A tree obstacle clearing flying robot with separate rotors and hanging cutters and its working method and control method

Abstract

The present invention discloses a tree obstacle clearing flying robot with split rotors and hanging cutters, and its working method and control method, including a flying platform, a hanging mechanism connected to the bottom of the flying platform, and a cutter system connected to the bottom of the hanging mechanism; the flying platform has a transversely arranged main beam, and the left and right ends of the main beam are respectively symmetrically and fixedly connected with rotor platforms of the same specification, and the minimum distance between the two rotor platforms is ≥ the transverse dimension of the cutter system; the hanging mechanism includes L (L≥2) vertical rods arranged symmetrically on the left and right, and a transverse reinforcing beam is arranged between adjacent vertical rods; the cutter system is an array combination of M (M≥1) electric saw assemblies arranged in a left-right geometric symmetry or mass symmetry manner; a decoupling device is provided between the hanging mechanism and the cutter system or between the flying platform and the hanging mechanism. The tree obstacle clearing flying robot of the present invention is suitable for quickly clearing tree obstacles over a large area, can avoid the lodging of branches to be cut caused by the downwash of the rotor, and has high obstacle clearing efficiency.

Description

Technical Field

[0001] The present invention relates to a tree barrier clearing flying robot with split rotors and suspended cutters and a working method and a control method thereof, and in particular to a flying robot suitable for quickly and extensively clearing tree barriers on power lines and a working method and a control method thereof, belonging to the technical field of tree barrier clearing devices for power transmission lines. Background Art

[0002] Tree barriers are a potential safety hazard in power transmission line corridors, which are manifested in the continuous growth of trees in the corridors, gradually threatening the safe operation of power transmission lines. For this reason, power departments at all levels have to invest a lot of manpower, material and financial resources every year to clean up and rectify tree barriers in the corridors within their jurisdiction. At present, there are three main ways to clear tree barriers: 1) Manual obstacle removal operations, which mostly use specially made extended cutting tools, have high safety risks and low operating efficiency; 2) Tree barrier removal operations based on ground equipment, due to the severe limitations of the terrain environment and the growth of trees, it is difficult to quickly cut and clear high-altitude tree barriers; 3) There have been many exploratory works on tree barrier removal technology based on drones, but there are still shortcomings such as weak resistance to tree interference, small single cutting range, and relatively low operating efficiency.

[0003] Therefore, there is an urgent need to develop a flying robot that can automatically clear tree obstacles in power line channels over a large range and with high efficiency. The tool system it carries should have a large single cutting range, be able to effectively resist the influence of the reaction force of trees on the posture of the flying robot during the cutting process, eliminate the low cutting efficiency factor caused by the falling of branches due to the downwash of the rotor airflow, and have safety protection measures such as anti-jamming. Summary of the invention

[0004] The technical problem solved by the present invention is to provide a tree obstacle clearing flying robot, which can carry out large-scale clearing of tree obstacles in the transmission line channel by mounting a tool system composed of multiple tools on a rotorcraft, while avoiding the falling of branches caused by the downwash of the rotor airflow, thereby meeting the requirements of fast, efficient and safe tree obstacle clearing.

[0005] The technical solution of the present invention is: a tree obstacle clearing flying robot with separate rotors and suspended tools, comprising a flying platform, a suspension mechanism connected to the bottom of the flying platform and a tool system connected to the bottom of the suspension mechanism; the flying platform has a transversely arranged strip or truss structure main beam, a central control cabin is provided at the center of the main beam, and rotor platforms of the same specifications are symmetrically fixedly connected to the left and right ends of the main beam; the suspension mechanism is a connecting rod of fixed length, or a telescopic suspension mechanism of variable length, comprising L (L≥2) vertical rods symmetrically arranged on the left and right, and transverse reinforcing beams are provided between adjacent vertical rods; the tool system is an array combination of M (M≥1) electric saw components arranged in a left-right geometrically symmetrical or mass-symmetrical manner.

[0006] Preferably, the rotor platform includes a sub-control cabin fixedly connected to the main beam, and K (K≥2) rotors symmetrically arranged around the sub-control cabin in the front and back. The rotors are connected to the sub-control cabin through rotor arms.

[0007] Preferably, the length of the main beam ensures that the minimum distance between two rotor platforms is ≥ the lateral dimension of the tool system.

[0008] Preferably, between the suspension mechanism and the tool system or between the flight platform and the suspension mechanism, there is a decoupling device that can hook or separate the two.

[0009] Preferably, between the suspension mechanism and the flight platform, there is a pitching joint that enables relative pitching movement freedom between the two.

[0010] Preferably, the suspension mechanism is a cable-type telescopic suspension mechanism, which is characterized in that: the vertical rod includes H (H≥2) sections of continuously nested hollow tubes, numbered 1, 2, …, H from top to bottom. The upper end of the i-th (1≤i<H) section of the hollow tube is provided with an upper limit device that restricts the overshoot of the movement of the (i + 1)-th section of the hollow tube when contracting upward, and the lower end is provided with a lower limit device that restricts the detachment of the movement of the (i + 1)-th section of the hollow tube when extending downward; the upper limit device of the first section of the hollow tube is provided with a flange connected to the flight platform, the upper end of the H-th section of the hollow tube is provided with an upper limit device, and the lower end is connected to the tool system. The upper limit device of the H-th section of the hollow tube is connected to a wire reel installed on the flight platform through a cable; the transverse strengthening beam is connected to the lower ends of the same section of the hollow tubes of adjacent vertical rods.

[0011] Preferably, the suspension mechanism is a pulley-type telescopic suspension mechanism, which is characterized in that: the vertical rod includes H (H≥3) sections of continuously nested hollow tubes, numbered 1, 2, …, H from top to bottom. The upper end of the i-th (1≤i<H) section of the hollow tube is provided with an upper limit device that restricts the overshoot of the movement of the (i + 1)-th section of the hollow tube when contracting upward, and the lower end is provided with a lower limit device that restricts the detachment of the movement of the (i + 1)-th section of the hollow tube when extending downward; the upper limit device of the first section of the hollow tube is provided with a flange connected to the flight platform, the upper end of the H-th section of the hollow tube is provided with an upper limit device, and the lower end is connected to the tool system. The upper limit device of the second section of the hollow tube is connected to a wire reel installed on the flight platform through a cable; the vertical rod also includes a movable pulley whose axis of rotation is horizontally fixed to the upper limit device of the j-th (2≤j<H) section of the hollow tube and whose rotation plane passes through the vertical axis of the hollow tube, and a pulley cable that is wound around the upper side of the movable pulley and one end of which is fixedly connected to the lower limit device of the (j - 1)-th section of the hollow tube and the other end of which is fixedly connected to the upper limit device of the (j + 1)-th section of the hollow tube; the transverse strengthening beam is connected to the lower ends of the same section of the hollow tubes of adjacent vertical rods.

[0012] Preferably, the above vertical rod is an electric push rod with a linear telescopic movement function.

[0013] Preferably, the above-mentioned wire take-up device includes a wire take-up motor, a wire take-up drum for winding up the pull rope, a rotary fork driven to rotate by the wire take-up motor via a transmission gear, an upper stroke switch for sensing that the suspension mechanism has risen to the extreme position, and a lower stroke switch for sensing that the suspension mechanism has descended to the extreme position. The output signal lines of the upper stroke switch and the lower stroke switch, and the control signal line of the wire take-up motor are all connected to the main controller of the flight platform; a driving and self-locking relationship similar to that of a "worm-worm gear" is formed between the wire take-up motor and the wire take-up drum.

