CN112498719A

CN112498719A - Shears-fork type flying robot for cleaning tree obstacles of hanging cutters

Info

Publication number: CN112498719A
Application number: CN202011363945.1A
Authority: CN
Inventors: 杨忠; 梁家斌; 王炜; 陶坤; 廖禄伟; 张驰; 周东升; 吴吉莹; 许昌亮; 徐浩
Original assignee: Nanjing Taiside Intelligent Technology Co ltd
Current assignee: Nanjing Taiside Intelligent Technology Co ltd
Priority date: 2020-11-27
Filing date: 2020-11-27
Publication date: 2021-03-16

Abstract

The invention discloses a tree obstacle cleaning flying robot with scissors type hanging tools, which comprises a flying platform, a hanging mechanism connected below the flying platform and a tool system connected below the hanging mechanism; the hanging mechanism comprises an I-shaped frame which is horizontally arranged, a telescopic device which is hung below the I-shaped frame, and a lower connecting seat which is connected to the lower end of the telescopic device and is butted with the cutter system; the cutter system is an array combination of M (M is more than or equal to 1) electric saw components which are arranged in a left-right geometric symmetry or mass symmetry mode; a unhooking device which can be used for hooking or separating the hanging mechanism and the cutter system is arranged between the hanging mechanism and the cutter system. The flight robot for clearing the tree obstacle, disclosed by the invention, adopts the dynamically telescopic scissor fork type suspension mechanism to carry the cutter system, is suitable for implementing flat-pushing type large-area quick clearing from the top of the tree obstacle, is high in operation efficiency, avoids the high-voltage transmission line at the position of the operator close to the tree obstacle, and solves the problems of low clearing efficiency and high safety risk in the prior art.

Description

Shears-fork type flying robot for cleaning tree obstacles of hanging cutters

Technical Field

The invention relates to a power line tree obstacle cleaning flying robot with a scissor fork type hanging cutter, in particular to a flying robot suitable for quickly cleaning large-area tree obstacles, and belongs to the technical field of power transmission line tree obstacle cleaning devices.

Background

The tree barrier is a potential safety hazard existing in a power transmission line channel, and is characterized in that the continuous proliferation of trees in the channel gradually threatens the operation safety of the power transmission line. Therefore, each level of electric power departments need to invest a large amount of manpower, material resources and financial resources to clean and renovate the tree barriers of the passages in the district. At present, three main modes are provided for clearing tree obstacles: 1) manual obstacle clearing operation is mostly carried out by adopting a specially-made lengthened cutting tool, so that the safety risk is high, and the operation efficiency is not high; 2) the tree obstacle cleaning operation based on ground equipment is severely limited by the terrain environment and the tree growth situation, so that the high-altitude tree obstacle is difficult to quickly cut and clean; 3) the unmanned aerial vehicle-based tree obstacle cleaning technology has many exploratory works, but still has the defects of weak tree interference resistance, small single cutting range, relatively low operation efficiency and the like.

Therefore, a flying robot capable of automatically cleaning the tree obstacles in the power line channel in a large range needs to be researched, a carried cutter system of the flying robot has a large single cutting range, the influence of cutting force on the posture of the flying robot body can be avoided, and safety protection measures such as blockage prevention are provided.

Disclosure of Invention

The technical problem solved by the invention is as follows: the utility model provides a tree barrier clearance flying robot of cutter is hung to scissors fork, carries the cutter system that a plurality of cutters are constituteed through rotor class aircraft, realizes carrying out large tracts of land, efficient clearance to the tree barrier in the circuit channel, satisfies the demand of tree barrier clearance safety work under the transmission line environment.

The technical scheme of the invention is as follows: a tree obstacle clearing flying robot with scissors type hanging tools comprises a flying platform, a hanging mechanism connected below the flying platform and a tool system connected below the hanging mechanism; the hanging mechanism comprises an I-shaped frame which is horizontally arranged, a telescopic device which is hung below the I-shaped frame, and a lower connecting seat which is connected to the lower end of the telescopic device and is butted with the cutter system; the cutter system is an array combination of M (M is more than or equal to 1) electric saw components which are arranged in a left-right geometric symmetry or mass symmetry mode.

Preferably, a decoupling device is arranged between the hanging mechanism and the cutter system and can be used for hooking or separating the hanging mechanism and the cutter system.

Preferably, the suspension mechanism is a scissor-fork suspension mechanism, and is characterized in that: the I-shaped frame comprises a main beam which is positioned in the center and transversely arranged, a pair of guide rods which are bilaterally and symmetrically fixedly connected to two sides of the main beam in a front-back direction, and a flange seat which is positioned at the outer ends of the guide rods and connected with the flying platform, wherein a motor is arranged in the center of the main beam, and an output shaft of the motor is vertically downwards connected with a lifting screw rod;

the telescopic device comprises a pair of scissor fork assemblies which are bilaterally symmetrically arranged in parallel, and the scissor fork assemblies comprise N (N is more than or equal to 1) X-shaped scissor forks and 1V-shaped scissor fork which are hinged end to end in series from top to bottom; the X-shaped scissors fork is formed by combining a pair of long connecting rods which are crossed at the middle parts and can rotate mutually, and round holes are formed in the middle part and two ends of each long connecting rod; the V-shaped scissors fork is formed by combining a pair of short connecting rods which are mutually crossed at the bottoms and can rotate mutually, round holes are formed in two ends of each short connecting rod, and a rotating shaft of the lower connecting seat penetrates through the round holes in the lower ends of the short connecting rods; a pair of scissors fork subassembly between top-down be equipped with the transverse connection pole of connecting and reinforcing action in proper order, transverse connection pole includes: the pair of sliding rods penetrate through circular holes at the upper ends of the first pair of X-shaped scissors forks and are symmetrically distributed in the front and back direction, the lifting adjusting rods penetrate through circular holes at the centers of the first pair of X-shaped scissors forks, the reinforcing rods penetrate through the outer ends of the adjacent X-shaped scissors forks and are hinged with the circular holes in series, and the center reinforcing rods penetrate through the circular holes at the centers of the other pairs of X-shaped scissors forks; the sliding rod is provided with a pair of sliding rings which are bilaterally symmetrical and are sleeved on the guide rod and can move back and forth along the guide rod, threads matched with the lifting screw rod are arranged in the cylinder body in the middle of the lifting adjusting rod, and a round hole for accommodating the lifting screw rod to freely pass through up and down is arranged in the cylinder body in the middle of the central reinforcing rod;

a damping device for limiting the cutter system to freely swing back and forth is arranged between the V-shaped scissor fork and the lower connecting seat;

the outer end of the guide rod is provided with an upper travel switch for sensing the upward contraction of the suspension mechanism to the limit position, the inner end of the guide rod is provided with a lower travel switch for sensing the downward expansion of the suspension mechanism to the limit position, and output signal lines of the upper travel switch and the lower travel switch and a control signal line of the motor are connected with a main controller of the flight platform;

preferably, the damping device comprises a pair of torsion springs which are arranged on a rotating shaft of the lower connecting seat and located on the outer side of the V-shaped scissor fork and the inner side of the lower connecting seat, one end of each torsion spring is fixed on the lower connecting seat, and the other end of each torsion spring is fixed on the adjacent short connecting rod.

