CN105397794A - Bird expelling system for power supply circuit - Google Patents
Bird expelling system for power supply circuit Download PDFInfo
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- CN105397794A CN105397794A CN201510955622.4A CN201510955622A CN105397794A CN 105397794 A CN105397794 A CN 105397794A CN 201510955622 A CN201510955622 A CN 201510955622A CN 105397794 A CN105397794 A CN 105397794A
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- bird
- nest
- resistant
- supply line
- base plate
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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
- A01M29/30—Scaring or repelling devices, e.g. bird-scaring apparatus preventing or obstructing access or passage, e.g. by means of barriers, spikes, cords, obstacles or sprinkled water
- A01M29/32—Scaring or repelling devices, e.g. bird-scaring apparatus preventing or obstructing access or passage, e.g. by means of barriers, spikes, cords, obstacles or sprinkled water specially adapted for birds, e.g. spikes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Birds (AREA)
- Human Computer Interaction (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a bird expelling system for a power supply circuit, comprising bird prevention thorn contracting equipment, a bird prevention thorn main body, bird nest recognition equipment and a robot main framework, wherein the bird nest recognition equipment is arranged on the robot main framework and used for recognizing bird nests for iron towers close to the power supply circuit, and the robot main framework is used for achieving inspection tour for the power supply circuit and controlling the bird prevention thorn contracting equipment to contract or push out the bird prevention thorn main body according to the bird nest recognition result. By using the bird expelling system for a power supply circuit, the bird expelling accuracy of the bird prevention thorn can be improved, and the power supply safety of the power supply circuit can be maintained.
Description
Technical field
The present invention relates to supply line's management domain, particularly relate to a kind of supply line bird-repeller system.
Background technology
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 supply line is maked an inspection tour by power supply attendant naked eyes, 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 supply line's Bird's Nest cleaning scheme, the detection of omnidistance Bird's Nest can be realized to whole piece supply line, and can judge whether to start corresponding anti-bird equipment according to testing result, thus avoid too much artificial participation, reduce the operating cost of power supply management department, improve the operating efficiency of power supply management department.
Summary of the invention
In order to solve the problem, the invention provides a kind of supply line's bird-repeller system based on bird-resistant, first, transform the agent structure of existing inspecting robot, whole piece supply line can be adapted to, secondly, introduce the Bird's Nest identification that high-precision Bird's Nest identification equipment carries out near supply line, and determine whether to start bird-resistant compressive shrinkage machines according to recognition result, finally, adopt wireless communication link to ensure the unimpeded of the communication of whole system.
According to an aspect of the present invention, provide a kind of supply line's bird-repeller system based on bird-resistant, described system comprises bird-resistant compressive shrinkage machines, bird-resistant main body, Bird's Nest identification equipment and robot body frame structure, Bird's Nest identification equipment is positioned on robot body frame structure, for carrying out Bird's Nest identification to the steel tower position near supply line, robot body frame structure is used for making an inspection tour supply line, also controls bird-resistant compressive shrinkage machines based on Bird's Nest recognition result and shrinks or release bird-resistant main body.