[0014] Preferably, the tool system comprises a tool holder with bilaterally symmetrical appearance, N (N≥1) electric saw assemblies mounted on the tool holder in a bilaterally geometrically symmetrical or mass-symmetrical manner, a "V"-shaped guide fixedly connected to the tool holder and located between adjacent electric saw assemblies with the tip facing outward, and a tool controller built into the tool holder for controlling the electric saw assembly; the electric saw assembly comprises a tool motor, an electric saw driven by the tool motor, and a motor driver driving the tool motor; the tool controller is connected to the main controller of the flight platform via a communication bus; the electric saw assembly is provided with a current sensor, a speed sensor, and a temperature sensor for respectively sensing the current, speed, and temperature of the tool motor when it is working, and the output signals of the current sensor, the speed sensor, and the temperature sensor are respectively connected to the tool controller.

[0015] Preferably, the electric saw is a circular saw or a chain saw; the circular saw is fixedly connected to the output shaft of the tool motor; the chain saw comprises a guide plate and a chain, and an outer guide fork is installed on the guide plate to guide and restrain the branches and accelerate the cutting.

[0016] Preferably, the number N of chain saw components of the chain saw tool system is 2.

[0017] Preferably, the unhooking device is a mechanical unhooking device or an electromagnetic unhooking device.

[0018] The unhooking device is a mechanical unhooking device, comprising an upper unhooking component and a lower unhooking component that can be mutually hung with the upper unhooking component; the upper unhooking component comprises an upper base, a linear servo fixedly connected to the upper base and with an output rod downward, an upper hook shaft fixedly connected to the upper base, an upper hook in an "L" shape with the upper hook shaft as a rotating shaft, a tension spring installed between the upper base and the ends of the transverse rods of the upper hook and capable of providing a counterclockwise restoring torque for the upper hook, and an upper electrical interface fixedly connected to the upper base, and a bearing is provided at the end of the output rod of the linear servo; the lower unhooking component comprises a lower base, a lower hanging buckle fixedly connected to the lower base and capable of forming an upper and lower hanging connection with the upper hook, and a lower electrical interface fixedly connected to the lower base; the upper electrical interface and the lower electrical interface The mouth forms a plug-in connection for transmitting electrical energy and control signals; the lower end of the upper hook is a right-facing hook, the lower right side of the hook is an oblique angle shape, and the upper left side of the lower hook has an oblique angle shape that is squeezed and pushed with the oblique outer contour of the hook of the upper hook; the lower hook is provided with a square hole that matches the hook of the upper hook, and once the hook of the upper hook is screwed into the square hole, the lower hook can be reliably connected to the upper hook; the lower unhooking assembly also includes an elastic gasket embedded between the lower base and the upper base and forming a close contact with the two; the linear servo is connected to the controller in the flight platform, and after receiving the command of the controller, the linear servo will drive its output rod to extend or contract, so that the upper hook can rotate clockwise or counterclockwise.

[0019] The decoupling device is an electromagnetic decoupling device, including an electromagnet and an armature respectively fixed to the parts connected at both ends of the decoupling device; when the electromagnet is energized, it is attracted to the armature, and the parts connected at both ends of the decoupling device are connected; when the electromagnet is deenergized, the armature is released, and the parts connected at both ends of the decoupling device are separated; the electromagnet is connected to the power supply on the flying robot through a switch. During the obstacle removal operation, when the tool system is stuck relative to the tree obstacle and cannot be separated, the tool system can be separated from the flying robot through the decoupling device, thereby implementing safety protection for the flying robot.

[0020] Preferably, a tilt motor capable of rotating the rotor relative to the axis of the corresponding rotor arm is provided between any pair of left-right symmetrical rotors of the above-mentioned rotor platform and their respective rotor arms.

[0021] Preferably, the above-mentioned pitch joint includes a pitch joint seat, a pitch joint movable part that can rotate around the rotating axis of the pitch joint seat, and a pair of torsion springs installed on the rotating axis of the pitch joint seat and respectively located between the pitch joint movable part and the pitch joint seat; the two ends of the torsion spring are respectively fixed to the pitch joint seat and the pitch joint movable part.

[0022] Preferably, the above-mentioned flying platform is provided with a forward-looking camera and a downward-looking camera for observing the growth trend of tree obstacles and the cutting status of the tool system at close range.

[0023] Preferably, the control system of the tree obstacle clearing flying robot includes a main controller located in a central control cabin and a sub-controller located in a sub-control cabin. The main controller and the sub-controller are respectively connected to their own inertial navigation units (IMU) and satellite navigation (GNSS) receivers. The main controller and the sub-controller exchange information through a communication bus. The sub-controller is electrically connected to and drives the rotor of the rotor platform where it is located.

[0024] The working method and control method of the tree obstacle clearing flying robot are as follows:

[0025] The working method of a tree obstacle clearing flying robot with separate rotors and hanging cutters is as follows:

[0026] The flight platform, suspension mechanism and tool system are connected in sequence from top to bottom to form a flying robot as a whole; when the flying robot flies near a tree barrier, the length of the suspension mechanism and the flight altitude are adjusted first, and the tool system is directed toward the tree to be cut, and then the flying robot is controlled to fly forward according to the received tree barrier clearing remote control instructions, and the tool system is used to perform a push-to-cut cutting and clearing of the tree barrier below the robot.

[0027] A control method for a tree obstacle clearing flying robot with separate rotors and hanging cutters:

[0028] It includes a flight control method of the flight platform, a control method of the suspension mechanism, a control method of the tool system, and a control method of the unhooking device. The specific control methods are as follows:

[0029] 1) The flight control method of the flight platform is as follows: within one control cycle, the main controller and the sub-controller respectively collect information from the connected IMU and GNSS receivers, and calculate their respective flight status data, including attitude, altitude, horizontal position, and speed; the sub-controller sends its flight status data and sensor raw data to the main controller, which first merges these data with its own collected sensor raw data and calculated flight status data to generate comprehensive flight status data of the entire machine, and then calculates the flight control law of the entire machine in combination with the remote control command, and then distributes the control law, and sends the distribution results to each sub-controller to drive the rotor corresponding to each rotor platform, so that the flight platform can finally accurately track the control command.

[0030] 2) The control method of the suspension mechanism using a telescopic structure is as follows: the main controller of the flying platform dynamically changes the length of the pull rope by controlling the start and stop of the wire reel and the direction of the wire reel, thereby adjusting the length of the vertical rod and thus changing the vertical distance of the tool system relative to the flying platform.

[0031] 3) The control method of the tool system is:

[0032] A) The tool controller collects the current, speed and temperature of the tool motor in real time and sends them to the main controller of the flight platform for monitoring;

[0033] B) Real-time evaluation of the working status of the chainsaw components:

[0034] ① Assuming that the current threshold, speed threshold, and temperature threshold corresponding to overload are known, if the current of the tool motor exceeds the current threshold, or the speed is lower than the speed threshold, or the temperature exceeds the temperature threshold, it can be determined that the electric saw component is overloaded;

[0035] ② Assuming that the current threshold, speed threshold, and temperature threshold corresponding to the jamming are known, if the current of the tool motor exceeds the current threshold, or the speed is lower than the speed threshold, or the temperature exceeds the temperature threshold, it can be determined that the electric saw component is jammed;

[0036] ③ If the current or speed of the tool motor pulsates periodically and the amplitude exceeds the preset threshold, it can be determined that the electric saw component is damaged.

[0037] C) Abnormal handling method of working status:

[0038] ① If it is determined to be overloaded, a hovering command is sent to the flight platform to stop cutting and feeding;

[0039] ② If it is determined to be stuck or damaged, the tool motor will be braked and a retraction command will be sent to the flight platform;

[0040] ③ In the case of jamming, if the chainsaw assembly is stuck by a branch and is difficult to break free, the unhooking device is activated to separate the tool system from the flying robot, thereby maximizing the safety of the flying robot and avoiding a crash.

