A method for pruning bamboo with a drone

Abstract

A method for pruning bamboo with a drone, comprising the following steps: step 1: the first anti-swing bifurcation and the second anti-swing bifurcation of the bamboo fixing and cutting device are opened to the maximum under the action of the first anti-swing bifurcation rotating motor and the second anti-swing bifurcation rotating motor; step 2: the first bamboo fixing half ring and the second bamboo fixing half ring of the bamboo fixing and cutting device are opened to the maximum; step 3: the saw disc rotates under the driving of the saw disc rotating motor; step 4: the saw disc fixing U-shaped plate moving motor rotates with the second gear, and moves forward to the set position in cooperation with the gear groove on the inner wall of the middle shell; step 5: the electric push rod telescopic rod starts to move forward in cooperation with the gear groove on the inner wall of the electric push rod shell; step 6: the flexibility of the rotary swing device is used to prune the branches; step 7: after the bamboo is pruned, the rotary swing device and the bamboo fixing and cutting device move back a distance.

Description

Technical Field

[0001] This invention belongs to the technical field of power line inspection equipment and devices, and particularly relates to a device for trimming and cutting bamboo that affects power transmission lines during power line inspection. Background Technology

[0002] When bamboo grows too tall or is exposed to wind, power transmission lines are prone to flashover tripping or serious accidents such as fires caused by discharges due to the influence of bamboo below or near the transmission line corridor. Therefore, during the operation and maintenance of power transmission lines, bamboo below or near the transmission line corridor must be pruned in a timely manner to ensure that the transmission lines maintain a sufficient safe distance from them.

[0003] Currently, tree branch cutting devices based on drones mainly use lasers or small chainsaws to cut branches. For example, patent document CN114600658A discloses a tree branch cutting device based on a drone, whose cutter includes: a telescopic platform, an annular rail, and a laser emitter; the telescopic platform is set on the platform and can extend and retract forward and backward; the annular rail is set at the front end of the telescopic platform; the laser emitter is set on the platform, with its output end facing the front end. Further, a horizontally rotatable gimbal is set on the platform; the telescopic platform is set on the gimbal. Further, an annular groove is provided on the annular rail; the output end of the laser emitter is slidably set on the annular groove. Further, the laser emitter includes: a laser source, a first-stage amplifier, and a second-stage amplifier; the laser source is used to output a first laser beam; the first-stage amplifier is used to amplify the first laser beam into a second laser beam; the second-stage amplifier is used to amplify the second laser beam into a third laser beam. For example, patent document CN213819000U discloses a garden tree pruning device, which includes a drone body. The drone body has connecting columns fixedly connected to the outer walls of the four corners at the bottom, and bases fixedly connected to the outer walls of the bottom of the four connecting columns. The outer wall of the top of the base is provided with a hydraulic cylinder, and a U-shaped bracket is fixedly connected to the outer wall of one side of the hydraulic cylinder. The inner walls of both ends of the U-shaped bracket are provided with cutting motors, and cutting blades are fixedly connected to the output end of the cutting motors.

[0004] Using lasers to cut branches is highly efficient, but due to the hot and dry summer climate, bamboo is easily flammable, and the instability of drone flight may cause the laser to concentrate on a single point for an extended period, posing a fire risk. Using small chainsaws to cut bamboo is less flexible in complex environments such as bamboo forests; the bamboo's toughness may prevent it from being cut properly when using a chainsaw, and the impact of falling bamboo or branches on the safe flight of the drone is not considered. Summary of the Invention

[0005] The purpose of this invention is to solve the technical problems introduced in the background art, such as poor flexibility when facing complex environments such as bamboo forests, the possibility that the bamboo cannot be cut properly when cutting slender bamboo with a chainsaw due to the toughness of the bamboo, and the failure to consider the impact of the cut bamboo or branches falling on the safe flight of the drone. The invention provides a bamboo tip cutting and tip breaking technology for multi-rotor drones.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0007] A method for pruning bamboo using drones involves the drone using a pruning mode to trim branches when encountering excessive forks in the target area of ​​the bamboo during line inspection. The method includes the following steps:

[0008] Step 1: The first and second anti-sway branches of the bamboo fixing and cutting device are opened to their maximum extent under the action of the first and second anti-sway branch rotation motors;

[0009] Step 2: The first and second bamboo fixing semicircular rings of the bamboo fixing and cutting device are opened to their maximum extent under the action of the rotating motor of the bamboo fixing semicircular rings;

[0010] Step 3: The bamboo fixing semi-circular ring fixing plate of the bamboo fixing cutting device moves with the first gear. The bamboo fixing semi-circular ring fixing plate moves backward as the first gear engages with the gear groove on the inner wall of the outer shell. The saw disc rotates under the drive of the saw disc rotating motor.

[0011] Step 4: The saw disc of the bamboo fixing and cutting device moves along with the U-shaped plate. The motor and the second gear rotate, and the second gear moves forward to the set position as it engages with the gear groove on the inner wall of the outer casing.

[0012] Step 5: The worm gear of the electric linear actuator starts to rotate under the action of the worm rotation motor and the worm. The extension rod of the electric linear actuator begins to move forward as the worm gear and the gear groove on the inner wall of the electric linear actuator housing cooperate.

[0013] Step 6: Use the camera to locate branches that may interfere with the operation of the bamboo fixing and cutting device, and use the flexibility of the rotating swing device to prune these branches;

[0014] Step 7: After the bamboo branches are pruned, the rotating swing device and the bamboo fixing and cutting device move backward a certain distance under the drive of the electric push rod.

[0015] The aforementioned electric linear actuator includes an electric linear actuator housing, an electric linear actuator telescopic rod cover, an electric linear actuator telescopic rod, a worm gear, a worm gear drive motor, a worm, cover fixing bolts, and worm gear drive motor fixing bolts;

[0016] Among them, the worm gear motor is rotatably connected to the worm, the worm wheel is rotatably connected to the cylindrical shaft in the end groove of the electric push rod extension rod, the worm gear motor fixing bolts fix the worm gear motor to the end of the electric push rod extension rod, the inner wall of the electric push rod housing is in contact with the end of the electric push rod extension rod, and the cover fixing bolts fix the cover of the electric push rod extension rod to the electric push rod housing.

[0017] When the electric linear actuator is working: the worm gear motor drives the worm to rotate, the worm gear drives the worm wheel to rotate, and the rotating worm wheel engages with the gear groove on the inner wall of the electric linear actuator housing, thereby driving the electric linear actuator telescopic rod to move. The direction of movement of the electric linear actuator telescopic rod can be controlled by controlling the rotation direction of the worm gear motor.

[0018] The aforementioned rotating part support device includes a bearing, a rotating swing device connecting ring, and an electric push rod connecting ring;

[0019] Among them, the rotating swing device connecting ring is fixedly connected to the inner ring of the bearing, and the electric push rod connecting ring is fixedly connected to the outer ring on the other side of the bearing;

[0020] When the rotary swing device is working: under the action of the bearing, the inner ring of the rotary swing device connecting ring and the bearing can rotate relative to the outer ring of the electric push rod connecting ring and the bearing. The rotary swing device connecting ring and the electric push rod connecting ring are respectively fixed on two devices that can rotate relative to each other. The rotating part support device can play the role of reinforcing the connection part of the two devices that rotate relative to each other.

[0021] The rotating and swinging device includes an upper half of a first joint, a lower half of a first joint, a second joint, a third joint, a rotating motor for the first joint, a swinging motor for the second joint, a swinging motor for the third joint, a fixing bolt for the first joint, a fixing bolt for the rotating and fixing device, a fixing bolt for the swinging motor for the second joint, a fixing bolt for the swinging motor for the third joint, and a fixing bolt for the bamboo fixing and cutting device.

[0022] The first joint rotary motor is in contact with the interior of the upper half and the interior of the lower half of the first joint. The upper half and the lower half of the first joint are fixedly connected by the first joint fixing bolts. The lower half of the first joint is rotatably connected to the cylindrical shaft of the second joint. The second joint swing motor is fixed in the motor slot of the lower half of the first joint by the second joint swing motor fixing bolts. At the same time, the rotating shaft of the second joint swing motor is rotatably connected to the cylindrical shaft of the second joint. The second joint is rotatably connected to the cylindrical shaft of the third joint. The third joint swing motor is fixed in the motor slot of the second joint by the third joint swing motor fixing bolts. At the same time, the rotating shaft of the third joint swing motor is rotatably connected to the cylindrical shaft of the third joint.