More specifically, based in supply line's bird-repeller system of bird-resistant, comprising: bird-resistant base, is a domed base described, is arranged on the steel tower near supply line, bird-resistant compressive shrinkage machines, be embedded in bird-resistant base, for shrinking or releasing bird-resistant main body, to hide or to expose bird-resistant main body, wherein bird-resistant compressive shrinkage machines releases bird-resistant main body when receiving harmful Bird's Nest signal, shrinks bird-resistant main body when not receiving harmful Bird's Nest signal, bird-resistant main body, is connected with bird-resistant compressive shrinkage machines, is made up of multiple needle body, and multiple needle body radially distributes, and makes bird can not drop in bird-resistant main body, MS storage card, 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, MS storage card 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 equipment, be positioned on front wheel structure, comprise domed transparent cover, servicing lighting and CCD vision sensor, domed transparent cover is for holding servicing lighting and CCD vision sensor, servicing lighting provides floor light for the shooting of CCD vision sensor, and CCD vision sensor is taken to obtain high definition steel tower image to the steel tower near supply 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 CCD vision sensor, for adopting the wavelet filtering process based on 2 rank Daubechies wavelet basis 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 MS storage card, 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 MS storage card, 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 frame 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 supply 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 supply 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 supply 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 MSP430 single-chip microcomputer, front horizontal telescopic arm is also electrically connected to receive front horizontal extension and contraction control signal with MSP430 single-chip microcomputer, 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 MSP430 single-chip microcomputer, middle part horizontal extension arm is also electrically connected to receive middle part horizontal extension control signal with MSP430 single-chip microcomputer, 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 MSP430 single-chip microcomputer, rear horizontal extension arm is also electrically connected to receive rear horizontal extension control signal with MSP430 single-chip microcomputer, brake minor structure comprises brake shoes, brake guide frame and brake cylinder, and brake shoes is positioned at rear supply line position, 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 body frame structure by the relative distance between regulable control case and base plate, control cabinet is positioned at below base plate, comprise shell and control panel, described control panel is integrated with MSP430 single-chip microcomputer 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, MSP430 single-chip microcomputer 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, wherein, MSP430 single-chip microcomputer is also connected respectively with bird-resistant compressive shrinkage machines and Bird's Nest identification equipment, for receiving target Bird's Nest type, and when recognizing target Bird's Nest type and being Bird's Nest type supply line being had to infringement, send harmful Bird's Nest signal to bird-resistant compressive shrinkage machines, bird-resistant compressive shrinkage machines passes through frequency duplex communications link and the wireless connections of MSP430 single-chip microcomputer, to receive harmful Bird's Nest signal.
More specifically, also comprising: touch switch sensor described based in supply line's bird-repeller system of bird-resistant, be electrically connected with MSP430 single-chip microcomputer, for when touching supply line's obstacle, sending contact obstacle signal.
More specifically, described based in supply line's bird-repeller system of bird-resistant: touch switch sensor is positioned on front wheel mechanism.
More specifically, also comprise: infrared sensor based in supply line's bird-repeller system of bird-resistant described, be electrically connected with MSP430 single-chip microcomputer, for when apart from 200 millimeters, front supply line obstacle, send obstruction forewarning signal.
More specifically, described based in supply line's bird-repeller system of bird-resistant: infrared sensor is positioned on front 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 supply line's bird-repeller system based on bird-resistant illustrated according to an embodiment of the present invention.
Reference numeral: 1 bird-resistant compressive shrinkage machines; 2 bird-resistant main bodys; 3 Bird's Nest identification equipments; 4 robot body frame structures
Detailed description of the invention
Below with reference to accompanying drawings the embodiment of the supply line's bird-repeller system based on bird-resistant of the present invention is described in detail.
Current, in order to overcome the impact of the small bird in Bird's Nest on supply line, 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 supply line, but it is artificial owing to depending on unduly, and the region of manually seeking is limited, cause the efficiency removing Bird's Nest very low, and waste time and energy.
In order to overcome above-mentioned deficiency, the present invention has built a kind of supply line's bird-repeller system based on bird-resistant, carry out preparation to Bird's Nest to identify, and the bird-resistant structure near starting after recognizing Bird's Nest on steel tower, Bird's Nest is fallen, more crucially, adopt improved robot body as tour platform, improve the operating efficiency of system.
Fig. 1 is the block diagram of the supply line's bird-repeller system based on bird-resistant illustrated according to an embodiment of the present invention, described system comprises bird-resistant compressive shrinkage machines, bird-resistant main body, Bird's Nest identification equipment and robot body frame structure, Bird's Nest identification equipment is positioned on robot body frame structure, for carrying out Bird's Nest identification to the steel tower position near supply line, robot body frame structure is used for making an inspection tour supply line, also controls bird-resistant compressive shrinkage machines based on Bird's Nest recognition result and shrinks or release bird-resistant main body.
