CN108713411B - Tree obstacle clearance aerial robot of duct structure - Google Patents
Tree obstacle clearance aerial robot of duct structure Download PDFInfo
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- CN108713411B CN108713411B CN201810192096.4A CN201810192096A CN108713411B CN 108713411 B CN108713411 B CN 108713411B CN 201810192096 A CN201810192096 A CN 201810192096A CN 108713411 B CN108713411 B CN 108713411B
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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
- A01G3/085—Motor-driven saws for pruning or branching
- A01G3/088—Circular saws
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Abstract
The invention discloses a tree obstacle clearing aerial robot with a duct structure, which comprises a platform main body and an operation cutter, wherein a plurality of vertical ducts are arranged on the platform main body, a rotor wing assembly is arranged in each vertical duct, a longitudinal propeller is arranged at the tail end of the platform main body, the front end of the platform main body of the machine is connected to the operation cutter through an operation arm, the longitudinal propeller is arranged towards the direction of the operation cutter, the operation cutter is connected with a cutter motor, and the cutter motor is fixedly connected at the front end of the operation arm. The invention can realize the quick cleaning of the tree obstacle of the power transmission line in the air, avoid the high-voltage power transmission line of an operator from approaching the tree obstacle, ensure safer operation, effectively improve the cleaning operation efficiency and reduce the operation risk.
Description
Technical Field
The invention relates to a robot for cleaning tree barriers in an air with a duct 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 robot in air is cleared up to tree barrier of duct structure has the 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 tree barrier clearance aerial robot of duct structure, 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 vertical propeller is installed to platform main part tail end, and platform main part front end is connected to the operation cutter through the operation arm, and vertical propeller installs towards operation cutter direction, and the operation cutter is connected with the cutter motor, and cutter motor fixed connection is at the front end of 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 longitudinal propeller can be further installed at the left and right sides of the platform body.
Preferably, the mechanical arm adopts a folding structure or a telescopic structure, and comprises a front arm and a rear arm which are connected with each other.
Preferably, the rear end of the front arm is connected to the front end of the rear arm by a folding joint.
Preferably, the rear end of the front 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, the thrust axis of the longitudinal pusher coincides with the rotation plane of the working tool.
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 front 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 front arm and coaxial with the front 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.
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, the longitudinal propeller and the operation cutter are arranged on the machine body, so that the overhead quick cleaning of the tree obstacle of the power transmission line can be realized, the situation that an operator approaches to the high-voltage power transmission line at the position of the tree obstacle is avoided, the operation is safer, the cleaning operation efficiency can be effectively improved, the operation risk is reduced, 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 component and the longitudinal propeller of the aerial robot have 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 can enter a compact space for operation, the safety is good, and the operation efficiency is high;
3) The combined driving mode of the rotor wing assembly and the longitudinal propeller is adopted, the rotor wing assembly provides the lifting force of the robot, the gesture stabilization and the position control are implemented, the longitudinal propeller implements barrier clearance feeding and protection exit control, and the control mode is decoupled, so that the engineering realization is very facilitated;
4) The front 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 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;
5) 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 an operation cutter on the flying attitude of the aerial robot;
6) The thrust axis of the longitudinal propeller is arranged to coincide with the rotation plane of the working cutter, so that the feeding thrust of the longitudinal propeller is positively applied to the working cutter, and the generation of additional moment on the pitching attitude of the aerial robot is avoided, thereby being beneficial to the stability and control 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 (longitudinal thrusters on either side of the platform body);
FIG. 3 is a schematic view of the structure of the present invention (folding arm);
FIG. 4 is a schematic view of a folding joint structure (extended use state);
fig. 5 is a schematic view of a folding joint structure (folded storage state);
FIG. 6 is a schematic view of a protected joint configuration;
fig. 7 is an overall schematic view of a protected joint.
