves 18, each folding tube 16 is hollow inside, and a third spring 19 is installed in the cavity at the connection position of adjacent folding tubes, and the third spring 19 always has the tendency to make the first folding tube 14 and the second folding tube 15, the second folding tube 15 and the third folding tube 16 be located at the same straight line position. The two ends of the third spring 19 in the length direction are respectively fixed on the inner walls of the folding tubes on both sides.

[0014] In order to maintain the folding and storage state of the folding rod mechanism, a retractable locking device is further installed between the telescopic frame and the drone body 1. The retractable locking device can overcome the elastic force of the third spring 19, so that the folding rod mechanism is in the folding and storage state, and the counterweight block 8 and the clamping locking mechanism are located within the range below the rotor 2. The retractable locking device can be an existing retractable locking pin or locking rod, which can lock the folded tube in the folded state on the drone body 1 when extended, and can make each folded tube in the same straight line extended state under the elastic force of the third spring 19 when retracted.

[0015] In order to realize the switching between the retraction and extension states of the folding rod mechanism, the retraction locking device includes two electric push rods 20 and a hook 21 arranged at the bottom of the drone body 1. When the telescopic rod of each electric push rod 20 is extended, it can form a closed space with the corresponding hook 21. The telescopic rods of the two electric push rods 20 are respectively connected to the counterweight block 8 and the clamping seat 9 with a pull rope 22. One end of the pull rope 22 is fixed on the counterweight block 8 and the clamping seat 9, and the other end of the pull rope 22 is provided with a first pull ring 34 that cooperates with the telescopic rod. When the telescopic rod of the electric push rod 20 is retracted, it is separated from the first pull ring 34 and can drive the telescopic frame to extend to both sides.

[0016] When the telescopic rod of the electric push rod 20 is extended, the first pull ring 34 is located in the closed space formed by the hook 21 and the telescopic rod, maintaining the contracted state of the folding rod mechanism. When the telescopic rod of the electric push rod 20 is contracted, the first pull ring 34 is separated from the telescopic rod. Under the elastic force of the third spring 19, the folding rod mechanisms on both sides can instantly extend to the two sides of the drone.

[0017] When the drone of the above structure is mounted on the iron tower, the required operations and the actions of each component are as follows: the drone is controlled to fly to the position of the angle steel bracket to be mounted on the iron tower, and when the opening of the clamping seat 9 is on the same horizontal line as the angle steel bracket, the drone hovers at this height position, the telescopic rod of the electric push rod 20 contracts and separates from the first pull ring 34, the pull rope 22 loses its restriction, and under the elastic force of the third spring 19, the folding rod mechanisms on both sides are synchronously extended to both sides, the clamping seat 9 gradually moves close to the angle steel bracket, and the counterweight block 8 extends in the opposite direction to maintain the balance of the drone. In the process of the clamping seat 9 moving close to the angle steel bracket, the elastic force of the first spring 12 is first overcome to allow the first clamping block 10 to move and lose the limit on the second clamping block 11, and then the second clamping block 11 moves up, and under the joint clamping action of the first clamping block 10 and the second clamping block 11, the drone is firmly clamped. After the mounting is completed, the flight power of the drone can be turned off.

[0018] After the drone is recovered, if it is necessary to retract the folding rod mechanism to the lower part of the body and keep it in the retracted state, it is only necessary to extend the telescopic rod of the electric push rod 20 to overcome the elastic force of the third spring 19 to shrink the folding tubes, and then hang the first pull ring 34 on the telescopic rod, and the telescopic rod continues to extend until a closed space is formed with the hook 21.

[0019] Traditional drone inspections require at least half of the battery to be reserved for return. If the drone is affected by changes in wind direction or rapid temperature drop that results in a decrease in battery capacity in a complex outdoor environment, it will interfere with the set flight distance of the drone, greatly reducing the inspection mileage of the drone. The drone of the present invention does not need to reserve extra battery for return. Even if the above negative effects occur during flight, it can stay and fix on a nearby tower before the battery is exhausted, greatly extending the inspection mileage of the drone.

[0020] At the same time, the drone is fixed on the tower, which makes it easy for staff to locate and recover the drone. On the other hand, the landing position of the drone is a certain distance from the ground, which can effectively avoid damage or picking up by non-staff on the ground, thus extending the service life of the drone.

