CN111264212A - Tree climbing method based on Archimedes spiral robot - Google Patents
Tree climbing method based on Archimedes spiral robot Download PDFInfo
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- CN111264212A CN111264212A CN202010239866.3A CN202010239866A CN111264212A CN 111264212 A CN111264212 A CN 111264212A CN 202010239866 A CN202010239866 A CN 202010239866A CN 111264212 A CN111264212 A CN 111264212A
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- robot
- brushless
- archimedes spiral
- trunk
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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
Abstract
The invention discloses a tree climbing method based on an Archimedes spiral robot, which comprises the following steps: 1) firstly, the robot adopts a closed loop structure, a brushless hub motor on the robot is driven through manual remote control, and the robot climbs upwards to a specified position along a trunk in an Archimedes spiral manner through a driving wheel and a driven wheel; 2) after reaching the designated position, pruning and tip breaking treatment are carried out on the trunk by a brushless chain electric saw which is remotely arranged on one side of the robot; 3) when the trunk is pruned and the tip is broken, the cutting direction of the brushless chain electric saw can be adjusted by controlling the electric cradle head which is connected with the brushless chain electric saw in a rotating mode, so that the vertical cutting pruning and the horizontal cutting tip breaking are realized. The invention can effectively replace the work of workers at the high-risk tree trunk, such as pruning, checking, inspection and the like, thereby greatly reducing the risk coefficient of the operation of the workers at the high-risk tree trunk.
Description
Technical Field
The invention belongs to the technical field of high-voltage power transmission, and particularly relates to a tree climbing method based on an Archimedes spiral robot.
Background
In recent years, eucalyptus and bamboo trees growing at constant speed are planted in large areas, so that serious influence is brought to safe and stable operation of a power transmission line, and the potential hazards of tree obstacles are eliminated in time by means of felling and the like. At present, the trees are mainly cut on the ground manually, but because the trees are higher and the materials are softer, personnel cannot climb above the gravity center of the trees, and meanwhile, the trees are very easy to fall to a wire to cause a circuit tripping event, and even personal casualty accidents are caused in partial tree obstacle cleaning operation. Along with the development of the robot technology, the robot replaces the manual climbing tree through researching, and the reduction of the operation risk degree and the improvement of the operation efficiency are particularly important.
Disclosure of Invention
The invention aims to provide a tree climbing method based on an Archimedes spiral robot, so as to solve the technical problems in the background technology.
In order to solve the technical problems, the invention provides the following technical scheme: a tree climbing method based on an Archimedes spiral robot comprises the following steps:
s1: firstly, the robot adopts a closed loop structure, a brushless hub motor on the robot is driven through manual remote control, and the robot climbs upwards to a specified position along a trunk in an Archimedes spiral manner through a driving wheel and a driven wheel;
s2: after reaching the designated position, pruning and tip breaking treatment are carried out on the trunk by a brushless chain electric saw which is remotely arranged on one side of the robot;
s3: when the trunk is pruned and the tip is broken, the cutting direction of the brushless chain electric saw can be adjusted by controlling the electric cradle head which is connected with the brushless chain electric saw in a rotating mode, so that the vertical cutting pruning and the horizontal cutting tip breaking are realized.
As a preferred embodiment of the present invention, the rated power of the brushless hub motor in step S1 is 360W.
As a preferred embodiment of the present invention, the driven wheel in step S1 is made of a polyurethane material.
As a preferred embodiment of the present invention, in step S1, the vertical loading capacity of the robot is not less than 30KG, and the speed is 1 m/S.
As a preferable technical solution of the present invention, in the step S1, the brushless hub motor is PWM-regulated, and the vertical crawling speed can be adjusted within a range of 10% -100%.
Compared with the prior art, the invention has the following beneficial effects: the invention solves the problem of a tree climbing method of a robot, and can effectively replace the work of workers at high-risk tree trunks, such as pruning, checking, inspection and the like. Thereby greatly reducing the danger coefficient of the high-risk operation of the working personnel. The problem in the operation and maintenance of the existing power transmission line is solved, the potential safety hazards of people and equipment are avoided, and the working efficiency and the operation safety level are improved. :
drawings
Fig. 1 is a schematic diagram of the operation of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
With reference to fig. 1, the present invention provides the following examples: a tree climbing method based on an Archimedes spiral robot comprises the following steps:
s1: firstly, the robot adopts a closed loop structure, a brushless hub motor on the robot is driven through manual remote control, and the robot climbs upwards to a specified position along a trunk in an Archimedes spiral manner through a driving wheel and a driven wheel;
s2: after reaching the designated position, pruning and tip breaking treatment are carried out on the trunk by a brushless chain electric saw which is remotely arranged on one side of the robot;
s3: when the trunk is pruned and the tip is broken, the cutting direction of the brushless chain electric saw can be adjusted by controlling the electric cradle head which is connected with the brushless chain electric saw in a rotating mode, so that the vertical cutting pruning and the horizontal cutting tip breaking are realized.
