CN105375429A - Automatic deicing method - Google Patents
Automatic deicing method Download PDFInfo
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- CN105375429A CN105375429A CN201510958657.3A CN201510958657A CN105375429A CN 105375429 A CN105375429 A CN 105375429A CN 201510958657 A CN201510958657 A CN 201510958657A CN 105375429 A CN105375429 A CN 105375429A
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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
- H02G7/00—Overhead installations of electric lines or cables
- H02G7/16—Devices for removing snow or ice from lines or cables
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30172—Centreline of tubular or elongated structure
Abstract
The invention relates to an automatic deicing robot based on image detection. The automatic deicing robot comprises an icing thickness detection sub system and a robot walking sub system, the icing thickness detection sub system locates on the robot walking sub system and is used to perform image processing on an image comprising a power transmission line to determine an icing thickness on the power transmission line, and the robot walking sub system locates on the power transmission line and is used to perform icing removing on the power transmission line on the basis of the icing thickness. A deicing force of the deicing robot can be adaptively determined according to the icing thickness of the front power transmission line, and then the automatic degree of the deicing robot is improved.
Description
Technical field
The present invention relates to power transmission electric network area of maintenance, particularly relate to a kind of automation de-icing method.
Background technology
Along with expanding economy, the demand of various countries to electric power is increasing, and electric equipment also constantly increases, and transmission line distribution is more and more wider, and in long-distance transmission, the most frequently used is transmission line transmission of electricity, and its efficiency of transmission surpasses other transmission meanss.
But, in winter, often there is the situation that transmission line freezes.This phenomenon determines primarily of meteorology, because the change of meteorology causes the temperature of air, humidity cold and heat air convection current and define this comprehensive physical phenomenon, is especially mainly in mountain area and the knob in the north.Serious ice and snow accident can cause transmission line mechanical performance sharply to decline, and even causes power failure and situation of causing danger.The safe and stable operation of the normal ice and snow accident serious threat power supply grid sent out,
At present, following defect is existed to the freeze process of situation of the transmission line in power transmission electric network: (1) generally adopts manual type or transmission line pretreatment mode, the manpower and materials of the former at substantial, and deicing efficiency is not high, deicing risk factor is high, the latter's Financial cost is high, and key is that to overcome icing ability also limited; (2) there is the technical scheme of some robots in the online deicing of Long-distance Control, but because existing robot architecture is reasonable not, still can not adapt to complicated transmission line environment, still need a large amount of manpower interventions, integrated cost is also very high; (3) high-precision transmission line ice layer thickness field detecting device is lacked.
Therefore, the present invention proposes a kind of automation deicing robot detected based on image, adopt multiple high-precision image processing equipment co-operation targetedly, adopt the ice layer thickness that electronically accurately can detect transmission line at the scene, on robot architecture, increase deicing equipment simultaneously, integrate robot interior resource, thus complete the replacement of mechanical deicing to artificial deicing.
Summary of the invention
In order to solve the problem, the invention provides a kind of automation deicing robot detected based on image.
According to an aspect of the present invention, provide a kind of automation deicing robot detected based on image, described robot comprises ice covering thickness detection subsystem and robot ambulation subsystem, ice covering thickness detection subsystem is positioned on robot ambulation subsystem, for carrying out image procossing to the image comprising transmission line to determine the ice covering thickness on transmission line, robot ambulation subsystem is positioned on transmission line, eliminates for carrying out icing based on ice covering thickness to transmission line.
