CN111361739A - Transmission line inspection drone and transmission line inspection system - Google Patents

Abstract

The invention provides an unmanned aerial vehicle for power transmission line inspection, which belongs to the technical field of power transmission line inspection and comprises an unmanned aerial vehicle body, a camera shooting mechanism, a walking mechanism, a driving mechanism and a fixing mechanism; the camera shooting mechanism is arranged at the top of the unmanned aerial vehicle body; the lower part of the walking mechanism is connected with the unmanned aerial vehicle body, and the upper part of the walking mechanism is used for matching with the power transmission line; the driving mechanism is arranged at the bottom of the unmanned aerial vehicle body and used for driving the unmanned aerial vehicle body to walk along the power transmission line; fixed establishment one end and unmanned aerial vehicle body coupling, the other end is used for being connected with the power transmission line iron tower. According to the power transmission line inspection unmanned aerial vehicle, in the inspection process, the rotor wing of the unmanned aerial vehicle body is in the closed state, the cruising ability of the unmanned aerial vehicle body is enhanced, and the frequency of charging or battery replacement is reduced; the unmanned aerial vehicle organism hangs in the power transmission line below through running gear, and the unmanned aerial vehicle organism is stable, and the image of shooting is clear, fixes on the power transmission line iron tower through fixed establishment, and the unmanned aerial vehicle organism is stable, and the image of shooting is clear.

Description

Transmission line inspection drone and transmission line inspection system

technical field

The invention belongs to the technical field of power transmission line inspection, and more particularly relates to a power transmission line inspection drone and a power transmission line inspection system.

Background technique

Overhead high-voltage transmission lines are an important way of power transmission in the power industry, which is directly related to the economic growth of the entire country and people's normal work and life. The safe and stable operation of transmission lines directly affects the supply of high reliability and stable power in the power system. Therefore, regular and effective inspection and maintenance of transmission lines has become an important task of the power industry. Manual or vehicle-borne equipment-assisted inspection methods are limited because most high-voltage transmission lines pass through complex geographical environments such as rivers, lakes or virgin forests, and are labor-intensive, low in precision, and have blind spots and potential safety hazards.

Unmanned aircraft, referred to as "UAV", is an unmanned aircraft operated by radio remote control equipment and self-provided program control devices. UAV has the characteristics of small size, light weight, low cost, flexible operation and high safety, and is widely used in aerial photography, detection, search and rescue, resource exploration and other fields. It is technically feasible to use drones to patrol power lines, and it has practical practical significance to promote the work of drones to patrol power lines. UAV power line inspection comprehensively checks various equipment conditions of lines and towers at a relatively fast speed. At the same time, the precision instruments carried can detect deep-level line faults and hidden faults, return data in time, and deal with problems in real time. Safe and efficient operation provides important guarantees. At present, the working process of drones has the following problems:

(1) The endurance of the drone is insufficient, and it needs to be charged frequently or the battery needs to be replaced regularly;

(2) The flight stability of the drone is poor, and it needs to be equipped with a gimbal to keep the captured image clear.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a transmission line inspection UAV and a transmission line inspection system, which aims to solve the problems of insufficient endurance and poor stability during the power inspection process of the UAV.

In order to achieve the above purpose, the technical solution adopted in the present invention is to provide a power transmission line inspection drone, including:

drone body;

a camera mechanism, arranged on the top of the drone body;

a walking mechanism, the lower part is connected with the drone body, and the upper part is used to cooperate with the transmission line;

a driving mechanism, arranged at the bottom of the drone body, for driving the drone body to walk along the power transmission line;

A fixing mechanism, one end is connected with the unmanned aerial vehicle body, and the other end is used for connecting with the transmission line tower.

As another embodiment of the present application, the walking mechanism includes:

a boom, the bottom end of which is connected to the top of the drone body;

The roller is arranged on the top of the hanger rod and is arranged horizontally in the axial direction, and the surface is circumferentially provided with a notch for matching with the power transmission line;

A drive motor is used, and the output shaft is connected with the roller.

As another embodiment of the present application, the boom includes a first telescopic rod.

