CN105375397A - Power transmission circuit anti-interference method - Google Patents
Power transmission circuit anti-interference method Download PDFInfo
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- CN105375397A CN105375397A CN201510953267.7A CN201510953267A CN105375397A CN 105375397 A CN105375397 A CN 105375397A CN 201510953267 A CN201510953267 A CN 201510953267A CN 105375397 A CN105375397 A CN 105375397A
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- bird
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- telescopic arm
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M29/00—Scaring or repelling devices, e.g. bird-scaring apparatus
- A01M29/16—Scaring or repelling devices, e.g. bird-scaring apparatus using sound waves
- A01M29/18—Scaring or repelling devices, e.g. bird-scaring apparatus using sound waves using ultrasonic signals
Abstract
The invention relates to a power transmission circuit anti-interference system, comprising a supersonic wave bird repelling device, a bird nest identification device, a robot main body structure and an SD storage chip. The supersonic wave bird repelling device, the bird nest identification device and the SD storage chip are positioned on the main body structure of the robot; the main body structure of the robot is used for performing inspection tour on a power transmission circuit; the bird nest identification device performs bird nest identification on the position of an iron tower near the power transmission circuit; and the supersonic wave bird repelling device is connected to the nets identification device for controlling the frequency of the bird repelling supersonic wave on the basis of the bird nest identification result. The invention can perform accurate identification on the nest positions on the iron towers near the power transmission circuit and can perform repelling, and can effectively get rid of the interference of the birds in the nest.
Description
Technical field
The present invention relates to power grid maintenance field, particularly relate to a kind of transmission line anti-interference method.
Background technology
Current, electric power conveying is except the mode that minority adopts underground cable, and the overwhelming majority is overhead transmission line.The electric pressure of built on stilts transmission line is different, and iron tower structure, wire laying mode are also not quite similar.Due to the impact of structural difference and environmental factor, usually there is the phenomenon of iron tower of power transmission line being built Bird's Nest in the area lacking tall and big trees, safe power supply is constituted a threat to.
The harm of Bird's Nest to transmission line mainly contain following some: (1) increases the probability of transmission line short circuit; (2) bird excrement causes corrosion to steel tower hardware and plain conductor, reduces its useful life, and for insulated conductor, insulated hull can be impelled damaged, increase short circuit probability; (3) dirty insulator, reduces its dielectric strength, has mist season in spring and autumn, adds the probability that pollution flashover occurs.
Appearance due to Bird's Nest has higher randomness, in prior art, for Bird's Nest discovery and remove generally all adopt engineered form to carry out, namely by power supply attendant naked eyes patrolling power transmission lines, once discovery Bird's Nest, carry out labor cleaning immediately, but, this mode consumes a large amount of man power and materials, and the efficiency that Bird's Nest is removed is not high yet.
Therefore, the present invention proposes a kind of new transmission line Bird's Nest cleaning scheme, first adopt the on-the-spot Bird's Nest checkout equipment of electronization and electronic on-the-spot Bird's Nest treatment facility to improve the automatization level of system, on-the-spot Bird's Nest checkout equipment and on-the-spot Bird's Nest treatment facility are placed on the robot architecture that freely can walk on transmission line, thus liberation is artificial completely simultaneously.
Summary of the invention
In order to solve the problem, the invention provides a kind of transmission line anti-interference system, introducing comprises Daubechies wavelet filtering subset, medium filtering subset, change of scale enhancer equipment, the Bird's Nest identification equipment of Target Segmentation subset and target recognin equipment detects Bird's Nest and identifies Bird's Nest type, introduce the ultrasonic wave that supersonic wave bird driving device is detested with the flying bird that corresponding kind occurs according to Bird's Nest type, finally, building can robot body's framework of accessible walking on overall transmission line, equipment is transplanted on robot body's framework, realize the full automation of transmission line Bird's Nest cleaning.
According to an aspect of the present invention, provide a kind of transmission line anti-interference system, described system comprises supersonic wave bird driving device, Bird's Nest identification equipment, robot body's structure and SD storage chip, supersonic wave bird driving device, Bird's Nest identification equipment and SD storage chip are all positioned in robot body's structure, robot body's structure is used for making an inspection tour transmission line, Bird's Nest identification equipment carries out Bird's Nest identification to the steel tower position near transmission line, supersonic wave bird driving device is connected with Bird's Nest identification equipment, for controlling to drive the hyperacoustic frequency of bird based on Bird's Nest recognition result.