[0041] D) Check the balance status of the tool system and implement compensation control:

[0042] ① Detection method: Assume that the instantaneous speeds of the tool motors at the symmetrical positions on the left and right sides are N ia 、N ib , the instantaneous currents are I ia ,I ib , the instantaneous temperatures are T ia 、T ib , where i = 1,…,N;

[0043] Defining the cutting strength of chainsaw components:

[0044] x ij =f(N ij ,I ij ,T ij )

[0045] Where i = 1, ..., N, j = a, b. If a linear structure is used, then

[0046] x ij =k N (N0-N ij )+k I I ij +k T T ij

[0047] Among them, k N , k I , k T is the weight coefficient, N0 is the no-load speed;

[0048] Define the difference in cutting strength of a pair of chainsaw components:

[0049] Δx i =x ia -x ib ,i=1,…,N

[0050] Define the comprehensive cutting strength difference of the tool system:

[0051] k i is the weight coefficient

[0052] If |Δx i |≥δx x , it can be determined that the balance operation of the electric saw component is abnormal, where δ x >0, which is the threshold for judging the abnormal balance operation of the electric saw component;

[0053] If |Δy|≥δy y , it can be determined that the tool system is not balanced properly, where δ y >0, which is the threshold for judging abnormality of tool system balancing operation.

[0054] ② Balancing operation compensation control method of tool system:

[0055] If ε x <|Δx i |<δ x and ε<|Δy|<δ y , where ε x >0 and ε>0, which is an insensitive area, then one of the following methods is adopted: a) Heading following: Control the heading of the flying robot to move toward the side with smaller cutting intensity to implement balance compensation on both sides of the tool system; b) Heading holding: Control the flying robot to hover and wait for |Δx i After | and |Δy| are both reduced, the flying robot is controlled to fly forward to implement obstacle clearing and feeding, thereby maintaining the heading of the flying robot;

[0056] If it is determined that the balance of a pair of electric saw components or the balance of the tool system is abnormal, first keep the flight platform in hover, and then continue to observe the |Δx i | and |Δy| for a period of time T (T>0), if |Δx i If | and |Δy| have not all fallen back, all tool motors are reversed and then braked to make the tool system quit the cutting operation, and at the same time a protective retraction command is issued to the flight platform.

[0057] 4) Control method of mechanical unhooking device:

[0058] A) When the unhooking device receives the "unhooking" command from the main controller in the flight platform, the output rod of the linear servo extends, driving the bearing to move downward, and the bearing is squeezed and contacted with the upper plane of the transverse rod of the upper hook, pushing the upper hook to rotate clockwise, so that the hook at the lower end of the upper hook is separated from the lower hook buckle, thereby realizing the mechanical unhooking of the components connected below the unhooking device and the components connected above the unhooking device, and also completing the separation of the electrical interface; after that, the output rod of the linear servo contracts, and the upper hook rotates counterclockwise and resets under the tension of the tension spring;

[0059] B) When hooking, the lower hook moves upward to squeeze the hook of the upper hook to the left, pushing the upper hook to rotate clockwise and retreat. When the lower hook moves upward to the right position, the hook of the upper hook quickly rotates into the square hole of the lower hook, thereby forming a stable and reliable hook between the components connected below the unhooking device and the components connected above the unhooking device, and also completing the connection of the electrical interface.

[0060] Beneficial effects of the present invention: Compared with the prior art, the effects of the present invention are as follows:

[0061] 1) The present invention adopts a tool system composed of multiple electric saw assemblies suspended on a flying platform, which is suitable for large-area rapid cleaning from the top of the tree barrier in a flat-push manner (also known as "shaving style"), with high operating efficiency, avoiding operators from approaching high-voltage transmission lines at the tree barrier, making the operation safer, and effectively reducing the operational risks of tree barrier cleaning, thus solving the problems of low cleaning efficiency and high safety risks in the prior art;

[0062] 2) The flight platform of the present invention decomposes the traditional multi-rotor aircraft into a pair of rotor platforms that are symmetrically arranged and have the same configuration, and then connects them laterally with a main beam. By adjusting the length of the main beam, the minimum distance between the two rotor platforms is ≥ the lateral dimension of the tool system. This solution can avoid the phenomenon that the downwash flow of the rotor platform causes the branches to be cut by the tool system to fall down, effectively improving the efficiency of tree obstacle clearing;

[0063] 3) For flying robots with suspended tool systems, the tool system is always located below the rotor assembly during operation, which can effectively avoid interference of tree obstacles on the rotor assembly, reduce the risk of crashes, and improve the safety of flying robot operations;

[0064] 4) The suspension mechanism has multiple configurations such as fixed and telescopic to meet the diversity of working environments; in particular, the telescopic configuration of the vertical rod can dynamically adjust the distance between the tool system and the flight platform, which is more flexible and maneuverable on the one hand, and can effectively reduce the difficulty of take-off and landing of the flying robot on the other hand, making it easy to store and transport;

[0065] 5) The suspension mechanism and tool system are located below the flight platform, so that the center of gravity of the flying robot is directly below the flight platform, which improves the stability of the flying robot and reduces the difficulty of controlling the flying robot;

[0066] 6) The suspension mechanism adopts a left-right symmetrical structure, which is fixed to the bottom of the flight platform. At the same time, a transverse reinforcement beam is installed on the vertical rod, so that the overall rigidity of the flying robot is strong, which improves the stability and reliability of the system operation. When the suspension operation device is subjected to external force, compared with the single vertical rod method, it is less likely to cause the tool system to twist in the direction of the flight platform, and it is difficult to cause deformation or breakage of the suspension mechanism, which ensures the safety of the operation of the flying robot;

[0067] 7) The tool system is an array combination of multiple disc saw assemblies or chain saw assemblies arranged with left-right geometric symmetry or mass symmetry, which has a large lateral working width, a large operating range at one time, high cutting efficiency and good applicability; at the same time, it reduces the influence of the heading torque on the flying robot during forward operation, ensuring the heading stability of the flying robot;

[0068] 8) Each disc saw assembly or chain saw assembly is equipped with a sensor to sense its working current, speed and temperature. The control system analyzes and processes the sensor data, implements protective retreat for the flying robot and the tool, or implements compensation protection for the balanced working state of the tool, thus ensuring the safety and reliability of the flying robot's operation;

[0069] 9) The tool system can be of various configurations and has various installation methods. Under different operating objectives and operating environments, different tool system types can be replaced to meet the requirements, which is convenient and reliable;

[0070] 10) When branches and leaves entangle the tool system, the unhooking device can be activated manually or automatically to quickly "detach" the tool system from the suspension mechanism or the suspension mechanism from the flight platform to ensure the safety of the flying robot and reduce losses caused by failures. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] Figure 1 This is a schematic diagram of the 3+3 rotor configuration of the flying robot;

[0072] Figure 2 This is a schematic diagram of the 2+2 rotor configuration of the flying robot;

[0073] Figure 3 This is a top view of the 3+3 rotor configuration of the flying robot;

[0074] Figure 4 It is a schematic diagram of the internal structure of the vertical rod of the rope-type suspension mechanism;

[0075] Figure 5 It is a schematic diagram of the extension and contraction state of the vertical rod of the suspension mechanism;

[0076] Figure 6 It is a schematic diagram of the structure of the wire take-up device;

[0077] Figure 7 It is a schematic diagram of the structure of the circular saw tool system;

[0078] Figure 8 It is a schematic diagram of the separation state of the mechanical unhooking device;

[0079] Fig. 9 It is a schematic diagram of the hooking state of the mechanical unhooking device;

[0080] Fig.10 This is the structural diagram of the control system of the flying robot;

[0081] Fig.11 It is a schematic diagram of the internal structure of the vertical rod of the pulley type suspension mechanism;

[0082] Fig.12 It is a schematic diagram of the chain saw tool system structure;

[0083] Fig.13 It is a schematic diagram of the structure of the electromagnetic unhooking device;

[0084] Fig.14 It is a schematic diagram of the tilt-rotor configuration;

[0085] Fig.15 Schematic diagram of the pitch joint structure.

