Unmanned aerial vehicle for wire inspection and wire inspection method

Abstract

The invention relates to an electrical variable measurement technology, and discloses an unmanned aerial vehicle for wire inspection and a wire inspection method. The unmanned aerial vehicle can comprise a vehicle body, at least two vehicle arms, at least two rotor wings, a wiring wheel, a driving motor and a detection device. The vehicle arms are symmetrically connected to the two sides of the vehicle body. The rotors are fixed to the ends, away from the fuselage, of the arms. The wiring wheel is rotationally connected with the machine body, and a groove of the wiring wheel is in rolling connection with the wire. And the driving motor is in transmission connection with the wiring wheel. The detection device is fixed on the fuselage and is used for acquiring image data of the wire; the wire inspection method comprises the following steps: controlling the rotor wings to drive the unmanned aerial vehicle to fly above the wire; when the wiring wheel is aligned with the wire, the rotor wings are controlled to drive the unmanned aerial vehicle to land until the wire is located in the groove of the wiring wheel; and the driving motor is controlled to drive the wiring wheel to rotate, so that the wiring wheel rolls along the wire. The unmanned aerial vehicle has maneuverability and accuracy at the same time.

Description

Technical Field

[0001] This application relates to the measurement technology of electrical variables, and particularly to a drone for wire inspection and a wire inspection method. Background Art

[0002] Currently, in the existing technical system, as two mainstream solutions, rotary-wing drones and wire-walking robots have significant technical limitations respectively: the former has the advantage of three-dimensional space maneuverability, but faces problems such as insufficient endurance and poor precision control stability; the latter has excellent positioning accuracy, but is restricted by defects such as high cost of track deployment and weak environmental adaptability.

[0003] Therefore, how to develop a wire inspection device with both advantages has become the focus of industry research. Summary of the Invention

[0004] The technical problem to be solved by this application is: how to simultaneously have three-dimensional space maneuverability and high positioning accuracy.

[0005] To solve the above technical problem, this application provides a drone for wire inspection and a wire inspection method.

[0006] In the first aspect of this application, a drone for wire inspection is provided. The drone includes: a fuselage; at least two arms symmetrically connected to both sides of the fuselage; at least two rotors fixed to the ends of the arms away from the fuselage; a wire wheel rotatably connected to the fuselage, and the groove of the wire wheel is in rolling connection with the wire; a driving motor in transmission connection with the wire wheel; a detection device fixed to the fuselage for collecting image data of the wire.

[0007] In one embodiment, the drone further includes two battery compartments; the two battery compartments contain batteries for supplying power to the rotors or the driving motor. The two battery compartments are symmetrically fixed to both sides of the fuselage and the height of the battery compartments is lower than that of the wire wheel, and the torques generated by the two battery compartments on the fuselage are equal.

[0008] In one embodiment, the drone further includes two landing gears, and the two battery compartments are respectively fixed to the lower part of the fuselage through the landing gears.

[0009] In one embodiment, the drone further includes two guiding structural members symmetrically arranged. The two ends of any one guiding structural member are respectively fixed to the fuselage and the battery compartment. The distance between the two guiding structural members near the fuselage end is equal to the width of the wire wheel, and the distance between the two guiding structural members near the battery compartment end is several times the width of the wire wheel.

[0010] In one embodiment, the drone further includes a plurality of machine foot pads fixed to the lower part of the battery compartment.

[0011] In one embodiment, the drone further includes an even number of ducted fans, which are symmetrically fixed on the landing gear or the battery compartment, and the thrust direction generated by the ducted fans is perpendicular to the direction of the wire.

[0012] In one embodiment, a line perpendicular to the axis of the ducted fan intersects the conductive wire.

[0013] In one embodiment, the drone also includes an inertial measurement unit and a ducted controller, which are communicatively connected to the inertial measurement unit and the ducted controller is used to control the rotation direction and rotation speed of the ducted fan according to the posture detected by the inertial measurement unit.

