CN106711861A - Self-induced type bird-preventing device - Google Patents
Self-induced type bird-preventing device Download PDFInfo
- Publication number
- CN106711861A CN106711861A CN201710205292.6A CN201710205292A CN106711861A CN 106711861 A CN106711861 A CN 106711861A CN 201710205292 A CN201710205292 A CN 201710205292A CN 106711861 A CN106711861 A CN 106711861A
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- bird
- module
- birds
- nest
- self
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
-
- 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
- A01M29/06—Scaring or repelling devices, e.g. bird-scaring apparatus using visual means, e.g. scarecrows, moving elements, specific shapes, patterns or the like
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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
- A01M29/16—Scaring or repelling devices, e.g. bird-scaring apparatus using sound waves
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- Life Sciences & Earth Sciences (AREA)
- Birds (AREA)
- Engineering & Computer Science (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses a self-induced type bird-preventing device. The self-induced type bird-preventing device comprises an overhead track, a moving cart, a balancing mechanism, an inspection robot and a control center, wherein the overhead track is arranged along power transmission lines; the moving cart is arranged on the overhead track; the balancing mechanism is arranged on the bottom surface of the moving cart; the inspection robot is arranged on the moving cart; and the control center is arranged on the moving cart and is connected with the inspection robot. The self-induced type bird-preventing device disclosed by the invention has the advantages that by matching of the overhead track and the moving cart, the inspection robot can move along the power transmission lines and can monitor the conditions of birds on the power transmission lines and a pole tower, and nests are cleared by a nest picking mechanism; and simultaneously, by combination with the balancing mechanism at the bottom of the moving cart, no phenomenon of inclination of the self-induced type bird-preventing device in nest grabbing can be ensured, so that the safe operation of the power transmission lines is protected.
Description
Technical field
The present invention relates to electric power bird-proof device technical field, and in particular to a kind of self-inducting bird-proof device.
Background technology
With economic fast development, the whole society proposes requirement higher for the safe and high quality service of power system.
But for a long time, frequent all kinds of flashover faults but seriously threaten the safe and reliable operation of transmission line of electricity, to electricity
Power enterprise causes huge economic loss.Analysis shows, dirty in all kinds of flashover faults that power system is met with according to statistics
Dodge and bird dodges and account for sizable ratio, especially in recent years, the quickening of various countries' process of industrialization also results in pollution sources simultaneously
Increase；And the further implementation of various countries animal and environmental protective measure causes that the population of birds and quantity have significantly
Increase, scope of activities expands increasingly, and high risks are caused to transmission line of electricity.
Harm of the birds to power circuit is as follows：1) birds are nested, Birds In Spring starts to be nested on electric power line pole tower,
Spawning, mostly hatching, the birds such as magpie, crow, goshawk, these birds mouthful hold the things such as branch, iron wire, faggot in the month, empty on the line past
Flight is returned, when the things such as iron wire fall between cross-arm and wire, line fault can be caused, when blowing, the Bird's Nest on shaft tower is by wind
Dissipate on live wire or outstanding bottle, short circuit grounding failure can be caused；2) Bird Flight, for example black stork of the larger birds of build,
1m long is more for its body, and wing launches bigger, and flight is likely to result in alternate short between wire when the larger birds of build or birds are fought
Road or singlephase earth fault；3) birds droppings flashover, birds droppings (particularly dilute dung of cat owl) pollution bottle string, there was dampness in the air, big
Easily there is flashover during mist, bird stand had loose bowels downwards on the cross-arm on bottle string top dung and cause when being flowed down along bottle string single-phase earthing or
Person's birds droppings blows to electrical body and causes the air gap to puncture with the wind, causes failure.
At present, the anti-bird measure of high-tension line is mainly by the mode such as expelling, frightening and block to prevent birds droppings flashover.Tool
Body mode is as follows.
(1) take measures to expel, frighten birds, do not allow birds to rest on shaft tower, do not allow at least bird to rest on insulation
Directly over sub.
(2) bird-resistant is installed：Bird-resistant is typically fixed (be fixed in special base) using multiply steel strand wires one end,
One end is scattered, and is cut into 80~100cm length, forms mushroom (or using hand-drawn wire steel wire weld) and " dragon spruce " shape.
(3) using deep bid footpath insulator umbrella：First piece or several, interval are used instead greatly on porcelain (glass) insulator
Disk footpath insulator installs deep bid footpath insulator additional at the top of composite insulator, and (diameter can be for current deep bid footpath silica gel full skirt cover
Between 400-600mm), deep bid footpath fiberglass full skirt cover (between diameter 700mm).
