CN105598938A - Bird repellent system for power supply lines - Google Patents
Bird repellent system for power supply lines Download PDFInfo
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- CN105598938A CN105598938A CN201610121745.2A CN201610121745A CN105598938A CN 105598938 A CN105598938 A CN 105598938A CN 201610121745 A CN201610121745 A CN 201610121745A CN 105598938 A CN105598938 A CN 105598938A
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- 230000002940 repellent Effects 0.000 title abstract 5
- 239000005871 repellent Substances 0.000 title abstract 5
- 235000005770 birds nest Nutrition 0.000 claims abstract description 99
- 235000005765 wild carrot Nutrition 0.000 claims abstract description 99
- 244000000626 Daucus carota Species 0.000 claims abstract description 97
- 238000001914 filtration Methods 0.000 claims description 39
- 210000002310 elbow joint Anatomy 0.000 claims description 27
- 238000012545 processing Methods 0.000 claims description 25
- 210000000323 shoulder joint Anatomy 0.000 claims description 25
- 230000005484 gravity Effects 0.000 claims description 21
- 229910000831 Steel Inorganic materials 0.000 claims description 18
- 239000010959 steel Substances 0.000 claims description 18
- 210000003857 wrist joint Anatomy 0.000 claims description 18
- 238000004891 communication Methods 0.000 claims description 14
- 238000005520 cutting process Methods 0.000 claims description 14
- 230000008859 change Effects 0.000 claims description 12
- 238000003860 storage Methods 0.000 claims description 12
- 239000000463 material Substances 0.000 claims description 9
- 239000000203 mixture Substances 0.000 claims description 9
- 230000011218 segmentation Effects 0.000 claims description 9
- 239000003623 enhancer Substances 0.000 claims description 8
- 238000007689 inspection Methods 0.000 claims description 5
- 230000007246 mechanism Effects 0.000 claims description 5
- 238000000926 separation method Methods 0.000 claims description 5
- 230000002708 enhancing effect Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 238000005303 weighing Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims 1
- 230000015607 signal release Effects 0.000 claims 1
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 abstract 2
- 230000008602 contraction Effects 0.000 abstract 2
- 229910052742 iron Inorganic materials 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000000644 propagated effect Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
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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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- 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
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Birds (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a bird repellent system for power supply lines. The bird repellent system comprises anti-bird spine contraction equipment, an anti-bird spine body, bird's nest identification equipment and a main robot framework. The bird's nest identification equipment is positioned on the main robot framework and is used for identifying bird's nests at iron tower positions near the power supply lines, the main robot framework is used for patrolling the power supply lines, and the anti-bird spine body further can be contracted or pushed out by the aid of the anti-bird spine contraction equipment under the control of the main robot framework on the basis of bird's nest identification results. The bird repellent system has the advantages that the bird repellent accuracy of an anti-bird spine can be improved, and the power supply safety of the power supply lines can be maintained.
Description
The present invention is that application number is 2015109556224, the applying date is December 17 in 2015 day,Bright name is called the divisional application of the patent of " supply line's bird-repeller system ".
Technical field
The present invention relates to supply line's management domain, relate in particular to a kind of supply line bird-repeller system.
Background technology
Because the appearance of Bird's Nest has higher randomness, in prior art, for the discovery of Bird's Nest andRemove and generally all adopt artificial form to carry out, make an inspection tour supply line by power supply attendant naked eyes,Once discovery Bird's Nest, carries out labor cleaning immediately, but, this mode expended a large amount of manpowers andMaterial resources, 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, can supply whole pieceElectric line realizes the detection of omnidistance Bird's Nest, and can judge whether to start corresponding preventing according to testing resultBird equipment, thus too much artificial participation avoided, reduce the operating cost of power supply management department, improveThe operating efficiency of power supply management department.
Summary of the invention
In order to address the above problem, to the invention provides a kind of supply line based on bird-resistant and drive bird systemSystem, first, transforms the agent structure of existing inspecting robot, can adapt to whole piece supply linesRoad, secondly, introduces high-precision Bird's Nest identification equipment and carries out near the Bird's Nest identification of supply line, andDetermine whether to start bird-resistant compressive shrinkage machines according to recognition result, last, adopt wireless communication link to protectCommunication unimpeded of barrier 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 frameStructure, Bird's Nest identification equipment is positioned on robot body frame structure, near the steel tower position to supply lineCarry out Bird's Nest identification, robot body frame structure, for supply line is maked an inspection tour, is also identified based on Bird's NestOutput control bird-resistant compressive shrinkage machines shrinks or release bird-resistant main body.
