CN108214517B - Longitudinally-bendable air robot for cleaning tree barriers of duct structure - Google Patents
Longitudinally-bendable air robot for cleaning tree barriers of duct structure Download PDFInfo
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- CN108214517B CN108214517B CN201810192090.7A CN201810192090A CN108214517B CN 108214517 B CN108214517 B CN 108214517B CN 201810192090 A CN201810192090 A CN 201810192090A CN 108214517 B CN108214517 B CN 108214517B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 22
- 230000004888 barrier function Effects 0.000 title claims abstract description 18
- 238000005452 bending Methods 0.000 claims abstract description 21
- 238000006243 chemical reaction Methods 0.000 claims description 10
- 238000006073 displacement reaction Methods 0.000 claims description 8
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- 230000033001 locomotion Effects 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 5
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- 230000001360 synchronised effect Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 abstract description 5
- 230000005484 gravity Effects 0.000 description 4
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- 238000000429 assembly Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
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- 230000000903 blocking effect Effects 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 238000005520 cutting process Methods 0.000 description 2
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- 230000010349 pulsation Effects 0.000 description 2
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- 238000013459 approach Methods 0.000 description 1
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- 230000033228 biological regulation Effects 0.000 description 1
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- 230000009977 dual effect Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/08—Other tools for pruning, branching or delimbing standing trees
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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Abstract
The invention discloses a longitudinally bendable culvert structure tree barrier cleaning aerial robot which comprises a platform main body and an operation cutter, wherein a plurality of vertical culverts are arranged on the platform main body, a rotor wing assembly is arranged in each vertical culvert, the front end of the platform main body is connected to the operation cutter through an operation arm, the operation cutter is connected with a cutter motor, the cutter motor is fixedly connected to the front end of the operation arm, and a longitudinally bent joint of a built-in driving motor for longitudinally bending the operation arm is arranged on the operation arm. According to the invention, the rotor wing assembly is arranged on the machine body, and the longitudinal bending joint is arranged on the working arm, so that the working arm can be bent in the longitudinal plane, the working cutter is ensured to be perpendicular to the branches to be cleaned, the tree barrier cleaning efficiency is effectively improved, and the cutter slip is reduced. The tree obstacle is cleaned through the aerial robot, the efficiency is high, the situation that an operator is close to the high-voltage power transmission line at the position of the tree obstacle is avoided, the operation is safer, the operation risk can be effectively reduced, and the problems of low manual cleaning efficiency and high safety risk in the prior art are solved.
Description
Technical Field
The invention relates to a longitudinally bendable air robot for cleaning tree barriers of a culvert structure, and belongs to the technical field of power transmission line tree barrier cleaning devices.
Background
The tree barrier is a potential safety hazard existing in the transmission line channel, and is manifested in that the continuous proliferation of trees in the channel gradually threatens the operation safety of the transmission line. Therefore, a great amount of manpower, material resources and financial resources are input into each electric power department every year to clean and repair the passage tree barriers in the jurisdiction. The existing tree obstacle cleaning mainly depends on manual cleaning, and has the defects of low efficiency and high safety risk, so that an automatic air robot for cleaning the tree obstacle of the power line channel is needed.
Disclosure of Invention
The invention solves the technical problems that: the utility model provides a but longitudinal bending's ducted structure tree barrier clearance aerial robot has anticollision function to solve the manual cleaning efficiency that exists among the prior art not high and the big problem of security risk.
The technical scheme adopted by the invention is as follows: the utility model provides a but longitudinal bending's bypass structure tree barrier clearance aerial robot, includes platform main part and operation cutter, sets up a plurality of perpendicular ducts in the platform main part, is equipped with the rotor subassembly in every perpendicular duct, and platform main part front end is connected to the operation cutter through the operation arm, and the operation cutter is connected with the cutter motor, and cutter motor fixed connection is at the front end of operation arm, is equipped with the longitudinal bending joint that makes its built-in driving motor of longitudinal bending on the operation arm.
Preferably, the working arm comprises a mechanical arm and a cutter rod, wherein one end of the mechanical arm is fixedly connected to the platform main body, and the other end of the mechanical arm is fixedly connected with the cutter rod.
Preferably, the working arm comprises a front arm, a middle arm and a rear arm which are sequentially connected from front to back, wherein the front arm is connected with the middle arm through a longitudinal bending joint, and the middle arm and the rear arm are connected through a folding structure or a telescopic structure.
