CN105573220A - Power transmission line monitoring platform - Google Patents
Power transmission line monitoring platform Download PDFInfo
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- CN105573220A CN105573220A CN201610121730.6A CN201610121730A CN105573220A CN 105573220 A CN105573220 A CN 105573220A CN 201610121730 A CN201610121730 A CN 201610121730A CN 105573220 A CN105573220 A CN 105573220A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24024—Safety, surveillance
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Abstract
The invention relates to a power transmission line monitoring platform, which comprises a bird-preventing windmill withdrawing device, a bird detection device, a robot frame and an infrared sensor. The bird detection device is used for detecting the type of birds around a power transmission line based on image processing; the bird-preventing windmill withdrawing device is used for controlling a bird-preventing windmill main body to be pushed out or withdrawn; the robot frame is carried on the power transmission line, is connected with the bird-preventing windmill withdrawing device, the bird detection device and the infrared sensor and is used for controlling the operation of the bird-preventing windmill withdrawing device according to the detection result of the bird detection device; and the infrared sensor is used for detecting whether a barrier exists on the power transmission line in front of the robot frame. The platform can dispel harmful birds around the power transmission line, and prevent the birds from lingering around the power transmission line for too long.
Description
The divisional application that the present invention is application number is 2015109559701, the applying date is on Dec 17th, 2015, denomination of invention is the patent of " transmission line of electricity monitor supervision platform ".
Technical field
The present invention relates to administration of power networks field, particularly relate to a kind of transmission line of electricity monitor supervision platform.
Background technology
In prior art, the scarecrow device of employing is all fixing, and the bird that drives of different occasion configures identical, cannot carry out adaptively driving bird according to the concrete condition of on-the-spot birds, and, employ and overlap scarecrow device more, cause the serious waste of resource, such as, cause the serious waste of electric power.
For this reason, need the anti-bird platform of a kind of self-adaptation transmission line of electricity, adopt a set of scarecrow device to carry out motor driven to whole transmission line of electricity and drive bird, and integrated high precision bird health check-up measurement equipment and targetedly anti-bird windmill contractile mechanism ensured the accuracy of driving bird.
Summary of the invention
In order to solve the problem, the invention provides a kind of transmission line of electricity monitor supervision platform based on anti-bird windmill, first design a set of can the robot body structure of independent ambulation on transmission line of electricity, secondly the type based on flying bird near bird health check-up measurement equipment detection place of high-precision image processing is adopted, then adopt and can control anti-bird windmill compressive shrinkage machines and shrink anti-bird windmill main body according to whether existing bird body, to guarantee when there is flying bird, flying bird cannot fall foot near transmission line of electricity on steel tower.
According to an aspect of the present invention, provide a kind of transmission line of electricity monitor supervision platform based on anti-bird windmill, described platform comprises anti-bird windmill compressive shrinkage machines, bird health check-up measurement equipment, robot frame and infrared sensor, bird health check-up measurement equipment is used for detecting bird sound type near transmission line of electricity based on image procossing, anti-bird windmill compressive shrinkage machines is for controlling contraction or the release of anti-bird windmill main body, robot frame is mounted on transmission line of electricity, with anti-bird windmill compressive shrinkage machines, bird health check-up measurement equipment is connected respectively with infrared sensor, for controlling the operation of anti-bird windmill compressive shrinkage machines according to the testing result of bird health check-up measurement equipment, infrared sensor is used for transmission line of electricity place, measuring robots framework front and whether there is barrier.
