A circular saw tool system for a tree obstacle clearing flying robot

Abstract

The present invention discloses a circular saw tool system for a tree obstacle clearing flying robot, comprising a tool holder, an array combination of 2N (N≥1) circular saw assemblies mounted on the tool holder in a left-right geometrically symmetrical or mass-symmetrical manner, a "V"-shaped guide fixedly connected to the tool holder and located between adjacent circular saws, and a tool controller for controlling the circular saw assembly; the circular saw assembly comprises a circular saw motor, a circular saw fixedly connected to the output shaft of the circular saw motor, and a motor driver driving the circular saw motor; the circular saw assembly is provided with sensors for respectively sensing the current, rotation speed, and temperature of the circular saw motor when it is working, and the output of the sensor is connected to the tool controller. The present invention has a variety of circular saw combination configurations to meet the needs of different scenarios, and is suitable for "shaving-style" large-area rapid cleaning of the top and sides of tree obstacles, with high operating efficiency, good environmental adaptability, and high safety factor, solving the problems of low cleaning efficiency and high safety risks in the prior art.

Description

Technical Field

[0001] The invention relates to a circular saw tool system for a tree obstacle clearing flying robot, in particular to a tool system suitable for quickly clearing large-area tree obstacles, and belongs to the technical field of power transmission line tree obstacle clearing devices. Background Art

[0002] Tree barriers are a potential safety hazard in the transmission line channel, which is manifested in the continuous growth of trees in the channel, gradually threatening the safe operation of the transmission line. 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 the tree barriers in the channels within their jurisdiction. At present, there are three main ways to clear tree barriers: 1) Manual obstacle removal operations, which often use specially made extended cutting tools, have high safety risks and low operating efficiency; 2) Tree barrier clearance 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 clearance technology based on drones, but there are still shortcomings such as weak resistance to tree interference in contact operations, 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 circular saw tool system for a tree barrier clearing flying robot, which can efficiently clear tree barriers over a large area and meet the safety operation requirements for clearing tree barriers on power transmission lines.

[0005] The technical solution of the present invention is: a circular saw tool system for a tree obstacle clearing flying robot, which is fixedly connected to the bottom of the flying robot, and includes a tool holder with a left-right symmetrical appearance, 2N (N≥1) disc saw assemblies installed on the tool holder in a left-right geometrically symmetrical or mass-symmetrical manner, a "V"-shaped guide fixedly connected to the tool holder and located between adjacent disc saw assemblies with the tip facing outward, and a tool controller built into the tool holder for controlling the disc saw assembly; the disc saw assembly includes a disc saw motor, a circular saw fixedly connected to the output shaft of the disc saw motor, and a motor driver for driving the disc saw motor, and the tool controller is connected to the flight platform of the tree obstacle clearing flying robot via a communication bus.

[0006] Preferably, the disc 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 disc saw motor when it is operating, and the output signals of the current sensor, the speed sensor and the temperature sensor are respectively connected to the tool controller.

[0007] Preferably, a suspension mechanism is provided below the flying robot, and a tool holder is connected via the suspension mechanism.

[0008] Preferably, a decoupling device is provided between the suspension mechanism and the tool holder.

[0009] Preferably, the decoupling device comprises an electromagnet and an armature, wherein the electromagnet is fixedly connected to the lower end of the suspension mechanism, and the armature is fixedly connected to the upper part of the chain saw cutter system. When the electromagnet is energized, it is attracted to the armature, and the chain saw cutter system is connected to the lower part of the suspension mechanism; when the electromagnet is deenergized, the armature is released, and the chain saw cutter system is separated from the suspension mechanism.

[0010] Preferably, the circular saw is a thin-sheet circular saw made of metal, ceramic or composite material.

[0011] Preferably, the decoupling device comprises an electromagnet and an armature, wherein the electromagnet is fixedly connected to the lower end of the suspension mechanism, and the armature is fixedly connected to the upper part of the circular saw tool system. When the electromagnet is energized, it is attracted to the armature, and the circular saw tool system is connected to the lower part of the suspension mechanism; when the electromagnet is deenergized, the armature is released, and the circular saw tool system is separated from the suspension mechanism.