Preferably, the rear end of the middle arm is connected to the front end of the rear arm by a folding joint.
Preferably, the rear end of the middle arm is movably sleeved at the front end of the rear arm and locked by a locker.
Preferably, the working arm is of a two-section structure and is connected into a whole through a protection joint, the protection joint comprises a fixed fork, a cross shaft, a movable fork, a cylinder sleeve, a spring and a screw, the fixed fork, the movable fork and the cylinder sleeve are hollow cylinders, the cross shaft is respectively connected with the front part of the fixed fork and the rear part of the movable fork through bearings, so that a universal joint is formed, the rear part of the fixed fork is fixedly connected with the rear section of the working arm, the front part of the cylinder sleeve is fixedly connected with the front section of the working arm, the rear part of the cylinder sleeve is connected with the front part of the movable fork in a sleeve form capable of axially sliding and relatively rotating, the spring is cylindrical and is arranged outside the fixed fork, the movable fork and the cylinder sleeve in a wrapping form, and two ends of the spring are respectively fixedly connected with the fixed fork and the cylinder sleeve through two screws.
Preferably, a battery pack is mounted at the tail of the platform body.
Preferably, the rotor assembly comprises a rotor and a rotor motor, wherein the rotor is fixedly connected to an output shaft of the rotor motor, the rotor motor is fixedly connected to a rotor supporting arm, and the rotor supporting arm is fixedly connected to the platform main body.
Preferably, the folding joint comprises a front crank arm arranged at the rear end of the middle arm, a rear crank arm arranged at the front end of the rear arm and a locking device, wherein the front crank arm is hinged with the rear crank arm through a hinge shaft and is locked by the locking device; the locking device comprises a step shaft fixedly connected to the front end of the rear arm and coaxial with the rear arm, a screw rod fixedly connected to the rear end of the middle arm and coaxial with the middle arm, and a locking nut sleeved on the step shaft, an inner boss step is arranged at the rear end of an inner hole of the locking nut, an outer convex step for preventing the locking nut from falling off is arranged at the front end of the step shaft, and the locking nut can coaxially butt-joint and lock the step shaft and the screw rod. The folding joint is simple in structure and easy to realize, can effectively avoid locking looseness caused by vibration, and can rapidly stretch, lock or fold and store the working arm.
Preferably, the bottom of the platform main body is provided with a landing gear.
The invention has the beneficial effects that: compared with the prior art, the invention has the following effects:
1) According to the invention, the rotor wing assembly is arranged on the machine body, the longitudinal bending joint is arranged on the working arm, and the working cutter is perpendicular to the branches to be cleaned to carry out the operation as much as possible by bending the working arm in the longitudinal plane, so that the tree barrier cleaning efficiency is effectively improved, and the cutter slip is reduced; the aerial robot is used for cleaning the tree obstacle, so that an operator can be prevented from approaching the high-voltage transmission line at the position of the tree obstacle, the risk is effectively reduced, the operation safety is improved, and the problems of low manual cleaning efficiency and high safety risk in the prior art are solved;
2) The aerial robot adopts the whole duct structural design, the appearance is flat, the rotor wing assembly has anti-collision capability, the damage of equipment or the crash of the robot caused by the fact that branches and leaves are rolled into the rotor wing or the propeller can be effectively prevented, the aerial robot is facilitated to enter a compact space for operation, the safety is good, and the operation efficiency is high;
3) The aerial robot provides lifting force by the rotor wing assembly, realizes attitude stabilization and position control, combines synchronous control of the longitudinal bending joint during operation to realize barrier removal feeding, has simple system structure and control mode, and is easy for engineering realization;
4) The overall structure of the aerial robot is flat, and the visual operation tool direction change brought by the cooperation of the longitudinal bending joint and the camera observation is compared with a simple horizontal feeding mode, so that the probability that the aerial robot penetrates deep into a dense branch and leaf area can be reduced while the accurate cutting is carried out on a tree obstacle, and the operation risk is reduced;
5) The middle arm and the rear arm of the aerial robot are connected in a folding mode or a telescopic mode, so that the size of the whole aerial robot is effectively reduced, the aerial robot is convenient to store and carry, and the telescopic mode is also convenient for adjusting the gravity center position;
6) The protection joint has four mechanical buffer degrees of freedom, and can effectively weaken the influence of tree barrier reaction force or moment and vibration of the operation tool on the flying attitude of the aerial robot;
7) The battery pack is arranged at the rear part of the aerial robot, so that a good counterweight effect is achieved, and meanwhile, the working arm can be adjusted back and forth relative to the machine body, so that the center of gravity of the aerial robot can be adjusted quickly;
8) The folding joint adopted by the invention has simple structure, is easy to realize, can effectively avoid locking loosening caused by vibration, and can rapidly extend, lock or fold and store the operation arm
9) The aerial robot can be used for performing high-altitude installation, cleaning or maintenance and other operations on large-scale equipment and buildings.