[0014] The second aspect of the present application provides a wire inspection method, which is applied to the drone provided in the first aspect of the present application. The wire inspection method includes: controlling the rotor to drive the drone to fly above the wire; when the wiring wheel is aligned with the wire, controlling the rotor to drive the drone to land until the wire is located in the groove of the wiring wheel; controlling the drive motor to drive the wiring wheel to rotate, so that the wiring wheel rolls along the wire.

[0015] In one embodiment, the drone includes a ducted fan and an inertial measurement unit, and the wire inspection method further includes: controlling the rotation direction and speed of the ducted fan according to the posture detected by the inertial measurement unit.

[0016] Compared with the prior art, the drone and the wire inspection method for wire inspection in the embodiment of the present application have the following beneficial effects:

[0017] The solution of the embodiment of the present application arranges the cable-travelling wheel under the drone, and uses an additional drive motor to provide power for the cable-travelling wheel. The rotor of the drone can stabilize the fuselage on the wire, and the cable-travelling wheel can drive the entire drone to move precisely along the wire, combining the three-dimensional space maneuverability and the precise positioning characteristics of the cable-travelling. At the same time, the cable-travelling wheel rolls on the wire, reducing or even eliminating the need for lift provided by the rotor, thereby saving electricity. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the axonometric structure of a drone used for wire inspection, exemplarily shown in an embodiment of the present application.

[0019] Figure 2 It is a schematic diagram of the internal structure of a drone used for wire inspection, exemplarily shown in an embodiment of the present application.

[0020] Figure 3 It is a front view structural schematic diagram of a drone used for wire inspection, exemplarily shown in an embodiment of the present application.

[0021] Figure 4It is a schematic top view structure of a drone for wire inspection exemplarily shown in an embodiment of the present application.

[0022] Figure 5 It is a schematic flowchart of a wire inspection method exemplarily shown in an embodiment of the present application.

[0023] Reference numerals:

[0024] 1. Drone, 10. Airframe, 11. Arm, 12. Rotor, 13. Wire wheel, 14. Driving motor, 15. Detection device, 16. Battery compartment, 17. Landing gear, 18. Guide structure member, 19. Ducted fan, 2. Wire. Detailed implementation manners

[0025] The following further describes in detail the specific implementation manners of the present application in conjunction with the drawings and embodiments. The following embodiments are used to illustrate the present application but are not used to limit the scope of the present application.

[0026] In the description of the present application, it should be understood that terms such as "first" and "second" in the specification, claims and above-mentioned drawings of the present application are intended to distinguish similar objects and are not used to describe a specific order or sequence. It should be understood that under appropriate circumstances, such terms can be interchanged so that the embodiments of the present application can be implemented in a manner other than those illustrated or described. In addition, "including", "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of components, steps or units does not necessarily have to be limited to those components, steps or units clearly listed, but may also include other components, steps or units inherent to these processes, methods, products or devices that are not clearly listed.

[0027] Descriptions such as both sides and symmetry of the present application are based on the plane where the annular groove of the wire wheel is located. In this regard, it will not be repeated one by one in the subsequent embodiments of the present application.

[0028] Currently, in the current technical system, rotor drones and wire robots are two mainstream solutions.

[0029] However, the inventor found that in the wire inspection work, the rotary-wing UAV has outstanding advantages in that it can be flexible and maneuverable in three-dimensional space and can quickly reach the wires at different positions for inspection. However, it has the problem of insufficient endurance. Due to the limited battery capacity carried by the UAV itself, a large amount of electric energy needs to be continuously consumed during flight to maintain the flight attitude and power, resulting in its inability to fly for a long time and over a long distance, which greatly limits the scope of a single inspection. Moreover, its precise control stability is poor and it is easily affected by external environmental factors such as wind, rain, and electromagnetic interference. These interferences will cause the UAV to shake during flight, making it difficult to approach the wire accurately and stably for detailed inspection work, resulting in possible deviations in the inspection results and the inability to comprehensively and accurately detect problems existing in the wire.

