A tree obstacle clearing flying robot with a suspended tool system

Abstract

The present invention discloses a tree barrier clearing flying robot with a hanging tool system, 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; wherein the hanging mechanism is a connecting rod of fixed length, or a telescopic hanging mechanism of variable length, comprising L (L≥2) vertical rods arranged symmetrically on the left and right, and a transverse reinforcing beam is provided between adjacent vertical rods, and 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; between the hanging mechanism and the tool system or between the flying platform and the hanging mechanism, a decoupling device is provided to connect or separate the two. The tree barrier clearing flying robot of the present invention is suitable for implementing large-area rapid cleaning of a flat-push type from the top of a 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 flying robot with a hanging cutter system for clearing tree barriers on power lines, in particular to a flying robot suitable for quickly clearing tree barriers in a large area, belonging to the technical field of tree barrier clearing devices for power transmission lines. Background Art

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

[0003] Therefore, there is an urgent need to develop a flying robot that can automatically clear tree obstacles 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 obstacle clearing flying robot with a suspended tool system, which realizes large-area and high-efficiency cleaning of tree obstacles in the line channel by mounting a tool system composed of multiple tools on a rotorcraft, thereby meeting the needs of safe tree obstacle clearing operations in the power transmission line environment.

[0005] The technical solution of the present invention is: a tree obstacle clearing flying robot with a suspended tool system, comprising a flying platform, a suspension mechanism connected to the bottom of the flying platform and a tool system connected to the bottom of the suspension mechanism; wherein the suspension mechanism is a connecting rod of fixed length, or a telescopic suspension mechanism of variable length, comprising L (L≥2) vertical rods arranged symmetrically on the left and right, and transverse reinforcing beams are provided between adjacent vertical rods; the tool system is an array combination of M (M≥1) electric saw assemblies 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 or between the flying platform and the suspension mechanism, which can connect or separate the two.

[0007] Preferably, a pitching joint enabling relative pitching movement freedom between the suspension mechanism and the flying platform is provided therebetween.

[0008] Preferably, the suspension mechanism is a cable-retractable suspension mechanism, which is characterized in that: the vertical rod comprises H (H≥2) sections of continuously nested hollow tubes, numbered 1, 2, …, H from top to bottom in sequence. The upper end of the i-th (1≤i<H) section of hollow tube is provided with an upper stopper for restricting the overshoot of the upward contraction movement of the (i + 1)-th section of hollow tube, and the lower end is provided with a lower stopper for restricting the dropping-off of the downward extension movement of the (i + 1)-th section of hollow tube; the upper stopper of the first section of hollow tube is provided with a flange connected to the flying platform, the upper end of the H-th section of hollow tube is provided with an upper stopper, and the lower end is connected to the tool system. The upper stopper of the H-th section of hollow tube is connected to a wire reel installed on the flying platform through a pull rope; the transverse strengthening beams are connected to the lower ends of the same-section hollow tubes of adjacent vertical rods.

[0009] Preferably, the suspension mechanism is a pulley-retractable suspension mechanism, which is characterized in that: the vertical rod comprises H (H≥3) sections of continuously nested hollow tubes, numbered 1, 2, …, H from top to bottom in sequence. The upper end of the i-th (1≤i<H) section of hollow tube is provided with an upper stopper for restricting the overshoot of the upward contraction movement of the (i + 1)-th section of hollow tube, and the lower end is provided with a lower stopper for restricting the dropping-off of the downward extension movement of the (i + 1)-th section of hollow tube; the upper stopper of the first section of hollow tube is provided with a flange connected to the flying platform, the upper end of the H-th section of hollow tube is provided with an upper stopper, and the lower end is connected to the tool system. The upper stopper of the second section of hollow tube is connected to a wire reel installed on the flying platform through a pull rope; the vertical rod further comprises a movable pulley with a horizontal axis fixed to the upper stopper of the j-th (2≤j<H) section of hollow tube and a rotation plane passing through the vertical axis of the hollow tube, and a pulley pull rope wound around the upper side of the movable pulley and fixedly connected at one end to the lower stopper of the (j - 1)-th section of hollow tube and at the other end to the upper stopper of the (j + 1)-th section of hollow tube; the transverse strengthening beams are connected to the lower ends of the same-section hollow tubes of adjacent vertical rods.

