A tree obstacle clearing flying robot with a scissor-fork type hanging tool

Abstract

The present invention discloses a tree barrier clearing flying robot with a scissor-fork type hanging tool, comprising a flying platform, a hanging mechanism connected to the bottom of the flying platform, and a tool system connected to the bottom of the hanging mechanism; the hanging mechanism comprises a horizontally arranged I-shaped frame, a telescopic device hung under the I-shaped frame, and a lower connecting seat connected to the lower end of the telescopic device and docked with the tool system; the tool 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 that can hang or separate the two is provided between the hanging mechanism and the tool system. The tree barrier clearing flying robot of the present invention adopts a dynamically retractable scissor-fork type hanging mechanism to mount the tool system, which is suitable for implementing large-area rapid flat-push cleaning from the top of the tree barrier, has high operating efficiency, avoids the operator from approaching the high-voltage transmission line at the tree barrier, and solves the problems of low cleaning efficiency and high safety risks existing in the prior art.

Description

Technical Field

[0001] The invention relates to a power line tree barrier clearing flying robot with a scissor-fork type suspended tool, in particular to a flying robot suitable for quickly clearing large-area tree barriers, and belongs to the technical field of power transmission line tree barrier clearing devices. 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 on a large scale in power line channels. The tool system it carries should have a large single cutting range, while avoiding the influence of cutting force on the posture of the flying robot itself, 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 barrier clearing flying robot with a scissor-fork type suspended tool, which realizes large-area and high-efficiency cleaning of tree barriers in line channels by mounting a tool system composed of multiple tools on a rotorcraft, thereby meeting the needs of safe tree barrier clearing operations in a power transmission line environment.

[0005] The technical solution of the present invention is: a tree obstacle clearing flying robot with a scissor-fork type suspended tool, comprising a flying platform, a hanging mechanism connected to the bottom of the flying platform and a tool system connected to the bottom of the hanging mechanism; the hanging mechanism comprises a horizontally arranged I-frame, a telescopic device hung under the I-frame, and a lower connecting seat connected to the lower end of the telescopic device and docked with the tool system; 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, a decoupling device is provided between the suspension mechanism and the tool system to connect or separate the two.

[0007] Preferably, the suspension mechanism is a scissor-fork suspension mechanism, which is characterized in that: the I-shaped frame includes a main beam located at a central position and arranged transversely, a pair of guide rods symmetrically fixed to both sides of the main beam and extending forward and backward, and a flange seat located at the outer end of the guide rod and connected to the flight platform, a motor is installed at the center of the main beam, and the output shaft of the motor is vertically downward and connected to the lifting screw;

[0008] The telescopic device comprises a pair of scissor fork assemblies arranged in parallel and symmetrically on both sides. The scissor fork assemblies comprise N (N≥1) X-shaped scissor forks and one V-shaped scissor fork which are hinged in series end to end from top to bottom. The X-shaped scissor fork is composed of a pair of long connecting rods which cross each other in the middle and can rotate with each other. The middle and both ends of each long connecting rod are provided with round holes. The V-shaped scissor fork is composed of a pair of short connecting rods which cross each other at the bottom and can rotate with each other. Both ends of each short connecting rod are provided with round holes. The rotating shaft of the lower connecting seat passes through the round holes at the lower ends of the pair of short connecting rods. The pair of scissor fork assemblies are provided with connecting and reinforcing rods in sequence from top to bottom. The transverse connecting rod comprises: a pair of sliding rods passing through the circular holes at the upper ends of the first pair of X-shaped scissors forks and symmetrically distributed front and back, a lifting adjustment rod passing through the central circular hole of the first pair of X-shaped scissors forks, a reinforcing rod passing through the serially hinged circular holes at the outer ends of adjacent X-shaped scissors forks, and a central reinforcing rod passing through the central circular holes of other pairs of X-shaped scissors forks; the sliding rod is provided with a pair of sliding rings which are symmetrical on the left and right, sleeved on the guide rod and can move forward and backward along the guide rod, a column in the middle of the lifting adjustment rod is built with a thread matching with the lifting screw, and a column in the middle of the central reinforcing rod is built with a circular hole for accommodating the lifting screw to freely pass up and down;

