An intelligent high-altitude branch pruning device and a pruning method thereof

Abstract

The present application belongs to the technical field of distribution network power operation and maintenance equipment, in particular to a kind of intelligent high-altitude branch pruning device and pruning method thereof, comprising the following steps: electric impact high branch saw is fixedly installed at the front end of the mechanical arm of line walking robot, remote control is used, line walking robot is adsorbed and connected by electromagnet and crane unmanned aerial vehicle, unmanned aerial vehicle is hoisted to overhead line and placed, remote control line walking robot advances and retreats along overhead line, and controls the completion of full-angle operation of mechanical arm. And control the opening and closing of high branch saw operation. The present application uses line walking robot to work along the line, avoids the close contact of operating personnel with high-voltage power line in high altitude, prevents high-altitude falling, ensures the safety of operating personnel, reduces labor intensity and improves the automation level of distribution network maintenance.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of distribution network power operation and maintenance equipment, and particularly relates to an intelligent high-altitude branch pruning device and a pruning method thereof. BACKGROUND

[0002] Trees along the distribution line can beautify the environment, stabilize the soil, prevent the tower from tilting and collapsing, ensure power supply, shield the noise of the operation of the distribution equipment, and block the invasion of wind, sand and dust on the equipment. However, the branches of the trees need to maintain a safe distance from the distribution line, otherwise the trees that are too high and grow too densely may touch the power line in windy and rainy weather, causing power supply failures such as line short circuit, tripping, and even fire. In order to ensure the stability of power supply, and to facilitate the periodic observation of the appearance of the power line by the operation and maintenance personnel, guiding subsequent operations such as maintenance and replacement of parts, the branches along the line that exceed the safe distance need to be pruned regularly.

[0003] At present, high-altitude branch pruning is all manual work, using professional tools such as high-branch saws, high-altitude pruning shears, and oil saws, and relying on elevators and aerial work platforms for high-altitude work. The operation personnel need to be in close contact with high-voltage power lines, and any carelessness may touch the power line, causing electric shock accidents. There are not a few electric power worker casualties caused by touching the power line while pruning branches every year, which poses a great threat to life safety. The operation personnel work in the air at a height of several meters or even dozens of meters. If the protective measures are not in place, the physical strength is not enough, or unexpected weather conditions occur, it is easy to fall from a high altitude, causing serious injuries.

[0004] With the continuous growth of the mileage of the distribution line, the range of branches that need to be pruned along the line continues to expand. Relying on manual pruning, the cost of human resources to be invested is high, which brings a heavy economic burden to power supply enterprises.

[0005] At the same time, manual pruning is slow, and the labor intensity of the operation personnel is high. In the face of complex terrain and adverse weather, the operation personnel are hindered in their movements and are difficult to quickly respond to the demand for branch pruning. In the face of emergency tree barrier hazards, it is difficult to promptly eliminate them, affecting the reliability of power supply. SUMMARY

[0006] The purpose of the present application is to solve the problems in the above background art. The present application provides an intelligent high-altitude branch pruning device and a pruning method thereof, which comprises a hoisting unmanned aerial vehicle, a line-following robot, an electric impact high-branch saw, and a remote control platform.

[0007] The hoisting unmanned aerial vehicle is a quadcopter, and the fuselage and the landing gear are integrated. The fuselage can vertically take off and land. The middle part of the fuselage is provided with a mounting plate on which a power system, a control system, a communication system, a balance lifting slide rod, a sensor, and a circular adsorbing electromagnet are installed.

[0008] The motor of the power system is powered by lithium batteries, and the speed and torque are controlled by an electronic speed controller, which is transmitted to the four rotors to generate lift and thrust. The control system has functions such as attitude control, heading control, height control, automatic flight, anti-collision system, Beidou positioning, etc. The communication system transmits data with the remote control system. The sensors are installed on the upper end of the balance lifting slide rod, which monitors the flight attitude, height and position information in real time. The circular adsorption electromagnet is installed at the bottom of the balance lifting slide rod, which is used to adsorb the circular iron block on the top of the line walking robot. The telescopic rods are installed on both sides of the circular electromagnet, which can be extended to prevent falling. The balance lifting slide rod is composed of four carbon fiber lightweight pipes and steel wires. Under the action of the winch motor, the steel wire is wound to drive the carbon fiber pipe to slide axially along the slide sleeve on the mounting plate. When it is necessary to adsorb and connect the line walking robot, the balance lifting slide rod is lowered to the lowest position, and the circular adsorption electromagnet is extended outside the landing gear, which is convenient for docking and prevents collision.

