Aerial operation system and use method thereof

Abstract

The invention relates to the technical field of aerial operation, in particular to an aerial operation system and a using method thereof. The aerial operation system comprises an aircraft, a flexible continuum bending arm section fixedly arranged on the aircraft, and an actuator arranged at the tail end of the flexible continuum bending arm section. The flexible continuum bending arm section has flexible self-adaptability, and can adjust the conduction degree of the reverse acting force generated by the actuator in the operation direction to the aircraft, so as to reduce the disturbance of the reverse acting force generated by the actuator in the operation direction to the flight control of the aircraft; the flexible continuum bending arm section can decouple translation and rotation of the aircraft in the horizontal direction through active bending movement, so that the aircraft is kept in a stable state, the actuator is driven by the flexible continuum bending arm section to achieve stable posture adjustment, and therefore stable operation of the aerial operation system is achieved.

Description

Technical Field

[0001] This application relates to the technical field of aerial operations, and in particular, to an aerial operation system and a method for using the same. Background Art

[0002] Maintenance personnel often need to manually climb high-voltage electric towers to maintain high-voltage transmission lines. To ensure the safety of maintenance personnel, a fall prevention device needs to be provided when they climb the tower. The fall prevention device generally includes a safety rope. When using a safety rope as a fall prevention device, the safety rope needs to be fixed to the tower body first. Currently, this process often uses an aerial flying device to carry a hook for operation. When in use, the safety rope is first fixed to the hook, and then the hook is fixed to the hanging target through the aerial flying device.

[0003] Traditional aerial flying devices include a flying vehicle, a connecting section, and an actuator connected in sequence. The connecting section is connected to the flying vehicle and the actuator respectively, and is used to connect the flying vehicle and the actuator so that the flying vehicle can drive the actuator to perform operations. The connecting section is generally a telescopic rod with a pure rigid connection or a rope or link with a pure flexible structure without an active adjustment function.

[0004] When the connecting section is purely rigid, the motion states between the flying vehicle and the actuator are completely coupled. The flying vehicle needs to perform the same fine pose adjustment as the actuator to complete the operation. The reaction force when the actuator contacts the operation target will also be completely transmitted to the flying vehicle, which will affect the stability of the flying vehicle. In this case, a very high requirement is imposed on the flight control of the flying vehicle to complete the operation stably. However, the horizontal and vertical motions of general flying vehicles cannot be decoupled, making it difficult to perform fine pose adjustments in each dimension separately. Crashes caused by the reaction force during contact are also common failure situations.

[0005] When the connecting section is purely flexible, the motion states between the flying vehicle and the actuator are decoupled, which can reduce the risk of crashes caused by the transmission of the actuator reaction force through the rigid connecting section. However, the flying vehicle can only drive the actuator to move along the straightened direction of the connecting section, and often can only rely on swinging and dragging to make the actuator move horizontally. Moreover, under the influence of external environmental factors such as inertia and wind speed, it is difficult to bring the relative position between the flying vehicle and the actuator into a controllable state, making it difficult for the actuator to perform stable and precise pose adjustments, which will increase the overall operation difficulty. In addition, due to the incomplete coupling of the motion states between the flying vehicle and the actuator, the motion states will be inconsistent under the influence of inertia and the external environment. When the flying vehicle hovers and prepares for operation, it often needs to wait for a certain period of time until the actuator stops from the swinging motion before it can perform the operation, reducing the efficiency of the aerial operation system. Summary of the Invention

[0006] The purpose of the embodiments of the present application is to provide an aerial operation system and its usage method. The aerial operation system can change the coupling state between the aircraft and the actuator, achieve stable operation of the aerial operation system, reduce the risk of crashing, and improve the efficiency of the aerial operation system. It can also stably and precisely adjust the pose of the actuator.

[0007] To achieve the above purpose, the technical solution adopted in the embodiments of the present application is: an aerial operation system, including an aircraft, a flexible continuous body bending arm segment fixedly arranged on the aircraft, and an actuator arranged at the end of the flexible continuous body bending arm segment.

[0008] The flexible continuous body bending arm segment has flexible self - adaptability. The flexible continuous body bending arm segment can adjust the conduction degree of the reverse force generated by the actuator in the operation direction to the aircraft, so as to reduce the disturbance of the reverse force generated by the actuator in the operation direction to the flight control of the aircraft.

[0009] The flexible continuous body bending arm segment can decouple the translation and rotation of the aircraft in the horizontal direction through active bending movement, so that the aircraft maintains a stable state, and also enables the actuator to achieve stable pose adjustment driven by the flexible continuous body bending arm segment, thereby realizing the stable operation of the aerial operation system.

[0010] The beneficial effects of the aerial operation system provided by this application are as follows: Since the flexible continuous body bending arm segment has flexible self - adaptability, the softness (stiffness) of the flexible continuous body bending arm segment can be changed, so that the motion states of the actuator and the aircraft can be adjusted to different degrees between the coupled state and the decoupled state; When the stiffness of the flexible continuous body bending arm segment is relatively high, so that the relative position between the actuator and the aircraft does not change, the actuator and the aircraft are coupled, and the moving state of the actuator can be consistent with the moving state of the aircraft, so as to facilitate adjusting the pose of the actuator by moving the aircraft, or when the aircraft hovers and prepares for operation, the actuator can quickly get out of the swinging state and stop to prepare for operation; When the stiffness of the flexible continuous body bending arm segment is relatively low, so that the relative position between the actuator and the aircraft can change, the actuator and the aircraft are decoupled. And in the decoupled state, different functions can be realized by changing the stiffness of the flexible continuous body bending arm segment; Increasing the stiffness of the flexible continuous body bending arm segment, so that the actuator can be driven to move relative to the aircraft by bending the flexible continuous body bending arm segment, so as to facilitate adjusting the pose of the actuator on the premise of keeping the position of the aircraft; Reducing the stiffness of the flexible continuous body bending arm segment, so that the flexible continuous body bending arm segment can buffer the conduction degree of the reverse force generated by the actuator in the operation direction to the aircraft, so as to reduce the disturbance of the reverse force generated by the actuator in the operation direction to the flight control of the aircraft, thereby reducing the mutual influence between the aircraft and the actuator, keeping the aircraft in a stable state, and realizing the stable operation of the aerial operation system.

[0011] In some embodiments, the flexible continuous body bending arm segment includes a driving and controlling component and an operating component, and the driving and controlling component is arranged on the aircraft;

[0012] The operating component includes a bending section. Under the drive of the driving and controlling component, the stiffness of the bending section can be changed, and the operating component can drive the actuator to move relative to the aircraft to any position within the effective working space.

[0013] In some embodiments, the bending section includes an omnidirectional bending arm section, and the omnidirectional bending arm section includes a first bending component. The first bending component includes a first rigid member, a second rigid member, a first support member, a second support member, and at least three first folding structure artificial muscles;

[0014] The first support member and the second support member are connected by a ball joint or a cross hinge. One end of the first support member away from the second support member is fastened to the first rigid member, and one end of the second support member away from the first support member is fastened to the second rigid member. One end of the first folded structure artificial muscle is fastened to the first rigid member, and the other end of the first folded structure artificial muscle is fastened to the second rigid member. The first rigid member, the second rigid member and each first folded structure artificial muscle enclose a cylindrical first cavity with a central axis.

[0015] The driving and controlling assembly includes an air pump. The air pump is communicated with each first cavity. The air pump is used for injecting driving fluid into the first cavity, and the air pump is also used for pumping out the driving fluid in the first cavity to change the length and hardness of the first folded structure artificial muscle, so as to control the bending direction and stiffness of the first bending assembly.

[0016] Alternatively, the bending section includes a rotating arm section and a one-way bending arm section. The rotating arm section is used to drive the one-way bending arm section to rotate.

[0017] The one-way bending arm section includes a second bending assembly. The second bending assembly includes a third rigid member, a fourth rigid member, a third support member, a fourth support member and one or two second folded structure artificial muscles.

[0018] The third support member and the fourth support member are connected by a one-way hinge. One end of the third support member away from the fourth support member is fastened to the third rigid member, and one end of the fourth support member away from the third support member is fastened to the fourth rigid member. One end of the second folded structure artificial muscle is fastened to the third rigid member, and the other end of the second folded structure artificial muscle is fastened to the fourth rigid member. The third rigid member, the fourth rigid member and any one of the second folded structure artificial muscles enclose a cylindrical second cavity with a central axis.

[0019] The air pump is communicated with each second cavity. The air pump is used for injecting driving fluid into the second cavity, and the air pump is also used for pumping out the driving fluid in the second cavity to change the length and hardness of the second folded structure artificial muscle, so as to control the bending direction and stiffness of the second bending assembly.

[0020] In some embodiments, the operating assembly further includes a telescopic section. The telescopic section includes a third folded structure artificial muscle, a first end plate and a second end plate. The first end plate and the second end plate are respectively connected to two ends of the third folded structure artificial muscle, and the first end plate is connected to the aircraft, and the second end plate is connected to the bending section.

[0021] The third folding structure artificial muscle, the first end plate and the second end plate enclose a cylindrical third cavity with a central axis;

[0022] The air pump is communicated with the third cavity. The air pump is used to inject driving fluid into the third cavity, and the air pump is also used to extract the driving fluid in the third cavity to change the length and hardness of the third folding structure artificial muscle, so as to control the telescopic degree of the telescopic section and / or control the bearing capacity of the telescopic section.