[0010] Preferably, the above-mentioned vertical rod is an electric push rod with a linear telescopic movement function.

[0011] Preferably, the above-mentioned wire reel comprises a wire-reeling motor, a wire-reeling disc for reeling the pull rope, a rotary fork driven by the wire-reeling motor through a transmission gear, an upper travel switch for sensing that the suspension mechanism rises to the limit position, and a lower travel switch for sensing that the suspension mechanism descends 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 wire-reeling motor are all connected to the main controller of the flying platform; a driving and self-locking relationship similar to that of a "worm - worm gear" is formed between the wire-reeling motor and the wire-reeling disc.

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

[0021] 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.

[0022] The working method and control method of the tree obstacle clearing flying robot are as follows:

[0023] A method of operating a tree obstacle clearing flying robot with a suspended tool system is as follows:

[0024] The flight platform, suspension mechanism and tool system are connected in sequence from top to bottom to form a flying robot as a whole; when the flying robot flies near a tree barrier, the length of the suspension mechanism and the flight altitude are adjusted first, and the tool system is directed toward the tree to be cut, and then, based on the received tree barrier clearing remote control instructions, the flying robot is controlled to fly forward, and the tool system is used to perform a push-to-cut cutting and clearing of the tree barrier below the robot.

[0025] A control method for a tree obstacle clearing flying robot with a hanging tool system, including a control method for a hanging mechanism, a control method for a tool system, and a control method for a decoupling device, as follows:

[0026] 1) The control method of the suspension mechanism with a telescopic structure is as follows: the main controller of the flying platform dynamically changes the length of the pull rope by controlling the start and stop of the wire take-up device and the direction of wire retraction and release, thereby adjusting the length of the vertical rod, thereby changing the vertical distance of the tool system relative to the flying platform;

[0027] 2) The control method of the tool system is:

[0028] A) The tool controller collects the current, speed and temperature of the tool motor in real time and sends them to the main controller of the flight platform for monitoring;

[0029] B) Real-time evaluation of the working status of the chainsaw components:

[0030] 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;

[0031] 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;

[0032] 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.

[0033] C) Abnormal handling method of working status:

[0034] ① If it is determined to be overloaded, a hovering command is sent to the flight platform to stop cutting and feeding;

[0035] 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;

[0036] 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.

[0037] D) Check the balance status of the tool system and implement compensation control:

[0038] 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;

[0039] Defining the cutting strength of chainsaw components:

[0040] x ij =f(N ij ,I ij ,T ij )

[0041] Where i = 1, ..., N, j = a, b. If a linear structure is used, then

[0042] x ij =k N (N0-N ij )+k I I ij +k T T ij

[0043] Among them, k N , k I , k T is the weight coefficient, N0 is the no-load speed;

[0044] Define the difference in cutting strength of a pair of chainsaw components:

[0045] Δx i =x ia -x ib ,i=1,…,N

[0046] Define the comprehensive cutting strength difference of the tool system:

[0047] k i is the weight coefficient

[0048] 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;

[0049] 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.

[0050] ② Balancing operation compensation control method of tool system:

[0051] 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;

[0052] 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.

[0053] 3) Control method of mechanical unhooking device:

[0054] 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;

[0055] 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.

[0056] Beneficial effects of the present invention: Compared with the prior art, the effects of the present invention are as follows:

[0057] 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;

[0058] 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;

[0059] 3) The suspension mechanism has multiple configurations such as fixed and telescopic to meet the diversity of working environments; in particular, the telescopic configuration of the vertical rod can dynamically adjust the distance between the tool system and the flight platform, which is more flexible and maneuverable on the one hand, and can effectively reduce the difficulty of take-off and landing of the flying robot on the other hand, making it easy to store and transport;

[0060] 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;

[0061] 5) The suspension mechanism adopts a left-right symmetrical structure, which is fixed to the bottom of the flight platform. At the same time, a transverse reinforcement beam is installed on the vertical rod, which makes the flying robot as a whole have strong rigidity and improves the stability and reliability of the system operation. When the suspension operation device is subjected to external force, compared with the single vertical rod method, it is less likely to cause the tool system to twist relative to the flight platform, and it is difficult to cause deformation or breakage of the suspension mechanism, which ensures the safety of the operation of the flying robot;