[0009] A damping device is provided between the V-shaped scissor fork and the lower connecting seat to limit the free swinging of the tool system forward and backward;

[0010] The outer end of the guide rod is provided with an upper travel switch for sensing that the suspension mechanism is retracted upward to the limit position, and the inner end of the guide rod is provided with a lower travel switch for sensing that the suspension mechanism is extended downward to the limit position, and the output signal lines of the upper travel switch and the lower travel switch and the control signal line of the motor are all connected to the main controller of the flight platform;

[0011] Preferably, the damping device includes a pair of torsion springs installed on the rotating shaft of the lower connecting seat and located on the outside of the V-shaped scissors fork and the inside of the lower connecting seat, one end of the torsion spring is fixed to the lower connecting seat, and the other end is fixed to the adjacent short connecting rod.

[0012] 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.

[0013] 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.

[0014] Preferably, the number N of chain saw components of the chain saw tool system is 2.

[0015] Preferably, the unhooking device is a mechanical unhooking device or an electromagnetic unhooking device.

[0016] 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.

[0017] 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.

[0018] Preferably, the above-mentioned flight platform is a multi-rotor aircraft with a bilaterally symmetrical layout, and is not limited to any fixed known four, six, eight, etc. multi-rotors.

[0019] 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 multi-rotor aircraft and their respective rotor arms.

[0020] 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.

[0021] The working method and control method of the tree obstacle clearing flying robot are as follows:

[0022] The working method of a tree obstacle clearing flying robot with a scissor-fork type suspended tool is as follows:

[0023] 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, first adjust the length of the suspension mechanism and the flight altitude, and make the tool system face the tree to be cut, then control the flying robot to fly forward according to the received tree barrier clearing remote control command, and use the tool system to perform a push-to-cut cutting and clearing of the tree barrier below the robot; during the cleaning process, the length of the suspension mechanism can be dynamically adjusted to adapt to different cleaning needs.

[0024] A control method for a tree obstacle clearing flying robot with a scissor-fork type suspended tool:

[0025] It includes a control method for the suspension mechanism, a control method for the tool system and a control method for the unhooking device. The specific control methods are as follows:

[0026] 1) The control method of the suspension mechanism is as follows: There are three working modes of the suspension mechanism, namely, suspension mechanism rising, suspension mechanism locking and suspension mechanism descending:

[0027] A) Suspension mechanism rises: The main controller of the flight platform outputs a forward rotation command to the motor, and the rotation of the motor drives the lifting screw to rotate forward, causing the lifting adjustment rod to rise, driving the telescopic device to retract upward, and the sliding rod to move outward, thereby causing the suspension mechanism to rise; when the suspension mechanism rises to the limit position, the sliding rod triggers the upper travel switch, and the main controller of the flight platform outputs a stop command to the motor, causing the motor to stop, thereby implementing the rising protection of the suspension mechanism;

[0028] B) Suspension mechanism locking: During the lifting process of the suspension mechanism, once the main controller of the flight platform outputs a stop command to the motor, the lifting screw driven by the motor will stop rotating. Due to the self-locking relationship between the lifting screw and the lifting adjustment rod, the suspension mechanism will be locked in the current position;

[0029] C) The suspension mechanism descends: the main controller of the flight platform outputs a reverse command to the motor, and the rotation of the motor will drive the lifting screw to reverse, causing the lifting adjustment rod to descend, driving the telescopic device to extend downward, and the sliding rod to move inward, thereby causing the suspension mechanism to descend; when the suspension mechanism descends to the extreme position, the sliding rod triggers the lower travel switch, and the main controller of the flight platform outputs a stop command to the motor, causing the motor to stop, thereby implementing descent protection for the suspension mechanism.

[0030] 2) The control method of the tool system is:

[0031] A) The tool controller collects the current, speed and temperature of the tool motor in real time and sends it to the main controller of the flight platform for monitoring.

