High-voltage line inspection anti-electromagnetic interference unmanned aerial vehicle

Abstract

The application relates to a high-voltage line patrol anti-electromagnetic interference unmanned aerial vehicle, and belongs to the technical field of unmanned aerial vehicles. The unmanned aerial vehicle comprises a unmanned aerial vehicle body, a camera assembly is arranged at the front end of the unmanned aerial vehicle body, a cleaning shell is fixedly sleeved to the outer side of the lower end of the unmanned aerial vehicle body, cleaning equipment is arranged in the cleaning shell, a first blocking plate which can be opened and closed is arranged at the lower end of the unmanned aerial vehicle body, a second blocking plate which can be opened and closed is arranged at the lower end of the cleaning shell, a detachable battery pack is arranged in the unmanned aerial vehicle body, a pressing mechanism is arranged in the unmanned aerial vehicle body and the battery pack, the pressing mechanism comprises a pressing block and two fixed plates arranged on the two sides of the battery pack, the two fixed plates are driven to move away from each other by pressing the pressing block downward, so that the battery pack is loosened, a driving mechanism is arranged between the first blocking plate and the second blocking plate, the first blocking plate and the second blocking plate are driven to be alternately opened and closed by the driving mechanism, and the problem that the current anti-electromagnetic interference technology of the unmanned aerial vehicle affects heat dissipation when the unmanned aerial vehicle patrols high-voltage lines is solved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of unmanned aerial vehicles, and particularly relates to a high-voltage line inspection anti-electromagnetic interference unmanned aerial vehicle. BACKGROUND

[0002] In the power system, the inspection of high-voltage transmission lines is a key link to ensure the safe and stable operation of the power grid. The traditional manual inspection method faces many challenges, such as wide inspection range, complex terrain, high labor intensity, low efficiency, and certain safety risks. With the rapid development of unmanned aerial vehicle technology, unmanned aerial vehicle line inspection has gradually become an important means of high-voltage transmission line inspection due to its advantages of high efficiency, safety, flexibility, etc. Unmanned aerial vehicles can quickly reach areas that are difficult for humans to reach and conduct all-around and high-precision inspections of the lines, greatly improving the inspection efficiency and accuracy.

[0003] However, there is a strong electromagnetic field environment around the high-voltage transmission line. When the unmanned aerial vehicle is conducting line inspection near the high-voltage line, it will be disturbed by this complex electromagnetic environment. Electromagnetic interference can have a serious impact on the key functions of the unmanned aerial vehicle, such as communication, navigation, and obstacle avoidance. In terms of communication, electromagnetic interference may cause the signal transmission between the unmanned aerial vehicle and the ground control station to be interrupted or distorted, making it impossible for ground personnel to accurately obtain the flight status and image information of the unmanned aerial vehicle, and also making it impossible to send control instructions to the unmanned aerial vehicle in a timely manner, thereby affecting the normal progress of the inspection operation. In terms of navigation, electromagnetic interference can interfere with the positioning system of the unmanned aerial vehicle, such as GPS signals, causing the unmanned aerial vehicle to be inaccurately positioned, deviating from the flight trajectory, and even possibly losing its way, making it impossible to complete the inspection task according to the predetermined route. The obstacle avoidance function is also susceptible to electromagnetic interference, making it impossible for the unmanned aerial vehicle to accurately detect obstacles around it in a timely manner, increasing the risk of collision and seriously threatening the stability and safety of the unmanned aerial vehicle flight. The existence of these problems greatly limits the application effect and range of unmanned aerial vehicles in high-voltage line inspection operations.

[0004] Currently, the common method to address the problem of electromagnetic interference for unmanned aerial vehicles during high-voltage line inspection is to use shielding technology, that is, to wrap a metal shielding layer around the key electronic components or the entire body of the unmanned aerial vehicle to block the entry of external electromagnetic fields. The principle is to use the reflection and absorption of metal to electromagnetic waves to reduce the interference of electromagnetic fields on internal electronic devices. However, during operation, the internal electronic components of the unmanned aerial vehicle, such as the flight control system, image transmission module, and power system, will continuously work and generate a large amount of heat. The metal shielding layer will hinder the dissipation of heat to some extent, like a "thermal insulation garment" for the unmanned aerial vehicle, making it difficult for internal heat to be effectively conducted out. As the flight time increases, the internal temperature will continue to rise, and when the temperature exceeds the tolerance limit of the electronic components, it will cause the performance of the components to decline, the service life to be shortened, and even cause malfunctions and damage, seriously affecting the normal operation of the unmanned aerial vehicle and the completion of the inspection task.

[0005] Therefore, it is necessary to provide a new high-voltage line patrol anti-electromagnetic interference unmanned aerial vehicle to solve the above technical problems. SUMMARY

[0006] The present application overcomes the deficiencies of the prior art and provides a high-voltage line patrol anti-electromagnetic interference unmanned aerial vehicle, which solves the problem of heat dissipation affected by anti-electromagnetic interference technology when the current unmanned aerial vehicle patrols high-voltage lines.

[0007] In order to achieve the above purpose, the present application is realized by the following technical scheme.

[0008] A high-voltage line patrol anti-electromagnetic interference unmanned aerial vehicle, comprising a unmanned aerial vehicle body, a camera assembly is installed at the front end of the unmanned aerial vehicle body; a cleaning shell is fixedly sleeved on the outer side of the lower end of the unmanned aerial vehicle body, and a cleaning device is installed inside the cleaning shell; a first blocking plate that can be opened and closed is arranged at the lower end of the unmanned aerial vehicle body, a second blocking plate that can be opened and closed is arranged at the lower end of the cleaning shell, a detachable battery pack is installed inside the unmanned aerial vehicle body, and a pressing mechanism is arranged inside the unmanned aerial vehicle body and the battery pack, the pressing mechanism comprises a pressing block and two fixed plates arranged on both sides of the battery pack, and the two fixed plates are driven away from each other by pressing the pressing block downward to release the battery pack; a driving mechanism is arranged between the first blocking plate and the second blocking plate, and the first blocking plate and the second blocking plate are driven to open and close alternately by the driving mechanism.

[0009] Further, an installation cavity is arranged inside the unmanned aerial vehicle body, and two first blocking plates that are left-right symmetrical are slidingly arranged at the lower end opening of the installation cavity; the top plate of the cleaning shell is fixedly connected with the outer side of the unmanned aerial vehicle body, two left-right symmetrical first sliding grooves in the shape of circular arc are arranged on the front side plate and the rear side plate of the cleaning shell; two second blocking plates that are left-right symmetrical are slidingly arranged between the front side plate and the rear side plate of the cleaning shell, and one first plug-in rod is fixedly arranged at both ends of the front edge and the rear edge of each second blocking plate, the front and rear first plug-in rods on the left second blocking plate are slidingly plugged into the left first sliding groove on the front side plate and the rear side plate respectively, and the front and rear first plug-in rods on the right second blocking plate are slidingly plugged into the right first sliding groove on the front side plate and the rear side plate respectively.

[0010] Further, the driving mechanism comprises a micro motor, a rotating rod, a sector gear, a driving rod, a support plate, a worm, and a worm wheel; the support plate is fixedly arranged in the installation cavity, the micro motor is fixedly arranged at the middle of the lower end surface of the support plate, the output shaft of the micro motor is fixedly provided with the worm, the two left-right symmetrical rotating rods are rotatably arranged in the installation cavity, the worm wheel is fixedly arranged on one of the rotating rods and engaged with the worm, the front and rear ends of each rotating rod extend to the outside of the front and rear sidewalls of the installation cavity, the sector gears are fixedly arranged at the front and rear ends of each rotating rod, the two sector gears at the same end of the two rotating rods are engaged with each other, and the driving rods are fixedly arranged at the front and rear ends of each rotating rod.

[0011] Further, the driving mechanism further comprises a first belt transmission mechanism, a first driving gear, a first driven gear, a limiting slide rail, and a toothed belt; the two left-right symmetrical first driving gears and the two left-right symmetrical first driven gears are rotatably arranged on the front inner wall and the rear inner wall of the installation cavity, the first driving gears and the first driven gears on the same side of the front inner wall and the rear inner wall of the installation cavity are engaged with each other, the two left-right symmetrical limiting slide rails are arranged on the front inner wall and the rear inner wall of the installation cavity, the front and rear ends of each first blocking plate are slidably connected with the front and rear limiting slide rails on the same side, the toothed belts are fixedly arranged at the front and rear ends of the upper end surfaces of the two first blocking plates, and the toothed belts at the front and rear ends of each first blocking plate are engaged with the two first driven gears on the same side.