[0023] When the rotating swing device is working: the shaft of the first joint rotating motor in the first joint rotates, thereby driving the rotating swing device to rotate; the shaft of the second joint swing motor rotates, thereby driving the second joint to swing; and the shaft of the third joint swing motor rotates, thereby driving the third joint to swing.

[0024] A bamboo fixing and cutting device includes an upper outer shell, a middle outer shell, a lower outer shell, a first bamboo fixing semicircular ring, a second bamboo fixing semicircular ring, a pressure sensing device, a saw disc, a first anti-sway branch, a second anti-sway branch, a bamboo fixing semicircular ring fixing plate, a saw disc fixing U-shaped plate, a first gear, a second gear, a first anti-sway branch rotating motor, a first anti-sway branch rotating motor fixing bolt, a second anti-sway branch rotating motor, a second anti-sway branch rotating motor fixing bolt, a bamboo fixing semicircular ring fixing plate moving motor, a saw disc fixing U-shaped plate moving motor, a bamboo fixing semicircular ring rotating motor, a saw disc rotating motor, a saw disc rotating motor fixing bolt, and an outer shell fixing bolt.

[0025] The upper, middle, and lower outer shells are fixedly connected by shell fixing bolts. A bamboo fixing semi-circular ring fixing plate is located between the upper and middle outer shells and is in contact with them. The first and second anti-sway forks are rotatably connected to the cylindrical shafts on both sides of the bamboo fixing semi-circular ring fixing plate. A saw disc fixing U-shaped plate is located between the middle and lower outer shells and is in contact with them. The first and second bamboo fixing semi-circular rings are rotatably connected to the cylindrical shaft at the front end of the bamboo fixing semi-circular ring fixing plate. The first gear is rotatably connected to the cylindrical shaft of the bamboo fixing semi-circular ring fixing plate. A pressure sensing device is fixedly connected to the bamboo fixing semi-circular ring fixing plate. The motor is rotated via the first anti-sway fork. The first anti-sway fork rotating motor is fixedly connected to the bamboo fixing semi-circular ring fixing plate by the fixing bolt. The second anti-sway fork rotating motor is fixedly connected to the bamboo fixing semi-circular ring fixing plate by the fixing bolt. The second gear is rotatably connected to the cylindrical shaft of the saw disc fixing U-shaped plate. The saw disc is rotatably connected to the cylindrical shaft at the front end of the saw disc fixing U-shaped plate. The bamboo fixing semi-circular ring fixing plate moving motor is fixedly connected to the corresponding position of the cylindrical shaft where the first gear is located. The saw disc fixing U-shaped plate moving motor is fixedly connected to the corresponding position of the cylindrical shaft where the second gear is located by the fixing bolt. The saw disc rotating motor is fixedly connected to the saw disc fixing U-shaped plate by the fixing bolt.

[0026] When the bamboo fixing and cutting device is working, the shaft of the bamboo fixing semi-circular ring fixing plate moving motor rotates, thereby driving the first gear to rotate. Through the engagement of the first gear with the gear groove of the inner shell, the bamboo fixing semi-circular ring fixing plate moves. The shafts of the first anti-sway branch rotating motor and the second anti-sway branch rotating motor rotate, respectively controlling the rotation of the first anti-sway branch and the second anti-sway branch. The shaft of the bamboo fixing semi-circular ring rotating motor rotates, driving the first bamboo fixing semi-circular ring and the second bamboo fixing semi-circular ring to rotate. The shaft of the saw disc fixing U-shaped plate moving motor rotates, thereby driving the second gear to rotate. Through the engagement of the second gear with the gear groove of the inner shell, the saw disc fixing U-shaped plate moves. The shaft of the saw disc rotating motor rotates, thereby driving the saw disc to rotate.

[0027] A method for cutting bamboo using a drone includes the following steps:

[0028] S1: The opening of the first and second anti-sway branches of the bamboo fixing and cutting device gradually decreases to the set position under the action of the first and second anti-sway branch rotation motors.

[0029] S2: The worm gear of the electric linear actuator starts to rotate under the action of the worm rotation motor and the worm. The electric linear actuator extension rod begins to move forward as the worm gear and the gear groove on the inner wall of the electric linear actuator housing cooperate.

[0030] S3: When the pressure sensor of the bamboo fixing and cutting device comes into contact with the bamboo, the electric push rod stops moving, and the first bamboo fixing semicircular ring and the second bamboo fixing semicircular ring begin to close under the drive of the bamboo fixing semicircular ring rotation motor to achieve the purpose of fixing the bamboo.

[0031] S4: After the bamboo is fixed, the saw blade starts to start under the drive of the saw blade rotation motor;

[0032] S5: The U-shaped plate fixed by the saw disc moves forward under the drive of the moving motor and the second gear, and finally cuts the bamboo into two sections;

[0033] S6: After the bamboo is cut, the rotating swing device starts to rotate under the action of the first joint rotating motor, turning the direction of the bamboo to prevent the cut bamboo from falling and hitting the drone.

[0034] S7: Driven by the rotating motor of the bamboo fixing semicircular ring, the opening of the first bamboo fixing semicircular ring and the second bamboo fixing semicircular ring increases, causing the bamboo to fall.

[0035] The bamboo fixing and cutting device uses the bamboo fixing and cutting device described above.

[0036] A multi-rotor drone-based bamboo tip cutting and trimming device includes a drone, an electric push rod, a rotating part support device, a rotating swing device, a bamboo fixing and cutting device, and a power supply.

[0037] The electric linear actuator includes a worm gear motor, which is rotatably connected to the worm. The worm wheel is rotatably connected to the cylindrical shaft in the end groove of the electric linear actuator telescopic rod. The worm gear motor fixing bolts fix the worm gear motor to the end of the electric linear actuator telescopic rod. The inner wall of the electric linear actuator housing is in contact with the end of the electric linear actuator telescopic rod. The cover fixing bolts fix the cover of the electric linear actuator telescopic rod to the electric linear actuator housing.

[0038] The rotating part support device includes a rotating swing device connecting ring, which is fixedly connected to the inner ring of the bearing, and an electric push rod connecting ring is fixedly connected to the outer ring on the other side of the bearing.

[0039] The rotating swing device includes a first joint rotary motor, which is in contact with the interior of the upper half and the interior of the lower half of the first joint. The upper half and the lower half of the first joint are fixedly connected by first joint fixing bolts. The lower half of the first joint is rotatably connected to the cylindrical shaft of the second joint. The second joint swing motor is fixed in the motor slot of the lower half of the first joint by second joint fixing bolts. At the same time, the rotating shaft of the second joint swing motor is rotatably connected to the cylindrical shaft of the second joint. The second joint is rotatably connected to the cylindrical shaft of the third joint. The third joint swing motor is fixed in the motor slot of the second joint by third joint fixing bolts. At the same time, the rotating shaft of the third joint swing motor is rotatably connected to the cylindrical shaft of the third joint.

[0040] It also includes a fixed base, which includes a first fixed plate, which is fixedly connected to a connecting plate, and a second fixed plate, which is fixedly connected to the connecting plate. The drone base fixing bolts are used to fix the fixed connection between the base and the drone, and the electric push rod fixing bolts are used to fix the fixed connection between the base and the electric push rod.

[0041] The connecting plate in the fixed base is fixedly connected to the base of the drone by fixing bolts on the drone base. The first and second fixed plates in the fixed base are fixedly connected to the outer shell of the electric push rod by fixing bolts on the electric push rod. The electric push rod telescopic rod in the electric push rod is in contact with the upper half and the lower half of the first joint of the rotating swing device. The rotating swing device connecting ring of the rotating part support device is fixedly connected to the upper half and the lower half of the first joint of the rotating swing device. The electric push rod connecting ring is fixedly connected to the electric push rod telescopic rod in the electric push rod. The third joint is fixedly connected to the inner shell of the bamboo fixing and cutting device by fixing bolts on the bamboo fixing and cutting device.

