A protection device and a method for unmanned aerial vehicle inspection of high-voltage lines

Abstract

The application provides a protection device and a patrol method for high-voltage line unmanned aerial vehicle, and belongs to the technical field of unmanned aerial vehicles, which comprises a patrol unmanned aerial vehicle, a patrol camera mechanism arranged at the bottom of the unmanned aerial vehicle and a moving track control mechanism above the patrol camera mechanism; the moving track control mechanism comprises a track positioning frame, a bottom control component and a power mechanism, two insulating clamping plates are oppositely arranged on the track positioning frame, the bottom control component comprises an electric push rod, the track positioning frame is provided with a clamping linkage structure connected with the electric push rod and the clamping linkage structure, the electric push rod can drive the two insulating clamping plates to move towards each other and clamp the outer wall of the cable; the power mechanism comprises a sliding block and a propelling power mechanism wing, the track positioning frame is provided with a guide plate, the sliding block slides along the guide plate, the electric push rod is connected with the sliding block through a connecting component, and the electric push rod drives the sliding block to slide along the guide plate and drives the propelling power mechanism wing to move along with the sliding block when the electric push rod operates. The technical scheme of the application realizes the clamping guidance and synchronous propulsion of the unmanned aerial vehicle to the high-voltage line, and improves the patrol stability and efficiency.

Description

Technical Field

[0001] This invention belongs to the field of power facilities and drone technology, specifically relating to a protection device and inspection method for drone inspection of high-voltage lines. Background Technology

[0002] High-voltage transmission lines are exposed to the elements for extended periods, making them susceptible to overheating, discharge, and mechanical damage due to factors such as icing, wind deflection, pollution flashover, foreign object suspension, and aging of fittings / insulators. To promptly detect these defects, the power industry commonly employs line inspection methods to collect images and assess the condition of conductors and auxiliary components.

[0003] Among existing inspection methods, drone inspection is widely used due to its flexible deployment and wide coverage. Drones typically use onboard high-definition cameras to photograph power lines and surrounding components, and the flight control system keeps them hovering in the air or following the direction of the line. However, in high-voltage line inspection scenarios, drones need to fly close to the power lines, making them susceptible to wind disturbances, airflow vortices, and electromagnetic environment effects, leading to fluctuations in drone attitude and relative distance. When the relative distance control is unstable, the shooting angle and image clarity are prone to change, and there is a risk of contact and collision with high-voltage lines or other components, which could cause equipment damage or inspection interruption.

[0004] Furthermore, to inspect high-voltage lines, manual labor or specialized equipment is often required for cable / wire hanging operations, resulting in complex construction organization and limitations in the overall weight, structural dimensions, and applicability of the equipment. The reliability and scalability of the equipment are easily affected by different wire diameters, icing / pollution conditions, and crossing environments. For solutions relying solely on drones for free flight, maintaining close proximity to the conductor while achieving stable movement along the line remains a significant challenge.

[0005] Therefore, there is an urgent need for a protective device for drone inspection of high-voltage power lines to improve the constraint stability and controllability of drones when operating near power lines, and reduce the risk of collision and work interruption during close-range inspections. Summary of the Invention

[0006] This invention provides a protective device and inspection method for high-voltage power line unmanned aerial vehicle (UAV) inspections. The invention employs an inspection structure consisting of an UAV, an inspection camera mechanism, and a movement trajectory control mechanism. The movement trajectory control mechanism includes a trajectory positioning frame, a bottom control component, and a power mechanism. The bottom control component uses an electric push rod as the drive source. The electric push rod is linked to a clamping linkage structure and a slider. The clamping linkage structure drives two insulating clamps on the trajectory positioning frame to clamp the outer wall of the cable. The slider slides along a guide plate on the trajectory positioning frame and drives the propulsion wing to move. Thus, under the same drive source, the UAV completes the clamping constraint on the high-voltage power line and the position adjustment of the propulsion mechanism, solving the problem that in existing high-voltage power line inspections, the UAV struggles to achieve stable clamping on the outer wall of the cable and complete movement control along the line while clamped.