More specifically, in the described automation deicing robot detected based on image, comprising: mmc card, be positioned at control box, for prestoring default transmission line gray threshold span and default transmission line radial distance, ambient brightness checkout equipment, is positioned on front wheel mechanism, for detecting the ambient brightness of surrounding in real time, to export real time environment brightness, neighborhood averaging value filtering equipment, is positioned at control box, is connected with front high-definition camera, for receiving front high-definition image, and carries out the process of neighborhood averaging value filtering, with output filtering image to front high-definition image, binary conversion treatment equipment, be positioned at control box, be connected respectively with ambient brightness checkout equipment and mmc card, in default transmission line gray threshold span, transmission line gray threshold is determined based on real time environment brightness, presetting transmission line gray threshold span is 150-180, transmission line gray threshold is used for transmission line to be separated from image background with ice sheet, binary conversion treatment equipment also with neighborhood averaging value filtering equipment connection, based on transmission line gray threshold, binary conversion treatment is carried out to obtain binary image to filtering image, be specially, pixel gray value in filtering image being greater than transmission line gray threshold is set to white pixel point, pixel gray value in filtering image being less than or equal to transmission line gray threshold is set to black pixel, rim detection equipment, is positioned at control box, with binary conversion treatment equipment connection, carries out edge enhancement process, to obtain enhancing image to the binary image that binary conversion treatment equipment exports, image rotation treatment facility, is positioned at control box, with rim detection equipment connection, rotates the transmission line target strengthening white pixel point composition in image, makes transmission line target be vertical direction arrangement, ice covering thickness computing equipment, be positioned at control box, be connected respectively with image rotation treatment facility and mmc card, its maximum radial distance is determined to the transmission line target of vertical direction arrangement, maximum radial distance is deducted default transmission line radial distance and divided by 2 to obtain the real-time ice layer thickness of transmission line, robot running gear, comprises front wheel mechanism, middle wheel mechanism, rear wheel mechanism, front brake clamp mechanism, rear brake clamp mechanism, front Pneumatic extension clamp mechanism, the pneumatic dilaton mechanism in rear, middle part Pneumatic extension clamp mechanism, pedestal, center of gravity adjustment clamp mechanism and control box, front wheel mechanism is in above pedestal, comprise front cutting tip, the anti-cutting plate in front, front drive motors and front road wheel, front cutting tip is for excising the ice sheet at transmission line place, front, the anti-cutting plate in front is connected with front cutting tip, for being stuck in transmission line when front cutting tip carries out cutting operation, realize the isolation of front cutting tip and transmission line, 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, while cutting power is provided for front cutting tip, for front road wheel provides walking power, middle wheel mechanism is arranged in the middle of front wheel mechanism and wheel mechanism, be in above pedestal, 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 mechanism is in above pedestal, 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 clamp mechanism is between front wheel mechanism and pedestal, for front wheel mechanism is connected to pedestal, comprise front wrist joint, front vertical telescopic arm, front elbow joint, front horizontal telescopic arm and front shoulder joint, front wheel mechanism 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 pedestal, front vertical telescopic arm is also electrically connected to receive front vertical extension and contraction control signal with DSP process chip, front horizontal telescopic arm is also electrically connected to receive front horizontal extension and contraction control signal with DSP process chip, middle part Pneumatic extension clamp mechanism is between middle wheel mechanism and pedestal, for middle wheel mechanism is connected to pedestal, 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 mechanism 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 pedestal, middle part vertical telescopic arm is also electrically connected to receive middle part vertical telescopic control signal with DSP process chip, middle part horizontal extension arm is also electrically connected to receive middle part horizontal extension control signal with DSP process chip, rear pneumatic dilaton mechanism is between rear wheel mechanism and pedestal, for rear wheel mechanism is connected to pedestal, comprise rear wrist joint, rear vertical telescopic arm, rear elbow joint, rear horizontal extension arm and rear shoulder joint, rear wheel mechanism 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 pedestal, rear vertical telescopic arm is also electrically connected to receive rear vertical extension and contraction control signal with DSP process chip, rear horizontal extension arm is also electrically connected to receive rear horizontal extension control signal with DSP process chip, front brake clamp mechanism comprises front brake shoes, front brake guide frame and front brake cylinder, front brake shoes is positioned at front grid locational, front brake guide frame is connected respectively with front brake shoes and front brake cylinder, provides power for the skidding operation for front brake shoes, rear brake clamp mechanism comprises rear brake shoes, rear brake guide frame and rear brake cylinder, rear brake shoes is positioned at rear grid locational, rear brake guide frame is connected respectively with rear brake shoes and rear brake cylinder, provides power for the skidding operation for rear brake shoes, center of gravity regulates clamp mechanism to be positioned at below pedestal, control box 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 regulates the position of centre of gravity of robot running gear by the relative distance between regulable control case and pedestal, control box is positioned at below pedestal, comprise shell and control board, described control board is integrated with DSP process chip and wireless communication interface, wireless communication 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, DSP process chip and wireless communication 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, DSP process chip is also connected to receive real-time ice layer thickness with ice covering thickness computing equipment, and ice control command is cut in forwards drive motors transmission front, control the cutting dynamics of front cutting tip, front high-definition camera, be positioned on front wheel mechanism, be electrically connected with DSP process chip, for gathering front high-definition image and by DSP process chip compressed encoding, the image after compression to be sent to the power supply management server of far-end by wireless communication interface, 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, the combination of brake limit switch, comprises two brake limit switches, for limiting the braking distance of front brake shoes and rear brake shoes respectively, control box moves limit switch, for limiting the displacement of control box.