In the above embodiment, the rated power of the brushless hub motor in step S1 is 360W, and the brushless hub motor is PWM-regulated, and the vertical crawling speed can be adjusted within a range of 10% -100%. Wherein the driven wheel in the step S1 is made of polyurethane material.
It should be further noted that, in the step S1, the vertical loading capacity of the robot is not less than 30KG, and the speed is 1 m/S.
In conclusion, the invention solves the problem of the tree climbing method of the robot, and the tree climbing method can effectively replace the work of workers at the high-risk tree trunk, such as pruning, checking, inspection and the like. Thereby greatly reducing the danger coefficient of the high-risk operation of the working personnel. The problem in the operation and maintenance of the existing power transmission line is solved, the potential safety hazards of people and equipment are avoided, and the working efficiency and the operation safety level are improved.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (5)
1. A tree climbing method based on an Archimedes spiral robot is characterized in that: the method comprises the following steps:
s1: firstly, the robot adopts a closed loop structure, a brushless hub motor on the robot is driven through manual remote control, and the robot climbs upwards to a specified position along a trunk in an Archimedes spiral manner through a driving wheel and a driven wheel;
s2: after reaching the designated position, pruning and tip breaking treatment are carried out on the trunk by a brushless chain electric saw which is remotely arranged on one side of the robot;
s3: when the trunk is pruned and the tip is broken, the cutting direction of the brushless chain electric saw can be adjusted by controlling the electric cradle head which is connected with the brushless chain electric saw in a rotating mode, so that the vertical cutting pruning and the horizontal cutting tip breaking are realized.
2. The tree climbing method based on the Archimedes spiral robot as claimed in claim 1, wherein: the rated power of the brushless hub motor in the step S1 is 360W.
3. The tree climbing method based on the Archimedes spiral robot as claimed in claim 2, wherein: the driven wheel in the step S1 is made of a polyurethane material.
4. The tree climbing method based on the Archimedes spiral robot as claimed in claim 1, wherein: in the step S1, the vertical loading capacity of the robot is not less than 30KG, and the speed is 1 m/S.
5. The tree climbing method based on the Archimedes spiral robot as claimed in claim 1, wherein: in the step S1, the brushless hub motor is PWM-regulated, and the vertical crawling speed can be adjusted within the range of 10% -100%.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010239866.3A CN111264212A (en) | 2020-03-30 | 2020-03-30 | Tree climbing method based on Archimedes spiral robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010239866.3A CN111264212A (en) | 2020-03-30 | 2020-03-30 | Tree climbing method based on Archimedes spiral robot |
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| CN111264212A true CN111264212A (en) | 2020-06-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010239866.3A Pending CN111264212A (en) | 2020-03-30 | 2020-03-30 | Tree climbing method based on Archimedes spiral robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112042499A (en) * | 2020-07-30 | 2020-12-08 | 国网福建省电力有限公司 | Portable tree remote felling device and method |
| CN112262676A (en) * | 2020-10-09 | 2021-01-26 | 厦门纵横通电动车有限公司 | Tree climbing machine and tree climbing pruning method |
| CN113117297A (en) * | 2021-05-21 | 2021-07-16 | 广东电网有限责任公司 | Electric power cement pole climbing device |
| CN113748866A (en) * | 2021-09-29 | 2021-12-07 | 安捷电维智能科技研究院(广州)有限公司 | Tree climbing and pruning robot |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106249670A (en) * | 2016-10-11 | 2016-12-21 | 山东农业大学 | A kind of control method of pruning robot AUTONOMOUS TASK of climbing tree |
| CN109463113A (en) * | 2018-09-25 | 2019-03-15 | 海南大学 | A kind of full-automatic betel nut cropper |
| CN110521421A (en) * | 2019-08-28 | 2019-12-03 | 三峡大学 | A kind of screen of trees based on image recognition removes robot and application method automatically |
-
2020
- 2020-03-30 CN CN202010239866.3A patent/CN111264212A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106249670A (en) * | 2016-10-11 | 2016-12-21 | 山东农业大学 | A kind of control method of pruning robot AUTONOMOUS TASK of climbing tree |
| CN109463113A (en) * | 2018-09-25 | 2019-03-15 | 海南大学 | A kind of full-automatic betel nut cropper |
| CN110521421A (en) * | 2019-08-28 | 2019-12-03 | 三峡大学 | A kind of screen of trees based on image recognition removes robot and application method automatically |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112042499A (en) * | 2020-07-30 | 2020-12-08 | 国网福建省电力有限公司 | Portable tree remote felling device and method |
| CN112262676A (en) * | 2020-10-09 | 2021-01-26 | 厦门纵横通电动车有限公司 | Tree climbing machine and tree climbing pruning method |
| CN113117297A (en) * | 2021-05-21 | 2021-07-16 | 广东电网有限责任公司 | Electric power cement pole climbing device |
| CN113748866A (en) * | 2021-09-29 | 2021-12-07 | 安捷电维智能科技研究院(广州)有限公司 | Tree climbing and pruning robot |
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Application publication date: 20200612 |
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| RJ01 | Rejection of invention patent application after publication |