Tree barrier cutting device

Abstract

The invention relates to the field of tree barrier cutting equipment, and discloses a tree barrier cutting device which comprises an unmanned aerial vehicle, a connecting assembly, a motor box, a double-head motor, an encircling arm, a cutting saw and a sensor. Wherein the unmanned aerial vehicle is rotationally connected with one end of the connecting assembly, and the other end of the connecting assembly is rotationally connected with the motor box; the outer side of the motor box is rotationally connected with the surrounding arm used for surrounding and positioning a tree, and the inner side of the motor box is fixedly connected with the double-end motor used for driving the surrounding arm to rotate and climb. The output end of the double-end motor penetrates through the inner side of the motor box, extends to the outer side of the motor box and is fixedly connected with the surrounding arms. The cutting saw is arranged at the end, away from the motor box, of the surrounding arm. The sensor is fixedly connected with the unmanned aerial vehicle so as to detect the surface of the trunk; the double-end motor drives the surrounding arms to be opened and tightened so that tree trunks of different thicknesses can be attached, positioned and climbed in a positioned mode.

Description

Technical Field

[0001] The invention relates to the field of tree barrier cutting equipment, in particular to a tree barrier cutting device. Background Art

[0002] Tree obstacle clearing is a long-term task for the power supply department. In order to reduce line tripping caused by tree obstacles, workers need to clean the branches below the line from time to time to ensure that the growing trees do not threaten the safe and stable operation of the power lines. The current obstacle clearing equipment composed of multi-rotor drones equipped with special pruning devices cannot effectively deal with tree trunks of different diameters and irregular surfaces, and it is difficult to perform effective cleaning work in complex environments, resulting in low work efficiency.

[0003] It can be seen that how to solve the problem of low working efficiency of the existing tree barrier cutting device has become a technical problem that needs to be solved urgently by those skilled in the art. Summary of the invention

[0004] The invention provides a tree barrier cutting device, which solves the problem of how to improve the working efficiency of the existing tree barrier cutting device.

[0005] In order to solve the above technical problems, the present invention provides a tree barrier cutting device, including a drone, a connection component, a motor box, a double-head motor, an embracing arm, a cutting saw and a sensor; wherein,

[0006] The drone is rotatably connected to one end of the connecting component, and the other end of the connecting component is rotatably connected to the motor box; the outer side of the motor box is rotatably connected to the embracing arm for embracing and positioning the tree, and the inner side of the motor box is fixedly connected to the double-headed motor for driving the embracing arm to rotate and climb, and the output end of the double-headed motor extends through the inner side of the motor box to the outer side of the motor box and is fixedly connected to the embracing arm; the cutting saw is arranged at one end of the embracing arm away from the motor box; the sensor is fixedly connected to the drone to detect the surface of the tree trunk.

[0007] As one of the preferred solutions, the connecting assembly includes a rotating base and a connecting shaft; wherein, the upper end of the drone is rotatably connected to the rotating base, the upper end of the rotating base is rotatably connected to one end of the connecting shaft, and the other end of the connecting shaft is rotatably connected to the motor box.

[0008] As one of the preferred solutions, the device also includes a first remote-controlled motor; wherein, the first remote-controlled motor is fixedly arranged at the upper end of the drone, the output end of the first remote-controlled motor is fixedly connected to the rotating base, and the rotating base is connected to the drone through the first remote-controlled motor.

[0009] As one of the preferred schemes, the device also includes an installation shell and a second remote control motor; wherein, the installation shell is symmetrically distributed and fixedly arranged at one end of the rotating base close to the connecting shaft; the second remote control motor is fixedly arranged on the inner wall of the installation shell to drive the connecting shaft to rotate; the output end of the second remote control motor extends through the inner wall of the installation shell to the outside of the installation shell and is fixedly connected to the side wall of the connecting shaft.

[0010] As one of the preferred solutions, the device also includes a third remote control motor; wherein, the third remote control motor is fixedly arranged at the upper end of the inner wall of the connecting shaft to drive the motor box to rotate; the output end of the third remote control motor extends through the inner wall of the connecting shaft to the outside of the connecting shaft and is fixedly connected to the outside of the motor box.