Then, continue to be further detailed the concrete structure of the supply line's bird-repeller system based on bird-resistant of the present invention.
Described system comprises: bird-resistant base, is a domed base, is arranged on the steel tower near supply line; Bird-resistant compressive shrinkage machines, be embedded in bird-resistant base, for shrinking or releasing bird-resistant main body, to hide or to expose bird-resistant main body, wherein bird-resistant compressive shrinkage machines releases bird-resistant main body when receiving harmful Bird's Nest signal, shrinks bird-resistant main body when not receiving harmful Bird's Nest signal.
Described system comprises: bird-resistant main body, is connected with bird-resistant compressive shrinkage machines, is made up of multiple needle body, and multiple needle body radially distributes, and makes bird can not drop in bird-resistant main body; MS storage card, 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, MS storage card 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 equipment, be positioned on front wheel structure, comprise domed transparent cover, servicing lighting and CCD vision sensor, domed transparent cover is for holding servicing lighting and CCD vision sensor, servicing lighting provides floor light for the shooting of CCD vision sensor, and CCD vision sensor is taken to obtain high definition steel tower image to the steel tower near supply 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 CCD vision sensor, for adopting the wavelet filtering process based on 2 rank Daubechies wavelet basis 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 MS storage card, 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 MS storage card, 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 frame 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 supply 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 supply 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 supply 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 MSP430 single-chip microcomputer, front horizontal telescopic arm is also electrically connected to receive front horizontal extension and contraction control signal with MSP430 single-chip microcomputer.
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 MSP430 single-chip microcomputer, middle part horizontal extension arm is also electrically connected to receive middle part horizontal extension control signal with MSP430 single-chip microcomputer.
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 MSP430 single-chip microcomputer, rear horizontal extension arm is also electrically connected to receive rear horizontal extension control signal with MSP430 single-chip microcomputer.
Brake minor structure comprises brake shoes, brake guide frame and brake cylinder, and brake shoes is positioned at rear supply line position, 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 body frame structure by the relative distance between regulable control case and base plate.
Control cabinet is positioned at below base plate, comprise shell and control panel, described control panel is integrated with MSP430 single-chip microcomputer 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, MSP430 single-chip microcomputer 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.
Wherein, MSP430 single-chip microcomputer is also connected respectively with bird-resistant compressive shrinkage machines and Bird's Nest identification equipment, for receiving target Bird's Nest type, and when recognizing target Bird's Nest type and being Bird's Nest type supply line being had to infringement, send harmful Bird's Nest signal to bird-resistant compressive shrinkage machines; Bird-resistant compressive shrinkage machines passes through frequency duplex communications link and the wireless connections of MSP430 single-chip microcomputer, to receive harmful Bird's Nest signal.
Alternatively, in the system, also comprising: touch switch sensor, be electrically connected with MSP430 single-chip microcomputer, for when touching supply line's obstacle, sending contact obstacle signal; Touch switch sensor is positioned on front wheel mechanism; Infrared sensor, is electrically connected with MSP430 single-chip microcomputer, for when apart from 200 millimeters, front supply line obstacle, sends obstruction forewarning signal; Infrared sensor is positioned on front wheel mechanism.
In addition, wave filter, as the term suggests, be the device that ripple is filtered." ripple " is a physical concept widely, and at electronic technology field, " ripple " is narrowly confined to refer in particular to the process of the value fluctuations in time describing various physical quantity.This process, by the effect of various kinds of sensors, is converted into the function of time of voltage or electric current, is referred to as the time waveform of various physical quantity, or is referred to as signal.Because the independent variable time is continuous value, be referred to as continuous time signal, be referred to as analog signal habitually again.
