CN108568863B - Double-saw cutter structure for tree obstacle clearing aerial robot and control method - Google Patents
Double-saw cutter structure for tree obstacle clearing aerial robot and control method Download PDFInfo
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- CN108568863B CN108568863B CN201810192081.8A CN201810192081A CN108568863B CN 108568863 B CN108568863 B CN 108568863B CN 201810192081 A CN201810192081 A CN 201810192081A CN 108568863 B CN108568863 B CN 108568863B
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- 230000000903 blocking effect Effects 0.000 claims description 31
- 230000001681 protective effect Effects 0.000 claims description 7
- 230000002159 abnormal effect Effects 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 4
- 230000005856 abnormality Effects 0.000 claims description 3
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- 230000004927 fusion Effects 0.000 claims description 3
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- 239000000523 sample Substances 0.000 claims description 3
- 230000000737 periodic effect Effects 0.000 claims description 2
- 238000004140 cleaning Methods 0.000 abstract description 7
- 230000004888 barrier function Effects 0.000 description 3
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B27—WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
- B27B—SAWS FOR WOOD OR SIMILAR MATERIAL; COMPONENTS OR ACCESSORIES THEREFOR
- B27B5/00—Sawing machines working with circular or cylindrical saw blades; Components or equipment therefor
- B27B5/02—Sawing machines working with circular or cylindrical saw blades; Components or equipment therefor characterised by a special purpose only
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B27—WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
- B27B—SAWS FOR WOOD OR SIMILAR MATERIAL; COMPONENTS OR ACCESSORIES THEREFOR
- B27B5/00—Sawing machines working with circular or cylindrical saw blades; Components or equipment therefor
- B27B5/29—Details; Component parts; Accessories
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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 double-saw cutter structure and a control method for a tree obstacle clearance aerial robot. The double-saw cutter structure is provided, and when the double-saw cutter structure is used for advancing, the double-saw cutter structure rotates inwards at the same speed, and has certain automatic branch gathering and cutting guiding functions, so that the branches automatically enter a common cutting area of the double-saw, the horizontal unbalanced force and moment acted on the aerial robot are effectively reduced, the slipping between the cutter and the branches is avoided, and the efficiency of tree obstacle cleaning is improved.
Description
Technical Field
The invention relates to a double-saw cutter structure for an overhead robot for tree obstacle cleaning and a control method, and belongs to the technical field of power transmission line tree obstacle cleaning devices.
Background
When the air robot cleans the tree obstacle of the power line channel, the used cutter can quickly cut the branches, and meanwhile, the influence on the posture of the air robot body can be avoided, and safety protection measures such as blocking prevention and the like are provided.
At present, a single saw type cleaning tool is adopted for pruning branches in gardens, if the tool is directly installed on an aerial robot to clean tree barriers, the horizontal stress of the tool is asymmetric, heading repulsive torque is easily brought to the aerial robot, on one hand, the balance of aerial robot force and torque is influenced, on the other hand, slipping between the tool and the branches is caused, and the cutting efficiency is low.
Disclosure of Invention
The invention solves the technical problems that: a double saw cutter structure and a control method for a tree obstacle clearing aerial robot are provided, so that the problems in the prior art are solved.
The technical scheme adopted by the invention is as follows: a double-saw cutter structure for an overhead robot for tree obstacle cleaning comprises a Y-shaped cutter frame, two cutter motors arranged at the tail end of the front part of the cutter frame, and two circular saws which are driven by the two cutter motors respectively and are positioned below the cutter frame.
Preferably, the double-saw cutter structure for the tree obstacle clearing aerial robot further comprises a cutter controller fixed on or built in the cutter frame.
Preferably, the double-saw cutter structure for the tree obstacle clearing aerial robot further comprises a connector which is positioned at the rear part of the cutter frame and connected with the mechanical arm of the aerial robot.
Preferably, the circular saw is a sheet circular saw made of metal, ceramic or composite material.
Preferably, a safety protection cover for preventing branches and leaves from splashing or preventing the saw blade from flying after being broken is arranged on the outer side of the double-saw cutter structure.