[0011] As one of the preferred solutions, a mounting groove for placing the motor box is formed at one end of the embracing arm close to the motor box, and the mounting groove is adapted to the shape and size of the motor box.

[0012] As one of the preferred solutions, the encircling arms are symmetrically distributed about a vertical center line of the connecting axis, and both groups of the encircling arms are arc-shaped structures.

[0013] As one of the preferred schemes, the two groups of the encircling arms are respectively provided with longitudinal guide wheels rotating in the vertical direction and transverse guide wheels rotating in the horizontal direction; wherein the longitudinal guide wheels and the transverse guide wheels are both rotatably connected to the encircling arms, and the longitudinal guide wheels are symmetrically distributed about the horizontal center line of the transverse guide wheels.

[0014] As one of the preferred solutions, the device also includes a driving motor; wherein the driving motor is fixedly arranged on the outer side of the embracing arm to drive the cutting saw to rotate; the output end of the driving motor passes through the outer side of the embracing arm and is fixedly connected to the cutting saw.

[0015] As one of the preferred solutions, the device also includes an observation camera; wherein the observation camera is arranged at the upper end of the drone, and the sensor is arranged on the outside of the observation camera.

[0016] Compared with the prior art, the embodiments of the present invention have the following advantages:

[0017] (1) The drone enables the device to quickly reach the designated location, reducing the time for manual climbing and transportation; the dual-head motor drives the embracing arm to quickly rotate and climb, allowing the cutting saw to quickly approach the tree trunk; the sensor detects the tree trunk information in real time, providing precise guidance for the cutting operation, improving cutting efficiency, and avoiding damage to surrounding objects or personnel during the cutting process;

[0018] (2) It is suitable for tree obstacle clearing tasks in various complex environments, such as mountains, forests, and urban green belts. By adjusting the flight altitude of the drone and the rotation angle of the embracing arm, it can cut tree trunks of different heights and diameters. The sensor can identify the characteristics of different types of trees and tree trunks, providing personalized guidance for cutting operations.

[0019] (3) The integration of sensors with drones, motor boxes and other components enables intelligent control of the device. Based on the feedback data from the sensors, the cutting speed and force of the saw can be automatically adjusted to ensure cutting quality, so as to complete the tree obstacle clearing task efficiently and safely. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solution of the present invention, the drawings required for use in the implementation mode will be briefly introduced below. Obviously, the drawings described below are only some implementation modes of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 is a structural diagram of a tree barrier cutting device provided by a certain embodiment of the present invention;

[0022] Figure 2 is a structural diagram of a tree barrier cutting device provided by another embodiment of the present invention;

[0023] Figure 3 is a structural diagram of a tree barrier cutting device provided by another embodiment of the present invention;

[0024] Figure 4 is a top cross-sectional structural diagram of a tree barrier cutting device provided by a certain embodiment of the present invention;

[0025] Figure 5 It is a schematic diagram of the front cross-section structure of a tree barrier cutting device provided by a certain embodiment of the present invention;

[0026] Reference numerals:

[0027] Among them, 1. UAV; 2. Rotating base; 3. Connecting shaft; 4. Motor box; 5. Encircling arm; 6. Cutting saw; 7. Observation camera; 8. Sensor; 11. First remote-controlled motor; 21. Mounting shell; 22. Second remote-controlled motor; 31. Third remote-controlled motor; 41. Double-headed motor; 51. Mounting slot; 52. Longitudinal guide wheel; 53. Transverse guide wheel; 54. Driving motor. DETAILED DESCRIPTION

[0028] The following is a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings and embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. The purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] In the description of this application, the terms "first", "second", "third", etc. are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", "third", etc. may explicitly or implicitly include one or more of the feature. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0030] In the description of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be a connection between the two components. The terms "vertical", "horizontal", "left", "right", "upper", "lower" and similar expressions used herein are for illustrative purposes only, and do not indicate or imply that the system or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0031] In the description of this application, it should be noted that, unless otherwise defined, all technical and scientific terms used in the present invention have the same meaning as those commonly understood by those skilled in the art. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood by specific circumstances.

