Tower climbing protection device based on unmanned aerial vehicle and mounting method

Abstract

The invention discloses a tower climbing protection device based on an unmanned aerial vehicle and a mounting method, and relates to the technical field of power transmission tower maintenance operation protection. The tower climbing protection device comprises the unmanned aerial vehicle, a hanging assembly, a tower locking assembly and a safety assembly; the upper hanging assembly comprises a connector and an alignment device, the connector is connected with the unmanned aerial vehicle, and an electromagnet is installed between the connector and the alignment device; a butt joint is installed at one end of the tower locking assembly, the other end of the tower locking assembly is connected with a safety assembly, and the butt joint is provided with a first flange which can be magnetically attracted and fixed to an electromagnet; a camera is installed on the outer side of the aligner and used for obtaining the position of the first flange. Based on the magnetic attraction effect, the butt joint efficiency and precision of the upper hanging assembly and the tower locking assembly are improved, meanwhile, the upper hanging assembly can assist the tower locking assembly to be accurately hung to the preset position, and the device is suitable for various different types of power transmission tower structures.

Description

Technical Field

[0001] The present invention relates to the field of transmission tower maintenance protection, and in particular to a tower climbing protection device based on an unmanned aerial vehicle and an installation method. Background Art

[0002] At present, transmission tower operations usually adopt two measures: climbing along the anti-fall track and using double-hook safety ropes to ensure that the workers do not lose safety protection throughout the process and prevent the risk of falling from heights. However, most towers are not equipped with anti-fall tracks, and their installation is costly and difficult to implement. The use of double-hook safety ropes increases the load and labor intensity of the workers, and there are safety hazards such as stumbling and losing balance.

[0003] There are some new anti-fall devices in the existing technology, but most of them have not yet been promoted and applied on the job site due to reasons such as lack of practicality. For example: Application number 202323147935.6, patent name is a utility model patent for a transmission tower backup protection rope throwing, hanging and removing device carried by a drone. A mounting plate is fixed to the bottom of the drone. A mounting block is installed in the groove by slotting the mounting plate to fix the connecting rod. The bottom of the connecting rod is connected to a hanging ring through the hook, and the hanging ring is connected to the support rod. This solution uses the insulating rope connected at the rope ring to hang down to the bottom of the tower, straighten the insulating rope, and fix it to the bottom of the tower. However, the above solution has high requirements for the drone when hanging the protection rope, especially in low visibility, wind change and other environments where installation becomes more difficult. The application number is 202411023351.4, and the patent name is an invention patent for a fall prevention device for tower climbing operations during the assembly and construction of transmission line towers. The device includes an anti-fall hanging tube with an open lower end and a closed upper end. A positioning component is provided above the anti-fall hanging tube. The positioning component includes an industrial camera. The position of the drone is adjusted through the operation screen monitored by the industrial camera, so that the anti-fall hanging tube is aligned with the vertical angle steel of the tower under construction. However, the structure of this solution is very complex, and it has high requirements on the load-bearing capacity of the drone. Summary of the Invention

[0004] The purpose of the present invention is to solve the above problems and provide a drone-based tower climbing protection device and installation method. Based on the magnetic effect, the docking efficiency and accuracy of the upper hanging component and the tower locking component are improved. At the same time, the upper hanging component can assist the tower locking component to be accurately hung at the predetermined position, and adapt to various types of transmission tower structures.

[0005] The technical solution adopted by the present invention to solve the technical problem is: A tower climbing protection device based on a drone, comprising a drone, a flexible connecting rod connected to the drone, an upper hanging component, and a tower locking component; The upper hanging assembly includes a connecting head and an aligner, the connecting head is connected to the bottom end of the flexible connecting rod, and the aligner is provided with an electromagnet; The tower locking assembly includes a hanging joint that is magnetically connected to the electromagnet in the aligner and a connecting mechanism that is connected to the tower pole.

[0006] Furthermore, the aligner includes an aligning body having a bell-mouth structure.