Preferably, a temperature sensor is arranged on the cutter frame, a probe of the temperature sensor is opposite to the edge of the circular saw, and a rotating speed sensor for sensing the rotating speed of the circular saw is arranged in the cutter motor.
Preferably, the temperature sensor and the rotation speed sensor are connected to a cutter controller, a current sensor for detecting the working current of a cutter motor is arranged in the cutter controller, and the cutter controller is connected to a flight controller of the aerial robot.
A control method of a double saw cutter structure for a tree obstacle clearing aerial robot comprises the following steps: the method comprises the steps that (1) the overload, the blocking and the damage states of the circular saw are evaluated in real time by a cutter controller through collecting the rotating speed and the current of a cutter motor and the temperature of the circular saw, once the evaluation value exceeds a preset threshold, a brake command is output to the cutter motor, then two circular saws are driven to rotate reversely at the same time, so that the cleaned branches exit the cutter, and a rollback command is sent to a flight controller of the aerial robot, so that the aerial robot and the cutter are protected and retracted; (2) and detecting the balanced operation state of the double cutters and implementing compensation protection.
Preferably, the method for evaluating the running state of the circular saw adopts a multi-sensor data threshold judgment algorithm, wherein the algorithm is as follows:
1) If the current rotary speed N of the circular saw is less than or equal to the overload threshold N thereof overload Or the motor current I is more than or equal to the overload threshold I overload Or the temperature T of the saw blade is more than or equal to the overload threshold T overload Judging that the circular saw is in an overload state, and controlling the tool controller to reversely rotate and back according to the overload state;
2) If the current rotary speed N of the circular saw is less than or equal to the blocking threshold N blocking And the motor current I is more than or equal to the blocking threshold I blocking Judging that the circular saw is in a blocking state, wherein N is blocking <N overload ，I blocking ≥I overload The cutter controller makes reverse rotation back-off control according to the control;
3) If the current rotary speed of the circular saw is not less than the blank cutting threshold value N thereof empty Judging that the circular saw is in a blank cutting state, wherein N is empty The given rotating speed of the circular saw is less than or equal to the given rotating speed of the circular saw, and the cutter controller controls the circular saw to stop rotating according to the given rotating speed;
4) If periodic pulsation occurs in the rotating speed of the circular saw or the current of the motor, judging that the circular saw is damaged;
5) When the situation does not exist, the disc saw is judged to work in a normal state at present, and the cutter controller makes normal forward precession control according to the situation.
Preferably, the method for evaluating the running state of the circular saw adopts a multi-sensor data fusion detection algorithm, wherein the algorithm is as follows:
let the lower threshold of the rotating speed of the circular saw be N 1 The upper threshold is N 2 The lower threshold value of the motor current is I 1 The upper threshold is I 2 The lower threshold of the temperature of the saw blade is T 1 The upper threshold is T 2 The comprehensive index of the working state of the circular saw is as follows:
wherein C is N 、C I 、C T The rotating speed weight, the motor current weight and the saw blade temperature weight of the circular saw are respectively; setting a section threshold f 1 、f 2 、f 3 And has 0.ltoreq.f 1 <f 2 <f 3 ；
When F is less than or equal to F 1 When the circular saw is in the idle cutting state, the cutter controller controls the circular saw to stop rotating according to the idle cutting state;
when f 1 ＜F≤f 2 When the circular saw works in a normal state, the cutter controller performs obstacle clearing feeding control according to the normal state;
when f 2 ＜F≤f 3 When the circular saw works in an overload state, the cutter controller performs reverse rotation backspacing control according to the overload state;
when F > F 3 And when the circular saw works in the blocking state, the cutter controller performs reverse rotation and back-off control according to the blocking state.
