CN112586217A - A circular saw cutter system for barrier clearance flying robot - Google Patents
A circular saw cutter system for barrier clearance flying robot Download PDFInfo
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- CN112586217A CN112586217A CN202011358482.XA CN202011358482A CN112586217A CN 112586217 A CN112586217 A CN 112586217A CN 202011358482 A CN202011358482 A CN 202011358482A CN 112586217 A CN112586217 A CN 112586217A
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- 230000004888 barrier function Effects 0.000 title claims description 12
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- 238000005520 cutting process Methods 0.000 claims description 29
- 238000000034 method Methods 0.000 claims description 21
- 239000000725 suspension Substances 0.000 claims description 19
- 230000007257 malfunction Effects 0.000 claims description 6
- 230000002159 abnormal effect Effects 0.000 claims description 5
- 230000001681 protective effect Effects 0.000 claims description 5
- 230000000903 blocking effect Effects 0.000 claims description 3
- 239000000919 ceramic Substances 0.000 claims description 3
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- 238000004140 cleaning Methods 0.000 abstract description 11
- 230000007613 environmental effect Effects 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 description 4
- 230000005856 abnormality Effects 0.000 description 2
- 230000002146 bilateral effect Effects 0.000 description 2
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
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Abstract
The invention discloses a circular saw cutter system for a tree obstacle cleaning flying robot, which comprises a cutter frame, an array combination of 2N (N is more than or equal to 1) circular saw assemblies, a V-shaped guider and a cutter controller, wherein the array combination is arranged on the cutter frame in a left-right geometric symmetry or mass symmetry mode; the disc saw assembly comprises a disc saw motor, a disc saw fixedly connected to an output shaft of the disc saw motor and a motor driver for driving the disc saw motor; the disk saw assembly is provided with sensors for respectively sensing the current, the rotating speed and the temperature of the disk saw motor during working, and the output of the sensors is connected to the cutter controller. The invention has various circular saw combination configurations, meets the requirements of different scenes, is suitable for implementing shaving head type large-area rapid cleaning on the top and the side surface of a tree obstacle, has high operation efficiency, good environmental adaptability and high safety coefficient, and solves the problems of low cleaning efficiency and high safety risk in the prior art.
Description
Technical Field
The invention relates to a circular saw cutter system for a flight robot for clearing tree obstacles, in particular to a cutter system suitable for quickly clearing large-area tree obstacles, and belongs to the technical field of power transmission line tree obstacle clearing 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 in contact operation, 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 circular saw cutter system for barrier clearance flying robot can implement the high-efficient clearance of large tracts of land to the barrier, satisfies the safe operation demand of transmission line barrier clearance.
The technical scheme of the invention is as follows: a circular saw cutter system for a flight robot for clearing tree obstacles is fixedly connected below the flight robot and comprises a cutter frame with bilateral symmetry in appearance, 2N (N is more than or equal to 1) circular saw assemblies arranged on the cutter frame in a bilateral geometric symmetry or mass symmetry mode, a V-shaped guide fixedly connected with the cutter frame and positioned between the adjacent circular saw assemblies with outward pointed ends, and a cutter controller arranged in the cutter frame and used for controlling the circular saw assemblies; the disc saw assembly comprises a disc saw motor, a disc saw fixedly connected to an output shaft of the disc saw motor and a motor driver for driving the disc saw motor, and the cutter controller is connected with a flying platform of the barrier clearing flying robot through a communication bus.
Preferably, the disc 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 disc saw motor during working, and output signals of the current sensor, the rotating speed sensor and the temperature sensor are respectively connected to the cutter controller.
Preferably, the flying robot is provided with a suspension mechanism below, and a tool rack is connected through the suspension mechanism.
Preferably, a decoupling device is also provided between the suspension means and the tool carrier.
Preferably, the unhooking device comprises an electromagnet and an armature, the electromagnet is fixedly connected to the lower end of the suspension mechanism, and the armature is fixedly connected to the upper portion of the chain saw cutter system. The electromagnet is electrified and then is attracted with the armature, and the chain saw cutter system is connected to the lower part of the suspension mechanism; when the electromagnet is powered off, the armature is released, and the chain saw cutter system is separated from the suspension mechanism.
Preferably, the circular saw is a sheet-shaped circular saw made of metal, ceramic or composite materials.