[0007] Furthermore, a battery is provided on the connecting head, and a camera is installed on the outside of the alignment body; An illuminating lamp is installed on the inner side of the aligning body, a heat dissipation duct is provided on the upper end of the aligning body, and the electromagnet is connected to a battery and an on-off control system through a wire.

[0008] Furthermore, the hanging joint includes a first bracket and a second bracket, and a first flange is provided on the upper end of the first bracket, and the first flange can be fixed by magnetic attraction with the electromagnet.

[0009] Furthermore, a second flange is provided near the bottom end of the first bracket, a light intensity sensor and a warning light are mounted on the second flange, and the second flange is connected to the second bracket.

[0010] Furthermore, the connecting mechanism includes a side plate, a mounting plate installed at the lower end of the second bracket and a swing arm, the swing arm includes a horizontal part and an inclined part, the horizontal end of the swing arm is rotatably connected to the mounting plate, the inclined part of the swing arm cooperates with the end of the side plate, the second bracket is provided with a long hole, the side plate is provided with a roller that cooperates with the long hole, and the lower end of the second bracket is rotatably connected to the corner position of the swing arm.

[0011] Furthermore, the side plate is provided with a limiting groove that cooperates with the end of the swing arm.

[0012] Furthermore, a travel limiting hole is provided on the mounting plate, and a rotating shaft connected to the lower end of the second bracket and the swing arm is matched with the travel limiting hole.

[0013] Furthermore, a safety component is provided at the lower end of the second bracket, and the safety component includes a hook and a safety rope. The lower end of the side panel is provided with a hanging interface connected to the hook.

[0014] Furthermore, a method for installing a tower climbing protection device based on a drone, using the device, includes the following steps: Connect the drone to the ground with the hanging assembly, tower locking assembly and safety assembly; Start the drone to lift the upper hanging assembly, tower locking assembly and safety assembly, and guide the tower locking assembly to approach and hang it on the top of the transmission tower; Control the mounting component to separate the drone from the tower locking component and the safety component; Tower climbing workers rely on tower locking components and safety components to climb up the transmission tower to perform operations; After the transmission tower operation is completed, the drone is started to approach the tower locking assembly and the upper hanging assembly is used to connect the tower locking assembly; The drone lifts and removes the tower lock assembly from the transmission tower and transports it to the ground.

[0015] The beneficial effects of the present invention are: 1. The upper hanging component and the tower locking component of the present invention are fixed by magnetic attraction, which can improve the docking efficiency and facilitate the detachment from the upper hanging component after the tower locking component is at the corresponding position of the iron tower; the upper hanging component is equipped with a camera, which controls the connection between the upper hanging component and the tower locking component by detecting the position of the first flange, so as to achieve fast and accurate connection with the upper hanging component carried by the drone when taking the tower locking component.

[0016] 2. The aligner of the present invention includes an aligning body with a trumpet-mouth structure, which can guide the first flange into the aligning body and realize precise alignment with the electromagnet; the camera is installed on the outside of the aligning body and can detect the exact position of the first flange; in the process of removing the locking tower, when the camera recognizes the first flange, the drone carrying the upper hanging component descends until it lands at the first flange of the locking tower component; at the same time, the control system controls the electromagnet to be energized, and the electromagnet generates an adsorption force, which realizes contact and adsorption with the first flange under the guiding action of the trumpet mouth, thereby realizing precise and rapid fixation of the upper hanging component and the locking tower component.

[0017] 3. The second swing arm of the tower locking assembly of the present invention is arranged in an inclined state between the first swing arm and the side plate. A limiting groove is provided at the matching position of the side plate and the second swing arm. When the free end of the second swing arm falls into the limiting groove, the locking function is realized to prevent the device from falling from the tower; when the UAV is lifted, the second bracket and the second swing arm are driven to move by the first bracket, so that the end of the second swing arm is disengaged from the limiting groove, thereby releasing the lock. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0019] Figure 1 is a schematic structural diagram of a tower climbing protection device according to one or more embodiments of the present invention; Figure 2 1 is a schematic diagram of the connection between the upper hanging assembly and the locking tower assembly according to one or more embodiments of the present invention; Figure 3 is a schematic structural diagram of an upper hanging assembly according to one or more embodiments of the present invention; Figure 4is a schematic diagram of the internal structure of an aligner according to one or more embodiments of the present invention; Figure 5 It is a schematic structural diagram of a lock tower assembly according to one or more embodiments of the present invention.