[0062] 6) 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 one-time working range, 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;

[0063] 7) 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;

[0064] 8) 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;

[0065] 9) 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

[0066] Figure 1 This is a schematic diagram of the structure of the flying robot;

[0067] Figure 2 This is a schematic diagram of the quadrotor configuration of the flying robot;

[0068] Figure 3 This is a top view of the quadrotor configuration of the flying robot;

[0069] Figure 4 It is a schematic diagram of the internal structure of the vertical rod of the rope-type suspension mechanism;

[0070] Figure 5 It is a schematic diagram of the extension and contraction state of the vertical rod of the suspension mechanism;

[0071] Figure 6 It is a schematic diagram of the structure of the wire take-up device;

[0072] Figure 7 It is a schematic diagram of the structure of the circular saw tool system;

[0073] Figure 8 It is a schematic diagram of the separation state of the mechanical unhooking device;

[0074] Fig. 9 It is a schematic diagram of the hooking state of the mechanical unhooking device;

[0075] Fig.10 It is a schematic diagram of the internal structure of the vertical rod of the pulley type suspension mechanism;

[0076] Fig.11 It is a schematic diagram of the chain saw tool system structure;

[0077] Fig.12 It is a schematic diagram of the structure of the electromagnetic unhooking device;

[0078] Fig.13 It is a schematic diagram of the tilt-rotor configuration;

[0079] Fig.14 Schematic diagram of the pitch joint structure.

[0080] In the figure, 1—flight platform, 2—suspension mechanism, 3—tool system, 4—release device, 5—pitch joint;

[0081] 1011—rotor, 1012—rotor arm, 1013—tilt motor;

[0082] 201 - vertical rod, 202 - transverse reinforcing beam;

[0083] 2201—wire take-up device, 2202—pull rope, 2203—hollow tube, 2204—upper limiter, 2205—lower limiter, 2206—movable pulley, 2207—pulley rope, 2208—flange;

[0084] 22011—receiving motor, 22012—receiving reel, 22013—transmission gear, 22014—rotating fork, 22015—upper travel switch, 22016—lower travel switch;

[0085] 3001—tool holder, 3002—tool motor, 3003A—circular saw, 3003B—chain saw, 3004—motor driver, 3005—tool controller, 3006—guide, 3007—external guide fork;

[0086] 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;

[0087] 42—lower release assembly, 4201—lower base, 4202—lower hook, 4203—lower electrical interface, 4204—elastic gasket;

[0088] 401 - electromagnet, 402 - armature;

[0089] 501—pitch joint seat, 502—pitch joint movable part, 503—torsion spring. DETAILED DESCRIPTION

[0090] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0091] Example 1: Figures 1 to 9 As shown, a tree obstacle clearing flying robot with a suspended tool system 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; wherein the suspension mechanism 2 is a connecting rod of fixed length, or a telescopic suspension mechanism of variable length, comprising L (L≥2) vertical rods 201 arranged symmetrically on the left and right, and transverse reinforcing beams 202 are provided between adjacent vertical rods 201, and the tool system 3 is an array combination of M (M≥1) electric saw components arranged in a left-right geometrically symmetrical or mass-symmetrical manner.

[0092] Preferably, a decoupling device 4 is provided between the suspension mechanism 2 and the tool system 3 or between the flying platform 1 and the suspension mechanism 2 for connecting or separating the two.

[0093] Preferably, the suspension mechanism 2 is a cable-type telescopic suspension mechanism: the vertical rod 201 includes H (H≥2) sections of continuously nested hollow tubes 2203, numbered 1, 2, …, H from top to bottom. For the i-th (1≤i<H) section of the hollow tube 2203, an upper limit stopper 2204 is provided at the upper end to limit the overshoot of the upward contraction of the (i + 1)-th section of the hollow tube 2203, and a lower limit stopper 2205 is provided at the lower end to limit the movement and detachment of the (i + 1)-th section of the hollow tube 2203 during downward extension; the upper limit stopper 2204 of the first section of the hollow tube 2203 is provided with a flange 2208 connected to the flight platform 1, the upper end of the H-th section of the hollow tube 2203 is provided with an upper limit stopper 2204, and the lower end is connected to the tool system 3. The upper limit stopper 2204 of the H-th section of the hollow tube 2003 is connected to a wire reel 2201 installed on the flight platform 1 through a pull rope 2202; the transverse reinforcing beam 202 is connected to the lower ends of the same-section hollow tubes 2203 of adjacent vertical rods 201.