[0012] Further, the unmanned aerial vehicle body is further provided with a ventilation mechanism, the ventilation mechanism comprises a second driving gear, a double-sided toothed rack, a ventilation plate, a second driven gear, and a second belt transmission mechanism; the ventilation grooves are arranged on the left and right sidewalls of the installation cavity, the ventilation plates are rotatably arranged in the ventilation grooves, the two second driving gears are rotatably arranged on the rear inner wall of the installation cavity, the two rotating rods are in transmission connection with the second driving gears on the same side through a second belt transmission mechanism; the gear grooves are arranged at the rear ends of the left and right inner walls of the installation cavity, the rear ends of the rotating shafts of the ventilation plates extend into the gear grooves on the same side and are fixedly provided with the second driven gears; the double-sided toothed racks are slidably arranged on the rear inner wall of the installation cavity in the vertical direction, the double-sided toothed racks are located between the second driving gears and the second driven gears on the same side, and the double-sided toothed racks are engaged with the second driving gears and the second driven gears on the same side.

[0013] Further, the unmanned aerial vehicle body is further provided with a heat dissipation mechanism, the heat dissipation mechanism comprises a first spring, a communication plate, an air inlet pipe, an air outlet pipe, a guide pipe and a connecting rod; two left-right symmetrical sliding grooves are arranged at the rear end of the unmanned aerial vehicle body, one communication plate is slidably arranged in each sliding groove along the vertical direction, a first spring is fixedly arranged on the upper end of the communication plate, and the upper end of the first spring is fixedly connected with the top surface of the sliding groove; a wind passing groove in communication with the installation cavity is arranged on the inner wall of each sliding groove, and a communication groove is arranged on each communication plate; a protective cover is fixedly arranged outside the rear side plate of the cleaning shell, an air inlet pipe and an air outlet pipe are fixedly arranged on the rear side protective cover, and the connecting ports of the air inlet pipe and the air outlet pipe on the rear side protective cover correspond to the two wind passing grooves respectively; one end of the air inlet pipe is kept horizontal, a guide pipe is slidably sleeved on one end of the air inlet pipe, a third plug-in rod is fixedly arranged on the guide pipe, an arc-shaped second sliding groove is arranged on the rear side protective cover, and the third plug-in rod is slidably inserted into the second sliding groove; a connecting rod is arranged in the rear side protective cover, one end of the connecting rod is hingedly connected with a drive rod close to the air inlet pipe, and the other end of the connecting rod is hingedly connected with the third plug-in rod.

[0014] Further, the pressing mechanism further comprises a first trapezoidal plate, a limiting rod and a second spring; the pressing block is slidably inserted into the support plate along the vertical direction, two vertical limiting rods are fixedly arranged on the pressing block, the two limiting rods are slidably inserted into the support plate along the vertical direction, and a second spring is sleeved on the outer side of each limiting rod, and the upper and lower ends of the second spring are in contact with the pressing block and the support plate respectively; a first trapezoidal plate is fixedly arranged on the left and right sides of the pressing block respectively, and the lower end surfaces of the two first trapezoidal plates are first contact inclined surfaces.

[0015] Further, the pressing mechanism further comprises an L-shaped rod, a third spring, a sliding cylinder, a tension spring and a cross-shaped rod; two left-right symmetrical L-shaped rods are arranged in the installation cavity, and the ends of the two L-shaped rods close to each other are located on the lower sides of the two first trapezoidal plates respectively; a left-right horizontal cross-shaped rod is fixedly arranged on the inner wall of the installation cavity on the left and right sides respectively, a cross groove is arranged on each L-shaped rod, the two cross-shaped rods are slidably inserted into the cross grooves of the two L-shaped rods respectively, and a tension spring is fixedly arranged between the two L-shaped rods; a sliding cylinder is fixedly arranged at the rear end of each L-shaped rod, and the two sliding cylinders are located on the sides away from the fixed plates respectively; a second plug-in rod is fixedly arranged on each fixed plate, the ends of the two second plug-in rods away from the fixed plates are slidably inserted into the sliding cylinders on the same side respectively, and a third spring is arranged in each sliding cylinder, and the two ends of the third spring are fixedly connected with the inner wall of the sliding cylinder and the end of the second plug-in rod.

[0016] Further, the cleaning mechanism is arranged on the UAV body, and comprises a slide rod, a driving gear, a toothed plate, a second trapezoidal plate, a trapezoidal block, a fourth spring, an eccentric wheel and a sleeve ring.

[0017] Further, the cleaning mechanism further comprises a cleaning brush, a limiting frame, an extension rod, a horizontal rod and a jacking rod.

[0018] The present application has the following beneficial effects over the prior art:

[0019] (1) through the drive mechanism control first barrier and second barrier alternately open and close, when the line, the second barrier is closed, effectively block the external high-voltage line generated electromagnetic interference, protect the internal electronic components work normally, the first barrier and the ventilation plate are in the open state, form a good air circulation channel, so that the unmanned aerial vehicle internal electronic components produce heat can be smoothly dissipated, enhance the air circulation, improve the heat dissipation efficiency, avoid the performance decline, short life or even failure damage due to heat accumulation of electronic components; Remove the high-voltage line when the sundries, the first barrier and the ventilation plate are closed to prevent electromagnetic interference, but the air passage and the air inlet pipe and the air outlet pipe are communicated, and the guide pipe extends to the lower side of the rotating paddle, the wind blown by the rotating paddle enters the unmanned aerial vehicle body through the guide pipe and the air inlet pipe, blows away the heat generated by the electronic components and is discharged through the air outlet pipe, ensures that the internal temperature is still suitable for work when it is close to the high-voltage line, protects the normal work of electronic components, the second barrier is opened, the cleaning device can clean the sundries on the high-voltage line through the opened second barrier. This dynamic barrier mode can be flexibly adjusted according to different working scenes to minimize the influence of electromagnetic interference on the unmanned aerial vehicle.

[0020] (2) through the design of the pressing mechanism to realize quick unlocking, facilitate the staff to take down the battery pack and install the new battery pack, greatly shorten the battery replacement time, improve the continuity of inspection operation; In the process of replacing the battery pack by pressing the pressing block, through the linkage of trapezoidal block, slide rod and eccentric wheel and other components, the cleaning brush moves to the lower side of the camera assembly, and under the action of the meshing rotation of the toothed plate and the drive gear, the cleaning brush swings on the lens of the camera assembly to remove the dust and stains on the lens, ensuring the clarity of the captured image. No need to set up a special cleaning device and operation steps, improve the practicability and inspection quality of the unmanned aerial vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0021] The application will be further described in detail below with reference to the accompanying drawings:

[0022] Figure 1 is the overall three-dimensional schematic of the application Figure 1 ;

[0023] Figure 2 is the overall three-dimensional schematic of the application Figure 2 ;

[0024] Figure 3 is the structure diagram of the cleaning device inside the cleaning shell;

[0025] Figure 4 is the structure diagram of the heat dissipation mechanism;

[0026] Figure 5 is the connection diagram between the cleaning device and the unmanned aerial vehicle body;

[0027] Figure 6 is Figure 5 is a partial enlarged view of A in FIG. 1;

[0028] Figure 7 is a structural view of the inside of the UAV body;

[0029] Figure 8 is a connection view between the driving mechanism and the first blocking plate;

[0030] Figure 9 is a connection view between the driving mechanism and the ventilation mechanism;

[0031] Figure 10 is Figure 9 is a partial enlarged view of B in FIG. 1;

[0032] Figure 11 is a connection view between the pressing mechanism and the cleaning mechanism Figure 1 ;

[0033] Figure 12 is a connection view between the pressing mechanism and the cleaning mechanism Figure 2 ;

[0034] Figure 13 is a structural view of the inside of the UAV body;

[0035] 1 is the UAV body, 2 is the cleaning device, 3 is the camera assembly, 4 is the first blocking plate, 5 is the second blocking plate, 6 is the fixed plate, 7 is the cleaning brush, 8 is the micro motor, 9 is the rotating rod, 10 is the sector gear, 11 is the driving rod, 12 is the support plate, 13 is the worm, 14 is the cleaning housing, 15 is the worm wheel, 16 is the first driving pulley, 17 is the first driven pulley, 18 is the first driving gear, 19 is the first driven gear, 20 is the limiting slide rail, 21 is the toothed belt, 22 is the second driving pulley, 23 is the second driven pulley, 24 is the second driving gear, 25 is the double-sided rack, 26 is the ventilation plate, 27 is the second driven gear, 28 is the shroud, 29 is the communication plate, 30 is the first spring, 31 is the air inlet pipe, 32 is the air outlet pipe, 33 is the guide pipe, 34 is the connecting rod, 35 is the pressing block, 36 is the first trapezoidal plate, 37 is the L-shaped rod, 38 is the limiting rod, 39 is the second spring, 40 is the third spring, 41 is the sliding cylinder, 42 is the tension spring, 43 is the cross-shaped rod, 44 is the sliding rod, 45 is the driving gear, 46 is the toothed plate, 47 is the second trapezoidal plate, 48 is the trapezoidal block, 49 is the fourth spring, 50 is the eccentric wheel, 51 is the collar, 52 is the limiting frame, 53 is the telescopic rod, 54 is the cross rod, and 55 is the jacking rod. DETAILED DESCRIPTION

[0036] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clear and explicit, the present application is further described in detail in combination with embodiments and drawings. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application. The technical solutions of the present application are described in detail below in combination with embodiments and drawings, but the protection scope is not limited thereto.