[0007] In a first aspect, the present invention provides a protective device for unmanned aerial vehicle (UAV) inspection of high-voltage power lines. The device includes an inspection UAV, an inspection camera mechanism is provided at the bottom of the inspection UAV, and a movement trajectory control mechanism is provided above the inspection camera mechanism. The movement trajectory control mechanism includes a trajectory positioning frame, a bottom control component, and a power mechanism; The trajectory positioning frame is provided with two oppositely arranged insulating clamps, and the bottom control component includes an electric push rod; the trajectory positioning frame is provided with a clamping linkage structure, and the clamping linkage structure is connected to the electric push rod and the two insulating clamps; When the electric push rod is activated, the clamping linkage structure drives the two insulating clamps to move towards each other and clamp the outer wall of the cable. The power mechanism includes a slider and a propulsion wing; a guide plate is provided on the trajectory positioning frame; the slider is slidably connected to the guide plate; the electric push rod is linked to the slider through a connecting piece. When the electric push rod is activated, it synchronously drives the slider to slide along the guide plate, and drives the propulsion wing to move with the slider.

[0008] By adopting the above-mentioned scheme, the present invention provides a protective device for high-voltage line UAV inspection. This device features two opposing insulating clamps on a trajectory positioning frame on the top of the UAV, along with a clamping linkage structure connected to an electric push rod and the two insulating clamps. When the electric push rod is activated, the clamping linkage structure drives the two insulating clamps to move towards each other and clamp the outer wall of the cable, achieving reliable mechanical constraint and insulation isolation between the UAV and the cable. Furthermore, the power mechanism includes a slider that slides along a guide plate and a propulsion wing mounted on the slider. The electric push rod is linked to the slider via a connector. When the electric push rod is activated, it synchronously drives the slider to slide along the guide plate and moves the propulsion wing accordingly, achieving synchronous linkage between the clamping action and the position adjustment of the propulsion mechanism. Moreover, through the coordinated mechanism of the electric push rod driving the clamping linkage and the synchronous linkage of the slider driving the propulsion wing, the UAV can stably maintain its relative position and continuously obtain propulsion power when inspecting the cable, significantly improving the stability and reliability of the high-voltage line inspection process.

[0009] Preferably, the bottom control component includes a convex bottom plate and a rectangular plate fixedly connected to the convex bottom plate. A rectangular plate guide groove is provided in the middle of the rectangular plate, and expansion and contraction plates are slidably connected to both sides of the inner wall of the rectangular plate guide groove.

[0010] Preferably, the electric push rod is fixedly connected to the middle of the inner wall of the convex base plate, and an inverted T-shaped upright plate is fixedly connected to the front end of the electric push rod. Abutment plates are fixedly connected to the left and right sides of the bottom of the inverted T-shaped upright plate, and the outer side of the abutment plate is in contact with the inner bottom of the retractable upright plate. When the electric push rod drives the inverted T-shaped upright plate to move, the abutment plates push the retractable upright plate to slide along the guide groove of the rectangular plate.

[0011] Preferably, the bottom of the abutment is slidably connected to the left and right sides of the top of the convex base plate.

[0012] Preferably, the clamping linkage structure includes a retractable plate, and the outer tops of the two retractable plates are respectively fixedly connected to the inner middle of the two retractable plates.

[0013] Preferably, the clamping linkage structure includes a hinge block, a rotating rod, and an arc-shaped rotating arm. The side of the rotating rod away from the arc-shaped rotating arm is rotatably connected to the hinge block, and the side of the rotating rod close to the arc-shaped rotating arm is rotatably connected to the arc-shaped rotating arm. The insulating clamp is fixedly connected to the inner side of the arc-shaped rotating arm.

[0014] Preferably, the outer sides of the hinge blocks in the front and rear groups are fixedly connected to expansion and contraction plate connecting blocks, the outer sides of the expansion and contraction plate connecting blocks in the left and right groups are fixedly connected to columnar sliding rods, and the inner sides of the hinge blocks are fixedly connected to expansion and contraction plates.

[0015] Preferably, the clamping linkage structure includes a guide block, which is fixedly connected to the corresponding component of the trajectory positioning frame, and the columnar slide rod is slidably connected to the inner wall of the guide block.

[0016] Preferably, the trajectory positioning frame includes a side connecting rod and a horizontal connecting plate fixedly connected to the side connecting rod, the guide plate is inverted L-shaped and fixedly connected to the top of the horizontal connecting plate, and the slider is slidably connected to the inner side of the two guide plates.