[0012] The control method of the circular saw tool system is:

[0013] 1) The tool controller collects the current, speed and temperature of the disc saw motor in real time and sends it to the main controller of the flight platform for monitoring;

[0014] 2) Real-time evaluation of the working status of the disc saw components, including no-load, cutting, overload, jamming and damage:

[0015] If it is determined to be overloaded, a hovering command is sent to the flight platform to stop cutting and feeding;

[0016] If it is determined to be stuck or damaged, the disc saw motor will be braked and a retreat command will be sent to the flight platform at the same time;

[0017] In the case of a jam, if the circular saw is stuck by a branch and is difficult to break free, the unhooking device is activated to separate the circular saw tool system from the flying robot, thereby protecting the safety of the flying robot to the greatest extent and avoiding a crash.

[0018] 3) Detect the balanced operating state of the circular saw tool system and implement compensation control.

[0019] Preferably, the method for evaluating the working status of the disk saw assembly is as follows:

[0020] 1) Assuming that the current threshold, speed threshold, and temperature threshold corresponding to the overload are known, if the current of the disc saw 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 disc saw component is overloaded;

[0021] 2) Assuming that the current threshold, speed threshold, and temperature threshold corresponding to the jamming resistance are known, if the current of the disc saw 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 disc saw assembly is jammed;

[0022] 3) If the current or speed of the disc saw motor pulsates periodically and the amplitude exceeds a predetermined threshold, it can be determined that the disc saw component is damaged.

[0023] Preferably, the method for detecting the balanced working state of the circular saw tool system is as follows:

[0024] Assume that the instantaneous speeds of the disc saw 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;

[0025] Define the cutting strength of the disc saw components:

[0026] x ij =f(N ij ,I ij ,T ij )

[0027] Where i = 1, ..., N, j = a, b. If a linear structure is used, then

[0028] x ij =k N (N0-N ij )+k I I ij +k T T ij

[0029] Among them, k N , k I , k T is the weight coefficient, N0 is the no-load speed;

[0030] Define the difference in cutting strength of a pair of disc saw components:

[0031] Δx i =x ia -x ib ,i=1,…,N

[0032] Define the comprehensive cutting strength difference of the tool system:

[0033] k i is the weight coefficient

[0034] 1) If |Δx i |≥δ x , it can be determined that the balance operation of the disc saw assembly is abnormal, where δ x >0, which is the judgment threshold for abnormal balance operation of the disc saw component;

[0035] 2) 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.

[0036] Preferably, the balancing operation compensation control method of the circular saw tool system is as follows:

[0037] 1) If ε x <|Δx i |<δ x and ε<|Δy|<δ y , where ε x >0 and ε>0, which is the insensitive area. The balance compensation method is one of the following:

[0038] ① Heading follow-up: Control the heading of the flying robot to move toward the side with less cutting intensity, so as to implement balance compensation on both sides of the circular saw tool system;

[0039] ② Heading hold: Control the flying robot to hover and wait for |Δx i After | and |Δy| are reduced, the flying platform is controlled to fly forward to clear obstacles and maintain the heading of the flying robot.

[0040] 2) If it is determined that the balance of a pair of disk 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 the circular saw motors will be reversed and then braked to make the circular saw tool system quit the cutting operation, and at the same time send a protective retreat command to the flight platform.

[0041] Beneficial effects of the present invention: Compared with the prior art, the effects of the present invention are as follows:

[0042] 1) The circular saw tool system is an array combination of 2N (N≥1) circular saw components arranged with left-right geometric symmetry or mass symmetry, which is suitable for "shaving-style" large-area rapid cleaning of the top and sides of tree barriers. It has high operating efficiency and good environmental adaptability, avoids operators from approaching high-voltage lines, effectively reduces the operating risks of tree barrier cleaning, improves the safety of obstacle removal operations, and solves the problems of low cleaning efficiency and high safety risks in the prior art;