[0037] As Figure 1 As shown in FIG. 13, the present application provides a high-voltage line patrol anti-electromagnetic interference unmanned aerial vehicle, which comprises an unmanned aerial vehicle body 1, a camera assembly 3 is installed at the front end of the unmanned aerial vehicle body 1; a cleaning shell 14 is fixedly sleeved on the lower end of the unmanned aerial vehicle body 1, and a cleaning device 2 is installed inside the cleaning shell 14; a first blocking plate 4 which can be opened and closed is arranged at the lower end of the unmanned aerial vehicle body 1, and a second blocking plate 5 which can be opened and closed is arranged at the lower end of the cleaning shell 14; a detachable battery pack is installed inside the unmanned aerial vehicle body 1, and a pressing mechanism is arranged inside the unmanned aerial vehicle body 1 and the battery pack, the pressing mechanism comprises a pressing block 35 and two fixed plates 6 arranged on both sides of the battery pack, and the two fixed plates 6 are driven to move away from each other by pressing the pressing block 35 downward to release the battery pack; a driving mechanism is arranged between the first blocking plate 4 and the second blocking plate 5, and the first blocking plate 4 and the second blocking plate 5 are driven to open and close alternately by the driving mechanism.

[0038] A mounting cavity is arranged inside the unmanned aerial vehicle body 1, a detachable cover plate is arranged at the upper end opening of the mounting cavity, and the battery pack is installed inside the mounting cavity. One propeller is installed at each of the four corners of the unmanned aerial vehicle body 1. Two first blocking plates 4 which are left-right symmetrical are slidingly arranged at the lower end opening of the mounting cavity. When the two first blocking plates 4 move close to each other, the lower end opening of the mounting cavity remains closed; when the two first blocking plates 4 move away from each other, the lower end opening of the mounting cavity remains open.

[0039] The top plate of the cleaning shell 14 is fixedly connected with the outer side of the unmanned aerial vehicle body 1, the front side plate and the rear side plate of the cleaning shell 14 are both semicircular plate structures, and two left-right symmetrical first sliding grooves in the shape of an arc are arranged on the front side plate and the rear side plate of the cleaning shell 14. Two left-right symmetrical second blocking plates 5 are slidingly arranged between the front side plate and the rear side plate of the cleaning shell 14, and each of the second blocking plates 5 is in the shape of an arc. A first plug-in rod is fixedly arranged at each of the two ends of the front edge and the rear edge of each second blocking plate 5. The first plug-in rods on the front side and the rear side of the left second blocking plate 5 are slidingly plugged into the left first sliding grooves in the front side plate and the rear side plate respectively, and the first plug-in rods on the front side and the rear side of the right second blocking plate 5 are slidingly plugged into the right first sliding grooves in the front side plate and the rear side plate respectively. The first plug-in rods on the front side and the rear side of the second blocking plate 5 slidingly in the first sliding grooves in the front side plate and the rear side plate ensure the stability of the second blocking plate 5 when sliding. When the two second blocking plates 5 are close to each other, the lower end opening of the cleaning shell 14 remains closed; when the two second blocking plates 5 are away from each other, the lower end opening of the cleaning shell 14 remains open.

[0040] The driving mechanism comprises a micro motor 8, a rotating rod 9, a sector gear 10, a driving rod 11, a support plate 12, a worm 13, a worm wheel 15, a first belt transmission mechanism, a first driving gear 18, a first driven gear 19, a limiting sliding rail 20 and a toothed belt 21.

[0041] A horizontal support plate 12 is fixedly arranged at the middle height in the installation cavity, a micro motor 8 is fixedly arranged at the middle of the lower end surface of the support plate 12, the output shaft of the micro motor 8 is horizontally arranged along the left-right direction, and a worm 13 is fixedly arranged on the output shaft of the micro motor 8. Two left-right symmetrical rotating rods 9 are rotationally arranged in the installation cavity, and the two rotating rods 9 are located below the support plate 12 and are horizontally arranged along the front-rear direction. A worm wheel 15 is fixedly arranged on one of the rotating rods 9, and the worm wheel 15 is engaged with the worm 13.

[0042] One sector gear 10 is fixedly arranged at each of the front end and the rear end of each rotating rod 9, the two sector gears 10 located at the front ends of the two rotating rods 9 are engaged with each other, and the two sector gears 10 located at the rear ends of the two rotating rods 9 are engaged with each other.

[0043] The front and rear ends of each rotating rod 9 are fixedly provided with a driving rod 11, one end of the driving rod 11 is fixedly connected with the end of the rotating rod 9, and the other end of the driving rod 11 is rotatably connected with the first plug-in rod on the same side of the second blocking plate 5. Specifically, the end of the left front driving rod 11 away from the rotating rod 9 is rotatably connected with the first plug-in rod on the front end of the left second blocking plate 5, the end of the right front driving rod 11 away from the rotating rod 9 is rotatably connected with the first plug-in rod on the front end of the right second blocking plate 5, the end of the left rear driving rod 11 away from the rotating rod 9 is rotatably connected with the first plug-in rod on the rear end of the left second blocking plate 5, and the end of the right rear driving rod 11 away from the rotating rod 9 is rotatably connected with the first plug-in rod on the rear end of the right second blocking plate 5.

[0044] Two left-right symmetrical first driving gears 18 and two left-right symmetrical first driven gears 19 are rotatably arranged on the front inner wall and the rear inner wall of the installation cavity, the same side first driving gear 18 on the front inner wall of the installation cavity is meshed with the first driven gear 19, and the same side first driving gear 18 on the rear inner wall of the installation cavity is meshed with the first driven gear 19. Two left-right symmetrical limiting slide rails 20 are arranged on the front inner wall and the rear inner wall of the installation cavity, the front and rear ends of the left first blocking plate 4 are respectively slidably connected with the two limiting slide rails 20 on the left, and the front and rear ends of the right first blocking plate 4 are respectively slidably connected with the two limiting slide rails 20 on the right. A toothed belt 21 is fixedly arranged at the front and rear ends of the upper end surface of each of the two first blocking plates 4, the toothed belts 21 at the front and rear ends of the left first blocking plate 4 are respectively meshed with the two first driven gears 19 on the left, and the toothed belts 21 at the front and rear ends of the right first blocking plate 4 are respectively meshed with the two first driven gears 19 on the right.

[0045] Each rotating rod 9 is connected with two first driving gears 18 on the same side through two first belt transmission mechanisms. The first belt transmission mechanism comprises a first driving pulley 16, a first driven pulley 17 and a first belt. A first driven pulley 17 is fixedly arranged on each first driving gear 18, a first driving pulley 16 is fixedly arranged at the front and rear ends of each rotating rod 9, the two first driving pulleys 16 on the left rotating rod 9 correspond to the two first driven pulleys 17 on the left, the two first driving pulleys 16 on the right rotating rod 9 correspond to the two first driven pulleys 17 on the right, and the corresponding first driving pulley 16 and first driven pulley 17 are connected through a first belt.