[0030] The wire-walking robot performs excellently in positioning accuracy. It moves along a pre-laid track on the wire, can accurately control its own position, and conduct precise inspection on the wire to ensure that key parts are not missed. However, the cost of its track deployment is high. It is necessary to lay a special track along the entire wire, which involves a large amount of work such as material procurement, construction and installation, consuming a lot of manpower, material resources and financial resources. At the same time, its environmental adaptability is weak. When encountering complex terrain and landforms such as mountains and canyons, it is extremely difficult or even impossible to lay the track; if encountering bad weather such as strong wind, heavy rain, and heavy snow, the track may be damaged and the operation of the robot will be severely hindered, and it cannot perform the inspection task normally.

[0031] Therefore, as Figures 1-4 shown, a UAV 1 for inspecting wire 2 according to a preferred embodiment of the embodiment of the present application may include: a fuselage 10, at least two arms 11, at least two rotors 12, a wire-walking wheel 13, a driving motor 14, and a detection device 15.

[0032] The arms 11 are symmetrically connected to both sides of the fuselage 10. The rotors 12 are fixed to the ends of the arms 11 away from the fuselage 10. The wire-walking wheel 13 is rotatably connected to the fuselage 10, and the groove of the wire-walking wheel 13 is in rolling connection with the wire 2. The driving motor 14 is in transmission connection with the wire-walking wheel 13. The detection device 15 is fixed to the fuselage 10 and is used for collecting image data of the wire 2.

[0033] Through the above solution, a wire-walking wheel 13 is arranged in the middle of the fuselage 10 of the UAV 1. When there is a stable wire 2 on the path to be inspected, the wire 2 can be used as a landing point, and the UAV 1 can be driven to move on the wire 2 through the wire-walking wheel 13. At this time, precise positioning can be achieved by using the wire 2 and the dependence on the lift of the rotor 12 is reduced, which can save electricity and improve endurance. The single inspection task that could originally only complete a short distance can now penetrate into a wider area to comprehensively inspect more wires 2, greatly improving the coverage and efficiency of the inspection work.

[0034] When the wire 2 needs to be replaced, interrupted, or encounters an obstacle, the maneuverability of the UAV 1 can continue to be utilized, and another suitable wire 2 can be freely selected as the landing point in the three-dimensional space. At least two arms 11 of the UAV 1 are symmetrically connected to both sides of the fuselage 10, and the rotors 12 fixed at the ends of the arms 11 are quickly started to provide strong lift, enabling the UAV 1 to break away from the current wire 2 and fly flexibly in the three-dimensional space.

[0035] This ability to freely switch working modes under different working conditions endows the UAV 1 with both the flexibility to shuttle freely in the three-dimensional space and the characteristics of precise positioning and long endurance when moving along the wire 2, completely breaking through the limitations of traditional inspection equipment, achieving a major breakthrough in the field of wire 2 inspection technology, and providing a more efficient and reliable solution for ensuring the safe and stable operation of power transmission lines.

[0036] The types of detection devices 15 for the UAV 1 used in wire 2 inspection are diverse, including high-definition visible light cameras for obtaining intuitive images, infrared thermal imagers for detecting abnormal temperatures, lidar for constructing three-dimensional models, current, voltage, and electric field sensors for monitoring electrical performance, ultrasonic and X-ray flaw detectors for flaw detection, and meteorological and gas sensors for monitoring the environment.

[0037] In addition to using the rotors 12 to adjust the stability of the UAV 1, in order to further improve the stability of the UAV 1 on the wire 2, in an embodiment of the present application, the UAV 1 may further include two battery compartments 16. The two battery compartments 16 contain batteries, and the batteries are used to supply power to the rotors 12 or the drive motors 14. The two battery compartments 16 are symmetrically fixed on both sides of the fuselage 10, and the height of the battery compartments 16 is lower than the height of the wire wheels 13.