More specifically, in described supply line's bird-repeller system based on bird-resistant, comprising: bird-resistantBase, is a spherical base, is arranged near the steel tower of 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-resistantMain body, wherein bird-resistant compressive shrinkage machines is released bird-resistant main body in the time receiving harmful Bird's Nest signal,While not receiving harmful Bird's Nest signal, shrink bird-resistant main body; Bird-resistant main body, shrinks and establishes with bird-resistantStandby connection, is made up of multiple needle bodies, and multiple needle bodies radially distribute, and make bird can not drop on anti-birdIn thorn main body; MS storage card, is positioned at control cabinet, pre-stored Bird's Nest tonal range, Bird's NestTonal range is for by the Bird's Nest of image and background separation, MS storage card is also pre-stored eachGray 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, everyGray processing Bird's Nest masterplate is taken obtained figure for the benchmark Bird's Nest by corresponding birdsPicture is carried out gray processing and is processed and obtain; Front high-definition camera equipment, is positioned on front wheel structure, comprisesHemispherical translucent cover, servicing lighting and CCD vision sensor, hemispherical translucent cover is for holdingReceive servicing lighting and CCD vision sensor, servicing lighting is CCD vision sensorShooting provides floor light, and CCD vision sensor is taken to obtain near steel tower supply lineObtain high definition steel tower image; Bird's Nest identification equipment, is positioned at control cabinet, comprises the filter of Daubechies small echoMarble equipment, medium filtering subset, change of scale enhancer equipment, Target Segmentation subset and orderMark small pin for the case equipment; Daubechies wavelet filtering subset is connected with CCD vision sensor, forHigh definition steel tower image is adopted to the wavelet filtering processing based on 2 rank Daubechies wavelet basis, with filteringGaussian noise in high definition steel tower image, obtains wavelet filtering image; Medium filtering subset withDaubechies wavelet filtering subset connects, for wavelet filtering image is carried out to medium filtering processing,With the scattering composition in filtering wavelet filtering image, obtain medium filtering image; Change of scale enhancerEquipment is connected with medium filtering subset, for medium filtering image is carried out to change of scale enhancing placeReason, to strengthen the contrast of target and background in image, obtains enhancing image; Target Segmentation subsetBe connected respectively with change of scale enhancer equipment and MS storage card, will strengthen grey scale pixel value in imageAll pixels composition Bird's Nest subimages in Bird's Nest tonal range, Bird's Nest subimage is from strengthening imageBackground place separates and obtains; Target recognin equipment connects respectively with Target Segmentation subset and MS storage cardConnect, by Bird's Nest subimage and each gray processing Bird's Nest stencil matching, by gray processing bird the highest matching degreeThe corresponding birds type of nest masterplate is exported as target Bird's Nest type; Robot body frame structure, before comprisingWheel 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, center of gravity control minor structure and controlCase processed; Front wheel structure, in base plate top, comprises front drive motors and front road wheel, frontRoad wheel adopts plastic material, has the circular groove adapting with supply line, front drive motors and frontSide's cutting tip is connected respectively with front road wheel, is used to front cutting tip that cutting power is providedMeanwhile, for front road wheel provides walking power; Middle wheel structure is arranged in front wheel structure and wheelIn the middle of structure, in base plate top, comprise middle part drive motors and middle part road wheel composition, middle part rowTravelling wheel adopts plastic material, has the circular groove adapting with supply line, middle part drive motors and middle partRoad wheel connects, and is used to middle part road wheel that walking power is provided; Rear wheel structure is in base plate top,Comprise rear drive motors and rear road wheel, rear road wheel adopts plastic material, has and power supplyThe circular groove that circuit adapts, rear drive motors connects respectively with rear cutting tip and rear road wheelConnect, when being used to rear cutting tip that cutting power is provided, for rear road wheel provides walking movingPower; Front Pneumatic extension minor structure is between front wheel structure and base plate, for by front wheel structureBe connected on base plate, comprise front wrist joint, front vertical telescopic arm, front elbow joint, front waterFlat telescopic arm and front shoulder joint, front wrist joint connects front wheel structure and front vertical telescopic armConnect, front vertical telescopic arm is connected with front elbow joint, front horizontal extension arm by front elbow joint withFront shoulder joint connects, and front shoulder joint is connected with base plate, front vertical telescopic arm also with MSP430Single-chip microcomputer is electrically connected to receive front vertical telescopic control signal, front horizontal extension arm also withMSP430 single-chip microcomputer is electrically connected to receive front horizontal extension control signal; Middle part Pneumatic extensionStructure, between middle wheel structure and base plate, for wheel structure is connected to base plate, comprisesMiddle part wrist joint, middle part vertical telescopic arm, middle part elbow joint, middle part horizontal extension arm and middle part shoulder jointJoint, middle part wrist joint is connected middle wheel structure with middle part vertical