[0046] The micro motor 8 drives one of the two rotating rods 9 to rotate through the intermeshing worm wheel 15 and worm 13. The rotating rod 9 drives the two fan gears 10 at the front and back ends of the rotating rod 9 and the driving rod 11 to rotate synchronously. Due to the intermeshing of the two fan gears 10 on the two rotating rods 9, the two rotating rods 9 rotate in the opposite directions synchronously. When the driving rod 11 rotates synchronously with the rotating rod 9, the first plug-in rod at the end of the second blocking plate 5 slides in the first sliding groove, thereby driving the second blocking plate 5 to slide. Since the two rotating rods 9 rotate in the opposite directions, the driving rods 11 on the left and right sides also rotate in the opposite directions, and the second blocking plates 5 on the left and right sides slide in the opposite directions, thereby realizing the mutual approach or mutual separation of the two second blocking plates 5. The two rotating rods 9 drive the two first driving gears 18 on the left side and the two first driving gears 18 on the right side to rotate in the opposite directions through the first belt transmission mechanism. The first driving gears 18 drive the first driven gears 19 engaged therewith to rotate in the opposite directions, so that the two first driven gears 19 on the left and right sides also rotate in the opposite directions. The first driven gears 19 on the left and right sides drive the toothed belts 21 on the left and right sides to slide in the opposite directions, and the toothed belts 21 on the left and right sides drive the first blocking plates 4 on the left and right sides to slide in the opposite directions, thereby realizing the mutual approach or mutual separation of the two first blocking plates 4.

[0047] The driving rod 11 is directly fixedly connected with the rotating rod 9 on the same side, so the rotating direction of the driving rod 11 is consistent with that of the corresponding rotating rod 9, and the sliding direction of the second blocking plate 5 is consistent with that of the rotating rod 9 on the same side. The rotating rod 9 is connected with the first driving gear 18 on the same side through the first belt transmission mechanism, so the rotating direction of the first driving gear 18 is consistent with that of the rotating rod 9 on the same side. The rotating directions of the intermeshing first driving gear 18 and first driven gear 19 are opposite, so the rotating direction of the first driven gear 19 is opposite to that of the rotating rod 9 on the same side. Under the drive of the first driven gear 19, the sliding direction of the toothed belt 21 and first blocking plate 4 is opposite to that of the rotating rod 9 on the same side. Therefore, when the two rotating rods 9 rotate in the opposite directions, the first blocking plates 4 and second blocking plates 5 on the same side slide in the opposite directions, thereby realizing the alternate opening and closing of the first blocking plates 4 and second blocking plates 5, i.e., when the two first blocking plates 4 approach each other, the two second blocking plates 5 are separated from each other, and when the two first blocking plates 4 are separated from each other, the two second blocking plates 5 approach each other.

[0048] The unmanned aerial vehicle body 1 is also provided with a ventilation mechanism, which comprises a second driving gear 24, a double-sided rack 25, a ventilation plate 26, a second driven gear 27 and a second belt transmission mechanism.

[0049] A row of ventilation slots are arranged on the left and right side walls of the installation cavity, and the ventilation slots are above the cleaning shell 14, each row of ventilation slots is equidistantly arranged along the vertical direction, and a ventilation plate 26 is rotatably arranged in each ventilation slot, and the rotation shaft of the ventilation plate 26 is horizontally arranged along the front-rear direction. Two second driving gears 24 are rotatably arranged on the rear inner walls of the installation cavity and are symmetrical to each other, and the two rotating rods 9 are respectively connected to the same side second driving gear 24 through a second belt transmission mechanism. The second belt transmission mechanism comprises a second driving pulley 22, a second driven pulley 23 and a second belt, wherein the second driving pulley 22 is fixedly arranged on the rotating rod 9, the second driven pulley 23 is fixedly arranged on the second driving gear 24, and the second driving pulley 22 and the second driven pulley 23 are connected by the second belt. A gear slot is arranged on the rear end of the left and right inner walls of the installation cavity, and the rear end of the rotation shaft of each ventilation plate 26 extends into the same side gear slot and is fixedly arranged with a second driven gear 27. Two symmetrical double-sided racks 25 are slidably arranged on the rear inner walls of the installation cavity, the double-sided racks 25 slide along the vertical direction, the double-sided racks 25 are between the same side second driving gear 24 and a row of second driven gears 27, and the double-sided racks 25 are simultaneously engaged with the same side second driving gear 24 and a row of second driven gears 27.

[0050] The rotating rod 9 drives the same side second driving gear 24 to rotate through the second belt transmission mechanism, and the rotating direction of the second driving gear 24 is consistent with the rotating direction of the same side rotating rod 9. The second driving gear 24 drives the same side double-sided rack 25 to slide, and the double-sided rack 25 drives a row of second driven gears 27 engaged therewith to rotate, and a row of ventilation plates 26 on the same side are driven by a row of second driven gears 27 to rotate, thereby realizing the opening or closing of a row of ventilation slots. Under the action of the double-sided rack 25, the second driving gears 24 and the second driven gears 27 on both sides rotate in opposite directions, so the rotating direction of a row of second driven gears 27 is opposite to the rotating direction of the same side rotating rod 9, and the rotating direction of a row of ventilation plates 26 is opposite to the rotating direction of the same side rotating rod 9. Therefore, the rotating direction of the same side second driven gear 27 and the first driven gear 19 is opposite, and both are opposite to the rotating direction of the same side rotating rod 9, so that when the two first blocking plates 4 move away from each other, a row of ventilation slots are in an open state; when the two first blocking plates 4 move close to each other, a row of ventilation slots are in a closed state.

[0051] Therefore, when the lower end opening of the cleaning shell 14 is in an open state, the lower end opening of the installation cavity and the ventilation slots on the left and right sides of the installation cavity are in a closed state; when the lower end opening of the cleaning shell 14 is in a closed state, the lower end opening of the installation cavity and the ventilation slots on the left and right sides of the installation cavity are in an open state.

[0052] The unmanned aerial vehicle body 1 is further provided with a heat dissipation mechanism, which comprises a first spring 30, a communication plate 29, an air inlet pipe 31, an air outlet pipe 32, a guide pipe 33 and a connecting rod 34.

[0053] Two left-right symmetrical sliding grooves are arranged at the rear end of the unmanned aerial vehicle body 1, and one communication plate 29 is slidably arranged in each sliding groove along the vertical direction. The lower end of the communication plate 29 is provided as a circular arc surface, and the upper end of the communication plate 29 is fixedly provided with a first spring 30. The upper end of the first spring 30 is fixedly connected with the top surface of the sliding groove. A wind passing groove communicating with the inside of the installation cavity is arranged on the inner wall of each sliding groove, and a communication groove is arranged on each communication plate 29. A shroud 28 is fixedly arranged outside the rear side plate of the cleaning shell 14, and an air inlet pipe 31 and an air outlet pipe 32 are fixedly arranged on the rear shroud 28. The connecting ports of the air inlet pipe 31 and the air outlet pipe 32 on the shroud 28 correspond to the two wind passing grooves respectively.

[0054] The outer side of one end of the air inlet pipe 31 is kept horizontal, and a guide pipe 33 is slidably sleeved on the outer side of one end of the air inlet pipe 31. The end of the guide pipe 33 away from the air inlet pipe 31 is vertically upward. A third plug-in rod is fixedly arranged on the guide pipe 33, and an arc-shaped second sliding groove is arranged on the rear shroud 28. The third plug-in rod is slidably plugged into the second sliding groove. A connecting rod 34 is arranged inside the rear shroud 28. One end of the connecting rod 34 is hingedly connected with the drive rod 11 close to the air inlet pipe 31, and the other end of the connecting rod 34 is hingedly connected with the third plug-in rod.

[0055] When the two second blocking plates 5 are in the state of approaching each other, the lower end of the cleaning shell 14 is in the closed state, the two drive rods 11 on the rear side are close to each other, and the two communication plates 29 are not subjected to upward force. Under the action of the rebound force of the first spring 30, the communication plate 29 is located at the lower end of the inner side of the sliding groove. The communication groove on the communication plate 29 is dislocated with the wind passing groove, the communication plate 29 blocks the wind passing groove, and the air inlet pipe 31 and the air outlet pipe 32 are isolated from the two wind passing grooves.