[0094] If the wire reel 2201 winds up the pull rope 2202, the upper limit stopper 2204 of the H-th section of the hollow tube 2203 is pulled upward. When the upper limit stopper 2204 moves upward and contacts the upper limit stopper 2204 of the (H - 1)-th section of the hollow tube 2203, it will drive the (H - 1)-th section of the hollow tube 2203 to move upward. By analogy, the H to 2 sections of continuously nested hollow tubes 2203 move upward in sequence, and the vertical rod 201 contracts; if the wire reel 2201 releases the pull rope 2202, the H to 2 sections of the hollow tubes 2203 move downward in sequence under the action of gravity and the limit of the lower limit stoppers 2205 of each section of the hollow tube 2203, so that the vertical rod 201 extends.

[0095] Preferably, the wire reel 2201 includes a wire winding motor 22011, a wire winding disc 22012 for winding the pull rope 2202, a rotary fork 22014 driven to rotate by the wire winding motor 22011 through a transmission gear 22013, an upper travel switch 22015 for sensing that the suspension mechanism 2 rises to the limit position, and a lower travel switch 22016 for sensing that the suspension mechanism 2 descends to the limit position. The output signal lines of the upper travel switch 22015 and the lower travel switch 22016 and the control signal line of the wire winding motor 22011 are all connected to the main controller of the flight platform 1; a driving and self-locking relationship similar to that of a "worm - worm gear" is formed between the wire winding motor 22011 and the wire winding disc 22012.

[0096] 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.

[0097] Preferably, the electric saw is a circular saw 3003A, which is fixedly connected to the output shaft of the tool motor 3002 .

[0098] Preferably, the above-mentioned unhooking device 4 is a mechanical unhooking device, including an upper unhooking component 41 and a lower unhooking component 42 that can be connected to the upper unhooking component 41; the upper unhooking component 41 includes an upper base 4101, a linear servo 4102 fixedly connected to the upper base 4101 and with an output rod downward, an upper hook shaft 4106 fixedly connected to the upper base 4101, an upper hook 4105 with the upper hook shaft 4106 as a rotating shaft and in an "L" shape, and a lower hook installed on the upper base 4101 and the upper hook. The lower unhooking assembly 42 comprises a tension spring 4104 between the ends of the transverse rods of the upper hook 4105 and capable of providing a counterclockwise restoring torque for the upper hook 4105, and an upper electrical interface 4107 fixedly connected to the upper base 4101, and a bearing 4103 is provided at the end of the output rod of the linear servo 4102; the lower unhooking assembly 42 comprises a lower base 4201, a lower hook 4202 fixedly connected to the lower base 4201 and capable of forming an upper and lower hanging connection with the upper hook 4105, and a lower electrical interface 4107 fixedly connected to the lower base 4201. 203; the upper electrical interface 4107 and the lower electrical interface 4203 form a plug connection for transmitting electrical energy and control signals; the lower end of the upper hook 4105 is a rightward curved hook, the lower right side of the curved hook is an oblique shape, and the upper left side of the lower hook 4202 has an oblique shape that is squeezed and pushed with the outer contour of the curved hook of the upper hook 4105; the lower hook 4202 is provided with a square hole that matches the curved hook of the upper hook 4105. Once the curved hook of the upper hook 4105 is screwed into the square hole, the lower hook 4202 is provided with a square hole that matches the curved hook of the upper hook 4105. The hole can make the lower hook 4202 and the upper hook 4105 form a reliable connection; the lower unhooking component 42 also includes an elastic gasket 4204 embedded between the lower base 4201 and the upper base 4101, and forming a close contact with the two; the linear servo 4102 is connected to the main controller in the flight platform 1. After receiving the command of the main controller, the linear servo 4102 will drive its output rod to extend or contract, thereby driving the upper hook 4105 to rotate clockwise or counterclockwise.