More specifically, in the described automation deicing robot detected based on image, described robot also comprises: ultrasonic listening transducer, is positioned on front wheel mechanism, be electrically connected with DSP process chip, for detecting and exporting the obstacle distance at transmission line place, front.
More specifically, in the described automation deicing robot detected based on image, described robot also comprises: touch switch transducer, be positioned on front wheel mechanism, being electrically connected with DSP process chip, for when touching transmission line obstacle, sending contact obstacle signal.
More specifically, in the described automation deicing robot detected based on image, described robot also comprises: infrared sensor, is positioned on front wheel mechanism, is electrically connected with DSP process chip.
More specifically, in the described automation deicing robot detected based on image: infrared sensor is used for, when 200 millimeters, distance front transmission line obstacle, sending obstruction forewarning signal.
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 automation deicing robot based on image detection illustrated according to an embodiment of the present invention.
Reference numeral: 1 ice covering thickness detection subsystem; 2 robot ambulation subsystems
Embodiment
Below with reference to accompanying drawings the embodiment of the automation deicing robot based on image detection of the present invention is described in detail.
Power transmission electric network is when temperature reaches subzero, and water build-ups ice and will produce destructive power to circuit, steel tower and iron tower foundation, brings great inconvenience, also for Regional Economic Development causes huge loss to the live and work of people.
At present, a kind of scheme of removing ice of power transmission line is, when building power transmission electric network, for transmission line " drapes over one's shoulders " last layer super-hydrophobic coat " coat ", when meeting with cryogenic freezing sleet disaster, the anti-freeze icing ability of transmission line significantly will promote 50%-60%, thus reduce the generation of power system security accident.Although this mode reaches the effect of certain making ice, because anti-freeze icing ability is after all limited, and all coat super-hydrophobic coat for whole piece transmission line, Financial cost is very high.
Also there are at present some deicing control programs for the inspection robot of transmission line, but because power transmission electric network equipment is too much, complex structure, transmission line place environment is general more severe, and the structural design of robot own is unreasonable, cause robot of the prior art deicing scheme to be difficult to high volume applications, can only laboratory stage be rested on; Meanwhile, the disappearance of on-the-spot electronics ice sheet measuring equipment causes deicing effect not reach the requirement of power supply management department.
In order to overcome above-mentioned deficiency, the present invention has built a kind of automation deicing robot detected based on image, can to generally using, carry out ice sheet detection without the transmission line of any process and ice sheet is eliminated, mechanical deicing's mode is adopted to replace artificial deicing mode, without any need for Field Force, only need a few instructions of flexecutive, thus thoroughly reduce cost of labor.
Fig. 1 is the block diagram of the automation deicing robot based on image detection illustrated according to an embodiment of the present invention, described robot comprises ice covering thickness detection subsystem and robot ambulation subsystem, ice covering thickness detection subsystem is positioned on robot ambulation subsystem, for carrying out image procossing to the image comprising transmission line to determine the ice covering thickness on transmission line, robot ambulation subsystem is positioned on transmission line, eliminates for carrying out icing based on ice covering thickness to transmission line.
Then, continue to be further detailed the concrete structure of the automation deicing robot based on image detection of the present invention.
Described robot comprises: mmc card, is positioned at control box, for prestoring default transmission line gray threshold span and default transmission line radial distance; Ambient brightness checkout equipment, is positioned on front wheel mechanism, for detecting the ambient brightness of surrounding in real time, to export real time environment brightness.
Described robot comprises: neighborhood averaging value filtering equipment, is positioned at control box, is connected with front high-definition camera, for receiving front high-definition image, and carries out the process of neighborhood averaging value filtering, with output filtering image to front high-definition image.
Described robot comprises: binary conversion treatment equipment, be positioned at control box, be connected respectively with ambient brightness checkout equipment and mmc card, in default transmission line gray threshold span, transmission line gray threshold is determined based on real time environment brightness, presetting transmission line gray threshold span is 150-180, transmission line gray threshold is used for transmission line to be separated from image background with ice sheet, binary conversion treatment equipment also with neighborhood averaging value filtering equipment connection, based on transmission line gray threshold, binary conversion treatment is carried out to obtain binary image to filtering image, be specially, pixel gray value in filtering image being greater than transmission line gray threshold is set to white pixel point, pixel gray value in filtering image being less than or equal to transmission line gray threshold is set to black pixel.