Preferably, the method for detecting and compensating the balanced working state of the double cutters comprises the following steps:
1) Method for detecting balanced operation state of double cutters
Let the average rotation speed of two circular saws be respectivelyThe instantaneous rotational speeds are N respectively a 、N b The method comprises the steps of carrying out a first treatment on the surface of the Let the average current of the motor be +.>Instantaneous currents of I respectively a 、I b The method comprises the steps of carrying out a first treatment on the surface of the The average temperature of the saw blade is set to be +.>The instantaneous temperatures are respectively T a 、T b ；
Defining the average speed difference of two circular sawsInstantaneous rotational speed difference Δn=n a -N b The method comprises the steps of carrying out a first treatment on the surface of the Average current difference +.>Instantaneous current difference Δi=i a -I b The method comprises the steps of carrying out a first treatment on the surface of the Average temperature difference of saw blade->Instantaneous temperature difference Δt=t a -T b . The method comprises the following steps:
a) If it is|ΔN|≥δ N 、/>|ΔI|≥δ I 、/>|ΔT|≥δ T Either one is established, and the balance operation abnormality of the two circular saws is judged, wherein +.>δ N 、/>δ I 、/>δ T All are more than or equal to 0, and are respectively used for judging the threshold value of the balance operation of each corresponding physical parameter;
b) If it isJudging the unbalance operation of two circular saws, wherein delta is more than or equal to 0, and the balance operation is comprehensively judged to be a threshold value, k 1 ～k 6 Is a weight coefficient;
2) Double-cutter balance compensation and protection control method
Feeding back the rotation speed, motor current, saw blade temperature and balance operation state information of each circular saw to a flight controller of the aerial robot, and if the balance operation of the two circular saws is judged to be abnormal, feeding back the rotation speed, motor current, saw blade temperature and balance operation state information of each circular saw to the flight controller of the aerial robot
A) The cutter controller immediately makes braking-before-counter-rotation control to enable the circular saw to withdraw from operation, and meanwhile sends a protective back-off instruction to the flight controller of the aerial robot;
b) The flying controller controls the aerial robot to move to the side circular saw with high rotating speed, small current and low temperature for fine adjustment, and double-cutter balance compensation is implemented.
The invention has the beneficial effects that: compared with the prior art, the invention has the following effects:
1) The invention provides a double-saw cutter structure, which utilizes the automatic gathering branches and cutting guiding effect caused by the inward rotation of double saws at the same speed when the operation is advanced, so that the branches automatically enter a common cutting area of the double saws, thereby effectively reducing the horizontal unbalanced force and moment acted on an aerial robot, avoiding the slipping between the cutter and the branches and improving the efficiency of tree obstacle cleaning;
2) The cutter controller judges overload, blocking and damage states of the circular saw by collecting the rotating speed and current of the cutter motor and the temperature of the saw blade, is beneficial to realizing the protective retraction of the cutter and the aerial robot and realizes the dynamic balance of double circular saw operation;
3) The modularized joint mode can realize quick replacement of the cutter, is convenient to assemble, disassemble, store and transport, has the dual functions of mechanical connection and electrical connection, and is more compact in structure.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
fig. 2 is a schematic top view of the present invention.
In the figure, 1-tool rack, 2-tool motor, 3-circular saw, 4-tool controller, 5-connector and 6-temperature sensor.
Detailed Description
The invention will be further described with reference to the drawings and specific examples.
Example 1: as shown in fig. 1-2, a double saw cutter structure for an obstacle clearance aerial robot comprises a Y-shaped cutter frame 1, two cutter motors 2 mounted at the front end of the cutter frame 1, and two circular saws 3 respectively driven by the two cutter motors 2 and positioned below the cutter frame 1.
Preferably, the double saw cutter structure for the tree obstacle clearing aerial robot further comprises a cutter controller 4 fixed to or built in the cutter frame 1.
Preferably, the double-saw cutter structure for the tree obstacle clearing aerial robot further comprises a connector 5 which is positioned at the rear part of the cutter frame 1 and connected with a mechanical arm of the aerial robot; the joint 5 adopts flange connection or nut-screw quick connection, and the corresponding connection part is provided with an electric plug, so that the joint 5 has the functions of mechanical and electric dual connection, has a compact structure, and can realize quick replacement of a cutter.