[0017] Preferably, side uprights are fixedly connected to the left and right sides and the front and rear sides of the rectangular plate, and the trajectory positioning frame includes side connecting rods. The outer top of the side uprights is fixedly connected to the inner sides of the two side connecting rods of the trajectory positioning frame. Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention sets a trajectory positioning frame, a bottom control component, and a power mechanism in the motion trajectory control mechanism; two oppositely arranged insulating clamps and a clamping linkage structure connected to an electric push rod are set on the trajectory positioning frame; when the electric push rod moves, the clamping linkage structure drives the two insulating clamps to move towards each other and clamp the outer wall of the cable, thus achieving clamping constraint and insulation isolation of the cable during the inspection operation of the UAV; by setting a slider that slides along the guide plate and a propulsion power wing fixed to the slider in the power mechanism, and linking the electric push rod with the slider through a connector, when the electric push rod moves, it synchronously drives the slider to slide along the guide plate and drives the propulsion power wing to follow, thus achieving synchronous linkage between the clamping action and the position adjustment of the propulsion mechanism; furthermore, by setting a convex base plate, a rectangular plate, and a rectangular plate guide groove, and sliding a retractable upright plate in the guide groove, combined with the pushing cooperation of the inverted T-shaped upright plate and the abutment plate, the linear displacement of the electric push rod is converted into the guiding sliding of the retractable upright plate and used as the input of the clamping linkage structure, thus achieving… The current clamping action transmission path is clear and controllable; by sliding the bottom of the abutment plate to both sides of the base plate, the movement trajectory of the abutment plate is limited and it fits snugly with the retractable and expanding upright plate, achieving stable guidance in the thrust transmission process; by setting a retractable and expanding plate in the clamping linkage structure and fixing it to the retractable and expanding upright plate, and cooperating with the rotational transmission relationship of the hinge block, rotating rod and arc-shaped rotating arm, the motion conversion from guide sliding to rotating arm rotation is realized; by setting the sliding cooperation of the retractable and expanding plate connecting block, columnar slide rod and guide block, a guiding constraint on the linkage transmission is formed and the offset in the linkage process is suppressed; by setting a side connecting rod and a horizontal connecting plate in the trajectory positioning frame, and fixing the inverted L-shaped guide plate to the top of the horizontal connecting plate, the slider slides restricted inside the two guide plates, realizing the structured constraint of the propulsion mechanism's movement path; by setting side upright plates on both sides of the rectangular plate and fixing them to the side connecting rod, the assembly support relationship between the bottom control component and the trajectory positioning frame is clear and the overall structural connection is reliable, significantly improving the clamping stability, propulsion continuity and operational reliability in the process of UAV cable attachment inspection.

[0018] A second aspect of the present invention provides a drone inspection method employing a protection device for high-voltage line drone inspections. The method is executed by the drone, which has a camera mechanism at its bottom and a movement trajectory control mechanism above it. The movement trajectory control mechanism includes a trajectory positioning frame, a bottom control component, and a power mechanism. The trajectory positioning frame has two oppositely arranged insulating clamps. The bottom control component includes an electric push rod. The trajectory positioning frame has a clamping linkage structure connected to the electric push rod and the two insulating clamps. The power mechanism includes a slider and a propulsion wing. The trajectory positioning frame has a guide plate, the slider is slidably connected to the guide plate, and the electric push rod is linked to the slider via a connector. The method includes: The inspection drone is controlled to fly to the vicinity of the cable to be inspected, and the inspection camera is used to acquire cable inspection images; The electric push rod is controlled to move, which drives the two insulating clamps to move towards each other through the clamping linkage structure, and the two insulating clamps clamp the outer wall of the cable. During the operation of the electric push rod, the connecting member synchronously drives the slider to slide along the guide plate, thereby driving the propulsion wing to move with the slider; With the insulating clamp holding the cable's outer wall in place, the propulsion wing is controlled to output thrust, causing the inspection drone to move along the cable's extension direction and continuously acquire inspection images.

[0019] Additional advantages, objects, and features of the invention will be set forth in part in the description which follows, and will also become apparent in part to those skilled in the art upon studying the text, or may be learned by practice of the invention. The objects and other advantages of the invention will become apparent from the description and the accompanying drawings.