More specifically, in the described transmission line of electricity monitor supervision platform based on anti-bird windmill, comprising: windmill seat, is a flat base, is arranged on the steel tower near transmission line of electricity; Anti-bird windmill compressive shrinkage machines, be embedded in windmill seat, for shrinking or releasing anti-bird windmill main body, to hide or to expose anti-bird windmill main body, wherein anti-bird windmill compressive shrinkage machines is released anti-bird windmill main body when receiving and releasing control signal and is started the rotation of anti-bird windmill main body, shrinks bird-resistant main body and close the rotation of anti-bird windmill main body when receiving and shrinking control signal; Anti-bird windmill main body, be connected with anti-bird windmill compressive shrinkage machines, be made up of multiple windmill, multiple windmill is evenly distributed, and bird can not be dropped in anti-bird windmill main body, and each windmill is made up of support bar and wind wheel; SDRAM, be arranged on anti-tilt structure, prestore bird body tonal range, bird body tonal range is used for the bird body in image and background separation, SDRAM has also prestored each gray processing bird body masterplate, the corresponding a kind of birds of each gray processing bird body masterplate, each gray processing bird body masterplate is for obtaining by taking obtained image execution gray processing process to the benchmark bird body of corresponding birds; Cmos sensor, is arranged on anti-tilt structure, takes to obtain transmission line of electricity image to the scene near transmission line of electricity; Bird health check-up measurement equipment, is arranged on anti-tilt structure, comprises self-adaptation recursive filtering subset, medium filtering subset, change of scale enhancer equipment, Target Segmentation subset and target recognin equipment; Self-adaptation recursive filtering subset is connected with cmos sensor, for performing the process of self-adaptation recursive filtering to transmission line of electricity image, with the Gaussian noise in filtering transmission line of electricity image, obtains the first filtering image; Medium filtering subset is connected with self-adaptation recursive filtering subset, for performing the medium filtering process based on 5 × 5 pixel windows to the first filtering image, with the scattering composition in filtering first filtering image, obtains the second 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 the second filtering image; Target Segmentation subset is connected respectively with change of scale enhancer equipment and SDRAM, and will strengthen all pixel composition bird body subimages of grey scale pixel value in bird body tonal range in image, bird body subimage is separated from the background strengthening image and obtains; Target recognin equipment is connected respectively with Target Segmentation subset and SDRAM, by bird body subimage and each gray processing bird body stencil matching, the birds type corresponding to gray processing bird body masterplate the highest for matching degree is exported as target bird body type; Robot frame, comprise anti-tilt structure, control box, brshless DC motor, hoisting ring, travel mechanism, latch mechanism and hold-down mechanism, anti-tilt structure is positioned on the transmission line of electricity of front, control box and brshless DC motor are all positioned at the below of transmission line of electricity, hoisting ring is for being lifted into transmission line of electricity by robot frame, travel mechanism and latch mechanism are all positioned on transmission line of electricity, and hold-down mechanism is positioned at the below of transmission line of electricity; Anti-tilt structure comprises Anti-inclining wheel, set bolt and web joint, and web joint is taken turns with Anti-inclining respectively and set bolt is connected, and prevents robot frame from tilting backwards; Be provided with master control borad and battery in control box, master control borad be integrated with ARM11 process chip and Wireless Telecom Equipment, Wireless Telecom Equipment is used for setting up two-way wireless communication link with the power supply Operation Server of far-end; Brshless DC motor is connected with the driving wheel of travel mechanism and the contact roller of hold-down mechanism respectively by speed reduction unit; Travel mechanism comprises three V shaped wheels of Timing Belt, Timing Belt strainer, driving wheel and horizontal positioned, driving wheel provides power for three walkings of V shaped wheel on transmission line of electricity, Timing Belt successively through driving wheel, Timing Belt strainer and three V shaped wheels to keep the synchronous walking of three V shaped wheels; Latch mechanism comprises the monkey wrench, intermediate support, bottom pin member and the U-bolt that are linked in sequence, falls from transmission line of electricity for preventing robot frame; Hold-down mechanism is connected with brshless DC motor, comprise contact roller, ratchet, ratchet, back-moving spring and holddown spring, contact roller is V-structure, for compressing the aerial earth wire of transmission line of electricity under the effect of holddown spring, ratchet and ratchet are used for pinning or decontroling contact roller, and back-moving spring is used for being resetted by contact roller when contact roller decontrols; Infrared sensor, is arranged on anti-tilt structure, is connected with ARM11 process chip, for when apart from 200 millimeters, front transmission line of electricity obstacle, sends obstruction forewarning signal; Wherein, ARM11 process chip is also electrically connected with bird health check-up measurement equipment, be connected by wireless communication link with anti-bird windmill compressive shrinkage machines, receiving target bird sound type, and judge whether the flying bird type corresponding to target bird sound type is harmful to transmission line of electricity, if harmful, then send to anti-bird windmill compressive shrinkage machines and release control signal, otherwise, then send to anti-bird windmill compressive shrinkage machines and shrink control signal.