[0086] In the figure, 1—flight platform, 2—suspension mechanism, 3—tool system, 4—release device, 5—pitch joint;

[0087] 101 - rotor platform, 102 - main beam, 103 - central control cabin, 104 - sub-control cabin;

[0088] 1011—rotor, 1012—rotor arm, 1013—tilt motor;

[0089] 201 - vertical rod, 202 - transverse reinforcing beam;

[0090] 2201—wire take-up device, 2202—pull rope, 2203—hollow tube, 2204—upper limiter, 2205—lower limiter, 2206—movable pulley, 2207—pulley rope, 2208—flange;

[0091] 22011—receiving motor, 22012—receiving reel, 22013—transmission gear, 22014—rotating fork, 22015—upper travel switch, 22016—lower travel switch;

[0092] 3001—tool holder, 3002—tool motor, 3003A—circular saw, 3003B—chain saw, 3004—motor driver, 3005—tool controller, 3006—guide, 3007—external guide fork;

[0093] 41—upper unhooking assembly, 4101—upper base, 4102—linear servo, 4103—bearing, 4104—tension spring, 4105—upper hook, 4106—upper hook shaft, 4107—upper electrical interface;

[0094] 42—lower release assembly, 4201—lower base, 4202—lower hook, 4203—lower electrical interface, 4204—elastic gasket;

[0095] 401 - electromagnet, 402 - armature;

[0096] 501—pitch joint seat, 502—pitch joint movable part, 503—torsion spring. DETAILED DESCRIPTION

[0097] Below, combined with the attached Figures 1 to 15 The present invention is further described with reference to the accompanying drawings and specific embodiments.

[0098] Example 1: Figures 1 to 10 As shown, a tree obstacle clearing flying robot with separate rotors and suspended tools comprises a flying platform 1, a suspension mechanism 2 connected to the bottom of the flying platform 1, and a tool system 3 connected to the bottom of the suspension mechanism 2; the flying platform 1 has a main beam 102 of a horizontally arranged strip or truss structure, a central control cabin 103 is provided at the center of the main beam 102, and rotor platforms 101 of the same specifications are symmetrically fixedly connected to the left and right ends of the main beam 102; the suspension mechanism 2 is a connecting rod of a fixed length, or a telescopic suspension mechanism of a variable length, comprising L (L≥2) vertical rods 201 symmetrically arranged on the left and right, and a horizontal reinforcing beam 202 is provided between adjacent vertical rods 201; the tool system 3 is an array combination of M (M≥1) electric saw components arranged in a left-right geometrically symmetrical or mass-symmetrical manner.

[0099] Preferably, the rotor platform 101 includes a sub-control cabin 104 fixedly connected to the main beam 102, and K (K≥2) rotors 1011 symmetrically arranged around the sub-control cabin 104 in the front and back. The rotors 1011 are connected to the sub-control cabin 104 through rotor arms 1012.

[0100] Preferably, as Figure 3 shown, the length of the main beam 102 ensures that the minimum distance X1 between two rotor platforms 101 is greater than or equal to the lateral dimension X2 of the tool system 3.

[0101] Preferably, a decoupling device 4 for hooking or separating the suspension mechanism 2 and the tool system 3 or between the flight platform 1 and the suspension mechanism 2 is provided.

[0102] Preferably, the suspension mechanism 2 is a cable-type telescopic suspension mechanism: the vertical rod 201 includes H (H≥2) continuously nested hollow tubes 2203, numbered 1, 2,..., H from top to bottom. The upper end of the i-th (1≤i<H) hollow tube 2203 is provided with an upper limit stopper 2204 to limit the overshoot of the upward contraction of the (i + 1)-th hollow tube 2203, and the lower end is provided with a lower limit stopper 2205 to limit the detachment of the downward extension of the (i + 1)-th hollow tube 2203; the upper limit stopper 2204 of the first hollow tube 2203 is provided with a flange 2208 connected to the flight platform 1. The upper end of the H-th hollow tube 2203 is provided with an upper limit stopper 2204, and the lower end is connected to the tool system 3. The upper limit stopper 2204 of the H-th hollow tube 2003 is connected to a wire reel 2201 installed on the flight platform 1 through a cable 2202; the transverse strengthening beam 202 is connected to the lower ends of the same-section hollow tubes 2203 of adjacent vertical rods 201.

[0103] If the wire reel 2201 winds up the cable 2202, pulling the upper limit stopper 2204 of the H-th hollow tube 2203 upward. When the upper limit stopper 2204 moves upward and contacts the upper limit stopper 2204 of the (H - 1)-th hollow tube 2203, it will drive the (H - 1)-th hollow tube 2203 to move upward, and so on. The H to 2 continuously nested hollow tubes 2203 move upward in sequence, and the vertical rod 201 contracts; if the wire reel 2201 releases the cable 2202, the H to 2 hollow tubes 2203 move downward in sequence under the action of gravity and the limit of the lower limit stoppers 2205 of each section of the hollow tube 2203, so that the vertical rod 201 extends.

[0104] Preferably, the above-mentioned wire take-up device 2201 includes a wire take-up motor 22011, a wire take-up drum 22012 for winding up the pull rope 2202, a rotating fork 22014 driven to rotate by the wire take-up motor 22011 via a transmission gear 22013, an upper travel switch 22015 for sensing that the suspension mechanism 2 has risen to the limit position, and a lower travel switch 22016 for sensing that the suspension mechanism 2 has fallen to the limit position. The output signal lines of the upper travel switch 22015 and the lower travel switch 22016 and the control signal line of the wire take-up motor 22011 are all connected to the main controller of the flight platform 1; a driving and self-locking relationship similar to that of a "worm-worm gear" is formed between the wire take-up motor 22011 and the wire take-up drum 22012.

[0105] Preferably, the tool system 3 includes a tool holder 3001 with a left-right symmetrical appearance, an electric saw assembly mounted on the tool holder 3001, a "V"-shaped guide 3006 fixedly connected to the tool holder 3001 and located between adjacent electric saw assemblies with the tip facing outward, and a tool controller 3005 built into the tool holder 3001 for controlling the electric saw assembly; the electric saw assembly includes a tool motor 3002, an electric saw driven by the tool motor 3002, and a motor driver 3004 for driving the tool motor 3002; the tool controller 3005 is connected to the main controller of the flight platform 1 via a communication bus; the electric saw assembly is provided with sensors for respectively sensing the current, rotation speed and temperature of the tool motor 3002 when it is working, and the output of the sensor is connected to the tool controller 3005.

[0106] Preferably, the electric saw is a circular saw 3003A, which is fixedly connected to the output shaft of the tool motor 3002 .

[0107] Preferably, the above-mentioned unhooking device 4 is a mechanical unhooking device, including an upper unhooking component 41 and a lower unhooking component 42 that can be connected to the upper unhooking component 41; the upper unhooking component 41 includes an upper base 4101, a linear servo 4102 fixedly connected to the upper base 4101 and with an output rod downward, an upper hook shaft 4106 fixedly connected to the upper base 4101, an upper hook 4105 with the upper hook shaft 4106 as a rotating shaft and in an "L" shape, and a lower hook installed on the upper base 4101 and the upper hook. The lower unhooking assembly 42 comprises a tension spring 4104 between the ends of the transverse rods of the upper hook 4105 and capable of providing a counterclockwise restoring torque for the upper hook 4105, and an upper electrical interface 4107 fixedly connected to the upper base 4101, and a bearing 4103 is provided at the end of the output rod of the linear servo 4102; the lower unhooking assembly 42 comprises a lower base 4201, a lower hook 4202 fixedly connected to the lower base 4201 and capable of forming an upper and lower hanging connection with the upper hook 4105, and a lower electrical interface 4107 fixedly connected to the lower base 4201. 203; the upper electrical interface 4107 and the lower electrical interface 4203 form a plug connection for transmitting electrical energy and control signals; the lower end of the upper hook 4105 is a rightward curved hook, the lower right side of the curved hook is an oblique shape, and the upper left side of the lower hook 4202 has an oblique shape that is squeezed and pushed with the outer contour of the curved hook of the upper hook 4105; the lower hook 4202 is provided with a square hole that matches the curved hook of the upper hook 4105. Once the curved hook of the upper hook 4105 is screwed into the square hole, the lower hook 4202 is provided with a square hole that matches the curved hook of the upper hook 4105. The hole can make the lower hook 4202 and the upper hook 4105 form a reliable connection; the lower unhooking component 42 also includes an elastic gasket 4204 embedded between the lower base 4201 and the upper base 4101, and forming a close contact with the two; the linear servo 4102 is connected to the main controller in the flight platform 1. After receiving the command of the main controller, the linear servo 4102 will drive its output rod to extend or contract, thereby driving the upper hook 4105 to rotate clockwise or counterclockwise.