[0020] Those skilled in the art will understand that the objectives and advantages achievable with the present invention are not limited to those specifically described above, and that the above and other objectives achievable with the present invention will become clearer from the following detailed description. Attached Figure Description

[0021] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0022] In the attached diagram: Figure 1 This is a schematic diagram of the main three-dimensional structure of the present invention; Figure 2 This is a schematic diagram of the three-dimensional separation structure of the main body of the present invention; Figure 3 This is a three-dimensional structural diagram of the patrol drone and patrol camera mechanism of the present invention; Figure 4 This is a three-dimensional structural diagram of the motion trajectory control mechanism of the present invention; Figure 5 This is a schematic diagram of the rear-view stereo separation structure of the motion trajectory control mechanism of the present invention; Figure 6 This is a rear-view three-dimensional structural diagram of the trajectory positioning frame of the present invention; Figure 7 This is a schematic diagram of the rear-view three-dimensional separation structure of the trajectory positioning frame of the present invention; Figure 8 This is a schematic diagram of the three-dimensional structure of the positioning frame of the present invention; Figure 9 This is a rear-view perspective three-dimensional structural diagram of the bottom control component of the present invention; Figure 10 This is a three-dimensional structural diagram of the power mechanism of the present invention.

[0023] Explanation of reference numerals in the attached drawings: 1. Patrol drone; 2. Patrol camera mechanism; 3. Movement trajectory control mechanism; 31. Trajectory positioning frame; 311. Positioning assembly; 3111. Side connecting rod; 3112. First triangular hinge plate; 3113. Arc-shaped rotating arm; 3114. Second triangular hinge plate; 3115. Columnar connecting rod; 3116. Horizontal connecting plate; 3117. Guide block; 3118. Rotating rod; 3119. Insulating clamp; 31110. Hinge block; 3111 1. Retractable / expandable plate connecting block; 31112. Columnar slide rod; 31113. Retractable / expandable plate; 31114. Inverted L-shaped guide plate; 312. Bottom control component; 3121. Convex bottom plate; 3122. Electric push rod; 3123. Rectangular plate; 3124. Rectangular plate guide groove; 3125. Side upright plate; 3126. Retractable / expandable upright plate; 32. Power mechanism; 321. Slider; 322. Propulsion power wing; 323. Columnar push rod; 324. Inverted T-shaped upright plate; 325. Abutment plate. Detailed Implementation

[0024] The present invention will now be described in detail with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0025] The following detailed description is exemplary and intended to provide further detailed explanation of the invention. Unless otherwise specified, all technical terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. The terminology used in this invention is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention.

[0026] Figure 1 This is a schematic diagram of the main three-dimensional structure of a protection device for high-voltage line drone inspection provided in an embodiment of the present invention.

[0027] Example 1, as Figure 1-10 As shown, the present invention provides a protection device for high-voltage line drone inspection. The device includes: a patrol drone 1, a patrol camera mechanism 2 is provided at the bottom of the patrol drone 1, and a movement trajectory control mechanism 3 is provided above the patrol camera mechanism 2. The movement trajectory control mechanism 3 includes a trajectory positioning frame 31, a bottom control component 312, and a power mechanism 32; The trajectory positioning frame 31 is provided with two oppositely arranged insulating clamps 3119, and the bottom control component 312 includes an electric push rod 3122; the trajectory positioning frame 31 is provided with a clamping linkage structure, and the clamping linkage structure is connected to the electric push rod 3122 and the two insulating clamps 3119. When the electric push rod 3122 is activated, the clamping linkage structure drives the two insulating clamps 3119 to move towards each other and clamp the outer wall of the cable. The power mechanism 32 includes a slider 321 and a propulsion wing 322. The trajectory positioning frame 31 is provided with an inverted L-shaped guide plate 31114. The slider 321 is slidably connected to the inverted L-shaped guide plate 31114. The electric push rod 3122 is linked with the slider 321 through a connector 323. The slider 321 is convex.

[0028] When the electric push rod 3122 is activated, it synchronously drives the slider 321 to slide along the guide plate 31114, and drives the propulsion wing 322 to move with the slider 321.

[0029] By adopting the above-mentioned scheme, the present invention provides a protective device for high-voltage line UAV inspection. This device features two opposing insulating clamps on a trajectory positioning frame on the top of the UAV, along with a clamping linkage structure connected to an electric push rod and the two insulating clamps. When the electric push rod is activated, the clamping linkage structure drives the two insulating clamps to move towards each other and clamp the outer wall of the cable, achieving reliable mechanical constraint and insulation isolation between the UAV and the cable. Furthermore, the power mechanism includes a slider that slides along a guide plate and a propulsion wing mounted on the slider. The electric push rod is linked to the slider via a connector. When the electric push rod is activated, it synchronously drives the slider to slide along the guide plate and moves the propulsion wing accordingly, achieving synchronous linkage between the clamping action and the position adjustment of the propulsion mechanism. Moreover, through the coordinated mechanism of the electric push rod driving the clamping linkage and the synchronous linkage of the slider driving the propulsion wing, the UAV can stably maintain its relative position and continuously obtain propulsion power when inspecting the cable, significantly improving the stability and reliability of the high-voltage line inspection process.