[0043] 2) For a flying robot with a suspended circular saw tool system, the circular saw tool system is always located below the flying platform during operation, and the center of gravity of the whole machine is basically coincident with the vertical projection of the geometric center of the flying platform, which can ensure that the flying robot has good static stability and effectively avoid the interference of tree obstacles on the rotor of the flying platform, reduce the risk of crash, and improve the safety of the flying robot operation;

[0044] 3) Each circular saw assembly is equipped with sensors that sense the current, speed and temperature of the circular saw motor. The tool controller collects the current, speed and temperature of the circular saw motor in real time, evaluates the working status of the circular saw assembly, and then implements protective retreat for the flying robot or compensation and protection control for the balancing operation of the circular saw tool system, thereby reducing the impact of the unbalanced torque on the flying robot during forward operation and ensuring the safety and reliability of the flying robot's operation;

[0045] 4) When branches and leaves entangle the circular saw tool system, the unhooking device can be activated manually or automatically, and the circular saw tool system and the tree obstacle clearing robot can be "detached", ensuring the safety of the flying robot and reducing failure losses;

[0046] 5) A "V"-shaped guide with the tip facing outward is provided between adjacent circular saws. On the one hand, it is used to guide branches quickly into the cutting area of ​​the circular saw to speed up the branch cutting speed. On the other hand, it can prevent branches from getting stuck between saw blades, thus improving the safety of tree obstacle clearing.

[0047] 6) The circular saw tool system adopts a modular design concept, combining multiple circular saw components for easy assembly and maintenance; it also has a variety of combined configurations to meet the needs of different operating objectives and operating environments;

[0048] 7) Through the control method of the circular saw tool system, the flying robot can be protected and the balanced operating state of the circular saw tool system can be detected and compensated, thereby improving the safety and automation level of the flying robot operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 It is a schematic diagram of the internal structure of the circular saw tool system;

[0050] Figure 2 This is a schematic diagram of the overall appearance of the circular saw tool system;

[0051] Figure 3 A schematic diagram of a circular saw assembly of a circular saw tool system;

[0052] Figure 4 A schematic diagram of a tree obstacle clearing flying robot using a circular saw tool system;

[0053] Figure 5 It is a schematic diagram of the structure of the unhooking device;

[0054] Figure 6 A schematic diagram of a circular saw tool system with saw planes vertically and symmetrically installed;

[0055] Figure 7 A schematic diagram of a circular saw tool system with the saw plane tilted 45 degrees inward and installed symmetrically in parallel;

[0056] Figure 8 A schematic diagram of a circular saw tool system with a saw plane crisscrossed and symmetrically arranged;

[0057] Fig. 9 Schematic diagram of a circular saw tool system with the saw plane installed vertically in a symmetrical manner.

[0058] In the figure, 1—flying platform, 2—suspension mechanism, 3—circular saw tool system, 4—unhooking device;

[0059] 3101 - tool holder, 3102 - disc saw motor, 3103 - circular saw, 3104 - motor driver, 3105 - tool controller, 3106 - guide, 3107 - disc saw assembly, 3108 - vertical extension rod;

[0060] 401 - electromagnet, 402 - armature. DETAILED DESCRIPTION

[0061] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0062] Example 1: Figure 1 to Figure 4 As shown, a circular saw tool system for a tree obstacle clearing flying robot is fixedly connected to the bottom of the flying robot, which includes a tool holder 3101 with a left-right symmetrical appearance, 2N (N≥1) disc saw assemblies 3107 installed on the tool holder 3101 in a left-right geometrically symmetrical or mass-symmetrical manner, a "V"-shaped guide 3106 fixedly connected to the tool holder 3101 and located between adjacent circular saws 3103 with the tip facing outward, and a tool controller 3105 built into the tool holder 3101 for controlling the disc saw assembly 3107; the disc saw assembly 3107 includes a disc saw motor 3102, a circular saw 3103 fixedly connected to the output shaft of the disc saw motor 3102, and a motor driver 3104 for driving the disc saw motor 3102, and the tool controller 3105 is connected to the flight platform 1 of the tree obstacle clearing flying robot via a communication bus.