[0009] When flying, the balance lifting slide rod rises to the highest position to assist in flight balance. The sensors at the top monitor the flight state. The unmanned aerial vehicle flies above the overhead power line, the balance lifting slide rod descends, and the line walking robot is placed on the overhead power line, and then it rises and flies away.

[0010] The line walking robot comprises a line walking device, a mechanical arm fixed on the side of the device, and a data acquisition module, a robot control module and a power module.

[0011] Further, the line walking device comprises an ∧-shaped frame, a lifting assembly, V-shaped rollers, servo motors and counterweights. The lifting assembly is installed directly above the ∧-shaped frame. The bottom is a circular iron block for lifting and adsorption. Above the iron block is an inverted conical horn-shaped box, which guides the positioning and docking of the unmanned aerial vehicle lifting interface. The two sides above the horn-shaped mouth are provided with hole insertion plates. After the unmanned aerial vehicle lifting interface is adsorbed and docked, the horizontal rods on both sides are inserted into the holes of the insertion plates to prevent the line walking robot from falling due to insufficient adsorption caused by power failure and other factors. A Beidou space position generator is installed in the horn-shaped box to control the precise lifting of the unmanned aerial vehicle.

[0012] Two V-shaped rollers are installed in parallel at the top of the ∧-shaped frame. Under the drive of two servo motors, they roll synchronously above the overhead power line to realize line walking.

[0013] Counterweights are installed at the lower ends of the two sides of the ∧-shaped frame. Under the action of gravity, the line walking robot will not roll over when working on the overhead power line.

[0014] The mechanical arm comprises a plurality of rotary joints and a motor drive system. The rotary joints allow the mechanical arm links to rotate around the shaft to realize full-angle attitude change and telescopic motion, and drive the front-end electric impact pruning saw to complete all sawing operations within the working range.

[0015] The power module provides power for the joint movement through the motor drive system, and the servo motor precisely controls the rotation angle, rotation speed and torque of the joint.

[0016] The data acquisition module and the robot control module are installed on one side above the A-shaped rack, the data acquisition module includes a camera and a data sensor, captures environmental images, assists in positioning and identifying objects, and senses contact force.

[0017] The robot control module is connected with the remote control platform through wireless signal transmission, receives platform instructions, regulates and controls the drive system, and enables the mechanical arm to realize intelligent and precise cutting operation.

[0018] The electric impact high branch saw comprises a working mechanism and a saw cutting control module and a rechargeable battery located thereon.

[0019] Further, the working mechanism comprises a saw seat, a saw cutting motor, an impact transmission mechanism and a disc cutting saw blade.

[0020] The flange plate at the bottom end of the saw seat is connected with the mechanical arm of the along-line walking device, the disc cutting saw blade is installed on one side of the front end, and a saw blade guard is provided to ensure the safety of the saw blade, and a motor is installed on the other side, the motor is driven to rotate by the battery, and the rotation is transmitted to the disc saw blade through the impact transmission mechanism to implement cutting operation.

[0021] Further, the impact transmission mechanism comprises a transmission shaft a of the saw cutting motor, a compression spring, an impact structure fixing seat, an impact transmission mechanism, a transmission shaft b and a transmission bevel gear set.

[0022] During operation, the saw cutting motor outputs torque through the transmission shaft a, and the torque is transmitted to the transmission bevel gear set through the impact transmission mechanism in the impact structure fixing seat, the transmission shaft b above and the transmission bevel gear set, to drive the saw blade to rotate.

[0023] When the branch hardness is high and the saw is stuck, the compression spring, the impact structure fixing seat and the impact transmission mechanism rotate with each other and produce internal impact, so that the disc cutting saw blade vibrates and the saw blade is released from the restraint of the branch.

[0024] The saw cutting control module is a driving circuit, a speed regulating circuit and a communication interface, the remote control platform analyzes all collected data according to a preset program, calculates the required speed and direction of the motor, and sends corresponding control instructions, the communication interface receives the instructions and is used for controlling the operation of the motor.