Preferably, the cutter frame 1 is provided with a temperature sensor 6, a probe of the temperature sensor 6 is opposite to the edge of the circular saw 3, a rotating speed sensor for sensing the rotating speed of the circular saw 3 is arranged in the cutter motor 2, and the temperature and the rotating speed of the operation cutter can be monitored in real time through the temperature sensor 6 and the rotating speed sensor, so that the operation state of the operation cutter is judged, and the operation safety is improved.
Preferably, the temperature sensor 6 and the rotation speed sensor are connected to the tool controller 4, a current sensor for detecting the working current of the tool motor 2 is arranged in the tool controller 4, and the tool controller 4 is connected to the flight controller of the aerial robot; through temperature sensor 6, rotational speed sensor and current sensor, cutter controller 4 can real-time supervision saw bit temperature, motor rotational speed and motor current, judges the operating condition of two circular saws 3, makes the adjustment of normal feeding or rollback protection or double saw dynamic cutting balance, sends this status information to flight control ware simultaneously, and flight control ware is according to this implements aerial robot's feeding or withdraws from the fine setting, realizes the cutting protection and the effective cutting of cutter automatically.
The rotating speed sensor can adopt a photoelectric encoder or a Hall sensor, the temperature sensor 6 can select a non-contact type infrared temperature measuring sensor (such as MLX 90614), and the current sensor can adopt a current transformer; the tool controller 4 is custom built with type interfaces for analog (voltage or current) or digital (including bus), pulse, frequency etc. quantities of the specific type of sensor described above.
Preferably, the circular saw 3 is a sheet circular saw made of metal, ceramic or composite material.
Preferably, a safety protection cover for preventing branches and leaves from splashing or preventing the saw blade from flying after being broken is arranged on the outer side of the double-saw cutter structure.
The double-saw cutter structure obtains a cutter control instruction and a driving power supply from an aerial robot platform through a connector 5, and sends the cutter control instruction and the driving power supply to a cutter controller 4 so as to drive a cutter motor 2 to rotate and control the rotating speed of the cutter motor; when the tree obstacle is cleaned, the two circular saws 3 rotate inwards at equal speed in opposite directions so as to automatically roll in the cleaned branches and cut the branches.
Example 2: a control method of a double saw cutter structure for a tree obstacle clearing aerial robot comprises the following steps: the cutter controller 4 acquires the rotating speed and the current of the cutter motor 2 and the temperature of the circular saw 3, (1) evaluates the overload, the blocking and the damage states of the circular saw 3 in real time, outputs a braking instruction to the cutter motor 2 once the evaluation value exceeds a preset threshold, then drives two circular saws 3 to rotate reversely at the same time so as to enable the cleaned branches to withdraw from the cutter, and simultaneously sends a back-off instruction to the flight controller of the aerial robot, thereby implementing protective back-off on the aerial robot and the cutter; (2) and detecting the balanced operation state of the double cutters and implementing compensation protection.
Preferably, the method for evaluating the running state of the circular saw 3 adopts a multi-sensor data threshold judgment algorithm, and the algorithm is as follows:
1) If the current rotating speed N of the circular saw 3 is less than or equal to the overload threshold N thereof overload Or the motor current I is more than or equal to the overload threshold I overload Or the temperature T of the saw blade is more than or equal to the overload threshold T overload Judging that the circular saw 3 is in an overload state, and controlling the tool controller 4 to reversely rotate and back according to the overload state;
2) If the rotating speed N of the current circular saw 3 is less than or equal to the blocking threshold N thereof blocking And the motor current I is more than or equal to the blocking threshold I blocking Determining that the circular saw 3 is in a blocking state, wherein N blocking <N overload ，I blocking ≥I overload The cutter controller 4 accordingly makes a reverse rotation back-off control;
3) If the current rotating speed of the circular saw 3 is more than or equal to the idle cutting threshold value N thereof empty Determining that the circular saw 3 is in the idle cutting state, wherein N empty A given rotating speed of the circular saw 3 is less than or equal to a preset rotating speed, and the cutter controller 4 controls the circular saw 3 to stop rotating according to the given rotating speed;
4) If the rotation speed of the circular saw 3 or the motor current is periodically pulsed, the circular saw 3 is judged to be 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 tree barrier resistance is caused to cause periodical pulsation of the rotating speed of the cutter and the current of a motor;
5) When the above situation does not exist, it is determined that the circular saw 3 is currently operating in a normal state, and the cutter controller 4 accordingly makes normal forward precession control.