(4) means such as bird-proof cover, anti-bird baffle plate, bird prevention net are installed additional, such as head of mast brushing red paint, hang small red flag,
Windbell, flush board etc. are installed and are sprayed and plate washer and mesh etc. are installed on anti-bird magnetic paint, steel tower cross-arm.
However, aforesaid way is all fixed, it is impossible to be oriented birds expulsion according to live birds physical presence situation,
The equipment that very possible scene does not have birds and wastes bird repellent, it is also possible to which the mode that live birds much expel is improper
When, meanwhile, the bird repellent mode of above-mentioned fixation also reduces operating efficiency while waste of resource.
The invention of Publication No. 105356396A is related to a kind of anti-bird platform of transmission line of electricity based on bird sound detection, including anti-
Bird windmill compressive shrinkage machines, voice recognition chip, robot body and ultrasonic listening sensor, voice recognition chip are used to detect
Bird sound type near transmission line of electricity, anti-bird windmill compressive shrinkage machines are used to control the contraction or release of anti-bird windmill main body, robot
Main body is mounted on transmission line of electricity, is connected respectively with anti-bird windmill compressive shrinkage machines, voice recognition chip and ultrasonic listening sensor
Connect, the operation for controlling anti-bird windmill compressive shrinkage machines according to the testing result of voice recognition chip, ultrasonic listening sensor
For detecting the obstacle distance at the transmission line of electricity of robot body front.Birds are expelled in the invention using electric windmill, right
It is larger in the loss of electricity.
The invention of Publication No. 105397794B is related to a kind of supply line's bird-repeller system, including bird-resistant compressive shrinkage machines,
Bird-resistant main body, Bird's Nest identification equipment and robot body frame structure, Bird's Nest identification equipment are located on robot body frame structure, for supplying
Steel tower position near electric line carries out Bird's Nest identification, and robot body frame structure is used to make an inspection tour supply line, also based on bird
Nest recognition result control bird-resistant compressive shrinkage machines shrink or release bird-resistant main body.By the invention, it is possible to increase bird-resistant
Bird repellent accuracy, safeguards the power supply safety of supply line.But the invention is larger for the injury of birds, man and nature are being advocated
The epoch of harmonious coexistence, the invention is not suitable for large-scale popularization.
The content of the invention
Problem to be solved by this invention is to provide a kind of self-inducting bird-proof device, can effectively solve transmission line of electricity
The phenomenon that birds are nested, while bird's nest can be removed, it is to avoid existing directly destruction bird's nest produces larger wound to birds
Evil, and the phenomenon for causing moving cart unbalance due to winning or walking.
In order to solve the above technical problems, the technical solution adopted by the present invention is：
A kind of self-inducting bird-proof device, including the overhead track that sets along transmission line of electricity, the overhead rail are set
Moving cart, be arranged in the balanced controls of the moving cart bottom surface, the moving cart set crusing robot, set
The control centre being connected in the moving cart and with the crusing robot；
Set on the crusing robot birds detection modules, visual inspection module, birds expulsion module, Bird's Nest remove module,
Control module and communication module；
The Bird's Nest removes module includes Bird's Nest picking mechanism and Bird's Nest holding structure, and the control module is small with the movement
Car, birds detection module, visual inspection module, birds expulsion module, Bird's Nest remove module and the connection of communication module signal；
The balanced controls include the balance monitoring module being arranged on moving cart bottom surface, are arranged on the moving cart bottom
The balanced adjustment module being engaged with the balance monitoring module；
The balanced adjustment module includes being arranged on the main balancing pole of the moving cart bottom surface, is arranged under the main balancing pole
The balance plate at end, is arranged on the multiple motors on the balance plate bottom surface, is arranged on the L in the driving motor output shaft
Type support arm, is arranged on the electric rotating machine of the L-type support arm end, is arranged on secondary electronic on the electric rotating machine output shaft
Expansion link, is arranged on the balanced ball of the secondary electric expansion boom end；
The balance monitoring module includes MEMS gyroscope and MEMS accelerometer.
Further, the birds detection module includes acoustic detection module and sound detection module, the acoustic detection
Module includes being arranged on the ultrasonic sensor that the crusing robot front end is set, the ultrasonic sensor and the control
Module is connected to be monitored the birds on transmission line of electricity.
Further, the sound detection module includes the microphone of the extraneous birds sound of reception, be stored with various birds
The storage card of sound and the voice recognition chip for being identified to the sound that the microphone is received, the voice are known
Other chip is connected with the control module.
Further, the visual inspection module includes what the crusing robot top was set by the first two axle The Cloud Terraces
CCD camera, first two axle The Cloud Terraces and CCD camera are connected with the control module respectively.
Further, the birds expulsion module includes loudspeaker and anti-bird windmill, and the loudspeaker connects with Mp 3 player
Connect, the Mp 3 player is connected by relay with the control module, the drive mechanism of the anti-bird windmill and the control
Module is connected.