Preferably, the unhooking device comprises an electromagnet and an armature, the electromagnet is fixedly connected to the lower end of the hanging mechanism, and the armature is fixedly connected to the upper portion of the circular saw cutter system. The electromagnet is electrified and then is attracted with the armature, and the circular saw cutter system is connected to the lower part of the suspension mechanism; when the electromagnet is powered off, the armature is released, and the circular saw cutter system is separated from the suspension mechanism.
The control method of the circular saw cutter system comprises the following steps:
1) the cutter controller collects the current, the rotating speed and the temperature of the disc saw motor in real time when the disc saw motor works and sends the current, the rotating speed and the temperature to the main controller of the flying platform for monitoring;
2) and evaluating the working state of the disk saw assembly in real time, wherein the working state comprises no load, cutting, overload, jamming and damage:
if the overload is determined, sending a hovering instruction to the flying platform, and stopping cutting and feeding;
if the disc saw is judged to be blocked or damaged, the disc saw motor is braked, and a backspacing instruction is sent to the flying platform;
for the blocking condition, if the circular saw is blocked by branches and is difficult to break loose, the unhooking device is started to enable the circular saw 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 falling of the flying robot is avoided;
3) the balance operation state of the circular saw cutter system is detected and compensation control is carried out.
Preferably, the method for evaluating the working state of the disk saw assembly comprises the following steps:
1) if the current threshold, the rotating speed threshold and the temperature threshold corresponding to the overload are known, if the current of the disc saw motor exceeds the current threshold, or the rotating speed is lower than the rotating speed threshold, or the temperature exceeds the temperature threshold, the disc saw component can be judged to be overloaded;
2) 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 disc saw 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 disc saw component is blocked;
3) if the current or the rotating speed of the disc saw motor has periodic pulsation and the amplitude exceeds a preset threshold, the disc saw component can be judged to be damaged.
Preferably, the method for detecting the balanced operation state of the circular saw blade system comprises the following steps:
the instantaneous rotating speeds of the disc saw motors at the symmetrical positions of the left side and the right side are respectively Nia、NibInstantaneous current is respectively Iia、IibInstantaneous temperature is respectively Tia、TibWherein i is 1, …, N;
defining the cutting strength of the disc saw assembly:
xij＝f(Nij,Iij,Tij)
wherein, i is 1, …, and N, j is a, b. If a linear structure is taken, then
xij＝kN(N0-Nij)+kIIij+kTTij
Wherein k isN、kI、kTAs a weight coefficient, N0No-load rotation speed;
defining a difference in cutting strength for a pair of disc saw assemblies:
Δxi＝xia-xib，i＝1,…,N
defining the comprehensive cutting strength difference of the cutter system:
1) If | Δ xi|≥δxDetermination of a balance operation disorder of the disc saw assembly, wherein deltax>0, judging a threshold value for the abnormality of the balance operation of the disc saw assembly;
2) if | Δ y | ≧ δyDetermination of a malfunction in the balance of the tool system, where deltay>0, is a knifeHas a system balance operation abnormality determination threshold.
Preferably, the balance work compensation control method of the circular saw cutter system comprises the following steps:
1) if epsilonx<|Δxi|<δxAnd epsilon<|Δy|<δyIn which epsilonx>0 and ε>0, the insensitive area, the balance compensation method is one of the following:
the following course: 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 circular saw cutter system;
keeping the course: controlling the flying robot to hover until the absolute value of delta xiAnd after both | delta y | are reduced, controlling the flying platform to fly forward to implement obstacle clearing and feeding, thereby maintaining the course of the flying robot.
2) If the balance operation of a pair of disk saw components or the balance operation of a cutter system is judged to be abnormal, the flying platform is firstly kept hovering, and then all the | delta x values are continuously observedi| and | Δ y | for a period of time T (T)>0) If | Δ xiIf not all the disc saw motors are braked after being reversely rotated, the disc saw cutter system is stopped from cutting operation, and meanwhile, a protective backspacing instruction is sent to the flying platform.