As another embodiment of the present application, both sides of the roller are provided with limit structures for preventing the roller from slipping off the power line.

As another embodiment of the present application, the driving mechanism includes:

Windsurfing board, set vertically;

The first steering gear is arranged at the bottom of the drone body and is connected to the top of the windsurfing board for controlling the direction of the windsurfing board.

As another embodiment of the present application, the fixing mechanism includes:

a fixed tube, one end is connected with the drone body, and the other end is provided with a bell mouth;

a clamping claw, which is arranged on the end of the fixed feed pipe with the bell mouth, the outer wall is in sliding contact with the inner wall of the bell mouth, and is used for connecting with the transmission line tower;

The connecting wire is arranged inside the fixing tube, one end is connected with the tail of the clamping jaw, and the other end is connected with a hoisting motor.

As another embodiment of the present application, the fixing mechanism includes:

a fixed tube, one end is connected with the drone body, and the other end is provided with an electromagnet; the fixed tube is inclined relative to the bottom surface of the drone body;

The control switch is arranged on the fixed tube and is electrically connected to the electromagnet for controlling the magnetism of the electromagnet.

As another embodiment of the present application, the fixing tube includes a second telescopic rod.

As another embodiment of the present application, the bottom of the drone is provided with a second steering gear connected to the fixed pipe, for adjusting the inclination angle of the fixed pipe.

The beneficial effect of the transmission line inspection drone provided by the present invention is that: the bottom of the walking mechanism is connected with the drone body, the top is matched with the transmission line, the driving mechanism is arranged at the bottom of the drone body, and driven by the driving mechanism , the drone body and the walking mechanism can walk along the transmission line at the same time;

During the inspection of the drone, control the drone body together with the camera mechanism, the walking mechanism and the driving mechanism to fly under the transmission line, coordinate the walking mechanism with the transmission line, close the rotor of the drone body, and the drone body passes through the walking. The structure is suspended directly below the transmission line, the camera mechanism is turned on, and the image of the transmission line is collected. Driven by the driving mechanism, the drone body and the camera mechanism travel along the transmission line, and the image of the transmission line is collected while traveling;

When inspecting the transmission line tower, control the drone body together with the camera mechanism and the fixing mechanism to fly to the position below the transmission line tower, fix the fixing mechanism on the transmission line tower, and close the rotor of the drone. The drone body is fixed on the transmission line tower, the camera mechanism is turned on, and the image of the transmission line at the transmission line tower is collected;

Compared with the prior art, the transmission line inspection drone of the present invention, during the inspection process, the rotor of the drone body is in a closed state, the power consumption is reduced, the endurance capability of the drone body is enhanced, and the power consumption is reduced. The frequency of charging or battery replacement is improved, and the inspection efficiency is improved; during the line inspection process, the drone body is suspended under the transmission line through the walking mechanism, the drone body is stable, and the captured images are clear. When the drone body is fixed on the transmission line tower through the fixing mechanism, the drone body is stable and the captured images are clear.

The present invention also provides a transmission line inspection system, including the transmission line inspection drone provided by the present invention, and a control terminal connected to the drone body and the camera mechanism through a communication module, and a control terminal connected to the drone body and the camera mechanism through a communication module. A data storage module electrically connected to the control terminal, the data storage module is used to record the image information obtained by the camera mechanism.

The beneficial effects of the transmission line inspection system provided by the present invention are: the bottom of the traveling mechanism is connected with the drone body, the top is matched with the transmission line, the driving mechanism is arranged at the bottom of the drone body, and driven by the driving mechanism, no The human-machine body and the walking mechanism can walk along the transmission line at the same time;

During the inspection of the drone, the control terminal controls the drone body together with the camera mechanism, the walking mechanism and the driving mechanism to fly under the transmission line, and the walking mechanism is matched with the transmission line, and the control terminal closes the rotor of the drone body, and no one The body of the drone is suspended directly under the transmission line through the walking structure, and the control terminal turns on the camera mechanism to collect the image of the transmission line. Driven by the driving mechanism, the drone body and the camera mechanism travel along the transmission line, collecting the transmission line while traveling. The image of the transmission line collected is transmitted to the data storage module through the communication module for storage;