[0030] like Figure 7 , 9 As shown, the bottom control component 312 includes a convex bottom plate 3121 and a rectangular plate 3123 fixedly connected to the convex bottom plate 3121. A rectangular plate guide groove 3124 is provided in the middle of the rectangular plate 3123, and expansion and contraction plates 3126 are slidably connected to both sides of the inner wall of the rectangular plate guide groove 3124.

[0031] like Figure 9 , 10 As shown, the electric push rod 3122 is fixedly connected to the middle of the inner wall of the convex base plate 3121. An inverted T-shaped upright plate 324 is fixedly connected to the front end of the electric push rod 3122. Abutment plates 325 are fixedly connected to the left and right sides of the bottom of the inverted T-shaped upright plate 324. The outer side of the abutment plate 325 is in contact with the inner bottom of the retractable upright plate 3126. When the electric push rod 3122 drives the inverted T-shaped upright plate 324 to move, the abutment plates 325 push the retractable upright plate 3126 to slide along the rectangular plate guide groove 3124. The bottom of the abutment plate 325 is slidably connected to the left and right sides of the top of the convex base plate 3121.

[0032] like Figure 8 , 9 As shown, the clamping linkage structure includes a retractable plate 31113, and the outer tops of the two retractable upright plates 3126 are respectively fixedly connected to the inner middle of the two retractable plates 31113.

[0033] like Figure 8 As shown, the clamping linkage structure includes a hinge block 31110, a rotating rod 3118, and an arc-shaped rotating arm 3113. The side of the rotating rod 3118 away from the arc-shaped rotating arm 3113 is rotatably connected to the hinge block 31110, and the side of the rotating rod 3118 close to the arc-shaped rotating arm 3113 is rotatably connected to the arc-shaped rotating arm 3113. The insulating clamp 3119 is fixedly connected to the inner side of the arc-shaped rotating arm 3113.

[0034] The outer sides of the hinge blocks 31110 in the front and rear groups are fixedly connected to the expansion and contraction plate connecting blocks 31111, the outer sides of the expansion and contraction plate connecting blocks 31111 in the left and right groups are fixedly connected to the columnar slide rods 31112, and the inner sides of the hinge blocks 31110 are fixedly connected to the expansion and contraction plate 31113.

[0035] like Figure 6 , 8 As shown, the clamping linkage structure includes a guide block 3117, which is fixedly connected to the corresponding component of the trajectory positioning frame 31, and the columnar slide rod 31112 is slidably connected to the inner wall of the guide block 3117.

[0036] like Figure 6 , 8 As shown in Figure 10, the trajectory positioning frame 31 includes a side connecting rod 3111 and a horizontal connecting plate 3116 fixedly connected to the side connecting rod 3111. The guide plate 31114 is inverted L-shaped and fixedly connected to the top of the horizontal connecting plate 3116. The slider 321 is slidably connected to the inner side of the two guide plates 31114.

[0037] like Figure 6 , 8 As shown in Figure 9, the rectangular plate 3123 is fixedly connected to the left and right sides and the front and rear sides with side upright plates 3125. The trajectory positioning frame 31 includes side connecting rods 3111. The outer top of the side upright plate 3125 is fixedly connected to the inner side of the two side connecting rods 3111 of the trajectory positioning frame 31.

[0038] Example 2, as Figure 1-10 As shown, the present invention provides a protection device for high-voltage line drone inspection, including a patrol drone 1, a patrol camera mechanism 2 fixedly connected to the bottom of the patrol drone 1, and a movement trajectory control mechanism 3 fixedly connected to the top of the patrol camera mechanism 2.