[0023] In some embodiments, the aerial operation system further includes a hook, which is used to connect an object to be hung, and the hook is used to hang the object to be hung on the tower body;

[0024] The actuator includes a connecting seat, a base, a driving component and two clamping members. The connecting seat is connected to the base, and the connecting seat is stacked above the base. The connecting seat is connected to the flexible continuum bending arm section. The two clamping members are respectively rotatably connected to the side ends of the base. The ends of the two clamping members away from the base intersect with each other, and in the direction away from the base, the distance between the two clamping members gradually decreases, so as to form a narrow limiting space between the base and the two clamping members. The limiting space is used to accommodate part of the hook. A limiting structure is provided on one of the clamping members, and the limiting structure is used to abut against the other clamping member to limit the degree of intersection of the two clamping members;

[0025] The driving component is arranged in the base. Driven by the driving component, the two clamping members can rotate relative to the base in a direction away from the limiting space, so that the ends of the two clamping members away from the base are separated from each other, and a notch communicating with the limiting space is formed between the ends of the two clamping members away from the base. The hook can enter the limiting space through the notch;

[0026] Driven by the driving component, the two clamping members can rotate relative to the base in a direction close to the limiting space, so that the two clamping members intersect with each other, and the hook has a stop surface, and the stop surface is used to abut against the clamping member, so that the actuator can drive the hook to move under the drive of the aircraft and the flexible continuum bending arm section.

[0027] In some embodiments, the hook includes a main body part and a part to be clamped. The main body part is provided with a connecting structure for connecting an object to be hung, and the main body part is provided with a suspension groove for accommodating the tower body; the part to be clamped is connected to the main body part, and the part to be clamped has the stop surface facing the main body part.

[0028] In some embodiments, the aerial operation system further includes a control component, which includes a sensor group and a controller. The sensor group is used to detect the pose and motion state of the aerial operation system, and the controller is used to dynamically adjust the stiffness of the flexible continuum bending arm segment according to the data detected by the sensor group, so as to adjust the absorption degree of the reverse force received by the actuator in the operation direction by the flexible continuum bending arm segment, so that the coupling degree of the respective motion states of the aircraft and the actuator can be timely adjusted to an appropriate degree to meet the performance requirements of environmental conditions and specific operation stages.

[0029] In some embodiments, the data detected by the sensor group includes the end pose of the actuator and the force state of the actuator.

[0030] In some embodiments, the control component further includes a processor, which is used to obtain the yaw degree data of the aerial operation system according to the data detected by the sensor group. The processor is also used to generate adjustment data of the flexible continuum bending arm segment based on the yaw degree data of the aerial operation system, and the controller dynamically adjusts the stiffness of the flexible continuum bending arm segment based on the adjustment data of the flexible continuum bending arm segment.

[0031] The technical solution adopted in the embodiments of the present application is: a method for using the aerial operation system according to the first aspect embodiment above. During the process of the aircraft driving the flexible continuum bending arm segment and the actuator to move in the air, the stiffness of the flexible continuum bending arm segment is dynamically adjusted based on environmental conditions and the yaw degree of the aerial operation system to balance the stability and efficiency of the aerial operation system.

[0032] The beneficial effect of the method for using the aerial operation system provided by the present application is that during the process of the aircraft driving the flexible continuum bending arm segment and the actuator to move in the air, the stiffness of the flexible continuum bending arm segment is dynamically adjusted based on environmental conditions and the yaw degree of the flexible continuum bending arm segment. That is, when the actuator picks up the hook or hangs the hook on the tower, the stiffness of the flexible continuum bending arm segment is increased to reduce the yaw degree of the flexible continuum bending arm segment, so that the aircraft maintains a stable state, and the actuator can also stably adjust its pose driven by the robotic arm, thus realizing the smooth operation of the aerial operation system; during the process of the aircraft driving the flexible continuum bending arm segment and the actuator to fly, the stiffness of the flexible continuum bending arm segment is reduced to increase the yaw degree of the flexible continuum bending arm segment, so as to reduce the mutual influence between the aircraft and the actuator, so that the aerial operation system can move stably. Description of the Drawings

[0033] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0034] Figure 1 It is a schematic structural diagram of an aerial work system in one of the embodiments of the present application;

[0035] Figure 2 It is a schematic structural diagram of an aerial work system (excluding the aircraft) in one of the embodiments of the present application;

[0036] Figure 3 is Figure 2 A schematic structural diagram of the flexible continuum bending arm segment and the actuator in the aerial work system shown;

[0037] Figure 4 is Figure 1 A schematic structural diagram of the bending segment in the aerial work system shown;

[0038] Figure 5 is Figure 4 A schematic structural diagram of the bending component in the bending segment shown;

[0039] Figure 6 is Figure 1 A schematic structural diagram of the telescopic segment in the aerial work system shown;

[0040] Figure 7 It is a schematic structural diagram of the telescopic segment excluding the first airbag in one of the embodiments;

[0041] Figure 8 is Figure 7 A cross-sectional view of the telescopic segment shown;

[0042] Figure 9 is Figure 8 A partial enlarged view of part A shown;

[0043] Figure 10 It is a schematic structural diagram of the telescopic segment excluding the first airbag in one of the embodiments;

[0044] Figure 11 is Figure 10 A cross-sectional view of the telescopic segment shown;

[0045] Figure 12 is Figure 11 A partial enlarged view of part B shown;

[0046] Figure 13It is a schematic structural diagram of an actuator in an aerial work system in one embodiment of the present application;

[0047] Figure 14 It is a schematic structural diagram of a hook in an aerial work system in one embodiment of the present application;

[0048] Figure 15 It is Figure 2 a schematic structural diagram of a flexible continuum bending arm segment and an actuator in the aerial work system shown;

[0049] Figure 16 It is Figure 10 a schematic structural diagram of another perspective of the telescopic segment shown;

[0050] Figure 17 It is Figure 16 a sectional view of the telescopic segment shown along the A-A direction;

[0051] Figure 18 It is Figure 17 a partially enlarged view of part C shown.

[0052] Reference numerals:

[0053] 1. Aircraft;

[0054] 2. Flexible continuum bending arm segment; 21. Omnidirectional bending arm section; 211. First bending component; 2111. First rigid member; 2112. Second rigid member; 2113. First support member; 2114. Second support member; 2115. First folding structure artificial muscle; 22. Telescopic segment; 221. Third folding structure artificial muscle; 222. First end plate; 223. Second end plate; 224. First telescopic rod; 2241. First side surface; 2242. First rolling contact line; 225. Second telescopic rod; 226. First sliding assistance component; 2261. First fixing member; 22611. First accommodation groove; 2262. First rolling member; 2263. Second fixing member; 22622. Second accommodation groove; 2264. Second rolling member; 227. Third telescopic rod; 228. Second sliding assistance component;

[0055] 3. Actuator; 22. Connection seat; 32. Base; 33. Driving component; 34. Clamping member; 34a. First clamping member; 34b. Second clamping member; 341. Enclosing portion; 342. Insertion portion; 35. Limiting space;

[0056] 4. Hook; 41. Main body component; 411. Suspension groove; 42. Component to be clamped; 421. Stopping surface; 43. Self-locking component;

[0057] 5. Sensor group. Detailed implementation manners

[0058] In order to make the objectives, technical solutions and advantages of the present application clearer and more understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0059] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0060] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, the meaning of "a plurality" is two or more, unless otherwise specifically defined.

[0061] Reference to "an embodiment", "some embodiments" or "the embodiments" in the description of the present application means that a specific feature, structure or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, the phrases "in an embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments" and the like that appear in different places in this specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. In addition, in one or more embodiments, the specific features, structures or characteristics may be combined in any suitable manner.

[0062] Maintenance personnel often need to climb high-voltage electric towers manually to maintain high-voltage transmission lines. To ensure the safety of maintenance personnel, a fall prevention device needs to be provided when the maintenance personnel climb the tower. The fall prevention device generally includes a safety rope. When using a safety rope as a fall prevention device, the safety rope needs to be fixed to the tower body first. Currently, this process often uses an aerial flying device to carry a hook for operation. When in use, the safety rope is first fixed to the hook, and then the hook is fixed to the hanging target through the aerial flying device.

[0063] Traditional aerial flying devices include a flying vehicle, a connecting section and an actuator connected in sequence. The connecting section is respectively connected to the flying vehicle and the actuator and is used to connect the flying vehicle and the actuator so that the flying vehicle can drive the actuator to perform operations. The connecting section is generally a telescopic rod with a pure rigid connection or a rope or connecting rod with a pure flexible structure without an active adjustment function.

[0064] When the connecting segment is purely rigid, the motion states between the aircraft and the actuator are completely coupled. The aircraft needs to perform equally fine pose adjustments as the actuator to complete the operation. The reaction force when the actuator contacts the operation target will also be completely transmitted to the aircraft, thus affecting the stability of the aircraft. In this case, a very high requirement is imposed on the flight control of the aircraft to complete the operation stably. However, the horizontal and vertical motions of a general aircraft cannot be decoupled, making it difficult to perform fine pose adjustments separately from each dimension. It is also a common failure situation that the reaction force during contact causes the aircraft to crash.

