CN105785860A - Power transmission line monitoring platform - Google Patents
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Abstract
The invention relates to a power transmission line monitoring platform. The power transmission line monitoring platform comprises an anti-bird windmill contracting device, a bird body detection device, a robot framework and an infrared sensor. The bird body detection device is used for detecting bird sound types around a power transmission line based on image processing. The anti-bird windmill contracting device is used for controlling the contraction or pulling-out of an anti-bird windmill main body. The robot framework is carried by the power transmission line, is connected with the anti-bird windmill contracting device, the bird body detection device and the infrared sensor and is used for controlling the operation of the anti-bird windmill contracting device according to a detection result of the bird body detection device. The infrared sensor is used for detecting whether obstacles exist at the position of the power transmission line in front of the robot framework. According to the invention, harmful flying birds around the power transmission line can be expelled in real time, and the harmful flying birds are prevented from staying around the power transmission line.
Description
The divisional application of patent that the present invention is application number is 2015109559701, the applying date is December in 2015 17 days, denomination of invention is " 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 dispelling configuration of different occasions is identical, adaptive bird dispelling cannot be carried out according to the concrete condition of on-the-spot birds, and, employ and overlap scarecrow device more, cause the serious waste of resource, for instance cause the serious waste of electric power.
For this reason, it may be necessary to a kind of anti-bird platform of self adaptation transmission line of electricity, adopt a set of scarecrow device to carry out motor driven bird dispelling whole transmission line of electricity, and integrated high accuracy bird health check-up measurement equipment and targetedly anti-bird windmill contractile mechanism have ensured the accuracy of bird dispelling.
Summary of the invention
In order to solve the problems referred to above, the invention provides a kind of transmission line of electricity monitor supervision platform based on anti-bird windmill, first design a set of can independent ambulation robot body's structure on transmission line of electricity, secondly adopt based on the type of flying bird near bird health check-up measurement equipment detection place of high-precision image processing, then adopting can according to whether exists bird body to control the anti-bird windmill compressive shrinkage machines anti-bird windmill main body of contraction, 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 includes anti-bird windmill compressive shrinkage machines, bird health check-up measurement equipment, robot frame and infrared sensor, bird health check-up measurement equipment is 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 and infrared sensor connect respectively, the operation of anti-bird windmill compressive shrinkage machines is controlled for the testing result according to bird health check-up measurement equipment, whether infrared sensor exists barrier for transmission line of electricity place, measuring robots framework front.
More specifically, in the described transmission line of electricity monitor supervision platform based on anti-bird windmill, including: windmill seat, it is a flat base, is arranged on the steel tower near transmission line of electricity；Anti-bird windmill compressive shrinkage machines, it is 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 release control signal and starts the rotation of anti-bird windmill main body, shrinks bird-resistant main body when receiving and shrinking control signal and closes the rotation of anti-bird windmill main body；Anti-bird windmill main body, is connected with anti-bird windmill compressive shrinkage machines, is made up of multiple windmills, and multiple windmills are evenly distributed so that bird can not be dropped in anti-bird windmill main body, and each windmill is made up of support bar and wind wheel；SDRAM, it is arranged on anti-tilt structure, prestore bird body tonal range, bird body tonal range is for by the bird body in image and background separation, SDRAM has also prestored each gray processing bird body masterplate, each gray processing bird body masterplate correspondence one birds, each gray processing bird body masterplate is obtained by the image execution gray processing process benchmark bird body of corresponding birds carrying out shooting obtained；Cmos sensor, is arranged on anti-tilt structure, shoots 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, including self adaptation recursive filtering subset, medium filtering subset, change of scale enhancer equipment, Target Segmentation subset and target recognition subset；Self adaptation recursive filtering subset is connected with cmos sensor, processes for transmission line of electricity image is performed self adaptation recursive filtering, to filter the Gaussian noise in transmission line of electricity image, it is thus achieved that the first filtering image；Medium filtering subset is connected with self adaptation recursive filtering subset, for performing the first filtering image to process based on the medium filtering of 5 × 5 pixel windows, to filter the scattering composition in the first filtering image, it is thus achieved that the second filtering image；Change of scale enhancer equipment is connected with medium filtering subset, for the second filtering image is performed change of scale enhancement process, to strengthen the contrast of target and background in image, it is thus achieved that strengthen image；Target Segmentation