Drawings
FIG. 1 is a schematic view of the structure of the present invention (telescopic boom);
FIG. 2 is a schematic view of the structure of the present invention (folding arm);
FIG. 3 is a schematic view of a folding joint structure (extended use state);
fig. 4 is a schematic view of a folding joint structure (folded storage state);
FIG. 5 is a schematic view of a protected joint configuration;
fig. 6 is an overall schematic view of a protected joint.
In the figure, the rotor comprises a rotor 1, a rotor 2, a rotor motor 3, a rotor supporting arm 4, a platform main body 5, a flight controller 6, a battery pack 7, a locker 8, a middle arm 9, a longitudinal bending joint 10, a folding joint 11, a forearm 12, a protection joint 13, a cutter bar 14, a cutter motor 15, a working cutter 16, a connector 17, a rear arm 18, a vertical duct 19, a mechanical arm 20 and a working arm;
1001-front crank arm, 1002-rear crank arm, 1003-hinge shaft, 1004-step shaft, 1005-locking nut, 1006-screw;
1201-fixed fork, 1202-cross shaft, 1203-movable fork, 1204-cylindrical sleeve, 1205-spring, 1206-screw.
Detailed Description
The invention will be further described with reference to the drawings and specific examples.
Example 1: as shown in fig. 1-6, a longitudinally bendable robot for cleaning a tree obstacle in a ducted structure comprises a platform main body 4 and a working cutter 15; a plurality of symmetrical vertical ducts 18 are arranged on the platform main body 4, and a rotor wing assembly is arranged in each vertical duct 18; the front end of the platform main body 4 is connected to a working cutter 15 through a working arm 20, the working cutter 15 is connected with a cutter motor 14, and the cutter motor 14 is fixedly connected to the front end of the working arm 20; a longitudinal bending joint 9 with a built-in driving motor for longitudinally bending the working arm 20 is arranged on the working arm; the center part of the platform main body 4 is provided with a flight controller 5, the rear part of the platform main body 4 is provided with a battery pack 6, and the flight controller 5 is internally provided with an Inertial Measurement Unit (IMU), a satellite navigation receiver, an air pressure altimeter and a flight control computer, and the flight control system further comprises a communication module which is arranged on the platform main body 4 and is used for transmitting flight data and airborne images.
Preferably, the cutter motor 14 is connected with a cutter controller for driving the cutter motor to rotate, and the cutter controller is built in the working arm 20 or the platform main body 4 and is connected with a flight controller; the cutter motor 14 is internally provided with a rotation speed sensor for sensing the rotation speed of the working cutter 15, the cutter controller is internally provided with a current sensor for sensing the working current of the cutter motor 14, the rotation speed sensor adopts a photoelectric encoder or a Hall sensor, and the current sensor adopts a current transformer which are connected with the cutter controller; the cutter controller is custom-provided with an analog quantity or digital quantity, pulse quantity, frequency quantity and other types of interfaces corresponding to the specific types of sensors.
Preferably, the working arm 20 includes a mechanical arm 19 and a cutter bar 13, one end of the mechanical arm 19 is fixedly connected to the platform main body 4, and the other end is fixedly connected to the cutter bar 13 through a joint 16; the joint 16 has the functions of mechanical and electrical dual connection, is convenient for quick assembly and disassembly or replacement, is more convenient for storage, and the joint 16 adopts flange connection or nut-screw quick connection, and the corresponding connection part is provided with an electrical plug.