[0108] Preferably, a tilt motor 1013 capable of rotating the rotor 1011 relative to the axis of the corresponding rotor arm 1012 is provided between any pair of left-right symmetrical rotors 1011 of the flying platform 1 and their respective rotor arms 1012 .

[0109] Preferably, the above-mentioned flying platform 1 is provided with a forward-looking camera and a downward-looking camera for observing the growth situation of tree obstacles and the cutting status of the tool system 3 at close range.

[0110] Preferably, the control system of the tree obstacle clearing flying robot includes a main controller located in the central control cabin 103 and a sub-controller located in the sub-control cabin 104. The main controller and the sub-controller are respectively connected to their own inertial navigation units (IMU) and satellite navigation (GNSS) receivers. The main controller and the sub-controller exchange information through a communication bus. The sub-controller is electrically connected to and drives the rotor of the rotor platform 101 where it is located.

[0111] The working method and control method of the tree obstacle clearing flying robot with separate rotors and hanging cutters are as follows:

[0112] The working method of a tree obstacle clearing flying robot with separate rotors and hanging cutters is as follows:

[0113] The flying platform 1, the suspension mechanism 2 and the tool system 3 are connected in sequence from top to bottom to form a flying robot as a whole; when the flying robot flies near a tree barrier, firstly adjust the length and the flying height of the suspension mechanism 2, and make the tool system 3 face the tree to be cut, then according to the received tree barrier clearing remote control command, control the flying robot to fly forward, and use the tool system 3 to perform a push-type cutting and clearing of the tree barrier below the robot.

[0114] A control method for a tree obstacle clearing flying robot with separate rotors and hanging cutters:

[0115] The invention includes a flight control method of the flight platform 1, a control method of the suspension mechanism 2, a control method of the tool system 3 and a control method of the unhooking device 4. The specific control method is as follows:

[0116] 1) The flight control method of the flight platform 1 is as follows: within one control cycle, the main controller and the sub-controller respectively collect information from the connected IMU and GNSS receivers, and calculate their respective flight status data, including attitude, altitude, horizontal position, and speed; the sub-controller sends its flight status data and sensor raw data to the main controller, and the main controller first integrates these data with its own collected sensor raw data and calculated flight status data to generate comprehensive flight status data of the whole machine, and then calculates the flight control law of the whole machine in combination with the remote control command, and then distributes the control law, and sends the distribution result to each sub-controller to drive the rotor corresponding to each rotor platform, so as to finally enable the flight platform 1 to accurately track the control command.

[0117] 2) The control method of the suspension mechanism 2 with a telescopic structure is as follows: the main controller of the flying platform 1 dynamically changes the length of the pull rope 2202 by controlling the start and stop and the direction of the wire reel 2201, thereby adjusting the length of the vertical rod 201, thereby changing the vertical distance of the tool system 3 relative to the flying platform 1.

[0118] 3) The control method of the tool system 3 is:

[0119] A) The tool controller 3005 collects the current, speed and temperature of the tool motor 3002 in real time when it is working, and sends it to the main controller of the flight platform 1 for monitoring;

[0120] B) Real-time evaluation of the working status of the chainsaw components:

[0121] ① Assuming that the current threshold, speed threshold, and temperature threshold corresponding to the overload are known, if the current of the tool motor 3002 exceeds the current threshold, or the speed is lower than the speed threshold, or the temperature exceeds the temperature threshold, it can be determined that the electric saw component is overloaded;

[0122] ② Assuming that the current threshold, speed threshold, and temperature threshold corresponding to the jamming are known, if the current of the tool motor 3002 exceeds the current threshold, or the speed is lower than the speed threshold, or the temperature exceeds the temperature threshold, it can be determined that the electric saw component is jammed;

[0123] ③ If the current or speed of the cutter motor 3002 pulsates periodically and the amplitude exceeds a predetermined threshold, it can be determined that the electric saw component is damaged.

[0124] C) Abnormal handling method of working status:

[0125] ① If it is determined to be overloaded, a hovering command is sent to the flight platform 1 to stop cutting and feeding;

[0126] ② If it is determined to be blocked or damaged, the tool motor 3002 is braked and a retreat command is sent to the flight platform 1;

[0127] ③ For jamming, if the electric saw assembly is stuck by a branch and is difficult to break free, the unhooking device 4 is activated to separate the tool system 3 from the flying robot, thereby protecting the safety of the flying robot to the greatest extent and avoiding a crash.

[0128] D) Detecting the balanced working state of the tool system 3 and implementing compensation control:

[0129] ① Detection method: Assume that the instantaneous speeds of the tool motors 3002 at the symmetrical positions on the left and right sides are N ia 、N ib , the instantaneous currents are I ia ,I ib The instantaneous temperatures are T ia , T ib , where i = 1,…,N;

[0130] Defining the cutting strength of chainsaw components:

[0131] x ij =f(N ij ,I ij ,T ij )

[0132] Where i = 1, ..., N, j = a, b. If a linear structure is used, then

[0133] x ij =k N (N0-N ij )+k I Iij +k T T ij

[0134] Among them, k N , k I , k T is the weight coefficient, N0 is the no-load speed;

[0135] Define the difference in cutting strength of a pair of chainsaw components:

[0136] Δx i =x ia -x ib ,i=1,…,N

[0137] Define the comprehensive cutting strength difference of tool system 3:

[0138] k i is the weight coefficient

[0139] If |Δx i |≥δ x , it can be determined that the balance operation of the electric saw component is abnormal, where δ x >0, which is the threshold for judging the abnormal balance operation of the electric saw component;

[0140] If |Δy|≥δ y , it can be determined that the balance operation of tool system 3 is abnormal, where δ y >0, which is the threshold for judging abnormality of balancing operation of tool system 3.

[0141] ② Balancing operation compensation control method of tool system 3:

[0142] If ε x <|Δx i |<δx x and ε<|Δy|<δy y , where ε x >0 and ε>0, which is an insensitive area, then one of the following methods is adopted: a) Heading following: Control the heading of the flying robot to move toward the side with smaller cutting intensity to implement balance compensation on both sides of the tool system 3; b) Heading keeping: Control the flying robot to hover and wait for |Δx i After | and |Δy| are both reduced, the flying robot is controlled to fly forward to implement obstacle clearing and feeding, thereby maintaining the heading of the flying robot;

[0143] If it is determined that the balance operation of a pair of electric saw components or the balance operation of the tool system 3 is abnormal, the flying platform 1 is first kept hovering, and then the |Δx i | and |Δy| for a period of time T (T>0), if |Δx i| and |Δy| have not all fallen back, all tool motors 3002 are reversed and then braked to make the tool system 3 quit the cutting operation, and at the same time send a protective retreat command to the flying platform 1.