Preferably, the cutter system comprises a cutter frame with a bilaterally symmetrical appearance, N (N is more than or equal to 1) electric saw assemblies which are arranged on the cutter frame in a bilaterally geometrically symmetrical or mass symmetrical mode, a V-shaped guider which is fixedly connected with the cutter frame and is positioned between the adjacent electric saw assemblies, and a cutter controller which is arranged in the cutter frame and is used for controlling the electric saw assemblies; the electric saw assembly comprises a cutter motor, an electric saw driven by the cutter motor and a motor driver for driving the cutter motor; the cutter controller is connected with a main controller of the flying platform through a communication bus; the electric saw assembly is provided with a current sensor, a rotating speed sensor and a temperature sensor which are used for sensing the current, the rotating speed and the temperature of the cutter motor during working respectively, and output signals of the current sensor, the rotating speed sensor and the temperature sensor are connected to the cutter controller respectively.

Preferably, the electric saw is a circular saw or a chain saw; the circular saw is fixedly connected to an output shaft of the cutter motor; the chain saw comprises a guide plate and a chain, wherein an outer guide fork for guiding and restraining branches and accelerating cutting is mounted on the guide plate.

Preferably, the number N of chainsaw assemblies of the chainsaw blade system is taken to be 2.

Preferably, the unhooking device is a mechanical unhooking device or an electromagnetic unhooking device.

The unhooking device is a mechanical unhooking device and comprises an upper unhooking component and a lower unhooking component which can be mutually hooked with the upper unhooking component; the upper unhooking assembly comprises an upper base, a linear steering engine, an upper hook shaft, an upper hook, a tension spring and an upper electrical interface, wherein the linear steering engine is fixedly connected to the upper base, the output rod of the linear steering engine faces downwards; the lower unhooking component comprises a lower base, a lower hanging buckle which is fixedly connected with the lower base and can form vertical hanging connection with the upper hook, and a lower electric interface which is fixedly connected with the lower base; the upper electrical interface and the lower electrical interface form plug-in connection and are used for transmitting electric energy and control signals; the lower end of the upper hook is a rightward hook, the right lower side of the hook is in an oblique angle shape, and the left upper side of the lower hook buckle is provided with an oblique angle shape which is in extrusion pushing fit with the oblique angle outer contour of the hook of the upper hook; the lower hanging buckle is provided with a square hole matched with the hook of the upper hook, and once the hook of the upper hook is screwed into the square hole, the lower hanging buckle and the upper hook can be reliably hooked; the lower unhooking component also comprises an elastic gasket which is embedded between the lower base and the upper base and is in close contact with the lower base and the upper base; the linear steering engine is connected with a controller in the flight platform, and the linear steering engine drives an output rod of the linear steering engine to extend or contract after receiving an instruction of the controller, so that the upper hook rotates clockwise or anticlockwise in a follow-up mode.

The unhooking device is an electromagnetic unhooking device and comprises an electromagnet and an armature which are fixedly connected with connecting parts at two ends of the unhooking device respectively; the electromagnet is attracted with the armature after being electrified, and the connecting parts at the two ends of the unhooking device are hooked; after the electromagnet is powered off, the armature is released, and the connection parts at the two ends of the unhooking device are separated; the electromagnet is connected with a power supply on the flying robot through a switch. In the obstacle removing operation, when the cutter system is blocked relative to the tree obstacle and cannot be separated, the cutter system can be separated from the flying robot through the unhooking device, and therefore safety protection is conducted on the flying robot.

Preferably, the flying platform is a multi-rotor aircraft with a bilateral symmetry layout, and is not limited to any fixed known four, six, eight and other multi-rotors.

Preferably, a tilt motor is provided between each of the pair of bilaterally symmetric rotors of the multi-rotor aircraft and each of the rotor arms, the tilt motor being capable of rotating the rotor with respect to the axis of the corresponding rotor arm.

Preferably, the flying platform is provided with a forward-looking camera and a downward-looking camera for closely observing the growth situation of the tree barriers and the cutting state of the cutter system.

The working method and the control method of the flight robot for clearing the tree obstacles are as follows:

a working method of a tree obstacle clearing flying robot with a scissor fork type hanging tool comprises the following steps:

sequentially connecting the flying platform, the suspension mechanism and the cutter system from top to bottom to form a flying robot whole; when the flying robot flies to the vicinity of the tree barrier, firstly adjusting the length and the flying height of the suspension mechanism, enabling the cutter system to face the tree to be cut, then controlling the flying robot to fly forwards after receiving a tree barrier cleaning remote control command, and performing flat-pushing type cutting cleaning on the tree barrier below the robot by utilizing the cutter system; in the cleaning process, the length of the suspension mechanism can be dynamically adjusted to adapt to different cleaning requirements.

A control method of a flight robot for clearing tree obstacles of a scissor fork type hanging tool comprises the following steps:

the control method comprises a control method of a suspension mechanism, a control method of a cutter system and a control method of a unhooking device, and specifically comprises the following steps:

1) the control method of the suspension mechanism comprises the following steps: the working modes of the suspension mechanism are three, namely suspension mechanism ascending, suspension mechanism locking and suspension mechanism descending:

A) the suspension mechanism ascends: a main controller of the flight platform outputs a forward rotation instruction to the motor, the motor rotates to drive the lifting screw to rotate forward, so that the lifting adjusting rod rises, the telescopic device is driven to contract upwards, the sliding rod moves outwards, and the suspension mechanism rises; when the suspension mechanism rises to the limit position, the sliding rod triggers the upper travel switch, and the main controller of the flight platform outputs a stalling instruction to the motor to stall the motor, so that the suspension mechanism is protected from rising;

B) locking a suspension mechanism: in the lifting process of the suspension mechanism, once a main controller of the flight platform outputs a stop instruction to the motor, the lifting screw driven by the motor stops rotating, and the suspension mechanism is locked at the current position due to the self-locking relationship between the lifting screw and the lifting adjusting rod;

C) descending the suspension mechanism: a main controller of the flight platform outputs a reverse instruction to a motor, the motor rotates to drive a lifting screw to rotate reversely, so that a lifting adjusting rod descends to drive a telescopic device to extend downwards, a sliding rod moves inwards, and a suspension mechanism descends; when the suspension mechanism descends to the limit position, the sliding rod triggers the lower travel switch, and the main controller of the flight platform outputs a stalling instruction to the motor to stall the motor, so that the suspension mechanism is protected from descending.

2) The control method of the cutter system comprises the following steps:

A) the cutter controller collects the current, the rotating speed and the temperature of the cutter motor during working in real time and sends the current, the rotating speed and the temperature to the main controller of the flying platform for monitoring.

B) Evaluating the working state of the electric saw assembly in real time:

firstly, setting a current threshold, a rotating speed threshold and a temperature threshold corresponding to overload to be known, and if the current of a cutter motor exceeds the current threshold, or the rotating speed is lower than the rotating speed threshold, or the temperature exceeds the temperature threshold, judging that the electric saw component is overloaded;

secondly, setting a current threshold, a rotating speed threshold and a temperature threshold corresponding to the blockage to be known, and if the current of the cutter motor exceeds the current threshold, or the rotating speed is lower than the rotating speed threshold, or the temperature exceeds the temperature threshold, judging that the electric saw component is blocked;

and thirdly, if the current or the rotating speed of the cutter motor has periodic pulsation and the amplitude exceeds a preset threshold, the electric saw component can be judged to be damaged.