The invention has the beneficial effects that: compared with the prior art, the invention has the following effects:
1) the circular saw cutter system is an array combination of 2N (N is more than or equal to 1) circular saw assemblies which are symmetrically arranged in a left-right geometric mode or a quality mode, is suitable for implementing shaving type large-area rapid cleaning on the top and the side face of a tree obstacle, is high in operation efficiency and good in environmental adaptability, avoids operators from approaching a high-voltage line, effectively reduces operation risks of tree obstacle cleaning, improves safety of obstacle cleaning operation, and solves the problems of low cleaning efficiency and high safety risk in the prior art;
2) the flying robot with the suspended circular saw cutter system is adopted, the circular saw cutter system is always positioned below the flying platform during operation, the gravity center of the whole flying robot is basically superposed with the vertical projection of the geometric center of the flying platform, so that the flying robot has good static stability, meanwhile, the interference of tree obstacles on the rotor wing of the flying platform is effectively avoided, the risk of air crash is reduced, and the operation safety of the flying robot is improved;
3) each disk saw assembly is provided with a sensor for respectively sensing the working current, the working speed and the working temperature of the disk saw motor, the cutter controller collects the working current, the working speed and the working temperature of the disk saw motor in real time, evaluates the working state of the disk saw assembly, and then carries out protective retreat on the flying robot or carries out compensation and protective control on the balanced operation of the disk saw cutter system, thereby reducing the influence of unbalanced moment on the flying robot during forward operation and ensuring the safety and the reliability of the operation of the flying robot;
4) when the branches and leaves are wound on the circular saw cutter system, the unhooking device can be manually or automatically started, the circular saw cutter system and the barrier cleaning robot realize 'separation', the safety of the flying robot is guaranteed, and the fault loss is reduced;
5) a V-shaped guider with an outward tip is arranged between the adjacent circular saws, so that on one hand, the V-shaped guider is used for guiding branches to rapidly enter a cutting area of the circular saws to accelerate the cutting speed of the branches, on the other hand, the branches can be prevented from being clamped between saw blades, and the safety of obstacle clearing of the trees is improved;
6) the circular saw cutter system adopts a modular design idea, combines a plurality of circular saw components, and is easy to assemble and maintain; meanwhile, the multifunctional combined structure also has various combined configurations, and can meet the requirements of different operation targets and operation environments;
7) by the control method of the circular saw cutter system, safety protection can be implemented on the flying robot, the balanced operation state of the circular saw cutter system can be detected and compensated and controlled, and the safety and automation level of operation of the flying robot are improved.
Drawings
FIG. 1 is a schematic diagram of the internal structure of a circular saw cutter system;
FIG. 2 is a schematic view of the general appearance of the circular saw cutter system;
FIG. 3 is a schematic view of a disk saw assembly of the disk saw cutter system;
FIG. 4 is a schematic view of a barrier clearing flying robot employing a circular saw cutter system;
FIG. 5 is a schematic view of the unhooking device;
FIG. 6 is a schematic view of a circular saw blade system with saw planes mounted vertically and symmetrically in parallel;
FIG. 7 is a schematic view of a circular saw blade system installed symmetrically and side by side with an inclination of 45 degrees in the saw plane;
FIG. 8 is a schematic view of a circular saw blade system with saw planes symmetrically mounted in a criss-cross arrangement;
FIG. 9 is a schematic view of a circular saw blade system mounted in a vertical column with saw planes that are bilaterally symmetric in mass.
In the figure, 1 is a flying platform, 2 is a suspension mechanism, 3 is a circular saw cutter system, and 4 is a unhooking device;
3101-a tool holder, 3102-a disc saw motor, 3103-a disc saw, 3104-a motor drive, 3105-a tool controller, 3106-a guide, 3107-a disc saw assembly, 3108-a vertically extending rod;
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 4, a circular saw cutter system for a flight robot for clearing tree obstacles, which is fixedly connected below the flight robot, comprises a cutter frame 3101 with a left-right symmetrical appearance, 2N (N is more than or equal to 1) disk saw assemblies 3107 arranged on the cutter frame 3101 in a left-right geometric symmetrical or mass symmetrical mode, a V-shaped guider 3106 fixedly connected to the cutter frame 3101 and positioned between adjacent circular saws 3103 with an outward tip, and a cutter controller 3105 arranged in the cutter frame 3101 and used for controlling the disk saw assemblies 3107; the disk saw assembly 3107 comprises a disk saw motor 3102, a disk saw 3103 fixedly connected to an output shaft of the disk saw motor 3102, and a motor driver 3104 for driving the disk saw motor 3102, and the cutter controller 3105 is connected with the flying platform 1 of the obstacle clearing flying robot through a communication bus.
Preferably, the disc saw assembly 3107 is provided with a current sensor, a rotational speed sensor and a temperature sensor for sensing the current, the rotational speed and the temperature of the disc saw motor 3102 during operation, respectively, and the output signals of the current sensor, the rotational speed sensor and the temperature sensor are connected to the tool controller 3105, respectively.