[0065] When the connecting segment is purely flexible, the motion states between the aircraft and the actuator are decoupled, which can reduce the risk of crashing caused by the transmission of the actuator's reaction force through the rigid connecting segment. However, the aircraft can only drive the actuator to move along the straightening direction of the connecting segment, and often can only rely on swinging and dragging to make the actuator move horizontally. Moreover, under the influence of external environmental factors such as inertia and wind speed, it is difficult for the relative positions between the aircraft and the actuator to enter a controllable state, making it difficult for the actuator to perform stable and precise pose adjustments, which will increase the overall operation difficulty. In addition, due to the incomplete coupling of the motion states between the aircraft and the actuator, it will cause the inconsistency of the motion states under the influence of inertia and the external environment. When the aircraft hovers and prepares for operation, it often needs to wait for a certain period of time until the actuator stops from the swinging motion before it can perform the operation, reducing the efficiency of the aerial operation system.

[0066] In view of the above problems, the embodiments of the present application provide an aerial operation system and its usage method. The aerial operation system can change the coupling state between the aircraft and the actuator, realize the stable operation of the aerial operation system, so as to reduce the risk of crashing and improve the efficiency of the aerial operation system; it can also stably and precisely adjust the pose of the actuator.

[0067] To illustrate the technical solution of the present application, the following will be described in conjunction with specific drawings and embodiments.

[0068] Please refer to Figure 1 、 Figure 2 and Figure 3 , the embodiments of the present application provide an aerial operation system, including an aircraft 1, a flexible continuum bending arm segment 2 fixedly arranged on the aircraft 1, and an actuator 3 arranged at the end of the flexible continuum bending arm segment 2.

[0069] The flexible continuum bending arm segment 2 has flexible self - adaptability. The flexible continuum bending arm segment 2 can adjust the conduction degree of the reaction force generated by the actuator 3 in the operation direction to the aircraft 1, so as to reduce the disturbance of the reaction force generated by the actuator 3 in the operation direction to the flight control of the aircraft 1.

[0070] The flexible continuum bending arm segment 2 can decouple the translation and rotation of the aircraft 1 in the horizontal direction through active bending motion, so that the aircraft 1 remains in a stable state, and also enables the actuator 3 to achieve stable pose adjustment driven by the flexible continuum bending arm segment 2, thereby realizing the smooth operation of the aerial operation system.

[0071] It should be noted that coupling means that the relative position between the actuator 3 and the aircraft 1 is relatively stable, which can make the movement state of the actuator 3 consistent with the movement state of the aircraft 1 (for example, when the aircraft 1 rotates around the horizontal direction, the actuator 3 will also rotate around the horizontal direction). Decoupling means that the relative position between the actuator 3 and the aircraft 1 can change. On the one hand, it can reduce the relative influence between the aircraft 1 and the actuator 3 (for example, during the movement of the aerial equipment, under the influence of the environment, the accelerations of the aircraft 1 and the actuator 3 will be inconsistent, resulting in different moving speeds of the aircraft 1 and the actuator 3. By changing the relative position between the actuator 3 and the aircraft 1, the influence of the actuator 3 on the aircraft 1 can be reduced, enabling the aircraft 1 to hover or move stably); on the other hand, it can adjust the pose of the actuator 3 without changing the position of the aircraft 1, so as to facilitate the actuator 3 to pick up the hook 4 or hang the hook 4 on the tower.

[0072] It should be noted that the flexible continuum bending arm segment 2 having flexible self - adaptability means that the flexibility (stiffness) of the flexible continuum bending arm segment 2 can change according to requirements (the actuator 3 and the aircraft need to be coupled or the actuator 3 and the aircraft 1 need to be decoupled), the environment (wind speed), or the motion states of the actuator 3 and the aircraft 1 (the respective speeds or accelerations of the actuator 3 and the aircraft 1).

[0073] The aerial operation system of the embodiment of the present application enables different degrees of adjustment of the respective motion states of the actuator 3 and the aircraft 1 between the coupled state and the decoupled state by adopting the flexible continuum bending arm segment 2 with flexible self - adaptability.

[0074] Specifically, when the stiffness of the flexible continuum bending arm segment 2 is relatively high, so that the relative position between the actuator 3 and the aircraft 1 does not change, the actuator 3 and the aircraft 1 are coupled, and the movement state of the actuator 3 can be kept consistent with the movement state of the aircraft 1, so as to facilitate adjusting the pose of the actuator 3 by moving the aircraft 1, or when the aircraft hovers and prepares for operation, enabling the actuator to quickly get out of the swinging state and stop to prepare for operation; when the stiffness of the flexible continuum bending arm segment 2 is relatively low, so that the relative position between the actuator 3 and the aircraft 1 can change, the actuator 3 and the aircraft 1 are decoupled.

[0075] And in the decoupled state, different functions can be achieved by changing the stiffness of the flexible continuum bending arm section 2. Increase the stiffness of the flexible continuum bending arm section 2 so that the actuator 3 can be driven to move relative to the aircraft 1 by bending the flexible continuum bending arm section 2, facilitating the adjustment of the pose of the actuator 3 while keeping the position of the aircraft 1 unchanged; reduce the stiffness of the flexible continuum bending arm section 2, thereby reducing the mutual influence between the aircraft 1 and the actuator 3 (for example, the flexible continuum bending arm section 2 can buffer the conduction degree of the reverse force generated by the actuator 3 in the working direction to the aircraft 1, reducing the disturbance of the reverse force generated by the actuator 3 in the working direction to the flight control of the aircraft 1), enabling the aircraft 1 to maintain a stable state and realizing the smooth operation of the aerial operation system.

[0076] It should be noted that the working direction of the actuator 3 can be the direction in which the actuator 3 faces the hook 4. The reverse force generated by the actuator 3 in the working direction refers to: when the actuator 3 picks up the hook 4, relative movement occurs between the actuator 3 and the hook 4. When the actuator 3 and the hook 4 come into contact, the hook 4 provides a force opposite to the direction in which the actuator 3 faces to the actuator 3, causing the actuator 3 to tend to move in the direction opposite to the direction in which the actuator 3 faces, thereby generating a reverse force in the working direction on the flexible continuum bending arm section 2 by the actuator 3.

[0077] The working direction of the actuator 3 can also be the direction in which the actuator 3 faces the tower body. The reverse force generated by the actuator 3 in the working direction refers to: when the actuator 3 hangs the hook 4 on the tower body, the hook 4 moves relative to the tower body. When the hook 4 comes into contact with the tower body, the tower body provides a force opposite to the direction in which the actuator 3 faces to the hook 4. The above force is transmitted to the actuator 3 through the hook 4, causing the actuator 3 to tend to move in the direction opposite to the direction in which the actuator 3 faces, thereby generating a reverse force in the working direction on the flexible continuum bending arm section 2 by the actuator 3.

[0078] Please refer to Figure 1 、 Figure 2 and Figure 3 In some embodiments, the flexible continuum bending arm section 2 includes a drive and control component (not shown in the figure) and an operation component, and the drive and control component is arranged on the aircraft 1.

[0079] The operation component includes a bending section. Under the drive of the drive and control component, the stiffness of the bending section can be changed, and the operation component can drive the actuator 3 to move relative to the aircraft 1 to any position within the effective working space.

[0080] It should be noted that the effective working space refers to the set of positions around the aircraft 1 that the operation component can drive the end actuator 3 to reach when the bending section is bent in any direction and to any degree.

[0081] It should be noted that in the above embodiments, the operation component can drive the actuator 3 to move relative to the aircraft 1 to any position within the effective working space, which means that the bending section can be bent omnidirectionally so that the actuator 3 moves in the direction towards the aircraft 1, and by changing the bending direction and degree of the bending section, the relative position between the actuator 3 and the aircraft 1 can be changed.

[0082] It should be noted that by arranging the driving and controlling component on the aircraft 1, most of the weight of the aerial operation system can be concentrated on the aircraft 1. On the one hand, it can make the aircraft 1 move more stably, and on the other hand, it can reduce the weight of the operation component, thereby reducing the control difficulty of the operation component.

[0083] Please refer to Figure 1 、 Figure 4 and Figure 5 , in some embodiments, the bending section includes an omnidirectional bending arm section 21, and the omnidirectional bending arm section 21 includes a first bending component 211. The first bending component 211 includes a first rigid member 2111, a second rigid member 2112, a first support member 2113, a second support member 2114, and at least three first folding structure artificial muscles 2115.

[0084] The first support member 2113 and the second support member 2114 are connected by a ball joint or a cross hinge. One end of the first support member 2113 away from the second support member 2114 is fastened to the first rigid member 2111, and one end of the second support member 2114 away from the first support member 2113 is fastened to the second rigid member 2112; one end of each first folding structure artificial muscle 2115 is fastened to the first rigid member 2111, and the other end of the first folding structure artificial muscle 2115 is fastened to the second rigid member 2112. The first rigid member 2111, the second rigid member 2112, and each first folding structure artificial muscle 2115 enclose a cylindrical first cavity with a central axis.

[0085] The driving and controlling component includes an air pump (not shown in the figure). The air pump is communicated with each first cavity. The air pump is used to inject driving fluid into the first cavity, and the air pump is also used to extract the driving fluid in the first cavity to change the length and hardness of the first folding structure artificial muscle 2115, so as to control the bending direction and stiffness of the first bending component 211.

[0086] When the air pump extracts the driving fluid in the first cavity, the first folding structure artificial muscle 2115 contracts, the volume of the first cavity becomes smaller, and the length of the first folding structure artificial muscle 2115 will decrease; by injecting driving fluid into the first cavity, the first folding structure artificial muscle 2115 can stretch, thereby changing the length of the first folding structure artificial muscle 2115.