telescopic arm, middle part vertical telescopic arm andMiddle part elbow joint connects, and middle part horizontal extension arm is connected middle part elbow joint with middle part shoulder joint, middle partShoulder joint is connected with base plate, and middle part vertical telescopic arm is also electrically connected to receive with MSP430 single-chip microcomputerMiddle part vertical telescopic control signal, middle part horizontal extension arm also with MSP430 single-chip microcomputer be electrically connected withReceive middle part horizontal extension control signal; The pneumatic dilaton structure in rear is positioned at rear wheel structure and base plateBetween, for rear wheel structure is connected to base plate, comprise rear wrist joint, rear vertical telescopicArm, rear elbow joint, rear horizontal extension arm and rear shoulder joint, rear wrist joint is tied rear wheelStructure is connected with rear vertical telescopic arm, and rear vertical telescopic arm is connected with rear elbow joint, rear levelTelescopic arm is connected rear elbow joint with rear shoulder joint, rear shoulder joint is connected with base plate, hangs down in rearStraight telescopic arm is also electrically connected to receive rear vertical telescopic control signal with MSP430 single-chip microcomputer, afterSide's horizontal extension arm is also electrically connected to receive rear horizontal extension control letter with MSP430 single-chip microcomputerNumber; Brake minor structure comprises brake shoes, brake guide frame and brake cylinder, and brake shoes is positioned at rearSupply line position, brake guide frame is connected respectively with brake shoes and brake cylinder, is used to brakeThe skidding operation of piece provides power; Center of gravity control minor structure is positioned at base plate below, adopts control cabinetFor the weighing device that center of gravity regulates, comprise center of gravity adjusting cylinders and three-position electromagnetic valve, center of gravity adjusting cylindersProvide power for center of gravity regulates, three-position electromagnetic valve is by regulating the relative distance between control cabinet and base plateCarry out the position of centre of gravity of control body frame structure; Control cabinet is positioned at base plate below, comprises shell and controlPlate, described control panel is integrated MSP430 single-chip microcomputer and frequency duplex communications interface, FDD is logicalLetter interface is connected with the power supply management server of far-end, for receiving power supply management server wireless transmissionControlled in wireless instruction, 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 controlled in wireless instruction to determine alsoOutput front vertical telescopic control signal, front horizontal extension control signal, middle part vertical telescopic controlSignal, middle part horizontal extension control signal, rear vertical telescopic control signal or rear horizontal extension controlSignal processed, also for resolve controlled in wireless instruction with determine front drive motors, middle part drive motors orThe drive control signal of rear drive motors; Wherein, MSP430 single-chip microcomputer also shrinks and establishes with bird-resistantFor being connected respectively with Bird's Nest identification equipment, for receiving target Bird's Nest type, and recognizing target birdNest type is, when there is to the Bird's Nest type of infringement in supply line, to have sent harmful bird to bird-resistant compressive shrinkage machinesNest signal; Bird-resistant compressive shrinkage machines is by frequency duplex communications link and the wireless company of MSP430 single-chip microcomputerConnect, to receive harmful Bird's Nest signal.
More specifically, in described supply line's bird-repeller system based on bird-resistant, also comprise: contactFormula switch sensor, is electrically connected with MSP430 single-chip microcomputer, for touching supply line's obstacleTime, send contact obstacle signal.
More specifically, in described supply line's bird-repeller system based on bird-resistant: touch switch passesSensor is positioned on front wheel mechanism.
More specifically, in described supply line's bird-repeller system based on bird-resistant, also comprise: infraredSensor, is electrically connected with MSP430 single-chip microcomputer, for apart from front supply line obstacle 200When millimeter, send obstruction forewarning signal.
More specifically, in described supply line's bird-repeller system based on bird-resistant: infrared sensor positionOn front wheel mechanism.
Brief description of the drawings
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the supply line's bird-repeller system based on bird-resistant that illustrates according to an embodiment of the present inventionBlock diagram.
Reference numeral: 1 bird-resistant compressive shrinkage machines; 2 bird-resistant main bodys; 3 Bird's Nest identification equipments; 4 machinesDevice people body frame structure
Detailed description of the invention
Enforcement to the supply line's bird-repeller system based on bird-resistant of the present invention below with reference to accompanying drawingsScheme is elaborated.
Current, in order to overcome the impact on supply line of small bird in Bird's Nest, conventionally adopt manual typeCarry out Bird's Nest removing, first power supply management department arranges the steady job personnel scene of regularly fixing a point to goCarry out Bird's Nest and seek, finding after Bird's Nest, arranging special maintenance personal to climb up steel tower to remove birdNest, although this mode can be eliminated Bird's Nest some impacts on supply line, owing to depending on undulyManually, and the region of manually seeking is limited, and the efficiency that causes removing Bird's Nest is very low, and takesIn time, requires great effort.