subset is connected respectively with change of scale enhancer equipment and SDRAM, will strengthen the grey scale pixel value all pixels composition bird body subimage in bird body tonal range in image, and bird body subimage separates from the background strengthening image and obtains；Target recognition subset 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, including anti-tilt structure, control chamber, brshless DC motor, hoisting ring, walking mechanism, retaining mechanism and hold-down mechanism, on the located anteriorly transmission line of electricity of anti-tilt structure, control chamber and brshless DC motor are all located at the lower section of transmission line of electricity, hoisting ring is for being lifted into transmission line of electricity by robot frame, walking mechanism and retaining mechanism are all located on transmission line of electricity, and hold-down mechanism is positioned at the lower section of transmission line of electricity；Anti-tilt structure includes Anti-inclining wheel, fixing bolt and connecting plate, and connecting plate is taken turns with Anti-inclining and fixed bolt respectively and is connected, it is prevented that robot frame tilts backwards；Being provided with master control borad and battery in control chamber, master control borad is integrated with ARM11 and processes chip and Wireless Telecom Equipment, Wireless Telecom Equipment sets up two-way wireless communication link for the power supply Operation Server with far-end；Brshless DC motor is connected with the driving wheel of walking mechanism and the contact roller of hold-down mechanism respectively by decelerator；Walking mechanism includes three V shaped wheels of Timing Belt, Timing Belt strainer, driving wheel and horizontal positioned, driving wheel provides power for the walking on transmission line of electricity of three V shaped wheels, and Timing Belt sequentially passes through driving wheel, Timing Belt strainer and three V shaped wheels to keep the synchronous walking of three V shaped wheels；Retaining mechanism includes the adjustable wrench, intermediate support, bottom pin member and the U-bolt that are linked in sequence, is used for preventing robot frame from falling from transmission line of electricity；Hold-down mechanism is connected with brshless DC motor, including 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 for resetting contact roller when contact roller is released；Infrared sensor, is arranged on anti-tilt structure, processes chip with ARM11 and is connected, for when 200 millimeters of distance front transmission line of electricity obstacle, sending obstruction forewarning signal；Wherein, ARM11 processes chip and is also electrically connected with bird health check-up measurement equipment, it is connected by wireless communication link with anti-bird windmill compressive shrinkage machines, receive 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 contraction control signal is sent to anti-bird windmill compressive shrinkage machines.
More specifically, in the described transmission line of electricity monitor supervision platform based on anti-bird windmill: 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.
More specifically, in the described transmission line of electricity monitor supervision platform based on anti-bird windmill: 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.
More specifically, in the described transmission line of electricity monitor supervision platform based on anti-bird windmill, also include: touch switch sensor, process chip with ARM11 and be connected, 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 include: ultrasonic listening sensor, process chip with ARM11 and be electrically connected, for detecting and export 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.
Accompanying drawing labelling: 1 anti-bird windmill compressive shrinkage machines；2 bird health check-up measurement equipments；3 robot frame；4 infrared sensors
Detailed description of the invention
Below with reference to accompanying drawings the embodiment based on the transmission line of electricity monitor supervision platform of anti-bird windmill of the present invention is described in detail.
At present, the anti-bird measure of high-tension line mainly by expulsion, frighten and the mode such as block is to prevent birds droppings flashover.But, aforesaid way is all fixing, birds expulsion can not be oriented according to on-the-spot birds physical presence situation, very possible on-the-spot not birds and waste the equipment of bird dispelling, being also possible to that on-the-spot birds are a lot of and that expel mode is imappropriate, meanwhile, above-mentioned fixing bird dispelling mode 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, can adopt the plant equipment after a set of structure-improved that whole piece transmission line of electricity is unified bird dispelling operation, it is to avoid the waste of resource, improve the speed of bird dispelling, secondly, the shrinkage operation of anti-bird windmill compressive shrinkage machines according to whether scene exists birds, can be controlled, thus promoting the accuracy of bird dispelling.
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 includes anti-bird windmill compressive shrinkage machines, bird health check-up measurement equipment, robot frame and infrared sensor, bird health check-up measurement equipment is 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 and infrared sensor connect respectively, the operation of anti-bird windmill compressive shrinkage machines is controlled for the testing result according to bird health check-up measurement equipment, whether infrared sensor exists barrier for transmission line of electricity place, measuring robots framework front.
Then, continue the concrete structure based on the transmission line of electricity monitor supervision platform of anti-bird windmill of the present invention is further detailed.