Preferably, as shown in fig. 4, the circular saw cutter system 3 is connected below a suspension mechanism 2 of the flying robot, and the suspension mechanism 2 is fixedly connected below a flying platform 1 of the flying robot; the flying platform 1 is a single-rotor helicopter or a multi-rotor aircraft symmetrically arranged left and right, and the multi-rotor aircraft is not limited to any known four, six, eight and other multi-rotor configurations.
Preferably, as shown in fig. 4, a decoupling device 4 is also provided between the suspension means 2 and the tool carrier 3101.
Preferably, as shown in fig. 5, the unhooking device 4 is composed of an electromagnet 401 and an armature 402, wherein the electromagnet 401 is installed at the lower end of the hanging mechanism 2, and the armature 402 is fixedly connected to the upper part of the chain saw cutter system 3; the electromagnet 401 is electrified and then is attracted with the armature 402, and the chain saw cutter system 3 is connected with the suspension mechanism 2; when the electromagnet 401 is de-energized, the armature 402 is released and the chainsaw blade system 3 is disengaged from the suspension mechanism 2. In the obstacle clearing operation, when the chain saw cutter system 3 is blocked relative to the tree obstacle and cannot be separated, the chain saw 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.
Preferably, the circular saw 3103 is a thin-sheet circular saw made of metal, ceramic or composite material.
The invention discloses a control method of a circular saw cutter device for a flight robot for clearing tree obstacles, which comprises the following steps:
1) the cutter controller 3105 collects the current, the rotating speed and the temperature of the disc saw motor 3102 in real time when working, and sends the current, the rotating speed and the temperature to a main controller of the flight platform 1 for monitoring;
2) the working state of the disk saw assembly 3107, including idle, cut, overload, jam and damage, is evaluated in real time:
if the overload is determined, sending a hovering instruction to the flying platform 1, and stopping cutting and feeding;
if the brake is determined to be blocked or damaged, the disk saw motor 3102 is braked, and a backspacing instruction is sent to the flying platform 1;
for the blocking condition, if the circular saw 3103 is clamped by branches and is difficult to break loose, the unhooking device 4 is started to separate the circular saw cutter system 3 from the flying robot, so that the safety of the flying robot is protected to the maximum extent, and the crash is avoided;
3) the balance operation state of the circular saw blade system 3 is detected and compensation control is performed.
Preferably, the method for evaluating the operating status of the disk saw assembly 3107 is as follows:
1) if the current threshold, the rotating speed threshold and the temperature threshold corresponding to the overload are known, if the current of the disc saw motor 3102 exceeds the current threshold, or the rotating speed is lower than the rotating speed threshold, or the temperature exceeds the temperature threshold, it can be determined that the disc saw assembly 3107 is overloaded;
2) if the current threshold, the rotating speed threshold and the temperature threshold corresponding to the jam are known, if the current of the disc saw motor 3102 exceeds the current threshold, or the rotating speed is lower than the rotating speed threshold, or the temperature exceeds the temperature threshold, it can be determined that the disc saw component 3107 is jammed;
3) if the current or speed of the saw motor 3102 is periodically pulsed and the magnitude exceeds a predetermined threshold, it can be determined that the saw assembly 3107 is damaged.
Preferably, the method for detecting the balance operation state of the circular saw blade system 3 is as follows:
the instantaneous rotation speeds of the disk saw motor 3102 at the left and right symmetrical positions are Nia、NibInstantaneous current is respectively Iia、IibInstantaneous temperature is respectively Tia、TibWherein i is 1, …, N;
define the cutting strength of the disk saw assembly 3107:
xij＝f(Nij,Iij,Tij)
wherein, i is 1, …, and N, j is a, b. If a linear structure is taken, then
xij＝kN(N0-Nij)+kIIij+kTTij
Wherein k isN、kI、kTAs a weight coefficient, N0No-load rotation speed;
defining the difference in cutting strength for a pair of disc saw assemblies 3107:
Δxi＝xia-xib，i＝1,…,N
defining the comprehensive cutting strength difference of the cutter system:
1) If | Δ xi|≥δxA balance operation aberration of the disk saw assembly 3107 can be determined, where deltax>0 is the disk saw assembly 3107 balance job upset decision threshold;
2) if | Δ y | ≧ δyDetermination of a malfunction in the balance of the tool system, where deltay>0 is a tool system balance operation malfunction determination threshold value.