More specifically, in described transmission line anti-interference system, comprising: supersonic wave bird driving device, be positioned on front wheel structure, comprise Signal reception passage, built-in FLASH memory and ultrasonic wave player, SD storage chip, be positioned at control cabinet, prestore Bird's Nest tonal range, Bird's Nest tonal range is used for the Bird's Nest in image and background separation, SD storage chip has also prestored each gray processing Bird's Nest masterplate, the Bird's Nest that the corresponding a kind of birds of each gray processing Bird's Nest masterplate are built, each gray processing Bird's Nest masterplate is for obtaining by taking obtained image execution gray processing process to the benchmark Bird's Nest of corresponding birds, front high-definition camera, be positioned on front wheel structure, comprise domed transparent cover, servicing lighting and CMOS camera, domed transparent cover is for holding servicing lighting and CMOS camera, the shooting that servicing lighting is CMOS camera provides floor light, and CMOS camera takes to obtain high definition steel tower image to the steel tower near transmission line, Bird's Nest identification equipment, is positioned at control cabinet, comprises Daubechies wavelet filtering subset, medium filtering subset, change of scale enhancer equipment, Target Segmentation subset and target recognin equipment, Daubechies wavelet filtering subset is connected with CMOS camera, for adopting the wavelet filtering process based on 2 rank Daubechies wavelet basiss to high definition steel tower image, with the Gaussian noise in filtering high definition steel tower image, obtains wavelet filtering image, medium filtering subset is connected with Daubechies wavelet filtering subset, for performing medium filtering process to wavelet filtering image, with the scattering composition in filtering wavelet filtering image, obtains medium filtering image, change of scale enhancer equipment is connected with medium filtering subset, strengthening process, to strengthen the contrast of object and background in image, obtaining and strengthening image for performing change of scale to medium filtering image, Target Segmentation subset is connected respectively with change of scale enhancer equipment and SD storage chip, and will strengthen all pixel composition Bird's Nest subgraphs of grey scale pixel value in Bird's Nest tonal range in image, Bird's Nest subgraph is separated from the background strengthening image and obtains, target recognin equipment is connected respectively with Target Segmentation subset and SD storage chip, by Bird's Nest subgraph and each gray processing Bird's Nest stencil matching, the birds type corresponding to gray processing Bird's Nest masterplate the highest for matching degree is exported as target Bird's Nest type, robot body's structure, comprises front wheel structure, middle wheel structure, rear wheel structure, brake minor structure, front Pneumatic extension minor structure, the pneumatic dilaton structure in rear, middle part Pneumatic extension minor structure, base plate, gravity's center control minor structure and control cabinet, front wheel structure is in above base plate, comprise front drive motors and front road wheel, front road wheel adopts plastic material, there is the circular groove adapted with transmission line, front drive motors is connected respectively with front cutting tip and front road wheel, for provide cutting power for front cutting tip while, for front road wheel provides walking power, middle wheel structure is arranged in the middle of front wheel structure and wheel structure, be in above base plate, comprise middle part drive motors and middle part road wheel composition, middle part road wheel adopts plastic material, there is the circular groove adapted with transmission line, middle part drive motors is connected with middle part road wheel, for providing walking power for middle part road wheel, rear wheel structure is in above base plate, comprise rear drive motors and rear road wheel, rear road wheel adopts plastic material, there is the circular groove adapted with transmission line, rear drive motors is connected respectively with rear cutting tip and rear road wheel, for provide cutting power for rear cutting tip while, for rear road wheel provides walking power, front Pneumatic extension minor structure is between front wheel structure and base plate, for front wheel structure is connected to base plate, comprise front wrist joint, front vertical telescopic arm, front elbow joint, front horizontal telescopic arm and front shoulder joint, front wheel structure is connected with front vertical telescopic arm by front wrist joint, front vertical telescopic arm is connected with front elbow joint, front elbow joint is connected with front shoulder joint by front horizontal telescopic arm, front shoulder joint is connected with base plate, front vertical telescopic arm is also electrically connected to receive front vertical extension and contraction control signal with ARM11 processor, front horizontal telescopic arm is also electrically connected to receive front horizontal extension and contraction control signal with ARM11 processor, middle part Pneumatic extension minor structure is between middle wheel structure and base plate, for middle wheel structure is connected to base plate, comprise middle part wrist joint, middle part vertical telescopic arm, middle part elbow joint, middle part horizontal extension arm and middle part shoulder joint, middle wheel structure is connected with middle part vertical telescopic arm by middle part wrist joint, middle part vertical telescopic arm is connected with middle part elbow joint, middle part elbow joint is connected with middle part shoulder joint by middle part horizontal extension arm, middle part shoulder joint is connected with base plate, middle part vertical telescopic arm is also electrically connected to receive middle part vertical telescopic control signal with ARM11 processor, middle part horizontal extension arm is also electrically connected to receive middle part horizontal extension control signal with ARM11 processor, rear pneumatic dilaton structure is between rear wheel structure