More specifically, in the described transmission line of electricity monitor supervision platform based on anti-bird windmill: wireless communication link is ZIGBEE communication link, what ARM11 process chip and anti-bird windmill compressive shrinkage machines were set up is ZIGBEE communication link.
More specifically, in the described transmission line of electricity monitor supervision platform based on anti-bird windmill: Wireless Telecom Equipment is 4G communication interface, what the power supply Operation Server of Wireless Telecom Equipment and far-end was set up is two-way 4G communication link.
More specifically, in the described transmission line of electricity monitor supervision platform based on anti-bird windmill, also comprising: touch switch sensor, be connected with ARM11 process chip, for when touching transmission line of electricity obstacle, sending contact obstacle signal.
More specifically, in the described transmission line of electricity monitor supervision platform based on anti-bird windmill, also comprise: ultrasonic listening sensor, be electrically connected with ARM11 process chip, for detecting and exporting the obstacle distance at transmission line of electricity place, front.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the block diagram of the transmission line of electricity monitor supervision platform based on anti-bird windmill illustrated according to an embodiment of the present invention.
Reference numeral: 1 anti-bird windmill compressive shrinkage machines; 2 bird health check-up measurement equipments; 3 robot frame; 4 infrared sensors
Embodiment
Below with reference to accompanying drawings the embodiment of the transmission line of electricity monitor supervision platform based on anti-bird windmill of the present invention is described in detail.
At present, the anti-bird measure of high-tension line mainly prevents birds droppings flashover by modes such as expelling, frighten and block.But, aforesaid way is all fixing, directed birds expulsion can not be carried out according to on-the-spot birds physical presence situation, very possible scene does not have birds and wastes the equipment driving bird, also likely on-the-spot birds are a lot of and mode that is expulsion is imappropriate, and meanwhile, above-mentioned fixing bird mode of driving lacks unified operating platform, while waste resource, also reduce work efficiency.
In order to overcome above-mentioned deficiency, the present invention has built a kind of transmission line of electricity monitor supervision platform based on anti-bird windmill, first, the plant equipment after a set of structure-improved can be adopted to unify to drive bird operation to whole piece transmission line of electricity, avoid the waste of resource, improve the speed of driving bird, secondly, whether can there are birds according to scene, control the shrinkage operation of anti-bird windmill compressive shrinkage machines, thus promote the accuracy of driving bird.
Fig. 1 is the block diagram of the transmission line of electricity monitor supervision platform based on anti-bird windmill illustrated according to an embodiment of the present invention, described platform comprises anti-bird windmill compressive shrinkage machines, bird health check-up measurement equipment, robot frame and infrared sensor, bird health check-up measurement equipment is used for detecting bird sound type near transmission line of electricity based on image procossing, anti-bird windmill compressive shrinkage machines is for controlling contraction or the release of anti-bird windmill main body, robot frame is mounted on transmission line of electricity, with anti-bird windmill compressive shrinkage machines, bird health check-up measurement equipment is connected respectively with infrared sensor, for controlling the operation of anti-bird windmill compressive shrinkage machines according to the testing result of bird health check-up measurement equipment, infrared sensor is used for transmission line of electricity place, measuring robots framework front and whether there is barrier.
Then, continue to be further detailed the concrete structure of the transmission line of electricity monitor supervision platform based on anti-bird windmill of the present invention.
Described platform comprises: windmill seat, is a flat base, is arranged on the steel tower near transmission line of electricity; Anti-bird windmill compressive shrinkage machines, be embedded in windmill seat, for shrinking or releasing anti-bird windmill main body, to hide or to expose anti-bird windmill main body, wherein anti-bird windmill compressive shrinkage machines is released anti-bird windmill main body when receiving and releasing control signal and is started the rotation of anti-bird windmill main body, shrinks bird-resistant main body and close the rotation of anti-bird windmill main body when receiving and shrinking control signal.