[0056] When the two second blocking plates 5 begin to move away from each other, the lower end of the cleaning shell 14 is gradually opened, the two rear driving rods 11 are gradually rotated upwards along the opposite direction, and gradually contact the lower end of the two communication plates 29, so that the two communication plates 29 are subjected to upward force, the two communication plates 29 slide upwards against the elastic force of the first springs 30, the first springs 30 are compressed, the communication grooves on the two communication plates 29 are communicated with the two air passing grooves, at this time, the air inlet pipe 31 and the air outlet pipe 32 also maintain communication with the two air passing grooves. As the two rear driving rods 11 are rotated upwards along the opposite direction, one of the driving rods 11 drives the guide pipe 33 to slide outwards of the air inlet pipe 31 through the connecting rod 34, so that the guide pipe 33 moves away from the opening at one end of the air inlet pipe 31 to below the nearest propeller, and the airflow generated by the rotation of the propeller enters the installation cavity through the guide pipe 33, the air inlet pipe 31 and the air passing groove, thereby ventilating and cooling the components in the installation cavity. Since the lower end opening of the installation cavity and the ventilation windows on the left and right sides are in a closed state at this time, the airflow after heat dissipation can only be discharged outwardly from the air outlet pipe 32.

[0057] When the two blocking plates move close to each other again, the two rear driving rods 11 are gradually rotated downwards along the opposite direction, and gradually disengage from the lower end of the two communication plates 29, the two communication plates 29 slide downwards under the elastic force of the first springs 30, the communication grooves on the communication plates 29 are again misaligned with the air passing grooves, the communication plates 29 block the air passing grooves, and the air inlet pipe 31 and the air outlet pipe 32 are again isolated from the two air passing grooves, thereby ensuring that the airflow from the outside does not enter the installation cavity to cause interference.

[0058] The pressing mechanism further comprises a first trapezoidal plate 36, an L-shaped rod 37, a limiting rod 38, a second spring 39, a third spring 40, a sliding cylinder 41, a tension spring 42 and a cross-shaped rod 43.

[0059] The pressing block 35 is slidably inserted into the support plate 12 in the vertical direction, the pressing block 35 is an inverted U-shaped rod structure, and the pressing block 35 is located on the front side of the battery pack. Two vertical limiting rods 38 are fixedly arranged on the pressing block 35, both of which are slidably inserted into the support plate 12 in the vertical direction, and the lower end of the limiting rod 38 extends to the lower side of the support plate 12 and is fixedly provided with an anti-disengagement ring; a second spring 39 is sleeved on the outer side of each limiting rod 38, and the upper and lower ends of the second spring 39 are in contact with the pressing block 35 and the support plate 12, respectively. The limiting rod 38 ensures the stable sliding of the pressing block 35 in the vertical direction, and the second spring 39 ensures the smooth rebound of the pressed pressing block 35. A first trapezoidal plate 36 is fixedly arranged on the left and right sides of the pressing block 35, respectively, and the lower end surface of the two first trapezoidal plates 36 is a first contact inclined surface, and the end of the two first contact inclined surfaces close to each other is inclined downward.

[0060] Two L-shaped rods 37 are arranged inside the installation cavity, and the L-shaped rods 37 include transverse rods and longitudinal rods, the transverse rods are horizontally arranged along the left-right direction, the longitudinal rods are horizontally arranged along the front-back direction, and front ends of the longitudinal rods are fixedly connected with outer ends of the transverse rods. The transverse rods of the two L-shaped rods 37 are respectively located on the left and right sides of the pressing block 35, inner ends of the transverse rods are in a spherical surface structure, and the inner ends of the transverse rods of the two L-shaped rods 37 are respectively located below the two first trapezoidal plates 36. A cross-shaped rod 43 horizontally arranged along the left-right direction is fixedly arranged on the inner wall of the installation cavity, a cross-shaped groove is arranged on the longitudinal rod of each L-shaped rod 37, and the two cross-shaped rods 43 are respectively and slidingly inserted into the cross-shaped grooves of the two L-shaped rods 37, so that the two L-shaped rods 37 can stably slide along the left-right direction. A tension spring 42 horizontally arranged along the left-right direction is fixedly arranged between the longitudinal rods of the two L-shaped rods 37. A sliding cylinder 41 is fixedly arranged at the rear end of the longitudinal rod of each L-shaped rod 37, and the two sliding cylinders 41 are located on the side, away from each other, of the two fixed plates 6. A second insertion rod horizontally arranged along the left-right direction is fixedly arranged on the side, away from each other, of the two fixed plates 6, and the two second insertion rods are slidingly inserted into the sliding cylinders 41 on the same side. A third spring 40 is arranged in each sliding cylinder 41, and two ends of the third spring 40 are fixedly connected with the inner wall of the sliding cylinder 41 and the end of the second insertion rod.

[0061] When no downward pressing force is applied to the pressing block 35, the pressing block 35 is located at the highest position under the elastic force of the second spring 39, and the inner ends of the transverse rods of the two L-shaped rods 37 are not in contact with the first contact inclined surfaces at the lower ends of the two first trapezoidal plates 36. Under the elastic force of the tension spring 42, the two L-shaped rods 37 are close to each other, the two sliding cylinders 41 are also close to each other, and the two fixed plates 6 are also close to each other under the elastic force of the third spring 40, so that the two fixed plates 6 can stably clamp the battery pack.

[0062] When the battery pack needs to be replaced, the pressing block 35 is pressed downward, the pressing block 35 drives the two first trapezoidal plates 36 to move downward, the second spring 39 is compressed, the first contact inclined surfaces at the lower ends of the two first trapezoidal plates 36 gradually come into contact with the inner ends of the transverse rods of the two L-shaped rods 37, the first contact inclined surfaces apply extrusion force to the transverse rods of the two L-shaped rods 37, the two L-shaped rods 37 are away from each other, the tension spring 42 is stretched, the two L-shaped rods 37 drive the two sliding cylinders 41 to be away from each other, and the two sliding cylinders 41 drive the two fixed plates 6 to be away from each other, so that the battery pack is released, and the battery pack can be replaced at this time.

[0063] When the battery pack is replaced, the pressing block 35 is loosened, and the pressing block 35 moves upward under the elastic force of the second spring 39, the two first trapezoidal plates 36 are also moved upward, the first contact slope at the lower end of the first trapezoidal plate 36 gradually separates from the inner side of the horizontal rod of the L-shaped rod 37, the first contact slope no longer extrudes the inner side of the horizontal rod of the L-shaped rod 37, and under the elastic force of the tension spring 42, the two L-shaped rods 37 are close to each other again, the two sliding cylinders 41 are also close to each other again, and the two fixed plates 6 are also close to each other again, so as to stably clamp and fix the battery pack again.

[0064] The cleaning mechanism is arranged on the UAV body 1, and includes a cleaning brush 7, a sliding rod 44, a driving gear 45, a toothed plate 46, a second trapezoidal plate 47, a trapezoidal block 48, a fourth spring 49, an eccentric wheel 50, a sleeve ring 51, a limiting frame 52, an extension rod 53, a horizontal rod 54, and a top rod 55.

[0065] A front-to-back horizontal sliding rod 44 is movably inserted into the front side wall of the installation cavity, and can slide front-to-back on the front side wall of the installation cavity and can also rotate on the front side wall of the installation cavity. The sliding rod 44 is movably inserted into the pressing block 35, a driving gear 45 is fixedly arranged at the rear end of the sliding rod 44, and a vertical toothed plate 46 is fixedly arranged on the inner wall of the pressing block 35. Two left-right symmetrical second trapezoidal plates 47 are fixedly arranged on the front side wall of the pressing block 35, the lower end of the second trapezoidal plate 47 is provided with a second contact slope, and the upper end of the second contact slope is inclined forward. The trapezoidal block 48 is rotatably sleeved outside the sliding rod 44, the trapezoidal block 48 is slidingly connected to the upper end face of the support plate 12 in the front-to-back direction, the upper end of the trapezoidal block 48 is provided with a third contact slope, and the upper end of the third contact slope is inclined forward. The third contact slope at the upper end of the trapezoidal block 48 is in sliding fit with the second contact slope at the lower end of the two second trapezoidal plates 47. The fourth spring 49 is sleeved outside the sliding rod 44, the front end of the fourth spring 49 is in contact with the inner front side wall of the installation cavity, and the rear end of the fourth spring 49 is in contact with the front end face of the trapezoidal block 48. The shroud 28 is fixedly arranged outside the front side plate of the cleaning shell 14, the front end of the sliding rod 44 extends to the outside of the front shroud 28 and is fixedly provided with the eccentric wheel 50, and the sleeve ring 51 is rotatably sleeved outside the eccentric wheel 50.

[0066] The cleaning brush 7 is rotatably arranged at the upper end of the sleeve ring 51, and a torsion spring is arranged between the cleaning brush 7 and the sleeve ring 51. The cleaning brush 7 is located below the camera assembly 3. A front-to-back horizontal top rod 55 is also fixedly arranged at the front end of the front shroud 28, and the front end of the top rod 55 abuts against the cleaning brush 7.