C) The method for processing the exception of the working state comprises the following steps:

if the flying platform is judged to be overloaded, a hovering instruction is sent to the flying platform, and cutting feeding is stopped;

if the tool is judged to be blocked or damaged, the motor of the tool is braked, and a backspacing instruction is sent to the flying platform;

and thirdly, for the jamming, if the electric saw assembly is clamped by the branches and is difficult to break free, the tripping device is started to enable the cutter system to break away from the flying robot, so that the safety of the flying robot is protected to the maximum extent, and the crash is avoided.

D) Detecting the balance operation state of the cutter system and implementing compensation control:

the detection method comprises the following steps: the instantaneous rotating speeds of the cutter motors at the symmetrical positions of the left side and the right side are respectively N_ia、N_ibInstantaneous current is respectively I_ia、I_ibInstantaneous temperature is respectively T_ia、T_ibWherein i is 1, …, N;

defining the cutting strength of the electric saw assembly:

x_ij＝f(N_ij,I_ij,T_ij)

wherein, i is 1, …, and N, j is a, b. If a linear structure is taken, then

x_ij＝k_N(N₀-N_ij)+k_II_ij+k_TT_ij

Wherein k is_N、k_I、k_TAs a weight coefficient, N₀No-load rotation speed;

defining a difference in cutting strength for a pair of electric saw assemblies:

Δx_i＝x_ia-x_ib，i＝1,…,N

defining the comprehensive cutting strength difference of the cutter system:

k_iis a weight coefficient

If | Δ x_i|≥δ_xDetermining a balance operation disorder of the electric saw assembly, wherein delta_x>0, judging a threshold value for the abnormality of the balance operation of the electric saw assembly;

if | Δ y | ≧ δ_yDetermination of a malfunction in the balance of the tool system, where delta_y>0, a tool system balance operation malfunction determination threshold value.

The balance operation compensation control method of the cutter system comprises the following steps:

if epsilon_x<|Δx_i|<δ_xAnd epsilon<|Δy|<δ_yIn which epsilon_x>0 and ε>0, if it is an insensitive area, one of the following methods is adopted: a) course follow-up: controlling the course of the flying robot to move and adjust to one side with smaller cutting strength so as to implement balance compensation on two sides of the cutter system; b) keeping the course: controlling the flying robot to hover until the absolute value of delta x_iAfter both | and | Δ y | are reduced, the flying robot is controlled to fly forward to implement obstacle clearing and feeding, so that the course of the flying robot is maintained;

if the balance operation of a pair of electric saw components is judged to be abnormal or the cutter systemThe balance of (1) is out of order, first the flying platform is kept hovering and then each | Δ x is continuously observed_i| and | Δ y | for a period of time T (T)>0) If | Δ x_iIf not all the cutter motors are braked after being reversely rotated, the cutter system is stopped from cutting operation, and meanwhile, a protective backspacing instruction is sent to the flying platform.

3) The control method of the mechanical unhooking device comprises the following steps:

A) when the unhooking device receives an unhooking command of a main controller in the flight platform, an output rod of the linear steering engine extends to drive the bearing to move downwards, the bearing is in pressing contact with an upper plane of a transverse rod of the upper hook to push the upper hook to rotate clockwise, and a hook at the lower end of the upper hook is separated from the lower hook buckle, so that mechanical unhooking of a part connected below the unhooking device and a part connected above the unhooking device is realized, and meanwhile, separation of an electrical interface is also completed; then, an output rod of the linear steering engine contracts, and the upper hook rotates anticlockwise to reset under the action of the tension spring;

B) when the lower hanging buckle moves upwards to extrude the hook of the upper hook leftwards, the upper hook is pushed to rotate clockwise to give way, and when the lower hanging buckle moves upwards to a proper position, the hook of the upper hook is quickly screwed into the square hole of the lower hanging buckle, so that a part connected below the unhooking device and a part connected above the unhooking device are stably and reliably hooked, and meanwhile, the connection of an electrical interface is also completed.

The invention has the beneficial effects that: compared with the prior art, the invention has the following effects:

1) the cutter system formed by hanging a plurality of electric saw components on the flying platform is suitable for large-area quick cleaning of a flat push type (also called a shaving head type) from the top of a tree obstacle, the operation efficiency is high, high-voltage transmission lines close to the tree obstacle by operators are avoided, the operation is safer, the operation risk of cleaning the tree obstacle can be effectively reduced, and the problems of low cleaning efficiency and high safety risk in the prior art are solved;

2) the flying robot with the suspended cutter system is always positioned below the rotor wing assembly during operation, so that the interference of tree obstacles on the rotor wing assembly can be effectively avoided, the risk of falling is reduced, and the operation safety of the flying robot is improved;

3) the scissor fork type suspension mechanism can dynamically stretch out and draw back in the flying and operating processes of the flying robot, meets the requirements of different tree obstacle cleaning heights by adjusting the distance between the cutter system and the flying platform, is flexible and mobile to use and high in operating efficiency, can effectively reduce the takeoff and landing difficulty of the flying robot, and is easy to store and transport;

4) the suspension mechanism and the cutter system are positioned below the flying platform, so that the center of gravity of the flying robot is positioned right below the flying platform, the stability of the flying robot is improved, and the control difficulty of the flying robot is reduced;

5) due to the adoption of the structure of the I-shaped frame and the telescopic device, particularly the transverse connecting rod which plays a role in connecting and reinforcing the scissor fork assemblies, the suspension mechanism has good structural rigidity and strength, the stability and reliability of the system are better, the structure is simple and the implementation is easy; when the cutter system is subjected to external force, the suspension mechanism is not easy to excessively distort and deform, so that structural damage is brought, and the safety of the robot is ensured;

6) the lifting screw rod is driven to rotate by the motor to drive the lifting adjusting rod to ascend or descend, so that the suspension mechanism is driven to contract upwards or extend downwards; the telescopic length of the suspension mechanism can be kept after the motor stops rotating, so that the overall rigidity of the flying robot is enhanced;

7) a mechanical damping device is arranged between the lower connecting seat and the connected V-shaped scissors fork, so that the cutter system can be kept stable at any lifting height, free swinging back and forth is not easy to occur, and certain yielding flexibility is provided in the cutting process, thereby improving the effectiveness and safety of operation;

8) the guide rod is provided with a limiter for limiting the front and back movement of the sliding rod, so that the suspension mechanism can be prevented from exceeding the mechanical limit during contraction and extension, and the movement safety of the suspension mechanism is ensured.

9) The cutter system is an array combination of a plurality of disc saw assemblies or chain saw assemblies which are symmetrically arranged in a left-right geometric mode or a mass mode, and has the advantages of large transverse operation width, large one-time operation range, high cutting efficiency and good applicability; meanwhile, the influence of course torque on the flying robot during forward operation is reduced, and the course stability of the flying robot is ensured;

10) each disk saw assembly or chain saw assembly is provided with a sensor for sensing the working current, the rotating speed and the temperature of the disk saw assembly or the chain saw assembly, the control system analyzes and processes sensor data, protective retreat is conducted on the flying robot and the cutter, or compensation protection is conducted on the balance operation state of the cutter, and the safety and the reliability of the flying robot operation are guaranteed;

11) the cutter system can be in various configurations and have various installation modes, and different types of cutter systems can be replaced under different operation targets and operation environments, so that the requirements can be met, and the cutter system is convenient and reliable;

12) when the branches and leaves are wound on the cutter system, the unhooking device can be manually or automatically started, so that the cutter system and the suspension mechanism or the suspension mechanism and the flying platform are quickly separated, the safety of the flying robot is guaranteed, and the loss caused by faults is reduced.