Described platform includes: windmill seat, is a flat base, is arranged on the steel tower near transmission line of electricity；Anti-bird windmill compressive shrinkage machines, it is 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 release control signal and starts the rotation of anti-bird windmill main body, shrinks bird-resistant main body when receiving and shrinking control signal and closes the rotation of anti-bird windmill main body.
Described platform includes: anti-bird windmill main body, is connected with anti-bird windmill compressive shrinkage machines, is made up of multiple windmills, and multiple windmills are evenly distributed so that 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 includes: SDRAM, it is arranged on anti-tilt structure, prestore bird body tonal range, bird body tonal range is for by the bird body in image and background separation, SDRAM has also prestored each gray processing bird body masterplate, each gray processing bird body masterplate correspondence one birds, each gray processing bird body masterplate is obtained by the image execution gray processing process benchmark bird body of corresponding birds carrying out shooting obtained.
Described platform includes: cmos sensor, is arranged on anti-tilt structure, shoots to obtain transmission line of electricity image to the scene near transmission line of electricity.
Described platform includes: bird health check-up measurement equipment, is arranged on anti-tilt structure, including self adaptation recursive filtering subset, medium filtering subset, change of scale enhancer equipment, Target Segmentation subset and target recognition subset.
Self adaptation recursive filtering subset is connected with cmos sensor, processes for transmission line of electricity image is performed self adaptation recursive filtering, to filter the Gaussian noise in transmission line of electricity image, it is thus achieved that the first filtering image；Medium filtering subset is connected with self adaptation recursive filtering subset, for performing the first filtering image to process based on the medium filtering of 5 × 5 pixel windows, to filter the scattering composition in the first filtering image, it is thus achieved that the second filtering image.
Change of scale enhancer equipment is connected with medium filtering subset, for the second filtering image is performed change of scale enhancement process, to strengthen the contrast of target and background in image, it is thus achieved that strengthen image；Target Segmentation subset is connected respectively with change of scale enhancer equipment and SDRAM, will strengthen the grey scale pixel value all pixels composition bird body subimage in bird body tonal range in image, and bird body subimage separates from the background strengthening image and obtains.
Target recognition subset 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 includes: robot frame, including anti-tilt structure, control chamber, brshless DC motor, hoisting ring, walking mechanism, retaining mechanism and hold-down mechanism.
On the located anteriorly transmission line of electricity of anti-tilt structure, control chamber and brshless DC motor are all located at the lower section of transmission line of electricity, hoisting ring is all located on transmission line of electricity for robot frame is lifted into transmission line of electricity, walking mechanism and retaining mechanism, and hold-down mechanism is positioned at the lower section of transmission line of electricity；Anti-tilt structure includes Anti-inclining wheel, fixing bolt and connecting plate, and connecting plate is taken turns with Anti-inclining and fixed bolt respectively and is connected, it is prevented that robot frame tilts backwards.
Being provided with master control borad and battery in control chamber, master control borad is integrated with ARM11 and processes chip and Wireless Telecom Equipment, Wireless Telecom Equipment sets up two-way wireless communication link for the power supply Operation Server with far-end；Brshless DC motor is connected with the driving wheel of walking mechanism and the contact roller of hold-down mechanism respectively by decelerator.
Walking mechanism includes three V shaped wheels of Timing Belt, Timing Belt strainer, driving wheel and horizontal positioned, driving wheel provides power for the walking on transmission line of electricity of three V shaped wheels, and Timing Belt sequentially passes through driving wheel, Timing Belt strainer and three V shaped wheels to keep the synchronous walking of three V shaped wheels；Retaining mechanism includes the adjustable wrench, intermediate support, bottom pin member and the U-bolt that are linked in sequence, is used for preventing robot frame from falling from transmission line of electricity.
Hold-down mechanism is connected with brshless DC motor, including 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 for resetting contact roller when contact roller is released.
Described platform includes: infrared sensor, is arranged on anti-tilt structure, processes chip with ARM11 and is connected, for when 200 millimeters of distance front transmission line of electricity obstacle, sending obstruction forewarning signal.
Wherein, ARM11 processes chip and is also electrically connected with bird health check-up measurement equipment, it is connected by wireless communication link with anti-bird windmill compressive shrinkage machines, receive 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 contraction control signal is sent to anti-bird windmill compressive shrinkage machines.