[0063] Preferably, the disk saw assembly 3107 is provided with a current sensor, a speed sensor and a temperature sensor for respectively sensing the current, speed and temperature of the disk saw motor 3102 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 3105.

[0064] Preferably, Figure 4 As shown, the circular saw tool system 3 is connected to the bottom of the suspension mechanism 2 of the flying robot, and the suspension mechanism 2 is fixedly connected to the bottom of the flying platform 1 of the flying robot; the flying platform 1 is a single-rotor helicopter or a multi-rotor aircraft with a left-right symmetrical layout, and the multi-rotor aircraft is not limited to any known four-, six-, eight-, etc. multi-rotor configurations.

[0065] Preferably, Figure 4 As shown, a decoupling device 4 is provided between the suspension mechanism 2 and the tool holder 3101 .

[0066] Preferably, Figure 5 As shown, the decoupling device 4 is composed of an electromagnet 401 and an armature 402. The electromagnet 401 is installed at the lower end of the suspension mechanism 2, and the armature 402 is fixedly connected to the upper part of the chain saw cutter system. When the electromagnet 401 is powered on, it is attracted to the armature 402, and the chain saw cutter system is connected to the suspension mechanism 2. When the electromagnet 401 is powered off, the armature 402 is released, and the chain saw cutter system is separated from the suspension mechanism 2. During the obstacle removal operation, when the chain saw cutter system is stuck relative to the tree obstacle and cannot be separated, the decoupling device 4 can be used to separate the chain saw cutter system from the flying robot, thereby implementing safety protection for the flying robot.

[0067] Preferably, the circular saw 3103 is a thin-sheet circular saw made of metal, ceramic or composite material.

[0068] A control method of a circular saw tool device for a tree obstacle clearing flying robot according to the present invention is as follows:

[0069] 1) The tool controller 3105 collects the current, speed and temperature of the disk saw motor 3102 in real time when it is working, and sends it to the main controller of the flight platform 1 for monitoring;

[0070] 2) Real-time evaluation of the working status of the disc saw assembly 3107, including no-load, cutting, overload, jamming and damage:

[0071] If it is determined to be overloaded, a hovering command is sent to the flight platform 1 to stop cutting and feeding;

[0072] If it is determined to be blocked or damaged, the disc saw motor 3102 is braked and a retreat command is sent to the flying platform 1;

[0073] In the case of a jam, if the circular saw 3103 is stuck by a branch and is difficult to break free, the unhooking device 4 is activated to separate the circular saw tool system 3 from the flying robot, thereby protecting the safety of the flying robot to the greatest extent and avoiding a crash;

[0074] 3) Detect the balanced working state of the circular saw tool system 3 and implement compensation control.

[0075] Preferably, the evaluation method of the working state of the disk saw assembly 3107 is as follows:

[0076] 1) Assuming that the current threshold, speed threshold, and temperature threshold corresponding to the overload are known, if the current of the disc saw motor 3102 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 disc saw assembly 3107 is overloaded;

[0077] 2) Assuming that the current threshold, speed threshold, and temperature threshold corresponding to the jamming resistance are known, if the current of the disk saw motor 3102 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 disk saw assembly 3107 is jammed;

[0078] 3) If the current or speed of the disc saw motor 3102 pulsates periodically and the amplitude exceeds a predetermined threshold, it can be determined that the disc saw assembly 3107 is damaged.

[0079] Preferably, the method for detecting the balanced working state of the circular saw tool system 3 is as follows:

[0080] Assume that the instantaneous speeds of the disk saw motors 3102 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;

[0081] Define the cutting strength of the disc saw assembly 3107:

[0082] x ij =f(N ij ,I ij ,T ij )

[0083] Where i = 1, ..., N, j = a, b. If a linear structure is used, then

[0084] x ij =k N (N0-N ij )+k I I ij +k T Tij

[0085] Among them, k N , k I , k T is the weight coefficient, N0 is the no-load speed;

[0086] Define the cutting strength difference of a pair of disk saw assemblies 3107:

[0087] Δx i =x ia -x ib ,i=1,…,N

[0088] Define the comprehensive cutting strength difference of the tool system:

[0089] k i is the weight coefficient

[0090] 1) If |Δx i |≥δ x , it can be determined that the balance operation of the disk saw assembly 3107 is abnormal, where δ x >0 is the judgment threshold value of abnormal balance operation of the disc saw component 3107;

[0091] 2) If |Δy|≥δ y , it can be determined that the tool system is not balanced properly, where δ y >0 is the threshold for judging abnormality of tool system balancing operation.