[0032] The obstacle removal equipment currently used, which is composed of multi-rotor drones equipped with special pruning devices, has the following shortcomings: 1) Lack of adaptability: most devices cannot effectively deal with tree trunks of different diameters and irregular surfaces; 2) Low efficiency: Cutting efficiency is limited by fixed operating methods and rough control methods; 3) Safety hazards: Manual intervention and unstable equipment design increase operational risks; 4) Insufficient control accuracy: Most existing control methods are simple fixed-point motion control, which cannot meet the needs of high-precision and high-adaptability operations.

[0033] For example, the application number CN202210350299.8 is a drone tree barrier pruning device with an automatic separation function. It uses a multi-rotor drone equipped with a special pruning device and has a tree guidance control function. It has strong pruning adaptability, high pruning efficiency, and a large pruning operation radius. The special saw automatic separation device can prevent the drone from crashing during the tree barrier clearing process, ensure safe operation during the tree barrier pruning process, eliminate hidden dangers in the line channel in time, improve the line availability, and ensure the safe and stable operation of the power grid. However, the device has the following defects: the existing tree barrier cutting device will be lifted in a more complex environment, resulting in the overall lifting process may be difficult due to obstacles, or blindly avoiding obstacles may cause the overall position to be lost after lifting, thereby reducing the overall lifting and cutting effect, and it is not convenient to clear tree barriers in complex environments.

[0034] Based on the problem that the existing tree barrier cutting device is difficult to lift in a relatively complex environment and is inconvenient to clear tree barriers in a complex environment, the present invention provides a tree barrier cutting device, such as Figure 1 As shown, it includes a drone 1, a connection component, a motor box 4, a double-headed motor 41, an embracing arm 5, a cutting saw 6 and a sensor 8; wherein,

[0035] The drone 1 is rotatably connected to one end of the connecting component, and the other end of the connecting component is rotatably connected to the motor box 4; the outer side of the motor box 4 is rotatably connected to the embracing arm 5 for embracing and positioning the tree, and the inner side of the motor box 4 is fixedly connected to the double-headed motor 41 for driving the embracing arm 5 to rotate and climb, and the output end of the double-headed motor 41 extends through the inner side of the motor box 4 to the outer side of the motor box 4 and is fixedly connected to the embracing arm 5; the cutting saw 6 is arranged at one end of the embracing arm 5 away from the motor box 4; the sensor 8 is fixedly connected to the drone 1 to realize the detection of the surface of the tree trunk.

[0036] See also Figure 1-Figure 5In the device, the UAV 1 is the main body of the entire device, responsible for providing flight and hovering capabilities, so that the cutting device can reach the inaccessible tree barrier area; the connecting component is used to connect the UAV 1 and the motor box 4 to achieve relative rotation between the two and increase the flexibility of the device; the motor box 4 is used to install and protect the double-headed motor 41, and at the same time serves as the rotation fulcrum of the embracing arm 5; the double-headed motor 41 is used to provide power for the embracing arm 5 to rotate and climb, and drives the embracing arm 5 to move through the rotation of its output end; the embracing arm 5 is used to embrace and position the tree to ensure that the cutting saw 6 can accurately align the tree trunk for cutting; the cutting saw 6 is arranged at the end of the embracing arm 5 away from the motor box 4, and is used to cut the tree trunk; the sensor 8 is fixedly connected to the UAV 1, and is used to detect information on the surface of the tree trunk, such as diameter, shape, etc., to provide data support for the cutting operation.

[0037] The present invention drives the embracing arm 5 to open and tighten through the double-headed motor 41, which is convenient for fitting and positioning electric poles or tree trunks of different thicknesses and for positioning and climbing, and prevents the situation in which the overall position is lost after lifting due to blind avoidance of obstacles. It is also convenient to adjust the position and angle of the embracing arm 5 and the cutting saw 6 to adjust the cutting according to the size and angle of the tree obstacle, thereby reducing the overall cutting difficulty and achieving the effect of convenient adjustment of the cutting.

[0038] In one embodiment, the connecting assembly includes a rotating base 2 and a connecting shaft 3; wherein, the upper end of the drone 1 is rotatably connected to the rotating base 2, the upper end of the rotating base 2 is rotatably connected to one end of the connecting shaft 3, and the other end of the connecting shaft 3 is rotatably connected to the motor box 4.

