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Guiding tool structure of aerial robot for removing tree obstacles and control method of guiding tool structure

A technology of aerial robots and control methods, applied in botany equipment and methods, agricultural machinery and implements, applications, etc., can solve the problems affecting the forces and moments of aerial robots, asymmetric horizontal forces on tools, and low cutting efficiency of tools, etc. Achieve the effect of dynamic balance, compact structure, convenient loading, unloading, storage and transportation

Pending Publication Date: 2018-08-07
南京太司德智能科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, single-saw cleaning tools are mostly used for pruning branches in gardens. If this type of tool is directly installed on the aerial robot to clean tree obstacles, the horizontal force of the tool will be asymmetrical, which will bring the repulsive torque to the aerial robot and affect the aerial robot. The balance of force and moment causes slippage between the tool and the branch; in reality, the tree barriers present various shapes, which can easily slip out of the effective working area of ​​the tool, resulting in low cutting efficiency of the tool

Method used

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  • Guiding tool structure of aerial robot for removing tree obstacles and control method of guiding tool structure
  • Guiding tool structure of aerial robot for removing tree obstacles and control method of guiding tool structure
  • Guiding tool structure of aerial robot for removing tree obstacles and control method of guiding tool structure

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Experimental program
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Embodiment 1

[0049] Embodiment 1: as Figure 1-Figure 4 As shown, a guiding tool structure for a tree obstacle clearing aerial robot includes a Y-shaped tool holder 1, two cutter motors 2 installed at the front end of the tool holder 1, driven by the two cutter motors 2 and positioned at the tool Two circular saws 3 below the frame 1, and two guide forks 7 symmetrically fixed on both sides of the tool holder 1 and extending outwards to the bottom of the circular saw 3 at the ends.

[0050] Preferably, the above-mentioned two guide forks 7 form a "Y" shaped front lead-in groove 8 and a "one"-shaped rear lead-out groove 9, and the front lead-in groove 8 is used to gather branches and guide them to the common cutting area of ​​the double circular saw 3, The rear deriving groove 9 is used to guide the lower branches after cutting to move backward automatically and break away from the cutter, and the opening angle θ of the preceding leading groove 8 is 30-150 degrees.

[0051] Preferably, the ...

Embodiment 2

[0059] Embodiment 2: A method for controlling the guide cutter structure of an aerial robot for tree obstacle removal, the method is as follows: the cutter controller 4 collects the rotational speed and current of the cutter motor 2 and the temperature of the circular saw 3, and ① evaluates the circular saw 3 in real time. Once the evaluation value of the overload, jamming and damage state of the circular saw 3 exceeds the predetermined threshold, a brake command is output to the cutter motor 2, and then the two circular saws 3 are driven to reverse simultaneously, so that the cleaned branches are withdrawn from the cutter, and at the same time, the The flight controller of the aerial robot sends a retraction command, so as to implement a protective retreat for the aerial robot and the cutting tool; ② detect the balance operation state of the double cutting tool and implement compensation protection.

[0060] Preferably, the above-mentioned method for evaluating the operating s...

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Abstract

The invention discloses a guiding tool structure of an aerial robot for removing tree obstacles and a control method of the guiding tool structure. The guiding tool structure comprises a Y-shaped toolframe, two tool motors, two disk saws and two guiding forks, wherein the two tool motors are arranged on the tail end of the front part of the tool frame; the two disk saws are respectively driven bythe two tool motors and are located under the tool frame; the two guiding forks are symmetrically and fixedly arranged at two sides of the tool frame and of which the end parts outwards and downwardsstretch under the disk saws. The invention puts forward a structure of a dual-saw tool and the guiding forks, and when operation is forwards pushed, tree branches can automatically enter a common cutting zone of the two disk saws by utilizing inward face-to-face rotation of the guiding forks and the two disk saws at the same speed, so that a horizontal unbalanced force and a force moment which act on the aerial robot can be effectively reduced, slipping between a tool and the tree branches can be avoided, and the efficiency of removing the tree obstacles can be improved.

Description

technical field [0001] The invention relates to a guide cutter structure and a control method for an aerial robot for clearing tree barriers, and belongs to the technical field of tree barrier clearing devices for power transmission lines. Background technique [0002] When the aerial robot cleans up tree barriers in the power line channel, the knives used should be able to quickly cut branches, while avoiding the impact on the posture of the aerial robot body, and have safety protection measures such as anti-jamming. [0003] At present, single-saw cleaning tools are mostly used for pruning branches in gardens. If this type of tool is directly installed on the aerial robot to clean tree obstacles, the horizontal force of the tool will be asymmetrical, which will bring the repulsive torque to the aerial robot and affect the aerial robot. The balance of force and moment causes slippage between the cutter and the branch; in reality, the tree barriers present various shapes, an...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A01G3/08H02G1/02
CPCA01G3/088H02G1/02
Inventor 杨忠徐浩高承贵袁正梅陶坤王炜常乐李捷文王少辉
Owner 南京太司德智能科技有限公司
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