Preferably, the mechanical arm 19 includes a front arm 11, a middle arm 8 and a rear arm 17 sequentially connected from front to back, the front arm 11 is connected with the middle arm 8 through a longitudinal bending joint 9, and the middle arm 8 and the rear arm 17 are connected in a folding structure or a telescopic structure; the telescopic structure can enable the integral gravity center of the aerial robot to coincide with the projection of the center of the platform main body 4, and is convenient for storage; the front arm 11, the middle arm 8 and the rear arm 17 are polygonal section pipes or round pipes, and when the telescopic structure is adopted, the round pipes are provided with anti-torsion guide grooves.
Preferably, the rear end of the middle arm 8 is connected to the front end of the rear arm 17 through a folding joint 10, as shown in fig. 3 and 4, the folding joint 10 includes a front crank arm 1001 disposed at the rear end of the middle arm 8, a rear crank arm 1002 disposed at the front end of the rear arm 17, and a locking device, and the front crank arm 1001 is hinged to the rear crank arm 1002 through a hinge shaft 1003 and is locked by the locking device; the locking device comprises a step shaft 1004 fixedly connected to the front end of the rear arm 17 and coaxial with the rear arm 17, a screw rod 1006 fixedly connected to the rear end of the middle arm 8 and coaxial with the middle arm 8, and a locking nut 1005 sleeved on the step shaft 1004, wherein an inner boss step is arranged at the rear end of an inner hole of the locking nut 1005, an outer boss step for preventing the locking nut 1005 from falling off is arranged at the front end of the step shaft 1004, and the locking nut 1005 can coaxially butt-joint and lock the step shaft 1004 with the screw rod 1006. The folding joint is simple in structure and easy to realize, can effectively avoid locking looseness caused by vibration, and can rapidly stretch, lock or fold and store the working arm 20.
Preferably, the rear end of the middle arm 8 is movably sleeved on the front end of the rear arm 17 and is locked by a locker 7, the middle arm 8 and the rear arm 17 are coaxial, and the locker 7 comprises one or more radial locking bolts arranged on the sleeved outer tube relative to the axis of the working arm 20.
Preferably, the working arm 20 has a two-stage structure and is integrally connected through the protection joint 12; as shown in fig. 5 and 6, the protection joint 12 has stress buffering and operation force sensing functions, and comprises a fixed fork 1201, a cross shaft 1202, a movable fork 1203, a cylindrical sleeve 1204, a spring 1205 and a screw 1206, wherein the fixed fork 1201, the movable fork 1203 and the cylindrical sleeve 1204 are hollow cylindrical, the cross shaft 1202 is respectively connected with the front part of the fixed fork 1201 and the rear part of the movable fork 1203 through bearings, so that a universal joint with up-down rotation (pitching) and left-right rotation (heading) degrees of freedom is formed, the rear part of the fixed fork 1201 is fixedly connected with the rear section of the operation arm 20, the front part of the cylindrical sleeve 1204 is fixedly connected with the front section of the operation arm 20, the rear part of the cylindrical sleeve 1204 is connected with the front part of the movable fork 1203 in a sleeve form capable of axially sliding and relatively rotating (rolling), the spring 1205 is cylindrical and is arranged outside the fixed fork 1201, the movable fork 1203 and the cylindrical sleeve 1204 in a wrapping form, two ends of the spring 1205 are respectively fixedly connected with the fixed fork 1201 and the cylindrical sleeve 1204 through two screws 1206, and the protection joint 12 has four directions of mechanical buffering degrees of freedom, and the flying moment or the impact on the flying moment of the operation tool 15 can be effectively weakened, and the vibration of the tool 15 can be influenced by the flying machine.
A course angle sensor for sensing the relative left-right rotation (course) amplitude is arranged between the cross shaft 1202 and the fixed fork 1201, a pitch angle sensor for sensing the relative up-down rotation (pitch) amplitude is arranged between the cross shaft 1202 and the movable fork 1203, an axial displacement sensor for sensing the axial relative movement (axial) amplitude of the cylindrical sleeve 1204 and the movable fork 1203, and a roll angle sensor for sensing the relative rotation (roll) amplitude of the cylindrical sleeve 1204 and the movable fork 1203 are arranged between the cylindrical sleeve 1204 and the movable fork 1203, so that the protection joint 12 can sense tree barrier reaction forces or moments in four directions to which the working cutter 15 is subjected and can be used as a control input for cutter feeding or withdrawing and aerial robot gesture or height fine adjustment, and obstacle clearance control is more accurate. Wherein, each angle sensor can adopt photoelectric encoder or potentiometer, and the displacement sensor can adopt slide rheostat or grating ruler, and the acting force or moment is calculated: the displacement measured by each angle sensor and displacement sensor and the bending rigidity, torsion rigidity and stretching rigidity of the spring are calculated to obtain each acting force (stretching or compressing force) or moment (heading moment, pitching moment and torsion moment).