[0038] In order to achieve equal torque, the two battery compartments 16 may contain batteries of the same specifications, such as being symmetric in terms of weight, size, shape, etc.

[0039] In devices such as the UAV 1, the battery accounts for nearly half of the weight. By the above means, the battery compartments 16 including the batteries are set at a height lower than that of the wire 2 wheels, so that the battery compartments 16 can play a role in lowering the center of gravity, can greatly reduce the shaking and vibration caused by the shaking of the wire 2, side winds, etc., improve the stability of the UAV 1 on the wire 2, and can reduce the probability of the UAV 1 falling during wire walking.

[0040] When the drone 1 conducts inspection operations along the wire 2, it will face many interference factors. The wire 2 itself may shake due to reasons such as wind force, thermal expansion and contraction, etc., and the appearance of crosswind further increases the instability factors of the drone 1. In these complex situations, the design advantage of a low center of gravity is highlighted. Due to the reduction of the center of gravity, the acting arm of the wire 2 shaking or crosswind acting on the drone 1 is shortened, so that when the drone 1 is interfered by external forces, the amplitude of shaking and vibration generated is greatly reduced.

[0041] Based on this, in an embodiment of the present application, the drone 1 may further include two landing gears 17, and two battery compartments 16 are respectively fixed to the lower part of the fuselage 10 through the landing gears 17.

[0042] The existence of the landing gear 17 forms a certain spatial interval between the battery compartment 16 and the fuselage 10. This layout helps to more reasonably distribute the weight of the drone 1. Since the battery compartment 16 is arranged below the fuselage 10 and connected through the landing gear 17, combined with the design that the battery compartment 16 is lower than the height of the wire wheels 13, the center of gravity of the drone 1 can be further reduced. When the drone 1 moves on the wire 2, a lower center of gravity can enhance its stability under various working conditions, reduce the inclination or instability of the fuselage 10 caused by factors such as the shaking of the wire 2 and crosswind, and reduce the risk of the drone 1 falling.

[0043] At the same time, in the flight state, a reasonable center of gravity distribution is also beneficial to the flight attitude control of the drone 1 and improves the flight smoothness.

[0044] It can be understood that the two landing gears 17 are only the exemplary minimum number. As shown in the drawings, four landing gears 17 can be used to fix the battery compartment 16.

[0045] In an embodiment, the drone 1 may further include two guiding structural members 18. The two guiding structural members 18 are symmetrically arranged. The two ends of any one guiding structural member 18 are respectively fixed to the fuselage 10 and the battery compartment 16. The distance between the two guiding structural members 18 at the end close to the fuselage 10 is equal to the width of the wire wheels 13, and the distance between the two guiding structural members 18 at the end close to the battery compartment 16 is several times the width of the wire wheels 13.

[0046] Through the above structure, by using two guiding structural members 18, a guiding structure with a downward opening is formed, and the lower spacing several times the width of the wire wheels 13 enables the drone 1 in the flight state to quickly land in the gap between the two guiding structural members 18 of the wire 2. Since the distance between the two guiding structural members 18 on the side close to the fuselage 10 is equal to the width of the wire wheels 13, as long as the wire 2 is located between the two guiding structural members 18, no matter which side the wire 2 deviates to, as the drone 1 lands, the wire 2 will always fall into the annular groove of the wire wheels 13.

[0047] It can be understood that the wire guiding wheel 13 in the present application can adopt any one of a V-shaped or U-shaped cross-section, and the structure of the wire guiding wheel 13 adopted depends on the actual project requirements. In one embodiment, if the diameter of the wire 2 is small, a V-shaped wire guiding wheel 13 can be used. In another embodiment, if the diameter of the wire 2 is large, a U-shaped wire guiding wheel 13 can be used. The present application does not make specific restrictions on this, and those skilled in the art can adjust it according to the actual project requirements, and the adjusted solution should fall within the protection scope of the present application.