[0039] The present invention introduces the design of a connecting assembly (including a rotating base 2 and a connecting shaft 3), that is, the upper end of the drone 1 is rotatably connected to the rotating base 2, so that the drone 1 can rotate at a certain angle relative to the motor box 4 in the horizontal direction; and the upper end of the rotating base 2 is rotatably connected to one end of the connecting shaft 3, so as to further increase the flexibility of the device in the vertical direction, and at the same time help to disperse the force of the device during operation, reduce the load of a single component, thereby improving the overall stability of the device and reducing the risk of failure caused by uneven force; the other end of the connecting shaft 3 is rotatably connected to the motor box 4, allowing the motor box 4 to perform necessary fine-tuning while maintaining a stable relative position with the drone 1; the design of the rotatable connection helps to reduce the vibration of the device during operation and improve the cutting accuracy and stability of the cutting saw 6.

[0040] This multi-dimensional rotation design enables the device to more flexibly adapt to different working environments, such as the inclination angle of trees, space restrictions, etc. At the same time, the drone 1 can adjust the flight attitude according to the actual situation, and the motor box 4 and the embracing arm 5 can adjust the position and angle accordingly to ensure that the cutting saw 6 can accurately align with the tree trunk, greatly shortening the operation time and improving the cutting efficiency. In addition, during the continuous operation process, the drone 1 can remain in a hovering state, and the connection assembly allows the motor box 4 and the embracing arm 5 to make necessary adjustments to adapt to the height and diameter of different tree trunks, so that the device can continuously complete the cutting task of multiple tree trunks without interrupting the operation.

[0041] In one embodiment, the device also includes a first remote-controlled motor 11; wherein, the first remote-controlled motor 11 is fixedly arranged at the upper end of the drone 1, the output end of the first remote-controlled motor 11 is fixedly connected to the rotating base 2, and the rotating base 2 is connected to the drone 1 through the first remote-controlled motor 11.

[0042] See also Figure 2 A first remote control motor 11 is introduced into the device and fixedly arranged at the upper end of the drone 1, and its output end is fixedly connected to the rotating base 2. The first remote control motor 11 allows it to be precisely controlled by a remote control signal, thereby realizing remote control of the rotating base 2. By driving the first remote control motor 11, the rotating base 2 can be rotated at multiple angles relative to the drone 1, thereby adjusting the lateral angle of the embracing arm 5, which is not only convenient for adjusting the position of the embracing arm 5 and the cutting saw 6, but also convenient for the embracing arm 5 to embrace the electric poles and tree trunks.

[0043] In one embodiment, the device also includes an installation shell 21 and a second remote control motor 22; wherein the installation shell 21 is symmetrically distributed and fixedly arranged at one end of the rotating base 2 close to the connecting shaft 3; the second remote control motor 22 is fixedly arranged on the inner wall of the installation shell 21 to drive the connecting shaft 3 to rotate; the output end of the second remote control motor 22 extends through the inner wall of the installation shell 21 to the outside of the installation shell 21 and is fixedly connected to the side wall of the connecting shaft 3.

[0044] See also Figure 5The device introduces a mounting shell 21 which is symmetrically distributed and fixedly arranged on one end of the rotating base 2 near the connecting shaft 3, thereby enhancing the structural stability of the device. The second remote-controlled motor 22 fixed on the inner wall of the mounting shell 21 can drive the connecting shaft 3 to rotate at multiple angles relative to the rotating base 2 through precise control of the remote control signal, thereby adjusting the orientation of the motor box 4 and the encircling arm 5, and then adjusting the lateral position of the encircling arm 5, so that the device can more flexibly adapt to different working environments and tree trunk shapes, thereby improving the flexibility and applicability of the operation; at the same time, the mounting shell 21 provides good protection for the second remote-controlled motor 22 to prevent it from being disturbed and damaged by the external environment during operation. The introduction of the two simplifies the overall structure of the device, reduces the use of traditional mechanical transmission components, reduces the complexity and maintenance cost of the device, and improves the reliability and durability of the device.

[0045] In one embodiment, the device also includes a third remote-controlled motor 31; wherein the third remote-controlled motor 31 is fixedly arranged at the upper end of the inner wall of the connecting shaft 3 to drive the motor box 4 to rotate; the output end of the third remote-controlled motor 31 extends through the inner wall of the connecting shaft 3 to the outside of the connecting shaft 3 and is fixedly connected to the outside of the motor box 4.