The axial stiffness curve, the pitching stiffness curve, the heading stiffness curve and the torsional stiffness curve of the protection joint 12 are obtained by calibrating the curves of the relative stress-displacement or stress moment-angle of the two ends (the cylindrical sleeve 1204 and the fixed fork 1201) of the protection joint 12 by a calibration method, and the stress or moment of the two ends of the protection joint 12 can be obtained through each stiffness curve and the corresponding displacement or angle.
The flight controller is provided with corresponding analog quantity (voltage or current) or digital quantity (including bus), pulse quantity, frequency quantity and other types of interfaces aiming at the angle sensor and the displacement sensor, PWM (pulse width modulation) or bus interfaces aiming at the rotor wing assembly, and bus interfaces aiming at the communication module and the cutter controller. The bus comprises CAN, RS-485/422/232, ethernet or an onboard bus and the like.
Preferably, the tail of the platform main body 4 is provided with a battery pack 6, which plays a role of counterweight and is convenient for adjusting the center of gravity of the aerial robot by matching with the telescopic adjustment of the working arm 20.
Preferably, above-mentioned rotor subassembly includes rotor 1 and rotor motor 2 and motor speed regulator, rotor 1 fixed connection is on rotor motor 2's output shaft, rotor motor 2 fixed connection is on rotor support arm 3, rotor support arm 3 fixed connection is in platform main part 4, adjacent rotor subassembly's rotor 1 steering is opposite, motor speed regulator receives flight controller 5's rotational speed control signal, drive rotor motor 2 rotates to provide lift and realize aerial robot's gesture stability and control for aerial robot. The number of rotor assemblies is an even number greater than or equal to 4.
The rotor assembly may also employ the following coaxial dual-bladed approach: the rotor 1, the rotor motor 2 and the motor speed regulator in the rotor assembly are respectively provided with a pair, the tail parts of the two rotor motors 2 are opposite, the rotating shafts are outwards and vertically coaxially arranged at the outer ends of the rotor support arms 3, the two rotors 1 are paired in the forward and reverse directions and are respectively arranged on the rotating shafts of the two rotor motors 2, and the lifting force of the two rotors 1 of the same rotor assembly is upwards through the polarity adjustment of the connecting line between the motor speed regulator and the rotor motor 2. The number of rotor wing components in the mode is more than or equal to 3.
Preferably, a camera is mounted on the platform main body 4 or the working arm 20, and the lens of the camera faces the direction of the working cutter 15; the camera is used for closely observing the external form of the tree obstacle, the cleaning effect of the tree obstacle and the working state of the working cutter 15, so that the safe feeding or the withdrawal control of the working cutter 15 is facilitated.
Preferably, the battery pack 6 comprises batteries that power the rotor assembly, the drive motor of the longitudinal bending joint 9, the cutter motor 14 and the cutter controller, and the flight controller 5 and the onboard sensors.
Preferably, the outer side of the cutter structure is provided with a safety protection cover for preventing branches and leaves from splashing or flying after the saw blade is broken.
Preferably, the landing gear is provided at the bottom of the platform body 4.