Drawings

FIG. 1 is a schematic diagram of a flying robot in an extended state;

FIG. 2 is a schematic diagram of a retracted state of the flying robot;

FIG. 3 is a schematic structural diagram of a scissor type fork suspension mechanism;

FIG. 4 is a schematic view of an I-shaped frame structure;

FIG. 5 is a schematic view of the structure of the telescopic device;

FIG. 6 is a schematic view of the fork assembly;

FIG. 7 is a top view of the scissor fork suspension mechanism;

FIG. 8 is a schematic diagram of a circular saw blade system;

fig. 9 is a schematic view of a separated state of the mechanical unhooking device;

fig. 10 is a schematic view showing a hitching state of the mechanical unhooking device;

FIG. 11 is a schematic view of a damping device;

FIG. 12 is a schematic view of a chainsaw blade system;

FIG. 13 is a schematic structural view of an electromagnetic type unhooking device;

figure 14 is a schematic view of a tiltrotor configuration.

In the figure, 1 is a flying platform, 2 is a suspension mechanism, 3 is a cutter system, and 4 is a unhooking device;

1011-rotor, 1012-rotor arm, 1013-tilting motor;

211, an I-shaped frame, 212, a telescopic device and 213, a lower connecting seat;

2101-girder, 2102-guide rod, 2103-flange seat, 2104-lifting screw, 2105-motor, 2106-sliding rod, 2107-lifting adjusting rod, 2108-reinforcing rod, 2109-central reinforcing rod, 2110-long connecting rod, 2111-short connecting rod, 2112-scissor fork assembly, 2113-X-shaped scissor fork, 2114-V-shaped scissor fork and 2115-torsion spring.

3001-tool holder, 3002-tool motor, 3003A-circular saw, 3003B-chain saw, 3004-motor driver, 3005-tool controller, 3006-guide, 3007-outer guide fork;

41-upper unhooking component, 4101-upper base, 4102-linear steering engine, 4103-bearing, 4104-tension spring, 4105-upper hook, 4106-upper hook shaft and 4107-upper electrical interface;

42-lower unhooking assembly, 4201-lower base, 4202-lower hook, 4203-lower electrical interface, 4204-resilient washer;

401-electromagnet, 402-armature.

Detailed Description

The invention will be further described with reference to the accompanying drawings and specific embodiments.

Example 1: as shown in fig. 1 to 11, a tree obstacle clearing flying robot with scissors-type hanging tools comprises a flying platform 1, a hanging mechanism 2 connected below the flying platform 1 and a tool system 3 connected below the hanging mechanism 2; the suspension mechanism 2 comprises an I-shaped frame 211 which is horizontally arranged, a telescopic device 212 which is hung below the I-shaped frame 211, and a lower connecting seat 213 which is connected to the lower end of the telescopic device 212 and is butted with the cutter system 3; the cutter system 3 is an array combination of M (M is more than or equal to 1) electric saw components which are arranged in a left-right geometric symmetry or mass symmetry mode.

Preferably, a unhooking device 4 is provided between the hanging mechanism 2 and the tool system 3 for hooking and detaching the hanging mechanism and the tool system.

Preferably, the suspension mechanism 2 is a scissor-fork suspension mechanism: as shown in fig. 4, the i-shaped frame 211 includes a main beam 2101 located at a central position and arranged transversely, a pair of guide rods 2102 symmetrically fixed at left and right sides of the main beam 2101 in a front-back direction, and a flange seat 2103 located at an outer end of the guide rods 2102 and connected to the flying platform 1, a motor 2105 is installed at the center of the main beam 2101, and an output shaft of the motor 2105 is vertically downward connected to a lifting screw 2104;

as shown in FIGS. 5-7, the telescopic device 212 comprises a pair of scissor assemblies 2112 which are arranged symmetrically in parallel left and right, wherein the scissor assemblies 2112 comprise N (N is more than or equal to 1) X-shaped scissor assemblies 2113 and 1V-shaped scissor assembly 2114 which are hinged end to end in series from top to bottom; the X-shaped scissor fork 2113 is formed by combining a pair of long connecting rods 2110 which are crossed at the middle and can rotate mutually, and round holes are formed in the middle and two ends of each long connecting rod 2110; the V-shaped scissor fork 2114 is formed by combining a pair of short connecting rods 2111 which are mutually crossed at the bottoms and can rotate mutually, round holes are arranged at two ends of each short connecting rod 2111, and a rotating shaft of the lower connecting seat 213 penetrates through the round holes at the lower ends of the short connecting rods 2111; a pair of scissors fork subassembly 2112 between top-down be equipped with the transverse connection pole of connecting and reinforcing action in proper order, transverse connection pole includes: a pair of sliding rods 2106 which pass through round holes at the upper ends of the first pair of X-shaped scissor forks 2113 and are symmetrically distributed in the front and back direction, a lifting adjusting rod 2107 which passes through a round hole at the center of the first pair of X-shaped scissor forks 2113, a reinforcing rod 2108 which passes through the outer ends of the adjacent X-shaped scissor forks 2113 and is connected with a round hole in series, and a central reinforcing rod 2109 which passes through round holes at the centers of the other pairs of X-shaped scissor forks 2113; the sliding rod 2106 is provided with a pair of sliding rings which are bilaterally symmetrical and sleeved on the guide rod 2102 and can move back and forth along the guide rod 2102, a screw thread matched with the lifting screw 2104 is arranged in a cylinder body in the middle of the lifting adjusting rod 2107, and a circular hole for accommodating the lifting screw 2104 to freely pass through up and down is arranged in a cylinder body in the middle of the central reinforcing rod 2109;

a damping device for limiting the cutter system 3 to freely swing back and forth is arranged between the V-shaped scissor fork 2114 and the lower connecting seat 213;

an upper travel switch for sensing that the suspension mechanism 2 is upwards retracted to the limit position is arranged at the outer end of the guide rod 2102, a lower travel switch for sensing that the suspension mechanism is downwards extended to the limit position is arranged at the inner end of the guide rod 2102, and output signal lines of the upper travel switch and the lower travel switch and a control signal line of the motor 2105 are connected with a main controller of the flight platform 1.

Preferably, as shown in fig. 11, the damping means includes a pair of torsion springs 2115 mounted on the rotating shaft of the lower connecting seat 213 and located outside the V-shaped scissors fork 2114 and inside the lower connecting seat 213, and one end of the torsion spring 2115 is fixed to the lower connecting seat 213 and the other end is fixed to the adjacent short link 2111.