[0092] The balancing operation compensation control method of the circular saw tool system 3 is as follows:

[0093] 1) If ε x <|Δx i |<δ x and ε<|Δy|<δ y , where ε x >0 and ε>0, which is the insensitive area. The balance compensation method is one of the following:

[0094] ① Heading follow-up: Control the heading of the flying robot to move toward the side with smaller cutting intensity, so as to implement balance compensation on both sides of the circular saw tool system 3;

[0095] ② Heading hold: Control the flying robot to hover and wait for |Δx i After | and |Δy| are both reduced, the flying platform 1 is controlled to fly forward to perform obstacle clearing and feeding, thereby maintaining the heading of the flying robot.

[0096] 2) If it is determined that the balance operation of a pair of disk saw components 3107 is abnormal or the balance operation of the tool system 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 the circular saw motors 3102 are reversed and then braked, so that the circular saw tool system 3 exits the cutting operation, and at the same time a protective retreat command is issued to the flying platform 1.

[0097] Preferably, the decoupling device 4 is composed of an electromagnet 401 and an armature 402, wherein the electromagnet 401 is installed at the lower end of the suspension mechanism 2, and the armature 402 is fixedly connected to the upper part of the circular saw tool system 3; when the electromagnet 401 is powered on, it is attracted to the armature 402, and the circular saw tool system 3 is connected to the suspension mechanism 2; when the electromagnet 401 is powered off, the armature 402 is released, and the circular saw tool system 3 is separated from the suspension mechanism 2. During the obstacle removal operation, when the circular saw tool system 3 is stuck relative to the tree obstacle and cannot be separated, the decoupling device 4 can be used to separate the circular saw tool system 3 from the flying robot, thereby implementing safety protection for the flying robot.

[0098] Embodiment 2: A circular saw tool system for a tree obstacle clearing flying robot. The circular saw 3103 can be installed and arranged in a variety of ways for branches with different growth directions and postures. The tool system with a specific installation arrangement can be replaced according to the operation requirements:

[0099] 1) If Figure 6 As shown, the saw planes of the circular saw 3103 are installed vertically and symmetrically in parallel, and are used to cut horizontally growing branches.

[0100] 2) If Figure 7 As shown, the saw planes of the circular saw 3103 are inclined inward at 45 degrees and are installed symmetrically in parallel, and are used to cut oblique or even randomly growing branches.

[0101] 3) If Figure 8 As shown, the saw planes of the circular saw 3103 are symmetrically arranged in a criss-cross pattern and are used to cut branches growing horizontally and vertically.

[0102] 4) If Fig. 9 As shown, the circular saw 3103 is installed on both sides of the vertical extension rod 3108 of the tool holder 3101 in a left-right mass symmetrical manner, and the saw planes are arranged vertically and longitudinally in an alternating manner for cutting sideways growing branches.

