Method of measuring the proximity distance between a transmission line and a tree, Measurement Device Thereof, and Drone

Abstract

This invention relates to a method for measuring the proximity distance between a power transmission line and a tree, and specifically to a method for measuring the distance between a power transmission line and a tree located beneath the line in real time without a worker riding on the power transmission line, and transmitting this information to a manager at a remote location, and to a method for utilizing a drone equipped with such a measuring device in cases where remote measurement is difficult due to the distance between transmission towers being too far. It also relates to a measuring device and a drone equipped with such a measuring device.

Description

Technology Field

[0001] The present invention relates to a method for measuring the proximity distance between a power transmission line and a tree, and in particular, to a method for measuring the distance between a tree located below a power transmission line and a power transmission line in real time without a worker riding on the power transmission line and transmitting the result to a manager at a remote location, and to a method for utilizing a drone equipped with such a measuring device when remote measurement is difficult due to the distance between transmission towers being too far. The invention also relates to a measuring device and a drone equipped with such a measuring device. Background Technology

[0002] In general, in Korea, overhead transmission lines are installed in mountainous areas, which account for about 65% of the national land area, and about 97% of this is forested land, so routes passing through areas at risk of equipment failure coexist. In addition, the risk of failure increases during the summer growing season, and since the difficulty of managing trees in mountainous terrain with steep slopes and undulations is high, a significant amount of budget and manpower is required to prevent equipment failures.

[0003] The attached FIG. 1 is intended to explain the concept of inspection and management of a general transmission line, wherein first and second steel towers (130-1, 130-2) are installed at regular intervals to form a power line section (140), and first to third multi-conductor transmission lines (120-1, 120-2, 120-3) are installed on these first and second steel towers (130-1, 130-2).

[0004] In order to perform a precision inspection (110) on this transmission line, an inspector directly performs an overhead power line climb (150) on the first to third multi-conductor transmission lines (120-1, 120-2, 120-3) to check the standard spacing (170) between the tree (160) and the first to third multi-conductor transmission lines (120-1, 120-2, 120-3). Of course, in this case, if the distance between the tree (160) and the first to third multi-conductor transmission lines (120-1, 120-2, 120-3) is less than the standard spacing (170) and there is a spacing deficiency (180), a contact failure (190) may occur.

[0005] To elaborate, the standard separation (170) refers to a stable distance between the top of a standard tree (160) and the first multi-conductor transmission line (120-1). Therefore, the top of some trees may be separated from the first multi-conductor transmission line (120-1) by a distance smaller than this standard separation (170). In this case, a contact failure may occur.

[0006] To elaborate, since workers verify the standard clearances of trees in mountainous areas with steep slopes and curves, as well as multi-conductor transmission lines, through visual surveying, deviations caused by the workers' judgment occur, making it impossible to establish a quantitative standard clearance database.

[0007] Furthermore, due to the lack of measuring devices, equipment failures are continuously occurring based on the determination of whether the standard separation distance is exceeded; moreover, contact failures are occurring due to insufficient separation distance (space), and indiscriminate tree felling is taking place.

[0008] In addition, there is an urgent need to prevent equipment failures through preemptive measures regarding factors such as weather conditions (foehn phenomenon and typhoons) and topography (steep slopes) in timber areas.

[0009] Furthermore, this inspection method performed by human personnel also carries the problem of always posing a risk of human safety accidents. Prior art literature

[0010] Korean Registered Patent No. 10-0455255 (Registered Oct. 22, 2004) Korean Published Patent No. 10-2018-0133656 (Published Dec. 17, 2018) The problem to be solved

[0011] The objective of the present invention, which aims to resolve the aforementioned problems, is to provide a method for measuring the proximity distance between a power transmission line and a tree, and specifically, to provide a method for measuring the proximity distance between a power transmission line and a tree in real time without a worker riding on the power transmission line and to transmit this information to a manager at a remote location, and to enable the use of a drone equipped with the measuring device in cases where remote measurement is difficult due to the distance between transmission towers being too far. The invention also provides a measuring device and a drone equipped with the measuring device. means of solving the problem