Further, the control module includes single-chip microcomputer, and the communication module includes GPRS module, the control centre
Including industrial computer and alarm.
Further, the Bird's Nest picking mechanism includes that the crusing robot top sets flexible horizontal stroke by rotating mechanism
Arm, the front end lower section of the flexible transverse arm sets telescopic column, and the lower end of the telescopic column sets hollow pipe, the hollow pipe
Lower edge is uniformly arranged multiple arcs pawl, and the arc pawl is rotatably connected with the hollow pipe lower edge, and the top of the arc pawl is stretched
Enter in the hollow pipe, the top of the arc pawl is slidably connected with connecting plate, the connecting plate is centrally through drawstring and setting
Motor on the hollow pipe top is connected, and the drawstring is wrapped in the rotary shaft of the motor, the connection
Plate top is set presses pressing spring, and collar stop, institute are set between the motor and the connecting plate in the hollow pipe
State pressing spring upper end to be connected with the collar stop, the rotating mechanism, flexible transverse arm, telescopic column and motor difference
It is connected with the control module.
Further, the rotating mechanism includes the second two axle The Cloud Terraces.
Further, the side of the hollow pipe sets infrared camera, the infrared camera and the control module
Connection.
Further, the Bird's Nest holding structure includes the cabinet that the crusing robot rear is set, on the cabinet
End setting is open and corresponds to the opening and sets electric push-and-pull cover plate.
Further, the electric push-and-pull cover plate includes the chute that the cabinet upper end is set in the opening both sides, institute
State and sliding block is set in chute, transverse slat is set on the sliding block, the cabinet side is set in the side of the transverse slat glide direction
Electric expansion bar, the end of the electric expansion bar is connected by connecting rod with the transverse slat, the electric expansion bar with it is described
Transverse slat is parallel.
A kind of application method of self-inducting bird-proof device, comprises the following steps：
S1, control centre's control moving cart are run in overhead rail, and the crusing robot in moving cart is visited by sound wave
Whether module and sound detection module are surveyed to there are birds to be monitored on transmission line of electricity and shaft tower；
S2, when birds are monitored birds are expelled by loudspeaker and anti-bird windmill；
S3, during carriage walking by CCD camera to whether there is Bird's Nest to be monitored on shaft tower, if there is Bird's Nest says report
Alert information is sent to control centre；
After S4, control centre receive the warning message of Bird's Nest, be moved to for hollow pipe by the flexible transverse arm of manipulation and telescopic column
The overcentre of Bird's Nest, and rotated by motor so that drawstring pulling arc pawl, now manipulates telescopic column elongation
The crawl to Bird's Nest is completed, is at the same time adjusted by balanced controls, it is ensured that the stability of present apparatus structure；
S5, to during the crawl of Bird's Nest by the infrared camera on hollow pipe to being supervised with the presence or absence of bird in Bird's Nest
Survey, be put into Bird's Nest holding structure after Bird's Nest is captured when there is bird or bird egg, by Bird's Nest from high-altitude if in the absence of bird
Under throwing；
S6, patrol and examine finish after Bird's Nest holding structure is processed.
The invention provides a kind of self-inducting bird-proof device, cause to patrol by the cooperation of overhead track and moving cart
Inspection robot can be moved along transmission line of electricity, and the birds situation on transmission line of electricity and shaft tower can be monitored, and
Bird's Nest is cleared up by Bird's Nest picking mechanism, the balanced controls in combination with moving cart bottom are ensured when Bird's Nest is captured
The present apparatus will not run-off the straight phenomenon, so as to be protected to the safe operation of transmission line of electricity.
Birds monitoring modular, including acoustic detection module and sound detection module, acoustic detection are set on crusing robot
Whether module has birds to detect by ultrasonic sensor to falling on transmission line of electricity, and it exists by sending ultrasonic wave
It is reflected back during birds and is received, just can be monitored to whetheing there is birds.Sound detection module is stored with respectively by storage card
The sound of birds is planted, and the chirping of birds on periphery, chirping of birds and storage by voice recognition chip to periphery are received by microphone
Birds sound be compared, whether can there are birds to be monitored on periphery, no matter whether birds on circuit and shaft tower,
All expelled, substantially reduced harm of the birds to transmission line of electricity.
Visual inspection module sets two axle The Cloud Terraces by crusing robot top, and setting CCD takes the photograph in two axle The Cloud Terraces
As head, a kind of semiconductor imaging device of CCD camera, thus with sensitivity is high, anti-high light, distort small, small volume, life-span
The advantages of long, anti-vibration, by CCD camera can to patrolling and examining during periphery situation observe, it is possible to achieve it is artificial
Intervention is patrolled and examined, and so as to manually be operated to special circumstances, improves the success rate of flexibility ratio and reply special circumstances.