[0021] Furthermore, in order to ensure the stability of the extension direction of the telescopic frame and to prevent the clamping seat 9 from being unable to be clamped with the angle steel bracket after being extended, two T-slots 23 arranged side by side are provided at the bottom of the drone body 1. The length direction of the T-slots 23 is consistent with the extension direction of the clamping seat 9. A T-block 24 is installed in the T-slots 23. The T-block 24 is hingedly installed at the position where the second folded tube 15 and the third folded tube 16 are connected. Due to the hinged end of the first folded tube 14 and the directional movement at the hinged position of the second folded tube 15 and the third folded tube 16, it can be ensured that the clamping seat 9 and the counterweight 8 at the end of the telescopic frame can be stably extended in the opposite direction.

[0022] Furthermore, in order to ensure that the second clamping block 11 firmly clamps the angle steel bracket and prevent the second clamping block 11 from floating vertically after clamping the angle steel bracket, a positioning groove 25 is provided on the side of the second clamping block 11. The positioning groove 25 is arranged horizontally and is located at the bottom of the second clamping block 11. A mounting hole 26 is provided in the clamping seat 9. A push plate 27 is provided in the mounting hole 26. A positioning plug plate 28 matching the positioning groove 25 is provided on the side of the push plate 27 close to the second clamping block 11. Guide wheels 32 are installed on the upper and lower surfaces of the positioning plug plate 28. A fourth spring 29 is provided on the other side of the push plate 27. The fourth spring 29 always has a tendency to push the positioning plug plate 28 to move closer to the second clamping block 11. When the second clamping block 11 moves up to clamp and fix the angle steel bracket, the positioning plug plate 28 enters the positioning groove 25 for limiting. The guide wheel 32 can transform the sliding friction between the positioning plate 28 and the positioning groove 25 into rolling friction, thereby reducing the friction between the movement.

[0023] When the angle steel bracket does not enter the opening position in the clamping seat 9, as shown in FIG. Figure 4 As shown, the positioning groove 25 is located at the lower side of the positioning plug plate 28, which will not affect the vertical upward movement of the second clamping block 11. Once the second clamping block 11 moves up to tighten the angle steel bracket, the positioning groove 25 moves up to coincide with the positioning plug plate 28. Under the elastic force of the fourth spring 29, the positioning plug plate 28 enters the positioning groove 25, realizing the vertical movement limit of the second clamping block 11, thereby ensuring that the second clamping block 11 firmly clamps the angle steel bracket.

[0024] In order to realize the disassembly of the clamping seat 9 on the angle steel bracket, a connected through hole is also provided on one side of the installation hole 26, and an unlocking rope 30 is installed on the push plate 27. The end of the unlocking rope 30 passing through the through hole is provided with a second pull ring 31. When the UAV needs to be removed from the angle steel bracket, the second pull ring 31 is pulled to overcome the elastic force of the fourth spring 29 to disengage the positioning plug plate 28 from the positioning groove 25, and then the second clamping block 11 is squeezed downward with the help of a tool. When the second clamping block 11 moves down to the bottom of the angle steel bracket, the clamping of the angle steel bracket is lost, and the clamping seat 9 can be pulled to separate from the angle steel bracket, thereby realizing the disassembly of the UAV on the iron tower.

[0025] The first clamping block 10 and the second clamping block 11 can clamp and fix the angle steel bracket on the video tower. Even if the UAV loses its flying power, the clamping seat 9 can be firmly clamped on the angle steel bracket, and the UAV and the folding rod mechanism with the counterweight block 8 on the other side will not flip down and collide with the tower.

[0026] In the process of the clamping seat 9 moving close to the angle steel bracket, the angle steel bracket needs to push the first clamping block 10 to separate from the second clamping block 11 to achieve fixed clamping. This process requires the drone to be in a hovering flight state. If the drone runs out of power before the angle steel bracket contacts the first clamping block 10, the entire drone will fall off the angle steel bracket and collide with the tower, causing damage to the drone.

[0027] The above situation will occur with a small probability. In order to solve the above problem, further, Fig.11 As shown, a rotatable inclined baffle 35 is hingedly installed on the upper side of the opening of the clamping seat 9, and the length of the inclined baffle 35 is greater than the width of the opening of the clamping seat 9. When the inclined baffle 35 is rotated and pressed against the upper side of the opening of the clamping seat 9, the angle steel bracket can enter the opening of the clamping seat 9.