[0020] Among them, 1. UAV, 2. Flexible connecting rod, 3. Mounting assembly, 4. Tower locking assembly, 5. Safety assembly; 31. Connector, 32. Aligner; 41. Hook joint, 42. Side plate, 43. First swing arm, 44. Second swing arm; 51. Hook, 52. Safety rope; 311. Electromagnet, 312. Battery, 313. Cooling duct; 321. Alignment body, 322. Camera, 323. Light; 411. First bracket, 412. First flange, 413. Second flange, 414. Light sensor, 415. Warning light, 416. Second bracket; 421. Limiting groove; 431. Travel limiting hole, 432. Hanging interface. DETAILED DESCRIPTION

[0021] In order to enable those skilled in the art to better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0022] like Figure 1 As shown, a tower climbing protection device based on a drone includes a drone 1, a flexible connecting rod 2 connected to the drone 1, an upper hanging component 3, and a tower locking component 4; the drone 1 is used to install the tower locking component 4 on the top of the transmission tower, and the tower locking component 4 can be used as an anti-fall fixing point for tower climbing workers; the upper hanging component 3 is arranged between the drone 1 and the tower locking component 4, and is used to assist the drone 1 in guiding the hanging of the tower locking component 4.

[0023] In this embodiment, the drone 1 adopts an existing structure, which will not be described in detail here.

[0024] like Figure 3 and Figure 4 As shown, the upper hanging assembly 3 includes a connector 31 and an aligner 32. Figure 1As shown, the connector 31 is connected to the bottom end of the flexible connecting rod 2, and the top end of the flexible connecting rod 2 is connected to the drone 1. The flexible connecting rod 2 is composed of an insulating tube and a rotary joint, and has a certain torsional rigidity, which can ensure the stability of the drone 1 during wind flight. The aligner 32 is fixedly connected to the connector 31 as a whole. The aligner 32 is provided with an electromagnet 311, which is a cylindrical structure. like Figure 2 As shown, the tower locking assembly 4 includes a hanging joint 41 magnetically connected to the electromagnet 311 in the aligner 32 and a connecting mechanism connected to the tower pole. The magnetic attraction between the aligner 32 and the hanging joint 41 facilitates the connection and release of the two.

[0025] like Figure 3 and Figure 4 As shown, the aligner 32 includes an aligning body 321 with an inverted bell-mouth structure. The bell-mouth structure serves as a guide for the hanging joint 41. The electromagnet 311 is located at the narrow end of the bell-mouth structure, so that the first flange 412 can smoothly enter the aligning body 321 and make magnetic contact with the electromagnet 311.

[0026] like Figure 3 As shown, the connector 31 is equipped with a battery 312, which is located outside the connector 31. A camera 322 is mounted outside the alignment body 321 to monitor the state of attraction between the magnetic component and the electromagnet 311. The alignment body 321 is surrounded by a plurality of through-holes, through which the camera 322 can monitor the state of attraction between the magnetic component and the electromagnet 311. When the camera 322 identifies the first flange 412 and transmits an image signal to the control system, the control system sends a command to lower the drone 1 carrying the upper hanging assembly 3 until the electromagnet 311 contacts the first flange 412, and then supplies power to the electromagnet 311 to achieve magnetic attraction.

[0027] like Figure 3 and Figure 4 As shown, a lighting lamp 323 is installed inside the alignment body 321, a heat dissipation duct 313 is provided on the upper end of the alignment body 321, and the electromagnet 311 is connected to the battery 312 and the on-off control system through a wire.

[0028] When the electromagnet 311 is powered on, the first flange 412 and the electromagnet 311 are magnetically attracted to connect the hook joint 41 to the alignment body 321 . When the electromagnet 311 is powered off, the alignment body 321 is separated from the hook joint 41 .