[0067] A limiting frame 52 is fixedly arranged at the lower end of the collar 51, and the limiting frame 52 is in the shape of an inverted U-shaped rod. A telescopic rod 53 is fixedly arranged at the front end of the front-side shroud 28, and the telescopic end of the telescopic rod 53 slides in the front-rear direction. A horizontal cross rod 54 is slidably inserted into the telescopic end of the telescopic rod 53, and the end of the cross rod 54 away from the telescopic rod 53 is movably inserted into the limiting frame 52. Two clamping rings are fixedly arranged on the cross rod 54, and the two clamping rings are located at the two sides of the limiting frame 52.

[0068] When no downward pressing force is applied to the pressing block 35, the pressing block 35 is at the highest position, and the trapezoidal block 48 drives the sliding rod 44 to be at the last side position under the elastic force of the fourth spring 49. At this time, the driving gear 45 is located at the rear side of the pressing block 35.

[0069] When the pressing block 35 is subjected to a downward pressing force, the pressing block 35 drives the second trapezoidal plate 47 to slide downward, and the second contact inclined surface at the lower end of the second trapezoidal plate 47 applies a forward extrusion force to the third contact inclined surface at the upper end of the trapezoidal block 48, so that the trapezoidal block 48 drives the sliding rod 44 to slide forward, and the fourth spring 49 is compressed. The sliding rod 44 also drives the driving gear 45 to slide forward, and the driving gear 45 moves into the pressing block 35. The sliding rod 44 also drives the eccentric wheel 50, the collar 51, the cleaning brush 7, and the limiting frame 52 to slide forward together, and the cleaning brush 7 gradually separates from the jacking rod 55. Under the elastic force of the torsional spring, the cleaning brush 7 gradually rotates to the vertical state. The collar 51 also drives the limiting frame 52 to slide forward, and the limiting frame 52 drives the telescopic end of the telescopic rod 53 to slide forward through the cross rod 54.

[0070] As the pressing block 35 continues to slide downward, the second contact inclined surface at the lower end of the second trapezoidal plate 47 separates from the third contact inclined surface at the upper end of the trapezoidal block 48, and the trapezoidal block 48 no longer drives the sliding rod 44 to continue to slide forward. The sliding rod 44 no longer drives the driving gear 45, the eccentric wheel 50, the collar 51, the limiting frame 52, and the cleaning brush 7 to continue to slide forward. At this time, the cleaning brush 7 completely separates from the jacking rod 55, and the cleaning brush 7 rotates to the vertical state and is in contact with the lens surface of the camera assembly 3.

[0071] As the pressing block 35 continues to slide downward, the tooth plate 46 gradually engages with the driving gear 45, and the driving gear 45 begins to rotate under the driving of the tooth plate 46. The driving gear 45 drives the sliding rod 44 to rotate, and the sliding rod 44 drives the eccentric wheel 50 to rotate. Under the interaction of the limiting frame 52 and the cross rod 54, the eccentric wheel 50 drives the collar 51 to reciprocate, and the collar 51 drives the cleaning brush 7 to reciprocate, thereby wiping and cleaning the lens.

[0072] The unmanned aerial vehicle body 1 is internally installed with a vision module, and the unmanned aerial vehicle positioning is realized through image matching by an absolute visual positioning (AVL) technology, which does not depend on historical data and reduces error accumulation, and is suitable for long-time flight and large-area region. The AVL is particularly important in GNSS signal limited environments, such as urban canyons, underground spaces or indoor environments. Deep learning technologies, especially convolutional neural networks (CNN) and visual transformers (ViT), significantly improve the AVL performance, making it adaptable to complex scenarios, including lighting, viewing angles and weather changes. The AVL image matching method is divided into large-scale matching, fine-grained matching and hybrid methods, involving global image description, key point and pixel correspondence and the combination of the advantages of the two technologies.

[0073] In terms of unmanned aerial vehicle image data acquisition, multiple public datasets provide resources for visual positioning algorithm verification and performance evaluation. Large-scale matching uses global image descriptors to realize unmanned aerial vehicle and satellite image matching, based on image retrieval principles, using CNN or ViT to generate image embeddings or global descriptors. Fine-grained matching accurately aligns image detail features or points, capturing complex details through multi-scale feature extraction, without relying on key point detectors, but directly generating dense pixel-level matching. Hybrid methods combine the advantages of large-scale matching and fine-grained matching to provide efficient and accurate positioning solutions, using a two-stage strategy to first perform large-scale retrieval and then ensure image accurate alignment through fine-grained matching.

[0074] Large-scale matching and fine-grained matching techniques play a key role in the unmanned aerial vehicle absolute visual positioning system. Large-scale matching relies on metric learning techniques, using CNN or ViT to generate global image descriptors, effectively matching unmanned aerial vehicle and satellite images with high precision and efficiency. Fine-grained matching can achieve pixel-level accurate alignment through multi-scale feature extraction and deep learning methods, improving matching accuracy. Hybrid methods combine the advantages of large-scale matching and fine-grained matching, first performing large-scale retrieval and then optimizing through fine matching, thereby providing a more balanced solution.

[0075] The working principle of the present application is as follows:

[0076] The unmanned aerial vehicle body 1 starts to run, and the camera assembly 3 arranged at the front end of the unmanned aerial vehicle body 1 starts to perform omnidirectional and high-precision line inspection on the high-voltage line; the camera assembly 3 captures image information of the high-voltage line in real time and transmits it to the ground control station, and ground personnel can accurately master the running state of the high-voltage line according to the information.

[0077] In the initial state, the two first blocking plates 4 are away from each other, the lower end opening of the installation cavity and the left and right ventilation slots are in the open state, so that the heat generated by the internal electronic components of the unmanned aerial vehicle can be smoothly dissipated; at the same time, further enhance the air circulation, improve the heat dissipation efficiency. The two second blocking plates 5 are close to each other, and the lower end opening of the cleaning shell 14 is in the closed state, effectively blocking the electromagnetic interference generated by the external high-voltage line, protecting the normal work of the internal electronic components of the unmanned aerial vehicle body 1, and ensuring the stable operation of the key functions such as communication, navigation, and obstacle avoidance.

[0078] When the camera assembly 3 detects that there are sundries such as plastic film and gauze wrapped on the high-voltage line, the unmanned aerial vehicle body 1 immediately starts the response program; the micro motor 8 starts, drives the two second blocking plates 5 away from each other, and the lower end of the cleaning shell 14 remains open, preparing for the subsequent operation of the cleaning device 2. At the same time, the two first blocking plates 4 are close to each other, and the left and right ventilation plates 26 are rotated, so that the lower end opening of the installation cavity and the left and right ventilation slots remain closed, preventing the internal electronic components from being disturbed by electromagnetic interference during the cleaning operation.

[0079] In the process of the two second blocking plates 5 moving away from each other, the two drive rods 11 on the back side rotate upward in opposite directions and gradually come into contact with the lower end of the two communication plates 29, so that the two communication plates 29 are subjected to upward force, the two communication plates 29 slide upward against the elastic force of the first spring 30, the first spring 30 is compressed, and the communication slots on the two communication plates 29 are in communication with the two air passing slots. At this time, the air inlet pipe 31 and the air outlet pipe 32 are also in communication with the two air passing slots. As the two drive rods 11 on the back side rotate upward in opposite directions, one of the drive rods 11 drives the duct 33 to slide outward from the air inlet pipe 31 through the connecting rod 34, so that the duct 33 moves away from the opening at one end of the air inlet pipe 31 to the position below the nearest propeller. The airflow generated by the rotation of the propeller enters the installation cavity through the duct 33, the air inlet pipe 31, and the air passing slot, thereby ventilating and cooling the internal components of the installation cavity, ensuring that the internal temperature of the unmanned aerial vehicle body 1 is appropriate. Since the lower end opening of the installation cavity and the left and right ventilation windows are in the closed state at this time, the airflow after heat dissipation can only be discharged outward from the air outlet pipe 32.

[0080] When the lower end opening of the cleaning shell 14 is opened, the cleaning device 2 can remove the sundries wrapped on the high-voltage line through the opening. After cleaning, the micro motor 8 is reversed to rotate, and each component is reset in the opposite order to restore the initial state, and the unmanned aerial vehicle body 1 continues to operate the line inspection.