[0099] 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.

[0100] 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.

[0101] The working method and control method of the tree obstacle clearing flying robot with a hanging tool system of the present invention are as follows:

[0102] A method of operating a tree obstacle clearing flying robot with a suspended tool system is as follows:

[0103] The flying platform 1, the suspension mechanism 2 and the tool system 3 are connected in sequence from top to bottom to form a flying robot as a whole; when the flying robot flies near a tree barrier, firstly adjust the length and the flying height of the suspension mechanism 2, and make the tool system 3 face the tree to be cut, then according to the received tree barrier clearing remote control command, control the flying robot to fly forward, and use the tool system 3 to perform a push-type cutting and clearing of the tree barrier below the robot.

[0104] A control method for a tree obstacle clearing flying robot with a hanging tool system, including a control method for a hanging mechanism 2, a control method for a tool system 3, and a control method for a decoupling device 4, specifically as follows:

[0105] 1) The control method of the suspension mechanism 2 with a telescopic structure is as follows: the main controller of the flying platform 1 dynamically changes the length of the pull rope 2202 by controlling the start and stop of the wire take-up device 2201 and the direction of wire reeling and releasing, thereby adjusting the length of the vertical rod 201, thereby changing the vertical distance of the tool system 3 relative to the flying platform 1;

[0106] 2) The control method of the tool system 3 is:

[0107] 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;

[0108] B) Real-time evaluation of the working status of the chainsaw components:

[0109] 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;

[0110] 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;

[0111] 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.

[0112] C) Abnormal handling method of working status:

[0113] ① If it is determined to be overloaded, a hovering command is sent to the flight platform 1 to stop cutting and feeding;

[0114] 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;

[0115] 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.

[0116] D) Detecting the balanced working state of the tool system 3 and implementing compensation control:

[0117] 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;

[0118] Defining the cutting strength of chainsaw components:

[0119] x ij =f(N ij ,I ij ,T ij )

[0120] Where i = 1, ..., N, j = a, b. If a linear structure is used, then

[0121] x ij =k N (N0-N ij )+k I I ij +k T T ij

[0122] Among them, k N , k I , k T is the weight coefficient, N0 is the no-load speed;

[0123] Define the difference in cutting strength of a pair of chainsaw components:

[0124] Δx i =x ia -x ib ,i=1,…,N

[0125] Define the comprehensive cutting strength difference of tool system 3:

[0126] k i is the weight coefficient

[0127] 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;

[0128] If |Δy|≥δ y , it can be determined that the balance operation of tool system 3 is abnormal, where δ y >0, which is the threshold for judging abnormality of balancing operation of tool system 3.

[0129] ② Balancing operation compensation control method of tool system 3:

[0130] 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;

[0131] 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.

[0132] 3) Control method of mechanical unhooking device:

[0133] 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;

[0134] B) When hooked up, the lower hook 4202 moves upward to exert a leftward extrusion on the hook of the upper hook 4105, pushing the upper hook 4105 to rotate clockwise and give way. When the lower hook 4202 moves upward in place, the hook of the upper hook 4105 quickly rotates into the square hole of the lower hook 4202, thereby forming a stable and reliable connection between the component connected below the decoupling device 4 and the component connected above the decoupling device 4, and at the same time completing the connection of the electrical interface.

