To remove the litter on the high voltage lines ,our can can follow the lead of autonomous cruise,full coverage photography,precise measure in a  long distance and ne-stop service.By using LiDAR to scan the relative position of the conductor in real time, combined with PID control algorithm, the UAV can automatically follow the conductor and reduce the work burden of inspection personnel and The tree barrier measurement can be reported on the spot, and the tree barrier measurement results can be known on the spot, and the processing arrangements can be made quickly according to the results,ensure the safety and the work efficiency can be significantly improved.