[0081] When the power of the UAV body 1 reaches the warning value, the UAV is lowered to the target point, preparing for the battery pack replacement operation. First, remove the cover plate at the upper end of the UAV body 1, press down the pressing block 35, the pressing block 35 drives the two first trapezoidal plates 36 to move downward, the second spring 39 is compressed, the first contact slope at the lower end of the two first trapezoidal plates 36 gradually contacts one end of the inner side of the horizontal rod of the two L-shaped rods 37, the first contact slope applies a squeezing force to the horizontal rod of the two L-shaped rods 37, so that the two L-shaped rods 37 move away from each other, the tension spring 42 is stretched, the two L-shaped rods 37 drive the two sliding cylinders 41 to move away from each other, the two sliding cylinders 41 drive the two fixed plates 6 to move away from each other, thereby loosening the battery pack. At this time, the battery pack can be replaced.

[0082] In the process of sliding the pressing block 35 downward, the second trapezoidal plate 47 is also slid downward, the second contact slope at the lower end of the second trapezoidal plate 47 applies a forward squeezing force to the third contact slope at the upper end of the trapezoidal block 48, so that the trapezoidal block 48 drives the sliding rod 44 to slide forward, and the fourth spring 49 is compressed. The sliding rod 44 drives the drive gear 45 to slide forward as well, and the drive gear 45 moves into the pressing block 35. The sliding rod 44 drives the eccentric wheel 50, the sleeve ring 51, the cleaning brush 7, and the limiting frame 52 to slide forward as well, and the cleaning brush 7 gradually separates from the top rod 55. The cleaning brush 7 gradually rotates to a vertical state under the action of the torsional spring. The sleeve ring 51 drives the limiting frame 52 to slide forward as well, and the limiting frame 52 drives the telescopic end of the telescopic rod 53 to slide forward through the horizontal rod 54.

[0083] As the pressing block 35 continues to slide downward, the second contact slope at the lower end of the second trapezoidal plate 47 separates from the third contact slope at the upper end of the trapezoidal block 48, and the trapezoidal block 48 no longer drives the sliding rod 44 to continue to slide forward. The sliding rod 44 no longer drives the drive gear 45, the eccentric wheel 50, the sleeve ring 51, the limiting frame 52, and the cleaning brush 7 to continue to slide forward. At this time, the cleaning brush 7 is completely separated from the top rod 55, the cleaning brush 7 rotates to a vertical state and is in close contact with the lens surface of the camera assembly 3.

[0084] As the pressing block 35 continues to slide downward, the second contact slope at the lower end of the second trapezoidal plate 47 separates from the third contact slope at the upper end of the trapezoidal block 48, and the trapezoidal block 48 no longer drives the sliding rod 44 to continue to slide forward. The sliding rod 44 no longer drives the drive gear 45, the eccentric wheel 50, the sleeve ring 51, the limiting frame 52, and the cleaning brush 7 to continue to slide forward. At this time, the cleaning brush 7 is completely separated from the top rod 55, the cleaning brush 7 rotates to a vertical state and is in close contact with the lens surface of the camera assembly 3.

[0085] When the battery pack is replaced, the pressing block 35 is loosened, the pressing block 35 is moved upward under the elastic force of the second spring 39, the two first trapezoidal plates 36 are also moved upward under the driving of the pressing block 35, the first contact inclined surface at the lower end of the first trapezoidal plate 36 gradually separates from the inner side of the horizontal rod of the L-shaped rod 37, the first contact inclined surface no longer extrudes the inner side of the horizontal rod of the L-shaped rod 37, under the elastic force of the tension spring 42, the two L-shaped rods 37 are close to each other again, the two sliding cylinders 41 are also close to each other again, and the two fixed plates 6 are also close to each other again, so as to clamp and stabilize the battery pack again.

[0086] The pressing block 35 slides upward and drives the second trapezoidal plate 47 to slide upward, the tooth plate 46 in the inner side of the pressing block 35 gradually separates from the driving gear 45, the driving gear 45 no longer rotates, the sliding rod 44 no longer drives the eccentric wheel 50 to rotate, and the cleaning brush 7 no longer swings and wipes the lens. With the second trapezoidal plate 47 sliding upward and gradually separating from the trapezoidal block 48, under the elastic force of the fourth spring 49, the trapezoidal block 48 drives the sliding rod 44 to slide backward, the sliding rod 44 drives the driving gear 45, the eccentric wheel 50, the sleeve ring 51, the cleaning brush 7 and the limiting frame 52 to slide backward, the cleaning brush 7 is in contact with the top rod 55 again and is extruded, the torsional spring is compressed again, and then the initial state is restored.

[0087] The standard parts used in the application can be purchased from the market, the special-shaped parts can be ordered according to the description and drawings, the specific connection mode of each part adopts the conventional means such as bolts, rivets and welding in the prior art, the mechanical parts and equipment adopt the conventional types in the prior art, and the circuit connection adopts the conventional connection mode in the prior art, which will not be described in detail here.

[0088] It is apparent for those skilled in the art that the application is not limited to the details of the above-described exemplary embodiments, but can be implemented in other concrete forms without departing from the spirit or essential characteristics of the application. Therefore, the embodiments should be considered as exemplary and non-limiting, the scope of the application is defined by the appended claims rather than the above description, and all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the application. Any reference signs in the claims should not be considered as limiting the involved claims.

Claims

1. A high-voltage power line inspection anti-electromagnetic interference drone, characterized in that: The device includes a drone body (1), with a camera assembly (3) installed at the front end of the drone body (1); a cleaning shell (14) is fixedly sleeved on the lower outer side of the drone body (1), and a cleaning device (2) is installed inside the cleaning shell (14); a first barrier plate (4) that can be opened and closed is provided at the lower end of the drone body (1), and a second barrier plate (5) that can be opened and closed is provided at the lower end of the cleaning shell (14); a detachable battery pack is installed inside the drone body (1), and a pressing mechanism is provided inside the battery pack and the drone body (1). The pressing mechanism includes a pressing block (35) and two fixing plates (6) set on both sides of the battery pack. By pressing down the pressing block (35), the two fixing plates (6) are driven to move away from each other and release the battery pack; a driving mechanism is provided between the first barrier plate (4) and the second barrier plate (5), and the first barrier plate (4) and the second barrier plate (5) are opened and closed alternately by the driving mechanism. An installation cavity is provided inside the UAV body (1). The drive mechanism includes a rotating rod (9), a sector gear (10), and a drive rod (11). Two symmetrical rotating rods (9) are rotatably arranged inside the installation cavity. The front and rear ends of each rotating rod (9) extend to the outer side of the front and rear side walls of the installation cavity. A sector gear (10) is fixedly arranged at the front and rear ends of each rotating rod (9). The two sector gears (10) located at the same end of the two rotating rods (9) mesh with each other. A drive rod (11) is fixedly arranged at the front and rear ends of each rotating rod (9). A ventilation mechanism is also provided on the UAV body (1), which includes a second driving gear (24), a double-sided rack (25), a ventilation plate (26), a second driven gear (27), and a second belt drive mechanism; a row of ventilation slots is provided on the left and right walls of the mounting cavity, and a ventilation plate (26) is rotatably installed inside each ventilation slot; two second driving gears (24) are rotatably installed on the rear inner wall of the mounting cavity; two rotating rods (9) are respectively connected to the second driving gears (24) on the same side through a set of second belt drive mechanisms; in the mounting cavity A gear groove is provided at the rear end of the inner wall on both the left and right sides. The rear end of the shaft of each ventilation plate (26) extends into the gear groove on the same side and is fixedly provided with a second driven gear (27). Two symmetrical double-sided racks (25) are slidably provided on the rear inner wall of the mounting cavity. The double-sided racks (25) slide along the vertical direction. The double-sided racks (25) are located between the second driving gear (24) and a row of second driven gears (27) on the same side. The double-sided racks (25) mesh with the second driving gear (24) and a row of second driven gears (27) on the same side at the same time. The drone body (1) is also equipped with a heat dissipation mechanism, which includes a first spring (30), a connecting plate (29), an air inlet pipe (31), an air outlet pipe (32), a duct (33), and a connecting rod (34). Two left-right symmetrical sliding grooves are provided at the rear end of the drone body (1). A connecting plate (29) is slidably installed in each sliding groove along the vertical direction. A first spring (30) is fixedly installed at the upper end of the connecting plate (29), and the upper end of the first spring (30) is fixedly connected to the top surface of the sliding groove. An air passage groove connected to the inside of the mounting cavity is provided on the inner wall of each sliding groove, and a connecting groove is provided on each connecting plate (29). A protective cover (28) is fixedly installed on the outer side of the rear side plate of the cleaning shell (14). An air inlet pipe (31) and an air outlet pipe (32) are fixedly installed on the protective cover (28). The connection ports of the air inlet pipe (31) and the air outlet pipe (32) with the rear protective cover (28) are respectively corresponding to two air passage slots. One end of the outer side of the air inlet pipe (31) is kept horizontal. A guide pipe (33) is slidably sleeved on one end of the outer side of the air inlet pipe (31). A third plug rod is fixedly installed on the guide pipe (33). An arc-shaped second sliding groove is provided on the rear protective cover (28). The third plug rod is slidably inserted into the second sliding groove. A connecting rod (34) is provided inside the rear protective cover (28). One end of the connecting rod (34) is hinged to the drive rod (11) on the side near the air inlet pipe (31). The other end of the connecting rod (34) is hinged to the third plug rod.