When inspecting the transmission line tower, the control terminal controls the drone body together with the camera mechanism and the fixed mechanism to fly to the position below the transmission line tower, fix the fixed mechanism on the transmission line tower, and control the terminal to close the unmanned aerial vehicle. The rotor of the drone, the drone body is fixed on the transmission line tower, the control terminal turns on the camera mechanism, collects the image of the transmission line at the transmission line tower, and transmits the collected image to the storage module through the communication module for storage;

Compared with the prior art, the power transmission line inspection system of the present invention, in the inspection process, the rotor of the drone body is in a closed state, the power consumption is reduced, the endurance of the drone body is enhanced, and the charging is reduced. Or replace the frequency of the battery to improve the inspection efficiency; during the line inspection process, the drone body is suspended under the transmission line through the walking mechanism, the drone body is stable, and the captured images are clear. The drone body is fixed on the transmission line tower through the fixing mechanism, the drone body is stable, and the captured images are clear.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only for the present invention. In some embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

1 is a schematic structural diagram 1 of a transmission line inspection drone provided by an embodiment of the present invention;

FIG. 2 is a second structural schematic diagram of a transmission line inspection drone provided by an embodiment of the present invention;

Figure 3 is a schematic diagram of the connection structure between the boom and the drone body;

4 is a schematic structural diagram of a transmission line inspection drone provided by another embodiment of the present invention;

5 is a schematic structural diagram of a fixing mechanism according to still another embodiment of the present invention;

In the figure: 1. UAV body; 11. Slot; 2. Camera mechanism; 3. Walking mechanism; 31. Boom; 311. Elastic clip; 312, Spring; 32. Roller; 33. Drive motor; 34 , Limiting mechanism; 4, Driving mechanism; 41, Windsurfing board; 42, First steering gear; 5, Transmission line; 6, Transmission line tower; 7, Fixing mechanism; 71, Fixing pipe; 72, Second steering gear; 73, clamping jaw; 74, slider; 75, connecting wire; 76, hoisting motor; 77, winding shaft.

Detailed ways

In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

Please refer to FIG. 1 , FIG. 2 and FIG. 4 together, and now the transmission line inspection drone provided by the present invention will be described. The power transmission line inspection drone includes a drone body 1 , a camera mechanism 2 , a walking mechanism 3 , a driving mechanism 4 and a fixing mechanism 7 . The camera mechanism 2 is arranged on the top of the drone body 1, and when the drone body 1 is located at a certain distance below the power line 5, the camera mechanism 2 photographs the power line 5, and judges whether the power line 5 is faulty through the image captured by the camera mechanism 2; The bottom of the traveling mechanism 3 is connected with the drone body 1, and the top is matched with the power transmission line 5. The drone body 1 transports the traveling mechanism 3 to the power transmission line 5, and the traveling mechanism 3 is matched with the power transmission line 5 to connect the drone. The body 1 is suspended below the transmission line 5; the driving mechanism 4 is arranged at the bottom of the drone, and drives the drone body 1 to walk along the transmission line 5 together with the walking mechanism 3, and shoots the transmission line 5 while walking; one end of the fixing mechanism 7 It is connected to the drone body 1, and the other end is connected to the transmission tower. When checking the transmission line 5 at the transmission line tower 6, the fixing mechanism 7 fixes the drone body 1 on the transmission line tower 6.