Birds expulsion module is expelled by sound and light to birds, and Mp 3 player internal memory contains expulsion birds
Sound, when finding transmission line of electricity, shaft tower or here there are birds.Control module opens Mp 3 player by relay, by sound
Sound is expanded and is blazed abroad by loudspeaker, and birds can fly away from transmission line of electricity periphery after hearing sound, so as to realize to birds
Expulsion.And anti-bird windmill is added, anti-bird windmill is a kind of existing method that birds are expelled by optical reflection, control module
Controller drive mechanism so that anti-bird windmill is rotated, by the optical mirror slip on windmill by light line reflection, so that right
The birds on periphery impact, so as to realize the expulsion to birds.
Control module includes single-chip microcomputer, and communication module includes GPRS module, and control centre includes industrial computer and alarm, single
Piece machine is a kind of IC chip, is the center treatment with data-handling capacity using very large scale integration technology
Device CPU, random access memory ram, read only memory ROM, various I/O mouthfuls and interrupt system, the function such as timer/counter（Can
Can also including display driver circuit, pulse-width modulation circuit, analog multiplexer, A/D converter etc. circuit）It is integrated into one block of silicon
The small and perfect microcomputer system constituted on piece, it is powerful.GPRS module can realize control centre and patrol
Examine the remote radio communication of robot, and signal stabilization.Control centre uses industrial computer and alarm, industrial computer to include meter
Device, database server and human-computer interaction device etc. are calculated, the crusing robot at scene can be controlled, alarm can
Alarmed with when Bird's Nest is found, there is provided staff wins to Bird's Nest.
When Bird's Nest picking mechanism can have Bird's Nest on shaft tower or transmission line of electricity, staff remotely takes Bird's Nest,
Avoid birds from perching to impact transmission line of electricity, so as to avoid equipment from occurring because of the situation of Bird's Nest short circuit；In order to avoid balance
Mechanism includes the balance monitoring module being arranged on moving cart bottom surface, is arranged on the moving cart bottom with the balance prison
Survey the balanced adjustment module that module is engaged；The balanced adjustment module includes being arranged on the main balancing pole of dolly bottom surface, and adopts
Main balancing pole is electric expansion bar, it is ensured that the present apparatus can be extended downwardly from, and preferably be balanced；In main balancing pole
Lower end sets balance plate, is arranged on the multiple motors on the balance plate bottom surface, is arranged on the driving motor output shaft
On L-type support arm, be arranged on the electric rotating machine of the L-type support arm end, be arranged on the electric rotating machine output shaft
Secondary electric expansion bar, is arranged on the balanced ball of the secondary electric expansion boom end；The balance monitoring module includes MEMS gyro
Instrument, MEMS accelerometer and microcontroller；The dynamic for being obtained in that moving cart by MEMS gyroscope and MEMS accelerometer is put down
Weighing apparatus data, and feed back to microcontroller and be adjusted, it is ensured that the present apparatus realizes dynamic equilibrium, it is to avoid the phenomenon of deviation occurs.
The present invention is expelled by crusing robot to birds on transmission line of electricity or on the way, it is to avoid birds are perched in bar
Tower or periphery cause to damage to power transmission network, and crusing robot carry Bird's Nest picking mechanism can be by the bird on shaft tower or circuit
Nest is removed, and sets balanced controls in moving cart bottom, it can be ensured that in the case where grab Bird's Nest or have wind, it is ensured that this
The safety of device, and the safety of bird is protected in the case where it has bird, frequency will not be caused to endanger because of electric transmission line erection
The extinction of birds, meets the road of the harmonious development of man and nature.
Brief description of the drawings
The invention will be further described below in conjunction with the accompanying drawings：
Fig. 1 is the system construction drawing of self-inducting bird-proof device of the present invention；
Fig. 2 is structural representation of the invention；
Fig. 3 is the structural representation of Bird's Nest picking mechanism of the present invention；
Fig. 4 is the structural representation of Bird's Nest holding structure of the present invention；
Fig. 5 is the structural representation of balanced controls of the present invention.
Specific embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
Accompanying drawing 1-5, the technical scheme to the embodiment of the present invention is clearly and completely described.Obviously, described embodiment is this
A part of embodiment of invention, rather than whole embodiments.Based on described embodiments of the invention, the common skill in this area
The every other embodiment that art personnel are obtained, belongs to the scope of protection of the invention.