Preferably, the tool system 3 includes a tool rack 3001 with a left-right symmetrical shape, N (N is greater than or equal to 1) electric saw assemblies mounted on the tool rack 3001 in a left-right geometric symmetrical or mass symmetrical manner, a V-shaped guide 3006 fixedly connected to the tool rack 3001 and located between adjacent electric saw assemblies with an outward tip, and a tool controller 3005 arranged in the tool rack 3001 and used for controlling the electric saw assemblies; the electric saw assembly includes a cutter motor 3002, an electric saw driven by the cutter motor 3002, and a motor driver 3004 driving the cutter motor 3002; the tool controller 3005 is connected with the main controller of the flying platform 1 through a communication bus; the electric saw assembly is provided with a current sensor, a rotation speed sensor and a temperature sensor which respectively sense the current, the rotation speed and the temperature of the cutter motor 3002 during operation, and output signals of the current sensor, the rotation speed sensor and the temperature sensor are respectively connected to the cutter controller 3005.

Preferably, the electric saw is a circular saw 3003A fixedly connected to an output shaft of the cutter motor 3002.

Preferably, the unhooking device 4 is a mechanical unhooking device, and comprises an upper unhooking component 41 and a lower unhooking component 42 which can be mutually hooked with the upper unhooking component 41; the upper unhooking component 41 comprises an upper base 4101, a linear steering engine 4102 which is fixedly connected with the upper base 4101 and the output rod of which is downward, an upper hook shaft 4106 which is fixedly connected with the upper base 4101, an upper hook 4105 which takes the shape of L with the upper hook shaft 4106 as a rotating shaft, a tension spring 4104 which is arranged between the tail ends of the transverse rods of the upper base 4101 and the upper hook 4105 and can provide anticlockwise restoring moment for the upper hook 4105, and an upper electrical interface 4107 which is fixedly connected with the upper base 4101, wherein the tail end of the output rod of the linear steering engine 4102 is provided with a bearing 4103; the lower unhooking assembly 42 comprises a lower base 4201, a lower hook 4202 fixed to the lower base 4201 and capable of being hooked up and down with the upper hook 4105, and a lower electrical interface 4203 fixed to the lower base 4201; upper electrical interface 4107 forms a mating connection with lower electrical interface 4203 for transferring power and control signals; the lower end of the upper hook 4105 is a rightward hook, the right lower side of the hook is in an oblique angle shape, and the left upper side of the lower hanging buckle 4202 is provided with an oblique angle shape which is matched with the oblique angle outer contour of the hook of the upper hook 4105 in an extrusion and pushing manner; the lower buckle 4202 is provided with a square hole for matching with the hook of the upper hook 4105, and once the hook of the upper hook 4105 is screwed into the square hole, the lower buckle 4202 and the upper hook 4105 can form a reliable hook connection; the lower unhooking element 42 further comprises an elastic washer 4204 embedded between and in close contact with the lower base 4201 and the upper base 4101; the linear steering engine 4102 is connected with a main controller in the flight platform, and the linear steering engine 4102 drives an output rod of the linear steering engine 4102 to extend or contract after receiving an instruction of the main controller, so that the upper hook 4105 is driven to rotate clockwise or anticlockwise in a follow-up manner.

Preferably, the flying platform 1 is a multi-rotor aircraft with a bilateral symmetry layout, and is not limited to any fixed known four, six, eight and other multi-rotors.

Preferably, the flying platform 1 is provided with a forward-looking camera and a downward-looking camera for closely observing the growth situation of the tree barrier and the cutting state of the cutter system 3.

The invention relates to a working method and a control method of a tree obstacle clearing flying robot with a scissor fork type hanging tool, wherein the working method comprises the following steps:

sequentially connecting the flying platform 1, the suspension mechanism 2 and the cutter system 3 from top to bottom to form a flying robot whole; after the flying robot flies to the vicinity of the tree barrier, firstly, the length and the flying height of the suspension mechanism 2 are adjusted, the cutter system 3 is made to face the tree to be cut, then the flying robot is controlled to fly forwards according to the received tree barrier cleaning remote control command, and the cutter system 3 is utilized to perform horizontal pushing type cutting and cleaning on the tree barrier below the flying robot; in the cleaning process, the length of the suspension mechanism 2 can be dynamically adjusted to adapt to different cleaning requirements.

the control method comprises a control method of the suspension mechanism 2, a control method of the cutter system 3 and a control method of the unhooking device 4, and specifically comprises the following steps:

1) the control method of the suspension mechanism 2 is as follows: the suspension mechanism 2 has three working modes, namely suspension mechanism ascending, suspension mechanism locking and suspension mechanism descending:

A) the suspension mechanism ascends: the main controller of the flying platform 1 outputs a forward rotation instruction to the motor 2105, the motor 2105 rotates to drive the lifting screw 2104 to rotate forward, so that the lifting adjusting rod 2107 rises to drive the telescopic device 212 to contract upwards, and the sliding rod 2106 moves outwards, so that the suspension mechanism 2 rises; when the suspension mechanism ascends to the limit position, the sliding rod 2106 triggers an upper travel switch, and a main controller of the flight platform 1 outputs a stop instruction to the motor 2105 to stop the motor 2105, so that the suspension mechanism 2 is protected from ascending;

B) locking a suspension mechanism: in the lifting process of the suspension mechanism 2, once the main controller of the flying platform 1 outputs a stop instruction to the motor 2105, the lifting screw 2104 driven by the motor 2105 stops rotating, and the suspension mechanism 2 is locked at the current position due to the self-locking relationship between the lifting screw 2104 and the lifting adjusting rod 2107;

C) descending the suspension mechanism: the main controller of the flying platform 1 outputs a reverse rotation instruction to the motor 2105, the motor 2105 rotates to drive the lifting screw 2104 to rotate reversely, so that the lifting adjusting rod 2107 descends to drive the telescopic device 212 to extend downwards, and the sliding rod 2106 moves inwards to lower the suspension mechanism 2; when the suspension mechanism descends to the limit position, the sliding rod 2106 triggers a lower travel switch, and the main controller of the flight platform 1 outputs a stop instruction to the motor 2105 to stop the motor 2105, so that the suspension mechanism 2 is protected from descending.

2) The control method of the cutter system 3 is as follows:

A) the tool controller 3005 collects the current, the rotation speed and the temperature of the tool motor 3002 during operation in real time, and sends the current, the rotation speed and the temperature to the main controller of the flying platform 1 for monitoring.

B) Evaluating the working state of the electric saw assembly in real time:

firstly, setting a current threshold, a rotating speed threshold and a temperature threshold corresponding to overload to be known, and if the current of the cutter motor 3002 exceeds the current threshold, or the rotating speed is lower than the rotating speed threshold, or the temperature exceeds the temperature threshold, judging that the electric saw component is overloaded;

secondly, setting a current threshold, a rotating speed threshold and a temperature threshold corresponding to the blockage to be known, and if the current of the cutter motor 3002 exceeds the current threshold, or the rotating speed is lower than the rotating speed threshold, or the temperature exceeds the temperature threshold, judging that the electric saw component is blocked;

and thirdly, if the current or the rotating speed of the cutter motor 3002 has periodic pulsation and the amplitude exceeds a preset threshold, the electric saw component can be judged to be damaged.

if the flying platform is judged to be overloaded, a hovering instruction is sent to the flying platform 1, and cutting feeding is stopped;

if the tool is determined to be blocked or damaged, the tool motor 3002 is braked, and a backspacing instruction is sent to the flying platform 1;

to the card hinder, if the electric saw subassembly is blocked by the branch and is difficult to shake off, then start unhooking device 4 and make cutter system 3 break away from flying robot to furthest protects flying robot's safety, avoids causing the air crash.