The bottom of the traveling mechanism 3 is connected with the drone body 1, and the top is matched with the power transmission line 5. The driving mechanism 4 is arranged at the bottom of the drone body 1. Under the driving of the driving mechanism 4, the drone body 1 and the traveling mechanism 3 Able to walk along 5 transmission lines at the same time;

During the inspection of the drone, control the drone body 1 together with the camera mechanism 2, the traveling mechanism 3 and the driving mechanism 4 to fly below the transmission line 5, and cooperate with the traveling mechanism 3 and the power transmission line 5 to close the drone body 1 The UAV body 1 is suspended directly under the transmission line 5 through the walking structure, the camera mechanism 2 is turned on, and the image of the transmission line 5 is collected. Driven by the driving mechanism 4, the UAV body 1 and the camera mechanism 2 Travel along the 5th transmission line, and collect the images of the 5th transmission line while traveling;

The 6 places of the transmission line tower are the joints of the transmission line 5, which are most prone to failure, so the inspection time is relatively long. When inspecting the 6 places of the transmission line tower, the drone body 1, the camera mechanism 2 and the fixed mechanism 7 are controlled to fly. To the position of the transmission line tower 6 below the transmission line 5, the fixing mechanism 7 is fixed on the transmission line tower 6, the rotor of the drone is closed, the drone body 1 is fixed on the transmission line tower 6, and the camera mechanism 2 is turned on. , collect the image of the transmission line 5 at the transmission line tower 6;

Compared with the prior art, the transmission line inspection drone of the present invention, during the inspection process, the rotor of the drone body 1 is in a closed state, the power consumption is reduced, and the endurance of the drone body 1 is enhanced. , reducing the frequency of charging or replacing batteries and improving the inspection efficiency; during the line inspection process, the drone body 1 is suspended under the transmission line 5 through the walking mechanism 3, the drone body 1 is stable, and the captured images are clear. During the inspection of 6 transmission line towers, the drone body 1 is fixed on the transmission line tower 6 by the fixing mechanism 7, the drone body 1 is stable, and the captured images are clear.

It should be noted that the camera mechanism 2 and the driving mechanism 4 are both connected to the power supply in the drone body 1 and powered by the power supply of the drone body 1 .

The part of the top of the traveling mechanism 3 in contact with the power transmission line 5 is made of insulating material to prevent the high-voltage current carried by the power transmission line 5 from being transmitted to the drone body 1 - other mechanisms through the traveling mechanism 3 .

The control of the drone body 1 , the camera head, the traveling mechanism 3 , the driving mechanism 4 and the fixing mechanism 7 is performed by a control terminal for controlling the flight of the drone body 1 .

As a specific implementation of the transmission line inspection drone provided by the present invention, please refer to FIG. 2 , the traveling mechanism 3 includes a boom 31 and a roller 32 , and the bottom end of the boom 31 is connected to the top of the drone body 1 , the roller 32 is arranged on the top of the boom 31, the center of the roller 32 is interspersed with a rotating shaft, the rotating shaft is arranged horizontally, and one end of the rotating shaft is fixed on the top of the boom 31, and the roller 32 rotates around the rotating shaft; The slot where the wire 5 is matched, and the transmission wire 5 is embedded in the slot to prevent the roller 32 from sliding on the transmission wire 5 in the axial direction, so as to ensure the stability of the connection between the roller 32 and the transmission wire 5;

The traveling mechanism 3 also includes a driving motor 33, the driving motor 33 is arranged on the top of the boom 31, and the output shaft is connected with the roller 32. When the driving mechanism 4 does not provide a driving force, the output shaft of the driving motor 33 rotates to drive the roller 32 to rotate around the axis, The rotation of the roller 32 drives the traveling mechanism 3 and the drone body 1 to walk along the transmission line 5 , and the driving motor 33 is connected to the power supply of the drone body 1 and powered by the power supply of the drone body 1 .

In this embodiment, the boom 31 is connected to the drone body 1 by plugging. Specifically, referring to FIG. 3 , the top of the drone body 1 is provided with a slot 11 with an upward opening, and the opening of the slot 11 is Matching with the cross section of the hanger rod 31 , two elastic clips 311 are symmetrically arranged at the bottom of the side wall of the hanger rod 31 . There is a spring 312 in the accommodating groove. One end of the spring 312 is fixed at the bottom of the accommodating groove, and the other end is fixed at the tail end of the elastic clip 311. Along the level; two card slots are symmetrically arranged on the side wall of the slot 11, and the elastic clip head 311 can pass through the card slots.