[0025] The remote control platform comprises a microprocessor, a memory, a display screen, a signal transmitter, a signal receiver, an input / output interface, an operating handle assembly and buttons.

[0026] The signal receiver receives signals from the UAV communication system, the line-walking robot control module, and the electric impact high-branch saw cutting control module. The microprocessor analyzes and calculates the signals, and the manual operation of the handle assembly and buttons issues relevant instructions. The signals are transmitted through the signal transmitter, and all information is stored in the memory and displayed on the screen for human-machine interaction.

[0027] This invention also provides an intelligent method for pruning tree branches at height, comprising the following steps:

[0028] S1. Electric impact high-branch saw fixed installation

[0029] Using fastening bolts, install the electric impact high branch saw at the front end of the robotic arm of the line-walking robot, with the adsorbed round iron block facing upwards.

[0030] S2, hoisting of the robot along the line

[0031] The remotely controlled hoisting drone takes off and hovers directly above the walking robot. The balance lifting slide is lowered to its lowest position, and the circular electromagnet extends out of the landing gear to connect with the circular iron block of the walking robot. The telescopic rods on both sides of the electromagnet extend and insert into the insertion plate holes to prevent it from falling in case of malfunction.

[0032] The balance lifting slide rises to its highest position, hoisting the robot onto the landing gear. It then ascends and hovers directly above the overhead power line. The balance lifting slide descends to its lowest position, placing the robot on the overhead power line. The two rollers contact the power line, the telescopic rod retracts, and the electromagnet is de-energized and de-attracted.

[0033] The drone is hoisted away from the overhead power line, the balance lifting slide rises to the highest position, and then stops on the ground.

[0034] S3, Controlling the robot traveling along the line

[0035] Based on the information from the data acquisition module, the pruning range of tree branches on both sides of the overhead power line where the robot is located is determined, and a pruning plan is formulated based on the 3D image displayed on the remote control platform.

[0036] S4, Electric Impact High-Branch Saw Operation

[0037] The electric impact high branch saw is turned on to perform branch sawing operations. After the entire pruning area is sawn, the walking robot moves forward or backward along the line. Based on the information from the data acquisition module, the pruning area is redefined and the operation is restarted.

[0038] S5, Replace the line

[0039] Control the hoisting drone to fly directly above the line-walking robot, press S2 to hoist the line-walking robot to other overhead power lines that need tree trimming, and press S3 and S4 to restart the operation.

[0040] S6. The robot traveling along the line is lifted back to the ground.

[0041] After all the work is completed, the hoisting drone is used to lift the walking robot along the line back to the ground, and the electric impact high branch saw is disassembled and stored.

[0042] The beneficial effects of this invention are:

[0043] 1. Using line-walking robots for operations can prevent workers from coming into close contact with high-voltage power lines at height, thus avoiding electric shock accidents, preventing falls from heights, ensuring the safety of workers, reducing labor intensity, and improving the automation level of power distribution network maintenance.

[0044] 2. Using aerial hoisting drones for high-altitude lifting, instead of elevators or aerial work vehicles that require manpower, can improve work efficiency, reduce the need for travel equipment, and is more conducive to tree pruning operations in complex terrain. In case of severe weather, it can quickly respond to emergency tree obstacle rescue and ensure reliable power supply.

[0045] 3. The sensor technology is mature, and the image sensor has high precision, which can accurately measure the pruning range of branches, generate a high-precision 3D model, accurately determine the position of branches, and guide the electric impact high branch saw to perform precise sawing operations.

[0046] 4. Remote monitoring, real-time data transmission, and precise intelligent control; further empowerment with artificial intelligence algorithms will enable the robot to complete automated pruning along the line.

[0047] 5. The drive mechanism of the electric impact high branch saw adopts an impact transmission mechanism. When the branches are hard and jam the saw, the saw body will impact and vibrate to free the cutting saw blade from its restraint and complete the operation smoothly. Attached Figure Description

[0048] Figure 1 This is a schematic diagram of the overall structure of an intelligent high-altitude tree branch pruning device proposed in this invention (with the balance lifting slide bar raised to its highest position);

[0049] Figure 2 This is a schematic diagram of the overall structure of an intelligent high-altitude tree branch pruning device proposed in this invention (with the balance lifting slide bar lowered to its lowest position);

[0050] Figure 3 This is a schematic diagram of the structure of an intelligent high-altitude tree pruning device proposed in this invention when it is operating on an overhead power line.