In order to overcome above-mentioned deficiency, the present invention has built a kind of supply line based on bird-resistant and has driven bird systemSystem, prepares identification to Bird's Nest, and recognize after Bird's Nest start near bird-resistant on steel tower tieStructure, falls Bird's Nest, more crucial, adopts improved robot body flat as making an inspection tourPlatform, has promoted the operating efficiency of system.
Fig. 1 is the supply line's bird-repeller system based on bird-resistant that illustrates according to an embodiment of the present inventionBlock diagram, described system comprises bird-resistant compressive shrinkage machines, bird-resistant main body, Bird's Nest identification equipmentWith robot body frame structure, Bird's Nest identification equipment is positioned on robot body frame structure, for attached to supply lineBird's Nest identification is carried out near steel tower position, and robot body frame structure is for supply line is maked an inspection tour, alsoShrink or release bird-resistant main body based on Bird's Nest recognition result control bird-resistant compressive shrinkage machines.
Then, continue the concrete structure of the supply line's bird-repeller system based on bird-resistant of the present invention to enterRow further instruction.
Described system comprises: bird-resistant base is a spherical base, is arranged near supply lineSteel tower on; Bird-resistant compressive shrinkage machines, is embedded in bird-resistant base, for shrinking or releasing anti-birdThorn main body, to hide or to expose bird-resistant main body, wherein bird-resistant compressive shrinkage machines is receiving harmful birdWhen nest signal, release bird-resistant main body, in the time not receiving harmful Bird's Nest signal, shrink bird-resistant main body.
Described system comprises: bird-resistant main body, is connected with bird-resistant compressive shrinkage machines, by multiple needle body groupsBecome, multiple needle bodies radially distribute, and bird can not be dropped in bird-resistant main body; MS storage card,Be positioned at control cabinet, pre-stored Bird's Nest tonal range, Bird's Nest tonal range is for by imageBird's Nest and background separation, MS storage card is also pre-stored each gray processing Bird's Nest masterplate, eachThe Bird's Nest that the corresponding a kind of birds of gray processing Bird's Nest masterplate are built, each gray processing Bird's Nest masterplate is for logicalCross the benchmark Bird's Nest of corresponding birds is taken obtained image execution gray processing processing and obtained.
Described system comprises: front high-definition camera equipment, be positioned on front wheel structure, and comprise hemisphericalTranslucent cover, servicing lighting and CCD vision sensor, hemispherical translucent cover is used for holding auxiliaryLighting apparatus and CCD vision sensor, servicing lighting is that the shooting of CCD vision sensor is carriedFor floor light, CCD vision sensor takes to obtain high definition near steel tower supply lineSteel tower image.
Described system comprises: Bird's Nest identification equipment, be positioned at control cabinet, and comprise Daubechies small echoFiltering subset, medium filtering subset, change of scale enhancer equipment, Target Segmentation subset andTarget recognin equipment; Daubechies wavelet filtering subset is connected with CCD vision sensor, usesIn high definition steel tower image is adopted to the wavelet filtering processing based on 2 rank Daubechies wavelet basis, to filterExcept the Gaussian noise in high definition steel tower image, obtain wavelet filtering image.
Medium filtering subset is connected with Daubechies wavelet filtering subset, for to wavelet filteringImage is carried out medium filtering processing, with the scattering composition in filtering wavelet filtering image, obtains intermediate value filterRipple image.
Change of scale enhancer equipment is connected with medium filtering subset, for medium filtering image is heldRow change of scale strengthens to be processed, and to strengthen the contrast of target and background in image, obtains enhancing image.
Target Segmentation subset is connected respectively with change of scale enhancer equipment and MS storage card, will increaseThe all pixel composition Bird's Nest subimages of grey scale pixel value in Bird's Nest tonal range in strong image, Bird's NestSubimage obtains from the background separation that strengthens image.
Target recognin equipment is connected respectively with Target Segmentation subset and MS storage card, by Bird's NestImage and each gray processing Bird's Nest stencil matching, by corresponding gray processing Bird's Nest masterplate institute the highest matching degreeBirds type export as target Bird's Nest type.
Described system comprises: robot body frame structure, comprises front wheel structure, middle wheel structure, trailing wheelMinor structure, brake minor structure, front Pneumatic extension minor structure, the pneumatic dilaton structure in rear, middle partPneumatic extension minor structure, base plate, center of gravity control minor structure and control cabinet.
Front wheel structure, in base plate top, comprises front drive motors and front road wheel, front rowTravelling wheel adopts plastic material, has the circular groove adapting with supply line, front drive motors and frontCutting tip is connected respectively with front road wheel, is used to front cutting tip that the same of cutting power is providedTime, for front road wheel provides walking power.