[0046] See also Figure 4 , a third remote-controlled motor 31 is added to the device and fixedly arranged at the upper end of the inner wall of the connecting shaft 3, and its output end passes through the inner wall of the connecting shaft 3 and is fixedly connected to the outer side of the motor box 4, so that the motor box 4 can be independently controlled, so that the motor box 4 can not only be adjusted as a whole through the connecting shaft 3 and the rotating base 2, but also can be locally fine-tuned through the third remote-controlled motor 31. This multi-axis control method greatly improves the flexibility of the operation, so that the operator can more accurately adjust the position of the motor box 4 and the embracing arm 5 to adapt to different tree trunk shapes and working environments; the third remote-controlled motor 31 can also drive the embracing arm 5 to change the longitudinal angle, so as to facilitate the adjustment of the position of the cutting saw 6, and facilitate the embracing arm 5 to embrace the electric poles and tree trunks; in addition, the third remote-controlled motor 31 is distributed in two groups corresponding to the motor box 4, so that the double-headed motor 41 can adjust the opening angle of the embracing arm 5, so as to facilitate the embracing of different tree trunks and electric poles, and at the same time facilitate the adjustment of the position of the cutting saw 6, so as to facilitate the cutting of different tree barriers.

[0047] In one embodiment, a mounting groove 51 for placing the motor box 4 is formed at one end of the embracing arm 5 close to the motor box 4 , and the mounting groove 51 is adapted to the shape and size of the motor box 4 .

[0048] See also Figure 2An end of the encircling arm 5 close to the motor box 4 is provided with a mounting groove 51 for placing the motor box 4. The mounting groove 51 is adapted to the shape and size of the motor box 4, which facilitates the overall adjustment of the opening angle of the encircling arm 5 and improves the convenience and stability of installation.

[0049] In one embodiment, the embracing arms 5 are symmetrically distributed about the vertical center line of the connecting shaft 3, and the two groups of embracing arms 5 are both arc-shaped structures.

[0050] See also Figure 3 The embracing arms 5 are symmetrically distributed about the vertical center line of the connecting shaft 3, so that the force on the device is more balanced during operation, which helps to reduce vibration and shaking and improve cutting accuracy and stability; the arc-shaped embracing arms 5 can form a larger contact area with the tree trunk, thereby providing better support and stability. This method of increasing the contact area helps to reduce resistance during the cutting process, improve work efficiency, disperse stress, and optimize structural strength, further improving work safety.

[0051] In one embodiment, the two groups of the encircling arms 5 are respectively provided with longitudinal guide wheels 52 rotating in the vertical direction and transverse guide wheels 53 rotating in the horizontal direction; wherein the longitudinal guide wheels 52 and the transverse guide wheels 53 are both rotatably connected to the encircling arms 5, and the longitudinal guide wheels 52 are symmetrically distributed about the horizontal center line of the transverse guide wheels 53.

[0052] See also Figure 2 and Figure 3 , the embracing arm 5 is rotatably connected with a longitudinal guide wheel 52 rotating in the vertical direction and a transverse guide wheel 53 rotating in the horizontal direction, so that the embracing arm 5 can be flexibly rotated in the vertical and horizontal directions, and the longitudinal guide wheel 52 and the transverse guide wheel 53 can fully guide the UAV 1 that is lifted or changes its angle, thereby increasing the overall guidance and adjustment effect; the longitudinal guide wheel 52 is symmetrically distributed about the horizontal center line of the transverse guide wheel 53, which helps to maintain force balance during operation. This balanced force mode helps to reduce vibration and shaking and improve the stability of the device; and the longitudinal guide wheel 52 and the transverse guide wheel 53 are correspondingly distributed in the two groups of embracing arms 5, which not only reduces the overall adjustment difficulty, but also has a good adjustment effect, so that the device reduces the resistance of the UAV 1 during adjustment during the lifting process, facilitates the overall adjustment and ascension, and achieves the effect of embracing positioning flight.

[0053] In one embodiment, the device also includes a driving motor 54; wherein the driving motor 54 is fixedly arranged on the outer side of the embracing arm 5 to drive the cutting saw 6 to rotate; the output end of the driving motor 54 passes through the outer side of the embracing arm 5 and is fixedly connected to the cutting saw 6.