Embodiment one
As depicted in figs. 1 and 2：Present embodiments provide a kind of self-inducting bird-proof device, including set along transmission line of electricity
The moving cart 3 set on overhead track 13, the overhead track 13, the balanced controls for being arranged on the bottom surface of the moving cart 3
33rd, the crusing robot 1 for being set in the moving cart 3 and the control centre 7 being connected with the crusing robot 1, it is described to patrol
Birds detection module 2, visual inspection module 4, birds expulsion module 8, Bird's Nest is set in inspection robot 1 and removes module 9, control mould
Block 5 and communication module 6, the Bird's Nest removes module 19 includes Bird's Nest picking mechanism 14 and Bird's Nest holding structure 15, the control
Module 5 removes module 9 with the moving cart 3, birds detection module 2, visual inspection module 4, birds expulsion module 8, Bird's Nest
Connected with communication module signal 6；
The balanced controls 33 include the balance monitoring module 34 being arranged on moving cart bottom surface, are arranged on the moving cart
The balanced adjustment module that bottom is engaged with the balance monitoring module；
The balanced adjustment module includes being arranged on the main balancing pole 331 of the bottom surface of the moving cart 3, is arranged on the main balance
The balance plate 332 of the lower end of bar 331, is arranged on the multiple motors 333 on the bottom surface of the balance plate 332, is arranged on the drive
L-type support arm 334 on the dynamic output shaft of motor 333, is arranged on the electric rotating machine 335 of the end of L-type support arm 334, sets
Secondary electric expansion bar 336 on the output shaft of the electric rotating machine 335, is arranged on the flat of the end of secondary electric expansion bar 336
Weighing apparatus ball 337；
34 pieces of the balance monitoring mould includes MEMS gyroscope and MEMS accelerometer.
The birds detection module 2 includes acoustic detection module 36 and sound detection module 35, the acoustic detection module
36 include being arranged on the ultrasonic sensor that the crusing robot front end is set, the ultrasonic sensor and the control mould
Block is connected to be monitored the birds on transmission line of electricity.
The sound detection module 35 includes that the microphone that receives extraneous birds sound, the various birds sound that are stored with are deposited
Card storage and the voice recognition chip for being identified to the sound that the microphone is received, the voice recognition chip with
The control module connection.
The visual inspection module 4 is taken the photograph including the top of the crusing robot 1 by the CCD that the first two axle The Cloud Terraces 12 are set
As first 11, first two axle The Cloud Terraces 12 and CCD camera 11 are connected with the control module 5 respectively.
The birds expulsion module 8 includes loudspeaker 34 and anti-bird windmill 10, and the loudspeaker 34 connects with Mp 3 player
Connect, the Mp 3 player is connected by relay with the control module 5, the drive mechanism of the anti-bird windmill 10 with it is described
Control module 5 is connected.
The control module 5 includes single-chip microcomputer, and the communication module 6 includes GPRS module, and the control centre 7 includes work
Control machine and alarm.
The present invention allows that crusing robot enters along transmission line of electricity by the cooperation of overhead track and moving cart
Row movement, so as to be monitored to the birds situation on transmission line of electricity and shaft tower, so as to the safe operation to transmission line of electricity is carried out
Protection.
Birds monitoring modular, including acoustic detection module and sound detection module, acoustic detection are set on crusing robot
Whether module has birds to detect by ultrasonic sensor to falling on transmission line of electricity, and it exists by sending ultrasonic wave
It is reflected back during birds and is received, just can be monitored to whetheing there is birds.Sound detection module is stored with respectively by storage card
The sound of birds is planted, and the chirping of birds on periphery, chirping of birds and storage by voice recognition chip to periphery are received by microphone
Birds sound be compared, whether can there are birds to be monitored on periphery, no matter whether birds on circuit and shaft tower,
All expelled, substantially reduced harm of the birds to transmission line of electricity.
Visual inspection module sets two axle The Cloud Terraces by crusing robot top, and setting CCD takes the photograph in two axle The Cloud Terraces
As head, a kind of semiconductor imaging device of CCD camera, thus with sensitivity is high, anti-high light, distort small, small volume, life-span
The advantages of long, anti-vibration, by CCD camera can to patrolling and examining during periphery situation observe, it is possible to achieve it is artificial
Intervention is patrolled and examined, and so as to manually be operated to special circumstances, improves the success rate of flexibility ratio and reply special circumstances.
Birds expulsion module is expelled by sound and light to birds, and Mp 3 player internal memory contains expulsion birds
Sound, when finding transmission line of electricity, shaft tower or here there are birds.Control module opens Mp 3 player by relay, by sound
Sound is expanded and is blazed abroad by loudspeaker, and birds can fly away from transmission line of electricity periphery after hearing sound, so as to realize to birds
Expulsion.And anti-bird windmill is added, anti-bird windmill is a kind of existing method that birds are expelled by optical reflection, control module
Controller drive mechanism so that anti-bird windmill is rotated, by the optical mirror slip on windmill by light line reflection, so that right
The birds on periphery impact, so as to realize the expulsion to birds.