Along with generation and the develop rapidly of digital electronic computer technology, for the ease of computer, signal is processed, create complete Theories and methods continuous time signal being transformed into discrete-time signal under sampling theorem instructs.That is, can only express primary signal by the sample value of original analog signal on series of discrete time coordinate point and not lose any information, since what these concepts of ripple, waveform, signal were expressed is the change of various physical quantity in objective world, is exactly the carrier of the various information that modern society depends on for existence naturally.Information needs to propagate, and what lean on is exactly the transmission of waveform signal.Signal it generation, conversion, transmission each link may distort due to the existence of environment and interference, or even in quite a number of cases, this distortion is also very serious, causes signal and entrained information thereof to be embedded in the middle of noise dearly.In order to these noises of filtering, recover signal originally, need to use various wave filter to carry out filtering process.
Adopt the supply line's bird-repeller system based on bird-resistant of the present invention, for the problem that prior art cannot adopt unartificial form to remove Bird's Nest near supply line at the scene, first existing inspecting robot framework is reformed, supply line's environment of various complexity can be adapted to, then design the Bird's Nest comprising bird-resistant base, bird-resistant compressive shrinkage machines and bird-resistant main body and drive away structure, and introduce frequency duplex communications link to ensure the proper communication between field apparatus.
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. the supply line's bird-repeller system based on bird-resistant, described system comprises bird-resistant compressive shrinkage machines, bird-resistant main body, Bird's Nest identification equipment and robot body frame structure, Bird's Nest identification equipment is positioned on robot body frame structure, for carrying out Bird's Nest identification to the steel tower position near supply line, robot body frame structure is used for making an inspection tour supply line, also controls bird-resistant compressive shrinkage machines based on Bird's Nest recognition result and shrinks or release bird-resistant main body.
2., as claimed in claim 1 based on supply line's bird-repeller system of bird-resistant, it is characterized in that, described system comprises:
Bird-resistant base is a domed base, is arranged on the steel tower near supply line;
Bird-resistant compressive shrinkage machines, be embedded in bird-resistant base, for shrinking or releasing bird-resistant main body, to hide or to expose bird-resistant main body, wherein bird-resistant compressive shrinkage machines releases bird-resistant main body when receiving harmful Bird's Nest signal, shrinks bird-resistant main body when not receiving harmful Bird's Nest signal;
Bird-resistant main body, is connected with bird-resistant compressive shrinkage machines, is made up of multiple needle body, and multiple needle body radially distributes, and makes bird can not drop in bird-resistant main body;
MS storage card, 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, MS storage card 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 equipment, be positioned on front wheel structure, comprise domed transparent cover, servicing lighting and CCD vision sensor, domed transparent cover is for holding servicing lighting and CCD vision sensor, servicing lighting provides floor light for the shooting of CCD vision sensor, and CCD vision sensor is taken to obtain high definition steel tower image to the steel tower near supply 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 CCD vision sensor, for adopting the wavelet filtering process based on 2 rank Daubechies wavelet basis 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 MS storage card, 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 MS storage card, 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 frame 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 supply 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 supply 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 supply 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 MSP430 single-chip microcomputer, front horizontal telescopic arm is also electrically connected to receive front horizontal extension and contraction control signal with MSP430 single-chip microcomputer,
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 MSP430 single-chip microcomputer, middle part horizontal extension arm is also electrically connected to receive middle part horizontal extension control signal with MSP430 single-chip microcomputer,
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 MSP430 single-chip microcomputer, rear horizontal extension arm is also electrically connected to receive rear horizontal extension control signal with MSP430 single-chip microcomputer,
Brake minor structure comprises brake shoes, brake guide frame and brake cylinder, and brake shoes is positioned at rear supply line position, 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 body frame structure by the relative distance between regulable control case and base plate;
Control cabinet is positioned at below base plate, comprise shell and control panel, described control panel is integrated with MSP430 single-chip microcomputer 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, MSP430 single-chip microcomputer 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,
Wherein, MSP430 single-chip microcomputer is also connected respectively with bird-resistant compressive shrinkage machines and Bird's Nest identification equipment, for receiving target Bird's Nest type, and when recognizing target Bird's Nest type and being Bird's Nest type supply line being had to infringement, send harmful Bird's Nest signal to bird-resistant compressive shrinkage machines;
Wherein, bird-resistant compressive shrinkage machines passes through frequency duplex communications link and the wireless connections of MSP430 single-chip microcomputer, to receive harmful Bird's Nest signal.