Preferably, the functions performed by the flight controller 5 include:
1) Acquiring information such as attitude angle, angular velocity, acceleration, satellite positioning, height and speed of the aerial robot in real time, calculating rotating speed instructions of all rotors by combining ground remote control instructions (through wireless connection of a flight controller and a ground remote controller) and outputting the rotating speed instructions to the rotor assemblies so as to realize the stability and control of the attitude and the position of the aerial robot;
2) When the obstacle clearance feeding instruction is executed, according to the growth direction and the cutting position of the tree obstacle branches, synchronizing: (1) outputting a motion instruction to the longitudinal bending joint 9, and driving the joint to rotate so as to keep the vertical angle of the working cutter 15 relative to the cleaned branch; (2) outputting rotating speed instructions to all rotor wing assemblies, driving the platform main body 4 to tilt forwards and adjusting lifting force in a matching way, so that the aerial robot forms propelling power for feeding forwards along a cutter plane, and meanwhile, the gesture of the robot under the interference of tree obstacle branches is kept stable; the cooperation of the two eventually causes the working cutter 15 to advance along its plane of rotation and cut into the tree-barrier branches at an angle close to vertical;
3) When executing the exit command, the working tool 15 is first driven to brake and then reverse, and then synchronized: (1) adjusting the longitudinal bending joint 9 to maintain the vertical angle of the working tool 15 relative to the branches being cleaned; (2) the rotating speed of the rotor wing is regulated to enable the platform main body 4 to tilt backwards and to be matched with the regulation of lifting force, so that the aerial robot moves backwards along the cutter plane to exit the operation; the same of the two can avoid the blocking or breaking of the cutter in the withdrawal process; after the working tool 15 breaks away from the tree obstacle by a certain distance, the aerial robot automatically resumes horizontal hovering;
4) By the guard joint 12 sensing the tree barrier reaction forces (axial) or moments (pitch, heading, roll) to which the working tool 15 is subjected, once the reaction forces or moments reach or exceed a predetermined guard threshold, it can be determined that the tool is in an overload state, i.e. the tool controller and the flight controller are automatically synchronized into a protection mode: the operation cutter 15 is controlled to brake and then reverse, and the aerial robot is controlled to move backwards along the rotation plane of the operation cutter 15 to exit the operation; if the reaction force or moment is smaller than the preset protection threshold, the reaction force or moment is used as a control input for fine adjustment of the movement of the aerial robot, and the specific control method is as follows:
a) The axial force sensed by the protection joint 12 is X, the backward force is positive, and the corresponding operation threshold is lambda when the obstacle clearance is set X The dead zone is delta X Wherein lambda is X ＞0，0≤δ X ＜λ X The method comprises the following steps:
if X <0, judging that the aerial robot receives forward pulling force of the tree obstacle, and taking one of the following measures by the flight controller: (1) controlling the aerial robot to move forwards along the cutter plane for fine adjustment, if X increases positively, continuing the current obstacle clearing operation, and if X does not change or increases negatively, turning to (2); (2) controlling the aerial robot to enter a hovering state, and sending safety alarm information to a ground station through a communication module so as to ask for manual intervention;
-if X < lambda X -δ X The flying controller controls the aerial robot to move forward along the cutter plane for fine adjustment, so that the axial force is increased, and the axial automatic operation feeding is realized;
-if |X-lambda X |≤δ X The flying controller controls the aerial robot to keep hovering, and the axial feeding amount is zero;
-if X > lambda X +δ X The flying controller controls the aerial robot to move backwards along the cutter plane for fine adjustment, so that the axial force is reduced, and the axial automatic protection and retraction are realized.
B) The heading moment perceived by the protection joint 12 when the obstacle clearance is set is N, the overlooking right is positive, and the corresponding operation threshold is lambda N The dead zone is delta N Wherein lambda is N ＞0，0≤δ N ＜λ N The method comprises the following steps:
-if |N| < lambda N -δ N The flight controller controls the aerial robot to move in the direction of increasing the |N| to finely adjust the heading, so that horizontal lateral automatic operation feeding is realized;
-if it is N-lambda N |≤δ N The flying controller controls the aerial robot to keep the current course, and the horizontal lateral feed is zero;
-if |N| > λ N +δ N The flight controller controls the aerial robot to move in the direction of reducing the |N| to finely adjust the heading, so that the horizontal lateral automatic protection rollback is realized.
C) When the obstacle clearance is set, the pitching moment perceived by the protection joint 12 is M, the upward direction is positive, and the corresponding insensitive area is delta M Wherein delta M Not less than 0, there are:
-if |M| > delta M The flight controller controls the aerial robot to move in a direction of reducing the absolute value M to slightly adjust the height;
if M is less than delta M The flight controller controls the aerial robot to maintain the current altitude.
5) According to motor current and cutter rotating speed information collected by the cutter controller, the overload, blocking and damage states of the working cutter 15 are evaluated in real time, and the evaluation method is as follows:
-if the motor current exceeds the current predetermined threshold, it is determined that the working tool 15 is overloaded or blocked;
-if the tool rotational speed is lower than the rotational speed predetermined threshold, it is determined that the working tool 15 is overloaded or jammed;
if periodic pulsation occurs in the motor current or the tool rotational speed, it can be determined that the working tool 15 is damaged. The reason is that if the cutter which is in reciprocating work has defects, the dynamic balance of the cutter is out of balance, and the periodical change of the tree barrier resistance is caused, so that the periodical pulsation of the rotating speed of the cutter and the motor current is caused.