Control module includes single-chip microcomputer, and communication module includes GPRS module, and control centre includes industrial computer and alarm, single
Piece machine is a kind of IC chip, is the center treatment with data-handling capacity using very large scale integration technology
Device CPU, random access memory ram, read only memory ROM, various I/O mouthfuls and interrupt system, the function such as timer/counter（Can
Can also including display driver circuit, pulse-width modulation circuit, analog multiplexer, A/D converter etc. circuit）It is integrated into one block of silicon
The small and perfect microcomputer system constituted on piece, it is powerful.GPRS module can realize control centre and patrol
Examine the remote radio communication of robot, and signal stabilization.Control centre uses industrial computer and alarm, industrial computer to include meter
Device, database server and human-computer interaction device etc. are calculated, the crusing robot at scene can be controlled, alarm can
Alarmed with when Bird's Nest is found, there is provided staff wins to Bird's Nest.
Embodiment two
As shown in Figure 3 and Figure 4：It is with the difference of embodiment one：
The Bird's Nest picking mechanism 14 includes that the top of the crusing robot 1 sets flexible transverse arm 17, institute by rotating mechanism 16
The front end lower section for stating flexible transverse arm 17 sets telescopic column 18, and the lower end of the telescopic column 18 sets hollow pipe 19, the sky
The lower edge of heart pipe 19 is uniformly arranged several arc pawls 27, and the arc pawl 27 is rotatably connected with the lower edge of the hollow pipe 19, described
The top of arc pawl 27 is stretched into the hollow pipe 19, and top and the connecting plate 26 of the arc pawl 27 are slidably connected, the company
Fishplate bar 26 is connected centrally through drawstring 23 with the motor 22 for being arranged on the top of the hollow pipe 19, and the drawstring 23 is wrapped in
In the rotary shaft 21 of the motor 22, the top of the connecting plate 26 is set presses pressing spring 25, in institute in the hollow pipe 19
State between motor 22 and the connecting plate 26 setting collar stop 24, it is described by the upper end of pressing spring 25 and the collar stop
24 connections, the rotating mechanism 16, flexible transverse arm 17, telescopic column 18 and motor 22 connect with the control module 5 respectively
Connect.
Arc pawl is rotatably connected with the lower edge of hollow pipe, and is slidably connected with connecting plate, so when connecting plate is lifted
Time can drive the lower end of arc pawl to open or shrink, so as to realize the crawl to Bird's Nest, arc pawl is rotatably connected with hollow pipe
Can be by being hinged realization, arc pawl can be realized with the connection of connecting plate by way of T-shaped chute with sliding block, in connecting plate
Lower surface sets chute, and arc pawl top sets sliding block by universal joint, just can realize slip, and such connecting plate is to moving down
When dynamic, arc pawl top is moved inward, and arc pawl bottom is opened, and connecting plate moves up formula, and arc pawl top is flared out, arc
Shrink shape pawl bottom.After Bird's Nest is found, by rotating mechanism adjustment direction, stretch transverse arm adjustment horizontal range, telescopic column
Adjustment arc pawl behind the center of arc pawl correspondence Bird's Nest, opens motor rotation simultaneously slow to the vertical distance of Bird's Nest
Slow elongation telescopic column so that drawstring is wound on the rotating shaft, so as to connecting plate be raised so that arc pawl is from the top down
The edge of Bird's Nest is inserted, and is inwardly tightened up to Bird's Nest crawl.Then control telescopic cross bar and telescopic column say that Bird's Nest is moved to bird
Nest holding structure top, then extend telescopic column and say that Bird's Nest is put into Bird's Nest holding structure, motor is simultaneously closed off, in pressing
By drawstring unwrapping wire in the presence of spring, connecting plate declines, and arc pawl unclamps, and Bird's Nest just can be put into Bird's Nest holding structure, so that
Other Bird's Nests can be captured.The center of drawstring can not be impacted by pressing spring, drawstring needs and is connected
The center connection of plate, therefore fixed by collar stop for the upper end by pressing spring, so as to realize pressing spring energy-storage
Purpose.
The rotating mechanism 16 includes the second two axle The Cloud Terraces, and rotating mechanism is also adopted by two axle The Cloud Terraces, can also realize Bird's Nest
The oblique operation of picking mechanism, more facilitates.
The side of the hollow pipe 19 sets infrared camera 20, and the infrared camera 20 connects with the control module 5
Connect.Whether infrared camera can be to having birdling or bird egg to be monitored in Bird's Nest, it is ensured that the safety of bird.