[0012] The feature of the method for measuring the proximity between a transmission line and a tree according to the present invention for achieving the above-described purpose is that, in a method for measuring the proximity between a transmission line and a tree to prevent ground fault accidents caused by sag of a transmission line connecting transmission towers and trees growing below the transmission line, the method comprises: a step of maintaining an arbitrary virtual horizontal line in the same direction as the connection direction of the transmission line using an arbitrary height on one side of the transmission tower as a reference point; a step of detecting the angle between the virtual horizontal line and the target point by adjusting the tilt angle based on the virtual horizontal line so that the recognized target point is positioned at the center of the focal point of the acquired image after recognizing the target point through an arbitrary image acquisition means; a step of calculating the distance between the reference point and the target point by irradiating a laser to the target point through an arbitrary laser transmission / reception means; and a step of calculating the height difference between the target point and the virtual horizontal line based on the angle between the virtual horizontal line and the distance.

[0013] An additional feature of the method for measuring the proximity distance between a power line and a tree according to the present invention for achieving the purpose described above is that the target point is the top of the power line or tree where the sag phenomenon has occurred.

[0014] As an additional feature of the method for measuring the proximity distance between a transmission line and a tree according to the present invention for achieving the purpose described above, the step of detecting the angle between the virtual horizon and the tree comprises: a step of recognizing a target point by analyzing an image acquired through any image acquisition means; a step of adjusting the tilt angle based on the virtual horizon so that the recognized target point is positioned at the center of the focal point of the acquired image; and a step of detecting the angle between the virtual horizon and the tree in a vertical direction based on the adjusted tilt angle.

[0015] As an additional feature of the method for measuring the proximity distance between a power line and a tree according to the present invention for achieving the purpose described above, the step of calculating the height difference between the target point and the virtual horizontal line is to calculate the height difference between the target point and the virtual line in a horizontal state according to the Pythagorean theorem, the sine law, and the cosine law, based on the angle between the virtual horizontal line and the vertical direction and the distance to the target point; wherein the height difference is calculated separately for the top of the power line or the tree where the sag phenomenon occurs, and then integrated to calculate the separation distance between the power line and the tree.

[0016] The feature of the proximity distance measuring device between a transmission line and a tree according to the present invention for achieving the purpose described above is, in a proximity distance measuring device between a transmission line and a tree for preventing ground fault accidents caused by sag of a transmission line connecting transmission towers and trees growing below the transmission line, comprising: a main body fixedly installed on one side of a transmission tower; a horizontal maintenance module located inside the main body and maintaining the horizontal state of the main body; an image signal tracking processing module located inside the main body, acquiring a front image while the main body maintains a horizontal state through the horizontal maintenance module, analyzing the acquired image to recognize a target point, and then adjusting the tilt angle so that the recognized target point is positioned at the center of the focal point of the acquired image; and a laser distance calculation module located inside the main body, irradiating a laser toward the target point located at the center of the focal point of the acquired image through the image signal tracking processing module to calculate the distance between the main body and the target point. It includes a separation distance calculation module located inside the main body and calculating the height difference between the target point and a virtual line in a horizontal state based on the tilt angle adjusted by the image signal tracking processing module and the distance calculated by the laser distance calculation module.

[0017] An additional feature of the proximity distance measuring device between a transmission line and a tree according to the present invention for achieving the purpose described above is that the horizontal maintenance module includes a gyroscope sensor that detects whether the main body is in a front-to-back or left-to-right horizontal state; and a main body fixed angle tilt adjustment unit that adjusts the fixed angle of the transmission tower of the main body so that the state detected by the gyroscope sensor can be maintained in a horizontal state.

[0018] As an additional feature of the proximity distance measuring device between a power line and a tree according to the present invention for achieving the purpose described above, the image signal tracking processing module comprises: an image camera that acquires a set front image while the main body maintains a horizontal state through the horizontal maintenance module; an image analysis unit that analyzes the image acquired from the image camera to recognize the top of a power line or tree where a sag phenomenon has occurred; and a camera rotation unit that drives the image camera so that the top of the power line or tree where a sag phenomenon has occurred, recognized through the image analysis unit, is positioned at the center of the focus of the image camera and detects the magnitude of the rotation angle based on the horizontal state.