Described robot comprises: rim detection equipment, is positioned at control box, with binary conversion treatment equipment connection, carries out edge enhancement process, to obtain enhancing image to the binary image that binary conversion treatment equipment exports; Image rotation treatment facility, is positioned at control box, with rim detection equipment connection, rotates the transmission line target strengthening white pixel point composition in image, makes transmission line target be vertical direction arrangement.
Described robot comprises: ice covering thickness computing equipment, be positioned at control box, be connected respectively with image rotation treatment facility and mmc card, its maximum radial distance is determined to the transmission line target of vertical direction arrangement, maximum radial distance is deducted default transmission line radial distance and divided by 2 to obtain the real-time ice layer thickness of transmission line.
Described robot comprises: robot running gear, comprises front wheel mechanism, middle wheel mechanism, rear wheel mechanism, front brake clamp mechanism, rear brake clamp mechanism, front Pneumatic extension clamp mechanism, the pneumatic dilaton mechanism in rear, middle part Pneumatic extension clamp mechanism, pedestal, center of gravity adjustment clamp mechanism and control box.
Front wheel mechanism is in above pedestal, comprise front cutting tip, the anti-cutting plate in front, front drive motors and front road wheel, front cutting tip is for excising the ice sheet at transmission line place, front, the anti-cutting plate in front is connected with front cutting tip, for being stuck in transmission line when front cutting tip carries out cutting operation, realize the isolation of front cutting tip and transmission line, 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, while cutting power is provided for front cutting tip, for front road wheel provides walking power.
Middle wheel mechanism is arranged in the middle of front wheel mechanism and wheel mechanism, be in above pedestal, 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 mechanism is in above pedestal, 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 clamp mechanism is between front wheel mechanism and pedestal, for front wheel mechanism is connected to pedestal, comprise front wrist joint, front vertical telescopic arm, front elbow joint, front horizontal telescopic arm and front shoulder joint, front wheel mechanism 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 pedestal, front vertical telescopic arm is also electrically connected to receive front vertical extension and contraction control signal with DSP process chip, front horizontal telescopic arm is also electrically connected to receive front horizontal extension and contraction control signal with DSP process chip.
Middle part Pneumatic extension clamp mechanism is between middle wheel mechanism and pedestal, for middle wheel mechanism is connected to pedestal, 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 mechanism 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 pedestal, middle part vertical telescopic arm is also electrically connected to receive middle part vertical telescopic control signal with DSP process chip, middle part horizontal extension arm is also electrically connected to receive middle part horizontal extension control signal with DSP process chip.
Rear pneumatic dilaton mechanism is between rear wheel mechanism and pedestal, for rear wheel mechanism is connected to pedestal, comprise rear wrist joint, rear vertical telescopic arm, rear elbow joint, rear horizontal extension arm and rear shoulder joint, rear wheel mechanism 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 pedestal, rear vertical telescopic arm is also electrically connected to receive rear vertical extension and contraction control signal with DSP process chip, rear horizontal extension arm is also electrically connected to receive rear horizontal extension control signal with DSP process chip.
Front brake clamp mechanism comprises front brake shoes, front brake guide frame and front brake cylinder, front brake shoes is positioned at front grid locational, front brake guide frame is connected respectively with front brake shoes and front brake cylinder, provides power for the skidding operation for front brake shoes.
Rear brake clamp mechanism comprises rear brake shoes, rear brake guide frame and rear brake cylinder, rear brake shoes is positioned at rear grid locational, rear brake guide frame is connected respectively with rear brake shoes and rear brake cylinder, provides power for the skidding operation for rear brake shoes.
Center of gravity regulates clamp mechanism to be positioned at below pedestal, control box 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 regulates the position of centre of gravity of robot running gear by the relative distance between regulable control case and pedestal.
Control box is positioned at below pedestal, comprise shell and control board, described control board is integrated with DSP process chip and wireless communication interface, wireless communication 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, DSP process chip and wireless communication 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.