and base plate, for rear wheel structure is connected to base plate, comprise rear wrist joint, rear vertical telescopic arm, rear elbow joint, rear horizontal extension arm and rear shoulder joint, rear wheel structure is connected with rear vertical telescopic arm by rear wrist joint, rear vertical telescopic arm is connected with rear elbow joint, rear elbow joint is connected with rear shoulder joint by rear horizontal extension arm, rear shoulder joint is connected with base plate, rear vertical telescopic arm is also electrically connected to receive rear vertical extension and contraction control signal with ARM11 processor, rear horizontal extension arm is also electrically connected to receive rear horizontal extension control signal with ARM11 processor, brake minor structure comprises brake shoes, brake guide frame and brake cylinder, and brake shoes is positioned at rear grid locational, and brake guide frame is connected respectively with brake shoes and brake cylinder, provides power for the skidding operation for brake shoes, gravity's center control minor structure is positioned at below base plate, control cabinet is adopted to be the weighing device that center of gravity regulates, comprise center of gravity adjusting cylinders and three-position electromagnetic valve, center of gravity adjusting cylinders provides power for center of gravity regulates, and three-position electromagnetic valve carrys out the position of centre of gravity of control agent structure by the relative distance between regulable control case and base plate, control cabinet is positioned at below base plate, comprise shell and control board, described control board is integrated with ARM11 processor and frequency duplex communications interface, frequency duplex communications interface is connected with the power supply management server of far-end, for receiving the wireless control directives of power supply management server wireless transmission, ARM11 processor also with frequency duplex communications interface, front drive motors, middle part drive motors is connected respectively with rear drive motors, for resolving wireless control directives to determine and to export front vertical extension and contraction control signal, front horizontal extension and contraction control signal, middle part vertical telescopic control signal, middle part horizontal extension control signal, rear vertical extension and contraction control signal or rear horizontal extension control signal, also for resolving wireless control directives to determine front drive motors, the drive control signal of middle part drive motors or rear drive motors, flexible limit switch combination, comprises six flexible limit switches, for limiting the distance of stretch out and draw back of front vertical telescopic arm, front horizontal telescopic arm, middle part vertical telescopic arm, middle part horizontal extension arm, rear vertical telescopic arm and rear horizontal extension arm respectively, brake limit switch, for limiting the braking distance of brake shoes, control cabinet moves limit switch, for limiting the displacement of control cabinet, wherein, supersonic wave bird driving device is also connected with Bird's Nest identification equipment, by Signal reception channel reception target Bird's Nest type, ultrasonic wave player is connected respectively with built-in FLASH memory and Signal reception passage, in built-in FLASH memory, search corresponding bird aversion frequency according to target Bird's Nest type, and play the ultrasonic signal being frequency with the bird aversion frequency found.
More specifically, in described transmission line anti-interference system, also comprising: touch switch transducer, be positioned on front wheel mechanism, be electrically connected with ARM11 processor, for when touching transmission line obstacle, sending contact obstacle signal.
More specifically, in described transmission line anti-interference system, also comprise: infrared sensor, be positioned on front wheel mechanism, be electrically connected with ARM11 processor, for when apart from 200 millimeters, front transmission line obstacle, send obstruction forewarning signal.
More specifically, in described transmission line anti-interference system, also comprise: rear high-definition camera, be electrically connected with ARM11 processor, for gathering rear high-definition image and by ARM11 processor compressed encoding, the image after compression to be sent to the power supply management server of far-end by wireless link.
More specifically, in described transmission line anti-interference system: rear high-definition camera is positioned on rear wheel mechanism.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the block diagram of the transmission line anti-interference system illustrated according to an embodiment of the present invention.
Fig. 2 is the block diagram of the supersonic wave bird driving device of the transmission line anti-interference system illustrated according to an embodiment of the present invention.
Reference numeral: 1 supersonic wave bird driving device; 2 Bird's Nest identification equipments; 3 robot body's structures; 4SD storage chip; 5 Signal reception passages; 6 built-in FLASH memories; 7 ultrasonic wave players
Embodiment
Below with reference to accompanying drawings the embodiment of transmission line anti-interference system of the present invention is described in detail.
Some are lacked to the region of trees, when the small bird at this region place is nested in the place that searching is applicable to and multiplies of future generation, cross-arm due to iron tower of power transmission line is well suited for birds and nests, therefore birds often select them as place of nesting, but waddy can be held back in the month in Bird's Nest process, iron wire, weeds, the foreign material such as polybag, these foreign material drop on circuit and easily cause circuit " mistake " to trip, simultaneously, birds intra vitam on shaft tower can be drained a large amount of ight soil and causes circuit pollution flashover to line insulator and can bring the illusion of insulator arc-over to tour personnel, these will run to circuit, maintenance brings many adverse influences.