[0029] The camera 322 is connected to the image transmission module, which is installed in the shell of the connector 31. In order to facilitate heat dissipation, a temperature sensor and a heat dissipation fan are set in the shell of the connector 31, and a plurality of heat dissipation ducts 313 are set in the shell. When the temperature sensor detects that the temperature of the image transmission module exceeds the set value, the control system automatically turns on the heat dissipation fan to realize automatic heat dissipation of the image transmission module.

[0030] like Figure 2 As shown, the hanging joint 41 includes a first bracket 411 and a second bracket 416. A first flange 412 is provided at the upper end of the first bracket 411. The first flange 412 can be magnetically fixed to the electromagnet 311, so that the aligner 32 can be detachably connected to the hanging joint 41 installed on the locking tower assembly 4. The first flange 412 is made of strong magnetic material, that is, it constitutes a magnetic attraction component, which can realize the adsorption and fixation of the hanging joint 41 and the connecting head 31 when the electromagnet 311 is energized.

[0031] A second flange 413 is provided near the bottom of the first bracket 411. A light sensor 414 and a warning light 415 are mounted on the second flange 413, which is connected to a second bracket 416. The second bracket 416 and the first bracket 411 are collinear, extending in the same straight line. The light sensor 414 and the warning light 415 are connected to a control system. When the outdoor ambient light level detected by the light sensor 414 falls below a preset value, the control system automatically turns on the warning light 415, alerting nearby personnel that on-site operations are underway, thereby enhancing operational safety.

[0032] like Figure 2 As shown, the connecting mechanism includes a side plate 42, a mounting plate 43 mounted on the lower end of the second bracket 416, and a swing arm 44. The swing arm 44 includes a horizontal portion and an inclined portion. The horizontal end of the swing arm 44 is rotatably connected to the mounting plate 43, and the inclined portion of the swing arm 44 cooperates with the end of the side plate 42. A long hole is provided on the second bracket 416, and a roller that cooperates with the long hole is provided on the side plate 42. The lower end of the second bracket 416 is rotatably connected to the corner position of the swing arm 44.

[0033] After the drone hoists the upper hanging assembly 3 and the tower locking assembly 4, the rollers on the side panel 42 slide downward along the elongated holes under the weight of the side panel 42. Since the lower end of the second bracket 416 is pivotally connected to the corner of the swing arm 44, the swing arm 44 swings upward. With the swing arm 44 in an open position, the tower pole can pass through the opening and enter the side panel 42, hooking the side panel 42 onto the tower pole. After the electromagnet is de-energized, the upper hanging assembly 3 separates from the tower locking assembly 4. Under the weight of the hook joint 41, the second bracket 416 descends, guided by the guide wheels and the elongated holes, and the swing arm 44 swings downward, thereby forming a sealed space between the side panel 42 and the swing arm 44, and hooking the tower locking assembly 4 onto the tower pole.

[0034] The swing arm 44 is a rectangular thin plate structure as a whole, and the side plate 42 is hook-shaped; the swing arm 44 is arranged at the lower end of the side plate 42 in an inclined state.

[0035] like Figure 5 As shown, the side panel 42 is provided with a retaining groove 421 that mates with the end of the swing arm 44. In this embodiment, the retaining groove 421 is a V-shaped groove, with its open end facing the mounting plate 43. The angle α of the retaining groove 421 is required to ensure reliable positioning of the swing arm 44 while avoiding interference during the movement of the swing arm 44. Therefore, α is set between 30° and 60°. When the free end of the swing arm 44 falls into the retaining groove 421, a locking function is implemented, preventing the device from falling from the tower. When the drone 1 is lifted, the first bracket 411 drives the second bracket 416 upward, causing the swing arm 44 to move upward, allowing the end of the swing arm 44 to disengage the retaining groove 421, thereby releasing the lock.

[0036] like Figure 5 As shown, a stroke limit hole 431 is provided on the mounting plate 43, and the stroke limit hole 431 is an arc-shaped hole. The lower end of the second bracket 416 is connected to the rotating shaft of the swing arm 44 and cooperates with the stroke limit hole 431. The stroke limit hole 431 is used to limit the movement stroke of the second swing arm 44 to prevent the second swing arm 44 from escaping from the limit slot 421 during use.