Described platform comprises: anti-bird windmill main body, and be connected with anti-bird windmill compressive shrinkage machines, be made up of multiple windmill, multiple windmill is evenly distributed, and bird can not be dropped in anti-bird windmill main body, and each windmill is made up of support bar and wind wheel.
Described platform comprises: SDRAM, be arranged on anti-tilt structure, prestore bird body tonal range, bird body tonal range is used for the bird body in image and background separation, SDRAM has also prestored each gray processing bird body masterplate, the corresponding a kind of birds of each gray processing bird body masterplate, each gray processing bird body masterplate is for obtaining by taking obtained image execution gray processing process to the benchmark bird body of corresponding birds.
Described platform comprises: cmos sensor, is arranged on anti-tilt structure, takes to obtain transmission line of electricity image to the scene near transmission line of electricity.
Described platform comprises: bird health check-up measurement equipment, is arranged on anti-tilt structure, comprises self-adaptation recursive filtering subset, medium filtering subset, change of scale enhancer equipment, Target Segmentation subset and target recognin equipment.
Self-adaptation recursive filtering subset is connected with cmos sensor, for performing the process of self-adaptation recursive filtering to transmission line of electricity image, with the Gaussian noise in filtering transmission line of electricity image, obtains the first filtering image; Medium filtering subset is connected with self-adaptation recursive filtering subset, for performing the medium filtering process based on 5 × 5 pixel windows to the first filtering image, with the scattering composition in filtering first filtering image, obtains the second 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 the second filtering image; Target Segmentation subset is connected respectively with change of scale enhancer equipment and SDRAM, and will strengthen all pixel composition bird body subimages of grey scale pixel value in bird body tonal range in image, bird body subimage is separated from the background strengthening image and obtains.
Target recognin equipment is connected respectively with Target Segmentation subset and SDRAM, by bird body subimage and each gray processing bird body stencil matching, the birds type corresponding to gray processing bird body masterplate the highest for matching degree is exported as target bird body type.
Described platform comprises: robot frame, comprises anti-tilt structure, control box, brshless DC motor, hoisting ring, travel mechanism, latch mechanism and hold-down mechanism.
Anti-tilt structure is positioned on the transmission line of electricity of front, control box and brshless DC motor are all positioned at the below of transmission line of electricity, hoisting ring is for being lifted into transmission line of electricity by robot frame, and travel mechanism and latch mechanism are all positioned on transmission line of electricity, and hold-down mechanism is positioned at the below of transmission line of electricity; Anti-tilt structure comprises Anti-inclining wheel, set bolt and web joint, and web joint is taken turns with Anti-inclining respectively and set bolt is connected, and prevents robot frame from tilting backwards.
Be provided with master control borad and battery in control box, master control borad be integrated with ARM11 process chip and Wireless Telecom Equipment, Wireless Telecom Equipment is used for setting up two-way wireless communication link with the power supply Operation Server of far-end; Brshless DC motor is connected with the driving wheel of travel mechanism and the contact roller of hold-down mechanism respectively by speed reduction unit.
Travel mechanism comprises three V shaped wheels of Timing Belt, Timing Belt strainer, driving wheel and horizontal positioned, driving wheel provides power for three walkings of V shaped wheel on transmission line of electricity, Timing Belt successively through driving wheel, Timing Belt strainer and three V shaped wheels to keep the synchronous walking of three V shaped wheels; Latch mechanism comprises the monkey wrench, intermediate support, bottom pin member and the U-bolt that are linked in sequence, falls from transmission line of electricity for preventing robot frame.
Hold-down mechanism is connected with brshless DC motor, comprise contact roller, ratchet, ratchet, back-moving spring and holddown spring, contact roller is V-structure, for compressing the aerial earth wire of transmission line of electricity under the effect of holddown spring, ratchet and ratchet are used for pinning or decontroling contact roller, and back-moving spring is used for being resetted by contact roller when contact roller decontrols.
Described platform comprises: infrared sensor, is arranged on anti-tilt structure, is connected with ARM11 process chip, for when apart from 200 millimeters, front transmission line of electricity obstacle, sends obstruction forewarning signal.