[0048] After adopting the above solution, essentially the battery compartment 16 acts as a landing support. Since the battery is placed at the bottom and the battery is a vulnerable part, in one embodiment of the present application, the drone 1 may further include a plurality of landing pads, and the plurality of landing pads are fixed below the battery compartment 16.

[0049] In one embodiment of the present application, in order to increase the driving ability of the wire guiding wheel 13, indentations can be engraved in the groove of the wire guiding wheel 13 to increase the friction between the wire guiding wheel 13 and the wire 2.

[0050] When the drone 1 lands, the ground conditions may vary widely, such as the presence of small stones, unevenness or a certain slope, etc. The landing pads can act as buffer components to absorb the impact force during landing and prevent the impact force from being directly transmitted to the battery compartment 16 and the battery, thereby effectively protecting the vulnerable battery in the battery compartment 16, reducing the risk of battery damage caused by landing impact, extending the battery life, and ensuring the normal power supply of the drone 1.

[0051] In one embodiment of the present application, an elastic shock-absorbing connection structure is adopted at the connection parts of the arm 11 and the fuselage 10, and the battery compartment 16 and the landing gear 17. This structure can absorb and buffer the impact force when the drone 1 lands or encounters bumps, reduce the damage to the fuselage 10 and internal devices, and at the same time help to maintain the stability of the drone 1. For example, using rubber shock pads or spring shock absorbers and other components to change the rigid connection at the connection part to an elastic connection.

[0052] In one embodiment, the landing gear 17 can be designed as a telescopic structure. During flight, the landing gear 17 can be retracted to reduce air resistance and improve flight efficiency; when landing or when it is necessary to move on the wire 2, the landing gear 17 can be extended to an appropriate length to provide stable support. In addition, the telescopic landing gear 17 can also be adjusted according to different terrains and the height of the wire 2 to enhance the adaptability of the drone 1 in different environments.

[0053] In one embodiment, the drone 1 may further include an even number of ducted fans 19, and the even number of ducted fans 19 are symmetrically fixed on the landing gear 17 or the battery compartment 16, and the thrust direction generated by the ducted fans 19 is perpendicular to the direction of the wire 2.

[0054] By means of the ducted fans 19 facing both sides, torque can be provided along the wire 2, so that when the drone 1 encounters a strong crosswind on the wire 2, it can still maintain stability.

[0055] Specifically, when the drone 1 lands on the wire 2 or encounters a large crosswind, the drone 1 will generate a rolling motion with the wire 2 as the axis. At this time, the rotation directions of the ducted fans 19 on both sides are the same, generating a corrective torque in the same direction. This torque is opposite to the oscillation direction, so as to achieve stable operation. When the wire 2 bounces up and down, the rotation directions of the ducted fans 19 on both sides are opposite, generating a resultant force upward or downward to offset the up and down actions of the bounce of the wire 2, thereby stabilizing the fuselage and reducing the bounce of the wire 2.

[0056] Furthermore, in an embodiment of the present application, the vertical line of the axis of the ducted fan 19 intersects the wire 2.

[0057] When the vertical line of the axis of the ducted fan 19 intersects the wire 2, in the case of attitude deviation when the drone 1 moves or flies along the wire 2, the relative position relationship between the direction of the airflow force generated by the operation of the ducted fan 19 and the wire 2 is in the best state, and the ducted fan 19 can generate the maximum corrective torque.

[0058] Since the vertical line of the axis of the ducted fan 19 intersects the wire 2, the airflow generated when the ducted fan 19 operates can act more specifically on the attitude adjustment of the drone 1, reducing the ineffective loss of the airflow. For example, when the drone 1 needs to correct the yaw angle, the airflow can more directly generate the required torque, improving the utilization efficiency of the airflow. When the ducted fan 19 consumes the same energy, it can provide more effective attitude control for the drone 1, thereby improving the overall performance and energy utilization efficiency of the drone 1.