[0051] Figure 4This is a schematic diagram of the structure of an intelligent high-altitude tree branch trimming device for transporting drones, as proposed in this invention.

[0052] Figure 5 yes Figure 4 Enlarged view of point A in the middle;

[0053] Figure 6 This is a schematic diagram of the overall structure of a line-walking robot for an intelligent high-altitude tree pruning device proposed in this invention.

[0054] Figure 7 This is a schematic diagram of the inner structure of the ∧-shaped frame of an intelligent high-altitude tree branch pruning device proposed in this invention;

[0055] Figure 8 This is a schematic diagram of the structure of an electric impact high-branch saw for an intelligent high-altitude tree pruning device proposed in this invention;

[0056] Figure 9 This is a schematic diagram of the impact transmission mechanism of an intelligent high-altitude tree branch pruning device proposed in this invention;

[0057] Figure 10 This is a flowchart of an intelligent high-altitude tree branch pruning method proposed in this invention.

[0058] Explanation of markings in the diagram:

[0059] 1. Hoisting drones; 2. Line-walking robots; 3. Electric impact high-branch saws; 4. Overhead power lines;

[0060] 101. Fuselage; 102. Landing gear; 103. Mounting plate; 104. Power system; 105. Control system; 106. Communication system; 107. Balance lifting slide bar; 108. Sensor; 109. Motor; 110. Electronic speed controller; 111. Circular electromagnet; 112. Telescopic mast; 113. Rotor; 114. Winch; 115. Steel wire;

[0061] 201. Robotic arm; 202. Data acquisition module; 203. Robot control module; 204. ∧-shaped frame; 205. V-shaped roller; 206. Servo motor; 207. Counterweight; 208. Circular iron block; 209. Horn-shaped round box; 210. Perforated insert plate; 211. Power module; 212. Rotary joint;

[0062] 301. Sawing control module; 302. Rechargeable battery; 303. Saw base; 304. Sawing motor; 305. Impact transmission mechanism; 306. Circular cutting saw blade; 307. Transmission bevel gear a; 308. Saw blade guard; 309. Flange;

[0063] 3051, Drive shaft a; 3052, Compression spring; 3053, Impact structure fixing seat; 3054, Transmission block; 3055, Drive shaft b; 3056, Transmission bevel gear b. Detailed Implementation

[0064] The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0065] Reference Figure 1 An intelligent high-altitude tree branch trimming device includes a hoisting drone 1, a line-walking robot 2, an electric impact high-branch saw 3, and a remote control platform. When the device is in flight, the balance lifting slide 107 rises to the highest position to assist in flight balance. The sensor 108 at the top monitors the flight status. The line-walking robot 2 and the electric impact high-branch saw 3 are located inside the landing gear, and the robotic arm 201 is in the maximum retracted state.

[0066] Reference Figure 2 When the hoisting drone 1 and the walking robot 2 are adsorbed and connected or desorbed and separated, the steel wire 115 is completely released, and the balance lifting slide bar 107 is lowered to the lowest position to facilitate docking or separation and prevent collision.

[0067] Reference Figure 3 The walking robot 2 is hoisted onto the overhead power line 4, and the hoisting drone 1 flies away. The walking robot 2 can move forward or backward along the overhead power line 4. The robotic arm 201 can extend and rotate. The electric impact high branch saw 3 can perform all-angle sawing operations within the working range along the line.

[0068] Reference Figure 4 and Figure 5 The fuselage 101 and landing gear 102 of the hoisting drone 1 are integrated into one structure. The power system 104, control system 105 and communication system 106 are installed on the mounting plate 103 in the middle. Four balance lifting slide bars 107 are installed in the middle of the mounting plate 103, and a winch 114 is installed on the lower surface. The motor 109 is powered by the battery of the power system 104, and the speed and torque are controlled by the electronic speed controller 110, which is transmitted to the four rotors 113 to generate lift and thrust, so as to realize the vertical take-off and landing and flight of the hoisting drone 1.