[0032] B) Real-time evaluation of the working status of the chainsaw components:

[0033] ① Assuming that the current threshold, speed threshold, and temperature threshold corresponding to the 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;

[0034] 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 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;

[0035] 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.

[0036] C) Abnormal handling method of working status:

[0037] ① If it is determined to be overloaded, a hovering command is sent to the flight platform to stop cutting and feeding;

[0038] 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;

[0039] 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.

[0040] D) Check the balance status of the tool system and implement compensation control:

[0041] 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;

[0042] Defining the cutting strength of chainsaw components:

[0043] x ij =f(N ij ,I ij ,T ij )

[0044] Where i = 1, ..., N, j = a, b. If a linear structure is used, then

[0045] x ij =k N (N0-N ij )+k I I ij +k T T ij

[0046] Among them, k N , k I , k T is the weight coefficient, N0 is the no-load speed;

[0047] Define the difference in cutting strength of a pair of chainsaw components:

[0048] Δx i =x ia -x ib ,i=1,…,N

[0049] Define the comprehensive cutting strength difference of the tool system:

[0050] k i is the weight coefficient

[0051] If |Δxi |≥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;

[0052] If |Δy|≥δ 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.

[0053] ② Balancing operation compensation control method of tool system:

[0054] If ε x <|Δx i |<δ x and ε<|Δy|<δ y , where ε x >0 and ε>0, which is an insensitive area, one of the following methods is used: 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;

[0055] 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.

[0056] 3) Control method of mechanical unhooking device:

[0057] 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;

[0058] 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.

[0059] Beneficial effects of the present invention: Compared with the prior art, the effects of the present invention are as follows:

[0060] 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;

[0061] 2) 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;

[0062] 3) The scissor-fork suspension mechanism can be dynamically extended and retracted during the flight and operation of the flying robot. By adjusting the distance between the tool system and the flying platform, the requirements of clearing different tree obstacles can be met. On the one hand, it is flexible and maneuverable, and has high operating efficiency. On the other hand, it can effectively reduce the difficulty of takeoff and landing of the flying robot, and is easy to store and transport.

[0063] 4) 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;

[0064] 5) Due to the I-shaped frame + telescopic device configuration, especially the transverse connecting rod that connects and strengthens the scissor fork components, the suspension mechanism has good structural rigidity and strength, the system has better stability and reliability, and the structure is simple and easy to implement; when the tool system is subjected to external force, it is not easy for the suspension mechanism to be excessively twisted or deformed, resulting in structural damage, thereby ensuring the safety of the robot;

[0065] 6) The present invention adopts a structure in which the lifting screw rod and the lifting adjustment rod thread cooperate with each other. The lifting screw rod is driven to rotate by a motor, which drives the lifting adjustment rod to rise or fall, thereby driving the suspension mechanism to retract upward or extend downward. After the motor stops rotating, the telescopic length of the suspension mechanism can be maintained, thereby enhancing the overall rigidity of the flying robot.

[0066] 7) A mechanical damping device is provided between the lower connecting seat and the connected V-shaped scissor fork, which can keep the tool system stable at any lifting height, making it less likely to swing freely forward and backward, and provide a certain degree of flexibility during the cutting process, thereby improving the effectiveness and safety of the operation;

[0067] 8) The guide rod is equipped with a limiter to constrain the forward and backward movement of the sliding rod, which can prevent the suspension mechanism from exceeding the mechanical limit when contracting and extending, thereby ensuring the safety of the suspension mechanism movement.