[0019] As an additional feature of the proximity distance measuring device between a power line and a tree according to the present invention for achieving the purpose described above, the laser distance calculation module comprises: a laser transceiver that irradiates a laser toward the top of a power line or tree where a deviation phenomenon occurs, located at the focal center of the image camera, according to the adjustment of the rotation angle of the camera rotation unit, and receives the reflected laser; and a distance calculation unit that calculates the distance between the main body and the top of the power line or tree where a deviation phenomenon occurs through the laser transmitted and received via the laser transceiver.

[0020] As an additional feature of the proximity distance measuring device between a power line and a tree according to the present invention for achieving the purpose described above, the separation distance calculation module comprises: a virtual line when the image signal tracking processing module is in a horizontal state and a tilt angle adjusted while positioning the target point at the focal center in the image signal tracking processing module; and a height difference between the target point and the virtual line in a horizontal state based on the distance calculated by the laser distance calculation module according to the Pythagorean theorem, the sine law, and the cosine law; wherein the height difference is calculated separately for the top of the power line or tree where the sag phenomenon occurs, and then integrated to calculate the separation distance between the power line and the tree.

[0021] The features of a drone having a function to measure the proximity distance between a power line and a tree according to the present invention for achieving the purpose described above include: a flight control module that provides a virtual line in an arbitrary horizontal state by maintaining a horizontal attitude and hovering at an arbitrary certain altitude between power transmission towers; an image signal tracking processing module that acquires a forward image while maintaining a horizontal state and a stationary state through the flight control module, analyzes the acquired image to recognize a target point, and then adjusts the tilt angle so that the recognized target point is positioned at the center of the focal point of the acquired image; a laser distance calculation module that calculates the distance between the main body and the target point by irradiating a laser at the target point located at the center of the focal point of the acquired image through the image signal tracking processing module; and a separation distance calculation module that calculates the height difference between the target point and the virtual line in a horizontal state based on the tilt angle adjusted by the image signal tracking processing module and the distance calculated by the laser distance calculation module.

[0022] An additional feature of the drone having a function to measure the proximity distance between a power line and a tree according to the present invention for achieving the purpose described above is that the image signal tracking processing module comprises: an image camera that acquires a set forward image while maintaining a horizontal state and a stationary state through the flight control module; an image analysis unit that analyzes the image acquired from the image camera to recognize the top of a power line or tree where a sag phenomenon has occurred; and a camera rotation unit that drives the image camera so that the top of the power line or tree where a sag phenomenon has occurred, recognized through the image analysis unit, is positioned at the center of the focus of the image camera and detects the magnitude of the rotation angle based on the horizontal state.

[0023] As an additional feature of the drone having a function to measure the proximity distance between a power line and a tree according to the present invention for achieving the purpose described above, the laser distance calculation module comprises: a laser transceiver that irradiates a laser toward the top of a power line or tree where a deviation phenomenon occurs, located at the focal center of the image camera, according to the adjustment of the rotation angle of the camera rotation unit, and receives the reflected laser; and a distance calculation unit that calculates the distance between the main body and the top of the power line or tree where a deviation phenomenon occurs through the laser transmitted and received via the laser transceiver.

[0024] As an additional feature of the drone having a function to measure the proximity distance between a power line and a tree according to the present invention for achieving the purpose described above, the separation distance calculation module comprises: a virtual line when the image signal tracking processing module is in a horizontal state and a tilt angle adjusted while positioning the target point at the focal center in the image signal tracking processing module; and a height difference between the target point and the virtual line in a horizontal state based on the distance calculated by the laser distance calculation module according to the Pythagorean theorem, the sine law, and the cosine law; wherein the height difference is calculated separately for the top of the power line or tree where the sag phenomenon occurs, and then integrated to calculate the separation distance between the power line and the tree. Effects of the invention

[0025] By providing a method for measuring the proximity between a power line and a tree according to the present invention, a measuring device according to the same, and a drone equipped with the measuring device, it is possible to observe failure factors caused by the proximity between the power line and the tree in real time from a remote location to ensure stable power supply, and through systematic data management, it is possible to facilitate consultation on permits and licenses related to tree felling. Brief explanation of the drawing

[0026] Figure 1 is a conceptual diagram of the inspection and management of a general transmission line. FIG. 2 is an example of a measuring device applying the method for measuring the proximity distance between a power transmission line and a tree according to the present invention, and a drone equipped with the measuring device. FIG. 3 is an example block diagram of a proximity distance measuring device between a power transmission line and a tree according to the present invention. FIG. 4 is an illustrative diagram explaining the principle of measuring the height difference using a proximity distance measuring device between a power transmission line and a tree according to the present invention. FIG. 5 is an example block configuration diagram of a drone equipped with a proximity distance measuring device between a power transmission line and a tree according to the present invention. Specific details for implementing the invention

[0027] Hereinafter, with reference to the attached drawings, the method for measuring the proximity distance between a power transmission line and a tree according to the present invention, the measuring device according to the same, and a drone equipped with the measuring device are described as follows.