Middle wheel structure is arranged in the middle of front wheel structure and wheel structure, in base plate top, comprisesMiddle part drive motors and middle part road wheel composition, middle part road wheel adopts plastic material, has and power supplyThe circular groove that circuit adapts, middle part drive motors is connected with middle part road wheel, is used to middle part road wheelWalking power is provided.
Rear wheel structure, in base plate top, comprises rear drive motors and rear road wheel, rear rowTravelling wheel adopts plastic material, has the circular groove adapting with supply line, rear drive motors and rearCutting tip is connected respectively with rear road wheel, is used to rear cutting tip that the same of cutting power is providedTime, for rear road wheel provides walking power.
Front Pneumatic extension minor structure is between front wheel structure and base plate, for by front wheel structureBe connected on base plate, comprise front wrist joint, front vertical telescopic arm, front elbow joint, front waterFlat telescopic arm and front shoulder joint, front wrist joint connects front wheel structure and front vertical telescopic armConnect, front vertical telescopic arm is connected with front elbow joint, front horizontal extension arm by front elbow joint withFront shoulder joint connects, and front shoulder joint is connected with base plate, front vertical telescopic arm also with MSP430Single-chip microcomputer is electrically connected to receive front vertical telescopic control signal, front horizontal extension arm also withMSP430 single-chip microcomputer is electrically connected to receive front horizontal extension control signal.
Middle part Pneumatic extension minor structure is between middle wheel structure and base plate, for by wheel structureBe connected on base plate, comprise middle part wrist joint, middle part vertical telescopic arm, middle part elbow joint, middle part waterFlat telescopic arm and middle part shoulder joint, middle part wrist joint connects middle wheel structure and middle part vertical telescopic armConnect, middle part vertical telescopic arm is connected with middle part elbow joint, middle part horizontal extension arm by middle part elbow joint withMiddle part shoulder joint connect, middle part shoulder joint is connected with base plate, middle part vertical telescopic arm also with MSP430Single-chip microcomputer is electrically connected to receive middle part vertical telescopic control signal, middle part horizontal extension arm also withMSP430 single-chip microcomputer is electrically connected to receive middle part horizontal extension control signal.
The pneumatic dilaton structure in rear is between rear wheel structure and base plate, for by rear wheel structureBe connected on base plate, comprise rear wrist joint, rear vertical telescopic arm, rear elbow joint, rear waterFlat telescopic arm and rear shoulder joint, rear wrist joint connects rear wheel structure and rear vertical telescopic armConnect, rear vertical telescopic arm is connected with rear elbow joint, rear horizontal extension arm by rear elbow joint withRear shoulder joint connects, and rear shoulder joint is connected with base plate, rear vertical telescopic arm also with MSP430Single-chip microcomputer is electrically connected to receive rear vertical telescopic control signal, rear horizontal extension arm also withMSP430 single-chip microcomputer is electrically connected to receive rear horizontal extension control signal.
Brake minor structure comprises brake shoes, brake guide frame and brake cylinder, and brake shoes is positioned at rearSupply line position, brake guide frame is connected respectively with brake shoes and brake cylinder, is used to brakeThe skidding operation of piece provides power; Center of gravity control minor structure is positioned at base plate below, adopts control cabinetFor the weighing device that center of gravity regulates, comprise center of gravity adjusting cylinders and three-position electromagnetic valve, center of gravity adjusting cylindersProvide power for center of gravity regulates, three-position electromagnetic valve is by regulating the relative distance between control cabinet and base plateCarry out the position of centre of gravity of control body frame structure.
Control cabinet is positioned at base plate below, comprises shell and control panel, described control panel is integrated MSP430Single-chip microcomputer and frequency duplex communications interface, the power supply management server of frequency duplex communications interface and far-endConnect, for receiving the controlled in wireless instruction of power supply management server wireless transmission, MSP430 monolithicMachine also with frequency duplex communications interface, front drive motors, middle part drive motors and rear drive motorsRespectively connect, for resolve controlled in wireless instruction with determine and export front vertical telescopic control signal,Front horizontal extension control signal, middle part vertical telescopic control signal, middle part horizontal extension control signal,Rear vertical telescopic control signal or rear horizontal extension control signal, also refer to for resolving controlled in wirelessOrder is to determine the drive control signal of front drive motors, 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 be that supply line is had to infringement recognizing target Bird's Nest typeWhen Bird's Nest type, send harmful Bird's Nest signal to bird-resistant compressive shrinkage machines; Bird-resistant compressive shrinkage machines passes throughFrequency duplex communications link and the wireless connections of MSP430 single-chip microcomputer, to receive harmful Bird's Nest signal.