[0087] The first folded-structure artificial muscle 2115 that extends or contracts can drive the relative rotation of the first support member 2113 and the second support member 2114. By injecting different volumes of driving fluid into the first cavity, the first folded-structure artificial muscle 2115 can be extended by different lengths, that is, the relative rotation angle between the first support member 2113 and the second support member 2114 can be changed, thereby changing the bending angle of the first bending assembly 211.

[0088] The first support member 2113 and the second support member 2114 are connected by a ball hinge or a cross hinge, and the first bending assembly 211 includes at least three first folded-structure artificial muscles 2115. That is, at least three first cavities can be formed by enclosing on the first bending assembly 211. By injecting different volumes of driving fluid into different first cavities, different first folded-structure artificial muscles 2115 can be extended by different lengths, so that the relative rotation angle between the first support member 2113 and the second support member 2114 can be more diverse, thereby enabling the first bending assembly to bend omnidirectionally, and further enabling the omnidirectional bending arm section 21 to drive the actuator 3 to rotate in any direction.

[0089] After the length and shape of the first folded-structure artificial muscle 2115 are fixed (for example, the first folded-structure artificial muscle 2115 is fully extended), by injecting driving fluid into the first cavity, the density of the driving fluid in the first cavity can be changed to change the hardness of the first folded-structure artificial muscle 2115, thereby changing the stiffness of the omnidirectional bending arm section 21.

[0090] Please refer to Figure 5 , specifically, a plurality of first folded-structure artificial muscles 2115 are evenly distributed around the first support member 2113 and the second support member 2114.

[0091] With the above settings, the structure of the first bending assembly 211 can be made more compact, and it is more convenient to control the relative rotation angle between the first support member 2113 and the second support member 2114.

[0092] Optionally, the first bending assembly 211 includes three first folded-structure artificial muscles 2115; or, the first bending assembly 211 includes four first folded-structure artificial muscles 2115.

[0093] Please refer to Figure 4 , in some embodiments, the omnidirectional bending arm section 21 includes a plurality of first bending assemblies 211.

[0094] With the above settings, the bending angle of the omnidirectional bending arm section 21 can be the sum of the bending angles of a plurality of first bending assemblies 211, so that the bending angle of the omnidirectional bending arm section 21 is more diverse.

[0095] In some embodiments, the bending section includes a rotating arm section (not shown in the figure) and a one-way bending arm section (not shown in the figure). The rotating arm section is used to drive the one-way bending arm section to rotate.

[0096] The one-way bending arm section includes a second bending assembly. The second bending assembly includes a third rigid member, a fourth rigid member, a third support member, a fourth support member, and one or two second folding structure artificial muscles;

[0097] The third support member and the fourth support member are connected by a one-way hinge. One end of the third support member away from the fourth support member is fastened to the third rigid member, and one end of the fourth support member away from the third support member is fastened to the fourth rigid member; One end of the second folding structure artificial muscle is fastened to the third rigid member, and the other end of the second folding structure artificial muscle is fastened to the fourth rigid member. The third rigid member, the fourth rigid member, and any one of the second folding structure artificial muscles enclose a second cavity with a central axis.

[0098] The air pump is communicated with each second cavity. The air pump is used to inject driving fluid into the second cavity, and the air pump is also used to extract the driving fluid in the second cavity to change the length and hardness of the second folding structure artificial muscle, so as to control the bending direction and stiffness of the second bending assembly.

[0099] Since the third support member and the fourth support member are connected by a one-way hinge, the third support member can only rotate relative to the fourth support member in one direction, so that the one-way bending arm section can only bend in one direction. However, by providing a rotating arm section, and the rotating arm section is used to drive the one-way bending arm section to rotate, so with the cooperation of the rotating arm section, the one-way bending arm section can drive the actuator 3 to rotate in any direction.

[0100] Wherein, the principle of the air pump controlling the bending direction and stiffness of the second bending assembly is the same as that of the air pump controlling the bending direction and stiffness in the first bending assembly 211, which will not be elaborated here.

[0101] In some embodiments, the rotating arm section includes a lead screw, a push plate, a third end plate, a fourth end plate, and a fourth folding structure artificial muscle. In the distribution direction of the rotating arm section and the one-way bending arm section, the third end plate and the fourth end plate are opposite and spaced apart. The lead screw is rotatably connected to the third end plate and the fourth end plate respectively, and the lead screw is connected to the second bending assembly. The third end plate is connected to the second end plate 223. The push plate is threadedly connected to the lead screw. The two ends of the fourth folding structure artificial muscle are connected to the push plate and the fourth end plate respectively, and the fourth folding structure artificial muscle, the push plate, and the fourth end plate enclose a fourth cavity.

[0102] The air pump is in communication with the fourth cavity. The air pump is used to inject driving fluid into the fourth cavity and is also used to extract the driving fluid from the fourth cavity, so as to extend or compress the fourth folded structure artificial muscle, causing the push plate to move and thus causing the lead screw to rotate.

[0103] Among them, the principle of extension and contraction of the fourth folded structure artificial muscle is the same as that of the first folded structure artificial muscle 2115, which will not be elaborated here.

[0104] Please refer to Figure 1 and Figure 6 In some embodiments, the operating component further includes a telescopic section 22. The telescopic section 22 includes a third folded structure artificial muscle 221, a first end plate 222 and a second end plate 223. The first end plate 222 and the second end plate 223 are respectively connected to both ends of the third folded structure artificial muscle 221, and the first end plate 222 is connected to the aircraft 1, and the second end plate 223 is connected to the bending section.

[0105] The third folded structure artificial muscle 221, the first end plate 222 and the second end plate 223 enclose a cylindrical third cavity with a central axis.

[0106] The air pump is in communication with the third cavity. The air pump is used to inject driving fluid into the third cavity and is also used to extract the driving fluid from the third cavity to change the length and hardness of the third folded structure artificial muscle 221, thereby controlling the telescopic degree of the telescopic section 22 and / or controlling the load-bearing capacity of the telescopic section 22.

[0107] It should be noted that the load-bearing capacity refers to the magnitude of the telescopic degree of the telescopic section 22 when the axial force is the same. The telescopic movement of the telescopic section 22 can longitudinally expand the range of the effective working space, enabling the aerial operation system to maintain a more compact storage state while achieving a larger effective working space.

[0108] Through the above settings, in the distribution direction of the aircraft 1 and the telescopic component, the operating component can drive the actuator 3 to move to adjust the positional relationship between the actuator 3 and the aircraft 1.

[0109] It should be noted that the principle of extension and contraction of the third folded structure artificial muscle 221 is the same as that of the first folded structure artificial muscle 2115, which will not be elaborated here.

[0110] Please refer to Figure 6 、 Figure 7 and Figure 10 In some embodiments, the telescopic section 22 further includes a first telescopic rod 224 and a second telescopic rod 225.

[0111] The second telescopic rod 225 is slidably sleeved on the first telescopic rod 224. The first telescopic rod 224 is connected to one of the first end plate 222 and the second end plate 223, and the second telescopic rod 225 is connected to the other of the first end plate 222 and the second end plate 223.

[0112] With the above arrangement, the first telescopic rod 224 and the second telescopic rod 225 can support the first end plate 222 and the second end plate 223 to prevent the relative positions of the first end plate 222 and the second end plate 223 from changing in a direction perpendicular to the first direction (the first direction is parallel to the axial direction of the first telescopic rod 224), thereby improving the bending resistance of the telescopic section 22 and the telescopic efficiency of the telescopic section 22.

[0113] In some embodiments, the telescopic section 22 further includes a first stop member and a second stop member. Both the first stop member and the second stop member are located between the first telescopic rod 224 and the second telescopic rod 225. The first stop member is connected to the second telescopic rod 225 and extends in a direction approaching the first telescopic rod 224; the second stop member is connected to the first telescopic rod 224 and extends in a direction approaching the second telescopic rod 225.

[0114] In the direction of the first telescopic rod 224 away from the second telescopic rod 225, the first stop member is located above the second stop member, and in a plane perpendicular to the first direction, the orthographic projections of the first stop member and the second stop member at least partially overlap.

[0115] Please refer to Figure 8 and Figure 9 , specifically, the second telescopic rod 225 is located above the first telescopic rod 224, and the second stop member (not shown in the figure) is located above the first stop member (not shown in the figure).

[0116] With the above arrangement, when the first telescopic rod 224 and the second telescopic rod 225 slide relative to each other and move away from each other, the first stop member and the second stop member approach each other. When the first stop member and the second stop member are in contact, the first stop member and the second stop member can resist each other to prevent the first telescopic rod 224 and the second telescopic rod 225 from separating.

[0117] Please refer to Figure 8 , Figure 9 , Figure 11 and Figure 12 , the telescopic section 22 further includes a first sliding assistance assembly 226. The first sliding assistance member includes a fixed member and a rolling member. The fixed member is located in the sleeving gap between the first telescopic rod 224 and the second telescopic rod 225, and the rolling member is rotatably embedded on the fixed member.