[0037] like Figure 1 As shown, a safety component 5 is provided at the lower end of the second bracket 416 , and the safety component 5 includes a hook 51 and a safety rope 52 . A hanging interface 432 connected to the hook 51 is provided at the lower end of the side panel 42 , and the safety component 5 is connected via the hanging interface 432 .

[0038] Safety assembly 5 also includes a fall arrester (not shown). One end of a safety rope 52 is connected to a hook 51, which is secured to a hook interface 432. The other end of the safety rope 52 is looped around a rope retractor (not shown), which controls the tension and alignment of the safety rope 52. The fall arrester is placed over the safety rope 52 to secure it to the tower climber.

[0039] The safety component 5 of this embodiment also includes a monitor, which includes a speed monitor and a tension detector. The speed monitor is installed on the anti-fall device to monitor the moving speed of the anti-fall device; the tension detector is installed on the safety rope 52 to monitor the tension of the safety rope 52.

[0040] In this embodiment, the upper mounting assembly 3 and the tower locking assembly 4 are fixed together by magnetic attraction, which improves docking efficiency and facilitates detachment of the upper mounting assembly 3 after the tower locking assembly 4 is positioned at the corresponding position on the tower. The upper mounting assembly 3 is equipped with a camera 322, which controls the connection between the upper mounting assembly 3 and the tower locking assembly 4 by detecting the position of the first flange 412, enabling quick and precise connection with the upper mounting assembly 3 carried by the drone 1 when the tower locking assembly 4 is removed. The coordination between the retaining groove 421 and the second swing arm 44 of the tower locking assembly 4 ensures a secure attachment to the transmission tower and facilitates its detachment from the transmission tower when the tower locking assembly 4 is removed.

[0041] This embodiment can cover a wider and harder-to-reach working area through the drone 1, thereby improving overall work efficiency. The tower locking component 4 serves as a fall prevention fixing point for tower climbing workers, and can provide reliable safety protection. The upper hanging component 3 assists the drone 1 in precise installation and hanging, ensuring that the tower locking component 4 is firmly fixed, further improving the safety of the installation. The safety component 5 directly provides fall prevention protection for tower climbing workers, reducing the risk of high-altitude operations; therefore, the tower climbing protection device of this embodiment can adapt to a variety of different types of transmission tower structures.

[0042] A method for installing a tower climbing protection device based on a drone, using the device, includes the following steps: The drone 1 is connected to the hanging component 3, the locking tower component 4 and the safety component 5 on the ground; wherein the locking tower component 4 is fixed by adsorption to the electromagnet 311 through the first flange 412.

[0043] Start the drone 1 to lift the upper hanging component 3, the tower locking component 4 and the safety component 5 and guide the tower locking component 4 to approach and hang it on the top of the transmission tower; Control the upper hanging component 3 to separate the drone 1 from the locking tower component 4 and the safety component 5; The tower climbers rely on the tower locking component 4 and the safety component 5 to climb up the transmission tower to perform operations; after completing their operations, the tower climbers leave the transmission tower.

[0044] After the transmission tower operation is completed, the drone 1 is started to approach the tower locking component 4, and the upper hanging component 3 is used to connect the tower locking component 4; The drone 1 lifts and removes the tower locking assembly 4 from the transmission tower and transports it to the ground.

[0045] Start the drone 1 and move it close to the locking tower assembly 4, and use the upper hanging assembly 3 to connect the locking tower assembly 4 and the safety assembly 5; during the process of removing the locking tower, the camera 322 is used to detect whether the first flange 412 enters the alignment body 321. When the camera 322 recognizes the first flange 412, it will automatically remind the staff. At this time, the drone 1 can carry the upper hanging assembly 3 to descend until it lands at the first flange 412 of the locking tower assembly 4; at the same time, the control system controls the electromagnet 311 to be energized, and the electromagnet 311 generates an adsorption force, and achieves contact and adsorption with the first flange 412 under the guidance of the bell mouth.

[0046] The drone 1 lifts and removes the tower locking assembly 4 from the transmission tower and transports it to the ground.