[0069] The balance lifting slide bar 107 can slide and rise along the mounting plate 103. The upper end is equipped with a sensor 108 to collect flight data and monitor flight attitude, altitude and position information in real time. The communication system 106 is connected to the remote control system to transmit data and commands. The control system 105 executes the commands issued by the remote control system and implements functions such as attitude control, heading control, altitude control, automatic flight, collision avoidance system, and Beidou positioning.

[0070] A circular electromagnet 111 is installed at the bottom of the balance lifting slide bar 107, which is attracted and connected to the circular iron block 208 on the top of the walking robot 2. The telescopic rods 112 on both sides can extend and be inserted into the perforated plate 210 to play a fall prevention and safety role. Under the action of the winch 114, the steel wire 115 is wound up and drives the balance lifting slide bar 107 to slide along the axial direction of the mounting plate 103.

[0071] Reference Figure 6 and Figure 7 The walking device of the walking robot 2 includes a cross-section ∧-shaped frame 204, a robotic arm 201 fixed on the upper side, a data acquisition module 202 and a robot control module 203 installed on one end of the upper surface, a power module 211 installed on the inner side, and two V-shaped rollers 205 installed in parallel on the inner top.

[0072] Two servo motors 206 drive two V-shaped rollers 205 to roll synchronously above the overhead power line, enabling the line-walking robot 2 to move along the line. Its forward and backward movements are controlled by the rotation direction of the servo motors 206.

[0073] Counterweights 207 are installed at the lower ends of both sides of the ∧-shaped frame 204. Under the action of gravity, the line-walking robot 2 will not tip over when working on the overhead power line 4.

[0074] The robotic arm 201 includes multiple sets of rotary joints 212. The power module 211 provides power for the movement of the rotary joints 212, enabling full-angle posture changes and telescopic movements, and driving the electric impact high branch saw 3 at the front end to complete precise sawing operations within the working range.

[0075] The data acquisition module 202 includes a camera and a data sensor to capture environmental images, assist in positioning and identifying objects, and sense contact force. The robot control module 203 transmits data to the remote control platform via wireless signals and receives platform instructions to regulate the drive system, enabling the robotic arm to perform intelligent cutting operations.

[0076] A hoisting assembly is installed directly above the ∧-shaped frame 204. Its bottom is a circular iron block 208, which is attracted and docked with the circular electromagnet 111. Above it is an inverted conical horn-shaped round box 209, which guides the circular electromagnet 111 for positioning and docking. Perforated insert plates 210 are installed on both sides above the horn-shaped round box 209. After attraction and docking, the telescopic rods 112 extend from both sides and insert into the holes of the insert plates to prevent the robot 2 walking along the line from falling due to insufficient attraction force caused by factors such as power failure.

[0077] Reference Figure 8The bottom of the electric impact high branch saw 3 is a flange 309, which is connected to the front end of the robotic arm 201. The front end of the flange 309 is equipped with a saw base 303, on one side of which a sawing control module 301, a disc cutting saw blade 306 and a saw blade guard 308 are installed, and on the other side a rechargeable battery 302 and an impact transmission mechanism 305 are installed.

[0078] The rechargeable battery 302 drives the sawing motor 304 to rotate. Through the linear transmission of the impact transmission mechanism 305 and the reversing transmission of the bevel gear 307, the circular saw blade 306 is rotated axially to carry out the cutting operation.

[0079] The sawing control module 301 includes a drive circuit, a speed control circuit and a communication interface. The remote control platform analyzes all received data, calculates the speed and direction of the sawing motor 304, and issues corresponding control commands to control the sawing motor 304 to operate.

[0080] Reference Figure 9 The impact transmission mechanism 305 includes a drive shaft a 3051 of the sawing motor 304, a compression spring 3052, an impact structure fixing seat 3053, a transmission block 3054, a drive shaft b 3055, and a transmission bevel gear b 3056.

[0081] During sawing operations, the sawing motor 304 outputs torque through the transmission shaft a 3051, and transmits the torque to the transmission bevel gear 3056 through the transmission block 3054 in the impact structure fixing seat 3053 and the transmission shaft b 3055 above, thereby driving the circular saw blade 306 to rotate.

[0082] When the hardness of the tree branch causes the saw to jam, the compression spring 3052, the impact structure fixing seat 3053, and the transmission block 3054 rotate relative to each other and generate internal impact, causing the disc cutting saw blade 306 to vibrate and prompting the saw blade to break free from the tree branch's restraint.