[0144] 4) Control method of mechanical unhooking device:

[0145] A) When the unhooking device 4 receives the "unhooking" command from the main controller in the flight platform 1, the output rod of the linear servo 4102 extends, driving the bearing 4103 to move downward, and the bearing 4103 is pressed and contacted with the upper plane of the transverse rod of the upper hook 4105, pushing the upper hook 4105 to rotate clockwise, so that the bent hook at the lower end of the upper hook 4105 is separated from the lower hook 4202, thereby realizing the mechanical unhooking of the components connected below the unhooking device 4 and the components connected above the unhooking device 4, and also completing the separation of the electrical interface; afterwards, the output rod of the linear servo 4102 contracts, and the upper hook 4105 rotates counterclockwise to reset under the tension of the tension spring 4104;

[0146] B) When hooking, the lower hook 4202 moves upward to squeeze the curved hook of the upper hook 4105 to the left, pushing the upper hook 4105 to rotate clockwise and retreat. When the lower hook 4202 moves upward to the right position, the curved hook of the upper hook 4105 quickly screws into the square hole of the lower hook 4202, thereby forming a stable and reliable hooking between the component connected below the unhooking device 4 and the component connected above the unhooking device 4, and also completing the connection of the electrical interface.

[0147] Example 2: Fig.11As shown in the figure, a tree obstacle clearing flying robot with rotors separated and tools suspended, wherein the suspension mechanism 2 is a pulley type telescopic suspension mechanism: the vertical rod 201 includes H (H≥3) sections of continuously nested hollow tubes 2203, numbered 1, 2, …, H from top to bottom. For the i-th (1≤i<H) section of the hollow tube 2203, an upper limit stop 2204 is provided at the upper end to limit the overshoot of the upward contraction of the (i + 1)-th section of the hollow tube 2203, and a lower limit stop 2205 is provided at the lower end to limit the movement and detachment of the (i + 1)-th section of the hollow tube 2203 during downward extension; a flange 2208 for connecting to the flight platform 1 is provided on the upper limit stop 2204 of the first section of the hollow tube 2203. An upper limit stop 2204 is provided at the upper end of the H-th section of the hollow tube 2203, and the lower end is connected to the reciprocating saw system 3. The upper limit stop 2204 of the second section of the hollow tube 2203 is connected to the wire reel 2201 installed on the flight platform 1 through a pull rope 2202; the vertical rod 201 further includes a movable pulley 2206 whose rotating shaft is horizontally fixed on the upper limit stop 2204 of the j-th (2≤j<H) section of the hollow tube 2203 and whose rotation plane passes through the vertical axis of the hollow tube 2203, and a pulley pull rope 2207 that is wound around the upper side of the movable pulley 2206 and one end of which is fixedly connected to the lower limit stop 2205 of the (j - 1)-th section of the hollow tube 2203 and the other end of which is fixedly connected to the upper limit stop 2204 of the (j + 1)-th section of the hollow tube 2203; the transverse strengthening beam 202 is connected to the lower ends of the same section of the hollow tubes 2203 of adjacent vertical rods 201.

[0148] The suspension mechanism 2 rises: The main controller of the flight platform 1 outputs a forward rotation command to the wire reel motor 22011. The wire reel motor 22011 drives the wire reel 22012 to wind up the pull rope 2202 and makes the rotary fork 22014 rotate forward. The rising pull rope 2202 drives the second section of the hollow tube 2203 of the vertical rod 201 to move upward, driving the movable pulley 2206 on this section of the hollow tube 2203 to move upward, and prompting the pulley pull rope 2207 passing around the movable pulley 2206 to drive the third section of the hollow tube 2203 to move upward synchronously. By analogy, it always drives the N-th section of the hollow tube 2203 to move upward synchronously; when all the vertical rods 201 act synchronously according to the above method, the suspension mechanism 2 will rise stably; when the suspension mechanism 2 rises to the limit position, the rotary fork 22014 triggers the upper travel switch 22015, and the main controller of the flight platform 1 outputs a stop rotation command to the wire reel motor 22011 to stop the wire reel motor 22011, thereby implementing upward protection for the suspension mechanism 2.

[0149] The suspension mechanism 2 descends: the main controller of the flight platform 1 outputs a reverse command to the wire-receiving motor 22011, and the wire-receiving motor 22011 drives the wire-receiving reel 22012 to release the pull rope 2202 and make the rotating fork 22014 rotate in the opposite direction. Under the action of the movable hollow tube 2203 of the vertical rod 201 and the gravity of the load below, the second section of the hollow tube 2203 moves downward, and the movable pulley 2206 on the section of the hollow tube 2203 moves downward, prompting the pulley rope 2207 that bypasses the movable pulley 2206 to move downward. The third section of the hollow tube 2203 is also driven to move downward synchronously, and so on, until the Nth section of the hollow tube 2203 is driven to move downward synchronously; when all the vertical rods 201 are synchronously moved according to the above method, the suspension mechanism 2 will be able to descend stably; when the suspension mechanism 2 descends to the extreme position, the rotating fork 22014 triggers the lower travel switch 22016, and the main controller of the flying platform 1 outputs a stop command to the take-up motor 22011 to stop the take-up motor 22011, thereby implementing descent protection for the suspension mechanism 2.

[0150] Embodiment 3: A tree obstacle clearing flying robot with separate rotors and suspended cutting tools, wherein the vertical rod 201 of the suspension mechanism 2 described in Embodiment 1 is an electric push rod with a linear telescopic motion function.

[0151] Example 4: Fig.12 As shown, a tree obstacle clearing flying robot with separate rotors and suspended tools, the electric saw described in Example 1 is a chain saw 3003B, the chain saw 3003B comprises a guide plate and a chain, an outer guide fork 3007 is installed on the guide plate to guide and restrain branches and accelerate cutting; the number N of chain saw components of the tool system 3 is 2.

[0152] Embodiment 5: A tree obstacle clearing flying robot with separate rotors and suspended cutting tools, wherein the unhooking device 4 is an electromagnetic unhooking device, including an electromagnet 401 and an armature 402 respectively fixed to the connecting parts at both ends of the unhooking device 4; the electromagnet 401 is connected to the power supply on the flying robot through a switch.

[0153] like Fig.13 As shown, after the electromagnet 401 is powered on, it is attracted to the armature 402, and the tool system 3 is hung under the suspension mechanism 2; after the electromagnet 401 is powered off, the armature 402 is released, and the tool system 3 is separated from the suspension mechanism 2. During the obstacle removal operation, when the tool system 3 is stuck relative to the tree obstacle and cannot be separated, the tool system 3 can be separated from the flying robot through the unhooking device 4, thereby implementing safety protection for the flying robot.

[0154] Example 6: Figure 3 and Fig.14As shown, a tree obstacle clearing flying robot with separate rotors and suspended tools, between any pair of left-right symmetrical rotors 1011 of the flying platform and their respective rotor arms 1012, there is a tilt motor 1013 that can rotate the rotors 1011 relative to the axis of the corresponding rotor arm 1012, thereby realizing tilting the rotors.

[0155] Based on the tilt-rotor, the flight platform 1 can generate a large heading moment to overcome the unbalanced reaction moment of the tree on the tool system 3, and may achieve horizontal flight without changing the attitude.

[0156] Example 7: Fig.15 As shown, a tree obstacle clearing flying robot with separate rotors and suspended tools, a pitch joint 5 is provided between the suspension mechanism 2 and the flying platform 1 to enable the two to have relative pitch motion freedom.

[0157] Preferably, the pitch joint 5 includes a pitch joint seat 501, a pitch joint movable part 502 that can rotate around the rotating axis of the pitch joint seat 501, and a pair of torsion springs 503 installed on the rotating axis of the pitch joint seat 501 and respectively located between the pitch joint movable part 502 and the pitch joint seat 501; the two ends of the torsion spring 503 are respectively fixed to the pitch joint seat 501 and the pitch joint movable part 502.