[0042] The bamboo fixing and cutting device includes an upper outer shell, a middle outer shell, a lower outer shell, a first bamboo fixing semicircular ring, a second bamboo fixing semicircular ring, a pressure sensing device, a saw disc, a first anti-sway branch, a second anti-sway branch, a bamboo fixing semicircular ring fixing plate, a saw disc fixing U-shaped plate, a first gear, a second gear, a first anti-sway branch rotating motor, a first anti-sway branch rotating motor fixing bolt, a second anti-sway branch rotating motor, a second anti-sway branch rotating motor fixing bolt, a bamboo fixing semicircular ring fixing plate moving motor, a saw disc fixing U-shaped plate moving motor, a bamboo fixing semicircular ring rotating motor, a saw disc rotating motor, a saw disc rotating motor fixing bolt, and an outer shell fixing bolt.

[0043] The upper, middle, and lower outer shells are fixedly connected by shell fixing bolts. A bamboo fixing semi-circular ring fixing plate is located between the upper and middle outer shells and is in contact with them. The first and second anti-sway forks are rotatably connected to the cylindrical shafts on both sides of the bamboo fixing semi-circular ring fixing plate. A saw disc fixing U-shaped plate is located between the middle and lower outer shells and is in contact with them. The first and second bamboo fixing semi-circular rings are rotatably connected to the cylindrical shaft at the front end of the bamboo fixing semi-circular ring fixing plate. The first gear is rotatably connected to the cylindrical shaft of the bamboo fixing semi-circular ring fixing plate. A pressure sensing device is fixedly connected to the bamboo fixing semi-circular ring fixing plate. The motor is rotated via the first anti-sway fork. The first anti-sway fork rotating motor is fixedly connected to the bamboo fixing semi-circular ring fixing plate by the fixing bolt. The second anti-sway fork rotating motor is fixedly connected to the bamboo fixing semi-circular ring fixing plate by the fixing bolt. The second gear is rotatably connected to the cylindrical shaft of the saw disc fixing U-shaped plate. The saw disc is rotatably connected to the cylindrical shaft at the front end of the saw disc fixing U-shaped plate. The bamboo fixing semi-circular ring fixing plate moving motor is fixedly connected to the corresponding position of the cylindrical shaft where the first gear is located. The saw disc fixing U-shaped plate moving motor is fixedly connected to the corresponding position of the cylindrical shaft where the second gear is located by the fixing bolt. The saw disc rotating motor is fixedly connected to the saw disc fixing U-shaped plate by the fixing bolt.

[0044] Compared with the prior art, the present invention has the following technical effects:

[0045] 1) Existing technology can achieve forward and backward movement of the cutting device by installing an electric push rod. However, the forward and backward movement alone cannot meet the needs in complex environments such as bamboo forests. To complete the cutting of bamboo in a specific area, the equipment needs to have greater flexibility. This invention uses an electric push rod and a rotating swing device, which can enable the bamboo fixed cutting device to move forward, backward, rotate and swing. The rotating part support device can reinforce the rotating part. These devices greatly improve the flexibility of the UAV when cutting bamboo and can meet the requirements of bamboo cutting in various environments.

[0046] 2) Existing technology can cut some branches with poor toughness and that are not easily displaced by installing an electric saw, but it cannot cut some slender bamboo with good toughness, which does not meet the requirements. The bamboo fixing and cutting device used in this invention is equipped with anti-sway branching to ensure that the device can work normally when the drone is unstable. The fixing semicircular ring of the device is equipped with a spring and a flexible material with a certain curvature to ensure that the fixing semicircular ring can fix bamboo of different sizes. After the installed pressure sensor comes into contact with the bamboo, it can ensure that the fixing semicircular ring can accurately fix the bamboo. After the bamboo is fixed, the saw blade is used for cutting, which can ensure that slender bamboo can also be cut normally.

[0047] 3) Existing technologies are all aimed at cutting tree branches, but they do not consider whether the cut branches will affect the normal flight of the drone. The bamboo fixing and cutting device used in this invention can fix the bamboo after cutting it, and through the fixing effect of the fixed semi-circular ring and the rotation effect of the rotating swing device, the direction of the cut bamboo can be reversed before it falls, thereby preventing the cut bamboo from damaging the drone. Attached Figure Description

[0048] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0049] Figure 1 This is a schematic diagram of the structure of the present invention;

[0050] Figure 2 This is a schematic diagram of the electric actuator structure of the present invention;

[0051] Figure 3 This is a cross-sectional view of the electric actuator of the present invention;

[0052] Figure 4 This is a schematic diagram of the rotating part support device of the present invention;

[0053] Figure 5 This is a cross-sectional view of the rotating part support device of the present invention.

[0054] Figure 6 This is a schematic diagram of the external shape of the rotating and swinging device of the present invention;

[0055] Figure 7 This is a schematic diagram of the rotating swing device of the present invention;

[0056] Figure 8 This is a schematic diagram of the outer contour of the bamboo fixing and cutting device of the present invention;

[0057] Figure 9 This is a schematic diagram of the bamboo fixing and cutting device of the present invention;

[0058] Figure 10This is a cross-sectional view of the bamboo fixing and cutting device of the present invention;

[0059] Figure 11 This is a schematic diagram of the outer contour of the bamboo fixing semicircular ring of the bamboo fixing and cutting device of the present invention;

[0060] Figure 12 This is a schematic diagram of the power supply structure of the present invention;

[0061] Figure 13 This is a schematic diagram of the fixed base structure of the present invention;

[0062] Figure 14 This is a schematic diagram of the pruning mode state of the present invention;

[0063] Figure 15 This is a schematic diagram of the cutting mode state of the present invention;

[0064] In the picture:

[0065] 1. Drones;

[0066] 2. Electric linear actuator; 21. Electric linear actuator housing; 22. Electric linear actuator telescopic rod cover; 23. Electric linear actuator telescopic rod; 24. Worm gear; 25. Worm gear motor; 26. Worm gear; 27. Cover fixing bolt; 28. Worm gear motor fixing bolt;

[0067] 3. Rotating part support device; 31. Bearing; 32. Rotating swing device connecting ring; 33. Electric push rod connecting ring;

[0068] 4. Rotational swing device; 41. Upper half of the first joint; 42. Lower half of the first joint; 43. Second joint; 44. Third joint; 45. Rotational motor of the first joint; 46. Swinging motor of the second joint; 47. Swinging motor of the third joint; 48. Fixing bolt of the first joint; 49. Fixing bolt of the rotational fixing device; 410. Fixing bolt of the swinging motor of the second joint; 411. Fixing bolt of the swinging motor of the third joint; 412. Fixing bolt of the bamboo fixing and cutting device;

[0069] 5. Bamboo fixing and cutting device; 51. Upper outer shell; 52. Middle outer shell; 53. Lower outer shell; 54. First bamboo fixing semicircular ring; 55. Second bamboo fixing semicircular ring; 56. Pressure sensing device; 57. Saw disc; 58. First anti-sway branch; 59. Second anti-sway branch; 510. Bamboo fixing semicircular ring fixing plate; 511. Saw disc fixing U-shaped plate; 512. First gear; 513. Second gear; 514. First anti-sway branch rotating motor; 515. First anti-sway branch rotating motor fixing bolt; 516. Second anti-sway branch rotating motor; 517. Second anti-sway branch rotating motor fixing bolt; 518. Bamboo fixing semicircular ring and anti-sway branch fixing plate moving motor; 519. Saw disc fixing U-shaped plate moving motor; 520. Bamboo fixing semicircular ring rotating motor; 521. Saw disc rotating motor; 522. Saw disc rotating motor fixing bolt; 523. Outer shell fixing bolt;

[0070] 6. Power supply; 61. Power supply box; 62. Power supply box fixing bolts;

[0071] 7. Fixed base; 71. Connecting plate; 72. First fixing plate; 73. Second fixing plate; 74. UAV base fixing bolts; 75. Electric push rod fixing bolts;

[0072] 8. Bamboo. Detailed Implementation

[0073] A method for pruning bamboo using a drone, wherein when the drone 1 encounters a target area of ​​bamboo with too many branches during line inspection, it uses a pruning mode to prune the branches, specifically including the following steps:

[0074] Step 1: The first anti-sway branch 58 and the second anti-sway branch 59 of the bamboo fixing and cutting device 5 are opened to the maximum degree under the action of the first anti-sway branch rotation motor 514 and the second anti-sway branch rotation motor 516.