[0118] The rolling member is in rolling and line contact with the surface of the first telescopic rod 224, and the rolling member is in line contact with the first rolling contact line 2242 in the first plane on the surface of the first telescopic rod 224. The first plane is perpendicular to the first direction, and the first rolling contact line 2242 is perpendicular to the first direction; and / or, the rolling member rolls on the surface of the second telescopic rod 225, and the rolling member is in line contact with a second rolling contact line (not shown in the figure) in the second plane on the surface of the second telescopic rod 225. The second plane is perpendicular to the first direction, and the second rolling contact line is perpendicular to the first direction.

[0119] Specifically, when the first telescopic rod 224 and the second telescopic rod 225 slide relative to each other, the rolling member can roll on the outer surface of the first telescopic rod 224 or roll on the inner surface of the second telescopic rod 225.

[0120] By providing the first sliding assistance assembly 226, the relative sliding between the first telescopic rod 224 and the second telescopic rod 225 can be converted into rolling between the first sliding assistance assembly 226 and the first telescopic assembly, or converted into rolling between the first sliding assistance assembly 226 and the second telescopic assembly, which can make the first telescopic rod 224 and the second telescopic rod 225 slide relative to each other more smoothly.

[0121] And the fixing member is located between the first telescopic rod 224 and the second telescopic rod 225, which is convenient for controlling the fitting clearance between the first telescopic rod 224 and the second telescopic rod 225. Moreover, since the rolling member is in rolling and line contact with the surface of the first telescopic rod 224; and / or, the rolling member is in rolling and line contact with the surface of the second telescopic rod 225, the pressure between the rolling member and the first telescopic rod 224 and / or the pressure between the rolling member and the second telescopic rod 225 can be dispersed, so that the forces on the rolling member, the first telescopic rod 224 and the second telescopic rod 225 are more uniform, the stability during the sliding of the first telescopic rod 224 and the second telescopic rod 225 is increased, the friction is reduced, and by dispersing the stress, local pressure loss and wear can be reduced, and the service life of the robotic arm 3 in the embodiment of the present application can be prolonged.

[0122] Please refer to Figure 10 、 Figure 11 and Figure 12 In some embodiments, at the sleeving clearance between the first telescopic rod 224 and the second telescopic rod 225, the first telescopic rod 224 has at least three first side surfaces 2241, and the second telescopic rod 225 has at least three second side surfaces (not shown in the figure). The first side surfaces 2241 and the second side surfaces are arranged opposite to each other one by one across the sleeving clearance, and there are multiple fixing members.

[0123] The fixing members are arranged on the second side surface. The fixing members are distributed around the central axis of the first telescopic rod 224, and the offset angle of two adjacent fixing members around the central axis of the first telescopic rod 224 is less than 180 degrees. And in the first direction, the positions of multiple fixing members located on the second side surface are flush. And / or, the fixing members are arranged on the first side surface 2241. The fixing members are distributed around the central axis of the first telescopic rod 224, and the offset angle of two adjacent fixing members around the central axis of the first telescopic rod 224 is less than 180 degrees. And in the first direction, the positions of multiple fixing members located on the first side surface 2241 are flush.

[0124] Through the above settings, it can be prevented that the relative positions of the first telescopic rod 224 and the second telescopic rod 225 in the direction perpendicular to the first direction do not change, so as to facilitate controlling the gap between the first telescopic rod 224 and the second telescopic rod 225.

[0125] And through the above settings, the first telescopic rod 224 and the second telescopic rod 225 are polygonal rods, which can prevent the first telescopic rod 224 and the second telescopic rod 225 from rotating relative to each other around the first direction, so that the telescopic section 22 can be prevented from twisting.

[0126] Moreover, through the above settings, the outer surface of the first telescopic rod 224 and the inner surface of the second telescopic rod 225 are planes, which can reduce the manufacturing and assembly difficulties of the first telescopic rod 224 and the second telescopic rod 225. On the premise of realizing the line contact between the rolling members and the first telescopic rod 224 and the second telescopic rod 225, the structures of the first telescopic rod 224 and the second telescopic rod 225 can be simplified, the assembly efficiency can be improved, and the production cost can be reduced.

[0127] Please refer to Figure 16 、 Figure 17 and Figure 18 , in some embodiments, the rolling member is a ball bearing. The ball bearing includes a ball bearing body and a rotating shaft. The axis of the rotating shaft is in the first plane, and the axis of the rotating shaft is parallel to the first rolling contact line 2242. Or, the axis of the rotating shaft is in the second plane, and the axis of the rotating shaft is parallel to the second rolling contact line.

[0128] The rotating shaft penetrates through the ball bearing body, and at least one end of the rotating shaft is connected to the fixing member. The ball bearing body can rotate around the axis of the rotating shaft.

[0129] The perpendicular line from the midpoint of the first rolling contact line 2242 to the axis of the first telescopic rod 224 is also perpendicular to the first rolling contact line 2242; and / or, the perpendicular line from the midpoint of the second rolling contact line to the axis of the second telescopic rod 225 is also perpendicular to the second rolling contact line.

[0130] The first side surface 2241 and the second side surface are planes parallel to the first direction; the ball bearing body is in line contact with the first side surface 2241 at a first rolling contact line 2242, and the first rolling contact line 2242 is a straight line; and / or, the ball bearing body is in line contact with the second side surface at a second rolling contact line, and the second rolling contact line is a straight line.

[0131] With the above arrangement, the pressure direction between the rolling element and the first telescopic rod 224 is perpendicular to the contact surface between the rolling element and the first telescopic rod 224, and the pressure direction between the rolling element and the second telescopic rod 225 is perpendicular to the contact surface between the rolling element and the second telescopic rod 225, making the force more balanced.

[0132] Please refer to Figure 10 、 Figure 11 and Figure 12 In some embodiments, the fixing member includes at least three first fixing members 2261 and at least three second fixing members 2263.

[0133] The first fixing member 2261 is provided on the second side surface, and the first fixing member 2261 is located at the end of the second telescopic rod 225 close to the first telescopic rod 224; the second fixing member 2263 is provided on the first side surface 2241, and the second fixing member 2263 is located at the end of the first telescopic rod 224 close to the second telescopic rod 225.

[0134] The rolling elements include a first rolling element 2262 and a second rolling element 2264. The first rolling element 2262 is rollably embedded on the first fixing member 2261, and the first rolling element 2262 is partially embedded in the side wall where the second side surface is located. The second rolling element 2264 is rollably embedded on the second fixing member 2263, and the second rolling element 2264 is partially embedded in the side wall where the first side surface is located. Moreover, the first side surface 2241 is in line contact with the first rolling element 2262, and the second side surface is in line contact with the second rolling element 2264.

[0135] With the above arrangement, the first telescopic rod 224 and the second telescopic rod 225 can slide relative to each other more smoothly.

[0136] Specifically, the first fixing member 2261 and the second fixing member 2263 are distributed in the first direction, optimizing the position settings of the first fixing member 2261 and the second fixing member 2263 in the first direction. The dynamic fitting clearance between the first telescopic rod 224 and the second telescopic rod 225 can be better controlled in different telescopic states, thereby better ensuring the dynamic concentricity. By controlling the concentricity through the fitting clearance, the straightness of the first telescopic rod 224 and the second telescopic rod 225 and the stability when receiving lateral force are ensured, so that the first telescopic rod 224 and the second telescopic rod 225 can slide relative to each other more stably.

[0137] Please refer to Figure 8 、Figure 9 , Figure 11 and Figure 12 , specifically, a first receiving groove 22611 is formed in the first fixing member 2261, the first rolling member 2262 is rotatably received in the first receiving groove 22611, and the first rolling member 2262 is in rolling connection with the first telescopic rod 224.

[0138] Please refer to Figure 6 , Figure 7 , Figure 9 and Figure 10 , specifically, a second receiving groove 22622 is formed in the second fixing member 2263, the second rolling member 2264 is rotatably received in the second receiving groove 22622, and the second rolling member 2264 is in rolling connection with the second telescopic rod 225.

[0139] Please refer to Figure 8 , Figure 9 , Figure 11 and Figure 12 , specifically, the axis of the first rolling member 2262 is perpendicular to the first direction, the first rolling member 2262 is in line contact with the first telescopic rod 224. When the first telescopic rod 224 and the second telescopic rod 225 slide relative to each other, the second telescopic rod 225 drives the first fixing member 2261 to move, and the first rolling member 2262 rolls on the surface of the first telescopic rod 224.

[0140] Specifically, the axis of the second rolling member 2264 is perpendicular to the first direction, the second rolling member 2264 is in line contact with the second telescopic rod 225. When the first telescopic rod 224 and the second telescopic rod 225 slide relative to each other, the first telescopic rod 224 drives the second fixing member 2263 to move, and the second rolling member 2264 rolls on the surface of the second telescopic rod 225.

[0141] When the second rolling member 2264 is a ball bearing, the second receiving groove 22622 includes a ball bearing body receiving groove and a shaft receiving groove.

[0142] Please refer to Figure 16 , Figure 17 and Figure 18 , the first receiving groove 22611 includes a ball bearing body receiving groove and a shaft receiving groove.

[0143] Optionally, the first rolling member 2262 may also be a roller, the length direction of the roller is perpendicular to the first direction, at least one end of the roller is rotatably connected to the first fixing member 2261, and the roller protrudes from the notch of the first receiving groove 22611 so that the roller can contact the first telescopic rod 224.

[0144] Optionally, the second rolling member 2264 may also be a roller. The length direction of the roller is perpendicular to the first direction. At least one end of the roller is rotatably connected to the second telescopic rod 225, and the roller protrudes from the notch of the second receiving groove 22622 so that the roller can contact the second telescopic rod 225.