DSP process chip is also connected to receive real-time ice layer thickness with ice covering thickness computing equipment, and ice control command is cut in forwards drive motors transmission front, controls the cutting dynamics of front cutting tip; Front high-definition camera, be positioned on front wheel mechanism, be electrically connected with DSP process chip, for gathering front high-definition image and by DSP process chip compressed encoding, the image after compression to be sent to the power supply management server of far-end by wireless communication interface.
Described robot 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 robot comprises: the combination of brake limit switch, comprises two brake limit switches, for limiting the braking distance of front brake shoes and rear brake shoes respectively; Control box moves limit switch, for limiting the displacement of control box.
Alternatively, in described robot, also comprise: ultrasonic listening transducer, be positioned on front wheel mechanism, be electrically connected with DSP process chip, for detecting and exporting the obstacle distance at transmission line place, front; Touch switch transducer, is positioned on front wheel mechanism, is electrically connected with DSP process chip, for when touching transmission line obstacle, sends contact obstacle signal; Infrared sensor, is positioned on front wheel mechanism, is electrically connected with DSP process chip; Infrared sensor is used for, when 200 millimeters, distance front transmission line obstacle, sending obstruction forewarning signal.
In addition, dsp chip, also claims digital signal processor, and be a kind of microprocessor being particularly suitable for carrying out Digital Signal Processing computing, it is mainly applied is realize various digital signal processing algorithm real-time.
According to the requirement of Digital Signal Processing, dsp chip generally has following main feature: (1) can complete a multiplication and a sub-addition within an instruction cycle; (2) program and data space separately, can access instruction and data simultaneously; (3) there is quick RAM in sheet, usually access in two pieces by independently data/address bus simultaneously; (4) there is low expense or the hardware supports without overhead loop and redirect; (5) interrupt processing fast and Hardware I/O support; (6) there are the multiple hardware address generators operated within the monocycle; (7) can the multiple operation of executed in parallel; (8) support pile line operation, fetching, decoding and execution etc. are operated can Overlapped Execution
Adopt the automation deicing robot detected based on image of the present invention, for prior art crusing robot, transmission line ice self-removing is difficult to the technical problem realized, some thresholds such as the environmental requirement difficult to scene survey ice thickness, robot architecture cannot meet transmission line walking and on-scene communication difficulty process one by one and overcome, make under power supply management department Long-distance Control, when the help not having Field Force, crusing robot is made to become possibility to transmission line ice self-removing.
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 (2)
1. an automation de-icing method, the method comprises: provide a kind of automation deicing robot detected based on image, described robot comprises ice covering thickness detection subsystem and robot ambulation subsystem, ice covering thickness detection subsystem is positioned on robot ambulation subsystem, for carrying out image procossing to the image comprising transmission line to determine the ice covering thickness on transmission line, robot ambulation subsystem is positioned on transmission line, eliminates for carrying out icing based on ice covering thickness to transmission line; Run described robot.
2. the method for claim 1, is characterized in that, described robot comprises:
Mmc card, is positioned at control box, for prestoring default transmission line gray threshold span and default transmission line radial distance;
Ambient brightness checkout equipment, is positioned on front wheel mechanism, for detecting the ambient brightness of surrounding in real time, to export real time environment brightness;
Neighborhood averaging value filtering equipment, is positioned at control box, is connected with front high-definition camera, for receiving front high-definition image, and carries out the process of neighborhood averaging value filtering, with output filtering image to front high-definition image;
Binary conversion treatment equipment, be positioned at control box, be connected respectively with ambient brightness checkout equipment and mmc card, in default transmission line gray threshold span, transmission line gray threshold is determined based on real time environment brightness, presetting transmission line gray threshold span is 150-180, transmission line gray threshold is used for transmission line to be separated from image background with ice sheet, binary conversion treatment equipment also with neighborhood averaging value filtering equipment connection, based on transmission line gray threshold, binary conversion treatment is carried out to obtain binary image to filtering image, be specially, pixel gray value in filtering image being greater than transmission line gray threshold is set to white pixel point, pixel gray value in filtering image being less than or equal to transmission line gray threshold is set to black pixel,
Rim detection equipment, is positioned at control box, with binary conversion treatment equipment connection, carries out edge enhancement process, to obtain enhancing image to the binary image that binary conversion treatment equipment exports;
Image rotation treatment facility, is positioned at control box, with rim detection equipment connection, rotates the transmission line target strengthening white pixel point composition in image, makes transmission line target be vertical direction arrangement;