Preferably, the method for evaluating the running state of the circular saw 3 adopts a multi-sensor data fusion detection algorithm, and the algorithm is as follows:
let the lower threshold of the rotation speed of the circular saw 3 be N 1 The upper threshold is N 2 The lower threshold value of the motor current is I 1 The upper threshold is I 2 The lower threshold of the temperature of the saw blade is T 1 The upper threshold is T 2 The comprehensive index of the working state of the circular saw 3 is as follows:
wherein C is N 、C I 、C T The rotational speed weight, the motor current weight and the saw blade temperature weight of the circular saw 3 are respectively given. Setting a section threshold f 1 、f 2 、f 3 And has 0.ltoreq.f 1 <f 2 <f 3 ；
When F is less than or equal to F 1 When the circular saw 3 works in the idle cutting state, the cutter controller 4 makes the stop control of the circular saw 3 according to the idle cutting state;
when f 1 ＜F≤f 2 When the circular saw 3 works in a normal state, the cutter controller 4 carries out obstacle clearance feeding control according to the normal state;
when f 2 ＜F≤f 3 When the circular saw 3 works in an overload state, the cutter controller 4 makes reverse rotation back-off control according to the overload state;
when F > F 3 When the circular saw 3 is in the blocking state, the cutter controller 4 performs the reverse rotation back-off control according to the blocking state.
Preferably, the method for detecting and compensating the balanced working state of the double cutters comprises the following steps:
1) Method for detecting balanced operation state of double cutters
Let the average rotation speed of the two circular saws 3 be respectivelyThe instantaneous rotational speeds are N respectively a 、N b The method comprises the steps of carrying out a first treatment on the surface of the Let the average current of the motor be +.>Instantaneous currents of I respectively a 、I b The method comprises the steps of carrying out a first treatment on the surface of the The average temperature of the saw blade is set to be +.>The instantaneous temperatures are respectively T a 、T b ；
Defining the average rotational speed difference of two circular saws 3Instantaneous rotational speed difference Δn=n a -N b The method comprises the steps of carrying out a first treatment on the surface of the Average current difference +.>Instantaneous current difference Δi=i a -I b The method comprises the steps of carrying out a first treatment on the surface of the Average temperature difference of saw blade->Instantaneous temperature difference Δt=t a -T b . The method comprises the following steps:
a) If it is|ΔN|≥δ N 、/>|ΔI|≥δ I 、/>|ΔT|≥δ T Either one is established, and the balance operation abnormality of the two circular saws 3 is judged, wherein +.>δ N 、/>δ I 、/>δ T All are more than or equal to 0, and are respectively used for judging the threshold value of the balance operation of each corresponding physical parameter;
b) If it isJudging that the balance operation of the two circular saws 3 is abnormal, wherein delta is more than or equal to 0, and the delta is a comprehensive judgment threshold value, k of the balance operation 1 ～k 6 Is a weight seriesA number;
2) Double-cutter balance compensation and protection control method
Feeding back the rotation speed, motor current, saw blade temperature and balance operation state information of each circular saw 3 to a flight controller of the aerial robot, and if the balance operation of the two circular saws 3 is judged to be abnormal, then
A) The cutter controller 4 immediately makes brake-before-reverse rotation control to enable the circular saw 3 to withdraw operation, and simultaneously sends a protective back-off instruction to a flight controller of the aerial robot;
b) The flying controller controls the aerial robot to move and finely tune to the circular saw 3 at one side with high rotating speed, small current and low temperature, and double-cutter balance compensation is implemented.
The determination of the threshold and the weight coefficient can be completed by adopting theoretical calculation based on physical principles, empirical statistics based on experimental data analysis, modeling training based on a neural network and the like.