[0068] 9) 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 impact of the heading torque on the flying robot during forward operation, ensuring the heading stability of the flying robot;

[0069] 10) 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;

[0070] 11) 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;

[0071] 12) 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

[0072] Figure 1 This is a schematic diagram of the flying robot in the extended state;

[0073] Figure 2 This is a schematic diagram of the retracted state of the flying robot;

[0074] Figure 3 It is a structural schematic diagram of the scissor-fork type suspension mechanism;

[0075] Figure 4 This is a schematic diagram of the I-shaped frame structure;

[0076] Figure 5 It is a schematic diagram of the telescopic device structure;

[0077] Figure 6 It is a schematic diagram of the structure of the scissor fork assembly;

[0078] Figure 7It is a top view of the scissor-fork suspension mechanism;

[0079] Figure 8 It is a schematic diagram of the structure of the circular saw tool system;

[0080] Fig. 9 It is a schematic diagram of the separation state of the mechanical unhooking device;

[0081] Fig.10 It is a schematic diagram of the hooking state of the mechanical unhooking device;

[0082] Fig.11 is a schematic diagram of the damping device;

[0083] Fig.12 It is a schematic diagram of the chain saw tool system structure;

[0084] Fig.13 It is a schematic diagram of the structure of the electromagnetic unhooking device;

[0085] Fig.14 Schematic diagram of the tilt-rotor configuration.

[0086] In the figure, 1—flying platform, 2—suspension mechanism, 3—tool system, 4—unhooking device;

[0087] 1011—rotor, 1012—rotor arm, 1013—tilt motor;

[0088] 211—I-shaped frame, 212—telescopic device, 213—lower connecting seat;

[0089] 2101—main beam, 2102—guide rod, 2103—flange seat, 2104—lifting screw, 2105—motor, 2106—sliding rod, 2107—lifting adjustment rod, 2108—reinforcement rod, 2109—center reinforcement rod, 2110—long connecting rod, 2111—short connecting rod, 2112—scissor fork assembly, 2113—X-shaped scissor fork, 2114—V-shaped scissor fork, 2115—torsion spring.

[0090] 3001—tool holder, 3002—tool motor, 3003A—circular saw, 3003B—chain saw, 3004—motor driver, 3005—tool controller, 3006—guide, 3007—external guide fork;

[0091] 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;

[0092] 42—lower release assembly, 4201—lower base, 4202—lower hook, 4203—lower electrical interface, 4204—elastic gasket;

[0093] 401 - electromagnet, 402 - armature. DETAILED DESCRIPTION

[0094] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0095] Example 1: Figures 1 to 11 As shown, a tree obstacle clearing flying robot with a scissor-fork type suspended tool comprises a flying platform 1, a hanging mechanism 2 connected to the bottom of the flying platform 1, and a tool system 3 connected to the bottom of the hanging mechanism 2; the hanging mechanism 2 comprises a horizontally arranged I-shaped frame 211, a telescopic device 212 hung under the I-shaped frame 211, and a lower connecting seat 213 connected to the lower end of the telescopic device 212 and docked with the tool system 3; the tool system 3 is an array combination of M (M≥1) electric saw components arranged in a left-right geometric symmetry or mass symmetry manner.

[0096] Preferably, a decoupling device 4 is provided between the suspension mechanism 2 and the tool system 3 to connect or separate the two.

[0097] Preferably, the suspension mechanism 2 is a scissor-fork type suspension mechanism: Figure 4 As shown, the I-shaped frame 211 includes a main beam 2101 located at the center and arranged horizontally, a pair of guide rods 2102 symmetrically fixed to both sides of the main beam 2101 and extending forward and backward, and a flange seat 2103 located at the outer end of the guide rod 2102 and connected to the flight platform 1. A motor 2105 is installed at the center of the main beam 2101, and the output shaft of the motor 2105 is vertically downward and connected to the lifting screw 2104;