[0047] In the description of the present invention, it should be noted that the terms "left", "right", "up", "down", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the present invention.

[0048] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

Claims

1. A tower climbing protection device based on drone, characterized in that: It comprises a drone (1), a flexible connecting rod (2) connected to the drone (1), an upper hanging component (3), and a tower locking component (4); The upper hanging assembly (3) comprises a connecting head (31) and an aligner (32), the connecting head (31) is connected to the bottom end of the flexible connecting rod (2), and an electromagnet (311) is provided in the aligner (32); The tower locking assembly (4) comprises a hanging joint (41) magnetically connected to the electromagnet (311) in the aligner (32) and a connecting mechanism connected to the tower pole.

2. The tower climbing protection device based on a drone as claimed in claim 1, characterized in that: The aligner (32) comprises an aligning body (321) in a bell-mouth structure.

3. The tower climbing protection device based on a drone as claimed in claim 2, characterized in that: The connecting head (31) is provided with a battery (312), and a camera (322) is installed on the outside of the alignment body (321); An illuminating lamp (323) is installed inside the alignment body (321), a heat dissipation duct (313) is provided at the upper end of the alignment body (321), and the electromagnet (311) is connected to a battery (312) and an on / off control system via a wire.

4. The tower climbing protection device based on a drone as claimed in claim 1, characterized in that: The hanging joint (41) comprises a first bracket (411) and a second bracket (416); the upper end of the first bracket (411) is provided with a first flange (412); the first flange (412) can be fixed to the electromagnet (311) by magnetic attraction.

5. The tower climbing protection device based on a drone as claimed in claim 4, characterized in that: The first bracket (411) is provided with a second flange (413) near the bottom end, a light intensity sensor (414) and a warning light (415) are mounted on the second flange (413), and the second flange (413) is connected to the second bracket (416).

6. The tower climbing protection device based on a drone as claimed in claim 4, characterized in that: The connecting mechanism includes a side plate (42), a mounting plate (43) mounted on the lower end of the second bracket (416), and a swing arm (44), the swing arm (44) including a horizontal portion and an inclined portion, the horizontal portion of the swing arm (44) is rotatably connected to the mounting plate (43), the inclined portion of the swing arm (44) is matched with the end of the side plate (42), the second bracket (416) is provided with a long hole, the side plate (42) is provided with a roller matched with the long hole, and the lower end of the second bracket (416) is rotatably connected to the corner position of the swing arm (44).

7. The tower climbing protection device based on a drone as claimed in claim 6, characterized in that: The side plate (42) is provided with a limiting groove (421) that cooperates with the end of the swing arm (44).

8. The tower climbing protection device based on a drone as claimed in claim 6, characterized in that: A travel limit hole (431) is provided on the mounting plate (43), and a rotating shaft connected to the lower end of the second bracket (416) and the swing arm (44) cooperates with the travel limit hole (431).

9. The tower climbing protection device based on a drone as claimed in claim 4, characterized in that: A safety component (5) is provided at the lower end of the second bracket (416), the safety component (5) comprising a hook (51) and a safety rope (52), and a hanging interface (432) connected to the hook (51) is provided at the lower end of the side plate (42).

10. A method for installing a tower climbing protection device based on a drone, using the device according to any one of claims 1 to 9, characterized in that: The following steps are involved: Connect the drone (1) to the ground with the hanging assembly (3), the tower locking assembly (4) and the safety assembly (5); The drone (1) is started to lift the upper hanging component (3), the tower locking component (4) and the safety component (5) and guide the tower locking component (4) to approach and hang on the top of the transmission tower; Controlling the upper hanging component (3) to separate the drone (1) from the locking tower component (4) and the safety component (5); The tower climbing workers rely on the tower locking component (4) and the safety component (5) to climb up the transmission tower to perform operations; After the transmission tower operation is completed, the drone (1) is started to approach the tower locking assembly (4), and the upper hanging assembly (3) is used to connect the tower locking assembly (4); The drone (1) lifts and removes the tower lock assembly (4) from the transmission tower and transports it to the ground.

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