[0075] Step 2: The first bamboo fixing semicircular ring 54 and the second bamboo fixing semicircular ring 55 of the bamboo fixing and cutting device 5 are opened to the maximum degree under the action of the bamboo fixing semicircular ring rotation motor 520;

[0076] Step 3: The bamboo fixing semi-circular ring fixing plate moving motor 518 of the bamboo fixing cutting device 5 rotates with the first gear 512. The bamboo fixing semi-circular ring fixing plate 510 moves backward as the first gear 512 engages with the gear groove on the inner wall of the outer shell 52. The saw disc 57 rotates under the drive of the saw disc rotating motor 521.

[0077] Step 4: The saw disc fixing U-shaped plate moving motor 519 and the second gear 513 of the bamboo fixing and cutting device 5 rotate, and move forward to the set position as the second gear 513 engages with the gear groove on the inner wall of the outer shell 52.

[0078] Step 5: The worm wheel 24 of the electric push rod 2 starts to rotate under the action of the worm rotation motor 25 and the worm 26, and the electric push rod extension rod 23 begins to move forward as the worm wheel 24 and the gear groove on the inner wall of the electric push rod housing 21 cooperate;

[0079] Step 6: Use the camera to locate the branches that may affect the operation of the bamboo fixing and cutting device 5, and use the flexibility of the rotating swing device 4 to prune these branches.

[0080] Step 7: After the branches of the bamboo 8 are pruned, the rotating swing device 4 and the bamboo fixing and cutting device 5 move backward a certain distance under the drive of the electric push rod 2.

[0081] like Figure 2 , Figure 3 As shown, the electric actuator 2 includes an electric actuator housing 21, an electric actuator telescopic rod cover 22, an electric actuator telescopic rod 23, a worm gear 24, a worm gear drive motor 25, a worm gear 26, a cover fixing bolt 27, and a worm gear drive motor fixing bolt 28.

[0082] Among them, the rotating shaft of the worm gear motor 25 is rotatably connected to the worm 26, the worm wheel 24 is rotatably connected to the cylindrical shaft in the end groove of the electric push rod telescopic rod 23, the worm gear motor fixing bolt 28 fixes the worm gear motor 25 to the end of the electric push rod telescopic rod 23, the inner wall of the electric push rod housing 21 is in contact with the end of the electric push rod telescopic rod 23, and the cover fixing bolt 27 fixes the electric push rod telescopic rod cover 22 to the electric push rod housing 21.

[0083] When the electric push rod 2 is working: the worm gear motor 25 drives the worm 26 to rotate, the worm 26 drives the worm wheel 24 to rotate, and the rotating worm wheel 24 cooperates with the gear groove on the inner wall of the electric push rod housing 21, thereby driving the electric push rod telescopic rod 23 to move. The direction of movement of the electric push rod telescopic rod 23 can be controlled by controlling the rotation direction of the worm gear motor 25.

[0084] like Figure 4 , Figure 5 As shown, the rotating part support device 3 includes a bearing 31, a rotating swing device connecting ring 32, and an electric push rod connecting ring 33;

[0085] Among them, the rotating swing device connecting ring 32 is fixedly connected to the inner ring of the bearing 31, and the electric push rod connecting ring 33 is fixedly connected to the outer ring on the other side of the bearing 31.

[0086] When the rotating swing device is working: under the action of the bearing 31, the inner ring of the rotating swing device connecting ring 32 and the bearing 31 can rotate relative to the outer ring of the electric push rod connecting ring 33 and the bearing 31. The rotating swing device connecting ring 32 and the electric push rod connecting ring 33 are respectively fixed on two devices that can rotate relative to each other. The rotating part support device 3 can play the role of reinforcing the connection part of the two devices that rotate relative to each other.

[0087] like Figure 6 , Figure 7 As shown, the rotating swing device 4 includes an upper half of the first joint 41, a lower half of the first joint 42, a second joint 43, a third joint 44, a first joint rotation motor 45, a second joint swing motor 46, a third joint swing motor 47, a first joint fixing bolt 48, a rotation fixing device fixing bolt 49, a second joint swing motor fixing bolt 410, a third joint swing motor fixing bolt 411, and a bamboo fixing and cutting device fixing bolt 412.

[0088] The first joint rotary motor 45 is in contact with the interior of the upper half 41 and the lower half 42 of the first joint. The upper half 41 and the lower half 42 of the first joint are fixedly connected by the first joint fixing bolt 48. The lower half 42 of the first joint is rotatably connected to the cylindrical shaft of the second joint 43. The second joint swing motor 46 is fixed in the motor slot of the lower half 42 of the first joint by the second joint fixing bolt 410. At the same time, the second joint swing motor 46 is rotatably connected to the cylindrical shaft of the second joint 43. The second joint 43 is rotatably connected to the cylindrical shaft of the third joint 44. The third joint swing motor 47 is fixed in the motor slot of the second joint 43 by the third joint fixing bolt 411. At the same time, the third joint swing motor 47 is rotatably connected to the cylindrical shaft of the third joint 44.

[0089] When the rotating swing device 4 is working: the shaft of the first joint rotating motor 45 in the first joint rotates, thereby driving the rotating swing device 4 to rotate; the shaft of the second joint swing motor 46 rotates, thereby driving the second joint 43 to swing; and the shaft of the third joint swing motor 47 rotates, thereby driving the third joint 44 to swing.

[0090] like Figures 8 to 11As shown, the present invention also provides a bamboo fixing and cutting device, which can be used to clamp and cut target bamboo. The bamboo fixing and cutting device 5 includes an upper outer shell 51, a middle outer shell 52, a lower outer shell 53, a first bamboo fixing semicircular ring 54, a second bamboo fixing semicircular ring 55, a pressure sensing device 56, a saw disc 57, a first anti-sway branch 58, a second anti-sway branch 59, a bamboo fixing semicircular ring fixing plate 510, a saw disc fixing U-shaped plate 511, a first gear 512, a second gear 513, a first anti-sway branch rotating motor 514, a first anti-sway branch rotating motor fixing bolt 515, a second anti-sway branch rotating motor 516, a second anti-sway branch rotating motor fixing bolt 517, a bamboo fixing semicircular ring fixing plate moving motor 518, a saw disc fixing U-shaped plate moving motor 519, a bamboo fixing semicircular ring rotating motor 520, a saw disc rotating motor 521, a saw disc rotating motor fixing bolt 522, and an outer shell fixing bolt 523.

[0091] The upper outer shell 51, middle outer shell 52, and lower outer shell 53 are fixedly connected by outer shell fixing bolts 523. A bamboo fixing semi-circular ring fixing plate 510 is located between the upper outer shell 51 and the middle outer shell 52, and is in contact with both outer shells 51 and 52. The first anti-sway fork 58 and the second anti-sway fork 59 are rotatably connected to the cylindrical shafts on both sides of the bamboo fixing semi-circular ring fixing plate 510. A saw disc fixing U-shaped plate 511 is located between the middle outer shell 52 and the lower outer shell 53, and is in contact with both outer shells 52 and 53. The first bamboo fixing semi-circular ring 54 and the second bamboo fixing semi-circular ring 55 are rotatably connected to the cylindrical shaft at the front end of the bamboo fixing semi-circular ring fixing plate 510. The first gear 512 is rotatably connected to the cylindrical shaft of the bamboo fixing semi-circular ring fixing plate 510. A pressure sensing device 56 is fixedly connected to the bamboo fixing semi-circular ring fixing plate 510. The motor is fixed via the first anti-sway fork. The first anti-sway fork rotating motor 514 is fixedly connected to the bamboo fixing semi-circular ring fixing plate 510 by the fixing bolt 515. The second anti-sway fork rotating motor 516 is fixedly connected to the bamboo fixing semi-circular ring fixing plate 510 by the fixing bolt 517. The bamboo fixing semi-circular ring rotating motor 520 is fixedly connected to the bamboo fixing semi-circular ring fixing plate 510. The second gear 513 is rotatably connected to the cylindrical shaft of the saw disc fixing U-shaped plate 511. The saw disc 57 is rotatably connected to the cylindrical shaft at the front end of the saw disc fixing U-shaped plate 511. The bamboo fixing semi-circular ring fixing plate moving motor 518 is fixedly connected to the corresponding position of the cylindrical shaft where the first gear 512 is located. The saw disc fixing U-shaped plate moving motor 519 is fixedly connected to the corresponding position of the cylindrical shaft where the second gear 513 is located. The saw disc rotating motor 521 is fixedly connected to the saw disc fixing U-shaped plate 511 by the fixing bolt 522.