When installing the boom 31, insert the end of the boom 31 with the elastic clip 311 into the slot 11, the elastic clip 311 is compressed into the accommodating slot, and the spring 312 is compressed at the same time, the spring 312 is in a compressed state, the boom 31 The end of the fuse is inserted into the slot 11. When the elastic clip 311 is facing the slot of the slot 11, under the elastic force of the spring 312, the elastic clip 311 is ejected from the accommodating slot and passes through the slot. 311 is limited by the slot, and the boom 31 completes the connection of the drone body 1. When separating the boom 31 from the drone body 1 , press the elastic indenter inward, press the elastic clip 311 into the accommodating groove, and then pull out the boom 31 .

As a specific implementation of the embodiment of the present invention, the boom 31 is set as a first telescopic rod, that is, the length of the boom 31 is adjustable. By adjusting the length of the boom 31, the distance between the drone body 1 and the power transmission line 5 is adjusted. The distance, on the premise of ensuring safety, ensures that the camera mechanism 2 can take a clear picture of the power line 5 .

As a specific implementation of the embodiment of the present invention, referring to FIGS. 1 and 2 , both sides of the driving wheel are provided with limit structures 34 for preventing the driving wheel from slipping off the power line 5 . In this embodiment, the limit structure 34 on one side of the driving wheel is a hanger rod 31, and the limit structure 34 on the other side is set as a limit plate. The limit board, the drive wheel and the hanger rod 31 form a hook, which is hung on the power transmission on line 5.

As a specific implementation of the embodiment of the present invention, please refer to FIG. 1 and FIG. 2 , the driving mechanism 4 includes a windsurfing board 41 and a first steering gear 42 , and the first steering gear 42 is arranged at the bottom of the drone body 1 , and The first steering gear 42 is connected to the power supply of the UAV body 1 and powered by the power supply of the UAV body 1; , the windsurfing board 41 moves horizontally; the windsurfing board 41 is arranged vertically, the center of the windsurfing board 41 is provided with a connecting shaft, the connecting shaft is vertically arranged, the top of the connecting shaft is connected with the first steering gear 42, and the first steering gear 42 rotates When the wind blows the windsurfing board 41, the direction of the windsurfing board 41 is adjusted, which is the same as the windsurfing board principle of a sailboat.

As a specific implementation of the embodiment of the present invention, please refer to FIG. 4 and FIG. 5 , the fixing mechanism 7 includes a fixing tube 71 , a clamping jaw 73 and a connecting wire 75 . One end of the fixing tube 71 is connected to the drone body 1 , and the other One end is provided with a bell mouth, the tail of the jaw 73 is arranged in the bell mouth, the head end of the jaw 73 protrudes from the bell mouth, the outer wall of the jaw 73 is in sliding contact with the inner wall of the bell mouth, that is, the jaw 73 can slide in the bell mouth .

A slider 74 is arranged inside the fixed tube 71 , and the outer wall of the slider 74 is in sliding contact with the inner wall of the fixed tube 71 , that is, the slider 74 can slide along the axial direction of the fixed tube 71 , and the tail of the clamping jaw 73 is fixedly connected to the slider 74 The interior of the fixed tube 71 is provided with a connecting line 75 along the axial direction, one end of the connecting line 75 is connected with the slider 74, and the other end is connected with a hoisting motor 76, the winding shaft 77 of the hoisting motor 76 and the fixed tube 71 The axis is vertically arranged. When the winch motor 76 is rotating forward, the connecting wire 75 is wound on the winding shaft 77, and the slider 74 is pulled to move in the direction of the winch motor 76. The slider 74 drives the clamping jaw 73 to move into the fixed tube 71. , when the clamping jaw 73 moves, the bell mouth of the fixed tube 71 squeezes the clamping jaw 73 inward, the clamping jaw 73 is grasped, and is clamped on the transmission line tower 6; 77 is released, and under the elastic force of the clamping claw 73 , the clamping claw 73 slides out of the fixed pipe 71 and is separated from the transmission line tower 6 .

The hoisting motor 76 is connected to the power supply in the drone body 1 , and is powered by the power supply in the drone body 1 .