The invention has the following advantages:
1) The double-saw design can rotate inwards at the same speed, can automatically roll in branches and cut, has high tree barrier cleaning efficiency, and has relatively small horizontal unbalanced force and moment acting on the aerial robot;
2) The cutter controller judges overload, blocking and damage states of the circular saw by collecting the rotating speed and current of the cutter motor and the temperature of the saw blade, is beneficial to realizing the protective retraction of the cutter and the aerial robot and realizes the dynamic balance of double circular saw operation;
3) The modularized joint mode can realize the quick replacement of the cutter, and is convenient to assemble, disassemble, store and transport.
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 (4)
1. A two saw cutter structures for obstacle clearance aerial robot, its characterized in that: comprises a Y-shaped cutter frame (1), two cutter motors (2) arranged at the tail end of the front part of the cutter frame (1), and two disc saws (3) which are respectively driven by the two cutter motors (2) and are positioned below the cutter frame (1); the tool control device also comprises a tool controller (4) fixed on or built in the tool frame (1); a temperature sensor (6) is arranged on the cutter frame (1), a probe of the temperature sensor (6) is opposite to the edge of the circular saw (3), and a rotating speed sensor for sensing the rotating speed of the circular saw (3) is arranged in the cutter motor (2); the temperature sensor (6) and the rotating speed sensor are connected to the cutter controller (4), a current sensor for detecting the working current of the cutter motor (2) is arranged in the cutter controller (4), and the cutter controller (4) is connected to a flight controller of the aerial robot; the control method of the double-saw cutter structure for the tree obstacle clearing aerial robot comprises the following steps: the method comprises the steps that (1) overload, blocking and damage states of a circular saw (3) are evaluated in real time by a cutter controller (4) through collecting the rotating speed and current of the cutter motor (2) and the temperature of the circular saw (3), a brake instruction is output to the cutter motor (2) once an evaluation value exceeds a preset threshold, then two circular saws (3) are driven to rotate reversely at the same time, cleaned branches exit from a cutter, a rollback instruction is sent to a flight controller of an aerial robot, and protective backoff is implemented on the aerial robot and the cutter; (2) detecting the balanced operation state of the double cutters and implementing compensation protection; the method for evaluating the running state of the circular saw (3) adopts a multi-sensor data threshold judgment algorithm, and the algorithm is as follows:
1) If the rotating speed N of the current circular saw (3) is less than or equal to the overload threshold N thereof overload Or the motor current I is more than or equal to the overload threshold I overload Or the temperature T of the saw blade is more than or equal to the overload threshold T overload Judging that the circular saw (3) is in an overload state, and enabling the cutter controller (4) to perform reverse rotation backspacing control according to the overload state;
2) If the rotating speed N of the current circular saw (3) is less than or equal to the blocking threshold N blocking And the motor current I is more than or equal to the blocking threshold I blocking Judging that the circular saw (3) is in a blocking state, wherein N blocking <N overload ，I blocking ≥I overload The cutter controller (4) makes a reverse rotation back-off control according to the reverse rotation back-off control;
3) If the rotating speed of the current circular saw (3) is more than or equal to the idle cutting threshold value N thereof empty Determining that the circular saw (3) is in a blank state, wherein N empty The given rotating speed of the circular saw (3) is less than or equal to the given rotating speed, and the cutter controller (4) controls the stop of the circular saw (3) according to the given rotating speed;
4) If periodic pulsation occurs in the rotating speed of the circular saw (3) or the motor current, judging that the circular saw (3) is damaged;
5) When the conditions do not belong to the conditions 1) -4), judging that the circular saw (3) works in a normal state at present, and enabling the cutter controller (4) to make normal forward precession to control according to the conditions; the method for evaluating the running state of the circular saw (3) adopts a multi-sensor data fusion detection algorithm, and the algorithm is as follows:
setting the lower limit threshold value of the rotating speed of the circular saw (3) as N 1 The upper threshold is N 2 The lower threshold value of the motor current is I 1 The upper threshold is I 2 The lower threshold of the temperature of the saw blade is T 1 The upper threshold is T 2 The comprehensive index of the working state of the circular saw (3) is as follows:
wherein C is N 、C I 、C T The rotating speed weight, the motor current weight and the saw blade temperature weight of the circular saw (3) are respectively adopted; setting a section threshold f 1 、f 2 、f 3 And has 0.ltoreq.f 1 <f 2 <f 3 ；
When F is less than or equal to F 1 When the circular saw (3) is judged to work in an idle cutting state, and the cutter controller (4) makes the stop control of the circular saw (3) according to the idle cutting state;
when f 1 ＜F≤f 2 When the circular saw (3) works in a normal state, the cutter controller (4) carries out obstacle clearance feeding control according to the normal state;
when f 2 ＜F≤f 3 When the circular saw (3) is judged to work in an overload state, and the cutter controller (4) makes reverse rotation backspacing control according to the overload state;
when F > F 3 When the disc saw (3) is in operation, then the disc saw is judgedIn Yu Kazu state, the tool controller (4) makes a reverse rotation back-off control accordingly.