[0028] With the arrangement of the above structure, after the clamping seat 9 moves close to the angle steel bracket, the inclined baffle 35 will rotate upward and will not affect the normal entry of the angle steel bracket into the opening of the clamping seat 9. If the angle steel bracket enters the opening and the first clamping block 10 is not pushed to separate from the second clamping block 11, the drone will run out of power and lose power. The inclined baffle 35 will also block the angle steel bracket and lock the angle steel bracket in the opening of the clamping seat 9. The clamping seat 9 will not be separated from the angle steel bracket, and the entire drone will not fall and be damaged.

[0029] The telescopic frame adopts a folding rod mechanism design. Through the hinged folding tube and spring, the telescopic frame can be flexibly expanded and retracted, while ensuring that it occupies a small space in the storage state, which is convenient for the drone to carry and fly. The setting of the through slot 18 and the third spring 19 enables the folding rod mechanism to maintain a straight state when unfolded, enhancing the stability and reliability of the structure. In addition, the design of the retraction locking device enables the drone to easily control the expansion and retraction of the telescopic frame, further improving the convenience and flexibility of operation.

[0030] The retracting and locking device adopts the design of electric push rod 20 and hook 21 in combination with pull rope 22, realizing remote control and automatic operation of the telescopic frame. This design not only improves the intelligent level of drone operation, but also makes the expansion and contraction process of the telescopic frame more stable and controllable, avoiding safety hazards caused by improper operation.

[0031] The design of the T-slot 23 and the T-block 24 enables the telescopic frame to maintain a stable position relationship during the expansion and contraction process, avoiding structural damage or operational errors caused by shaking. This design enhances the stability and safety of the drone during the inspection process, and also facilitates the maintenance and replacement of the telescopic frame.

[0032] The design of the positioning groove 25 on the second clamping block 11 and the mounting hole 26 in the clamping seat 9, the push plate 27, the positioning plug plate 28 and the fourth spring 29 realizes a simple locking mechanism. When the clamping seat 9 successfully clamps the angle steel bracket, the positioning plug plate 28 will automatically enter the positioning groove 25 for limiting the position to ensure the stability of the clamping. The design of the unlocking rope 30 and the second pull ring 31 provides a convenient unlocking method, so that the clamping state can be quickly released when needed, which improves the flexibility and convenience of operation.

[0033] The technical solution of the present invention is not limited to the scope of the embodiments described in the present invention. The technical contents not described in detail in the present invention are all well-known technologies.

Claims

1. A transmission line inspection drone with positioning and line tracking functions, characterized by: The invention comprises an unmanned aerial vehicle (1), wherein a rotor (2) is installed above the unmanned aerial vehicle (1), a flight camera (33) is provided on the front side of the unmanned aerial vehicle (1), a binocular camera (3) and a line laser transmitter (4) are provided at the bottom of the unmanned aerial vehicle (1), a power module (5), a GPS module (6) and a wireless transceiver module (7) are installed in the unmanned aerial vehicle (1), and a telescopic frame that can be extended to both sides is installed below the unmanned aerial vehicle (1), and the two sets of telescopic frames are symmetrically arranged about the axis of the unmanned aerial vehicle (1), a counterweight block (8) is installed at the end of one telescopic frame, and a clamping and locking mechanism is installed at the end of the other telescopic frame, when the telescopic frame is in a retracted state, the counterweight block (8) and the clamping and locking mechanism are both located within the range below the rotor (2), and when the telescopic frame is extended, the counterweight block (8) and the clamping and locking mechanism are both extended beyond the range below the rotor (2), and the clamping and locking mechanism can be clamped and fixed on an angle steel bracket of an iron tower, and the clamping and locking mechanism comprises A clamping seat (9) is provided, the outer side of the clamping seat (9) is provided with an opening, a first clamping block (10) capable of horizontal movement is installed on the inner side of the opening of the clamping seat (9), a second clamping block (11) capable of vertical movement is installed on the lower side of the opening of the clamping seat (9), a first spring (12) is provided between the first clamping block (10) and the clamping seat (9), the first spring (12) always has a tendency to make the first clamping block (10) extend toward the opening position, and the second clamping block (11) and A second spring (13) is provided between the clamping seats (9), and the second spring (13) always has the tendency to make the second clamping block (11) press upward against the first clamping block (10). When the telescopic frame is extended to drive the clamping locking mechanism to clamp the angle steel bracket, the angle steel bracket can overcome the elastic force of the first spring (12) to push the first clamping block (10) away from the second clamping block (11), and the angle steel bracket is clamped and fixed by the first clamping block (10) and the second clamping block (11).