[0028] Figure 2 attached is an example of a measuring device applying the method for measuring the proximity distance between a power line and a tree according to the present invention and a drone equipped with the measuring device. The present invention aims to prevent ground fault accidents by providing a measuring device (200) according to the present invention that measures the proximity distance between a power line and a tree, thereby monitoring the proximity distance between the power line and the tree whenever necessary from a remote location.

[0029] In addition, points where it is impossible to measure the proximity between the transmission line and trees, such as long spans, are measured using a drone (300) equipped with a measuring device according to the present invention.

[0030] Accordingly, the proximity distance measuring device between a transmission line and a tree according to the present invention comprises, as illustrated in the attached FIG. 3, a measuring device main body (200) fixedly installed on one side of a transmission tower; a horizontal maintenance module (210) located inside the main body (200) and maintaining the horizontal state of the main body (200); an image signal tracking processing module (220) located inside the main body (200) and acquiring a front image while the main body (200) maintains a horizontal state through the horizontal maintenance module (210), analyzing the acquired image to recognize a target point, and then adjusting the tilt angle so that the recognized target point is located at the center of the focal point of the acquired image; a laser distance calculation module (230) located inside the main body (200) and irradiating a laser toward the target point located at the center of the focal point of the image acquired through the image signal tracking processing module (220) to calculate the distance between the main body (200) and the target point; and inside the main body (200). It includes a separation distance calculation module (240) that calculates the height difference between the target point and a virtual line in a horizontal state based on the tilt angle adjusted by the image signal tracking processing module (220) and the distance calculated by the laser distance calculation module (230).

[0031] At this time, unexplained reference number 260 is a communication and storage module that performs data communication with a remote manager and has a storage function that stores operational data or observation data, and unexplained reference number 250 is a control module that controls each component and performs data processing between each component.

[0032] At this time, the horizontal maintenance module (210) includes a gyroscope sensor (211) that detects whether the main body (200) is in a front-back or left-right horizontal state, and a main body fixed angle tilt adjustment unit (212) that adjusts the fixed angle of the transmission tower of the main body (200) so that the state detected by the gyroscope sensor (211) can be maintained in a horizontal state.

[0033] Additionally, the image signal tracking processing module (220) includes an image camera (221) that acquires a set front image while the main body (200) maintains a horizontal state through the horizontal maintenance module (210), an image analysis unit (222) that analyzes the image acquired from the image camera (221) to recognize the top of a power line or tree where a sag phenomenon has occurred, and a camera rotation unit (223) that drives the image camera (221) so that the top of the power line or tree where a sag phenomenon has occurred, recognized through the image analysis unit (222), is positioned at the center of the focus of the image camera (221) and detects the size of the rotation angle based on the horizontal state.

[0034] In this context, sag of a transmission line refers to the shortest straight-line distance between the straight line connecting the transmission tower and the two supporting points of the line and the lowest point of the transmission line. Therefore, sag is a critical factor in the safety of overhead transmission lines; when constructing overhead lines, a small sag increases the tension on the supporting structures, thereby lowering safety.

[0035] On the other hand, if the sag of a transmission line is greater than necessary, the height of the support structure must be increased, as the lateral movement of the power line due to wind increases the likelihood of failure caused by contact with other power lines, trees, or other structures. Therefore, appropriate sag and tension must be determined by considering the characteristics of the power line and the weather conditions of the route, and accurate measurement and adjustment of the sag are required after the power line is installed.

[0036] Additionally, the laser distance calculation module (230) includes a laser transceiver (231) that irradiates a laser toward a power line or the top of a tree where a deviation phenomenon occurs, located at the focal center of the image camera (221), according to the rotation angle adjustment of the camera rotation unit (223), and receives the reflected laser, and a distance calculation unit (232) that calculates the distance between the main body (200) and the top of the power line or tree where a deviation phenomenon occurs through the laser transmitted and received via the laser transceiver (231).