[0059] In the present application, the rotation direction and speed of the ducted fan 19 can be manually controlled, but this wire inspection method is difficult to stably control in the case of rapid environmental changes and has high requirements for the reaction ability of people.

[0060] Therefore, in an embodiment of the present application, the drone 1 may further include an inertial measurement unit and a ducted fan controller. The inertial measurement unit and the ducted fan controller are communicatively connected. The ducted fan controller is used to control the rotation direction and rotation speed of the ducted fan 19 according to the attitude detected by the inertial measurement unit.

[0061] It can be understood that the attitude here can be any action that can affect the roll axis.

[0062] The inertial measurement unit accurately detects the attitude of the drone 1 in real time. Based on this, the ducted fan controller quickly adjusts the rotation direction and speed of the ducted fan 19 to ensure that the drone 1 remains stable under complex working conditions, greatly improving the controllability.

[0063] During the inspection of the wire 2, in the face of complex airflows, the inertial measurement unit and the ducted fan controller work together, enabling the drone 1 to quickly adapt, effectively offsetting the influence of crosswinds, ensuring stable flight, and improving the reliability of the inspection task.

[0064] The ducted fan controller intelligently adjusts the speed of the ducted fan 19 according to the actual attitude requirements, reducing energy consumption when large thrust is not required, effectively extending the endurance, and improving the inspection efficiency.

[0065] The integration of the inertial measurement unit and the ducted fan controller improves the intelligence and automation level of the system. The drone 1 can autonomously sense and adjust its attitude, reducing manual intervention and providing convenience for function expansion at the same time.

[0066] Real-time attitude monitoring and adjustment reduce the wear of components caused by unstable attitude, extend the service life of components such as the rotor 12 and the ducted fan 19, reduce the maintenance cost, and improve the economy.

[0067] Correspondingly, the present application also provides a method for inspecting wires of the drone 1. The method for inspecting wires can be applied to the drone 1 in any embodiment. The method for inspecting wires can include:

[0068] S101. Control the rotor 12 to drive the drone 1 to fly above the wire 2.

[0069] S102. When the wire wheel 13 is aligned with the wire 2, control the rotor 12 to drive the drone 1 to land so that the wire 2 is located in the groove of the wire wheel 13.

[0070] S103. Control the drive motor 14 to drive the wire wheel 13 to rotate, so that the wire wheel 13 rolls along the wire 2.

[0071] On this basis, in one embodiment, the drone 1 can include a ducted fan 19 and an inertial measurement unit. The method for inspecting wires can further include: controlling the rotation direction and speed of the ducted fan 19 according to the attitude detected by the inertial measurement unit.

[0072] The controllers in the present application can be divided into multiple ones or concentrated in the same controller, and the controllers in the present application can be both concentrated inside the drone 1 and externally placed outside the drone 1.

[0073] Since the method for inspecting wires of the drone 1 includes all the technical features of the drone 1 for inspecting the wire 2, the embodiments and beneficial effects of the drone 1 for inspecting the wire 2 in the embodiments of the present application are equally applicable to the method for inspecting wires of the drone 1.

[0074] The drone 1 solution of this application is used for the inspection of the wire 2. The fuselage 10 is symmetrically connected with the arms 11 and the rotors 12 on both sides, and has the ability to fly. A wire wheel 13 and a driving motor 14 are provided in the middle of the fuselage 10, which can roll along the wire 2 to achieve precise positioning, save power and improve endurance. Two battery compartments 16 are provided and their height is lower than that of the wire wheel 13, and are fixed under the fuselage 10 in cooperation with the landing gear 17 to lower the center of gravity and enhance stability. The machine foot pads protect the battery compartments 16, and the guiding structural members 18 assist the wire wheel 13 to work. An even number of ducted fans 19 are symmetrically distributed, and the vertical line of their axes intersects with the wire 2, and are jointly controlled by the inertial measurement unit and the ducted fan controller to adjust the attitude in real time. The wire inspection method is to fly the drone 1 above the wire 2 and land it by using the rotor 12, use the wire wheel 13 for inspection, and at the same time control the ducted fan 19 according to the data of the inertial measurement unit to ensure efficient, precise and stable wire 2 inspection operations.