[0103] 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 circular saw tool system for a tree obstacle clearing flying robot, fixedly connected to the bottom of the flying robot, characterized in that: The invention comprises a tool holder (3101) with a left-right symmetrical appearance, 2N disc saw assemblies (3107) mounted on the tool holder (3101) in a left-right geometrically symmetrical or mass-symmetrical manner, a "V"-shaped guide (3106) fixedly connected to the tool holder (3101) and located between adjacent circular saws (3103) with its tip facing outward, and a tool controller (3105) built into the tool holder (3101) for controlling the disc saw assembly (3107), N≥1; the disc saw assembly (3107) comprises a disc saw motor (3102), a circular saw (3103) fixedly connected to an output shaft of the disc saw motor (3102), and a motor driver (3104) for driving the disc saw motor (3102); the tool controller (3105) is connected to a flight platform (1) of a tree obstacle clearing flying robot via a communication bus; The disk saw assembly (3107) is provided with a current sensor, a speed sensor and a temperature sensor for respectively sensing the current, speed and temperature of the disk saw motor (3102) 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 (3105); The control method of the circular saw tool system for the tree obstacle clearing flying robot is: 1) The tool controller (3105) collects the current, speed and temperature of the disc saw motor (3102) in real time when it is working, and sends it to the main controller of the flight platform (1) for monitoring; 2) Real-time evaluation of the working status of the disc saw assembly (3107), including no-load, cutting, overload, jamming and damage: If it is determined to be overloaded, a hovering command is sent to the flying platform (1) to stop cutting and feeding; If it is determined to be blocked or damaged, the disc saw motor (3102) is braked and a retreat command is sent to the flying platform (1); In the case of a jam, if the circular saw (3103) is stuck by a branch and is difficult to break free, the unhooking device (4) is activated to separate the circular saw tool system (3) from the flying robot, thereby protecting the safety of the flying robot to the greatest extent and avoiding a crash. 3) detecting the balanced operation state of the circular saw tool system (3) and implementing compensation control; The method for evaluating the working status of the disk saw assembly (3107) is as follows: 1) Assuming that the current threshold, speed threshold, and temperature threshold corresponding to the overload are known, if the current of the disc saw motor (3102) 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 disc saw component (3107) is overloaded; 2) Assuming that the current threshold, speed threshold, and temperature threshold corresponding to the jamming are known, if the current of the disk saw motor (3102) 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 disk saw assembly (3107) is jammed; 3) If the current or speed of the disc saw motor (3102) pulsates periodically and the amplitude exceeds a predetermined threshold, it can be determined that the disc saw assembly (3107) is damaged; The method for detecting the balanced operation state of the circular saw tool system (3) is as follows: Assume that the instantaneous rotation speeds of the disk saw motors (3102) 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; Define the cutting strength of the disc saw assembly (3107): 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 disc saw assemblies (3107): Δx i =x ia -x ib ,i=1,…,N Define the comprehensive cutting strength difference of the tool system: 1) If |Δx i |≥δ x , it can be determined that the balance operation of the disc saw assembly (3107) is abnormal, where δ x >0 is the threshold value for judging the abnormality of the balance operation of the disc saw assembly (3107); 2) If |Δy|≥δ y , it can be determined that the tool system is not balanced properly, where δ y >0 is the threshold for judging abnormality of tool system balancing operation.

2. The circular saw tool system for a tree obstacle clearing flying robot according to claim 1, characterized in that: A suspension mechanism (2) is provided below the flying robot, and a tool holder (3101) is connected via the suspension mechanism (2).

3. The circular saw tool system for a tree obstacle clearing flying robot according to claim 2, characterized in that: A decoupling device (4) is also provided between the suspension mechanism (2) and the tool holder (3101).

4. The circular saw tool system for a tree obstacle clearing flying robot according to claim 1, characterized in that: The circular saw (3103) is a thin-sheet circular saw made of metal, ceramic or composite material.

5. The circular saw tool system for a tree obstacle clearing flying robot according to claim 1, characterized in that: The balancing operation compensation control method of the circular saw tool system (3) is as follows: 1) If ε x <|Δx i |<δ x and ε<|Δy|<δ y , where ε x >0 and ε>0, which is the insensitive area. The compensation control method for balancing operation is one of the following: ① Heading follow-up: Control the heading of the flying robot to move toward the side with smaller cutting intensity, so as to implement balance compensation on both sides of the circular saw tool system (3); ② Heading hold: Control the flying robot to hover and wait for |Δx i After | and |Δy| are both reduced, the flight platform (1) is controlled to fly forward to perform obstacle clearing and feeding, thereby maintaining the heading of the flying robot; 2) If it is determined that the balance operation of a pair of disk saw components (3107) is abnormal or the balance operation of the tool system 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 If | and |Δy| have not all fallen back, all the circular saw motors (3102) are reversed and then braked, so that the circular saw tool system (3) quits the cutting operation and at the same time sends a protective retreat command to the flying platform (1).

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