[0092] When the bamboo fixing and cutting device 5 is working, the shaft of the bamboo fixing semi-circular ring fixing plate moving motor 518 rotates, thereby driving the first gear 512 to rotate. Through the engagement of the first gear 512 with the gear groove of the inner shell 52, the bamboo fixing semi-circular ring fixing plate 510 is moved. The shafts of the first anti-sway branch rotating motor 514 and the second anti-sway branch rotating motor 516 rotate, respectively controlling the rotation of the first anti-sway branch 58 and the second anti-sway branch 59. The shaft of the bamboo fixing semi-circular ring rotating motor 520 rotates, driving the first bamboo fixing semi-circular ring 54 and the second bamboo fixing semi-circular ring 55 to rotate. The shaft of the saw disc fixing U-shaped plate moving motor 519 rotates, thereby driving the second gear 513 to rotate. Through the engagement of the second gear 513 with the gear groove of the inner shell 52, the saw disc fixing U-shaped plate 511 is moved. The shaft of the saw disc rotating motor 521 rotates, thereby driving the saw disc to rotate.

[0093] This invention also provides a method for cutting bamboo using a drone, specifically including the following steps:

[0094] S1: The opening of the first anti-sway branch 58 and the second anti-sway branch 59 of the bamboo fixing and cutting device 5 gradually decreases to the set position under the action of the first anti-sway branch rotation motor 514 and the second anti-sway branch rotation motor 516.

[0095] S2: The worm wheel 24 of the electric push rod 2 starts to rotate under the action of the worm rotation motor 25 and the worm 26, and the electric push rod extension rod 23 begins to move forward as the worm wheel 24 and the gear groove on the inner wall of the electric push rod housing 21 cooperate.

[0096] S3: When the pressure sensor 56 of the bamboo fixing and cutting device 5 comes into contact with the bamboo 8, the electric push rod 2 stops moving, and the first bamboo fixing semicircular ring 54 and the second bamboo fixing semicircular ring 55 begin to close under the drive of the bamboo fixing semicircular ring rotating motor 520 to achieve the purpose of fixing the bamboo 8.

[0097] S4: After the bamboo 8 is fixed, the saw disc 57 starts to start under the drive of the saw disc rotation motor 521;

[0098] S5: The saw blade fixing U-shaped plate 511 moves forward under the drive of the saw blade fixing U-shaped plate moving motor 519 and the second gear 513, and finally cuts the bamboo 8 into two sections.

[0099] S6: After the bamboo 8 is cut, the rotating swing device 4 starts to rotate under the action of the first joint rotating motor 45, turning the direction of the bamboo to prevent the bamboo 8 from hitting the drone 1;

[0100] S7: Driven by the rotating motor 520 of the bamboo fixing semicircular ring, the opening of the first bamboo fixing semicircular ring 54 and the second bamboo fixing semicircular ring 55 increases, causing the bamboo to fall.

[0101] The bamboo fixing and cutting device 5 adopts the aforementioned bamboo fixing and cutting device.

[0102] A multi-rotor drone for cutting and trimming the tips of bamboo, comprising a drone 1, an electric push rod 2, a rotating part support device 3, a rotating swing device 4, a bamboo fixing and cutting device 5, and a power supply 6;

[0103] The electric push rod 2 includes a worm gear motor 25, the shaft of which is rotatably connected to a worm 26, a worm wheel 24 is rotatably connected to a cylindrical shaft in the end groove of the electric push rod telescopic rod 23, a worm gear motor fixing bolt 28 fixes the worm gear motor 25 to the end of the electric push rod telescopic rod 23, the inner wall of the electric push rod housing 21 is in contact with the end of the electric push rod telescopic rod 23, and a cover fixing bolt 27 fixes the electric push rod telescopic rod cover 22 to the electric push rod housing 21.

[0104] The rotating part support device 3 includes a rotating swing device connecting ring 32, which is fixedly connected to the inner ring of the bearing 31, and an electric push rod connecting ring 33 is fixedly connected to the outer ring on the other side of the bearing 31.

[0105] The rotating swing device 4 includes a first joint rotary motor 45, which is in contact with the interior of the upper half 41 and the lower half 42 of the first joint. The upper half 41 and the lower half 42 of the first joint are fixedly connected by a first joint fixing bolt 48. The lower half 42 of the first joint is rotatably connected to the cylindrical shaft of the second joint 43. The second joint swing motor 46 is fixed in the motor slot of the lower half 42 of the first joint by a second joint swing motor fixing bolt 410. At the same time, the rotating shaft of the second joint swing motor 46 is rotatably connected to the cylindrical shaft of the second joint 43. The second joint 43 is rotatably connected to the cylindrical shaft of the third joint 44. The third joint swing motor 47 is fixed in the motor slot of the second joint 43 by a third joint swing motor fixing bolt 411. At the same time, the rotating shaft of the third joint swing motor 47 is rotatably connected to the cylindrical shaft of the third joint 44.

[0106] like Figure 7 As shown, it also includes a fixed base 7, which includes a first fixed plate 72, which is fixedly connected to a connecting plate 71, a second fixed plate 73, which is fixedly connected to the connecting plate 71, a drone base fixing bolt 74 for fixing the fixed connection between the base 7 and the drone, and an electric push rod fixing bolt 75 for fixing the fixed connection between the base 7 and the electric push rod.

[0107] The connecting plate 71 in the fixed base 7 is fixedly connected to the base of the drone 1 by the drone base fixing bolt 74. The first fixing plate 72 and the second fixing plate 73 in the fixed base 7 are fixedly connected to the electric push rod housing 21 in the electric push rod 2 by the electric push rod fixing bolt 75. The electric push rod telescopic rod 23 in the electric push rod 2 is in contact with the upper half 41 and the lower half 42 of the first joint of the rotating swing device 4. The rotating swing device connecting ring 32 of the rotating part support device 3 is fixedly connected to the upper half 41 and the lower half 42 of the first joint of the rotating swing device 4. The electric push rod connecting ring 33 is fixedly connected to the electric push rod telescopic rod 23 in the electric push rod 2. The third joint 44 is fixedly connected to the middle housing 52 of the bamboo fixing and cutting device 5 by the bamboo fixing and cutting device fixing bolt 412.

[0108] The bamboo fixing and cutting device 5 includes an upper outer shell 51, a middle outer shell 52, a lower outer shell 53, a first bamboo fixing semicircular ring 54, a second bamboo fixing semicircular ring 55, a pressure sensing device 56, a saw disc 57, a first anti-sway branch 58, a second anti-sway branch 59, a bamboo fixing semicircular ring fixing plate 510, a saw disc fixing U-shaped plate 511, a first gear 512, a second gear 513, a first anti-sway branch rotating motor 514, a first anti-sway branch rotating motor fixing bolt 515, a second anti-sway branch rotating motor 516, a second anti-sway branch rotating motor fixing bolt 517, a bamboo fixing semicircular ring fixing plate moving motor 518, a saw disc fixing U-shaped plate moving motor 519, a bamboo fixing semicircular ring rotating motor 520, a saw disc rotating motor 521, a saw disc rotating motor fixing bolt 522, and an outer shell fixing bolt 523.