[0075] The above are only the preferred embodiments of this application. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of this application, several improvements and replacements can still be made, and these improvements and replacements should also be regarded as the protection scope of this application.

Claims

1. A drone for wire inspection, characterized in that: The drone (1) comprises: Body (10); at least two machine arms (11), the machine arms (11) being symmetrically connected to two sides of the machine body (10); at least two rotors (12), wherein the rotors (12) are fixed to the ends of the arms (11) away from the fuselage (10); A wire-guiding wheel (13), the wire-guiding wheel (13) being rotationally connected to the body (10), and the groove of the wire-guiding wheel (13) being rollingly connected to the wire (2); A driving motor (14), the driving motor (14) being drivingly connected to the wire-guiding wheel (13); A detection device (15), the detection device (15) is fixed on the fuselage (10), and the detection device (15) is used to collect image data of the wire (2).

2. The drone according to claim 1, characterized in that: The drone (1) further comprises two battery compartments (16); The two battery compartments (16) contain batteries, and the batteries are used to supply power to the rotor (12) or the drive motor (14). The two battery compartments (16) are symmetrically fixed on both sides of the fuselage (10), and the height of the battery compartments (16) is lower than the height of the cable wheel (13). The torques generated by the two battery compartments (16) on the fuselage (10) are equal.

3. The drone according to claim 2, characterized in that: The drone (1) further comprises two landing gears (17), and the two battery compartments (16) are respectively fixed below the fuselage (10) via the landing gears (17).

4. The drone according to claim 2, characterized in that: The drone (1) further comprises two guide structural members (18), the two guide structural members (18) are symmetrically arranged, the two ends of each guide structural member (18) are respectively fixedly connected to the fuselage (10) and the battery compartment (16), the spacing between the two guide structural members (18) close to one end of the fuselage (10) is equal to the width of the routing wheel (13), and the spacing between the two guide structural members (18) close to one end of the battery compartment (16) is several times the width of the routing wheel (13).

5. The drone according to claim 2, characterized in that: The drone (1) further comprises a plurality of machine foot pads, wherein the plurality of machine foot pads are fixed below the battery compartment (16).

6. The drone according to claim 3, characterized in that: The drone (1) further comprises an even number of ducted fans (19), wherein the even number of ducted fans (19) are symmetrically fixed on the landing gear (17) or the battery compartment (16), and the thrust direction generated by the ducted fans (19) is perpendicular to the direction of the wire (2).

7. The drone according to claim 6, characterized in that: A line perpendicular to the axis of the ducted fan (19) intersects the conductive wire (2).

8. The drone according to claim 6, characterized in that: The drone (1) further comprises an inertial measurement unit and a ducted controller, wherein the inertial measurement unit and the ducted controller are communicatively connected, and the ducted controller is used to control the rotation direction and rotation speed of the ducted fan (19) according to the posture detected by the inertial measurement unit.

9. A wire inspection method, characterized in that: The wire inspection method is applied to the drone according to any one of claims 1 to 8, and the wire inspection method comprises: Controlling the rotor (12) to drive the drone (1) to fly above the wire (2); When the wire-walking wheel (13) is aligned with the wire (2), the rotor (12) is controlled to drive the drone (1) to land until the wire (2) is located in the groove of the wire-walking wheel (13); The driving motor (14) is controlled to drive the wire-carrying wheel (13) to rotate, so that the wire-carrying wheel (13) rolls along the wire (2).

10. The wire inspection method according to claim 9, characterized in that: The drone (1) comprises a ducted fan (19) and an inertial measurement unit, and the wire inspection method further comprises: The rotation direction and speed of the ducted fan (19) are controlled according to the posture detected by the inertial measurement unit.

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