[0135] Embodiment 2: As Fig.10 shown, a tree obstacle clearing flying robot with a hanging tool system, wherein the hanging mechanism 2 is a pulley type telescopic hanging mechanism: the vertical rod 201 includes H (H≥3) sections of continuously nested hollow tubes 2203, numbered 1, 2, …, H from top to bottom. The upper end of the i-th (1≤i<H) section of the hollow tube 2203 is provided with an upper limit stop 2204 for restricting the overshoot of the upward contraction of the (i + 1)-th section of the hollow tube 2203, and the lower end is provided with a lower limit stop 2205 for restricting the detachment of the downward extension of the (i + 1)-th section of the hollow tube 2203; the upper limit stop 2204 of the first section of the hollow tube 2203 is provided with a flange 2208 connected to the flight platform 1, the upper end of the H-th section of the hollow tube 2203 is provided with an upper limit stop 2204, and the lower end is connected to the reciprocating saw system 3. The upper limit stop 2204 of the second section of the hollow tube 2203 is connected to the wire reel 2201 installed on the flight platform 1 through a pull rope 2202; the vertical rod 201 further includes a movable pulley 2206 with a horizontal axis fixed to the upper limit stop 2204 of the j-th (2≤j<H) section of the hollow tube 2203 and a rotation plane passing through the vertical axis of the hollow tube 2203, and a pulley pull rope 2207 that is wound around the upper side of the movable pulley 2206 and has one end fixedly connected to the lower limit stop 2205 of the (j - 1)-th section of the hollow tube 2203 and the other end fixedly connected to the upper limit stop 2204 of the (j + 1)-th section of the hollow tube 2203; the transverse strengthening beam 202 is connected to the lower ends of the same section of the hollow tubes 2203 of adjacent vertical rods 201.

[0136] The suspension mechanism 2 rises: the main controller of the flight platform 1 outputs a forward rotation command to the wire-receiving motor 22011, and the wire-receiving motor 22011 drives the wire-receiving drum 22012 to reel in the pull rope 2202 and causes the rotating fork 22014 to rotate forward. The pull rope 2202 rises and drives the second hollow tube 2203 of the vertical rod 201 to move upward, and also drives the movable pulley 2206 on the hollow tube 2203 to move upward, so that the pulley pull rope 2207 bypassing the movable pulley 2206 drives the third hollow tube 2203 to move upward. The core tube 2203 also moves upward synchronously, and so on, driving the Nth section of hollow tube 2203 to move upward synchronously; when all vertical rods 201 move synchronously according to the above method, the suspension mechanism 2 will rise steadily; when the suspension mechanism 2 rises to the limit position, the rotating fork 22014 triggers the upper travel switch 22015, and the main controller of the flying platform 1 outputs a stop command to the take-up motor 22011, causing the take-up motor 22011 to stop, thereby implementing ascent protection for the suspension mechanism 2.

[0137] The suspension mechanism 2 descends: the main controller of the flight platform 1 outputs a reverse command to the wire-receiving motor 22011, and the wire-receiving motor 22011 drives the wire-receiving reel 22012 to release the pull rope 2202 and make the rotating fork 22014 rotate in the opposite direction. Under the action of the movable hollow tube 2203 of the vertical rod 201 and the gravity of the load below, the second section of the hollow tube 2203 moves downward, and the movable pulley 2206 on the section of the hollow tube 2203 moves downward, prompting the pulley rope 2207 that bypasses the movable pulley 2206 to move downward. The third section of the hollow tube 2203 is also driven to move downward synchronously, and so on, until the Nth section of the hollow tube 2203 is driven to move downward synchronously; when all the vertical rods 201 are synchronously moved according to the above method, the suspension mechanism 2 will be able to descend stably; when the suspension mechanism 2 descends to the extreme position, the rotating fork 22014 triggers the lower travel switch 22016, and the main controller of the flying platform 1 outputs a stop command to the take-up motor 22011 to stop the take-up motor 22011, thereby implementing descent protection for the suspension mechanism 2.

[0138] Embodiment 3: A tree obstacle clearing flying robot with a suspended tool system, wherein the vertical rod 201 of the suspension mechanism 2 described in Embodiment 1 is an electric push rod with a linear telescopic motion function.

[0139] Example 4: Fig.11 As shown, a tree obstacle clearing flying robot with a hanging tool system, 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.

[0140] Embodiment 5: A tree obstacle clearing flying robot with a suspended tool system, wherein the unhooking device 4 is an electromagnetic unhooking device, including an electromagnet 401 and an armature 402 respectively fixed to the connecting parts at both ends of the unhooking device 4; the electromagnet 401 is connected to the power supply on the flying robot through a switch.

[0141] like Fig.12 As shown, after the electromagnet 401 is powered on, it is attracted to the armature 402, and the tool system 3 is hung under the suspension mechanism 2; after the 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.

[0142] Example 6: Figure 3 and Fig.13 As shown, a tree obstacle clearing flying robot with a suspended tool system is provided, 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 rotors 1011 relative to the axis of the corresponding rotor arms 1012, thereby realizing tilting the rotors.