[0109] The upper outer shell 51, middle outer shell 52, and lower outer shell 53 are fixedly connected by outer shell fixing bolts 523. A bamboo fixing semi-circular ring fixing plate 510 is located between the upper outer shell 51 and the middle outer shell 52, and is in contact with both outer shells 51 and 52. The first anti-sway fork 58 and the second anti-sway fork 59 are rotatably connected to the cylindrical shafts on both sides of the bamboo fixing semi-circular ring fixing plate 510. A saw disc fixing U-shaped plate 511 is located between the middle outer shell 52 and the lower outer shell 53, and is in contact with both outer shells 52 and 53. The first bamboo fixing semi-circular ring 54 and the second bamboo fixing semi-circular ring 55 are rotatably connected to the cylindrical shaft in the middle of the bamboo fixing semi-circular ring fixing plate 510. The first gear 512 is rotatably connected to the cylindrical shaft of the bamboo fixing semi-circular ring fixing plate 510. A pressure sensing device 56 is fixedly connected to the bamboo fixing semi-circular ring fixing plate 510. The motor is fixed via the first anti-sway fork. The first anti-sway fork rotating motor 514 is fixedly connected to the bamboo fixing semi-circular ring fixing plate 510 by the fixing bolt 515. The second anti-sway fork rotating motor 516 is fixedly connected to the bamboo fixing semi-circular ring fixing plate 510 by the fixing bolt 517. The bamboo fixing semi-circular ring rotating motor 520 is fixedly connected to the bamboo fixing semi-circular ring fixing plate 510. The second gear 513 is rotatably connected to the cylindrical shaft of the saw disc fixing U-shaped plate 511. The saw disc 57 is rotatably connected to the cylindrical shaft at the front end of the saw disc fixing U-shaped plate 511. The bamboo fixing semi-circular ring fixing plate moving motor 518 is fixedly connected to the corresponding position of the cylindrical shaft where the first gear 512 is located. The saw disc fixing U-shaped plate moving motor 519 is fixedly connected to the corresponding position of the cylindrical shaft where the second gear 513 is located. The saw disc rotating motor 521 is fixedly connected to the saw disc fixing U-shaped plate 511 by the fixing bolt 522.

[0110] In use, the drone 1 is equipped with a ranging device and a camera. After the ranging device measures the distance from the top of the bamboo to the power line and the distance between the drone and the bamboo, it automatically calculates the required cutting height of the bamboo and adjusts the drone's height above the ground and the distance between the drone and the bamboo. The drone maintains this height during the bamboo cutting process. The camera transmits the captured images to the operator on the ground. The operator can view the images captured by the drone through their operating device. The images can mark the bamboo, display the distance between the bamboo and the drone, and provide a preliminary assessment of the number of branches at the cutting point. If the operator determines from the images that there are too many branches at a particular point, they can use the pruning mode to trim the smaller branches (see...). Figure 14 The worm gear motor 25 drives the worm gear 26 to rotate, and the worm gear 26 drives four worm wheels 24 to rotate. The rotating worm wheels 24 cooperate with the gear grooves on the inner wall of the electric actuator housing 21 (see...). Figure 3This causes the electric push rod telescopic rod 23 to move forward. At this time, the first anti-sway branch 58 and the second anti-sway branch 59 of the bamboo fixing and cutting device 5 open to their maximum extent under the action of the first anti-sway branch rotation motor 514 and the second anti-sway branch rotation motor 516. The first bamboo fixing semicircular ring 54 and the second bamboo fixing semicircular ring 55 of the bamboo fixing and cutting device 5 (see...) Figure 11 Under the action of the bamboo fixing semicircular ring rotating motor 520, the opening is opened to the maximum. The bamboo fixing semicircular ring fixing plate 510 moves backward under the drive of the bamboo fixing semicircular ring fixing plate moving motor 518 and the first gear 512. The saw disc 57 rotates under the drive of the saw disc rotating motor 521. The saw disc fixing U-shaped plate 511 moves forward under the drive of the saw disc fixing U-shaped plate moving motor 519 and the second gear 513. The camera is used to locate the branches that may affect the operation of the bamboo fixing and cutting device. Then, the flexibility of the rotating swing device 4 is used to prune these branches. After the branches at the bamboo 8 cutting part are pruned, the rotating swing device 4 and the fixing cutting device 5 will move backward a distance under the drive of the electric push rod 2.

[0111] Use the cutting mode when cutting the main stalk of bamboo (see...) Figure 15 At this time, the opening of the first anti-sway branch 58 and the second anti-sway branch 59 of the bamboo fixing and cutting device 5 gradually decreases to the set position under the action of the first anti-sway branch rotation motor 514 and the second anti-sway branch rotation motor 516. The first bamboo fixing semicircular ring 54 and the second bamboo fixing semicircular ring 55 of the bamboo fixing and cutting device 5 (see...) Figure 11 Maintaining the maximum opening, the electric push rod 23 begins to move forward. When the pressure sensor 56 in the middle of the bamboo fixing device contacts the bamboo 8, the electric push rod 2 stops moving. The first bamboo fixing semicircular ring 54 and the second bamboo fixing semicircular ring 55 of the bamboo fixing and cutting device 5 (see...) Figure 11 The bamboo 8 begins to close under the action of the bamboo fixing semicircular ring rotating motor 520, and the opening gradually decreases to achieve the purpose of fixing the bamboo 8. After the bamboo 8 is fixed, the saw disc 57 starts to start under the drive of the saw disc rotating motor 521. The saw disc fixing U-shaped plate 511 moves forward under the drive of the saw disc fixing U-shaped plate moving motor 519 and the second gear 513, and finally cuts the bamboo 8 into two sections. After the bamboo 8 is cut, the rotating swing device 4 starts to rotate under the action of the first joint rotating motor 45, and turns the direction of the bamboo to prevent the bamboo 8 from hitting the drone 1. Then, under the drive of the bamboo fixing semicircular ring rotating motor 520, the first bamboo fixing semicircular ring 54 and the second bamboo fixing semicircular ring 55 begin to open, causing the bamboo to fall.

Claims

1. A method for pruning bamboo using a drone, characterized in that, When the drone (1) encounters bamboo with too many branches during the line inspection, it uses the pruning mode to prune the branches, specifically including the following steps: Step 1: The first anti-sway branch (58) and the second anti-sway branch (59) of the bamboo fixing and cutting device (5) are opened to the maximum degree under the action of the first anti-sway branch rotation motor (514) and the second anti-sway branch rotation motor (516); Step 2: The first bamboo fixing semicircular ring (54) and the second bamboo fixing semicircular ring (55) of the bamboo fixing and cutting device (5) are opened to the maximum degree under the action of the bamboo fixing semicircular ring rotating motor (520); Step 3: The bamboo fixing semi-circular ring fixing plate moving motor (518) of the bamboo fixing cutting device (5) rotates with the first gear (512), and the bamboo fixing semi-circular ring fixing plate (510) moves backward as the first gear (512) engages with the gear groove on the inner wall of the middle outer shell (52). The saw disc (57) rotates under the drive of the saw disc rotating motor (521). Step 4: The saw disc fixing U-shaped plate moving motor (519) of the bamboo fixing and cutting device (5) rotates with the second gear (513). As the second gear (513) engages with the gear groove on the inner wall of the middle outer shell (52), it moves forward to the set position. Step 5: The worm wheel (24) of the electric push rod (2) starts to rotate under the action of the worm rotation motor (25) and the worm (26), and the electric push rod extension rod (23) begins to move forward as the worm wheel (24) and the gear groove on the inner wall of the electric push rod housing (21) cooperate; Step 6: Use the camera to locate the branches that may affect the operation of the bamboo fixing and cutting device (5), and use the flexibility of the rotating swing device (4) to prune these branches; Step 7: After the branches of the bamboo (8) are pruned, the rotating swing device (4) and the bamboo fixing and cutting device (5) move backward a distance under the drive of the electric push rod (2).