[0098] like Figure 5 to Figure 7As shown, the telescopic device 212 includes a pair of scissor fork assemblies 2112 that are symmetrically arranged in parallel. The scissor fork assemblies 2112 include N (N≥1) X-shaped scissor forks 2113 and a V-shaped scissor fork 2114 that are hinged in series end to end from top to bottom; the X-shaped scissor fork 2113 is composed of a pair of long connecting rods 2110 that cross each other in the middle and can rotate with each other, and each long connecting rod 2110 is provided with round holes in the middle and at both ends; the V-shaped scissor fork 2114 is composed of a pair of short connecting rods 2111 that cross each other at the bottom and can rotate with each other, and each short connecting rod 2111 is provided with round holes at both ends, and the rotating shaft of the lower connecting seat 213 passes through the round holes at the lower ends of the pair of short connecting rods 2111; the pair of scissor fork assemblies 2112 are provided with connecting and reinforcing A transverse connecting rod, the transverse connecting rod comprising: a pair of sliding rods 2106 passing through the circular holes at the upper ends of the first pair of X-shaped scissor forks 2113 and symmetrically distributed front to back, a lifting and adjusting rod 2107 passing through the central circular hole of the first pair of X-shaped scissor forks 2113, a reinforcing rod 2108 passing through the circular holes in series at the outer ends of adjacent X-shaped scissor forks 2113, and a central reinforcing rod 2109 passing through the central circular holes of other pairs of X-shaped scissor forks 2113; the sliding rod 2106 is provided with a pair of sliding rings which are symmetrical left and right, sleeved on the guide rod 2102 and can move forward and backward along the guide rod 2102, a column in the middle of the lifting and adjusting rod 2107 is built with a thread matching with the lifting screw 2104, and a column in the middle of the central reinforcing rod 2109 is built with a circular hole for accommodating the lifting screw 2104 to freely pass up and down;

[0099] A damping device is provided between the V-shaped scissor fork 2114 and the lower connecting seat 213 to limit the free swinging of the tool system 3 forward and backward;

[0100] The outer end of the guide rod 2102 is provided with an upper travel switch for sensing that the suspension mechanism 2 has retracted upward to the limit position, and the inner end of the guide rod 2102 is provided with a lower travel switch for sensing that the suspension mechanism has extended downward to the limit position. The output signal lines of the upper travel switch and the lower travel switch and the control signal line of the motor 2105 are all connected to the main controller of the flight platform 1.

[0101] Preferably, Fig.11 As shown, the damping device includes a pair of torsion springs 2115 installed on the rotating shaft of the lower connecting seat 213 and located on the outside of the V-shaped scissors fork 2114 and the inside of the lower connecting seat 213. One end of the torsion spring 2115 is fixed to the lower connecting seat 213, and the other end is fixed to the adjacent short connecting rod 2111.

[0102] Preferably, the tool system 3 includes a tool holder 3001 with a left-right symmetrical appearance, N (N≥1) electric saw assemblies mounted on the tool holder 3001 in a left-right geometrically symmetrical or mass-symmetrical manner, 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 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 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 the output signals of the current sensor, the speed sensor, and the temperature sensor are respectively connected to the tool controller 3005.

[0103] Preferably, the electric saw is a circular saw 3003A, which is fixedly connected to the output shaft of the tool motor 3002 .

[0104] 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 fixedly connected to the lower base 4201. 4203; 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 right-pointing hook, the lower right side of the 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 oblique outer contour of the hook of the upper hook 4105; the lower hook 4202 is provided with a square hole that matches the hook of the upper hook 4105. Once the hook of the upper hook 4105 is screwed in The square 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. 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.

[0105] Preferably, the flight platform 1 is a multi-rotor aircraft with a bilaterally symmetrical layout, and is not limited to any fixed known four, six, eight, etc. multi-rotors.

[0106] 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.

[0107] The working method and control method of the tree obstacle clearing flying robot with a scissor-fork type suspended tool of the present invention are as follows:

[0108] The working method of a tree obstacle clearing flying robot with a scissor-fork type suspended tool is as follows:

[0109] 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, the length and the flying height of the suspension mechanism 2 are adjusted, and the tool system 3 is directed toward the tree to be cut, and 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 flying robot; during the cleaning process, the length of the suspension mechanism 2 can be dynamically adjusted to meet different cleaning needs.