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, processes chip with ARM11 and is connected, for when touching transmission line of electricity obstacle, sending contact obstacle signal；And alternatively, ultrasonic listening sensor, process chip with ARM11 and be electrically connected, for detecting and export the obstacle distance at transmission line of electricity place, front.
It addition, CMOS (ComplementaryMetal-Oxide-Semiconductor), Chinese formal name used at school is complementary metal oxide semiconductors (CMOS), and he is originally a kind of important chip in computer system, saves the data that System guides is most basic.Manufacturing technology and the general computer chip of CMOS do not have difference, mainly by the quasiconductor that silicon and germanium both elements are made, making it co-exist the quasiconductor with N (band-electricity) and P (band+electricity) level on CMOS, the chip that can be processed of electric current produced by the two complementary effect is noted down and is interpreted to image.Found that CMOS can also as the imageing sensor in digital photography through processing later.
For for the portable use 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, therefore has to adopt an electric pressure converter, thus causing that power consumption increases.In total power consumption, controlling to be integrated in cmos sensor will bring another benefit with systemic-function: he eliminates all external connection lines with other semiconductor elements.Nowadays the driver of its high power consumption is abandoned, this is because it is more much lower than by the outside implementation of PCB or substrate to communicate, at chip internal, the energy consumed.
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), is again passive type element sensor, and he is made up of a back-biased light sensitive diode and a switching tube.Light sensitive diode is substantially a PN junction being made up of P-type semiconductor and N-type semiconductor, and he can be equivalent to a back-biased diode and a mos capacitance parallel connection.When switching tube is opened, light sensitive diode connects with vertical alignment (Columnbus).The charge integration amplifier reading circuit (Chargeintegratingamplifier) being positioned at alignment end keeps column line voltage to be a constant, when the signal charge of light sensitive diode storage is read out, its voltage is reset to column line voltage level, meanwhile, the electric charge being directly proportional to optical signal is converted to electric charge output by charge integration amplifier.
Active pixel sensor (ActivePixelSensor is called for short APS), is again active element sensor.Almost while CMOSPPS dot structure is invented, it is rapidly be recognized that introducing buffer or amplifier can improve the performance of pixel in pixel, CMOSAPS has in each pixel the amplifier of oneself.The transistor that amplifies being integrated in surface decreases the effective surface area of pixel element, reduces " packaging density ", makes the incident illumination of 40%～50% be reflected.Another problem of this sensor is, how to make to have between the multichannel amplifier of sensor good coupling, and this fixed pattern noise that can pass through to reduce residual level realizes preferably.It is excited during only reading at this due to each amplifier in CMOSAPS pixel, so the power dissipation ratio ccd image sensor of CMOSAPS is also little.
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 excessively ossifys, first adopt custom-designed robot body's framework as circuit walking arrangement, it is integrated with the equipment that can shrink windmill thereon and based on the bird health check-up measurement equipment of high precision image identification technology to realize on-the-spot bird body type detection and adaptive windmill bird dispelling, thus in the process of robot body's framework walking, the contraction of windmill can be accurately controlled according to the flying bird that whether exists that transmission line of electricity is on-the-spot, thus improving accuracy and the motility of bird dispelling.
Although it is understood that the present invention discloses as above with preferred embodiment, but above-described embodiment is not limited to the present invention.For any those of ordinary skill in the art, without departing under technical solution of the present invention ambit, all may utilize the technology contents of the disclosure above and technical solution of the present invention is made many possible variations and modification, or be revised as the Equivalent embodiments of equivalent variations.Therefore, every content without departing from technical solution of the present invention, the technical spirit of the foundation present invention, to any simple modification made for any of the above embodiments, equivalent variations and modification, all still falls within 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 includes anti-bird windmill compressive shrinkage machines, bird health check-up measurement equipment, robot frame and infrared sensor, bird health check-up measurement equipment is 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 and infrared sensor connect respectively, the operation of anti-bird windmill compressive shrinkage machines is controlled for the testing result according to bird health check-up measurement equipment, whether infrared sensor exists barrier for transmission line of electricity place, measuring robots framework front.