3., as claimed in claim 2 based on supply line's bird-repeller system of bird-resistant, it is characterized in that, also comprise:
Touch switch sensor, is electrically connected with MSP430 single-chip microcomputer, for when touching supply line's obstacle, sends contact obstacle signal.
4., as claimed in claim 3 based on supply line's bird-repeller system of bird-resistant, it is characterized in that:
Touch switch sensor is positioned on front wheel mechanism.
5., as claimed in claim 2 based on supply line's bird-repeller system of bird-resistant, it is characterized in that, also comprise:
Infrared sensor, is electrically connected with MSP430 single-chip microcomputer, for when apart from 200 millimeters, front supply line obstacle, sends obstruction forewarning signal.
6., as claimed in claim 5 based on supply line's bird-repeller system of bird-resistant, it is characterized in that:
Infrared sensor is positioned on front wheel mechanism.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610121745.2A CN105598938B (en) | 2015-12-17 | 2015-12-17 | Supply line's bird-repeller system |
| CN201610121861.4A CN105494309B (en) | 2015-12-17 | 2015-12-17 | Supply line's bird-repeller system |
| CN201510955622.4A CN105397794B (en) | 2015-12-17 | 2015-12-17 | Supply line's bird-repeller system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510955622.4A CN105397794B (en) | 2015-12-17 | 2015-12-17 | Supply line's bird-repeller system |
Related Child Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610121861.4A Division CN105494309B (en) | 2015-12-17 | 2015-12-17 | Supply line's bird-repeller system |
| CN201610121745.2A Division CN105598938B (en) | 2015-12-17 | 2015-12-17 | Supply line's bird-repeller system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105397794A true CN105397794A (en) | 2016-03-16 |
| CN105397794B CN105397794B (en) | 2016-06-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610121745.2A Expired - Fee Related CN105598938B (en) | 2015-12-17 | 2015-12-17 | Supply line's bird-repeller system |
| CN201610121861.4A Active CN105494309B (en) | 2015-12-17 | 2015-12-17 | Supply line's bird-repeller system |
| CN201510955622.4A Expired - Fee Related CN105397794B (en) | 2015-12-17 | 2015-12-17 | Supply line's bird-repeller system |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610121745.2A Expired - Fee Related CN105598938B (en) | 2015-12-17 | 2015-12-17 | Supply line's bird-repeller system |
| CN201610121861.4A Active CN105494309B (en) | 2015-12-17 | 2015-12-17 | Supply line's bird-repeller system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111609515A (en) * | 2020-05-26 | 2020-09-01 | 珠海格力电器股份有限公司 | Method for removing honeycomb of air conditioner external unit and air conditioner external unit |
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- 2015-12-17 CN CN201510955622.4A patent/CN105397794B/en not_active Expired - Fee Related
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Also Published As
| Publication number | Publication date |
|---|---|
| CN105598938B (en) | 2016-09-07 |
| CN105494309B (en) | 2016-09-21 |
| CN105494309A (en) | 2016-04-20 |
| CN105397794B (en) | 2016-06-29 |
| CN105598938A (en) | 2016-05-25 |
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Inventor after: Ye Zhanyong Inventor after: Zhang Ning Inventor after: Wang Dianbao Inventor after: Zhao Wenhu Inventor after: Zhang Shuting Inventor after: Wang Menghua Inventor before: Zhang Ximei |
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Effective date of registration: 20160607 Address after: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Applicant after: State Grid Corporation of China Applicant after: STATE GRID SHANDONG ELECTRIC POWER COMPANY WUCHENG POWER SUPPLY COMPANY Address before: 056038 No. 19 Guangming South Street, Hebei, Handan Applicant before: Zhang Ximei |
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