[0037] Referring to the attached FIG. 4, the operation process and measurement principle of the proximity distance measuring device between a power transmission line and a tree according to the present invention, configured as described above, FIG. 4 is an illustrative diagram for explaining the principle of measuring the height difference using the proximity distance measuring device between a power transmission line and a tree according to the present invention.

[0038] A right triangle can be formed as illustrated through the virtual line when the image signal tracking processing module (220) is in a horizontal state, the tilt angle (interval) adjusted while positioning the target point at the center of the focus in the image signal tracking processing module (220), and the measured distance (hypotenuse) calculated by the laser distance calculation module (230).

[0039] Therefore, for a right triangle where the angle between and the hypotenuse are known, the other side (base or height) can be calculated using the Pythagorean theorem, the sine law, and the cosine law.

[0040] Accordingly, the above separation distance calculation module (240) calculates the height difference between the target point and a virtual line in a horizontal state; the height difference is calculated separately for each transmission line or the top of a tree where the sag phenomenon has occurred, and then integrated to calculate the separation distance between the transmission line and the tree.

[0041] In addition, when the tilt angle (interval) adjusted by positioning the target point at the center of the focus in the image signal tracking processing module (220) has a vector value, the vector value is separated into a horizontal vector and a vertical vector, the horizontal vector unrelated to the ground fault is eliminated, and only the vertical vector value is recognized and processed as the interval.

[0042] In the attached FIG. 2, the proximity measuring device between a power transmission line and a tree according to the present invention is depicted facing each other; however, it should be noted in advance that the present invention is not limited to the example illustrated in the attached FIG. 2.

[0043] Figure 5 attached is an example block diagram of a drone equipped with a proximity distance measuring device between a power line and a tree according to the present invention. The basic operation and configuration are identical to the proximity distance measuring device between a power line and a tree according to the present invention illustrated in Figure 3 attached, but the configuration of the drone is also illustrated because it is mounted on a drone.

[0044] Accordingly, when examining the operational relationship between the components of a drone different from those in Fig. 3 attached and the proximity measuring device between a power line and a tree according to the present invention, the flight control module referred to as reference numeral 310 performs the function corresponding to the horizontal maintenance module (210) of Fig. 3 attached when the drone (300) is flown at any certain altitude between power towers by a worker carrying a wireless terminal controller.

[0045] That is, the drone (300) is made to maintain a horizontal attitude and hover at an arbitrary altitude between transmission towers, thereby providing a virtual line that is an arbitrary horizontal state.

[0046] To this end, the flight control module (310) is equipped with an attitude control module (311) for horizontal flight and a hover flight control module (312) for hover flight, and since this is practically the basic configuration of the drone (300), a detailed description thereof will be omitted.

[0047] In addition, the control terminal communication and storage module referred to as unreferenced reference number 320 is configured for wireless communication with a wireless terminal controller (not shown) carried by a worker and is configured to have a data storage function.

[0049] Although preferred embodiments of the present invention have been illustrated and described above, the present invention is not limited to the specific embodiments described above. It is understood that various modifications can be made by those skilled in the art without departing from the essence of the invention as claimed in the patent claims, and such modifications should not be understood individually from the technical spirit or perspective of the present invention. Explanation of the symbols

[0050] 200 : Main body 210 : Leveling module 220 : Image signal tracking processing module 230 : Laser distance calculation module 240 : Separation distance calculation module 300 : Drone