In the figure, 1-rotor, 2-rotor motor, 3-rotor supporting arm, 4-platform main body, 5-flight controller, 6-battery pack, 7-longitudinal propeller, 8-longitudinal propulsion motor, 9-longitudinal propulsion propeller, 10-folding joint, 11-forearm, 12-protection joint, 13-cutter bar, 14-cutter motor, 15-working cutter, 16-joint, 17-locker, 18-vertical duct, 19-mechanical arm, 20-working arm, 21-trailing 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. 1-7, a robot for cleaning a tree obstacle in a ducted structure comprises a platform main body 4 and a working cutter 15; a plurality of left-right 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 tail end of the platform main body 4 is provided with two symmetrical longitudinal thrusters 7 which provide propulsion or retreating power, and the front end of the platform main body 4 is connected to a working cutter 15 through a working arm 20; the longitudinal propeller 7 is installed towards the direction of the working cutter 15, 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; the center of the platform main body 4 is provided with a flight controller 5, a battery pack 6 is arranged in the middle of the rear part of the platform main body 4, and the battery pack 6 is positioned between two longitudinal thrusters 7; the flight controller 5 is built with an Inertial Measurement Unit (IMU), a satellite navigation receiver, an air pressure altimeter and a flight control computer, and further comprises a communication module mounted on the platform body 4 for transmitting flight data and an on-board image.
The center of the longitudinal propeller 7 is fixedly provided with a longitudinal propulsion motor 8 with an output shaft provided with a longitudinal propulsion propeller 9, and the longitudinal propulsion propeller 9 can rotate forward or backward, so that forward or backward power is provided for accurate obstacle clearance operation on the premise of keeping the horizontal posture and the height of the aerial robot unchanged.
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 designed and is provided with an analog quantity or pulse quantity, a digital 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 longitudinal thrusters 7 may be mounted on the left and right sides of the platform body 4 instead of the tail mounting.
Preferably, the mechanical arm 19 adopts a folding structure or a telescopic structure, and comprises a front arm 11 and a rear arm 21 which are connected with each other, wherein the rear arm 21 is fixedly connected with the front end of the platform main body 4; 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 and the rear arm 21 are polygonal cross-section pipes or round pipes, and when in a telescopic structure, the round pipes are provided with anti-torsion guide grooves.
Preferably, the rear end of the front arm 11 is connected to the front end of the rear arm 21 through a folding joint 10, and as shown in fig. 4 and 5, the folding joint 10 includes a front crank arm 1001 provided at the rear end of the front arm 11, a rear crank arm 1002 provided at the front end of the rear arm 21, 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 21 and coaxial with the rear arm 21, a screw rod 1006 fixedly connected to the rear end of the front arm 11 and coaxial with the front arm 11, 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 front arm 11 is movably sleeved on the front end of the rear arm 21 and is locked by a locker 17, the front arm 11 and the rear arm 21 are coaxial, and the locker 17 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. 6 and 7, 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, thereby forming a universal joint with degrees of freedom of up-down rotation (pitching) and left-right rotation (heading), 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, 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. The protection joint 12 has four mechanical buffer degrees of freedom, and can effectively weaken the influence of tree barrier reaction force or moment and vibration of the working cutter 15 on the flying attitude of the aerial robot.
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 thrust axes of the two longitudinal thrusters 7 are coincident with the rotation plane of the working tool 15, so that the feeding thrust of the longitudinal thrusters 7 is positively applied to the working tool 15, and an additional moment is avoided from being generated on the pitching attitude of the aerial robot, thereby being beneficial to the stability and control of the aerial robot.
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 a battery that provides power to the rotor assembly, to the longitudinal propeller 7, to the cutter motor 14 and cutter controller, and to the flight controller 5 and 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) Generating an output control instruction of the longitudinal propeller 7 according to the ground remote control instruction, and realizing forward feeding or backward exiting control of the robot in the horizontal posture in the tree obstacle clearing process;
3) 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 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 forward 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 simultaneously sending safety alarm information to ground personnel 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 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 air robot to move backwards for fine adjustment, so that the axial force is reduced, and the axial automatic protection and rollback 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 |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.