D) The balance operation state of the cutter system 3 is detected and compensation control is implemented:

the detection method comprises the following steps: the instantaneous rotation speeds of the cutter motor 3002 at the symmetrical positions on the left and right sides are N_ia、N_ibInstantaneous current is respectively I_ia、I_ibInstantaneous temperature is respectively T_ia、T_ibWherein i is 1, …, N;

defining the cutting strength of the electric saw assembly:

x_ij＝f(N_ij,I_ij,T_ij)

wherein, i is 1, …, and N, j is a, b. If a linear structure is taken, then

x_ij＝k_N(N₀-N_ij)+k_II_ij+k_TT_ij

Wherein k is_N、k_I、k_TAs a weight coefficient, N₀No-load rotation speed;

Δx_i＝x_ia-x_ib，i＝1,…,N

defining the overall cutting strength difference of the cutter system 3:

k_iis a weight coefficient

if | Δ y | ≧ δ_yA malfunction in the balance operation of the tool system 3 can be determined, wherein delta_y>0, a tool system balance operation malfunction determination threshold value.

The balance operation compensation control method of the cutter system 3 comprises the following steps:

if epsilon_x<|Δx_i|<δ_xAnd epsilon<|Δy|<δ_yIn which epsilon_x>0 and ε>0, if it is an insensitive area, one of the following methods is adopted: a) course follow-up: controlling the course of the flying robot to move and adjust to one side with smaller cutting strength so as to implement balance compensation on two sides of the cutter system 3; b) keeping the course: controlling the flying robot to hover until the absolute value of delta x_iAfter both | and | Δ y | are reduced, the flying robot is controlled to fly forward to implement obstacle clearing and feeding, thereby maintaining the flying robotA heading of the person;

if the balance operation of a certain pair of electric saw components or the balance operation of the cutter system 3 is judged to be abnormal, the flying platform 1 is firstly made to keep hovering, and then all | delta x values are continuously observed_i| and | Δ y | for a period of time T (T)>0) If | Δ x_iIf not all the cutter motors 3002 are reversed and then braked, the cutter system 3 is stopped from cutting operation, and a protective retraction command is sent to the flying platform 1.

3) Control method of mechanical unhooking device 4:

A) when the unhooking device 4 receives an unhooking command of a main controller in the flight platform 1, an output rod of the linear steering engine 4102 extends to drive the bearing 4103 to move downwards, the bearing 4103 is in pressing contact with an upper plane of a transverse rod of the upper hook 4105 to push the upper hook 4105 to rotate clockwise, and a hook at the lower end of the upper hook 4105 is separated from the lower hanging buckle 4202, so that mechanical unhooking of a part connected below the unhooking device 4 and a part connected above the unhooking device 4 is realized, and meanwhile, separation of an electrical interface is also completed; then, the output rod of the linear steering engine 4102 is contracted, and the upper hook 4105 rotates anticlockwise to reset under the action of the tension spring 4104;

B) when hooking, the lower hook 4202 moves upward to press the hook of the upper hook 4105 leftward, pushing the upper hook 4105 to rotate clockwise to give way, and when the lower hook 4202 moves upward to a proper position, the hook of the upper hook 4105 is quickly screwed into the square hole of the lower hook 4202, thereby forming a stable and reliable hook between the component connected below the unhooking device 4 and the component connected above the unhooking device 4, and completing the connection of the electrical interface.

Example 2: as shown in fig. 12, a flight robot for clearing obstacles of scissors fork type hanging tool, the electric saw described in embodiment 1 is a chain saw 3003B, the chain saw 3003B comprises a guide plate and a chain, the guide plate is mounted with an outer guide fork 3007 for guiding and restraining branches and accelerating cutting. The number N of chainsaw assemblies of the chainsaw blade system is taken to be 2.

Example 3: a flight robot for clearing tree obstacles of a scissor fork type hanging cutter is characterized in that a unhooking device 4 is an electromagnetic type unhooking device and comprises an electromagnet 401 and an armature 402 which are fixedly connected with connecting parts at two ends of the unhooking device 4 respectively; the electromagnet 401 is connected with a power supply on the flying robot through a switch.

As shown in fig. 13, the electromagnet 401 is energized and then attracted with the armature 402, and the cutter system 3 is hooked below the suspension mechanism 2; when the magnet 401 is de-energized, the armature 402 is released and the tool system 3 is separated from the suspension 2. In the obstacle removing operation, when the cutter system 3 is blocked relative to the tree obstacle and cannot be separated, the cutter system 3 can be separated from the flying robot through the unhooking device 4, and therefore safety protection is conducted on the flying robot.

Example 4: as shown in fig. 14, a tree obstacle clearing flying robot with a scissor-type suspension cutter, in which a tilt rotor is realized by providing a tilt motor 1013 capable of rotating a pair of bilaterally symmetrical rotors 1011 of a multi-rotor aircraft with respect to an axis of the corresponding rotor arm 1012, between the pair of the rotors 1011 and the respective rotor arm 1012.

Based on the tilt rotor, the flying platform 1 can generate a large course moment to overcome the unbalanced reaction moment of the trees received by the cutter system 3, and horizontal flight can be realized on the premise of not changing the posture.

The above description is only an example of the specific embodiments of the present invention, and the scope of the present invention is not limited thereto. Those skilled in the art can easily find changes or substitutions within the technical scope of the present disclosure, which should be covered by the protection scope of the present invention. For this reason, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims

1. The utility model provides a tree obstacle clearance flying robot of cutter is hung to scissors fork which characterized in that: comprises a flying platform (1), a suspension mechanism (2) connected below the flying platform (1) and a cutter system (3) connected below the suspension mechanism (2); the hanging mechanism (2) comprises an I-shaped frame (211) which is horizontally arranged, a telescopic device (212) which is hung below the I-shaped frame (211), and a lower connecting seat (213) which is connected to the lower end of the telescopic device (212) and is butted with the cutter system (3); the cutter system (3) is an array combination of M (M is more than or equal to 1) electric saw components which are arranged in a left-right geometric symmetry or mass symmetry mode.

2. A tree obstacle clearing flying robot with a scissor type hanging tool according to claim 1, wherein: a unhooking device (4) which can be used for hooking or separating the hanging mechanism (2) and the cutter system (3) is arranged between the hanging mechanism and the cutter system.