Claims

Claim 1 A method for measuring the proximity distance between a transmission line and a tree to prevent ground fault accidents caused by sag of the transmission line connecting transmission towers and trees growing beneath the transmission line, comprising: a step of maintaining an arbitrary virtual horizontal line in the same direction as the connection direction of the transmission line using an arbitrary height on one side of the transmission tower as a reference point; a step of detecting the angle between the virtual horizontal line and the target point by adjusting the tilt angle based on the virtual horizontal line so that the recognized target point is positioned at the center of the focal point of the acquired image after recognizing the target point through an image acquisition means; a step of calculating the distance between the reference point and the target point by irradiating a laser at the target point through a laser transmission / reception means; and a step of calculating the height difference between the target point and the virtual horizontal line based on the angle between the virtual horizontal line and the distance, wherein the step of detecting the angle between the virtual horizontal line comprises: a step of recognizing the target point by analyzing an image acquired through an image acquisition means; and a step of adjusting the tilt angle based on the virtual horizontal line so that the recognized target point is positioned at the center of the focal point of the acquired image. A method for measuring the proximity distance between a transmission line and a tree, comprising the step of detecting the angle between the virtual horizontal line and the target point in a vertical direction based on the adjusted tilt angle, wherein, when the adjusted tilt angle (angle between) has a vector value while positioning the target point at the center of the focus, the vector value is separated into a horizontal vector and a vertical vector, the horizontal vector unrelated to the ground fault is eliminated, and only the vertical vector value is recognized and processed as the angle between. Claim 2 A method for measuring the proximity distance between a transmission line and a tree, characterized in that, in claim 1, the target point is the top of a transmission line or a tree where a sag phenomenon has occurred. Claim 3 delete Claim 4 A method for measuring the proximity distance between a power line and a tree, wherein, in any one of claims 1 to 2, the step of calculating the height difference between the target point and the virtual horizontal line is characterized by calculating the height difference between the target point and the virtual line in a horizontal state according to the Pythagorean theorem, the sine law, and the cosine law based on the angle between the virtual horizontal line and the vertical direction and the distance to the target point; and calculating the separation distance between the power line and the tree by separately calculating the height difference for the top of the power line or the tree where the sag phenomenon has occurred and then integrating them. Claim 5 A proximity measuring device between a transmission line and a tree for preventing ground fault accidents caused by sag of a transmission line connecting transmission towers and trees growing beneath the transmission line, comprising: a main body fixedly installed on one side of the transmission tower; a horizontal maintenance module located inside the main body and maintaining the horizontal state of the main body; an image signal tracking processing module located inside the main body, acquiring a front image while the main body maintains a horizontal state through the horizontal maintenance module, analyzing the acquired image to recognize a target point, and adjusting the tilt angle so that the recognized target point is positioned at the center of the focal point of the acquired image; and a laser distance calculation module located inside the main body, irradiating a laser toward the target point located at the center of the focal point of the acquired image through the image signal tracking processing module to calculate the distance between the main body and the target point. A device for measuring the proximity distance between a transmission line and a tree, comprising a separation distance calculation module located inside the main body and calculating the height difference between the target point and a virtual line in a horizontal state based on the tilt angle adjusted by the image signal tracking processing module and the distance calculated by the laser distance calculation module, wherein the image signal tracking processing module analyzes an image acquired through an image acquisition means to recognize a target point, adjusts the tilt angle based on a virtual horizontal line so that the recognized target point is positioned at the center of the focus of the acquired image, detects the angle of equilibrium in the vertical direction with respect to the adjusted tilt angle, and, when the tilt angle (angle of equilibrium) adjusted while positioning the target point at the center of the focus has a vector value, separates the vector value into a horizontal vector and a vertical vector, eliminates the horizontal vector unrelated to the ground fault, and processes only the vertical vector value as the angle of equilibrium. Claim 6 A proximity measuring device between a transmission line and a tree, characterized in that, in claim 5, the horizontal maintaining module comprises: a gyroscope sensor that detects whether the main body is in a front-rear or left-right horizontal state; and a main body fixed angle tilt adjustment unit that adjusts the fixed angle of the transmission tower of the main body so that the state detected by the gyroscope sensor can maintain a horizontal state. Claim 7 A device for measuring the proximity between a power line and a tree according to claim 5, wherein the image signal tracking processing module comprises: an image camera that acquires a set front image while the main body maintains a horizontal state through the horizontal maintenance module; an image analysis unit that analyzes the image acquired from the image camera to recognize the top of a power line or tree where a sag phenomenon has occurred by analyzing the image; and a camera rotation unit that drives the image camera so