The balance operation compensation control method of the circular saw cutter system 3 comprises the following steps:
1) if epsilonx<|Δxi|<δxAnd epsilon<|Δy|<δyIn which epsilonx>0 and ε>0, an insensitive area, and the balance compensation method is one of the following methods:
the following course: controlling the course of the flying robot to move and adjust to one side with small cutting strength so as to implement balance compensation on two sides of the circular saw cutter system 3;
keeping the course: controlling the flying robot to hover until the absolute value of delta xiAnd after both | delta y | are reduced, controlling the flying platform 1 to fly forward to implement obstacle clearing and feeding, thereby maintaining the course of the flying robot.
2) If it is determined that the balance operation of a certain pair of saw modules 3107 is abnormal or the balance operation of the cutter system is abnormal, the flying platform 1 is first made to remain hovering and then continuously observed for each | Δ xi| and | Δ y | for a period of time T (T)>0) If | Δ xiIf not all of the motors 3102 are turned over and then braked to make the disc saw motor fall backThe circular saw cutter system 3 exits the cutting operation and simultaneously issues a protective retraction command to the flying platform 1.
Preferably, the unhooking device 4 consists of an electromagnet 401 and an armature 402, the electromagnet 401 is installed at the lower end of the hanging mechanism 2, and the armature 402 is fixedly connected to the upper part of the circular saw cutter system 3; the electromagnet 401 is attracted with the armature 402 after being electrified, and the circular saw cutter system 3 is connected with the suspension mechanism 2; when the electromagnet 401 is de-energized, the armature 402 is released and the circular saw blade system 3 is disengaged from the suspension mechanism 2. In the obstacle clearing operation, when the circular saw cutter system 3 is blocked relative to the tree obstacle and cannot be separated, the circular saw 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 2: the utility model provides a circular saw cutter system for barrier clearance flying robot, to the branch of different growth directions and situation, circular saw 3103's installation arrangement multiple mode can be according to the operation demand, changes the cutter system that specific installation was arranged:
1) as shown in FIG. 6, the saw planes of the circular saw 3103 are mounted vertically side by side and side symmetrically for cutting laterally growing branches.
2) As shown in fig. 7, the circular saw 3103 is installed symmetrically with 45 deg inclined inside the saw plane for cutting obliquely and randomly grown branches.
3) As shown in fig. 8, the saw planes of the circular saw 3103 are mounted in a criss-cross arrangement for cutting branches that grow both laterally and longitudinally.
4) As shown in fig. 9, the circular saws 3103 are mounted in a mass symmetric manner on both sides of the vertically extending rods 3108 of the cutter frame 3101 with the saw planes staggered vertically and longitudinally for cutting laterally growing branches.
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 (9)
1. The utility model provides a circular saw cutter system for barrier clearance flying robot, fixed connection is in flying robot's below, its characterized in that: the numerical control circular saw comprises a cutter frame (3101) with a bilaterally symmetrical appearance, 2N (N is more than or equal to 1) disc saw assemblies (3107) which are arranged on the cutter frame (3101) in a bilaterally geometrically symmetrical or mass symmetrical mode, a V-shaped guider (3106) which is fixedly connected with the cutter frame (3101) and positioned between the adjacent disc saws (3103) and has an outward tip, and a cutter controller (3105) which is arranged in the cutter frame (3101) and is used for controlling the disc saw assemblies (3107); the disc saw assembly (3107) comprises a disc saw motor (3102), a disc saw (3103) fixedly connected to an output shaft of the disc saw motor (3102) and a motor driver (3104) for driving the disc saw motor (3102), and the cutter controller (3105) is connected with the flying platform (1) of the obstacle clearing flying robot through a communication bus.
2. The circular saw cutter system for a tree obstacle clearing flying robot of claim 1, wherein: the disc saw assembly (3107) 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 disc saw motor (3102) during working, and the output signals of the current sensor, the rotating speed sensor and the temperature sensor are respectively connected to the cutter controller (3105).
3. The circular saw cutter system for a tree obstacle clearing flying robot of claim 1, wherein: a suspension mechanism (2) is provided below the flying robot, and a tool rest (3101) is connected to the suspension mechanism (2).
4. A circular saw cutter system for a tree obstacle clearing flying robot as defined in claim 3, wherein: a decoupling device (4) is also provided between the suspension means (2) and the tool carrier (3101).
5. The circular saw cutter system for a tree obstacle clearing flying robot of claim 1, wherein: the circular saw (3103) is a sheet circular saw made of metal, ceramic or composite material.