[0083] Reference Figure 10 This invention provides an intelligent method for pruning tree branches at height, comprising the following steps:

[0084] S1, Electric Impact High Branch Saw 3 Fixed Installation

[0085] Using fastening bolts, the electric impact high branch saw 3 is installed at the front end of the robotic arm 201 of the line-walking robot 2, with the adsorbed circular iron block 208 facing upwards.

[0086] S2, hoisting robot along the line 2

[0087] The remotely controlled hoisting drone 1 takes off and hovers directly above the line-walking robot 2. The balance lifting slide bar 107 is lowered to the lowest position, and the circular adsorption electromagnet 111 extends out of the outside of the landing gear 102 and adsorbs and docks with the circular iron block 208 of the line-walking robot 2. The telescopic rods 112 on both sides of the electromagnet 111 extend and insert into the holes of the perforated plate 210 to prevent it from falling in case of failure.

[0088] The balance lifting slide 107 rises to its highest position, hoisting the line-traveling robot 2 into the landing gear 102, then ascends and hovers directly above the overhead power line 4. The balance lifting slide 107 descends to its lowest position, placing the line-traveling robot 2 on the overhead power line 4, with the two rollers 206 contacting the overhead power line 4. The telescopic rod 112 retracts, and the electromagnet 111 is de-energized and de-attracted.

[0089] The hoisted drone 1 flies away from the overhead power line 4, the balance lifting slide 107 rises to the highest position, and stops back on the ground.

[0090] S3, Controlling the robot walking along the line 2

[0091] Based on the information from the data acquisition module 202, the pruning range of the branches on both sides of the overhead power line 4 where the walking robot 2 is located is determined, and a pruning plan is formulated based on the 3D image displayed on the remote control platform.

[0092] S4, Electric Impact High-Power Branch Saw 3 for Branch Saw Operation

[0093] The electric impact high branch saw 3 is turned on to perform the branch sawing operation. After the entire pruning area is sawed, the line walking robot 2 moves forward or backward along the overhead power line. Based on the information from the data acquisition module 202, the pruning area is redefined and the operation is started again.

[0094] S5, Replace the line

[0095] Control the hoisting drone 1 to fly directly above the line-walking robot 2, press S2 to hoist the line-walking robot 2 to other overhead power lines 4 that need tree branch trimming, and press S3 and S4 to restart the operation.

[0096] S6, the line-walking robot 2 is hoisted back to the ground.

[0097] After all the work is completed, the hoisting drone 1 will lift the walking robot 2 along the line back to the ground and disassemble and store the electric impact high branch saw 3.

[0098] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An intelligent high-altitude tree branch pruning device, characterized in that, include: The hoisting drone (1) consists of a fuselage (101) and a landing gear (102). The fuselage (101) has a mounting plate (103) in the middle. The mounting plate (103) is equipped with a power system (104), a control system (105) and a communication system (106). The mounting plate (103) has four balance lifting slides (107) in the middle. The top and bottom of the balance lifting slides (107) are respectively equipped with sensors (108) and circular electromagnets (111). The fuselage (101) is equipped with four motors (109). Each of the four motors (109) is equipped with a rotor (113). A line-walking robot (2) includes a ∧-shaped frame (204), a robotic arm (201) is provided on the upper side of the ∧-shaped frame (204), a data acquisition module (202) and a robot control module (203) are provided at one end of the upper surface of the ∧-shaped frame (204), a power module (211) is provided inside the ∧-shaped frame (204), and two servo motors (206) are provided inside the ∧-shaped frame (204). The output end of the servo motor (206) is provided with a V-shaped roller (205). Electric impact high branch saw (3), the electric impact high branch saw (3) is mounted on a robotic arm (201); A remote control platform, which is connected to a communication system (106) for transmitting data and instructions; A hoisting assembly is provided directly above the ∧-shaped frame (204). The hoisting assembly includes a flared box (209) with an inverted cone shape fixed to the upper surface of the ∧-shaped frame (204). The bottom of the flared box (209) is provided with a circular iron block (208) for adsorption and docking with a circular electromagnet (111). The flared box (209) is provided with a perforated insert plate (210). The circular electromagnet (111) is provided with a telescopic rod (112) that mates with the insert hole on the perforated insert plate (210). The electric impact high branch saw (3) includes a flange (309) connected to the output end of a robotic arm (201). A saw holder (303) is located at the front of the flange (309). A sawing control module (301), a circular saw blade (306), and a saw blade guard (308) are located on one side of the saw holder (303). A transmission bevel gear a (307) is located on the central shaft of the circular saw blade (306). A rechargeable battery (302) is located on the other side of the saw holder (303). The sawing motor (304) and the sawing motor (304) are provided with an impact transmission mechanism (305) at the output end; the impact transmission mechanism (305) includes a drive shaft a (3051) of the sawing motor (304), a compression spring (3052), an impact structure fixing seat (3053), a transmission block (3054), a drive shaft b (3055), and a drive bevel gear b (3056), which meshes with the drive bevel gear a (307).

