Aerial robot capable of avoiding obstacles automatically, bending vertically and cleaning tree obstacles and obstacle avoidance method

Abstract

The invention discloses an aerial robot capable of avoiding obstacles automatically, bending vertically and cleaning tree obstacles and an obstacle avoidance method. The aerial robot comprise a multi-rotor platform providing a flight power for the robot, a robot body arranged below the platform and fixedly connected to the platform, a middle arm in parallel with the vertical axis of the robot bodyand fixedly connected to the front end of the robot body, a rear arm in parallel with the vertical axis of the robot body and fixedly connected to the rear end of the robot body, a front arm connected with the middle arm via a vertical bending joint with a driving motor, a cutter assembly fixedly connected to the front end of the front arm, a battery pack fixedly connected to the rear end of therear arm, a laser radar mounted in the upper center of the platform, and a height measuring radar arranged in the bottom of the robot body; and cameras are arranged in the front and two lateral sidesof the platform as well as the rear side of the battery pack respectively. Obstacles are monitored in real time, high-precision obstacle avoidance control of the aerial robot is helped, and the robotwith the cutter work arm capable of bending vertically is suitable for cleaning obstacles in areas with dense tree obstacles.

Description

technical field [0001] The invention relates to a vertically bendable tree barrier cleaning aerial robot for automatic obstacle avoidance and an obstacle avoidance method, belonging to the technical field of power transmission line tree barrier cleaning devices. Background technique [0002] Tree barriers are a potential safety hazard in transmission line passages, manifested as the continuous growth of trees in the passages gradually threatening the operation safety of transmission lines. For this reason, the electric power departments at all levels have to invest a lot of manpower, material and financial resources every year to clean up and renovate the channel tree barriers in their jurisdictions. The current tree barrier cleaning mainly relies on manual cleaning, which has the disadvantages of low efficiency and high safety risks. Therefore, there is an urgent need for an aerial robot for automatically cleaning tree barriers in power line channels. [0003] When aerial ...

AI Technical Summary

Problems solved by technology

The current tree barrier cleaning mainly relies on manual cleaning, which has the disadvantages of low efficiency and high safety risks. Therefore, there is an urgent need for an aerial robot for automatically cleaning tree barriers in power line channels

[0003] When aerial robots clean up tree barriers, they are often close to environmental objects such as power lines, buildings, and other trees. Once a collision occurs, it is easy to cause damage to aerial robots and damage to environmental objects, especially power lines, resulting in serious damage. of security incidents

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