[0145] When the first rolling member 2262 and the second rolling member 2264 are rollers, the first side surface 2241 and the second side surface being planes parallel to the first direction can ensure that the first rolling member 2262 is in line contact with the first side surface 2241, and the second rolling member 2264 is in line contact with the second side surface.

[0146] Optionally, the first rolling member 2262 may also be a ball. The four side walls of the first receiving groove 22611 are all the outer tangent planes of the ball, and the ball protrudes from the notch of the first receiving groove 22611 so that the ball can contact the first telescopic rod 224, and the ball can also be rotatably clamped in the first receiving groove 22611.

[0147] In some embodiments, in order to prevent the ball from detaching from the first receiving groove 22611, a rotating shaft is added. The length direction of the rotating shaft is perpendicular to the first direction. The rotating shaft penetrates through the ball, and at least one end of the rotating shaft is connected to the first fixing member 2261. The ball can rotate relative to the rotating shaft, and / or the rotating shaft can rotate relative to the first fixing member 2261.

[0148] Optionally, the second rolling member 2264 may also be a ball. The four side walls of the second receiving groove 22622 are all the outer tangent planes of the ball, and the ball protrudes from the notch of the second receiving groove 22622 so that the ball can contact the second telescopic rod 225, and the ball can also be rotatably clamped in the second receiving groove 22622.

[0149] In some embodiments, in order to prevent the ball from detaching from the second receiving groove 22622, a rotating shaft is added. The length direction of the rotating shaft is perpendicular to the first direction. The rotating shaft penetrates through the ball, and at least one end of the rotating shaft is connected to the second fixing member 2263. The ball can rotate relative to the rotating shaft, and / or the rotating shaft can rotate relative to the second fixing member 2263.

[0150] It should be noted that when the first rolling member 2262 and the second rolling member 2264 are balls, in order to ensure that the first rolling member 2262 is in line contact with the first side surface 2241 and the second rolling member 2264 is in line contact with the second side surface, the first side surface 2241 and the second side surface need to be bent so that the first side surface 2241 adapts to the shape of the rolling surface of the first rolling member 2262, and the second side surface adapts to the shape of the rolling surface of the second rolling member 2264.

[0151] Specifically, the first side surface 2241 is recessed away from the second telescopic rod 225 to form a first rolling groove for the first rolling member 2262 to roll. The first rolling groove extends in the first direction and is adapted to the first rolling member 2262. The second side surface is recessed away from the first telescopic rod 224 to form a second rolling groove for the second rolling member 2264 to roll. The second rolling groove extends in the first direction and is adapted to the second rolling member 2264.

[0152] With the above arrangement, when the first rolling member 2262 rolls relative to the first telescopic rod 224, the first rolling member 2262 can be received in the first rolling groove, and the position of the first rolling member 2262 can be restricted to prevent the first rolling member 2262 from sliding relative to the first telescopic rod 224 in the radial direction of the first telescopic rod 224; when the second rolling member 2264 rolls relative to the second telescopic rod 225, the second rolling member 2264 can be received in the second rolling groove, and the position of the second rolling member 2264 can be restricted to prevent the second rolling member 2264 from sliding relative to the second telescopic rod 225 in the radial direction of the second telescopic rod 225.

[0153] Moreover, the first rolling groove is adapted to the first rolling member 2262, so that the surface of the first rolling member 2262 can be in contact with the side wall and the bottom of the first rolling groove, so that the first rolling member 2262 and the first telescopic rod 224 are in line contact; the second rolling groove is adapted to the second rolling member 2264, so that the surface of the second rolling member 2264 can be in contact with the side wall and the bottom of the second rolling groove, so that the second rolling member 2264 and the second telescopic rod 225 are in line contact; when the first rolling member 2262 and the second rolling member 2264 are ball bearings, the pressure between the first rolling member 2262 and the first telescopic rod 224 and the pressure between the second rolling member 2264 and the second telescopic rod 225 can also be dispersed, so that the forces on the first rolling member 2262, the first telescopic rod 224, the second rolling member 2264 and the second telescopic rod 225 are more uniform, thereby reducing friction.

[0154] In some embodiments, the first stop member is provided on one of the first fixing member 2261 and the second stop member 2263, and the second stop member is provided on the other of the first fixing member 2261 and the second fixing member 2263.

[0155] With the above arrangement, the first stop member and the first fixing member 2261 can be integrally formed, and the second stop member and the second fixing member 2263 can be integrally formed.

[0156] Please refer to Figure 7 and Figure 10, in some embodiments, the telescopic section 22 further includes a third telescopic rod 227. The third telescopic rod 227 is sleeved on the second telescopic rod 225. One of the first telescopic rod 224 and the third telescopic rod 227 is used to connect to the end effector, and the other of the first telescopic rod 224 and the third telescopic rod 227 is used to connect to the flying device.

[0157] With the above arrangement, the length of the telescopic section 22 in the fully extended state can be increased, thereby increasing the operating space of the robotic arm.

[0158] Please refer to Figure 8 , Figure 9 , Figure 11 and Figure 12 , in some embodiments, the telescopic section 22 further includes a second sliding assistance assembly 228. The second sliding assistance assembly 228 is sleeved on the second telescopic rod 225 and is located inside the third telescopic rod 227. The second sliding assistance assembly is in rolling connection with one of the second telescopic rod 225 and the third telescopic rod 227, and the second sliding assistance assembly 228 is fixedly connected or in rolling connection with the other of the second telescopic rod 225 and the third telescopic rod 227.

[0159] By providing the second sliding assistance assembly 228, the relative sliding between the third telescopic rod 227 and the second telescopic rod 225 can be converted into the rolling between the second sliding assistance assembly 228 and the third telescopic assembly, or into the rolling between the second sliding assistance assembly 228 and the second telescopic assembly, which can make the relative sliding between the third telescopic rod 227 and the second telescopic rod 225 smoother.

[0160] Specifically, the structure of the second sliding assistance assembly 228 is the same as that of the first sliding assistance assembly 226. The positional relationship and connection relationship between the second sliding assistance assembly 228 and the second telescopic rod 225 and the third telescopic rod 227 are the same as the positional relationship and connection relationship between the first sliding assistance assembly 226 and the first telescopic rod 224 and the second telescopic rod 225, which will not be elaborated here.

[0161] Specifically, telescopic rods and sliding assistance assemblies can also be added according to the required length of the telescopic section 22, so that the length of the telescopic section 22 in the fully extended state meets the requirements.

[0162] Please refer to Figure 1 , Figure 13 and Figure 14 , in some embodiments, the aerial operation system further includes a hook 4. The hook 4 is used to connect the object to be hung, and the hook 4 is used to hang the object to be hung on the tower.

[0163] The actuator 3 includes a connecting seat 22, a base 32, a driving component 33 and two clamping members 34. The connecting seat 22 is connected to the base 32, and the connecting seat 22 is stacked above the base 32. The connecting seat 22 is connected to the flexible continuum bending arm section 2. The two clamping members 34 are respectively rotatably connected to the side ends of the base 32. The ends of the two clamping members 34 away from the base 32 cross each other, and in the direction away from the base 32, the distance between the two clamping members 34 gradually decreases, so as to form a narrow limiting space 35 between the base 32 and the two clamping members 34. The limiting space 35 is used to accommodate a part of the hook 4. A limiting structure is provided on one of the clamping members 34, and the limiting structure is used to abut against the other clamping member 34 to limit the degree of crossing of the two clamping members 34, thereby limiting the size of the limiting space 35.

[0164] The driving component 33 is arranged inside the base 32. Driven by the driving component 33, the two clamping members 34 can rotate relative to the base 32 in a direction away from the limiting space 35, so that the ends of the two clamping members 34 away from the base 32 are separated from each other, and a notch communicating with the limiting space 35 is formed between the ends of the two clamping members 34 away from the base 32. The hook 4 can enter the limiting space 35 through the notch.

[0165] Driven by the driving component 33, the two clamping members 34 can rotate relative to the base 32 in a direction close to the limiting space 35, so that the two clamping members 34 cross each other, and the hook 4 has a stop surface 421. The stop surface 421 is used to abut against the clamping member 34, so that driven by the aircraft 1 and the flexible continuum bending arm section 2, the actuator 3 can drive the hook 4 to move.

[0166] Through the above settings, the actuator 3 can pick up the hook 4, and driven by the aircraft 1 and the flexible continuum bending arm section 2, the actuator 3 can hang the hook 4 on the tower body. And the hook 4 is connected to the object to be hung, so as to connect the object to be hung to the tower body.

[0167] It should be noted that since the connecting seat 22 is connected to the base 32, and the connecting seat 22 is stacked above the base 32, and the two clamping members 34 are respectively rotatably connected to the side ends of the base 32, the limiting space 35 formed by enclosing the two clamping members 34 of the base 32 can be as close as possible to the connecting seat 22. After the connecting seat 22 is connected to the flexible continuum bending arm section 2, the limiting space 35 will be as close as possible to the flexible continuum bending arm section 2, which can reduce the distance between the center of gravity of the actuator 3 and the flexible continuum bending arm section 2, so as to reduce the force arm and facilitate operation.

[0168] Moreover, after the actuator 3 picks up the object to be clamped (the hook 4 and the object to be hung), the center of gravity of the actuator 3 and the object to be clamped can be as close as possible to the flexible continuum bending arm section 2, which can reduce the force arm, thereby reducing the operation difficulty and increasing the system stability.