[0158] The above is only an example of a specific embodiment of the present invention, and the protection scope of the present invention is not limited thereto. A person skilled in the art can easily find variations or replacements within the technical scope disclosed in the present invention, and these should all be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A tree obstacle clearing flying robot with separate rotors and hanging cutters, characterized in that: It includes a flight platform (1), a suspension mechanism (2) connected below the flight platform (1), and a tool system (3) connected below the suspension mechanism (2); the flight platform (1) has a main beam (102) with a strip-shaped or truss structure arranged horizontally, a central control cabin (103) is provided at the central part of the main beam (102), and rotator platforms (101) of the same specification are symmetrically and fixedly connected to the left and right ends of the main beam (102) respectively; the suspension mechanism (2) is a connecting rod with a fixed length or a telescopic suspension mechanism with a variable length, and includes L vertical rods (201) arranged symmetrically on the left and right, L≥2, and a transverse strengthening beam (202) is provided between adjacent vertical rods (201); the tool system (3) is an array combination of M electric saw components arranged in a geometrically symmetric or mass-symmetric manner on the left and right, M≥1; The length of the main beam (102) ensures that the minimum distance between the two rotator platforms (101) ≥ the transverse dimension of the tool system (3).

2. The tree obstacle clearing flying robot with separate rotors and hanging cutters according to claim 1, characterized in that: The rotator platform (101) includes a sub-control cabin (104) fixedly connected to the main beam (102), and K rotors (1011) arranged symmetrically in the front and back around the sub-control cabin (104), and the rotors (1011) are connected to the sub-control cabin (104) through rotor arms (1012), K≥2.

3. The tree obstacle clearing flying robot with separate rotors and hanging cutters according to claim 1, characterized in that: A decoupling device (4) for hooking or separating the two is provided between the suspension mechanism (2) and the tool system (3) or between the flight platform (1) and the suspension mechanism (2).

4. The tree obstacle clearing flying robot with separate rotors and hanging cutters according to claim 1, characterized in that: A pitching joint (5) enabling relative pitching movement freedom between the two is provided between the suspension mechanism (2) and the flight platform (1).

5. The tree obstacle clearing flying robot with separate rotors and hanging cutters according to claim 1, characterized in that: The suspension mechanism (2) is a cable-type telescopic suspension mechanism: the vertical rod (201) includes H continuously nested hollow tubes (2203), H≥2, numbered 1, 2, …, H from top to bottom in sequence, an upper limit stopper (2204) for restricting the overshoot of the upward contraction of the (i + 1)-th hollow tube (2203) is provided at the upper end of the i-th hollow tube (2203), 1≤i<H, and a lower limit stopper (2205) for restricting the detachment of the downward extension of the (i + 1)-th hollow tube (2203) is provided at the lower end; a flange (2208) connected to the flight platform (1) is provided on the upper limit stopper (2204) of the first hollow tube (2203), an upper limit stopper (2204) is provided at the upper end of the H-th hollow tube (2203), and the lower end is connected to the tool system (3), and the upper limit stopper (2204) of the H-th hollow tube (2203) is connected to a wire reel (2201) installed on the flight platform (1) through a cable (2202); the transverse strengthening beam (202) is connected to the lower ends of the same-section hollow tubes (2203) of adjacent vertical rods (201).

6. The tree obstacle clearing flying robot with separate rotors and hanging cutters according to claim 1, characterized in that: The suspension mechanism (2) adopts a pulley-type telescopic structure: the number of sections H of the hollow tube (2203) is ≥3, and the upper limiter (2204) of the second section of the hollow tube (2203) is connected to the wire take-up device (2201) installed on the flight platform (1) through a pull rope (2202); the vertical rod (201) also includes a movable pulley (2206) whose rotating shaft is horizontally fixed to the upper limiter (2204) of the jth section of the hollow tube (2203) and whose rotating plane passes through the vertical axis of the hollow tube (2203), and a pulley pull rope (2207) hung on the upper side of the movable pulley (2206) and one end of which is fixedly connected to the lower limiter (2205) of the j-1th section of the hollow tube (2203) and the other end of which is fixedly connected to the upper limiter (2204) of the j+1th section of the hollow tube (2203), 2≤j <H。 7. The tree obstacle clearing flying robot with separate rotors and hanging cutters according to claim 1, characterized in that: The tool system (3) comprises a tool holder (3001) with a bilaterally symmetrical appearance, an electric saw assembly mounted on the tool holder (3001), a "V"-shaped guide (3006) fixedly connected to the tool holder (3001) and located between adjacent electric saw assemblies with its tip facing outward, and a tool controller (3005) built into the tool holder (3001) for controlling the electric saw assembly; the electric saw assembly comprises a tool motor (3002), an electric saw driven by the tool motor (3002), and a motor driver (3004) for driving the tool motor (3002); the tool controller (3005) is connected to a main controller of the flight platform (1) via a communication bus; the electric saw assembly is provided with a current sensor, a speed sensor, and a temperature sensor for respectively sensing the current, speed, and temperature of the tool motor (3002) when it is working, and output signals of the current sensor, the speed sensor, and the temperature sensor are respectively connected to the tool controller (3005).

8. The tree obstacle clearing flying robot with separate rotors and hanging cutters according to claim 7, characterized in that: The electric saw is a circular saw (3003A) or a chain saw (3003B); the circular saw (3003A) is fixedly connected to the output shaft of the tool motor (3002); the chain saw (3003B) comprises a guide plate and a chain, and an outer guide fork (3007) is installed on the guide plate to guide and restrain branches and accelerate cutting.

9. The tree obstacle clearing flying robot with separate rotors and hanging cutters according to claim 3, characterized in that: The above-mentioned unhooking device (4) is a mechanical unhooking device, comprising an upper unhooking component (41) and a lower unhooking component (42) which can be connected to the upper unhooking component (41); The upper unhooking component (41) comprises an upper base (4101), a linear servo (4102) fixedly connected to the upper base (4101) and with an output rod pointing downward, an upper hook shaft (4106) fixedly connected to the upper base (4101), an upper hook (4105) in an "L" shape with the upper hook shaft (4106) as a rotating shaft, a tension spring (4104) installed between the upper base (4101) and the end of the transverse rod of the upper hook (4105) and capable of providing a counterclockwise restoring torque for the upper hook (4105), and an upper electrical interface (4107) fixedly connected to the upper base (4101), and a bearing is provided at the end of the output rod of the linear servo (4102). (4103); the lower unhooking component (42) includes a lower base (4201), a lower hook (4202) fixedly connected to the lower base (4201) and capable of forming an upper and lower hanging connection with the upper hook (4105), and a lower electrical interface (4203) 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 electrical energy and control signals; the lower end of the upper hook (4105) is a right-bent hook, the lower right side of the hook is an oblique angle shape, and the upper left side of the lower hook (4202) has an oblique angle shape that is squeezed and pushed to match the oblique outer contour of the hook of the upper hook (4105); The lower hook (4202) is provided with a square hole for matching the curved hook of the upper hook (4105). Once the curved hook of the upper hook (4105) is screwed into the square hole, the lower hook (4202) and the upper hook (4105) can be reliably connected. The lower unhooking component (42) also includes an elastic gasket (4204) embedded between the lower base (4201) and the upper base (4101) and in close contact with the two. The linear servo (4102) is connected to the main controller in the flight platform (1). After receiving the command of the main controller, the linear servo (4102) will drive its output rod to extend or contract, thereby driving the upper hook (4105) to rotate clockwise or counterclockwise.

10. The tree obstacle clearing flying robot with separate rotors and hanging cutters according to claim 3, characterized in that: The above-mentioned decoupling device (4) is an electromagnetic decoupling device, comprising an electromagnet (401) and an armature (402) respectively fixed to the parts connected at both ends of the decoupling device (4); when the electromagnet (401) is energized, it is attracted to the armature (402), and the parts connected at both ends of the decoupling device (4) are hooked; when the electromagnet (401) is de-energized, the armature (402) is released, and the parts connected at both ends of the decoupling device (4) are separated; the electromagnet (401) is connected to a power source on the flying robot through a switch.

11. The tree obstacle clearing flying robot with separate rotors and hanging cutters according to claim 2, characterized in that: Between any pair of left-right symmetrical rotors (1011) of the flying platform (1) and their respective rotor arms (1012), a tilting motor (1013) is provided, which can rotate the rotors (1011) relative to the axis of their rotor arms (1012).