Once any situation of the step 5) occurs, a braking-before-reversing instruction is output to the cutter motor 14 through the cutter controller, a reversing movement instruction is output to the longitudinal propeller, so that the air robot can realize protective backoff, and meanwhile, safety alarm information is sent to ground personnel through the communication module.
The above description is only an example of the embodiment of the present invention, and the scope of the present invention is not limited thereto. Variations and alternatives can be readily ascertained by one skilled in the art within the scope of the present disclosure, which is intended to be within the scope of the present disclosure. For this purpose, the scope of the invention shall be subject to the scope of the claims.
Claims (9)
1. But vertical crooked duct structure tree barrier clearance aerial robot, its characterized in that: comprises a platform main body (4) and a working tool (15), wherein a plurality of vertical ducts (18) are arranged on the platform main body (4), a rotor wing component is arranged in each vertical duct (18), the front end of the platform main body (4) is connected to the working tool (15) through a working arm (20), the working tool (15) is connected with a tool motor (14), the tool motor (14) is fixedly connected to the front end of the working arm (20), a longitudinal bending joint (9) which enables the working arm (20) to longitudinally bend is arranged on the working arm (20), the working arm (20) is of a two-section structure and is connected into a whole through a protection joint (12), the protection joint (12) comprises a fixed fork (1201), a cross shaft (1202), a movable fork (1204), a cylinder sleeve (1204), a spring (1205) and a screw (1206), the fixed fork (1201), the movable fork (1203) and the cylinder sleeve (1204) are hollow cylinders, the cross shaft (1202) is respectively connected with the front part of the fixed fork (1201) and the rear part of the movable fork (1203) through bearings, thereby forming a universal joint, the rear part of the fixed fork (1201) is fixedly connected with the front part of the cylinder sleeve (20) through bearings, the front part of the movable sleeve (20) in a sliding mode, the spring (1205) is cylindrical and is arranged outside the fixed fork (1201), the movable fork (1203) and the cylindrical sleeve (1204) in a wrapping mode, and two ends of the spring (1205) are respectively fixedly connected with the fixed fork (1201) and the cylindrical sleeve (1204) through two screws (1206); a course angle sensor for sensing the relative left-right rotation amplitude is arranged between the cross shaft (1202) and the fixed fork (1201), a pitch angle sensor for sensing the relative up-down rotation amplitude is arranged between the cross shaft (1202) and the movable fork (1203), and an axial displacement sensor for sensing the axial relative movement amplitude and a roll angle sensor for sensing the relative rotation amplitude are arranged between the cylindrical sleeve (1204) and the movable fork (1203); by protecting the joints from sensing the tree barrier reaction force or moment borne by the working cutter, once the reaction force or moment reaches or exceeds a preset protection threshold, the cutter can be judged to be in an overload state, namely, the cutter controller and the flight controller are automatically synchronized to enter a protection mode: the operation cutter (15) is controlled to brake and then reverse, and the aerial robot is controlled to move backwards to exit the operation; if the reaction force or moment is smaller than the preset protection threshold, the reaction force or moment is used as a control input for fine adjustment of the movement of the aerial robot, and the specific control method is as follows:
a) The axial force sensed by the protection joint (12) is X, the backward direction is positive, and the corresponding operation threshold is lambda when the obstacle clearance is set X The dead zone is delta X Wherein lambda is X ＞0，0≤δ X ＜λ X The method comprises the following steps:
if X <0, judging that the aerial robot receives forward pulling force of the tree obstacle, and taking one of the following measures by the flight controller: (1) controlling the aerial robot to move forwards along the cutter plane for fine adjustment, if X increases positively, continuing the current obstacle clearing operation, and if X does not change or increases negatively, turning to (2); (2) controlling the aerial robot to enter a hovering state, and sending safety alarm information to a ground station through a communication module so as to ask for manual intervention;
-if X < lambda X -δ X The flying controller controls the aerial robot to move forward along the cutter plane for fine adjustment, so that the axial force is increased, and the axial automatic operation feeding is realized;
-if X-lambda X ≤δ X The flying controller controls the aerial robot to keep hovering, and the axial feeding amount is zero;
-if X > lambda X +δ X The flying controller controls the aerial robot to move backwards along the cutter plane for fine adjustment, so that the axial force is reduced, and the axial automatic protection and retraction are realized;
b) The course moment perceived by the protection joint (12) is N, the overlooking right is positive, and the corresponding operation threshold is lambda when the obstacle clearance is set N The dead zone is delta N Wherein lambda is N ＞0，0≤δ N ＜λ N The method comprises the following steps:
-if N < lambda N -δ N The flight controller controls the aerial robot to move in the direction of increasing N to finely adjust the heading, so that horizontal lateral automatic operation feeding is realized;
-if N-lambda N ≤δ N The flying controller controls the aerial robot to keep the current course, and the horizontal lateral feed is zero;
-if N > lambda N +δ N The flight controller controls the aerial robot to move in the direction of reducing N to finely adjust the course, so that horizontal lateral automatic protection and rollback are realized;
c) When the obstacle clearance is set, the pitching moment perceived by the protection joint (12) is M, the upward direction is positive, and the corresponding insensitive area is delta M Wherein delta M Not less than 0, there are:
-if M > delta M The flying controller controls the aerial robot to move in a direction for reducing M by fine adjustment of height;
if M is less than or equal to delta M The flight controller controls the aerial robot to maintain the current altitude.