[0169] Specifically, when operating the aerial operation system according to the embodiments of the present application, first, fix the safety rope on the hook 4, and then control the movement of the aircraft 1 to drive the actuator 3 to move towards the hook 4; then, control the drive assembly 33 in the actuator 3 to drive the two clamping members 34 to rotate relative to the base 32 in a direction away from the limiting space 35, so that the ends of the two clamping members 34 away from the base 32 are separated from each other, and a notch communicating with the limiting space 35 is formed between the ends of the two clamping members 34 away from the base 32; thereafter, move the aircraft 1 or rotate the flexible continuum bending arm section 2, so that the hook 4 enters the limiting space 35 through the notch; finally, control the drive assembly 33 in the actuator 3 to drive the two clamping members 34 to rotate relative to the base 32 in a direction close to the limiting space 35, so as to limit the hook 4 in the limiting space 35.

[0170] It should be noted that since a limiting structure is provided on one of the clamping members 34, and the limiting structure is used to abut against the other clamping member 34 to limit the degree of intersection of the two clamping members 34, thereby limiting the size of the limiting space 35. Therefore, when the hook 4 is limited in the limiting space 35, the size of the limiting space 35 is slightly larger than the radial dimension of the hook 4, so that there is a certain space margin between the hook 4 and the clamping member 34, thereby reducing the influence of the shaking of the hook 4 on the stability of the actuator 3.

[0171] In order to prevent the hook 4 from disengaging from the limiting space 35, a stop surface 421 is provided on the hook 4, and the stop surface 421 abuts against the clamping member 34, so that under the drive of the aircraft 1 and the flexible continuum bending arm section 2, the actuator 3 can drive the hook 4 to move.

[0172] And in the direction away from the base 32, the distance between the two clamping members 34 gradually decreases, so as to form a narrow limiting space 35 between the base 32 and the two clamping members 34, which can prevent the hook 4 from rotating in the limiting space 35, thereby avoiding the change of the pose of the hook 4 relative to the actuator 3, so as to facilitate the actuator 3 to hang the hook 4 on the tower body.

[0173] Please refer to Figure 13, the two clamping members 34 are respectively a first clamping member 34a and a second clamping member 34b. The first clamping member 34a is rotatably connected to the base 32; the second clamping member 34b includes an enclosing portion 341 and a plugging portion 342. The enclosing portion 341 is rotatably connected to the base 32. The plugging portion 342 is connected to one end of the enclosing portion 341 away from the base 32. The plugging portion 342 is used to penetrate through the first clamping member 34a; the enclosing portion 341 protrudes from the plugging portion 342. The enclosing portion 341 is used to abut against the first clamping member 34a to limit the degree to which the plugging portion 342 penetrates through the first clamping member 34a. In the direction away from the base 32, the distance between the enclosing portion 341 and the first clamping member 34a gradually decreases.

[0174] The limiting structure is the enclosing portion 341 in the above embodiment.

[0175] Please refer to Figure 14 , in some embodiments, the hook 4 includes a main body member 41 and a clamping member 42. The main body member 41 is provided with a connecting structure (not shown in the figure) for connecting the object to be hung, and the main body member 41 is provided with a hanging groove 411 for accommodating the tower body; the clamping member 42 is connected to the main body member 41, and the clamping member 42 has a stop surface 421 facing the main body member 41.

[0176] Through the above arrangement, the actuator 3 hangs the hook 4 on the tower body. The tower body can enter the hanging groove 411 through the notch of the hanging groove 411. After the actuator 3 releases the hook 4, the hook 4 can be hung on the tower body.

[0177] It should be noted that, in order to prevent the hook 4 from detaching from the tower body, a self-locking member 43 can be provided on the hook 4. After the hook 4 is hung on the tower body, the self-locking member 43 can close the notch of the hanging groove 411 to prevent the hook 4 from detaching from the tower body.

[0178] In some embodiments, the aerial operation system further includes a control component (not shown in the figure). The control component includes a sensor group 5 and a controller. The sensor group 5 is used to detect the pose and motion state of the aerial operation system. The controller is used to dynamically adjust the stiffness of the flexible continuum bending arm segment 2 according to the data detected by the sensor group 5, so as to adjust the absorption degree of the reverse force received by the actuator 3 in the operation direction by the flexible continuum bending arm segment 2, so that the coupling degree of the respective motion states of the aircraft 1 and the actuator 3 can be adjusted to an appropriate degree in a timely manner to meet the performance requirements of the environmental conditions and specific operation stages.

[0179] Through the above arrangement, the stiffness of the flexible continuum bending arm segment 2 can be automatically adjusted to improve the automation degree of the aerial operation system in the embodiments of the present application.

[0180] It should be noted that the pose and motion state of the aerial operation system include the pose and motion state of the entire aerial operation system (i.e., the pose and motion state of the whole composed of the aircraft 1, the flexible continuum bending arm segment 2, the actuator 3, and the hook 4), as well as the pose and motion state of each part respectively (i.e., the pose and motion state of the aircraft 1, the pose and motion state of the flexible continuum bending arm segment 2, the pose and motion state of the actuator 3, and the pose and motion state of the hook 4).

[0181] In some embodiments, the data detected by the sensor group 5 includes the pose at the end of the actuator 3 and the force state of the actuator 3 (the motion state of the actuator 3 can be inferred based on the force state).

[0182] It should be noted that the data detected by the sensor group 5 can also include the pose of the aircraft 1, the flight state of the aircraft 1 (speed, acceleration, inclination, etc.), the pose of the flexible continuum bending arm segment 2 (bending direction, bending degree, telescopic degree, inclination, etc.), the motion state of the flexible continuum bending arm segment 2 (speed, acceleration, etc.), the pose of the actuator 3 (orientation, opening and closing state), the motion state of the actuator 3 (speed, acceleration, inclination, etc.), the pose of the hook 4 (orientation), the motion state of the hook 4, the force state of the hook 4, environmental conditions (wind speed), etc.

[0183] Specifically, the sensor group 5 includes an image sensor, a wind speed sensor, a gyroscope, a speed sensor, an acceleration sensor, an inclination sensor, etc.

[0184] In some embodiments, the sensor group 5 comprehensively collects the same type of data of each part of the system through the same type of sensors (such as a global image sensor + a local image sensor) to obtain the motion state of the entire system.

[0185] In some embodiments, the sensor group 5 comprehensively collects at least two types of data of at least one key part (bending arm, actuator, hook waiting to hold an object, etc.) in the system through different types of sensors (acceleration, speed, bending degree, inclination degree, and direction, air pressure, vibration degree) to obtain the motion state of the entire system.

[0186] In some embodiments, the sensor group 5 includes a camera at the end of the bending arm, and the camera can be used to monitor the moving path, pose, and working state of the actuator 3 (opening, closing, and whether it has successfully and steadily clamped the hook 4 in the correct direction).

[0187] Please refer to Figure 13 and Figure 15 , optionally, the sensor group 5 can be set on the actuator 3, and the sensor group 5 can also be set at the end of the flexible continuum bending arm segment 2.

[0188] In some embodiments, the control component further includes a processor. The processor is configured to obtain the sway degree data of the aerial operation system based on the data detected by the sensor group 5. The sway degree data of the aerial operation system reflects the randomness and controllability of the motion state of the aerial operation system in the real-time environment and working conditions. The processor is further configured to generate adjustment data for the flexible continuum bending arm segment 2 based on the sway degree data of the aerial operation system. The controller dynamically adjusts the stiffness of the flexible continuum bending arm segment 2 based on the adjustment data of the flexible continuum bending arm segment 2, so as to control the randomness and controllability of the motion state of the aerial operation system within the randomness-robustness balance interval.

[0189] It should be noted that the sway degree data of the aerial operation system includes the sway degree data of the entire aerial operation system (i.e., the sway degree data of the whole composed of the aircraft 1, the flexible continuum bending arm segment 2, the actuator 3, and the hook 4) and the sway degree data of each part (i.e., the sway degree data of the aircraft 1, the sway degree data of the flexible continuum bending arm segment 2, the sway degree data of the actuator 3, and the sway degree data of the hook 4).

[0190] It should be noted that within the randomness-robustness balance interval, the flexible continuum bending arm segment 2 will neither cause an impact on the aircraft 1 due to excessive rigidity, affect the stability of the aircraft 1, nor increase the flight control difficulty of the aircraft 1; nor will the flexible continuum bending arm segment 2 cause the randomness of the motion state of the entire aerial operation system or a part to be too strong due to excessive flexibility and enter or stay in an uncontrollable state. Thus, stable and accurate pose control of the actuator 3 can be performed based on the simple flight control and rough positioning of the aircraft 1.

[0191] The processor is configured to obtain the sway degree data of the flexible continuum bending arm segment 2 based on the data detected by the sensor group 5, which means that the processor obtains the sway degree data of the flexible continuum bending arm segment 2 based on the flight state of the aircraft (speed, acceleration, inclination, etc.), the motion state of the flexible continuum bending arm segment 2 (speed, acceleration, inclination, etc.), the wind speed, the end pose of the actuator 3, the force state of the end pose of the actuator 3, and the moving path of the actuator 3.