[0039] The movement trajectory control mechanism 3 includes a trajectory positioning frame 31, with a power mechanism 32 disposed on the inner side of the trajectory positioning frame 31. The trajectory positioning frame 31 includes a positioning assembly 311, with a bottom control component 312 fixedly connected to the bottom of the positioning assembly 311. The positioning assembly 311 includes two side connecting rods 3111, with first triangular hinge plates 3112 fixedly connected to both the front and rear sides of the two side connecting rods 3111. Arc-shaped rotating arms 3113 are rotatably connected to the top and bottom of the outer sides of the two sets of first triangular hinge plates 3112. Second triangular hinge plates 3114 are rotatably connected to the outer sides of the two sets of arc-shaped rotating arms 3113 on the front and the two sets of arc-shaped rotating arms 3113 on the rear. Guide blocks 3117 are fixedly connected to the middle of the outer side of the second triangular hinge plate 3114. Columnar connecting rods 3115 are fixedly connected to the top and bottom of the outer sides of both the front and rear sets of second triangular hinge plates 3114. Horizontal connecting plates 3116 are fixedly connected to the outer ends of the two sets of columnar connecting rods 3115 on the front and rear sides. Insulating clamps 3119 are fixedly connected to the inner sides of the two sets of arc-shaped rotating arms 3113 on the left and two sets of arc-shaped rotating arms 3113 on the right. Rotating rods 3118 are rotatably connected to the inner sides of the two sets of arc-shaped rotating arms 3113 on the left and two sets of arc-shaped rotating arms 3113 on the right, with the two sets of rotating rods 3118 on the left and right sides respectively. Two sets of rotating rods 3118 are rotatably connected to hinge blocks 31110 on the side away from the arc-shaped rotating arm 3113. The outer sides of the front and rear sets of hinge blocks 31110 are fixedly connected to expansion and contraction plate connecting blocks 31111. The outer sides of the left and right sets of expansion and contraction plate connecting blocks 31111 are fixedly connected to columnar slide rods 31112. The outer walls of the left and right sets of columnar slide rods 31112 are slidably connected to the inner walls of the left and right sets of guide blocks 3117. The inner sides of the left and right sets of hinge blocks 31110 are fixedly connected to expansion and contraction plates 31113. Inverted L-shaped guide plates 31114 are fixedly connected to both sides of the top center of the two top horizontal connecting plates 3116. The bottom control component 312 includes a convex bottom plate 3. 121, an electric push rod 3122 is fixedly connected to the middle of the inner wall of the convex base plate 3121, a rectangular plate 3123 is fixedly connected to the top of the convex base plate 3121, a rectangular plate guide groove 3124 is opened in the middle of the rectangular plate 3123, side upright plates 3125 are fixedly connected to the left, right and front and rear sides of the rectangular plate 3123, the outer tops of the four side upright plates 3125 are fixedly connected to the inner side of the two side connecting rods 3111 respectively, and the two sides of the inner wall of the rectangular plate guide groove 3124 opened in the rectangular plate 3123 are slidably connected to the expansion and contraction upright plates 3126, and the outer tops of the two expansion and contraction upright plates 3126 are fixedly connected to the inner middle of the two expansion and contraction plates 31113. The power mechanism 32 includes a slider 321. The outer wall of the slider 321 is slidably connected to the inner side of two inverted L-shaped guide plates 31114. A propulsion wing 322 is fixedly connected to the top rear side of the slider 321. A columnar push rod 323 is fixedly connected to the top front side of the slider 321. An inverted T-shaped upright plate 324 is fixedly connected to the front end of the columnar push rod 323. Abutment plates 325 are fixedly connected to the left and right sides of the bottom of the inverted T-shaped upright plate 324. The outer sides of the two abutment plates 325 are arc-shaped. The bottom of the two abutment plates 325 are slidably connected to the left and right sides of the top of the convex base plate 3121. The bottom rear side of the inverted T-shaped upright plate 324 is fixedly connected to the front end of the electric push rod 3122. The outer sides of the two abutment plates 325 are in contact with the bottom inner side of the two retractable upright plates 3126.

[0040] Compared with the prior art, the beneficial effects of the present invention are as follows: The technical solution of this invention employs a mobile trajectory control mechanism design, which improves the adaptability of the UAV under different cable layouts. This allows the UAV to flexibly adjust its attitude and achieve a stable and reliable connection with various cables. This connection method not only ensures the flight stability of the UAV in complex environments but also significantly reduces flight risks caused by external environmental factors such as wind and temperature changes. Furthermore, in the design of the propulsion system, by optimizing the wing layout, the UAV can obtain stronger and more efficient propulsion while maintaining a stable connection with the cable. This not only improves the flight speed and stability of the UAV but also significantly extends its endurance, thereby effectively improving the overall efficiency of the inspection work. It greatly enhances the UAV's adaptability to complex environments and significantly improves its performance and safety in high-voltage line inspection operations. Using the technical solution of this invention, the UAV can stably and efficiently complete inspection tasks under various complex conditions.