Alternatively, in described system, also comprise: touch switch sensor, mono-with MSP430Sheet machine is electrically connected, and in the time touching supply line's obstacle, sends contact obstacle signal; ContactFormula switch sensor is positioned on front wheel mechanism; Infrared sensor, electrically connects with MSP430 single-chip microcomputerConnect, for when apart from 200 millimeters, front supply line obstacle, send obstruction forewarning signal; InfraredSensor is positioned on front wheel mechanism.
In addition, wave filter, as its name suggests, is the device that ripple is filtered. " ripple " be one non-Often physical concept widely, at electronic technology field, " ripple " be narrowly confined to refer in particular to describe eachPlant the value process of fluctuations in time of physical quantity. This process is by the effect of various kinds of sensors,Be converted into the function of time of voltage or electric current, be referred to as the time waveform of various physical quantitys, or claimBe signal. Because the independent variable time is continuous value, thus be referred to as continuous time signal, againBe referred to as habitually analog signal.
Along with generation and the develop rapidly of digital electronic computer technology, for the ease of computer to letterNumber process, produced and continuous time signal has been transformed into discrete time letter under sampling theorem instructsNumber complete theory and method. That is to say, can only use original analog signal in the time of series of discreteBetween sample value in coordinate points express primary signal and do not lose any information, ripple, waveform, signal thisSince what a little concepts were expressed is the variation of various physical quantitys in objective world, be exactly that modern society relies naturallyWith the carrier of various information of existence. Informational needs is propagated, and what lean on is exactly the transmission of waveform signal. LetterNumber may be due to the existence of environment and interference in its each link of generation, conversion, transmissionDistortion, or even in considerable situation, this distortion is also very serious, causes signal and institute thereof to takeThe information of band has been embedded in the middle of noise dearly. For these noises of filtering, recover signal originally,Need to use various wave filters to carry out filtering processing.
Adopt the supply line's bird-repeller system based on bird-resistant of the present invention, cannot be for prior artThe problem that the unartificial form of field by using is removed near Bird's Nest supply line, first reforms existingInspecting robot framework, can adapt to supply line's environment of various complexity, then designThe Bird's Nest that comprises bird-resistant base, bird-resistant compressive shrinkage machines and bird-resistant main body is driven away structure, and introducesFrequency duplex communications link is to ensure the proper communication between field apparatus.
Be understandable that, although the present invention disclose as above with preferred embodiment, but above-mentioned enforcementExample is not in order to limit the present invention. For any those of ordinary skill in the art, do not departing fromIn technical solution of the present invention scope situation, all can utilize the technology contents of above-mentioned announcement to the technology of the present inventionScheme is made many possible variations and modification, or is revised as the equivalent embodiment of equivalent variations. Therefore,Every content that does not depart from technical solution of the present invention, foundation technical spirit of the present invention is to above embodimentAny simple modification, equivalent variations and the modification done, all still belong to technical solution of the present invention protectionIn scope.
Claims (2)
1. the supply line's bird-repeller system based on bird-resistant, described system comprises that bird-resistant shrinksEquipment, bird-resistant main body, Bird's Nest identification equipment and robot body frame structure, Bird's Nest identification equipment is positioned at machineOn device people body frame structure, carry out Bird's Nest identification near the steel tower position to supply line, the master of robotFramework is for making an inspection tour supply line, also based on Bird's Nest recognition result control bird-resistant compressive shrinkage machinesShrink or release bird-resistant main body.