In this embodiment, the inner side of the clamping jaw 73 is provided with a rubber material anti-skid pad to ensure the clamping stability of the clamping jaw 73 to the transmission line tower 6 .

As a specific implementation of the embodiment of the present invention, please refer to FIG. 4 , the fixing mechanism 7 includes a fixing tube 71 and a control switch, and one end of the fixing tube 71 is connected to the drone body 1, because the material of the transmission line tower 6 is iron , so the other end of the fixed pipe 71 is provided with an electromagnet, and the electromagnet is adsorbed on the transmission line tower 6; the control switch is arranged on the fixed pipe 71 and is electrically connected with the electromagnet to control the on-off of the electromagnet, that is, control the The magnetism of the electromagnet, the electromagnet is connected to the power supply in the drone body 1, and is powered by the power supply of the drone body 1.

When controlling the drone to fly, the control switch controls the electromagnet to be in a power-off and non-magnetic state. By adjusting the position of the drone body 1, the drone body 1 is located a certain distance below the power line 5, and the electromagnet is set on the fixed tube 71. When one end of the power transmission line is in contact with the transmission line tower 6, the control switch is turned on remotely, and the electromagnet is energized and adsorbed on the transmission line tower 6.

In this embodiment, the fixed tube 71 is inclined relative to the bottom surface of the drone body 1, that is, the fixed tube 71 is set obliquely downward, and when the lower end of the fixed tube 71 is connected to the transmission line tower 6, the drone body 1 is horizontal state.

As a specific implementation of the embodiment of the present invention, the fixing tube 71 is set as a second telescopic rod, that is, the length of the fixing tube 71 is adjustable. The distance, on the premise of ensuring safety, ensures that the camera mechanism 2 can take a clear picture of the power line 5 .

As a specific implementation of the embodiment of the present invention, the bottom of the drone body 1 is provided with a second steering gear 72 connected to the top of the fixed tube 71. When the flying attitude of the drone body 1 is not easy to adjust, the The second steering gear 72 adjusts the orientation of the fixed pipe 71 to ensure that the end of the fixed pipe 71 can be connected to the transmission line tower 6 .

The present invention also provides a transmission line inspection system, including the transmission line inspection drone provided by the present invention, and a control terminal connected to the drone body 1 and a camera mechanism 2 through a 4G communication module and electrically connected to the control terminal The data storage module is used to record the image information obtained by the camera mechanism 2 .

In the transmission line inspection system provided by the present invention, the bottom of the traveling mechanism 3 is connected to the drone body 1, the top is matched with the transmission line 5, and the driving mechanism 4 is arranged at the bottom of the drone body 1, and is driven by the driving mechanism 4. , the drone body 1 and the walking mechanism 3 can walk along the transmission line 5 at the same time;

During the inspection of the drone, the control terminal controls the drone body 1 together with the camera mechanism 2, the traveling mechanism 3 and the driving mechanism 4 to fly below the transmission line 5, and the traveling mechanism 3 is matched with the transmission line 5. The rotor of the man-machine body 1, the drone body 1 is suspended directly under the transmission line 5 through the walking structure, the control terminal turns on the camera mechanism 2, and collects the image of the transmission line 5. Driven by the driving mechanism 4, the drone The body 1 and the camera mechanism 2 travel along the transmission line 5, collect the images of the transmission line 5 while traveling, and transmit the collected images of the transmission line 5 to the data storage module for storage through the communication module;

When inspecting the transmission line tower 6, the control terminal controls the drone body 1 together with the camera mechanism 2 and the fixing mechanism 7 to fly to the position below the transmission line 5 of the transmission line tower 6, and fix the fixing mechanism 7 on the transmission line tower. 6, the control terminal closes the rotor of the drone, the drone body 1 is fixed on the transmission line tower 6, the control terminal turns on the camera mechanism 2, collects the image of the transmission line 5 at the transmission line tower 6, and passes the collected image through. The communication module is transmitted to the storage module for storage;

Compared with the prior art, in the power transmission line inspection system of the present invention, during the inspection process, the rotor of the drone body 1 is in a closed state, the power consumption is reduced, the endurance capability of the drone body 1 is enhanced, and the power consumption is reduced. The frequency of charging or battery replacement is improved, and the inspection efficiency is improved; during the line inspection process, the drone body 1 is suspended under the transmission line 5 through the walking mechanism 3, the drone body 1 is stable, and the captured images are clear. During the inspection of the 6 places of the iron tower, the drone body 1 is fixed on the transmission line tower 6 by the fixing mechanism 7, the drone body 1 is stable, and the captured images are clear.