Embodiment three
It is with the difference of embodiment two：The Bird's Nest holding structure 15 includes the cabinet that the rear of the crusing robot 1 is set
Body 33, the upper end of the cabinet 33 sets opening 37 and the correspondence opening 37 and sets electric push-and-pull cover plate.Bird's Nest holding structure leads to
Cross cabinet to realize, and electric push-and-pull cover plate is set on cabinet, it is to avoid strong wind and rainwater are impacted to inside.Cabinet
Opening, in upper end, is to be put into Bird's Nest.
The electric push-and-pull cover plate includes the chute 28 that the upper end of the cabinet 33 is set in 37 both sides of the opening, the cunning
Sliding block 29 is set in groove 28, transverse slat 30 is set on the sliding block 29, the side of the cabinet 33 is in the glide direction of the transverse slat 30
Side sets electric expansion bar 31, and the end of the electric expansion bar 31 is connected by connecting rod 32 with the transverse slat 30, described
Electric expansion bar 31 is parallel with the transverse slat 30.Transverse slat can be slided by sliding block and chute above cabinet opening
Dynamic, so as to be covered to opening, the electric expansion bar for being moved through the setting of cabinet side of transverse slat is realized, electric expansion bar
End realized by connecting rod with transverse slat so that band motion plate slided.
Example IV
A kind of application method of self-inducting bird-proof device is present embodiments provided, is comprised the following steps：
S1, control centre's control moving cart are run in overhead rail, and the crusing robot in moving cart is visited by sound wave
Whether module and sound detection module are surveyed to there are birds to be monitored on transmission line of electricity and shaft tower；
S2, when birds are monitored birds are expelled by loudspeaker and anti-bird windmill；
S3, during carriage walking by CCD camera to whether there is Bird's Nest to be monitored on shaft tower, if there is Bird's Nest says report
Alert information is sent to control centre；
After S4, control centre receive the warning message of Bird's Nest, be moved to for hollow pipe by the flexible transverse arm of manipulation and telescopic column
The overcentre of Bird's Nest, and rotated by motor so that drawstring pulling arc pawl, now manipulates telescopic column elongation
Complete the crawl to Bird's Nest；At the same time it is adjusted by balanced controls, it is ensured that the stability of present apparatus structure；
S5, to during the crawl of Bird's Nest by the infrared camera on hollow pipe to being supervised with the presence or absence of bird in Bird's Nest
Survey, be put into Bird's Nest holding structure after Bird's Nest is captured when there is bird or bird egg, by Bird's Nest from high-altitude if in the absence of bird
Under throwing.
S6, patrol and examine finish after Bird's Nest holding structure is processed.Protectiveness is carried out when there is bird and bird egg to it to turn
Move, zoo or bird preservation center can be delivered to, it is to avoid existence of the laying of transmission line of electricity to birds is impacted, can be right
The birds of treasuring of country are protected.
When Bird's Nest picking mechanism can have Bird's Nest on shaft tower or transmission line of electricity, staff remotely takes Bird's Nest,
Avoid birds from perching to impact transmission line of electricity, so as to avoid equipment from occurring because of the situation of Bird's Nest short circuit；In order to avoid balance
Mechanism includes the balance monitoring module being arranged on moving cart bottom surface, is arranged on the moving cart bottom with the balance prison
Survey the balanced adjustment module that module is engaged；The balanced adjustment module includes being arranged on the main balancing pole of dolly bottom surface, and adopts
Main balancing pole is electric expansion bar, it is ensured that the present apparatus can be extended downwardly from, and preferably be balanced；In main balancing pole
Lower end sets balance plate, is arranged on the multiple motors on the balance plate bottom surface, is arranged on the driving motor output shaft
On L-type support arm, be arranged on the electric rotating machine of the L-type support arm end, be arranged on the electric rotating machine output shaft
Secondary electric expansion bar, is arranged on the balanced ball of the secondary electric expansion boom end；The balance monitoring module includes MEMS gyro
Instrument, MEMS accelerometer and microcontroller；The dynamic for being obtained in that moving cart by MEMS gyroscope and MEMS accelerometer is put down
Weighing apparatus data, and feed back to microcontroller and be adjusted, it is ensured that the present apparatus realizes dynamic equilibrium, it is to avoid the phenomenon of deviation occurs.
Finally illustrate, the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, this area is common
Other modifications or equivalent that technical staff is made to technical scheme, without departing from technical solution of the present invention
Spirit and scope, all should cover in the middle of scope of the presently claimed invention.