2. The intelligent high-altitude tree branch pruning device according to claim 1, characterized in that, The lower surface of the mounting plate (103) is provided with a winch (114), and the winch (114) is provided with a steel wire (115). The output end of the steel wire (115) is fixed to the top of the balance lifting slide bar (107).

3. The intelligent high-altitude tree branch pruning device according to claim 1, characterized in that, The lower ends of both sides of the ∧-shaped frame (204) are provided with counterweights (207). When the line-walking robot (2) operates on the overhead power line, it will not tip over under the gravity of the counterweights (207).

4. The intelligent high-altitude tree branch pruning device according to claim 1, characterized in that, The robotic arm (201) includes multiple sets of rotary joints (212), and the power module (211) provides power to the rotary joints (212) to realize full-angle posture changes and telescopic movements.

5. The intelligent high-altitude tree branch pruning device according to claim 1, characterized in that, The motor (109) is powered by the battery of the power system (104), and an electronic speed controller (110) is provided at the bottom of the motor (109) for controlling the speed and torque of the motor (109).

6. A method for pruning tree branches at height using an intelligent high-altitude tree branch pruning device as described in any one of claims 1-5, characterized in that, Includes the following steps: S1. Electric impact high branch saw (3) fixed installation: Using fastening bolts, install the electric impact high branch saw (3) at the front end of the robotic arm (201) of the line walking robot (2), with the adsorbed round iron block (208) facing upward; S2, hoisting of the line-walking robot (2): remotely control the hoisting drone (1) to take off, fly to hover directly above the line-walking robot (2), lower the balance lifting slide bar (107) to the lowest position, the circular electromagnet (111) extends out of the outside of the landing gear (102) and attaches to the circular iron block (208) of the line-walking robot (2), and the telescopic rods (112) on both sides of the circular electromagnet (111) extend and insert into the hole of the perforated plate (210) to prevent it from falling due to failure; The balance lifting slide (107) rises to its highest position, hoisting the line-walking robot (2) into the landing gear (102), then rises and flies until it hovers directly above the overhead power line (4). The balance lifting slide (107) then descends to its lowest position, placing the line-walking robot (2) on the overhead power line (4), with the two V-shaped rollers (205) contacting the overhead power line (4). The telescopic rod (112) retracts, and the circular electromagnet (111) is de-energized and de-attracted. The hoisted drone (1) flies away from the overhead power line (4), the balance lifting slide (107) rises to the highest position, and stops back on the ground; S3. Control the walking robot along the line (2): According to the information of the data acquisition module (202), determine the trimming range of the branches on both sides of the overhead power line (4) where the walking robot along the line (2) is located, and formulate a trimming plan based on the 3D image on the remote control platform display screen. S4, Electric impact high branch saw (3) operation: Turn on the electric impact high branch saw (3) to perform branch sawing operation. After the entire sawing of the pruning range is completed, the line walking robot (2) moves forward or backward along the overhead power line. According to the information of the data acquisition module (202), the pruning range is re-determined and the operation is started. S5. Change the route: Control the hoisting drone (1) to fly directly above the walking robot (2) along the line, press S2 to hoist the walking robot (2) along the line to other overhead power lines (4) that need to be trimmed, and press S3 and S4 above to restart the operation. S6. The walking robot (2) is hoisted back to the ground: After all the work is completed, the hoisting drone (1) is used to hoist the walking robot (2) back to the ground and the electric impact high branch saw (3) is disassembled and stored.

Images