[0054] See also Figure 3 A driving motor 54 for driving the cutting saw 6 to rotate is fixedly connected to the outer side of the embracing arm 5, and the output end of the driving motor 54 passes through the outer side of the embracing arm 5 and is fixedly connected to the cutting saw 6, so that the cutting saw 6 is movably connected to the embracing arm 5 through the driving motor 54; wherein, the driving motor 54 provides a strong power for the cutting saw 6, making the cutting process faster and more efficient, helping to shorten the operation time and improve the overall operation efficiency; by accurately controlling the speed and direction of the driving motor 54, the cutting saw 6 can be accurately controlled to ensure the accuracy of the cutting position and the flatness of the cutting surface; and the cutting saw 6 can be a chain saw or a circular saw, and the specific structure depends on the situation. The structure of the cutting saw 6 is not the focus of the present invention, so it is not specifically limited.

[0055] In one embodiment, the device further includes an observation camera 7 ; wherein the observation camera 7 is disposed at the upper end of the drone 1 , and the sensor 8 is disposed at the outer side of the observation camera 7 .

[0056] Specifically, an observation camera 7 for observation is also provided on the upper end of the drone 1, and the sensor 8 is located outside the observation camera 7. The observation camera 7 can generally be connected to the operating handle, which is a common structure of the drone 1. It is not the focus of the present invention, so no further description is made. As long as the observation camera 7 can play an observation effect, the specific model structure is not limited.

[0057] In addition, the rotating connection described in the present invention refers to a connection method in which two components can rotate relative to each other, including bearing connection, shaft connection, pin connection, universal joint connection, etc.; the movable connection usually refers to a connection method in which two or more components can move relative to each other (such as sliding, rotating, etc.), including sliding connection, hinge connection, pin connection, spring connection, etc.; fixed setting and fixed connection refer to a connection method in which there is no relative movement between two or more components after connection, including welding, riveting, threaded connection, key connection, interference fit, bonding, folding connection, expansion plug or press fit, etc. The present invention does not make specific limitations on these connection methods and can be adaptively adjusted according to actual needs.

[0058] In one embodiment, the working principle of a tree barrier cutting device is as follows: when the tree barrier needs to be cleared as a whole, the surface of the tree trunk is first detected by the sensor 8, the climbing speed and the stepping distance are set, and the connecting shaft 3 is driven to rotate by the second remote control motor 22 to rotate the embracing arm 5 to the horizontal structure; the rotating base 2 is driven to rotate on the upper end of the drone 1 by the first remote control motor 11 to rotate the embracing arm 5 to an appropriate angle, and at the same time, the third remote control motor 31 drives the embracing arm 5 to rotate to the horizontal direction, so that the embracing arm 5 can be operated to embrace the electric pole or tree trunk; then the double-headed motor 41 drives the embracing arm 5 to change its angle, that is, to open or close it, and the embracing arm During the closing process, the longitudinal guide wheel 52 and the transverse guide wheel 53 are both in contact with the tree trunk or the electric pole; when the UAV 1 rotates or climbs, the transverse guide wheel 53 and the longitudinal guide wheel 52 reduce the resistance of the overall movement, ensuring that the UAV 1 is positioned and climbed and observes the obstacle situation through the observation camera 7, preventing the blind avoidance of obstacles and causing the overall position to be lost after lifting; when cutting tree barriers, the driving motor 54 drives the cutting saw 6 to rotate to cut the tree barriers, and during the cutting process, the double-headed motor 41 drives the embracing arm 5 to change the angle, that is, to open or close, so as to adjust and cut tree barriers of different thicknesses.

[0059] In one embodiment, a control method of a tree barrier cutting device includes:

[0060] Step 1: Start the embracing arm 5, detect the surface of the tree trunk through the sensor 8, set the climbing speed and stepping distance, and adjust the expansion angle of the embracing arm 5 to match the tree trunk. The specific formula for the expansion angle of the embracing arm 5 is:

[0061]

[0062] Wherein, θ is the unfolding angle of the embracing arm 5; r is the radius of the trunk; d is the minimum distance between the embracing arm 5 and the trunk; arccos() is the inverse cosine function.