In order to overcome the impact of the small bird in Bird's Nest on transmission line in prior art, usual employing manual type carries out Bird's Nest removing, namely power supply management department first arrange steady job personnel regularly to fix a point go to scene to carry out Bird's Nest to seek, after discovery Bird's Nest, in arrangement, special maintenance personal climbs up steel tower to remove Bird's Nest, although this mode can eliminate Bird's Nest some impacts on transmission line, but it is artificial owing to depending on unduly, and the region of manually seeking is limited, cause the inefficiency removing Bird's Nest, and waste time and energy.
In order to overcome above-mentioned deficiency, the present invention has built a kind of transmission line anti-interference system, according to the analysis of bird property, equipment is driven away by settling electronic Bird's Nest checkout equipment and electronic Bird's Nest at the scene of iron tower of power transmission line, the expeling to flying bird in Bird's Nest is completed from physiology, simultaneously, the structure optimizing inspecting robot can adapt to the transmission line environment of various complexity, and using the platform that the inspecting robot after optimizing is expelled as Bird's Nest, thus the mechanization Bird's Nest achieved whole transmission line carries out is removed.
Fig. 1 is the block diagram of the transmission line anti-interference system illustrated according to an embodiment of the present invention, described system comprises supersonic wave bird driving device, Bird's Nest identification equipment, robot body's structure and SD storage chip, supersonic wave bird driving device, Bird's Nest identification equipment and SD storage chip are all positioned in robot body's structure, robot body's structure is used for making an inspection tour transmission line, Bird's Nest identification equipment carries out Bird's Nest identification to the steel tower position near transmission line, supersonic wave bird driving device is connected with Bird's Nest identification equipment, for controlling to drive the hyperacoustic frequency of bird based on Bird's Nest recognition result.
Then, continue to be further detailed the concrete structure of transmission line anti-interference system of the present invention.
As shown in Figure 2, described system comprises: supersonic wave bird driving device, is positioned on front wheel structure, comprises Signal reception passage, built-in FLASH memory and ultrasonic wave player.
Described system comprises: SD storage chip, be positioned at control cabinet, prestore Bird's Nest tonal range, Bird's Nest tonal range is used for the Bird's Nest in image and background separation, SD storage chip has also prestored each gray processing Bird's Nest masterplate, the Bird's Nest that the corresponding a kind of birds of each gray processing Bird's Nest masterplate are built, each gray processing Bird's Nest masterplate is for obtaining by taking obtained image execution gray processing process to the benchmark Bird's Nest of corresponding birds.
Described system comprises: front high-definition camera, be positioned on front wheel structure, comprise domed transparent cover, servicing lighting and CMOS camera, domed transparent cover is for holding servicing lighting and CMOS camera, the shooting that servicing lighting is CMOS camera provides floor light, and CMOS camera takes to obtain high definition steel tower image to the steel tower near transmission line.
Described system comprises: Bird's Nest identification equipment, is positioned at control cabinet, comprises Daubechies wavelet filtering subset, medium filtering subset, change of scale enhancer equipment, Target Segmentation subset and target recognin equipment.
Daubechies wavelet filtering subset is connected with CMOS camera, for adopting the wavelet filtering process based on 2 rank Daubechies wavelet basiss to high definition steel tower image, with the Gaussian noise in filtering high definition steel tower image, obtains wavelet filtering image; Medium filtering subset is connected with Daubechies wavelet filtering subset, for performing medium filtering process to wavelet filtering image, with the scattering composition in filtering wavelet filtering image, obtains medium filtering image; Change of scale enhancer equipment is connected with medium filtering subset, strengthening process, to strengthen the contrast of object and background in image, obtaining and strengthening image for performing change of scale to medium filtering image; Target Segmentation subset is connected respectively with change of scale enhancer equipment and SD storage chip, and will strengthen all pixel composition Bird's Nest subgraphs of grey scale pixel value in Bird's Nest tonal range in image, Bird's Nest subgraph is separated from the background strengthening image and obtains; Target recognin equipment is connected respectively with Target Segmentation subset and SD storage chip, by Bird's Nest subgraph and each gray processing Bird's Nest stencil matching, the birds type corresponding to gray processing Bird's Nest masterplate the highest for matching degree is exported as target Bird's Nest type.
Described system comprises: robot body's structure, comprises front wheel structure, middle wheel structure, rear wheel structure, brake minor structure, front Pneumatic extension minor structure, the pneumatic dilaton structure in rear, middle part Pneumatic extension minor structure, base plate, gravity's center control minor structure and control cabinet.
Front wheel structure is in above base plate, comprise front drive motors and front road wheel, front road wheel adopts plastic material, there is the circular groove adapted with transmission line, front drive motors is connected respectively with front cutting tip and front road wheel, for provide cutting power for front cutting tip while, for front road wheel provides walking power.