The above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included in the protection of the present invention. within the range.

Claims (10)

1. Unmanned aerial vehicle is patrolled and examined to transmission line, its characterized in that includes:

an unmanned aerial vehicle body;

the camera shooting mechanism is arranged at the top of the unmanned aerial vehicle body;

the lower part of the walking mechanism is connected with the unmanned aerial vehicle body, and the upper part of the walking mechanism is matched with the power transmission line;

the driving mechanism is arranged at the bottom of the unmanned aerial vehicle body and used for driving the unmanned aerial vehicle body to walk along the power transmission line;

and one end of the fixing mechanism is connected with the unmanned aerial vehicle body, and the other end of the fixing mechanism is connected with a power transmission line iron tower.

2. The power transmission line inspection unmanned aerial vehicle of claim 1, wherein the traveling mechanism includes:

the bottom end of the suspension rod is connected with the top of the unmanned aerial vehicle body;

the roller is arranged at the top of the hanging rod and is axially and horizontally arranged, and a notch matched with the power transmission line is circumferentially arranged on the surface of the roller;

and the output shaft of the driving motor is connected with the roller.

3. The power transmission line inspection unmanned aerial vehicle of claim 2, wherein the boom includes a first telescoping rod.

4. The transmission line inspection unmanned aerial vehicle of claim 2, wherein both sides of the roller are provided with a limiting structure for preventing the roller from slipping off the transmission line.

5. The power transmission line inspection unmanned aerial vehicle of claim 1, wherein the drive mechanism includes:

a sailboard arranged vertically;

the first steering engine is arranged at the bottom of the unmanned aerial vehicle body, is connected with the top of the sailboard and is used for controlling the direction of the sailboard.

6. The power transmission line inspection unmanned aerial vehicle of claim 1, wherein the securing mechanism includes:

one end of the fixed pipe is connected with the unmanned aerial vehicle body, and the other end of the fixed pipe is provided with a horn mouth;

the clamping jaw is arranged at one end, provided with a bell mouth, of the fixed feeding pipe, and the outer wall of the clamping jaw is in sliding contact with the inner wall of the bell mouth and is used for being connected with the power transmission line iron tower;

and the connecting wire is arranged inside the fixed pipe, one end of the connecting wire is connected with the tail part of the clamping jaw, and the other end of the connecting wire is connected with a hoisting motor.

7. The power transmission line inspection unmanned aerial vehicle of claim 1, wherein the securing mechanism includes:

one end of the fixed pipe is connected with the unmanned aerial vehicle body, and the other end of the fixed pipe is provided with an electromagnet; the fixed pipe is obliquely arranged relative to the bottom surface of the unmanned aerial vehicle body;

and the control switch is arranged on the fixed pipe, is electrically connected with the electromagnet and is used for controlling the magnetism of the electromagnet.

8. The power transmission line inspection unmanned aerial vehicle of claim 6 or 7, wherein the fixed pipe comprises a second telescoping rod.

9. The transmission line inspection unmanned aerial vehicle of claim 6 or 7, wherein a second steering engine connected with the fixed pipe is arranged at the bottom of the unmanned aerial vehicle and used for adjusting the inclination angle of the fixed pipe.

10. The power transmission line inspection system is characterized by comprising the power transmission line inspection unmanned aerial vehicle according to any one of claims 1 to 9, a control terminal connected with the unmanned aerial vehicle body and the camera shooting mechanism through a communication module, and a data storage module electrically connected with the control terminal, wherein the data storage module is used for recording image information acquired by the camera shooting mechanism.

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