[0041] Secondly, the inspection method using the high-voltage line drone inspection protection device of the present invention is as follows: During the inspection of high-voltage lines using a high-voltage line drone inspection protection device, the drone 1 is controlled to fly to the highest point of the cable in the inspection area, aligning the insulating clamps 3119 on both sides with the outer walls of the cable on both sides. Then, the electric push rod 3122 is activated. After the electric push rod 3122 is activated, its front end pulls the inverted T-shaped upright plate 324 forward. As the inverted T-shaped upright plate 324 moves backward, it generates an outward pushing force on the retractable upright plate 3126. This pushing force causes the retractable upright plate 3126 to move along the opening of the rectangular plate 3123. The inner wall of the rectangular plate guide groove 3124 slides outward. As the expanding and contracting plate 3126 slides outward, through its fixed connection with the expanding and contracting plate 31113, it drives the two expanding and contracting plate connecting blocks 31111 to move outward. These connecting blocks, in turn, drive the two sets of left and right columnar sliding rods 31112 to slide outward on the inner walls of the two sets of left and right guide blocks 3117. The movement of the columnar sliding rods 31112 causes the connected hinge block 31110 to move outward, thereby driving the rotating rod 3118 to rotate. The rotation of 18 causes the inner side of the arc-shaped rotating arm 3113 to rotate around the connection point with the first triangular hinge plate 3112, causing the inner sides of the arc-shaped rotating arms 3113 on both sides to expand outward. When the inner sides of the arc-shaped rotating arms 3113 on both sides expand outward, they drive the insulating clamp 3119, which is fixedly connected to the inner side of the other side, to move inward until the insulating clamp 3119 fits against the outer wall of the cable on both sides. At this time, the inspection drone 1 achieves a stable connection with the cable through the movement trajectory control mechanism 3, and can maintain stability even in complex inspection sites. In a relatively stable flight state, as the inverted T-shaped plate 324 moves backward, the columnar push rod 323 pushes the slider 321 to drive the propulsion wing 322 to move backward inside the two inverted L-shaped guide plates 31114, so that the propulsion wing 322 behind the slider 321 moves to the rearmost side of the entire device. At this time, the propulsion wing 322 is in a position that is more conducive to providing propulsion. At this time, the wings of the patrol UAV 1 can stop operating and instead rely on the propulsion wing 322 to provide the main propulsion.

[0042] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0043] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A protective device for unmanned aerial vehicle (UAV) inspection of high-voltage power lines, characterized in that, The system includes a patrol drone (1), with a patrol camera mechanism (2) at the bottom and a motion trajectory control mechanism (3) above the patrol camera mechanism (2). The movement trajectory control mechanism (3) includes a trajectory positioning frame (31), a bottom control component (312), and a power mechanism (32). The trajectory positioning frame (31) is provided with two oppositely arranged insulating clamps (3119), and the bottom control component (312) includes an electric push rod (3122); the trajectory positioning frame (31) is provided with a clamping linkage structure, and the clamping linkage structure is connected to the electric push rod (3122) and the two insulating clamps (3119); When the electric push rod (3122) is activated, the clamping linkage structure drives the two insulating clamps (3119) to move towards each other and clamp the outer wall of the cable; The power mechanism (32) includes a slider (321) and a propulsion wing (322). A guide plate (31114) is provided on the trajectory positioning frame (31), and the slider (321) is slidably connected to the guide plate (31114). The electric push rod (3122) is linked to the slider (321) through a connector (323). When the electric push rod (3122) is activated, it synchronously drives the slider (321) to slide along the guide plate (31114), and the propulsion wing (322) moves with the slider (321).

2. The protection device for high-voltage line drone inspection according to claim 1, characterized in that, The bottom control component (312) includes a convex bottom plate (3121) and a rectangular plate (3123) fixedly connected to the convex bottom plate (3121). A rectangular plate guide groove (3124) is provided in the middle of the rectangular plate (3123), and expansion and contraction plates (3126) are slidably connected to both sides of the inner wall of the rectangular plate guide groove (3124).