[0063] The trunk radius and the position of the embracing arm are measured by sensor 8, and the distance between the embracing arm 5 and the trunk is calculated. The deployment angle is calculated by the above formula to ensure that the embracing arm 5 can completely surround the trunk. The initial climbing speed is set based on the power provided by the climbing drive system and the quality of the device to ensure that the system has sufficient force for stable climbing when starting.

[0064] Step 2: According to the real-time data of the sensor 8, the double-headed motor 41 is used to adjust the force of the embracing arm 5. The specific formula is:

[0065]

[0066] In the formula, F appis the force applied to the encircling arm 5; E is the elastic modulus of the material of the encircling arm 5; A is the contact area between the encircling arm 5 and the trunk; △L is the expansion and contraction change of the encircling arm 5; L is the original length of the encircling arm 5.

[0067] The force applied by the encircling arm 5 is dynamically adjusted according to the expansion and contraction of the encircling arm 5 and the elastic properties of the material to adapt to the shape and characteristics of the trunk. When the surface of the trunk is uneven, the applied force will be adjusted with the expansion and contraction of the encircling arm 5 to maintain stable contact.

[0068] Step 3: The climbing force is adjusted by the first remote-controlled motor 11. The specific formula is:

[0069] F climb =K climb ×(θ climb -θ set )+P sensor ×Δh

[0070] In the formula, F climb is the adjusted climbing force; K climb is the elastic constant of the first remote-controlled motor 11; θ climb is the current climbing angle; θ set is the target climbing angle; P sensor is the degree of trunk inclination fed back by sensor 8; △h is the height change of the trunk surface.

[0071] The climbing force is dynamically adjusted by controlling the relative angle change between the embracing mechanism and the tree trunk to ensure that the device is always stable during the climbing process. The inclination degree and height change of the trunk fed back by sensor 8 are used to correct the output of the climbing drive.

[0072] Step 4: Observe the obstacle situation through the observation camera 7 and dynamically adjust the cutting position. The specific formula is:

[0073]

[0074] In the formula, Δx cut P is the lateral adjustment amount of the cutting saw 6; deva is the position deviation fed back by sensor 8; Δθ cut K is the angle error between the cutting saw 6 and the trunk surface; align is the adjusted stiffness coefficient.

[0075] The lateral adjustment of the cutting position is based on the deviation feedback and angle error of the sensor 8, and the position of the cutting saw 6 is dynamically adjusted in combination with the stiffness coefficient to avoid deviations in cutting depth or direction;

[0076] Step 5: Dynamically plan the cutting path and control the cutting device to perform cutting. The optimization formula is as follows:

[0077]

[0078] Where, L opt is the optimized cutting path; T is the total time to complete the cutting; v cut (t) is the velocity vector of the cutting saw 6; n cut (t) is the normal vector of the cutting saw 6; n tree (t) is the normal vector of the trunk surface; t is the current time; ||·|| is the norm function; min is the minimum function; α and β are weight parameters, which balance the importance of speed and direction matching respectively, and can be obtained by personnel in this field through simulation experiments.

[0079] The cutting path is dynamically planned to find the optimal trajectory that matches the speed and direction, ensuring that the tool moves along the surface of the trunk efficiently and accurately. cut (t)-n tree (t)|| 2 It represents the degree of matching between the cutting direction and the trunk surface. Through the above steps, the cutting saw 6 can achieve depth control, dynamic adjustment of force, path optimization and position feedback to ensure that the device is efficient, accurate and stable during cutting. These formulas are based on sensor 8 feedback and dynamic adjustment mechanism, which are significantly different from traditional fixed cutting methods and can adapt to complex trunk surfaces and real-time operation requirements.

[0080] In summary, the present invention relates to the field of tree barrier cutting equipment, and discloses a tree barrier cutting device, including an unmanned aerial vehicle, a connecting component, a motor box, a double-headed motor, an embracing arm, a cutting saw and a sensor; wherein the unmanned aerial vehicle is rotatably connected to one end of the connecting component, and the other end of the connecting component is rotatably connected to the motor box; the outer side of the motor box is rotatably connected to the embracing arm for embracing and positioning the tree, and the inner side of the motor box is fixedly connected to the double-headed motor for driving the embracing arm to rotate and climb, and the output end of the double-headed motor extends through the inner side of the motor box to the outer side of the motor box and is fixedly connected to the embracing arm; the cutting saw is arranged at one end of the embracing arm away from the motor box; the sensor is fixedly connected to the unmanned aerial vehicle to detect the surface of the tree trunk; the embracing arm is driven to open and tighten by the double-headed motor to fit, position and position tree trunks of different thicknesses.