Wherein, ARM11 process chip is also electrically connected with bird health check-up measurement equipment, be connected by wireless communication link with anti-bird windmill compressive shrinkage machines, receiving target bird sound type, and judge whether the flying bird type corresponding to target bird sound type is harmful to transmission line of electricity, if harmful, then send to anti-bird windmill compressive shrinkage machines and release control signal, otherwise, then send to anti-bird windmill compressive shrinkage machines and shrink control signal.
Alternatively, in described platform: wireless communication link is ZIGBEE communication link, what ARM11 process chip and anti-bird windmill compressive shrinkage machines were set up is ZIGBEE communication link; Wireless Telecom Equipment is 4G communication interface, and what the power supply Operation Server of Wireless Telecom Equipment and far-end was set up is two-way 4G communication link; Touch switch sensor, is connected with ARM11 process chip, for when touching transmission line of electricity obstacle, sends contact obstacle signal; And alternatively, ultrasonic listening sensor, is electrically connected with ARM11 process chip, for detecting and exporting the obstacle distance at transmission line of electricity place, front.
In addition, CMOS (ComplementaryMetal-Oxide-Semiconductor), Chinese formal name used at school is complementary metal oxide semiconductor (CMOS), and he is originally a kind of important chip in computer system, saves the data that System guides is the most basic.Manufacturing technology and the general computer chip of CMOS do not have difference, mainly utilize the semiconductor that silicon and this two kinds of elements of germanium are made, make it on CMOS, co-exist the semiconductor of band N (band-electricity) and P (band+electricity) level, the electric current that these two complementary effects the produce chip that can be processed is noted down and is interpreted to image.Found that CMOS also can as the imageing sensor in digital photography through processing afterwards.
For the portable use independent of electrical network, the CMOS technology famous with low power consumption characteristic has an obvious advantage: cmos image sensor designs for 5V and 3.3V supply voltage.CCD chip then needs the supply voltage of about 12V, employing electric pressure converter of therefore having to, thus causes power consumption to increase.In total power consumption, another benefit will be brought in control and system function integration to cmos sensor: he eliminates all external connection lines with other semiconductor elements.Nowadays the driver of its high power consumption is abandoned, this is because carry out communicating consumed energy than much lower by the outside implementation of PCB or substrate at chip internal.
Cmos sensor also can be subdivided into passive type element sensor (PassivePixelSensorCMOS) and active pixel sensor (ActivePixelSensorCMOS).
Passive type element sensor (PassivePixelSensor is called for short PPS), be again passive type element sensor, he is made up of a back-biased photodiode and a switching tube.Photodiode is a PN junction be made up of P-type semiconductor and N-type semiconductor in essence, and he can be equivalent to a back-biased diode and a mos capacitance parallel connection.When switching tube is opened, photodiode is communicated with vertical alignment (Columnbus).The charge integration amplifier sensing circuit (Chargeintegratingamplifier) being positioned at alignment end keeps column line voltage to be a constant, when the signal charge of photodiode storage is read out, its voltage is reset to column line voltage level, meanwhile, the electric charge be directly proportional to light signal is converted to electric charge by charge integration amplifier and exports.
Active pixel sensor (ActivePixelSensor is called for short APS), is again active element sensor.Almost while the invention of CMOSPPS dot structure, people recognize very soon in pixel, to introduce the performance that impact damper or amplifier can improve pixel, have the amplifier of oneself in CMOSAPS in each pixel.The amplifier transistor being integrated in surface decreases the effective surface area of pixel element, reduces " packaging density ", the incident light of 40% ~ 50% is reflected.Another problem of this sensor is, how to make there is good coupling between the multichannel amplifier of sensor, and this can be realized preferably by the fixed pattern noise reducing residual level.Because each amplifier in CMOSAPS pixel is only excited, so the power dissipation ratio ccd image sensor of CMOSAPS is also little during this reads.
Adopt the transmission line of electricity monitor supervision platform based on anti-bird windmill of the present invention, for the problem that prior art transmission line of electricity expulsion mode too ossifys, first adopt custom-designed robot body's framework as circuit walking arrangement, be integrated with the equipment that can shrink windmill thereon and based on the bird health check-up measurement equipment of high precision image recognition technology to realize on-the-spot bird body type detection and adaptive windmill drives bird, thus in the process of robot body's framework walking, the contraction that flying bird accurately controls windmill whether can be there is according to transmission line of electricity scene, thus improve accuracy and the dirigibility of driving bird.