Middle wheel structure is arranged in the middle of front wheel structure and wheel structure, be in above base plate, comprise middle part drive motors and middle part road wheel composition, middle part road wheel adopts plastic material, there is the circular groove adapted with transmission line, middle part drive motors is connected with middle part road wheel, for providing walking power for middle part road wheel.
Rear wheel structure is in above base plate, comprise rear drive motors and rear road wheel, rear road wheel adopts plastic material, there is the circular groove adapted with transmission line, rear drive motors is connected respectively with rear cutting tip and rear road wheel, for provide cutting power for rear cutting tip while, for rear road wheel provides walking power.
Front Pneumatic extension minor structure is between front wheel structure and base plate, for front wheel structure is connected to base plate, comprise front wrist joint, front vertical telescopic arm, front elbow joint, front horizontal telescopic arm and front shoulder joint, front wheel structure is connected with front vertical telescopic arm by front wrist joint, front vertical telescopic arm is connected with front elbow joint, front elbow joint is connected with front shoulder joint by front horizontal telescopic arm, front shoulder joint is connected with base plate, front vertical telescopic arm is also electrically connected to receive front vertical extension and contraction control signal with ARM11 processor, front horizontal telescopic arm is also electrically connected to receive front horizontal extension and contraction control signal with ARM11 processor.
Middle part Pneumatic extension minor structure is between middle wheel structure and base plate, for middle wheel structure is connected to base plate, comprise middle part wrist joint, middle part vertical telescopic arm, middle part elbow joint, middle part horizontal extension arm and middle part shoulder joint, middle wheel structure is connected with middle part vertical telescopic arm by middle part wrist joint, middle part vertical telescopic arm is connected with middle part elbow joint, middle part elbow joint is connected with middle part shoulder joint by middle part horizontal extension arm, middle part shoulder joint is connected with base plate, middle part vertical telescopic arm is also electrically connected to receive middle part vertical telescopic control signal with ARM11 processor, middle part horizontal extension arm is also electrically connected to receive middle part horizontal extension control signal with ARM11 processor.
Rear pneumatic dilaton structure is between rear wheel structure and base plate, for rear wheel structure is connected to base plate, comprise rear wrist joint, rear vertical telescopic arm, rear elbow joint, rear horizontal extension arm and rear shoulder joint, rear wheel structure is connected with rear vertical telescopic arm by rear wrist joint, rear vertical telescopic arm is connected with rear elbow joint, rear elbow joint is connected with rear shoulder joint by rear horizontal extension arm, rear shoulder joint is connected with base plate, rear vertical telescopic arm is also electrically connected to receive rear vertical extension and contraction control signal with ARM11 processor, rear horizontal extension arm is also electrically connected to receive rear horizontal extension control signal with ARM11 processor.
Brake minor structure comprises brake shoes, brake guide frame and brake cylinder, and brake shoes is positioned at rear grid locational, and brake guide frame is connected respectively with brake shoes and brake cylinder, provides power for the skidding operation for brake shoes.
Gravity's center control minor structure is positioned at below base plate, control cabinet is adopted to be the weighing device that center of gravity regulates, comprise center of gravity adjusting cylinders and three-position electromagnetic valve, center of gravity adjusting cylinders provides power for center of gravity regulates, and three-position electromagnetic valve carrys out the position of centre of gravity of control agent structure by the relative distance between regulable control case and base plate.
Control cabinet is positioned at below base plate, comprise shell and control board, described control board is integrated with ARM11 processor and frequency duplex communications interface, and frequency duplex communications interface is connected with the power supply management server of far-end, for receiving the wireless control directives of power supply management server wireless transmission.
ARM11 processor is also connected respectively with frequency duplex communications interface, front drive motors, middle part drive motors and rear drive motors, for resolving wireless control directives to determine and to export front vertical extension and contraction control signal, front horizontal extension and contraction control signal, middle part vertical telescopic control signal, middle part horizontal extension control signal, rear vertical extension and contraction control signal or rear horizontal extension control signal, also for resolving wireless control directives to determine the drive control signal of front drive motors, middle part drive motors or rear drive motors.
Described system comprises: flexible limit switch combination, comprise six flexible limit switches, for limiting the distance of stretch out and draw back of front vertical telescopic arm, front horizontal telescopic arm, middle part vertical telescopic arm, middle part horizontal extension arm, rear vertical telescopic arm and rear horizontal extension arm respectively.
Described system comprises: brake limit switch, for limiting the braking distance of brake shoes; Control cabinet moves limit switch, for limiting the displacement of control cabinet.