12. The tree obstacle clearing flying robot with separate rotors and hanging cutters according to claim 4, characterized in that: The pitch joint (5) comprises a pitch joint seat (501), a pitch joint movable part (502) rotatable around a rotation axis of the pitch joint seat (501), and a pair of torsion springs (503) mounted on the rotation axis of the pitch joint seat (501) and respectively located between the pitch joint movable part (502) and the pitch joint seat (501); two ends of the torsion spring (503) are respectively fixed to the pitch joint seat (501) and the pitch joint movable part (502).

13. The tree obstacle clearing flying robot with separate rotors and hanging cutters according to claim 2, characterized in that: The control system of the tree obstacle clearing flying robot comprises a main controller located in a central control cabin (103) and a sub-controller located in a sub-control cabin (104), the main controller and the sub-controller are respectively connected to their own inertial navigation units (IMU) and satellite navigation (GNSS) receivers, the main controller and the sub-controller exchange information via a communication bus, and the sub-controller is electrically connected to and drives the rotor of the rotor platform (101) where it is located.

14. A working method and control method of a tree obstacle clearing flying robot with separate rotors and hanging cutters, characterized in that: The working method of the tree obstacle clearing flying robot with separate rotors and hanging cutters is as follows: The flying platform (1), the suspension mechanism (2) and the tool system (3) are sequentially connected from top to bottom to form a flying robot as a whole; when the flying robot flies to the vicinity of a tree barrier, the length and the flying height of the suspension mechanism (2) are first adjusted, and the tool system (3) is directed toward the tree to be cut; then, according to the received tree barrier clearing remote control command, the flying robot is controlled to fly forward, and the tool system (3) is used to perform a push-type cutting and clearing of the tree barrier below the robot; The control method of the tree obstacle clearing flying robot with separate rotors and hanging cutters is as follows: The invention comprises a flight control method of a flight platform (1), a control method of a suspension mechanism (2), a control method of a tool system (3) and a control method of a decoupling device (4), and the specific control method is as follows: 1) The flight control method of the flight platform (1) is as follows: within a control cycle, the main controller and the sub-controller respectively collect information from the connected IMU and GNSS receivers, and calculate their respective flight status data, including attitude, altitude, horizontal position, and speed; the sub-controller sends its flight status data and sensor raw data to the main controller, and the main controller first integrates these data with the sensor raw data collected by itself and the calculated flight status data to generate comprehensive flight status data of the whole machine, and then calculates the flight control law of the whole machine in combination with the remote control command, and then distributes the control law, and sends the distribution result to each sub-controller to drive the rotor corresponding to each rotor platform, so as to finally enable the flight platform (1) to accurately track the control command; 2) The control method of the suspension mechanism (2) with a telescopic structure is as follows: the main controller of the flying platform (1) dynamically changes the length of the pull rope (2202) by controlling the start and stop of the wire take-up device (2201) and the wire take-up and release direction, thereby adjusting the length of the vertical rod (201), thereby changing the vertical distance of the tool system (3) relative to the flying platform (1); 3) The control method of the tool system (3) is: A) the tool controller (3005) collects the current, speed and temperature of the tool motor (3002) in real time when it is working, and sends it to the main controller of the flight platform (1) for monitoring; B) Real-time evaluation of the working status of the chainsaw components: ① Assuming that the current threshold, speed threshold, and temperature threshold corresponding to the overload are known, if the current of the tool motor (3002) exceeds the current threshold, or the speed is lower than the speed threshold, or the temperature exceeds the temperature threshold, it can be determined that the electric saw component is overloaded; ② Assuming that the current threshold, speed threshold, and temperature threshold corresponding to the jamming resistance are known, if the current of the tool motor (3002) exceeds the current threshold, or the speed is lower than the speed threshold, or the temperature exceeds the temperature threshold, it can be determined that the electric saw component is jammed; ③ If the current or speed of the cutter motor (3002) pulsates periodically and the amplitude exceeds a predetermined threshold, it can be determined that the electric saw component is damaged; C) Abnormal handling method of working status: ① If it is determined to be overloaded, a hovering command is sent to the flight platform (1) to stop cutting and feeding; ② If it is determined to be stuck or damaged, the tool motor (3002) is braked and a retraction command is sent to the flying platform (1); ③ For jamming, if the electric saw assembly is stuck by a branch and is difficult to break free, the unhooking device (4) is activated to separate the tool system (3) from the flying robot, thereby protecting the safety of the flying robot to the greatest extent and avoiding a crash; D) Detecting the balanced working state of the tool system (3) and implementing compensation control: ① Detection method: Assume that the instantaneous speeds of the tool motors (3002) at the symmetrical positions on the left and right sides are N ia 、N ib , the instantaneous currents are I ia ,I ib , the instantaneous temperatures are T ia 、T ib , where i = 1,…,N; Defining the cutting strength of chainsaw components: x ij =f(N ij ,I ij ,T ij ) Where i = 1, ..., N, j = a, b; if a linear structure is used, then x ij =k N (N0-N ij )+k I I ij +k T T ij Among them, k N , k I , k T is the weight coefficient, N0 is the no-load speed; Define the difference in cutting strength of a pair of chainsaw components: Δx i =x ia -x ib ,i=1,…,N Define the overall cutting strength difference of the tool system (3): k i is the weight coefficient If |Δx i |≥δ x , it can be determined that the balance operation of the electric saw component is abnormal, where δ x >0, which is the threshold for judging the abnormal balance operation of the electric saw component; If |Δy|≥δ y , it can be determined that the balance operation of the tool system (3) is abnormal, where δ y >0, which is the threshold for judging the abnormality of the balancing operation of the tool system (3); ② Balancing operation compensation control method of tool system (3): If ε x <|Δx i |<δ x and ε<|Δy|<δ y , where ε x >0 and ε>0, which is an insensitive area, then one of the following methods is adopted: a) Heading following: Control the heading of the flying robot to move toward the side with smaller cutting intensity to implement balance compensation on both sides of the tool system (3); b) Heading holding: Control the flying robot to hover and wait for |Δx i After | and |Δy| are both reduced, the flying robot is controlled to fly forward to implement obstacle clearing and feeding, thereby maintaining the heading of the flying robot; If it is determined that the balance operation of a pair of electric saw components or the balance operation of the tool system (3) is abnormal, the flying platform (1) is first kept in hover, and then the |Δx i | and |Δy| for a period of time T, T>0, if |Δx i | and |Δy| have not all fallen back, all tool motors (3002) are reversed and then braked, so that the tool system (3) exits the cutting operation, and at the same time sends a protective retreat command to the flying platform (1); 4) Control method of mechanical unhooking device: A) When the unhooking device (4) receives the "unhooking" command from the main controller in the flight platform (1), the output rod of the linear servo (4102) extends, driving the bearing (4103) to move downward, and the bearing (4103) is pressed and contacted with the upper plane of the transverse rod of the upper hook (4105), pushing the upper hook (4105) to rotate clockwise, so that the bent hook at the lower end of the upper hook (4105) is separated from the lower hook (4202), thereby realizing the mechanical unhooking of the components connected below the unhooking device (4) and the components connected above the unhooking device (4), and also completing the separation of the electrical interface; thereafter, the output rod of the linear servo (4102) contracts, and the upper hook (4105) rotates counterclockwise to reset under the tension of the tension spring (4104); B) When hooking, the lower hook (4202) moves upward to squeeze the hook of the upper hook (4105) to the left, pushing the upper hook (4105) to rotate clockwise and retreat. When the lower hook (4202) moves upward to the right position, the hook of the upper hook (4105) quickly rotates into the square hole of the lower hook (4202), thereby forming a stable and reliable hooking between the component connected below the unhooking device (4) and the component connected above the unhooking device (4), and also completing the connection of the electrical interface.

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