[0192] It should be noted that the drive and control component further includes an air pipe and an air valve. The air pump is connected to the first cavity, the second cavity, the third cavity, and the fourth cavity through the air pipe and the air valve respectively. By changing the working state of the air pump (injecting the driving fluid into the cavity or pumping out the driving fluid in the cavity) or the opening degree of the air valve, the length and hardness of the first folded structure artificial muscle 2115, the second folded structure artificial muscle, the third folded structure artificial muscle 221, and the fourth folded structure artificial muscle can be changed.

[0193] Specifically, the controller dynamically adjusts the stiffness of the flexible continuum bending arm segment 2 based on the adjustment data of the flexible continuum bending arm segment 2, that is, the controller dynamically adjusts the working state of the air pump and the on-state of each air valve based on the adjustment data of the flexible continuum bending arm segment 2.

[0194] The technical solution adopted in the embodiment of the present application is: a method for using the aerial work system according to the embodiment of the first aspect above. During the process of the aircraft 1 driving the flexible continuum bending arm segment 2 and the actuator 3 to move in the air, the stiffness of the flexible continuum bending arm segment 2 is dynamically adjusted based on the environmental conditions and the swing degree of the flexible continuum bending arm segment 2 to balance the stability and efficiency of the aerial work system.

[0195] In the method for using the aerial work system provided by the present application, during the process of the aircraft 1 driving the flexible continuum bending arm segment 2 and the actuator 3 to move in the air, the stiffness of the flexible continuum bending arm segment 2 is dynamically adjusted based on the environmental conditions and the swing degree of the aerial work system. That is, when the actuator 3 picks up the hook 4 or hangs the hook 4 on the tower body, the stiffness of the flexible continuum bending arm segment 2 is increased to reduce the swing degree of the flexible continuum bending arm segment 2, so that the aircraft 1 maintains a stable state, and the actuator 3 can stably adjust its pose under the drive of the robotic arm, thereby realizing the smooth operation of the aerial work system; during the process of the aircraft 1 driving the flexible continuum bending arm segment 2 and the actuator 3 to fly, when the wind is strong in the environment, the stiffness of the flexible continuum bending arm segment 2 is reduced to increase the swing degree of the flexible continuum bending arm segment 2, so as to reduce the mutual influence between the aircraft 1 and the actuator 3, so that the aerial work system can move stably.

[0196] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. An aerial operation system, characterized in that, Comprising: An aircraft, a flexible continuous body bending arm segment fixedly arranged on the aircraft, and an actuator arranged at the end of the flexible continuous body bending arm segment; The flexible continuous body bending arm segment has flexible self - adaptability, and the flexible continuous body bending arm segment can adjust the conduction degree of the reverse force generated by the actuator in the operation direction to the aircraft, so as to reduce the disturbance of the reverse force generated by the actuator in the operation direction to the flight control of the aircraft; The flexible continuous body bending arm segment can decouple the translation and rotation of the aircraft in the horizontal direction through active bending motion, so that the aircraft maintains a stable state, and also enables the actuator to achieve stable pose adjustment under the drive of the flexible continuous body bending arm segment, thereby realizing the smooth operation of the aerial operation system.

2. The aerial work system according to claim 1, characterized in that The flexible continuous body bending arm segment includes a driving and controlling component and an operating component, and the driving and controlling component is arranged on the aircraft; The operating component includes a bending segment. Under the drive of the driving and controlling component, the stiffness of the bending segment can be changed, and the operating component can drive the actuator to move relative to the aircraft to any position within the effective working space.

3. The aerial work system according to claim 2, characterized in that, The bending segment includes an omnidirectional bending arm section, and the omnidirectional bending arm section includes a first bending component. The first bending component includes a first rigid member, a second rigid member, a first support member, a second support member, and at least three first folding structure artificial muscles; The first support member and the second support member are connected by a ball hinge or a cross hinge. One end of the first support member away from the second support member is fastened to the first rigid member, and one end of the second support member away from the first support member is fastened to the second rigid member; One end of each first folding structure artificial muscle is fastened to the first rigid member, and the other end of the first folding structure artificial muscle is fastened to the second rigid member. The first rigid member, the second rigid member, and each first folding structure artificial muscle enclose a cylindrical first cavity with a central axis; The driving and controlling component includes an air pump, and the air pump is communicated with each first cavity. The air pump is used to inject driving fluid into the first cavity, and the air pump is also used to extract the driving fluid in the first cavity to change the length and hardness of the first folding structure artificial muscle, thereby controlling the bending direction and stiffness of the first bending component; Alternatively, the bending segment includes a rotating arm section and a unidirectional bending arm section, and the rotating arm section is used to drive the unidirectional bending arm section to rotate; The unidirectional bending arm section includes a second bending component. The second bending component includes a third rigid member, a fourth rigid member, a third support member, a fourth support member, and one or two second folding structure artificial muscles; The third support member and the fourth support member are connected by a unidirectional hinge. One end of the third support member away from the fourth support member is fastened to the third rigid member, and one end of the fourth support member away from the third support member is fastened to the fourth rigid member; One end of the second folded-structure artificial muscle is fastened to the third rigid member, and the other end of the second folded-structure artificial muscle is fastened to the fourth rigid member. The third rigid member, the fourth rigid member, and any one of the second folded-structure artificial muscles enclose a cylindrical second cavity having a central axis. The air pump is in communication with each of the second cavities. The air pump is configured to inject a driving fluid into the second cavities, and the air pump is further configured to extract the driving fluid from the second cavities to change the length and hardness of the second folded-structure artificial muscles, thereby controlling the bending direction and stiffness of the second bending assembly.

4. The aerial work system according to claim 3, wherein, The operating assembly further includes a telescopic section. The telescopic section includes a third folded-structure artificial muscle, a first end plate, and a second end plate. The first end plate and the second end plate are respectively connected to two ends of the third folded-structure artificial muscle, and the first end plate is connected to the aircraft, and the second end plate is connected to the bending section. The third folded-structure artificial muscle, the first end plate, and the second end plate enclose a cylindrical third cavity having a central axis. The air pump is in communication with the third cavity. The air pump is configured to inject a driving fluid into the third cavity, and the air pump is further configured to extract the driving fluid from the third cavity to change the length and hardness of the third folded-structure artificial muscles, thereby controlling the telescopic degree of the telescopic section and / or controlling the load-bearing capacity of the telescopic section.

5. The aerial work system according to any one of claims 1 to 4, characterized in that, The aerial operation system further includes a hook. The hook is configured to connect an object to be hung and to suspend the object to be hung on the tower. The actuator includes a connecting seat, a base, a driving assembly, and two clamping members. The connecting seat is connected to the base, and the connecting seat is stacked above the base. The connecting seat is connected to the flexible continuum bending arm section. The two clamping members are respectively rotatably connected to the side ends of the base. The ends of the two clamping members away from the base intersect with each other, and in the direction away from the base, the distance between the two clamping members gradually decreases, so as to form a narrow limiting space between the base and the two clamping members. The limiting space is configured to accommodate a part of the hook. A limiting structure is provided on one of the clamping members, and the limiting structure is configured to abut against the other clamping member to limit the degree of intersection of the two clamping members. The driving assembly is disposed in the base. Driven by the driving assembly, the two clamping members can rotate relative to the base in a direction away from the limiting space, so that the ends of the two clamping members away from the base are separated from each other, and a gap communicating with the limiting space is formed between the ends of the two clamping members away from the base. The hook can enter the limiting space through the gap. Driven by the driving component, the two clamping members can rotate relative to the base towards the direction close to the limiting space, so that the two clamping members cross each other, and the hook has a stop surface for abutting against the clamping members, so that the actuator can drive the hook to move under the drive of the aircraft and the flexible continuous body bending arm section.

6. The aerial work system according to claim 5, characterized in that The hook includes a main body component and a component to be clamped. The main body component is provided with a connection structure for connecting an object to be hung, and the main body component is provided with a suspension groove for accommodating the tower body; the component to be clamped is connected to the main body component, and the component to be clamped has the stop surface facing the main body component.

7. The aerial work system according to any one of claims 1 to 4, characterized in that, The aerial operation system further includes a control component, which includes a sensor group and a controller. The sensor group is used to detect the pose and motion state of the aerial operation system, and the controller is used to dynamically adjust the stiffness of the flexible continuous body bending arm section according to the data detected by the sensor group, so as to adjust the absorption degree of the reverse force received by the actuator in the operation direction of the flexible continuous body bending arm section, so that the coupling degree of the motion states of the aircraft and the actuator can be adjusted to an appropriate degree in time to meet the performance requirements of the environmental conditions and the specific operation stage.

8. The aerial work system according to claim 7, characterized in that The data detected by the sensor group includes the pose of the end of the actuator and the force state of the actuator.

9. The aerial work system according to claim 7, wherein The control component further includes a processor, which is used to obtain the swinging degree data of the aerial operation system according to the data detected by the sensor group. The processor is also used to generate adjustment data of the flexible continuous body bending arm section based on the swinging degree data of the aerial operation system, and the controller dynamically adjusts the stiffness of the flexible continuous body bending arm section based on the adjustment data of the flexible continuous body bending arm section.

10. A method for using an aerial work system according to any one of claims 1 to 9, characterized in that, During the process of the aircraft driving the flexible continuous body bending arm section and the actuator to move in the air, the stiffness of the flexible continuous body bending arm section is dynamically adjusted based on the environmental conditions and the swinging degree of the aerial operation system to balance the stability and efficiency of the aerial operation system.

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