2. The high-voltage line inspection anti-electromagnetic interference drone according to claim 1, characterized in that: Two symmetrical first barrier plates (4) are slidably disposed at the lower opening of the mounting cavity; the top plate of the cleaning shell (14) is fixedly connected to the outer side of the UAV body (1), and two symmetrical arc-shaped first sliding grooves are provided on the front and rear side plates of the cleaning shell (14); two symmetrical second barrier plates (5) are slidably disposed between the front and rear side plates of the cleaning shell (14), and a first insertion rod is fixedly disposed at both ends of the front and rear edges of each second barrier plate (5). The first insertion rods on the front and rear sides of the second barrier plate (5) on the left side are slidably inserted into the first sliding groove on the left side of the front and rear side plates respectively, and the first insertion rods on the front and rear sides of the second barrier plate (5) on the right side are slidably inserted into the first sliding groove on the right side of the front and rear side plates respectively.

3. The high-voltage line inspection anti-electromagnetic interference drone according to claim 2, characterized in that: The drive mechanism also includes a micro motor (8), a support plate (12), a worm (13), and a worm wheel (15); a support plate (12) is fixedly installed inside the mounting cavity, a micro motor (8) is fixedly installed in the middle of the lower end face of the support plate (12), a worm (13) is fixedly installed on the output shaft of the micro motor (8), and a worm wheel (15) is fixedly installed on one of the rotating rods (9), and the worm wheel (15) meshes with the worm (13); one end of the drive rod (11) is fixedly connected to the end of the rotating rod (9), and the other end of the drive rod (11) is rotatably connected to the first plug rod on the second barrier plate (5) on the same side.

4. The high-voltage line inspection anti-electromagnetic interference drone according to claim 3, characterized in that: The drive mechanism further includes a first belt drive mechanism, a first driving gear (18), a first driven gear (19), a limiting slide rail (20), and a toothed belt (21); two left-right symmetrical first driving gears (18) and two left-right symmetrical first driven gears (19) are rotatably arranged on the front inner wall and the rear inner wall of the mounting cavity. The first driving gears (18) and first driven gears (19) located on the same side of the front inner wall and the rear inner wall of the mounting cavity are engaged. Each is provided with two left-right symmetrical limit slide rails (20). The front and rear ends of each first barrier plate (4) are respectively slidably engaged with the front and rear limit slide rails (20) on the same side. A toothed belt (21) is fixedly provided at the front and rear ends of the upper end of each of the two first barrier plates (4). The toothed belts (21) at the front and rear ends of each first barrier plate (4) are respectively engaged with the two first driven gears (19) on the same side. Each rotating rod (9) is connected to the two first driving gears (18) on the same side through two sets of first belt drive mechanisms.

5. The high-voltage line inspection anti-electromagnetic interference drone according to claim 3, characterized in that: The pressing mechanism also includes a first trapezoidal plate (36), a limiting rod (38), and a second spring (39); the pressing block (35) is slidably inserted into the support plate (12) along the vertical direction, and two vertical limiting rods (38) are fixedly installed on the pressing block (35). Both limiting rods (38) are slidably inserted into the support plate (12) along the vertical direction. A second spring (39) is sleeved on the outside of each limiting rod (38). The upper and lower ends of the second spring (39) are in contact with the pressing block (35) and the support plate (12) respectively; a first trapezoidal plate (36) is fixedly installed on the left and right sides of the pressing block (35), and the lower end surface of the two first trapezoidal plates (36) is the first contact slope.

6. The high-voltage line inspection anti-electromagnetic interference drone according to claim 5, characterized in that: The pressing mechanism also includes an L-shaped rod (37), a third spring (40), a slide cylinder (41), a tension spring (42), and a cross-shaped rod (43); two symmetrical L-shaped rods (37) are provided inside the mounting cavity, with the ends of the two L-shaped rods (37) located close to each other on the lower side of the two first trapezoidal plates (36); a horizontal cross-shaped rod (43) is fixedly provided on the inner walls of the left and right sides of the mounting cavity, and a cross groove is provided on each of the two L-shaped rods (37), with the two cross-shaped rods (43) slidingly inserted into the cross grooves of the two L-shaped rods (37). A tension spring (42) is fixed between two L-shaped rods (37); a slide cylinder (41) is fixedly installed at the rear end of each of the two L-shaped rods (37), and the two slide cylinders (41) are located on the side of the two fixed plates (6) that are far apart from each other; a second plug rod is fixedly installed on each of the two fixed plates (6), and the ends of the two second plug rods that are far away from the fixed plates (6) are slidably inserted into the slide cylinders (41) on the same side; a third spring (40) is installed inside each slide cylinder (41), and the two ends of the third spring (40) are fixedly connected to the inner wall of the slide cylinder (41) and the end of the second plug rod, respectively.

7. The high-voltage line inspection anti-electromagnetic interference drone according to claim 5, characterized in that: A cleaning mechanism is also provided on the drone body (1). The cleaning mechanism includes a slide rod (44), a drive gear (45), a toothed plate (46), a second trapezoidal plate (47), a trapezoidal block (48), a fourth spring (49), an eccentric wheel (50), and a collar (51). A slide rod (44) is movably inserted into the front side wall of the mounting cavity. The slide rod (44) is movably inserted into the inside of the pressing block (35). A drive gear (45) is fixedly provided at the rear end of the slide rod (44). A toothed plate (46) is fixedly provided on the inner wall of the pressing block (35). Two left-right symmetrical second trapezoidal plates (47) are fixedly provided on the front side wall of the pressing block (35). A second contact slope is provided at the lower end of the second trapezoidal plate (47). A trapezoidal block is rotatably sleeved on the outside of the slide rod (44). The trapezoidal block (48) slides and engages with the upper surface of the support plate (12) along the front-back direction. The upper end of the trapezoidal block (48) is provided with a third contact slope. The third contact slope at the upper end of the trapezoidal block (48) slides and engages with the second contact slope at the lower end of the two second trapezoidal plates (47). A fourth spring (49) is sleeved on the outside of the slide rod (44). The front end of the fourth spring (49) contacts the front inner wall of the mounting cavity, and the rear end of the fourth spring (49) contacts the front end face of the trapezoidal block (48). A protective cover (28) is fixedly installed on the outside of the front side plate of the cleaning housing (14). The front end of the slide rod (44) extends to the outside of the protective cover (28) on the front side and is fixedly installed with an eccentric wheel (50). A collar (51) is rotatably sleeved on the outside of the eccentric wheel (50).

8. The high-voltage line inspection anti-electromagnetic interference drone according to claim 7, characterized in that: The cleaning mechanism also includes a cleaning brush (7), a limiting frame (52), a telescopic rod (53), a crossbar (54), and a top rod (55); the cleaning brush (7) is rotatably mounted on the upper end of the collar (51), and a torsion spring is provided between the cleaning brush (7) and the collar (51); the cleaning brush (7) is located on the lower side of the camera assembly (3); a horizontal top rod (55) is fixedly mounted at the front end of the front cover (28), and the front end of the top rod (55) abuts against the cleaning brush (7); a limiting frame (52) is fixedly mounted at the lower end of the collar (51), and a telescopic rod (53) is fixedly mounted at the front end of the front cover (28). The telescopic end of the telescopic rod (53) slides along the front-back direction, and a horizontal crossbar (54) is slidably inserted inside the telescopic end of the telescopic rod (53). The end of the crossbar (54) away from the telescopic rod (53) is movably inserted into the limiting frame (52).

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