3. The protection device for high-voltage line UAV inspection according to claim 2, characterized in that, The electric push rod (3122) is fixedly connected to the middle of the inner wall of the convex base plate (3121). The front end of the electric push rod (3122) is fixedly connected to an inverted T-shaped upright plate (324). The bottom left and right sides of the inverted T-shaped upright plate (324) are fixedly connected to abutment plates (325). The outer side of the abutment plate (325) is in contact with the inner bottom of the retractable upright plate (3126). When the electric push rod (3122) drives the inverted T-shaped upright plate (324) to move, the abutment plate (325) pushes the retractable upright plate (3126) to slide along the rectangular plate guide groove (3124).

4. The protection device for high-voltage line UAV inspection according to claim 3, characterized in that, The bottom of the abutment (325) is slidably connected to the left and right sides of the top of the convex base plate (3121).

5. The protection device for high-voltage line unmanned aerial vehicle (UAV) inspection according to any one of claims 2-4, characterized in that, The clamping linkage structure includes a retractable plate (31113), and the outer tops of the two retractable upright plates (3126) are respectively fixedly connected to the inner middle of the two retractable plates (31113).

6. The protection device for high-voltage line unmanned aerial vehicle (UAV) inspection according to claim 1, characterized in that, The clamping linkage structure includes a hinge block (31110), a rotating rod (3118), and an arc-shaped rotating arm (3113). The side of the rotating rod (3118) away from the arc-shaped rotating arm (3113) is rotatably connected to the hinge block (31110), and the side of the rotating rod (3118) close to the arc-shaped rotating arm (3113) is rotatably connected to the arc-shaped rotating arm (3113). The insulating clamp (3119) is fixedly connected to the inner side of the arc-shaped rotating arm (3113).

7. The protection device for high-voltage line UAV inspection according to claim 6, characterized in that, The hinge blocks (31110) in the front and rear groups are fixedly connected to the outer side of the expansion plate connecting blocks (31111), the expansion plate connecting blocks (31111) in the left and right groups are fixedly connected to the outer side of the expansion plate connecting blocks (31111), and the expansion plate (31113) is fixedly connected to the inner side of the hinge block (31110).

8. The protection device for high-voltage line unmanned aerial vehicle (UAV) inspection according to claim 7, characterized in that, The clamping linkage structure includes a guide block (3117), which is fixedly connected to the corresponding component of the trajectory positioning frame (31), and the columnar slide rod (31112) is slidably connected to the inner wall of the guide block (3117).

9. The protection device for high-voltage line unmanned aerial vehicle (UAV) inspection according to claim 1, characterized in that, The trajectory positioning frame (31) includes a side connecting rod (3111) and a horizontal connecting plate (3116) fixedly connected to the side connecting rod (3111). The guide plate (31114) is inverted L-shaped and fixedly connected to the top of the horizontal connecting plate (3116). The slider (321) is slidably connected to the inner side of the two guide plates (31114).

10. A drone inspection method employing a protection device for high-voltage power line drone inspection, characterized in that, The method is performed by a patrol drone (1), which has a patrol camera mechanism (2) at its bottom and a movement trajectory control mechanism (3) above it. The movement trajectory control mechanism (3) includes a trajectory positioning frame (31), a bottom control component (312), and a power mechanism (32). The trajectory positioning frame (31) has two oppositely arranged insulating clamps (3119). The bottom control component (312) includes an electric push rod (3122). The positioning frame (31) is provided with a clamping linkage structure connected to the electric push rod (3122) and the two insulating clamps (3119); the power mechanism (32) includes a slider (321) and a propulsion power wing (322); the trajectory positioning frame (31) is provided with a guide plate (31114); the slider (321) is slidably connected to the guide plate (31114); the electric push rod (3122) is linked to the slider (321) through a connector (323); the method includes: Control the inspection drone (1) to fly to the vicinity of the cable to be inspected, and obtain cable inspection images through the inspection camera (2); The electric push rod (3122) is controlled to move, and the clamping linkage structure drives the two insulating clamps (3119) to move towards each other and clamp the outer wall of the cable; During the operation of the electric push rod (3122), the slider (321) is synchronously driven to slide along the guide plate (31114) through the connector (323), thereby driving the propulsion wing (322) to move with the slider (321); While the insulating clamp (3119) is holding the outer wall of the cable, the propulsion wing (322) is controlled to output thrust, so that the inspection drone (1) moves along the extension direction of the cable and continuously acquires inspection images.

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