2. the transmission line of electricity monitor supervision platform based on anti-bird windmill as claimed in claim 1, it is characterised in that described platform includes:
Windmill seat, is a flat base, is arranged on the steel tower near transmission line of electricity；
Anti-bird windmill compressive shrinkage machines, it is 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 release control signal and starts the rotation of anti-bird windmill main body, shrinks bird-resistant main body when receiving and shrinking control signal and closes the rotation of anti-bird windmill main body；
Anti-bird windmill main body, is connected with anti-bird windmill compressive shrinkage machines, is made up of multiple windmills, and multiple windmills are evenly distributed so that bird can not be dropped in anti-bird windmill main body, and each windmill is made up of support bar and wind wheel；
SDRAM, it is arranged on anti-tilt structure, prestore bird body tonal range, bird body tonal range is for by the bird body in image and background separation, SDRAM has also prestored each gray processing bird body masterplate, each gray processing bird body masterplate correspondence one birds, each gray processing bird body masterplate is obtained by the image execution gray processing process benchmark bird body of corresponding birds carrying out shooting obtained；
Cmos sensor, is arranged on anti-tilt structure, shoots 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, including self adaptation recursive filtering subset, medium filtering subset, change of scale enhancer equipment, Target Segmentation subset and target recognition subset；Self adaptation recursive filtering subset is connected with cmos sensor, processes for transmission line of electricity image is performed self adaptation recursive filtering, to filter the Gaussian noise in transmission line of electricity image, it is thus achieved that the first filtering image；Medium filtering subset is connected with self adaptation recursive filtering subset, for performing the first filtering image to process based on the medium filtering of 5 × 5 pixel windows, to filter the scattering composition in the first filtering image, it is thus achieved that the second filtering image；Change of scale enhancer equipment is connected with medium filtering subset, for the second filtering image is performed change of scale enhancement process, to strengthen the contrast of target and background in image, it is thus achieved that strengthen image；Target Segmentation subset is connected respectively with change of scale enhancer equipment and SDRAM, will strengthen the grey scale pixel value all pixels composition bird body subimage in bird body tonal range in image, and bird body subimage separates from the background strengthening image and obtains；Target recognition subset 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, including anti-tilt structure, control chamber, brshless DC motor, hoisting ring, walking mechanism, retaining mechanism and hold-down mechanism, on the located anteriorly transmission line of electricity of anti-tilt structure, control chamber and brshless DC motor are all located at the lower section of transmission line of electricity, hoisting ring is for being lifted into transmission line of electricity by robot frame, walking mechanism and retaining mechanism are all located on transmission line of electricity, and hold-down mechanism is positioned at the lower section of transmission line of electricity；
Anti-tilt structure includes Anti-inclining wheel, fixing bolt and connecting plate, and connecting plate is taken turns with Anti-inclining and fixed bolt respectively and is connected, it is prevented that robot frame tilts backwards；
Being provided with master control borad and battery in control chamber, master control borad is integrated with ARM11 and processes chip and Wireless Telecom Equipment, Wireless Telecom Equipment sets up two-way wireless communication link for the power supply Operation Server with far-end；
Brshless DC motor is connected with the driving wheel of walking mechanism and the contact roller of hold-down mechanism respectively by decelerator；
Walking mechanism includes three V shaped wheels of Timing Belt, Timing Belt strainer, driving wheel and horizontal positioned, driving wheel provides power for the walking on transmission line of electricity of three V shaped wheels, and Timing Belt sequentially passes through driving wheel, Timing Belt strainer and three V shaped wheels to keep the synchronous walking of three V shaped wheels；
Retaining mechanism includes the adjustable wrench, intermediate support, bottom pin member and the U-bolt that are linked in sequence, is used for preventing robot frame from falling from transmission line of electricity；
Hold-down mechanism is connected with brshless DC motor, including 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 for resetting contact roller when contact roller is released；
Infrared sensor, is arranged on anti-tilt structure, processes chip with ARM11 and is connected, for when 200 millimeters of distance front transmission line of electricity obstacle, sending obstruction forewarning signal；
Wherein, ARM11 processes chip and is also electrically connected with bird health check-up measurement equipment, it is connected by wireless communication link with anti-bird windmill compressive shrinkage machines, receive 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 contraction control signal is sent to anti-bird windmill compressive shrinkage machines；
Touch switch sensor, processes chip with ARM11 and is connected, for when touching transmission line of electricity obstacle, sending contact obstacle signal；
Ultrasonic listening sensor, processes chip with ARM11 and is electrically connected, for detecting and export the obstacle distance at transmission line of electricity place, front.
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Application publication date: 20160720 |