Ice covering thickness computing equipment, be positioned at control box, be connected respectively with image rotation treatment facility and mmc card, its maximum radial distance is determined to the transmission line target of vertical direction arrangement, maximum radial distance is deducted default transmission line radial distance and divided by 2 to obtain the real-time ice layer thickness of transmission line;
Robot running gear, comprises front wheel mechanism, middle wheel mechanism, rear wheel mechanism, front brake clamp mechanism, rear brake clamp mechanism, front Pneumatic extension clamp mechanism, the pneumatic dilaton mechanism in rear, middle part Pneumatic extension clamp mechanism, pedestal, center of gravity adjustment clamp mechanism and control box;
Front wheel mechanism is in above pedestal, comprise front cutting tip, the anti-cutting plate in front, front drive motors and front road wheel, front cutting tip is for excising the ice sheet at transmission line place, front, the anti-cutting plate in front is connected with front cutting tip, for being stuck in transmission line when front cutting tip carries out cutting operation, realize the isolation of front cutting tip and transmission line, 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, while cutting power is provided for front cutting tip, for front road wheel provides walking power,
Middle wheel mechanism is arranged in the middle of front wheel mechanism and wheel mechanism, be in above pedestal, 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 mechanism is in above pedestal, 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 clamp mechanism is between front wheel mechanism and pedestal, for front wheel mechanism is connected to pedestal, comprise front wrist joint, front vertical telescopic arm, front elbow joint, front horizontal telescopic arm and front shoulder joint, front wheel mechanism 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 pedestal, front vertical telescopic arm is also electrically connected to receive front vertical extension and contraction control signal with DSP process chip, front horizontal telescopic arm is also electrically connected to receive front horizontal extension and contraction control signal with DSP process chip,
Middle part Pneumatic extension clamp mechanism is between middle wheel mechanism and pedestal, for middle wheel mechanism is connected to pedestal, 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 mechanism 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 pedestal, middle part vertical telescopic arm is also electrically connected to receive middle part vertical telescopic control signal with DSP process chip, middle part horizontal extension arm is also electrically connected to receive middle part horizontal extension control signal with DSP process chip,
Rear pneumatic dilaton mechanism is between rear wheel mechanism and pedestal, for rear wheel mechanism is connected to pedestal, comprise rear wrist joint, rear vertical telescopic arm, rear elbow joint, rear horizontal extension arm and rear shoulder joint, rear wheel mechanism 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 pedestal, rear vertical telescopic arm is also electrically connected to receive rear vertical extension and contraction control signal with DSP process chip, rear horizontal extension arm is also electrically connected to receive rear horizontal extension control signal with DSP process chip,
Front brake clamp mechanism comprises front brake shoes, front brake guide frame and front brake cylinder, front brake shoes is positioned at front grid locational, front brake guide frame is connected respectively with front brake shoes and front brake cylinder, provides power for the skidding operation for front brake shoes;
Rear brake clamp mechanism comprises rear brake shoes, rear brake guide frame and rear brake cylinder, rear brake shoes is positioned at rear grid locational, rear brake guide frame is connected respectively with rear brake shoes and rear brake cylinder, provides power for the skidding operation for rear brake shoes;
Center of gravity regulates clamp mechanism to be positioned at below pedestal, control box 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 regulates the position of centre of gravity of robot running gear by the relative distance between regulable control case and pedestal;
Control box is positioned at below pedestal, comprise shell and control board, described control board is integrated with DSP process chip and wireless communication interface, wireless communication 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, DSP process chip and wireless communication 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, DSP process chip is also connected to receive real-time ice layer thickness with ice covering thickness computing equipment, and ice control command is cut in forwards drive motors transmission front, control the cutting dynamics of front cutting tip,
Front high-definition camera, be positioned on front wheel mechanism, be electrically connected with DSP process chip, for gathering front high-definition image and by DSP process chip compressed encoding, the image after compression to be sent to the power supply management server of far-end by wireless communication interface;
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;
The combination of brake limit switch, comprises two brake limit switches, for limiting the braking distance of front brake shoes and rear brake shoes respectively;
Control box moves limit switch, for limiting the displacement of control box;
Infrared sensor, is positioned on front wheel mechanism, is electrically connected with DSP process chip;
Infrared sensor is used for, when 200 millimeters, distance front transmission line obstacle, sending obstruction forewarning signal.
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