6. A control method of a circular saw cutter system for a tree obstacle clearing flying robot is characterized by comprising the following steps:
1) the cutter controller (3105) acquires the current, the rotating speed and the temperature of the disc saw motor (3102) 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;
2) assessing the operating state of the disk saw assembly (3107) in real time, including idle, cut, overload, jam and damage:
if the overload is determined, sending a hovering instruction to the flying platform (1) and stopping cutting and feeding;
if the brake is determined to be blocked or damaged, the disc saw motor (3102) is braked, and a backspacing instruction is sent to the flying platform (1);
for the blocking condition, if the circular saw (3103) is clamped by branches and is difficult to break loose, the unhooking device (4) is started to enable the circular saw cutter system (3) to break away 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;
3) the balance operation state of the circular saw cutter system (3) is detected and compensation control is carried out.
7. The control method of a circular saw cutter system for a tree obstacle clearing flying robot as claimed in claim 6, wherein: the method of assessing the operational status of the disk saw assembly (3107) is as follows:
1) if the current threshold, the rotating speed threshold and the temperature threshold corresponding to the overload are known, if the current of the disc saw motor (3102) exceeds the current threshold, or the rotating speed is lower than the rotating speed threshold, or the temperature exceeds the temperature threshold, the disc saw assembly (3107) can be judged to be overloaded;
2) if the current threshold, the rotating speed threshold and the temperature threshold corresponding to the blockage are known, if the current of the disc saw motor (3102) exceeds the current threshold, or the rotating speed is lower than the rotating speed threshold, or the temperature exceeds the temperature threshold, the disc saw assembly (3107) can be judged to be blocked;
3) if the current or speed of the saw motor (3102) is periodically pulsed and the magnitude exceeds a predetermined threshold, it can be determined that the saw assembly (3107) is damaged.
8. The control method of a circular saw cutter system for a tree obstacle clearing flying robot as claimed in claim 6, wherein: the method for detecting the balance operation state of the circular saw cutter system (3) comprises the following steps:
setting the instantaneous rotating speed of the disc saw motor (3102) at the symmetrical positions of the left and right sides as Nia、NibInstantaneous current is respectively Iia、IibInstantaneous temperature is respectively Tia、TibWherein i is 1, …, N;
defining a cutting strength of the disc saw assembly (3107):
xij＝f(Nij,Iij,Tij)
wherein, i is 1, …, and N, j is a, b. If a linear structure is taken, then
xij＝kN(N0-Nij)+kIIij+kTTij
Wherein k isN、kI、kTAs a weight coefficient, N0No-load rotation speed;
defining a difference in cutting strength for a pair of disc saw assemblies (3107):
△xi＝xia-xib，i＝1,…,N
defining the comprehensive cutting strength difference of the cutter system:
1) If |. DELTA.xi|≥δxA balance operation aberration of the disc saw assembly (3107) can be determined, wherein deltax>0 is a disc saw assembly (3107) balance job malfunction determination threshold;
2) if < y > is more than or equal to deltayDetermination of a malfunction in the balance of the tool system, where deltay>0 is a tool system balance operation malfunction determination threshold value.
9. The control method of a circular saw cutter system for a tree obstacle clearing flying robot as claimed in claim 6, wherein: the balance operation compensation control method of the circular saw cutter system (3) comprises the following steps:
1) if epsilonx<|△xi|<δxAnd epsilon<|△y|<δyIn which epsilonx>0 and ε>0, an insensitive area, and the balance compensation method is one of the following methods:
the following course: controlling the course of the flying robot to move and adjust to one side with small cutting strength so as to implement balance compensation on two sides of the circular saw cutter system (3);
keeping the course: controlling the flying robot to hover until a delta xiAfter both | and | delta y | are reduced, the flying platform (1) is controlled to fly forward to implement obstacle clearing and feeding, so that the course of the flying robot is maintained;
2) if the balance operation of a certain pair of disk saw assemblies (3107) is judged to be abnormal or the balance operation of the cutter system is judged to be abnormal, the flying platform (1) is made to hover firstly, and then each Deltax is continuously observediI and Deltay | for a period of time T (T)>0) If Δ xiIf not all the disc saw motors (3102) are braked after being reversely rotated, the disc saw cutter system (3) is stopped from cutting operation, and a protective backspacing instruction is sent to the flying platform (1).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011358482.XA CN112586217A (en) | 2020-11-27 | 2020-11-27 | A circular saw cutter system for barrier clearance flying robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011358482.XA CN112586217A (en) | 2020-11-27 | 2020-11-27 | A circular saw cutter system for barrier clearance flying robot |
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| CN202011358482.XA Pending CN112586217A (en) | 2020-11-27 | 2020-11-27 | A circular saw cutter system for barrier clearance flying robot |
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