3. A tree obstacle clearing flying robot with a scissor type hanging tool according to claim 1, wherein: the suspension mechanism (2) is a scissor fork type suspension mechanism: the I-shaped frame (211) comprises a main beam (2101) which is positioned in the center and transversely arranged, a pair of guide rods (2102) which are bilaterally and symmetrically fixedly connected to two sides of the main beam (2101) and move forward and backward, and a flange seat (2103) which is positioned at the outer end of the guide rods (2102) and connected with the flying platform (1), wherein a motor (2105) is installed in the center of the main beam (2101), and an output shaft of the motor (2105) is vertically downwards connected with a lifting screw (2104);

the telescopic device (212) comprises a pair of scissor assemblies (2112) which are arranged in parallel in a bilateral symmetry mode, and the scissor assemblies (2112) comprise N (N is more than or equal to 1) X-shaped scissor forks (2113) and 1V-shaped scissor fork (2114) which are hinged end to end in series from top to bottom; the X-shaped scissors fork (2113) is formed by combining a pair of long connecting rods (2110) which are crossed at the middle parts and can rotate mutually, and round holes are formed in the middle part and two ends of each long connecting rod (2110); the V-shaped scissors fork (2114) is formed by combining a pair of short connecting rods (2111) which are mutually crossed at the bottoms and can rotate mutually, round holes are arranged at two ends of each short connecting rod (2111), and a rotating shaft of the lower connecting seat (213) penetrates through the round holes at the lower ends of the short connecting rods (2111); a pair of scissors fork subassembly (2112) between top-down be equipped with the transverse connection pole of connecting and reinforcing action in proper order, transverse connection pole includes: a pair of sliding rods (2106) which pass through round holes at the upper ends of the first pair of X-shaped scissors forks (2113) and are symmetrically distributed in the front and back direction, a lifting adjusting rod (2107) which passes through central round holes of the first pair of X-shaped scissors forks (2113), a reinforcing rod (2108) which passes through the outer ends of the adjacent X-shaped scissors forks (2113) and is connected with the round holes in series, and a central reinforcing rod (2109) which passes through the central round holes of other pairs of X-shaped scissors forks (2113); the sliding rod (2106) is provided with a pair of sliding rings which are bilaterally symmetrical and sleeved on the guide rod (2102) and can move back and forth along the guide rod (2102), threads matched with the lifting screw (2104) are arranged in a cylinder body in the middle of the lifting adjusting rod (2107), and a round hole for allowing the lifting screw (2104) to pass through freely up and down is arranged in a cylinder body in the middle of the central reinforcing rod (2109);

a damping device for limiting the cutter system (3) to freely swing back and forth is arranged between the V-shaped scissors fork (2114) and the lower connecting seat (213);

an upper travel switch for sensing that the suspension mechanism (2) is upwards contracted to the limit position is arranged at the outer end of the guide rod (2102), a lower travel switch for sensing that the suspension mechanism is downwards extended to the limit position is arranged at the inner end of the guide rod (2102), and output signal lines of the upper travel switch and the lower travel switch and a control signal line of the motor (2105) are connected with a main controller of the flight platform (1).

4. A tree obstacle clearing flying robot with a scissor type hanging tool according to claim 3, wherein: the damping device comprises a pair of torsion springs (2115) which are arranged on a rotating shaft of the lower connecting seat (213) and are positioned on the outer side of the V-shaped scissors fork (2114) and the inner side of the lower connecting seat (213), one end of each torsion spring (2115) is fixed on the lower connecting seat (213), and the other end of each torsion spring is fixed on the adjacent short connecting rod (2111).

5. A tree obstacle clearing flying robot with a scissor type hanging tool according to claim 1, wherein: the cutter system (3) comprises a cutter frame (3001) with a left-right symmetrical appearance, N (N is more than or equal to 1) electric saw assemblies which are arranged on the cutter frame (3001) in a left-right geometrical symmetry or mass symmetry mode, a V-shaped guider (3006) which is fixedly connected with the cutter frame (3001) and is positioned between the adjacent electric saw assemblies, and a cutter controller (3005) which is arranged in the cutter frame (3001) and is used for controlling the electric saw assemblies; the electric saw assembly comprises a cutter motor (3002), an electric saw driven by the cutter motor (3002), and a motor driver (3004) for driving the cutter motor (3002); the cutter controller (3005) is connected with a main controller of the flying platform (1) through a communication bus; the electric saw assembly is provided with a current sensor, a rotating speed sensor and a temperature sensor which respectively sense the current, the rotating speed and the temperature of the cutter motor (3002) during working, and output signals of the current sensor, the rotating speed sensor and the temperature sensor are respectively connected to the cutter controller (3005).

6. A tree obstacle clearing flying robot with a scissor type hanging tool according to claim 5, wherein: the electric saw is a circular saw (3003A) or a chain saw (3003B); the circular saw (3003A) is fixedly connected to an output shaft of the cutter motor (3002); the chain saw (3003B) comprises a guide plate and a chain, wherein an outer guide fork (3007) for guiding and restraining branches and accelerating cutting is mounted on the guide plate.

7. A tree obstacle clearing flying robot with a scissor type hanging tool according to claim 2, wherein: the unhooking device (4) is a mechanical unhooking device and comprises an upper unhooking component (41) and a lower unhooking component (42) which can be mutually hooked with the upper unhooking component (41); the upper unhooking assembly (41) comprises an upper base (4101), a linear steering engine (4102) which is fixedly connected with the upper base (4101) and the output rod of which faces downwards, an upper hook shaft (4106) which is fixedly connected with the upper base (4101), an upper hook (4105) which takes an L shape by taking the upper hook shaft (4106) as a rotating shaft, a tension spring (4104) which is arranged between the ends of the transverse rods of the upper base (4101) and the upper hook (4105) and can provide anticlockwise restoring moment for the upper hook (4105), and an upper electrical interface (4107) which is fixedly connected with the upper base (4101), wherein the end of the output rod of the linear steering engine (4102) is provided with a bearing (4103); the lower unhooking assembly (42) comprises a lower base (4201), a lower hanging buckle (4202) which is fixedly connected to the lower base (4201) and can be hung up and down with the upper hook (4105), and a lower electric interface (4203) which is fixedly connected to the lower base (4201); the upper electrical interface (4107) and the lower electrical interface (4203) form a plug-in connection for transmitting electric energy and control signals; the lower end of the upper hook (4105) is a rightward hook, the right lower side of the hook is in an oblique angle shape, and the left upper side of the lower hanging buckle (4202) is provided with an oblique angle shape which is in extrusion, pushing and matching with the oblique angle outer contour of the hook of the upper hook (4105); the lower hanging buckle (4202) is provided with a square hole matched with the hook of the upper hook (4105), and once the hook of the upper hook (4105) is screwed into the square hole, the lower hanging buckle (4202) and the upper hook (4105) can form reliable hanging connection; the lower unhooking assembly (42) further comprises an elastic gasket (4204) which is embedded between the lower base (4201) and the upper base (4101) and is in close contact with the lower base and the upper base; the linear steering engine (4102) is connected with a main controller in the flight platform (1), and the linear steering engine (4102) drives an output rod of the linear steering engine to extend or contract after receiving an instruction of the main controller, so that the upper hook (4105) is driven to rotate clockwise or anticlockwise in a follow-up manner.

8. A tree obstacle clearing flying robot with a scissor type hanging tool according to claim 1, wherein: the flying platform (1) is a multi-rotor aircraft with bilateral symmetry layout.

9. A tree obstacle clearing flying robot with scissors type hanging tools according to claim 8, wherein: a tilting motor (1013) which can rotate the rotor (1011) relative to the axis of the corresponding rotor arm (1012) is arranged between any pair of bilaterally symmetrical rotors (1011) of the multi-rotor aircraft and each rotor arm (1012).