Wherein, supersonic wave bird driving device is also connected with Bird's Nest identification equipment, by Signal reception channel reception target Bird's Nest type, ultrasonic wave player is connected respectively with built-in FLASH memory and Signal reception passage, in built-in FLASH memory, search corresponding bird aversion frequency according to target Bird's Nest type, and play the ultrasonic signal being frequency with the bird aversion frequency found.
Alternatively, in described transmission line anti-interference system, also comprising: touch switch transducer, be positioned on front wheel mechanism, be electrically connected with ARM11 processor, for when touching transmission line obstacle, sending contact obstacle signal; Infrared sensor, is positioned on front wheel mechanism, is electrically connected with ARM11 processor, for when apart from 200 millimeters, front transmission line obstacle, sends obstruction forewarning signal; Rear high-definition camera, is electrically connected with ARM11 processor, for gathering rear high-definition image and by ARM11 processor compressed encoding, the image after compression to be sent to the power supply management server of far-end by wireless link; And rear high-definition camera can be selected to be positioned on rear wheel mechanism.
In addition, CMOS (ComplementaryMetal-Oxide-Semiconductor), Chinese formal name used at school is complementary metal oxide semiconductors (CMOS), and he is originally a kind of important chip in computer system, saves the data that System guides is the most basic.Manufacturing technology and the general computer chip of CMOS do not have difference, mainly utilize the semiconductor that silicon and this two kinds of elements of germanium are made, make it on CMOS, co-exist the semiconductor of band N (band-electricity) and P (band+electricity) level, the electric current that these two complementary effects the produce chip that can be processed is noted down and is interpreted to image.Found that CMOS also can as the imageing sensor in digital photography through processing afterwards.
For the portable use independent of electrical network, the CMOS technology famous with low power consumption characteristic has an obvious advantage: cmos image sensor designs for 5V and 3.3V supply voltage.CCD chip then needs the supply voltage of about 12V, employing electric pressure converter of therefore having to, thus causes power consumption to increase.In total power consumption, another benefit will be brought in control and system function integration to cmos sensor: he eliminates all external connection lines with other semiconductor elements.Nowadays the driver of its high power consumption is abandoned, this is because carry out communicating consumed energy than much lower by the outside implementation of PCB or substrate at chip internal.
Cmos sensor also can be subdivided into passive type element sensor (PassivePixelSensorCMOS) and active pixel sensor (ActivePixelSensorCMOS).
Passive type element sensor (PassivePixelSensor is called for short PPS), be again passive type element sensor, he is made up of a back-biased photodiode and a switching tube.Photodiode is a PN junction be made up of P type semiconductor and N type semiconductor in essence, and he can be equivalent to a back-biased diode and a mos capacitance parallel connection.When switching tube is opened, photodiode is communicated with vertical alignment (Columnbus).The charge integration amplifier reading circuit (Chargeintegratingamplifier) being positioned at alignment end keeps column line voltage to be a constant, when the signal charge of photodiode storage is read out, its voltage is reset to column line voltage level, meanwhile, the electric charge be directly proportional to light signal is converted to electric charge by charge integration amplifier and exports.
Active pixel sensor (ActivePixelSensor is called for short APS), is again active element sensor.Almost while the invention of CMOSPPS dot structure, people recognize very soon in pixel, to introduce the performance that buffer or amplifier can improve pixel, have the amplifier of oneself in CMOSAPS in each pixel.The amplifier transistor being integrated in surface decreases the effective surface area of pixel element, reduces " packaging density ", the incident light of 40% ~ 50% is reflected.Another problem of this transducer is, how to make there is good coupling between the multi-channel amplifier of transducer, and this can be realized preferably by the fixed pattern noise reducing residual level.Because each amplifier in CMOSAPS pixel is only excited, so the power dissipation ratio ccd image sensor of CMOSAPS is also little during this reads.
Adopt transmission line anti-interference system of the present invention, for the problem that prior art cannot adopt unartificial form to remove Bird's Nest near transmission line at the scene, first existing inspecting robot framework is reformed, the line environment of various complexity can be adapted to, then the Bird's Nest checkout equipment based on image recognition and the expeling of the Bird's Nest based on the physiological property of bird equipment is designed, and Bird's Nest checkout equipment and Bird's Nest expeling equipment are mounted on inspecting robot, thus realize removing the automation of on-the-spot Bird's Nest when artificial participation.
Be understandable that, although the present invention with preferred embodiment disclose as above, but above-described embodiment and be not used to limit the present invention.For any those of ordinary skill in the art, do not departing under technical solution of the present invention ambit, the technology contents of above-mentioned announcement all can be utilized to make many possible variations and modification to technical solution of the present invention, or be revised as the Equivalent embodiments of equivalent variations.Therefore, every content not departing from technical solution of the present invention, according to technical spirit of the present invention to any simple modification made for any of the above embodiments, equivalent variations and modification, all still belongs in the scope of technical solution of the present invention protection.