Claims (9)
1. a kind of self-inducting bird-proof device, it is characterised in that：Including the overhead track, described built on stilts set along transmission line of electricity
On track set moving cart, be arranged in the balanced controls of the moving cart bottom surface, the moving cart set patrol
Inspection robot, the control centre for being arranged in the moving cart and being connected with the crusing robot；
Set on the crusing robot birds detection modules, visual inspection module, birds expulsion module, Bird's Nest remove module,
Control module and communication module；
The Bird's Nest removes module includes Bird's Nest picking mechanism and Bird's Nest holding structure, and the control module is small with the movement
Car, birds detection module, visual inspection module, birds expulsion module, Bird's Nest remove module and the connection of communication module signal；
The balanced controls include the balance monitoring module being arranged on moving cart bottom surface, are arranged on the moving cart bottom
The balanced adjustment module being engaged with the balance monitoring module；
The balanced adjustment module includes being arranged on the main balancing pole of the moving cart bottom surface, is arranged under the main balancing pole
The balance plate at end, is arranged on the multiple motors on the balance plate bottom surface, is arranged on the L in the driving motor output shaft
Type support arm, is arranged on the electric rotating machine of the L-type support arm end, is arranged on secondary electronic on the electric rotating machine output shaft
Expansion link, is arranged on the balanced ball of the secondary electric expansion boom end；
The balance monitoring module includes MEMS gyroscope and MEMS accelerometer.
2. self-inducting bird-proof device as claimed in claim 1, it is characterised in that：The birds detection module is visited including sound wave
Module and sound detection module are surveyed,
The acoustic detection module includes being arranged on the ultrasonic sensor that the crusing robot front end is set, the ultrasonic wave
Sensor is connected to be monitored the birds on transmission line of electricity with the control module.
3. self-inducting bird-proof device as claimed in claim 1, it is characterised in that：The sound detection module includes receiving outer
The storage card of the microphone of boundary's birds sound, the various birds sound that are stored with, and the sound for being received to the microphone
The voice recognition chip that sound is identified；
The voice recognition chip is connected with the control module.
4. self-inducting bird-proof device as claimed in claim 1, it is characterised in that：The visual inspection module includes described patrolling
The CCD camera that inspection robot top is set by the first two axle The Cloud Terraces, first two axle The Cloud Terraces and CCD camera respectively with
The control module connection.
5. self-inducting bird-proof device as claimed in claim 1, it is characterised in that：The birds expulsion module includes loudspeaker
With anti-bird windmill, the loudspeaker is connected with Mp 3 player, and the Mp 3 player is connected by relay with the control module
Connect, the drive mechanism of the anti-bird windmill is connected with the control module.
6. self-inducting bird-proof device as claimed in claim 1, it is characterised in that：The control module includes single-chip microcomputer, institute
Stating communication module includes GPRS module, and the control centre includes industrial computer and alarm.
7. self-inducting bird-proof device as claimed in claim 1, it is characterised in that：The Bird's Nest picking mechanism includes described patrolling
Inspection robot top sets flexible transverse arm by rotating mechanism, and the front end lower section of the flexible transverse arm sets telescopic column, described
The lower end of telescopic column sets hollow pipe, and the hollow pipe lower edge is uniformly arranged multiple arcs pawl, the arc pawl and the sky
Heart pipe lower edge is rotatably connected, and the top of the arc pawl is stretched into the hollow pipe, and top and the connecting plate of the arc pawl are slided
Dynamic connection, the connecting plate is connected centrally through drawstring with the motor for being arranged on the hollow pipe top, and the drawstring is twined
It is wound in the rotary shaft of the motor, the connecting plate top is set presses pressing spring, in the driving in the hollow pipe
Collar stop is set between motor and the connecting plate, and the pressing spring upper end is connected with the collar stop, the rotation
Mechanism, flexible transverse arm, telescopic column and motor are connected with the control module respectively.
8. self-inducting bird-proof device as claimed in claim 7, it is characterised in that：The side of the hollow pipe sets infrared taking the photograph
As head, the infrared camera is connected with the control module.
9. self-inducting bird-proof device as claimed in claim 8, it is characterised in that：The Bird's Nest holding structure includes described patrolling
The cabinet that inspection robot rear is set, the cabinet upper end setting is open and the correspondence opening sets electric push-and-pull cover plate.
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| CN201710205292.6A CN106711861B (en) | 2017-03-31 | 2017-03-31 | A kind of self-inducting bird-proof device |
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| CN201710205292.6A CN106711861B (en) | 2017-03-31 | 2017-03-31 | A kind of self-inducting bird-proof device |
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| CN106711861B CN106711861B (en) | 2018-11-02 |
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| CN108695767A (en) * | 2018-06-29 | 2018-10-23 | 国网上海市电力公司 | A kind of high voltage distribution network cable automatic inspection device |
| CN110994458A (en) * | 2019-12-21 | 2020-04-10 | 陕西同力智慧能源服务有限公司 | Bird's nest extirpation instrument for electric power engineering |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN106711861B (en) | 2018-11-02 |
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