10. A working method and a control method of a tree obstacle clearing flying robot with a scissor fork type hanging tool are characterized in that:

sequentially connecting a flying platform (1), a suspension mechanism (2) and a cutter system (3) from top to bottom to form a flying robot whole; after the flying robot flies to the vicinity of the tree barrier, firstly adjusting the length and the flying height of the suspension mechanism, enabling the cutter system (3) to face the tree to be cut, then controlling the flying robot to fly forwards according to a received tree barrier cleaning remote control command, and performing flat-pushing type cutting and cleaning on the tree barrier below the robot by utilizing the cutter system (3); in the cleaning process, the length of the suspension mechanism (2) can be dynamically adjusted to adapt to different cleaning requirements;

the method comprises a control method of a suspension mechanism (2), a control method of a cutter system (3) and a control method of a unhooking device (4), and the specific control methods are as follows:

1) the control method of the suspension mechanism (2) comprises the following steps: the suspension mechanism (2) has three working modes, namely suspension mechanism ascending, suspension mechanism locking and suspension mechanism descending:

A) the suspension mechanism ascends: a main controller of the flight platform (1) outputs a forward rotation instruction to a motor (2105), the motor (2105) rotates to drive a lifting screw (2104) to rotate forward, so that a lifting adjusting rod (2107) rises to drive a telescopic device (212) to contract upwards, a sliding rod (2106) moves outwards, and a suspension mechanism (2) rises; when the suspension mechanism ascends to the limit position, the sliding rod (2106) triggers an upper travel switch, and a main controller of the flight platform (1) outputs a stop instruction to the motor (2105) to stop the motor (2105), so that the suspension mechanism (2) is protected from ascending;

B) locking a suspension mechanism: in the lifting process of the suspension mechanism (2), once a main controller of the flight platform (1) outputs a stop instruction to the motor (2105), the lifting screw (2104) driven by the motor (2105) stops rotating, and the suspension mechanism (2) is locked at the current position due to the self-locking relationship between the lifting screw (2104) and the lifting adjusting rod (2107);

C) descending the suspension mechanism: a main controller of the flight platform (1) outputs a reverse rotation instruction to a motor (2105), the motor (2105) rotates to drive a lifting screw (2104) to reversely rotate, so that a lifting adjusting rod (2107) descends to drive a telescopic device (212) to extend downwards, a sliding rod (2106) moves inwards, and a suspension mechanism (2) descends; when the suspension mechanism descends to the limit position, the sliding rod (2106) triggers a lower travel switch, and a main controller of the flight platform (1) outputs a stop instruction to the motor (2105) to stop the motor (2105), so that the suspension mechanism (2) is protected from descending;

2) the control method of the cutter system (3) comprises the following steps:

A) the cutter controller (3005) collects the current, the rotating speed and the temperature of the cutter motor (3002) in real time when working and sends the current, the rotating speed and the temperature to the main controller of the flight platform (1) for monitoring;

B) evaluating the working state of the electric saw assembly in real time:

firstly, setting a current threshold, a rotating speed threshold and a temperature threshold corresponding to overload to be known, and if the current of a cutter motor (3002) exceeds the current threshold, or the rotating speed is lower than the rotating speed threshold, or the temperature exceeds the temperature threshold, judging that the electric saw component is overloaded;

secondly, setting a current threshold, a rotating speed threshold and a temperature threshold corresponding to the blockage to be known, and if the current of the cutter motor (3002) exceeds the current threshold, or the rotating speed is lower than the rotating speed threshold, or the temperature exceeds the temperature threshold, judging that the electric saw component is blocked;

if the current or the rotating speed of the cutter motor (3002) has periodic pulsation and the amplitude exceeds a preset threshold, the electric saw component can be judged to be damaged;

if the flying platform is judged to be overloaded, a hovering instruction is sent to the flying platform (1), and cutting feeding is stopped;

if the tool is determined to be blocked or damaged, the tool motor (3002) is braked, and a backspacing instruction is sent to the flying platform (1) at the same time;

for jamming, if the electric saw assembly is clamped by branches and is difficult to break loose, the unhooking device (4) is started to enable the cutter system (3) to be separated from the flying robot, so that the safety of the flying robot is protected to the maximum extent, and the falling of the flying robot is avoided;

D) detecting the balance operation state of the cutter system (3) and implementing compensation control:

the detection method comprises the following steps: the instantaneous rotating speeds of the cutter motors (3002) at the symmetrical positions of the left side and the right side are respectively N_ia、N_ibInstantaneous current is respectively I_ia、I_ibInstantaneous temperature is respectively T_ia、T_ibWherein i is 1, …, N;

defining the cutting strength of the electric saw assembly:

x_ij＝f(N_ij,I_ij,T_ij)

wherein, i is 1, …, and N, j is a, b. If a linear structure is taken, then

x_ij＝k_N(N₀-N_ij)+k_II_ij+k_TT_ij

Wherein k is_N、k_I、k_TAs a weight coefficient, N₀No-load rotation speed;

Δx_i＝x_ia-x_ib，i＝1,…,N

defining the overall cutting strength difference of the cutter system (3):

k_iis a weight coefficient

if | Δ y | ≧ δ_yDetermining a balanced operation error of the tool system (3), wherein delta_y>0, judging a threshold value for the balance operation abnormality of the cutter system (3);

the balance operation compensation control method of the cutter system (3) comprises the following steps:

if epsilon_x<|Δx_i|<δ_xAnd epsilon<|Δy|<δ_yIn which epsilon_x>0 and ε>0, if it is an insensitive area, one of the following methods is adopted: a) course follow-up: controlling the course of the flying robot to move and adjust to one side with smaller cutting strength so as to implement balance compensation on two sides of the cutter system (3); b) keeping the course: controlling the flying robot to hover until the absolute value of delta x_iAfter both | and | Δ y | are reduced, the flying robot is controlled to fly forward to implement obstacle clearing and feeding, so that the course of the flying robot is maintained;

if the balance operation of a certain pair of electric saw components or the balance operation of the cutter system (3) is judged to be abnormal, the flying platform (1) is firstly made to keep hovering, and then all | delta x values are continuously observed_i| and | Δ y | for a period of time T (T)>0) If | Δ x_iIf not all the cutter motors (3002) fall back, all the cutter motors (3002) are braked after being reversely rotated, so that the cutter system (3) is out of cutting operation, and a protective backspacing instruction is sent to the flying platform (1);

3) a method for controlling a mechanical unhooking device (4):

A) when the unhooking device (4) receives an unhooking command of a main controller in the flight platform (1), an output rod of the linear steering engine (4102) extends to drive the bearing (4103) to move downwards, the bearing (4103) is in pressing contact with an upper plane of a transverse rod of the upper hook (4105) to push the upper hook (4105) to rotate clockwise, a hook at the lower end of the upper hook (4105) is separated from the lower hanging buckle (4202), and therefore mechanical unhooking of a part connected below the unhooking device (4) and a part connected above the unhooking device (4) is achieved, and meanwhile separation of an electrical interface is also achieved; then, the output rod of the linear steering engine (4102) is contracted, and the upper hook (4105) rotates anticlockwise to reset under the action of the tension spring (4104);

B) when in hanging, the lower hanging buckle (4202) moves upwards to squeeze the hook of the upper hook (4105) leftwards, the upper hook (4105) is pushed to rotate clockwise to give way, when the lower hanging buckle (4202) moves upwards to a proper position, the hook of the upper hook (4105) is quickly screwed into the square hole of the lower hanging buckle (4202), and therefore stable and reliable hanging between a component connected below the unhooking device (4) and a component connected above the unhooking device (4) is formed, and meanwhile connection of an electrical interface is also completed.