Claims (6)
1. a transmission line anti-interference method, the method comprises: provide a kind of transmission line anti-interference system, described system comprises supersonic wave bird driving device, Bird's Nest identification equipment, robot body's structure and SD storage chip, supersonic wave bird driving device, Bird's Nest identification equipment and SD storage chip are all positioned in robot body's structure, robot body's structure is used for making an inspection tour transmission line, Bird's Nest identification equipment carries out Bird's Nest identification to the steel tower position near transmission line, supersonic wave bird driving device is connected with Bird's Nest identification equipment, for controlling to drive the hyperacoustic frequency of bird based on Bird's Nest recognition result, use this system.
2. the method for claim 1, is characterized in that, described system comprises:
Supersonic wave bird driving device, is positioned on front wheel structure, comprises Signal reception passage, built-in FLASH memory and ultrasonic wave player;
SD storage chip, be positioned at control cabinet, prestore Bird's Nest tonal range, Bird's Nest tonal range is used for the Bird's Nest in image and background separation, SD storage chip has also prestored each gray processing Bird's Nest masterplate, the Bird's Nest that the corresponding a kind of birds of each gray processing Bird's Nest masterplate are built, each gray processing Bird's Nest masterplate is for obtaining by taking obtained image execution gray processing process to the benchmark Bird's Nest of corresponding birds;
Front high-definition camera, be positioned on front wheel structure, comprise domed transparent cover, servicing lighting and CMOS camera, domed transparent cover is for holding servicing lighting and CMOS camera, the shooting that servicing lighting is CMOS camera provides floor light, and CMOS camera takes to obtain high definition steel tower image to the steel tower near transmission line;
Bird's Nest identification equipment, is positioned at control cabinet, comprises Daubechies wavelet filtering subset, medium filtering subset, change of scale enhancer equipment, Target Segmentation subset and target recognin equipment; Daubechies wavelet filtering subset is connected with CMOS camera, for adopting the wavelet filtering process based on 2 rank Daubechies wavelet basiss to high definition steel tower image, with the Gaussian noise in filtering high definition steel tower image, obtains wavelet filtering image; Medium filtering subset is connected with Daubechies wavelet filtering subset, for performing medium filtering process to wavelet filtering image, with the scattering composition in filtering wavelet filtering image, obtains medium filtering image; Change of scale enhancer equipment is connected with medium filtering subset, strengthening process, to strengthen the contrast of object and background in image, obtaining and strengthening image for performing change of scale to medium filtering image; Target Segmentation subset is connected respectively with change of scale enhancer equipment and SD storage chip, and will strengthen all pixel composition Bird's Nest subgraphs of grey scale pixel value in Bird's Nest tonal range in image, Bird's Nest subgraph is separated from the background strengthening image and obtains; Target recognin equipment is connected respectively with Target Segmentation subset and SD storage chip, by Bird's Nest subgraph and each gray processing Bird's Nest stencil matching, the birds type corresponding to gray processing Bird's Nest masterplate the highest for matching degree is exported as target Bird's Nest type;
Robot body's structure, comprises front wheel structure, middle wheel structure, rear wheel structure, brake minor structure, front Pneumatic extension minor structure, the pneumatic dilaton structure in rear, middle part Pneumatic extension minor structure, base plate, gravity's center control minor structure and control cabinet;
Front wheel structure is in above base plate, comprise front drive motors and front road wheel, front road wheel adopts plastic material, there is the circular groove adapted with transmission line, front drive motors is connected respectively with front cutting tip and front road wheel, for provide cutting power for front cutting tip while, for front road wheel provides walking power;
Middle wheel structure is arranged in the middle of front wheel structure and wheel structure, be in above base plate, comprise middle part drive motors and middle part road wheel composition, middle part road wheel adopts plastic material, there is the circular groove adapted with transmission line, middle part drive motors is connected with middle part road wheel, for providing walking power for middle part road wheel;
Rear wheel structure is in above base plate, comprise rear drive motors and rear road wheel, rear road wheel adopts plastic material, there is the circular groove adapted with transmission line, rear drive motors is connected respectively with rear cutting tip and rear road wheel, for provide cutting power for rear cutting tip while, for rear road wheel provides walking power;
Front Pneumatic extension minor structure is between front wheel structure and base plate, for front wheel structure is connected to base plate, comprise front wrist joint, front vertical telescopic arm, front elbow joint, front horizontal telescopic arm and front shoulder joint, front wheel structure is connected with front vertical telescopic arm by front wrist joint, front vertical telescopic arm is connected with front elbow joint, front elbow joint is connected with front shoulder joint by front horizontal telescopic arm, front shoulder joint is connected with base plate, front vertical telescopic arm is also electrically connected to receive front vertical extension and contraction control signal with ARM11 processor, front horizontal telescopic arm is also electrically connected to receive front horizontal extension and contraction control signal with ARM11 processor,