[0081] Each embodiment in this specification is described in a progressive manner, and the same or similar parts of each embodiment can be directly referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment. It should be noted that the technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0082] The above-mentioned embodiments only express several preferred implementation modes of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in the technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention, and these improvements and substitutions should also be regarded as the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be based on the protection scope of the claims.

Claims

1. A tree barrier cutting device, characterized in that: It includes a drone, a connection component, a motor box, a double-head motor, an embracing arm, a cutting saw and a sensor; among which, The drone is rotatably connected to one end of the connecting component, and the other end of the connecting component is rotatably connected to the motor box; the outer side of the motor box is rotatably connected to the embracing arm for embracing and positioning the tree, and the inner side of the motor box is fixedly connected to the double-headed motor for driving the embracing arm to rotate and climb, and the output end of the double-headed motor extends through the inner side of the motor box to the outer side of the motor box and is fixedly connected to the embracing arm; the cutting saw is arranged at one end of the embracing arm away from the motor box; the sensor is fixedly connected to the drone to detect the surface of the tree trunk.

2. A tree barrier cutting device according to claim 1, characterized in that: The connecting assembly includes a rotating base and a connecting shaft; wherein the upper end of the drone is rotatably connected to the rotating base, the upper end of the rotating base is rotatably connected to one end of the connecting shaft, and the other end of the connecting shaft is rotatably connected to the motor box.

3. A tree barrier cutting device according to claim 2, characterized in that: The device also includes a first remote-controlled motor; wherein the first remote-controlled motor is fixedly arranged at the upper end of the drone, the output end of the first remote-controlled motor is fixedly connected to the rotating base, and the rotating base is connected to the drone through the first remote-controlled motor.

4. A tree barrier cutting device according to claim 2, characterized in that: The device also includes a mounting shell and a second remote control motor; wherein the mounting shell is symmetrically distributed and fixedly arranged at one end of the rotating base close to the connecting shaft; the second remote control motor is fixedly arranged on the inner wall of the mounting shell to drive the connecting shaft to rotate; the output end of the second remote control motor extends through the inner wall of the mounting shell to the outside of the mounting shell and is fixedly connected to the side wall of the connecting shaft.

5. A tree barrier cutting device according to claim 2, characterized in that: The device also includes a third remote-controlled motor; wherein the third remote-controlled motor is fixedly arranged at the upper end of the inner wall of the connecting shaft to drive the motor box to rotate; the output end of the third remote-controlled motor extends through the inner wall of the connecting shaft to the outside of the connecting shaft and is fixedly connected to the outside of the motor box.

6. A tree barrier cutting device according to claim 1, characterized in that: An installation groove for placing the motor box is formed at one end of the embracing arm close to the motor box, and the installation groove is adapted to the shape and size of the motor box.

7. A tree barrier cutting device according to claim 2, characterized in that: The encircling arms are symmetrically distributed about a vertical center line of the connecting axis, and both groups of the encircling arms are arc-shaped structures.

8. A tree barrier cutting device according to claim 7, characterized in that: The two groups of the encircling arms are respectively provided with longitudinal guide wheels rotating in the vertical direction and transverse guide wheels rotating in the horizontal direction; wherein the longitudinal guide wheels and the transverse guide wheels are both rotatably connected to the encircling arms, and the longitudinal guide wheels are symmetrically distributed about the horizontal center line of the transverse guide wheels.

9. The tree barrier cutting device according to claim 1, characterized in that: The device also includes a driving motor, wherein the driving motor is fixedly arranged on the outer side of the embracing arm to drive the cutting saw to rotate; the output end of the driving motor passes through the outer side of the embracing arm and is fixedly connected to the cutting saw.

10. The tree barrier cutting device according to claim 1, characterized in that: The device also includes an observation camera; wherein the observation camera is arranged at the upper end of the drone, and the sensor is arranged at the outer side of the observation camera.

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