[0110] A control method for a tree obstacle clearing flying robot with a scissor-fork type suspended tool:

[0111] Including the control method of the suspension mechanism 2, the control method of the tool system 3 and the control method of the unhooking device 4, the specific control method is as follows:

[0112] 1) The control method of the suspension mechanism 2 is as follows: the suspension mechanism 2 has three working modes, namely, the suspension mechanism rises, the suspension mechanism locks, and the suspension mechanism falls:

[0113] A) Suspension mechanism rises: the main controller of the flight platform 1 outputs a forward rotation instruction to the motor 2105, and the rotation of the motor 2105 drives the lifting screw 2104 to rotate forward, so that the lifting adjustment rod 2107 rises, drives the telescopic device 212 to retract upward, and the sliding rod 2106 moves outward, thereby causing the suspension mechanism 2 to rise; when the suspension mechanism rises to the limit position, the sliding rod 2106 triggers the upper travel switch, and the main controller of the flight platform 1 outputs a stop instruction to the motor 2105, so that the motor 2105 stops, thereby implementing the lifting protection for the suspension mechanism 2;

[0114] B) Suspension mechanism locking: During the lifting process of the suspension mechanism 2, once the main controller of the flight platform 1 outputs a stop command to the motor 2105, the lifting screw 2104 driven by the motor 2105 will stop rotating. Since there is a self-locking relationship between the lifting screw 2104 and the lifting adjustment rod 2107, the suspension mechanism 2 will be locked in the current position;

[0115] C) The suspension mechanism descends: the main controller of the flight platform 1 outputs a reverse command to the motor 2105, and the rotation of the motor 2105 will drive the lifting screw 2104 to reverse, causing the lifting adjustment rod 2107 to descend, driving the telescopic device 212 to extend downward, and the sliding rod 2106 to move inward, thereby causing the suspension mechanism 2 to descend; when the suspension mechanism descends to the extreme position, the sliding rod 2106 triggers the lower travel switch, and the main controller of the flight platform 1 outputs a stop command to the motor 2105, causing the motor 2105 to stop, thereby implementing descent protection for the suspension mechanism 2.

[0116] 2) The control method of the tool system 3 is:

[0117] 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.

[0118] B) Real-time evaluation of the working status of the chainsaw components:

[0119] 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;

[0120] 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;

[0121] 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.

[0122] C) Abnormal handling method of working status:

[0123] ① If it is determined to be overloaded, a hovering command is sent to the flight platform 1 to stop cutting and feeding;

[0124] 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;

[0125] 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.

[0126] D) Detecting the balanced working state of the tool system 3 and implementing compensation control:

[0127] 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;

[0128] Defining the cutting strength of chainsaw components:

[0129] x ij =f(N ij ,I ij ,T ij )

[0130] Where i = 1, ..., N, j = a, b. If a linear structure is used, then

[0131] x ij =k N (N0-N ij )+k I I ij +k T T ij

[0132] Among them, k N , k I , k T is the weight coefficient, N0 is the no-load speed;

[0133] Define the difference in cutting strength of a pair of chainsaw components:

[0134] Δx i =x ia -x ib ,i=1,…,N

[0135] Define the comprehensive cutting strength difference of tool system 3:

[0136] k i is the weight coefficient

[0137] 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;

[0138] 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 tool system balancing operation.

[0139] ② Balancing operation compensation control method of tool system 3:

[0140] If ε x <|Δx i |<δ x and ε<|Δy|<δ y , where ε x >0 and ε>0, which is an insensitive zone, one of the following methods is used: 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;

[0141] 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.

[0142] 3) Control method of mechanical unhooking device 4:

[0143] 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;

[0144] 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.

[0145] Example 2: Fig.12 As shown, a tree obstacle clearing flying robot with a scissor fork type suspended tool, the electric saw described in Example 1 is a chain saw 3003B, 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. The number N of chain saw components of the chain saw tool system is 2.

[0146] Embodiment 3: A flying robot for clearing tree obstacles with a scissor-fork type suspended tool, wherein the unhooking device 4 is an electromagnetic unhooking device, comprising 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.

[0147] like Fig.13As 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 magnet 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.

[0148] Example 4: Fig.14 As shown, a tree obstacle clearing flying robot with a scissor-fork type suspended tool, between any pair of left-right symmetrical rotors 1011 of the multi-rotor aircraft and their respective rotor arms 1012, a tilt motor 1013 is provided, which can rotate the rotor 1011 relative to the axis of the corresponding rotor arm 1012, thereby realizing tilting the rotor.