4) 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 4) occurs, a braking-before-reversing instruction is output to the cutter motor 14 through the cutter controller, a reverse thrust instruction is output to the longitudinal propeller 7, 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. The utility model provides a robot in tree barrier clearance air of duct structure which characterized in that: the novel vertical tunnel type hydraulic power generation device comprises a platform main body (4) and working cutters (15), wherein a plurality of vertical ducts (18) are arranged on the platform main body (4), rotor wing assemblies are arranged in each vertical duct (18), a longitudinal propeller (7) is arranged at the tail end of the platform main body (4), the front end of the platform main body (4) is connected to the working cutters (15) through working arms (20), the longitudinal propeller (7) is arranged towards the direction of the working cutters (15), the working cutters (15) are connected with cutter motors (14), and the cutter motors (14) are fixedly connected to the front ends of the working arms (20); the working arm (20) is of a two-section structure and is connected into a whole through the protection joint (12), the protection joint (12) comprises a fixed fork (1201), a cross shaft (1202), a movable fork (1203), a cylindrical sleeve (1204), a spring (1205) and a screw (1206), the fixed fork (1201), the movable fork (1203) and the cylindrical 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, so as to form a universal joint, the rear part of the fixed fork (1201) is fixedly connected with the rear part of the working arm (20), the front part of the cylindrical sleeve (1204) is fixedly connected with the front part of the working arm (20) in a sleeve form capable of axially sliding and relatively rotating, the spring (1205) is in a cylindrical shape and is arranged outside the fixed fork (1201), the movable fork (1203) and the cylindrical sleeve (1204) in a wrapping form, 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 of the cross shaft (1202) and the fixed fork (1201) is arranged between the cross shaft (1202) and the movable fork (1203), a pitch angle sensor for sensing the relative up-down rotation amplitude of the cross shaft (1202) and the movable fork (1203), an axial displacement sensor for sensing the axial relative movement amplitude of the cylindrical sleeve (1204) and the movable fork (1203) and a roll angle sensor for sensing the relative rotation amplitude of the cylindrical sleeve and the movable fork (1203) are arranged between the cylindrical sleeve and the movable fork; by sensing the tree obstacle reaction force or moment borne by the working cutter (15) through the protection joint (12), 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 forward 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 simultaneously sending safety alarm information to ground personnel 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 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 air robot to move backwards for fine adjustment, so that the axial force is reduced, and the axial automatic protection and rollback 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 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 flying controller controls the aerial robot to move in the direction of reducing 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 flying controller controls the aerial robot to move in a direction for reducing M by fine adjustment of height;
if M is less than delta M The flight controller controls the aerial robot to maintain the current altitude.
2. The ducted structured tree obstacle clearing aerial robot of 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 ducted structured tree obstacle clearing aerial robot of claim 1, wherein: the longitudinal propeller (7) can be arranged at the left side and the right side of the platform main body (4).
4. The ducted structured tree obstacle clearing aerial robot of claim 2, wherein: the mechanical arm (19) adopts a folding structure or a telescopic structure and comprises a front arm (11) and a rear arm (21) which are connected with each other.
5. The ducted structured tree obstacle clearing aerial robot of claim 4, wherein: the rear end of the front arm (11) is connected with the front end of the rear arm (21) through a folding joint (10).
6. The ducted structured tree obstacle clearing aerial robot of claim 4, wherein: the rear end of the front arm (11) is movably sleeved at the front end of the rear arm (21) and is locked by a locker (17).
7. The ducted structured tree obstacle clearing aerial robot of claim 1, wherein: the thrust axis of the longitudinal propeller (7) coincides with the rotation plane of the working tool (15).
8. The ducted structured tree obstacle clearing aerial robot of 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).
9. The ducted structured tree obstacle clearing aerial robot of claim 5, wherein: the folding joint (10) comprises a front crank arm (1001) arranged at the rear end of the front arm (11), a rear crank arm (1002) arranged at the front end of the rear arm (21) 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 (21) and coaxial with the rear arm (21), a screw rod (1006) fixedly connected to the rear end of the front arm (11) and coaxial with the front arm (11) 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).
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| CN201810192096.4A CN108713411B (en) | 2018-03-08 | 2018-03-08 | Tree obstacle clearance aerial robot of duct structure |
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| CN201810192096.4A CN108713411B (en) | 2018-03-08 | 2018-03-08 | Tree obstacle clearance aerial robot of duct structure |
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| CN108713411B true CN108713411B (en) | 2023-10-20 |
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| CN111377003A (en) * | 2020-03-30 | 2020-07-07 | 滁州贝安智能机器人科技有限公司 | Prevent toppling wall climbing robot |
| CN114488795A (en) * | 2021-12-30 | 2022-05-13 | 贵州电网有限责任公司 | Active-disturbance-rejection control method for multi-rotor aerial robot for tree obstacle clearing operation |
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