2. The method according to claim 1, characterized in that, The electric push rod (2) includes an electric push rod housing (21), an electric push rod telescopic rod cover (22), an electric push rod telescopic rod (23), a worm gear (24), a worm gear rotating motor (25), a worm (26), a cover fixing bolt (27), and a worm gear rotating motor fixing bolt (28). Among them, the worm gear motor (25) is rotatably connected to the worm (26), the worm wheel (24) is rotatably connected to the cylindrical shaft in the end groove of the electric push rod telescopic rod (23), the worm gear motor fixing bolt (28) fixes the worm gear motor (25) to the end of the electric push rod telescopic rod (23), the inner wall of the electric push rod housing (21) is in contact with the end of the electric push rod telescopic rod (23), and the cover fixing bolt (27) fixes the electric push rod telescopic rod cover (22) to the electric push rod housing (21). When the electric push rod (2) is working: the worm gear motor (25) drives the worm (26) to rotate, the worm (26) drives the worm wheel (24) to rotate, and the rotating worm wheel (24) cooperates with the gear groove on the inner wall of the electric push rod housing (21), thereby driving the electric push rod telescopic rod (23) to move. The direction of movement of the electric push rod telescopic rod (23) can be controlled by controlling the rotation direction of the worm gear motor (25).

3. The method according to claim 1, characterized in that, It also includes a rotating part support device (3), which includes a bearing (31), a rotating swing device connecting ring (32), and an electric push rod connecting ring (33). Among them, the rotating swing device connecting ring (32) is fixedly connected to the inner ring of the bearing (31), and the electric push rod connecting ring (33) is fixedly connected to the outer ring on the other side of the bearing (31); When the rotating swing device is working: under the action of the bearing (31), the inner ring of the rotating swing device connecting ring (32) and the bearing (31) can rotate relative to the outer ring of the electric push rod connecting ring (33) and the bearing (31). The rotating swing device connecting ring (32) and the electric push rod connecting ring (33) are respectively fixed on the two devices that can rotate relative to each other. The rotating part support device (3) can play the role of reinforcing the connection part of the two devices that rotate relative to each other. The rotating swing device (4) includes an upper half of the first joint (41), a lower half of the first joint (42), a second joint (43), a third joint (44), a first joint rotating motor (45), a second joint swing motor (46), a third joint swing motor (47), a first joint fixing bolt (48), a rotating fixing device fixing bolt (49), a second joint swing motor fixing bolt (410), a third joint swing motor fixing bolt (411), and a bamboo fixing and cutting device fixing bolt (412). The first joint rotary motor (45) is in contact with the interior of the upper half (41) and the lower half (42) of the first joint. The upper half (41) and the lower half (42) of the first joint are fixedly connected by the first joint fixing bolt (48). The lower half (42) of the first joint is rotatably connected to the cylindrical shaft of the second joint (43). The second joint swing motor (46) is fixed to the first joint by the second joint swing motor fixing bolt (410). In the motor slot of the lower half (42), the shaft of the second joint swing motor (46) is rotatably connected to the cylindrical shaft of the second joint (43), and the cylindrical shaft of the second joint (43) is rotatably connected to the cylindrical shaft of the third joint (44). The third joint swing motor (47) is fixed in the motor slot of the second joint (43) by the fixing bolt (411), and the shaft of the third joint swing motor (47) is rotatably connected to the cylindrical shaft of the third joint (44). When the rotating swing device (4) is working: the shaft of the first joint rotating motor (45) in the first joint rotates, thereby driving the rotating swing device (4) to rotate; the shaft of the second joint swing motor (46) rotates, thereby driving the second joint (43) to swing; the shaft of the third joint swing motor (47) rotates, thereby driving the third joint (44) to swing.

4. A bamboo fixing and cutting device, characterized in that, The bamboo fixing and cutting device (5) includes an upper outer shell (51), a middle outer shell (52), a lower outer shell (53), a first bamboo fixing semicircular ring (54), a second bamboo fixing semicircular ring (55), a pressure sensing device (56), a saw disc (57), a first anti-sway branch (58), a second anti-sway branch (59), a bamboo fixing semicircular ring fixing plate (510), a saw disc fixing U-shaped plate (511), a first gear (512), a second gear (513), a first anti-sway branch rotating motor (514), a first anti-sway branch rotating motor fixing bolt (515), a second anti-sway branch rotating motor (516), a second anti-sway branch rotating motor fixing bolt (517), a bamboo fixing semicircular ring fixing plate moving motor (518), a saw disc fixing U-shaped plate moving motor (519), a bamboo fixing semicircular ring rotating motor (520), a saw disc rotating motor (521), a saw disc rotating motor fixing bolt (522), and an outer shell fixing bolt (523). The upper outer shell (51), middle outer shell (52), and lower outer shell (53) are fixedly connected by outer shell fixing bolts (523). The bamboo fixing semi-circular ring fixing plate (510) is located between the upper outer shell (51) and the middle outer shell (52) and is in contact with the upper outer shell (51) and the middle outer shell (52). The first anti-sway branch (58) and the second anti-sway branch (59) are rotatably connected to the cylindrical shafts on both sides of the bamboo fixing semi-circular ring fixing plate (510). The saw disc fixing U-shaped plate (511) is located between the upper outer shell and the middle outer shell. Between the outer shell (52) and the lower outer shell (53), and in contact with the middle outer shell (52) and the lower outer shell (53), the first bamboo fixing semicircular ring (54) and the second bamboo fixing semicircular ring (55) are rotatably connected to the cylindrical shaft at the front end of the bamboo fixing semicircular ring fixing plate (510), the first gear (512) is rotatably connected to the cylindrical shaft of the bamboo fixing semicircular ring fixing plate (510), the pressure sensing device (56) is fixedly connected to the bamboo fixing semicircular ring fixing plate (510), and through the first anti-sway fork The rotating motor fixing bolt (515) fixes the first anti-sway fork rotating motor (514) to the bamboo fixing semi-circular ring fixing plate (510). The second anti-sway fork rotating motor (516) is fixedly connected to the bamboo fixing semi-circular ring fixing plate (510) by the second anti-sway fork rotating motor fixing bolt (517). The bamboo fixing semi-circular ring rotating motor (520) is fixedly connected to the bamboo fixing semi-circular ring fixing plate (510). The second gear (513) is connected to the cylindrical shaft of the saw blade fixing U-shaped plate (511). A rotatable connection is made between the saw disc (57) and the cylindrical shaft at the front end of the saw disc fixing U-shaped plate (511). The bamboo fixing semi-circular ring fixing plate moving motor (518) is fixedly connected to the corresponding position of the cylindrical shaft where the first gear (512) is located. The saw disc fixing U-shaped plate moving motor (519) is fixedly connected to the corresponding position of the cylindrical shaft where the second gear (513) is located. The saw disc rotating motor (521) is fixedly connected to the saw disc fixing U-shaped plate (511) by the saw disc rotating motor fixing bolt (522).

5. The apparatus according to claim 4, characterized in that, When the bamboo fixing and cutting device (5) is working, the shaft of the bamboo fixing semi-circular ring fixing plate moving motor (518) rotates, thereby driving the first gear (512) to rotate. Through the engagement of the first gear (512) with the gear groove of the inner shell (52), the bamboo fixing semi-circular ring fixing plate (510) is moved. The shafts of the first anti-sway fork rotating motor (514) and the second anti-sway fork rotating motor (516) rotate, respectively controlling the first anti-sway fork (58) and the second anti-sway fork (516). 59) Rotation, the shaft of the bamboo fixing semi-circular ring rotating motor (520) rotates, driving the first bamboo fixing semi-circular ring (54) and the second bamboo fixing semi-circular ring (55) to rotate, the shaft of the saw disc fixing U-shaped plate moving motor (519) rotates, thereby driving the second gear (513) to rotate, through the second gear (513) cooperating with the gear groove of the inner shell (52), thereby driving the saw disc fixing U-shaped plate (511) to move, the shaft of the saw disc rotating motor (521) rotates, thereby driving the saw disc to rotate.