2. The longitudinally bendable air robot for cleaning a tree obstacle with a duct structure according to claim 1, wherein: the working arm (20) comprises a mechanical arm (19) and a cutter rod (13), one end of the mechanical arm (19) is fixedly connected to the platform main body (4), and the other end of the mechanical arm is fixedly connected with the cutter rod (13).
3. The longitudinally bendable air robot for cleaning a tree obstacle with a duct structure according to claim 2, wherein: the mechanical arm (19) comprises a front arm (11), a middle arm (8) and a rear arm (17) which are sequentially connected from front to back, the front arm (11) is connected with the middle arm (8) through a longitudinal bending joint (9), and the middle arm (8) and the rear arm (17) are connected through a folding structure or a telescopic structure.
4. A longitudinally bendable ducted structure tree obstacle clearing aerial robot according to claim 3, wherein: the rear end of the middle arm (8) is connected with the front end of the rear arm (17) through a folding joint (10).
5. A longitudinally bendable ducted structure tree obstacle clearing aerial robot according to claim 3, wherein: the rear end of the middle arm (8) is movably sleeved at the front end of the rear arm (17) and is locked by a locker (7).
6. The longitudinally bendable air robot for cleaning a tree obstacle with a duct structure according to claim 1, wherein: the tail part of the platform main body (4) is provided with a battery pack (6).
7. The longitudinally bendable air robot for cleaning a tree obstacle with a duct structure according to claim 1, wherein: the rotor assembly comprises a rotor (1) and a rotor motor (2), wherein the rotor (1) is fixedly connected to an output shaft of the rotor motor (2), the rotor motor (2) is fixedly connected to a rotor support arm (3), and the rotor support arm (3) is fixedly connected to a platform main body (4).
8. The longitudinally bendable bypass structure tree obstacle clearing aerial robot of claim 4, wherein: the folding joint (10) comprises a front crank arm (1001) arranged at the rear end of the middle arm (8), a rear crank arm (1002) arranged at the front end of the rear arm (17) and a locking device, wherein the front crank arm (1001) is hinged with the rear crank arm (1002) through a hinge shaft (1003) and is locked by adopting the locking device; the locking device comprises a step shaft (1004) fixedly connected to the front end of the rear arm (17) and coaxial with the rear arm (17), a screw rod (1006) fixedly connected to the rear end of the middle arm (8) and coaxial with the middle arm (8) and a locking nut (1005) sleeved on the step shaft (1004), an inner boss step is arranged at the rear end of an inner hole of the locking nut (1005), an outer convex step for preventing the locking nut (1005) from falling off is arranged at the front end of the step shaft (1004), and the locking nut (1005) can coaxially butt-joint and lock the step shaft (1004) with the screw rod (1006).
9. The longitudinally bendable air robot for cleaning a tree obstacle with a duct structure according to claim 1, wherein: the bottom of the platform main body (4) is provided with a landing gear.
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| CN201810192090.7A CN108214517B (en) | 2018-03-08 | 2018-03-08 | Longitudinally-bendable air robot for cleaning tree barriers of duct structure |
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