that the top of the power line or tree where a sag phenomenon has occurred, recognized through the image analysis unit, is positioned at the center of the focus of the image camera and detects the magnitude of the rotation angle based on the horizontal state. Claim 8 A device for measuring the proximity distance between a power line and a tree, characterized in that, in claim 7, the laser distance calculation module comprises: a laser transceiver that irradiates a laser toward a power line or the top of a tree where a stray phenomenon occurs located at the focal center of the image camera according to the rotation angle adjustment of the camera rotation unit, and receives the reflected laser; and a distance calculation unit that calculates the distance between the main body and the power line or the top of the tree where a stray phenomenon occurs through the laser transmitted and received via the laser transceiver. Claim 9 A device for measuring the proximity distance between a power line and a tree according to claim 5, wherein the separation distance calculation module calculates the height difference between the target point and the virtual line in a horizontal state based on the Pythagorean theorem, the sine law, and the cosine law, using the virtual line when the image signal tracking processing module is in a horizontal state, the tilt angle adjusted while positioning the target point at the focal center in the image signal tracking processing module, and the distance calculated by the laser distance calculation module, and calculates the separation distance between the power line and the tree by separately calculating the height difference for the top of the power line or the tree where the sag phenomenon has occurred and then integrating them. Claim 10 A flight control module that provides a virtual line representing an arbitrary horizontal state by enabling hovering flight while maintaining a horizontal attitude at an arbitrary constant altitude between transmission towers; an image signal tracking processing module that acquires a forward image while maintaining a horizontal and hovering state through the flight control module, analyzes the acquired image to recognize a target point, and then adjusts the tilt angle so that the recognized target point is positioned at the center of the focal point of the acquired image; and a laser distance calculation module that irradiates a laser at the target point located at the center of the focal point of the acquired image through the image signal tracking processing module to calculate the distance between a main body fixedly installed on one side of the transmission tower and the target point. A drone having a function to measure the proximity distance between a power line and a tree, comprising a separation distance calculation module that calculates the height difference between the target point and a virtual line in a horizontal state based on the tilt angle adjusted by the image signal tracking processing module and the distance calculated by the laser distance calculation module, wherein the image signal tracking processing module analyzes an image acquired through an image acquisition means to recognize a target point, adjusts the tilt angle based on a virtual horizontal line so that the recognized target point is positioned at the center of the focus of the acquired image, detects the angle of equilibrium in the vertical direction with respect to the adjusted tilt angle, and when the tilt angle (angle of equilibrium) adjusted while positioning the target point at the center of the focus has a vector value, separates the vector value into a horizontal vector and a vertical vector, eliminates the horizontal vector unrelated to the ground fault, and processes only the vertical vector value as the angle of equilibrium. Claim 11 ◈Claim 11 was abandoned upon payment of the registration fee.◈ A drone having a function to measure the proximity distance between a power line and a tree, characterized in that the image signal tracking processing module comprises: an image camera that acquires a set forward image while maintaining a horizontal state and a stationary state through the flight control module; an image analysis unit that analyzes the image acquired from the image camera to recognize the top of a power line or tree where a sag phenomenon has occurred by analyzing the image; and a camera rotation unit that drives the image camera so that the top of the power line or tree where a sag phenomenon has occurred, recognized through the image analysis unit, is positioned at the center of the focus of the image camera, and detects the magnitude of the rotation angle based on the horizontal state. Claim 12 ◈Claim 12 was abandoned upon payment of the registration fee.◈ A drone having a function to measure the proximity distance between a power line and a tree, characterized in that the laser distance calculation module comprises: a laser transceiver that irradiates a laser toward a power line or the top of a tree where a stray phenomenon occurs, located at the focal center of the image camera according to the adjustment of the rotation angle of the camera rotation unit, and receives the reflected laser; and a distance calculation unit that calculates the distance between the main body and the power line or the top of the tree where a stray phenomenon occurs through the laser transmitted and received through the laser transceiver. Claim 13 ◈Claim 13 was abandoned upon payment of the registration fee.◈ A drone having a function to measure the proximity distance between a power line and a tree, wherein the separation distance calculation module comprises: a virtual line when the image signal tracking processing module is in a horizontal state and a tilt angle adjusted while positioning the target point at the focal center in the image signal tracking processing module; and, based on the distance calculated by the laser distance calculation module, calculates the height difference between the target point and the virtual line in a horizontal state according to the Pythagorean theorem, the sine law, and the cosine law; and calculates the separation distance between the power line and the tree by separately calculating the height difference for the top of the power line or the tree where the sag phenomenon has occurred and then integrating them.

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