[0149] 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.

[0150] 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 a scissor-fork type suspended tool, characterized in that: The invention 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 suspension mechanism (2) comprises a horizontally arranged I-shaped frame (211), a telescopic device (212) hung under the I-shaped frame (211), and a lower connecting seat (213) connected to the lower end of the telescopic device (212) and connected to the tool system (3); the tool system (3) is an array combination of M electric saw components arranged in a left-right geometric symmetry or mass symmetry manner, M≥1; A decoupling device (4) is provided between the suspension mechanism (2) and the tool system (3) for connecting or disconnecting the two. The suspension mechanism (2) is a scissor-fork type suspension mechanism: the I-shaped frame (211) comprises a main beam (2101) located at a central position and arranged transversely, a pair of guide rods (2102) symmetrically fixed to both sides of the main beam (2101) and extending forward and backward, and a flange seat (2103) located at the outer end of the guide rod (2102) and connected to the flight platform (1); a motor (2105) is installed at the center of the main beam (2101), and the output shaft of the motor (2105) is vertically downward and connected to the lifting screw (2104); The telescopic device (212) comprises a pair of scissor fork assemblies (2112) arranged in parallel and symmetrically on both sides. The scissor fork assemblies (2112) comprise N X-shaped scissor forks (2113) and one V-shaped scissor fork (2114) which are hinged in series end to end from top to bottom, where N≥1; the X-shaped scissor fork (2113) is composed of a pair of long connecting rods (2110) which cross each other at the middle and can rotate with each other, and each long connecting rod (2110) is provided with round holes at the middle and both ends; the V-shaped scissor fork (2114) is composed of a pair of short connecting rods (2111) which cross each other at the bottom and can rotate with each other, and each short connecting rod (2111) is provided with round holes at both ends, and the rotating shaft of the lower connecting seat (213) passes through the round holes at the lower ends of the pair of short connecting rods (2111); the pair of scissor fork assemblies (2112) are provided with transverse connecting rods (2113) from top to bottom for connecting and reinforcing. The connecting rod comprises: a pair of sliding rods (2106) passing through the circular holes at the upper ends of the first pair of X-shaped scissor forks (2113) and symmetrically distributed front and back, a lifting and adjusting rod (2107) passing through the central circular hole of the first pair of X-shaped scissor forks (2113), a reinforcing rod (2108) passing through the serially connected circular holes at the outer ends of adjacent X-shaped scissor forks (2113), and a central reinforcing rod (2109) passing through the central circular holes of other pairs of X-shaped scissor forks (2113); the sliding rod (2106) is provided with a pair of sliding rings which are symmetrical on both sides and are sleeved on the guide rod (2102) and can move forward and backward along the guide rod (2102); the column in the middle of the lifting and adjusting rod (2107) is internally provided with a thread matched with the lifting screw rod (2104); the column in the middle of the central reinforcing rod (2109) is internally provided with a circular hole for accommodating the lifting screw rod (2104) to freely pass through up and down; A damping device is provided between the V-shaped scissor fork (2114) and the lower connecting seat (213) to limit the free swinging of the tool system (3) forward and backward; The outer end of the guide rod (2102) is provided with an upper travel switch for sensing that the suspension mechanism (2) has retracted upward to an extreme position, and the inner end of the guide rod (2102) is provided with a lower travel switch for sensing that the suspension mechanism has extended downward to an extreme position, and the output signal lines of the upper travel switch and the lower travel switch and the control signal line of the motor (2105) are all connected to the main controller of the flying platform (1); The tool system (3) comprises a tool holder (3001) with a left-right symmetrical appearance, N electric saw assemblies mounted on the tool holder (3001) in a left-right geometrically symmetrical or mass-symmetrical manner, 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, where N is greater than or equal to 1; 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); 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, and a lower hook (4106) installed on the upper base (4101) and the upper hook The lower unhooking assembly (42) comprises a lower base (4201), a lower hook (4202) which is fixed to the lower base (4201) and can form an upper and lower hanging connection with the upper hook (4105), and a lower electrical interface (4107) which is fixed to the upper base (4101). 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-pointing 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 with the oblique angle outer contour of the upper hook (4105); the lower hook (4202) is provided with a square hole that matches the hook of the upper hook (4105). Once the hook of the upper hook (4105) is screwed in, The square hole can form a reliable connection between the lower hook (4202) and the upper hook (4105); the lower hook assembly (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), and 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.