Middle part Pneumatic extension minor structure is between middle wheel structure and base plate, for middle wheel structure is connected to base plate, comprise middle part wrist joint, middle part vertical telescopic arm, middle part elbow joint, middle part horizontal extension arm and middle part shoulder joint, middle wheel structure is connected with middle part vertical telescopic arm by middle part wrist joint, middle part vertical telescopic arm is connected with middle part elbow joint, middle part elbow joint is connected with middle part shoulder joint by middle part horizontal extension arm, middle part shoulder joint is connected with base plate, middle part vertical telescopic arm is also electrically connected to receive middle part vertical telescopic control signal with ARM11 processor, middle part horizontal extension arm is also electrically connected to receive middle part horizontal extension control signal with ARM11 processor,
Rear pneumatic dilaton structure is between rear wheel structure and base plate, for rear wheel structure is connected to base plate, comprise rear wrist joint, rear vertical telescopic arm, rear elbow joint, rear horizontal extension arm and rear shoulder joint, rear wheel structure is connected with rear vertical telescopic arm by rear wrist joint, rear vertical telescopic arm is connected with rear elbow joint, rear elbow joint is connected with rear shoulder joint by rear horizontal extension arm, rear shoulder joint is connected with base plate, rear vertical telescopic arm is also electrically connected to receive rear vertical extension and contraction control signal with ARM11 processor, rear horizontal extension arm is also electrically connected to receive rear horizontal extension control signal with ARM11 processor,
Brake minor structure comprises brake shoes, brake guide frame and brake cylinder, and brake shoes is positioned at rear grid locational, and brake guide frame is connected respectively with brake shoes and brake cylinder, provides power for the skidding operation for brake shoes;
Gravity's center control minor structure is positioned at below base plate, control cabinet is adopted to be the weighing device that center of gravity regulates, comprise center of gravity adjusting cylinders and three-position electromagnetic valve, center of gravity adjusting cylinders provides power for center of gravity regulates, and three-position electromagnetic valve carrys out the position of centre of gravity of control agent structure by the relative distance between regulable control case and base plate;
Control cabinet is positioned at below base plate, comprise shell and control board, described control board is integrated with ARM11 processor and frequency duplex communications interface, frequency duplex communications interface is connected with the power supply management server of far-end, for receiving the wireless control directives of power supply management server wireless transmission, ARM11 processor also with frequency duplex communications interface, front drive motors, middle part drive motors is connected respectively with rear drive motors, for resolving wireless control directives to determine and to export front vertical extension and contraction control signal, front horizontal extension and contraction control signal, middle part vertical telescopic control signal, middle part horizontal extension control signal, rear vertical extension and contraction control signal or rear horizontal extension control signal, also for resolving wireless control directives to determine front drive motors, the drive control signal of middle part drive motors or rear drive motors,
Flexible limit switch combination, comprises six flexible limit switches, for limiting the distance of stretch out and draw back of front vertical telescopic arm, front horizontal telescopic arm, middle part vertical telescopic arm, middle part horizontal extension arm, rear vertical telescopic arm and rear horizontal extension arm respectively;
Brake limit switch, for limiting the braking distance of brake shoes;
Control cabinet moves limit switch, for limiting the displacement of control cabinet;
Wherein, supersonic wave bird driving device is also connected with Bird's Nest identification equipment, by Signal reception channel reception target Bird's Nest type, ultrasonic wave player is connected respectively with built-in FLASH memory and Signal reception passage, in built-in FLASH memory, search corresponding bird aversion frequency according to target Bird's Nest type, and play the ultrasonic signal being frequency with the bird aversion frequency found.
3. method as claimed in claim 2, is characterized in that, also comprise:
Touch switch transducer, is positioned on front wheel mechanism, is electrically connected with ARM11 processor, for when touching transmission line obstacle, sends contact obstacle signal.
4. method as claimed in claim 2, is characterized in that, also comprise:
Infrared sensor, is positioned on front wheel mechanism, is electrically connected with ARM11 processor, for when apart from 200 millimeters, front transmission line obstacle, sends obstruction forewarning signal.
5. method as claimed in claim 2, is characterized in that, also comprise:
Rear high-definition camera, is electrically connected with ARM11 processor, for gathering rear high-definition image and by ARM11 processor compressed encoding, the image after compression to be sent to the power supply management server of far-end by wireless link.
6. method as claimed in claim 5, is characterized in that:
Rear high-definition camera is positioned on rear wheel mechanism.
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