2. the supply line's bird-repeller system based on bird-resistant as claimed in claim 1, its feature existsIn, described system comprises:
Bird-resistant base, is a spherical base, is arranged near the steel tower of supply line;
Bird-resistant compressive shrinkage machines, is embedded in bird-resistant base, for shrinking or release bird-resistant main body,To hide or to expose bird-resistant main body, wherein bird-resistant compressive shrinkage machines is in the time receiving harmful Bird's Nest signalRelease bird-resistant main body, in the time not receiving harmful Bird's Nest signal, shrink bird-resistant main body;
Bird-resistant main body, is connected with bird-resistant compressive shrinkage machines, is made up of multiple needle bodies, and multiple needle bodies areRadial distribution, can not drop in bird-resistant main body bird;
MS storage card, is positioned at control cabinet, pre-stored Bird's Nest tonal range, Bird's Nest gray scale modelEnclose for by the Bird's Nest of image and background separation MS storage card is also pre-stored each gray processingBird'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 ashDegreeization Bird's Nest masterplate is taken obtained image for the benchmark Bird's Nest by corresponding birds and is carried outGray processing is processed and is obtained;
Front high-definition camera equipment, is positioned on front wheel structure, comprises hemispherical translucent cover, auxiliary photographStandby and the CCD vision sensor of exposed installation, hemispherical translucent cover is used for holding servicing lighting and CCDVision sensor, servicing lighting provides floor light, CCD for the shooting of CCD vision sensorVision sensor takes to obtain high definition steel tower image near steel tower supply line;
Bird's Nest identification equipment, is positioned at control cabinet, comprise Daubechies wavelet filtering subset, inValue 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 to high definition steel tower imageAdopt the wavelet filtering processing based on 2 rank Daubechies wavelet basis, in filtering high definition steel tower imageGaussian noise, obtain wavelet filtering image; Medium filtering subset and Daubechies wavelet filteringSubset connects, for wavelet filtering image is carried out to medium filtering processing, with filtering wavelet filtering figureScattering composition in picture, obtains medium filtering image; Change of scale enhancer equipment and medium filteringEquipment connection, strengthens processing for medium filtering image is carried out to change of scale, to strengthen order in imageThe contrast of mark and background, obtains and strengthens image; Target Segmentation subset and change of scale enhancer are establishedFor being connected respectively with MS storage card, by grey scale pixel value in enhancing image in Bird's Nest tonal rangeAll pixel composition Bird's Nest subimages, Bird's Nest subimage obtains from the background separation that strengthens image; OrderMark small pin for the case equipment is connected respectively with Target Segmentation subset and MS storage card, by Bird's Nest subimage andEach gray processing Bird's Nest stencil matching, by the corresponding birds of gray processing Bird's Nest masterplate the highest matching degreeType is exported as target Bird's Nest type;
Robot body frame structure, comprises front wheel structure, middle wheel structure, rear wheel structure, brakeStructure, front Pneumatic extension minor structure, the pneumatic dilaton structure in rear, middle part Pneumatic extension minor structure,Base plate, center of gravity control minor structure and control cabinet;
Front wheel structure, in base plate top, comprises front drive motors and front road wheel, front rowTravelling wheel adopts plastic material, has the circular groove adapting with supply line, front drive motors and frontCutting tip is connected respectively with front road wheel, is used to front cutting tip that the same of cutting power is providedTime, for front road wheel provides walking power;
Middle wheel structure is arranged in the middle of front wheel structure and wheel structure, in base plate top, comprisesMiddle part drive motors and middle part road wheel composition, middle part road wheel adopts plastic material, has and power supplyThe circular groove that circuit adapts, middle part drive motors is connected with middle part road wheel, is used to middle part road wheelWalking power is provided;
Rear wheel structure, in base plate top, comprises rear drive motors and rear road wheel, rear rowTravelling wheel adopts plastic material, has the circular groove adapting with supply line, rear drive motors and rearCutting tip is connected respectively with rear road wheel, is used to rear cutting tip that the same of cutting power is providedTime, for rear road wheel provides walking power;
Front Pneumatic extension minor structure is between front wheel structure and base plate, for by front wheel structureBe connected on base plate, comprise front wrist joint, front vertical telescopic arm, front elbow joint, front waterFlat telescopic arm and front shoulder joint, front wrist joint connects front wheel structure and front vertical telescopic armConnect, front vertical telescopic arm is connected with front elbow joint, front horizontal extension arm by front elbow joint withFront shoulder joint connects, and front shoulder joint is connected with base plate, front vertical telescopic arm also with MSP430Single-chip microcomputer is electrically connected to receive front vertical telescopic control signal, front horizontal extension arm also withMSP430 single-chip microcomputer is electrically connected to receive front horizontal extension control signal;
Middle part Pneumatic extension minor structure is between middle wheel structure and base plate, for by wheel structureBe connected on base plate, comprise middle part wrist joint, middle part vertical telescopic arm, middle part elbow joint, middle part waterFlat telescopic arm and middle part shoulder joint, middle part wrist joint connects middle wheel structure and middle part vertical telescopic armConnect, middle part vertical telescopic arm is connected with middle part elbow joint, middle part horizontal extension arm by middle part elbow joint withMiddle part shoulder joint connect, middle part shoulder joint is connected with base plate, middle part vertical telescopic arm also with MSP430Single-chip microcomputer is electrically connected to receive middle part vertical telescopic control signal, middle part horizontal extension arm also withMSP430 single-chip microcomputer is electrically connected to receive middle part horizontal extension control signal;