2. A transmission line inspection drone with positioning and line tracking functions according to claim 1, characterized in that: The telescopic frame comprises two groups of folding rod mechanisms arranged side by side, each folding rod mechanism comprises a first folding tube (14), a second folding tube (15), a third folding tube (16) and a fourth folding tube (17) which are hingedly connected, one end of the first folding tube (14) is hingedly mounted on the drone body (1), the clamping seat (9) and the counterweight (8) are respectively hingedly mounted on the end of the fourth folding tube (17), and the positions where the first folding tube (14) and the second folding tube (15), the second folding tube (15) and the third folding tube (16), and the third folding tube (16) and the fourth folding tube (17) are hingedly connected are provided with The through groove (18) is a hollow cavity inside each folding tube (16). A third spring (19) is installed in the cavity at the connection position of adjacent folding tubes. The third spring (19) always has the tendency to make the first folding tube (14) and the second folding tube (15), the second folding tube (15) and the third folding tube (16) be located at the same straight line position. A retractable locking device is also installed between the telescopic frame and the unmanned aerial vehicle body (1). The retractable locking device can overcome the elastic force of the third spring (19) to put the folding rod mechanism in a folded and stored state, so that the counterweight block (8) and the clamping locking mechanism are located within the range below the rotor (2).

3. A transmission line inspection drone with positioning and line tracking functions according to claim 2, characterized in that: The retractable locking device comprises two electric push rods (20) and a hook (21) arranged at the bottom of the drone body (1); the telescopic rod of each electric push rod (20) can form a closed space with the corresponding hook (21) when extended; a pull rope (22) is connected between the telescopic rods of the two electric push rods (20) and the counterweight (8) and the clamping seat (9), respectively; one end of the pull rope (22) is fixed to the counterweight (8) and the clamping seat (9); the other end of the pull rope (22) is provided with a first pull ring (34) matched with the telescopic rod; when the telescopic rod of the electric push rod (20) is retracted, it is separated from the first pull ring (34) and can drive the telescopic frame to extend to both sides.

4. The transmission line inspection drone with positioning and line tracking functions according to claim 2, characterized in that: The bottom of the unmanned aerial vehicle (1) is provided with two T-shaped slots (23) arranged side by side, the length direction of the T-shaped slots (23) being consistent with the extension direction of the clamping seat (9), and a T-shaped block (24) being installed in the T-shaped slot (23), and the T-shaped block (24) being hingedly installed at the position where the second folded tube (15) and the third folded tube (16) are connected.

5. The power transmission line inspection drone with positioning and line tracking functions according to claim 1, characterized in that: A positioning groove (25) is provided on the side of the second clamping block (11), and a mounting hole (26) is provided in the clamping seat (9). A push plate (27) is arranged in the mounting hole (26). A positioning plug plate (28) matching with the positioning groove (25) is provided on the side of the push plate (27) close to the second clamping block (11). Guide wheels (32) are installed on the upper and lower surfaces of the positioning plug plate (28). A fourth spring (29) is provided on the other side of the push plate (27). The fourth spring (29) always has the tendency to push the positioning plug plate (28) to move closer to the second clamping block (11). When the second clamping block (11) moves upward to clamp and fix the angle steel bracket, the positioning plug plate (28) enters the positioning groove (25) for limiting. A connected through hole is also provided on one side of the mounting hole (26). An unlocking rope (30) is installed on the push plate (27). A second pull ring (31) is provided at one end of the unlocking rope (30) passing through the through hole.

6. The transmission line inspection drone with positioning and line tracking functions according to claim 1, characterized in that: A rotatable oblique baffle (35) is hingedly mounted on the upper side of the opening of the clamping seat (9); the length of the oblique baffle (35) is greater than the width of the opening of the clamping seat (9); when the oblique baffle (35) is rotated to be close to the upper side of the opening of the clamping seat (9), the angle steel bracket can enter the opening of the clamping seat (9).

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