2. A double saw blade structure for an obstacle clearing aerial robot as defined in claim 1, wherein: the tool rest (1) is characterized by further comprising a joint (5) which is positioned at the rear part of the tool rest and connected with the aerial robot arm.
3. A double saw blade structure for an obstacle clearing aerial robot as defined in claim 1, wherein: the outer side of the double-saw cutter structure is provided with a safety protection cover for preventing branches and leaves from splashing or flying after the saw blade is broken.
4. A double saw blade structure for an obstacle clearing aerial robot as defined in claim 1, wherein: the double-cutter balance operation state detection and compensation protection method comprises the following steps:
1) Method for detecting balanced operation state of double cutters
The average rotation speeds of the two circular saws (3) are respectivelyThe instantaneous rotational speeds are N respectively a 、N b The method comprises the steps of carrying out a first treatment on the surface of the Let the average current of the motor be +.>Instantaneous currents of I respectively a 、I b The method comprises the steps of carrying out a first treatment on the surface of the The average temperature of the saw blade is set to be +.>The instantaneous temperatures are respectively T a 、T b ；
Defining the average rotational speed difference of two circular saws (3)Instantaneous rotational speed difference Δn=n a -N b The method comprises the steps of carrying out a first treatment on the surface of the Average current difference +.>Instantaneous current difference Δi=i a -I b The method comprises the steps of carrying out a first treatment on the surface of the Average temperature difference of saw blade->Instantaneous temperature difference Δt=t a -T b The method comprises the following steps:
a) If it is|ΔN|≥δ N 、/>|ΔI|≥δ I 、/>|ΔT|≥δ T Either one is established, and the balance operation abnormality of the two circular saws (3) is judged, wherein +.>δ N 、/>δ I 、/>δ T All are more than or equal to 0, and are respectively used for judging the threshold value of the balance operation of each corresponding physical parameter;
b) If it isDetermining that the balance operation of the two circular saws (3) is abnormal, wherein delta is more than or equal to 0, and the delta is a comprehensive determination threshold value, k of the balance operation 1 ～k 6 Is a weight coefficient;
2) Double-cutter balance compensation and protection control method
Feeding back the rotation speed, motor current, saw blade temperature and balance operation state information of each circular saw (3) to a flight controller of the aerial robot, and if the balance operation of the two circular saws (3) is judged to be abnormal, then
A) The cutter controller (4) immediately makes brake-before-reverse rotation control to enable the circular saw (3) to withdraw from operation, and meanwhile sends a protective back-off instruction to the flight controller of the aerial robot;
b) The flying controller controls the aerial robot to move and finely tune to the circular saw (3) at one side with high rotating speed, small current and low temperature, and double-cutter balance compensation is implemented.
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| CN116267281B (en) * | 2023-02-15 | 2023-10-31 | 苏州圣雷动力机械有限公司 | Damping type handheld garden brush cutter |
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| CN204433059U (en) * | 2015-01-30 | 2015-07-01 | 马鞍山市赛迪智能科技有限公司 | A kind of aircraft carrying manipulator electric saw |
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| US9720519B2 (en) * | 2014-07-30 | 2017-08-01 | Pramod Kumar Verma | Flying user interface |
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