The pneumatic dilaton structure in rear is between rear wheel structure and base plate, for by rear wheel structureBe connected on base plate, comprise rear wrist joint, rear vertical telescopic arm, rear elbow joint, rear waterFlat telescopic arm and rear shoulder joint, rear wrist joint connects rear wheel structure and rear vertical telescopic armConnect, rear vertical telescopic arm is connected with rear elbow joint, rear horizontal extension arm by rear elbow joint withRear shoulder joint connects, and rear shoulder joint is connected with base plate, rear vertical telescopic arm also with MSP430Single-chip microcomputer is electrically connected to receive rear vertical telescopic control signal, rear horizontal extension arm also withMSP430 single-chip microcomputer is electrically connected to receive rear horizontal extension control signal;
Brake minor structure comprises brake shoes, brake guide frame and brake cylinder, and brake shoes is positioned at rearSupply line position, brake guide frame is connected respectively with brake shoes and brake cylinder, is used to brakeThe skidding operation of piece provides power;
Center of gravity control minor structure is positioned at base plate below, and adopting control cabinet is 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, three for center of gravity regulatesPosition magnetic valve is by regulating relative distance between control cabinet and base plate to carry out control body frame structurePosition of centre of gravity;
Control cabinet is positioned at base plate below, comprises shell and control panel, described control panel is integrated MSP430Single-chip microcomputer and frequency duplex communications interface, the power supply management server of frequency duplex communications interface and far-endConnect, for receiving the controlled in wireless instruction of power supply management server wireless transmission, MSP430 monolithicMachine also with frequency duplex communications interface, front drive motors, middle part drive motors and rear drive motorsRespectively connect, for resolve controlled in wireless instruction with determine and export front vertical telescopic control signal,Front horizontal extension control signal, middle part vertical telescopic control signal, middle part horizontal extension control signal,Rear vertical telescopic control signal or rear horizontal extension control signal, also refer to for resolving controlled in wirelessOrder is to determine the drive control signal of front drive motors, 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 be that supply line is had to infringement recognizing target Bird's Nest typeWhen Bird's Nest type, send harmful Bird's Nest signal to bird-resistant compressive shrinkage machines;
Wherein, bird-resistant compressive shrinkage machines is wireless by frequency duplex communications link and MSP430 single-chip microcomputerConnect, to receive harmful Bird's Nest signal;
Touch switch sensor, is electrically connected with MSP430 single-chip microcomputer, for touching power supplyWhen circuitry obstacle, send contact obstacle signal;
Touch switch sensor is positioned on front wheel mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610121745.2A CN105598938B (en) | 2015-12-17 | 2015-12-17 | Supply line's bird-repeller system |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510955622.4A CN105397794B (en) | 2015-12-17 | 2015-12-17 | Supply line's bird-repeller system |
| CN201610121745.2A CN105598938B (en) | 2015-12-17 | 2015-12-17 | Supply line's bird-repeller system |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201510955622.4A Division CN105397794B (en) | 2015-12-17 | 2015-12-17 | Supply line's bird-repeller system |
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| Publication Number | Publication Date |
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| CN105598938A true CN105598938A (en) | 2016-05-25 |
| CN105598938B CN105598938B (en) | 2016-09-07 |
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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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| 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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| 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 CN201610121861.4A patent/CN105494309B/en active Active
- 2015-12-17 CN CN201510955622.4A patent/CN105397794B/en not_active Expired - Fee Related
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| CN201199877Y (en) * | 2008-06-04 | 2009-03-04 | 保定市兴华电力器材厂 | Rotating bird-proof stabbed capable of deploying and retracting |
| JP2013192486A (en) * | 2012-03-19 | 2013-09-30 | Chugoku Electric Power Co Inc:The | Bird and beast threatening system |
| CN103530620A (en) * | 2013-10-30 | 2014-01-22 | 华北电力大学 | Method for identifying bird nest on electric transmission line tower |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN105494309B (en) | 2016-09-21 |
| CN105494309A (en) | 2016-04-20 |
| CN105598938B (en) | 2016-09-07 |
| CN105397794A (en) | 2016-03-16 |
| CN105397794B (en) | 2016-06-29 |
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| CB03 | Change of inventor or designer information |
Inventor after: Wang Bin Inventor after: Huang Xiaogang Inventor after: Zhao Xiangqin Inventor after: Wang Chunlei Inventor after: Ma Mingjun Inventor after: Zhao Qinghua Inventor after: Ma Kemin Inventor after: Huang Guojun Inventor after: Liu Zhiwei Inventor after: Zhang Chengdong Inventor after: Sun Xingde Inventor after: Yang Haiyan Inventor after: Li Shigang Inventor after: Sun Minggong Inventor after: Zhang Xiuxi Inventor after: Zhang Feng Inventor before: Zhang Ximei |
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Effective date of registration: 20160810 Address after: No. 276400 Shandong Xinhua C000841 city of Linyi province Yishui County Road No. 1 building room 2 Room 3 room 4 No. 5 Applicant after: State Grid Shandong Electric Power Company Yishui County Power Supply Company Address before: 056038 No. 19 Guangming South Street, Hebei, Handan Applicant before: Zhang Ximei |
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