[0143] 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.

[0144] Example 7: Fig.14 As shown, a tree obstacle clearing flying robot with a suspended tool system is provided with a pitch joint 5 between the suspension mechanism 2 and the flying platform 1 to enable the two to have relative pitch motion freedom.

[0145] Preferably, the pitch joint 5 includes a pitch joint seat 501, a pitch joint movable part 502 that can rotate around the rotating axis of the pitch joint seat 501, and a pair of torsion springs 503 installed on the rotating axis of the pitch joint seat 501 and respectively located between the pitch joint movable part 502 and the pitch joint seat 501; the two ends of the torsion spring 503 are respectively fixed to the pitch joint seat 501 and the pitch joint movable part 502.

[0146] 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 hanging tool system, characterized in that: It includes a flight platform (1), a suspension mechanism (2) connected below the flight platform (1), and a tool system (3) connected below the suspension mechanism (2); among them, the suspension mechanism (2) is a telescopic suspension mechanism with variable length, including L vertical rods (201) arranged symmetrically left and right, L≥2, and transverse strengthening beams (202) are provided between adjacent vertical rods (201); the tool system (3) is an array combination of M electric saw components arranged in a geometrically symmetric or mass-symmetric manner left and right, M≥1; Between the above-mentioned suspension mechanism (2) and the tool system (3), there is a decoupling device (4) that can hook or separate the two; The above-mentioned suspension mechanism (2) is a pulley-type telescopic suspension mechanism: the vertical rod (201) includes H continuously nested hollow tubes (2203), H≥3, numbered 1, 2,..., H from top to bottom in sequence. The upper end of the i-th hollow tube (2203) is provided with an upper limit stop (2204) that restricts the overshoot of the upward contraction of the (i + 1)-th hollow tube (2203), 1≤i<H, and the lower end is provided with a lower limit stop (2205) that restricts the movement and detachment of the (i + 1)-th hollow tube (2203) when it extends downward; the upper limit stop (2204) of the first hollow tube (2203) is provided with a flange (2208) connected to the flight platform (1), the upper end of the H-th hollow tube (2203) is provided with an upper limit stop (2204), and the lower end is connected to the tool system (3). The upper limit stop (2204) of the second hollow tube (2203) is connected to a wire reel (2201) installed on the flight platform (1) through a pull rope (2202); the vertical rod (201) also includes a movable pulley (2206) whose rotating shaft is horizontally fixed to the upper limit stop (2204) of the j-th hollow tube (2203) and whose rotation plane passes through the vertical axis of the hollow tube (2203), and a pulley pull rope (2207) that is wound around the upper side of the movable pulley (2206) and one end of which is fixedly connected to the lower limit stop (2205) of the (j - 1)-th hollow tube (2203) and the other end of which is fixedly connected to the upper limit stop (2204) of the (j + 1)-th hollow tube (2203), 2≤j<H; the transverse strengthening beam (202) is connected to the lower ends of the same-section hollow tubes (2203) of adjacent vertical rods (201); 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 hanging tool system according to claim 1, characterized in that: A pitch joint (5) is provided between the suspension mechanism (2) and the flying platform (1) to enable the two to have relative pitch motion freedom.

3. The tree obstacle clearing flying robot with a hanging tool system according to claim 1, characterized in that: 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).

4. The tree obstacle clearing flying robot with a hanging tool system according to claim 3, 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.

5. The tree obstacle clearing flying robot with a hanging tool system according to claim 1, characterized in that: The flight platform (1) is a multi-rotor aircraft with a bilaterally symmetrical layout.

6. The tree obstacle clearing flying robot with a hanging tool system according to claim 5, 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).

7. The tree obstacle clearing flying robot with a hanging tool system according to claim 2, characterized in that: The pitch joint (5) comprises a pitch joint seat (501), a pitch joint movable part (502) rotatable around a rotation axis of the pitch joint seat (501), and a pair of torsion springs (503) mounted on the rotation axis of the pitch joint seat (501) and respectively located between the pitch joint movable part (502) and the pitch joint seat (501); two ends of the torsion spring (503) are respectively fixed to the pitch joint seat (501) and the pitch joint movable part (502).