6. A method for cutting bamboo using a drone, characterized in that, Specifically, the following steps are included: S1: The opening of the first anti-sway branch (58) and the second anti-sway branch (59) of the bamboo fixing and cutting device (5) gradually decreases to the set position under the action of the first anti-sway branch rotation motor (514) and the second anti-sway branch rotation motor (516). S2: The worm wheel (24) of the electric push rod (2) starts to rotate under the action of the worm rotation motor (25) and the worm (26), and the electric push rod extension rod (23) starts to move forward as the worm wheel (24) and the gear groove on the inner wall of the electric push rod housing (21) cooperate; S3: When the pressure sensor (56) of the bamboo fixing and cutting device (5) comes into contact with the bamboo (8), the electric push rod (2) stops moving, and the first bamboo fixing semicircular ring (54) and the second bamboo fixing semicircular ring (55) begin to close under the drive of the bamboo fixing semicircular ring rotating motor (520) to achieve the purpose of fixing the bamboo (8). S4: After the bamboo (8) is fixed, the saw disc (57) starts to start under the drive of the saw disc rotation motor (521); S5: The saw blade fixing U-shaped plate (511) moves forward under the drive of the saw blade fixing U-shaped plate moving motor (519) and the second gear (513), and finally cuts the bamboo (8) into two sections; S6: After the bamboo (8) is cut, the rotating swing device (4) starts to rotate under the action of the first joint rotating motor (45), and turns the direction of the bamboo to prevent the cut bamboo from falling and hitting the drone (1). S7: Driven by the rotating motor (520) of the bamboo fixing semicircular ring, the opening of the first bamboo fixing semicircular ring (54) and the second bamboo fixing semicircular ring (55) increases, causing the bamboo to fall.

7. The method according to claim 6, characterized in that, The bamboo fixing and cutting device (5) adopts the bamboo fixing and cutting device as described in claim 4 or claim 5.

8. A device for cutting and trimming the tips of bamboo using a multi-rotor unmanned aerial vehicle, characterized in that, Includes drone (1), electric push rod (2), rotating part support device (3), rotating swing device (4), bamboo fixing and cutting device (5), power supply (6); The electric push rod (2) includes a worm gear motor (25), which is rotatably connected to the worm (26). The worm wheel (24) is rotatably connected to the cylindrical shaft in the end groove of the electric push rod telescopic rod (23). The worm gear motor fixing bolt (28) fixes the worm gear motor (25) to the end of the electric push rod telescopic rod (23). The inner wall of the electric push rod housing (21) is in contact with the end of the electric push rod telescopic rod (23). The cover fixing bolt (27) fixes the electric push rod telescopic rod cover (22) to the electric push rod housing (21). The rotating part support device (3) includes a rotating swing device connecting ring (32), which is fixedly connected to the inner ring of the bearing (31), and the electric push rod connecting ring (33) is fixedly connected to the outer ring on the other side of the bearing (31). The rotating swing device (4) includes a first joint rotating motor (45), which is in contact with the interior of the upper half (41) and the lower half (42) of the first joint. The upper half (41) and the lower half (42) of the first joint are fixedly connected by a first joint fixing bolt (48). The lower half (42) of the first joint is rotatably connected to the cylindrical shaft of the second joint (43). The second joint swing motor is rotatably connected by a second joint swing motor fixing bolt (410). The motor (46) is fixed in the motor slot of the lower half (42) of the first joint. At the same time, the rotating shaft of the second joint swing motor (46) is rotatably connected to the cylindrical shaft of the second joint (43). The cylindrical shaft of the second joint (43) is rotatably connected to the cylindrical shaft of the third joint (44). The third joint swing motor (47) is fixed in the motor slot of the second joint (43) by the fixing bolt (411). At the same time, the rotating shaft of the third joint swing motor (47) is rotatably connected to the cylindrical shaft of the third joint (44).

9. The apparatus according to claim 8, characterized in that, It also includes a fixed base (7), which includes a first fixed plate (72), the first fixed plate (72) is fixedly connected to the connecting plate (71), the second fixed plate (73) is fixedly connected to the connecting plate (71), the drone base fixing bolt (74) is used to fix the fixed connection between the base (7) and the drone, and the electric push rod fixing bolt (75) is used to fix the fixed connection between the base (7) and the electric push rod. The connecting plate (71) in the fixed base (7) is fixedly connected to the base of the drone (1) by the drone base fixing bolt (74). The first fixing plate (72) and the second fixing plate (73) in the fixed base (7) are fixedly connected to the electric push rod housing (21) in the electric push rod (2) by the electric push rod fixing bolt (75). The electric push rod telescopic rod (23) in the electric push rod (2) is in contact with the upper half (41) and the lower half (42) of the first joint of the rotating swing device (4). The rotating swing device connecting ring (32) of the rotating part support device (3) is fixedly connected to the upper half (41) and the lower half (42) of the first joint of the rotating swing device (4). The electric push rod connecting ring (33) is fixedly connected to the electric push rod telescopic rod (23) in the electric push rod (2). The third joint (44) is fixedly connected to the middle housing (52) of the bamboo fixing and cutting device (5) by the bamboo fixing and cutting device fixing bolt (412).

10. The apparatus according to claim 8 or 9, characterized in that, The bamboo fixing and cutting device (5) includes an upper outer shell (51), a middle outer shell (52), a lower outer shell (53), a first bamboo fixing semicircular ring (54), a second bamboo fixing semicircular ring (55), a pressure sensing device (56), a saw disc (57), a first anti-sway branch (58), a second anti-sway branch (59), a bamboo fixing semicircular ring fixing plate (510), a saw disc fixing U-shaped plate (511), a first gear (512), a second gear (513), a first anti-sway branch rotating motor (514), a first anti-sway branch rotating motor fixing bolt (515), a second anti-sway branch rotating motor (516), a second anti-sway branch rotating motor fixing bolt (517), a bamboo fixing semicircular ring fixing plate moving motor (518), a saw disc fixing U-shaped plate moving motor (519), a bamboo fixing semicircular ring rotating motor (520), a saw disc rotating motor (521), a saw disc rotating motor fixing bolt (522), and an outer shell fixing bolt (523). The upper outer shell (51), middle outer shell (52), and lower outer shell (53) are fixedly connected by outer shell fixing bolts (523). The bamboo fixing semi-circular ring fixing plate (510) is located between the upper outer shell (51) and the middle outer shell (52) and is in contact with the upper outer shell (51) and the middle outer shell (52). The first anti-sway branch (58) and the second anti-sway branch (59) are rotatably connected to the cylindrical shafts on both sides of the bamboo fixing semi-circular ring fixing plate (510). The saw disc fixing U-shaped plate (511) is located between the upper outer shell and the middle outer shell. Between the outer shell (52) and the lower outer shell (53), and in contact with the middle outer shell (52) and the lower outer shell (53), the first bamboo fixing semicircular ring (54) and the second bamboo fixing semicircular ring (55) are rotatably connected to the cylindrical shaft at the front end of the bamboo fixing semicircular ring fixing plate (510), the first gear (512) is rotatably connected to the cylindrical shaft of the bamboo fixing semicircular ring fixing plate (510), the pressure sensing device (56) is fixedly connected to the bamboo fixing semicircular ring fixing plate (510), and through the first anti-sway fork The rotating motor fixing bolt (515) fixes the first anti-sway fork rotating motor (514) to the bamboo fixing semi-circular ring fixing plate (510). The second anti-sway fork rotating motor (516) is fixedly connected to the bamboo fixing semi-circular ring fixing plate (510) by the second anti-sway fork rotating motor fixing bolt (517). The bamboo fixing semi-circular ring rotating motor (520) is fixedly connected to the bamboo fixing semi-circular ring fixing plate (510). The second gear (513) is connected to the cylindrical shaft of the saw blade fixing U-shaped plate (511). A rotatable connection is made between the saw disc (57) and the cylindrical shaft at the front end of the saw disc fixing U-shaped plate (511). The bamboo fixing semi-circular ring fixing plate moving motor (518) is fixedly connected to the corresponding position of the cylindrical shaft where the first gear (512) is located. The saw disc fixing U-shaped plate moving motor (519) is fixedly connected to the corresponding position of the cylindrical shaft where the second gear (513) is located. The saw disc rotating motor (521) is fixedly connected to the saw disc fixing U-shaped plate (511) by the saw disc rotating motor fixing bolt (522).

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