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. the transmission line of electricity monitor supervision platform based on anti-bird windmill, described platform comprises anti-bird windmill compressive shrinkage machines, bird health check-up measurement equipment, robot frame and infrared sensor, bird health check-up measurement equipment is used for detecting bird sound type near transmission line of electricity based on image procossing, anti-bird windmill compressive shrinkage machines is for controlling contraction or the release of anti-bird windmill main body, robot frame is mounted on transmission line of electricity, with anti-bird windmill compressive shrinkage machines, bird health check-up measurement equipment is connected respectively with infrared sensor, for controlling the operation of anti-bird windmill compressive shrinkage machines according to the testing result of bird health check-up measurement equipment, infrared sensor is used for transmission line of electricity place, measuring robots framework front and whether there is barrier.
2., as claimed in claim 1 based on the transmission line of electricity monitor supervision platform of anti-bird windmill, it is characterized in that, described platform comprises:
Windmill seat is a flat base, is arranged on the steel tower near transmission line of electricity;
Anti-bird windmill compressive shrinkage machines, be embedded in windmill seat, for shrinking or releasing anti-bird windmill main body, to hide or to expose anti-bird windmill main body, wherein anti-bird windmill compressive shrinkage machines is released anti-bird windmill main body when receiving and releasing control signal and is started the rotation of anti-bird windmill main body, shrinks bird-resistant main body and close the rotation of anti-bird windmill main body when receiving and shrinking control signal;
Anti-bird windmill main body, be connected with anti-bird windmill compressive shrinkage machines, be made up of multiple windmill, multiple windmill is evenly distributed, and bird can not be dropped in anti-bird windmill main body, and each windmill is made up of support bar and wind wheel;
SDRAM, be arranged on anti-tilt structure, prestore bird body tonal range, bird body tonal range is used for the bird body in image and background separation, SDRAM has also prestored each gray processing bird body masterplate, the corresponding a kind of birds of each gray processing bird body masterplate, each gray processing bird body masterplate is for obtaining by taking obtained image execution gray processing process to the benchmark bird body of corresponding birds;
Cmos sensor, is arranged on anti-tilt structure, takes to obtain transmission line of electricity image to the scene near transmission line of electricity;
Bird health check-up measurement equipment, is arranged on anti-tilt structure, comprises self-adaptation recursive filtering subset, medium filtering subset, change of scale enhancer equipment, Target Segmentation subset and target recognin equipment; Self-adaptation recursive filtering subset is connected with cmos sensor, for performing the process of self-adaptation recursive filtering to transmission line of electricity image, with the Gaussian noise in filtering transmission line of electricity image, obtains the first filtering image; Medium filtering subset is connected with self-adaptation recursive filtering subset, for performing the medium filtering process based on 5 × 5 pixel windows to the first filtering image, with the scattering composition in filtering first filtering image, obtains the second 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 the second filtering image; Target Segmentation subset is connected respectively with change of scale enhancer equipment and SDRAM, and will strengthen all pixel composition bird body subimages of grey scale pixel value in bird body tonal range in image, bird body subimage is separated from the background strengthening image and obtains; Target recognin equipment is connected respectively with Target Segmentation subset and SDRAM, by bird body subimage and each gray processing bird body stencil matching, the birds type corresponding to gray processing bird body masterplate the highest for matching degree is exported as target bird body type;
Robot frame, comprise anti-tilt structure, control box, brshless DC motor, hoisting ring, travel mechanism, latch mechanism and hold-down mechanism, anti-tilt structure is positioned on the transmission line of electricity of front, control box and brshless DC motor are all positioned at the below of transmission line of electricity, hoisting ring is for being lifted into transmission line of electricity by robot frame, travel mechanism and latch mechanism are all positioned on transmission line of electricity, and hold-down mechanism is positioned at the below of transmission line of electricity;