8. The working method and control method of the tree obstacle clearing flying robot with a hanging tool system as claimed in claim 1, characterized in that: The working method of the tree obstacle clearing flying robot with hanging tool system is as follows: The flying platform (1), the suspension mechanism (2) and the tool system (3) are sequentially connected from top to bottom to form a flying robot as a whole; when the flying robot flies to the vicinity of a tree barrier, the length and the flying height of the suspension mechanism (2) are first adjusted, and the tool system (3) is directed toward the tree to be cut; then, according to the received tree barrier clearing remote control command, the flying robot is controlled to fly forward, and the tool system (3) is used to perform a push-type cutting and clearing of the tree barrier; A control method for a tree obstacle clearing flying robot with a hanging tool system includes a control method for a hanging mechanism (2), a control method for a tool system (3) and a control method for a decoupling device (4), which is specifically as follows: 1) A control method for a suspension mechanism (2) with a telescopic structure is as follows: a main controller of a flying platform (1) dynamically changes the length of a pull rope (2202) by controlling the start and stop of a wire take-up device (2201) and the direction of wire take-up and release, thereby adjusting the length of a vertical rod (201), thereby changing the vertical distance of a tool system (3) relative to the flying platform (1); 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; if a linear structure is used, then x ij =k N (N0-N ij )+k I I ij +k T T ij Among them, k N , k I , k T is the weight coefficient, N0 is the no-load speed; Define the difference in cutting strength of a pair of chainsaw components: Δx i =x ia -x ib ,i=1,…,N Define the overall cutting strength difference of the tool system (3): k i is the weight coefficient If |Δx i |≥δ x , it can be determined that the balance operation of the electric saw component is abnormal, where δ x >0, which is the threshold for judging the abnormal balance operation of the electric saw component; If |Δy|≥δ y , it can be determined that the balance operation of the tool system (3) is abnormal, where δ y >0, which is the threshold for judging the abnormality of the balancing operation of the tool system (3); ② Balancing operation compensation control method of tool system (3): If ε x <|Δx i |<δ x and ε<|Δy|<δ y , where ε x >0 and ε>0, which is an insensitive area, then one of the following methods is adopted: a) Heading following: Control the heading of the flying robot to move toward the side with smaller cutting intensity to implement balance compensation on both sides of the tool system (3); b) Heading holding: Control the flying robot to hover and wait for |Δx i After | and |Δy| are both reduced, the flying robot is controlled to fly forward to implement obstacle clearing and feeding, thereby maintaining the heading of the flying robot; If it is determined that the balance operation of a pair of electric saw components or the balance operation of the tool system (3) is abnormal, the flying platform (1) is first kept in hover, and then the |Δx i | and |Δy| for a period of time T, T>0, if |Δx i | and |Δy| have not all fallen back, all tool motors (3002) are reversed and then braked, so that the tool system (3) exits the cutting operation, and at the same time sends a protective retreat command to the flying platform (1); 3) Control method of mechanical unhooking device: A) When the unhooking device (4) receives the "unhooking" command from the main controller in the flight platform (1), the output rod of the linear servo (4102) extends, driving the bearing (4103) to move downward, and the bearing (4103) is pressed and contacted with the upper plane of the transverse rod of the upper hook (4105), pushing the upper hook (4105) to rotate clockwise, so that the bent hook at the lower end of the upper hook (4105) is separated from the lower hook (4202), thereby realizing the mechanical unhooking of the components connected below the unhooking device (4) and the components connected above the unhooking device (4), and also completing the separation of the electrical interface; thereafter, the output rod of the linear servo (4102) contracts, and the upper hook (4105) rotates counterclockwise to reset under the tension of the tension spring (4104); B) When hooking, the lower hook (4202) moves upward to squeeze the hook of the upper hook (4105) to the left, pushing the upper hook (4105) to rotate clockwise and retreat. When the lower hook (4202) moves upward to the right position, the hook of the upper hook (4105) quickly rotates into the square hole of the lower hook (4202), thereby forming a stable and reliable hooking between the component connected below the unhooking device (4) and the component connected above the unhooking device (4), and also completing the connection of the electrical interface.

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