2. The tree obstacle clearing flying robot with a scissor-fork type suspended tool according to claim 1, characterized in that: The damping device comprises a pair of torsion springs (2115) mounted on the rotating shaft of the lower connecting seat (213) and located on the outside of the V-shaped scissor fork (2114) and the inside of the lower connecting seat (213); one end of the torsion spring (2115) is fixed to the lower connecting seat (213), and the other end is fixed to the adjacent short connecting rod (2111).

3. The tree obstacle clearing flying robot with a scissor-fork type suspended tool according to claim 1, 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.

4. The tree obstacle clearing flying robot with a scissor-fork type suspended tool according to claim 1, characterized in that: The flight platform (1) is a multi-rotor aircraft with a bilaterally symmetrical layout.

5. The tree obstacle clearing flying robot with a scissor-fork type suspended tool according to claim 4, characterized in that: A tilt motor (1013) is provided between any pair of left-right symmetrical rotors (1011) of the multi-rotor aircraft and their respective rotor arms (1012), which can rotate the rotors (1011) relative to the axis of the corresponding rotor arms (1012).

6. An operating method of a tree obstacle clearing flying robot using the scissor-fork type suspended tool according to claim 1, the operating method of the tree obstacle clearing flying robot using the scissor-fork type suspended tool comprising a working method and a control method, characterized in that: The working method of the tree obstacle clearing flying robot with scissor fork type hanging tool is as follows: 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, the length and the flying height of the suspension mechanism 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; during the clearing process, the length of the suspension mechanism (2) can be dynamically adjusted to meet different clearing requirements; Control method of a tree obstacle clearing flying robot with a scissor-fork type suspended tool: The invention comprises 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 control method of the suspension mechanism (2) is as follows: the suspension mechanism (2) has three working modes, namely, suspension mechanism rising, suspension mechanism locking and suspension mechanism descending: A) The suspension mechanism rises: the main controller of the flight platform (1) outputs a forward rotation instruction to the motor (2105), and the motor (2105) rotates to drive the lifting screw (2104) to rotate forward, so that the lifting adjustment rod (2107) rises, drives the telescopic device (212) to retract upward, and the sliding rod (2106) moves outward, thereby causing the suspension mechanism (2) to rise; when the suspension mechanism rises to the limit position, the sliding rod (2106) triggers the upper travel switch, and the main controller of the flight platform (1) outputs a stop rotation instruction to the motor (2105), so that the motor (2105) stops rotating, thereby implementing the lifting protection for the suspension mechanism (2); B) Locking of the suspension mechanism: During the lifting and lowering process of the suspension mechanism (2), once the main controller of the flight platform (1) outputs a stop command to the motor (2105), the lifting screw (2104) driven by the motor (2105) will stop rotating. Since there is a self-locking relationship between the lifting screw (2104) and the lifting adjustment rod (2107), the suspension mechanism (2) will be locked in the current position; C) The suspension mechanism descends: the main controller of the flight platform (1) outputs a reverse command to the motor (2105), and the motor (2105) rotates to drive the lifting screw (2104) to reverse, so that the lifting adjustment rod (2107) descends, driving the telescopic device (212) to extend downward, and the sliding rod (2106) to move inward, thereby causing the suspension mechanism (2) to descend; when the suspension mechanism descends to the limit position, the sliding rod (2106) triggers the lower travel switch, and the main controller of the flight platform (1) outputs a stop command to the motor (2105), causing the motor (2105) to stop, thereby implementing a descending protection for the suspension mechanism (2); 2) 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; a, b represent the tool motors at the symmetrical positions on the left and right sides respectively; if a linear structure is adopted, 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); 3) Control method of mechanical unhooking device (4): 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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