Anti-tilt structure comprises Anti-inclining wheel, set bolt and web joint, and web joint is taken turns with Anti-inclining respectively and set bolt is connected, and prevents robot frame from tilting backwards;
Be provided with master control borad and battery in control box, master control borad be integrated with ARM11 process chip and Wireless Telecom Equipment, Wireless Telecom Equipment is used for setting up two-way wireless communication link with the power supply Operation Server of far-end;
Brshless DC motor is connected with the driving wheel of travel mechanism and the contact roller of hold-down mechanism respectively by speed reduction unit;
Travel mechanism comprises three V shaped wheels of Timing Belt, Timing Belt strainer, driving wheel and horizontal positioned, driving wheel provides power for three walkings of V shaped wheel on transmission line of electricity, Timing Belt successively through driving wheel, Timing Belt strainer and three V shaped wheels to keep the synchronous walking of three V shaped wheels;
Latch mechanism comprises the monkey wrench, intermediate support, bottom pin member and the U-bolt that are linked in sequence, falls from transmission line of electricity for preventing robot frame;
Hold-down mechanism is connected with brshless DC motor, comprise contact roller, ratchet, ratchet, back-moving spring and holddown spring, contact roller is V-structure, for compressing the aerial earth wire of transmission line of electricity under the effect of holddown spring, ratchet and ratchet are used for pinning or decontroling contact roller, and back-moving spring is used for being resetted by contact roller when contact roller decontrols;
Infrared sensor, is arranged on anti-tilt structure, is connected with ARM11 process chip, for when apart from 200 millimeters, front transmission line of electricity obstacle, sends obstruction forewarning signal;
Wherein, ARM11 process chip is also electrically connected with bird health check-up measurement equipment, be connected by wireless communication link with anti-bird windmill compressive shrinkage machines, receiving target bird sound type, and judge whether the flying bird type corresponding to target bird sound type is harmful to transmission line of electricity, if harmful, then send to anti-bird windmill compressive shrinkage machines and release control signal, otherwise, then send to anti-bird windmill compressive shrinkage machines and shrink control signal;
Wireless communication link is ZIGBEE communication link, and what ARM11 process chip and anti-bird windmill compressive shrinkage machines were set up is ZIGBEE communication link;
Wireless Telecom Equipment is 4G communication interface, and what the power supply Operation Server of Wireless Telecom Equipment and far-end was set up is two-way 4G communication link.
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| CN105896375B (en) * | 2016-05-24 | 2017-10-17 | 江苏腾飞环境工程设备有限公司 | A kind of operating desk for high voltage line maintenance |
| CN112429263A (en) * | 2020-10-29 | 2021-03-02 | 国网天津市电力公司 | Unmanned aerial vehicle charging platform for high-voltage transmission line inspection |
| CN113050153A (en) * | 2020-11-06 | 2021-06-29 | 泰州物族信息科技有限公司 | Object presence validity identification platform |
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- 2015-12-17 CN CN201610121730.6A patent/CN105573220A/en active Pending
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| CN200990835Y (en) * | 2006-12-08 | 2007-12-19 | 深圳市瀚海科技有限公司 | Novel bird-repelling robot |
| CN101972457A (en) * | 2010-07-12 | 2011-02-16 | 泰一和浦（北京）中医药研究院有限公司 | Chinese medicinal composition for treating edema during menstruation and preparation method thereof |
| WO2015148643A1 (en) * | 2014-03-25 | 2015-10-01 | Hubbell Incorporated | Bird control assemblies for protecting wires |
| CN203897132U (en) * | 2014-06-25 | 2014-10-29 | 南京正锐电力科技有限公司 | Intelligent all-weather ultrasonic bird repelling device |
| CN105044119A (en) * | 2015-08-27 | 2015-11-11 | 李明英 | Glass flaw classification method based on gray mean value analysis |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112461290A (en) * | 2020-11-09 | 2021-03-09 | 国网四川省电力公司阿坝供电公司 | Bird-repelling monitoring system for air cannon |
| CN112461290B (en) * | 2020-11-09 | 2021-09-07 | 国网四川省电力公司阿坝供电公司 | Bird-repelling monitoring system for air cannon |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105527895A (en) | 2016-04-27 |
| CN105527895B (en) | 2016-09-14 |
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