CN106711861B - A kind of self-inducting bird-proof device - Google Patents
A kind of self-inducting bird-proof device Download PDFInfo
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- CN106711861B CN106711861B CN201710205292.6A CN201710205292A CN106711861B CN 106711861 B CN106711861 B CN 106711861B CN 201710205292 A CN201710205292 A CN 201710205292A CN 106711861 B CN106711861 B CN 106711861B
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Classifications
-
- 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
-
- 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 kind of self-inducting bird-proof devices, include the overhead track being arranged along transmission line of electricity, the moving trolley of overhead rail setting, the crusing robot being arranged in the balance mechanism of the moving trolley bottom surface, the moving trolley, the control centre for being arranged in the moving trolley and being connect with the crusing robot are arranged；By the cooperation of overhead track and moving trolley crusing robot is moved along transmission line of electricity; 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; in combination with moving trolley bottom balance mechanism ensure when capturing Bird's Nest the present apparatus will not run-off the straight the phenomenon that, to be protected to the safe operation of transmission line of electricity.
Description
Technical field
The present invention relates to electric power bird-proof device technical fields, and in particular to a kind of self-inducting bird-proof device.
Background technology
With the rapid development of economy, the whole society services the safe and high quality of electric system, more stringent requirements are proposed.
However 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.According to statistics analysis shows, it is dirty in all kinds of flashover faults that electric system is met with
It dodges and bird dodges and accounts for sizable ratio, especially in recent years, the quickening of various countries' process of industrialization also results in pollution sources simultaneously
Increase；And various countries animal and the further of environmental protective measure are implemented so that the population of birds and quantity have significantly
Increase, scope of activities expand increasingly, and high risks are caused to transmission line of electricity.
Birds are as follows to the harm of power circuit：1) birds are nested, Birds In Spring starts to nest on electric power line pole tower,
Oviposition, hatching, the mostly birds such as magpie, crow, goshawk, these birds mouthful hold the objects such as branch, iron wire, faggot in the month, empty on the line past
Flight is returned, when the objects such as iron wire are fallen between cross-arm and conducting wire, line fault can be caused, when blowing, the Bird's Nest on shaft tower is by wind
It dissipates and falls 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,
The long 1m of its body is more, and bigger is unfolded in wing, when the larger birds of build or birds are fought flight may be caused between conducting wire alternate short
Road or singlephase earth fault；3) birds droppings flashover, birds droppings the dilute dung of cat owl (especially) pollution bottle string, there was dampness in the air, big
Easily occur flashover when mist, bird station caused when having loose bowels dung on the cross-arm on bottle string top downwards and flowing down along bottle string single-phase earthing or
Person's birds droppings blows to electrical body and the air gap is caused to puncture with the wind, causes failure.
Currently, the anti-bird measure of high-tension line mainly by expulsion, the modes such as frighten and block to prevent birds droppings flashover.Tool
Body mode is as follows.
(1) take measures expulsion, scaring birds, does not allow birds to rest on shaft tower, at least bird is not allowed to rest on insulation
Right over sub.
(2) bird-resistant is installed：Bird-resistant is generally fixed and (is fixed in special pedestal) using multiply steel strand wires one end,
One end is scattered, and 80~100cm length is cut into, and forms mushroom (or using hand-drawn wire steel wire weld) and " dragon spruce " shape.
(3) deep bid diameter insulator umbrella is used：On porcelain (glass) insulator by first or several, interval use instead it is big
Disk diameter insulator installs deep bid diameter insulator additional at the top of composite insulator, and (diameter can be for deep bid diameter silica gel full skirt cover at present
Between 400-600mm), deep bid diameter fiberglass full skirt cover (between diameter 700mm).
(4) bird-proof cover, anti-bird baffle, the means such as anti-bird net are installed additional, such as head of mast brushing red paint, the small red flag of extension,
It installs and plate washer and mesh etc. is installed on windbell, flush board etc. and the anti-bird magnetism paint of spraying, steel tower cross-arm.
However, aforesaid way is fixed, birds expulsion cannot be oriented according to live birds physical presence situation,
The equipment that very possible scene wastes bird repellent there is no birds, it is also possible to which the mode that live birds much expel is improper
When, meanwhile, above-mentioned fixed bird repellent mode also reduces working efficiency while waste of resource.
The invention of Publication No. 105356396A is related to a kind of anti-bird platform of the 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 is for detecting
Nearby bird sound type, anti-bird windmill compressive shrinkage machines are used to control the contraction or release of anti-bird windmill main body, robot to transmission line of electricity
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
It connects, 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 in front of robot body at transmission line of electricity.The invention expels birds 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 also based on bird for being maked an inspection tour to supply line
Nest recognition result controls bird-resistant compressive shrinkage machines and shrinks or release bird-resistant main body.By the invention, bird-resistant can be improved
Bird repellent accuracy safeguards the power supply safety of supply line.But the invention is larger for the injury of birds, is advocating man and nature
The epoch of harmonious coexistence, the invention are not suitable for large-scale promote.
Invention content
Problem to be solved by this invention is to provide a kind of self-inducting bird-proof device, being capable of effective solution transmission line of electricity
The phenomenon that birds are nested, while bird's nest can be removed, avoid existing directly destroy bird's nest from generating larger wound to birds
Evil, and due to the phenomenon for causing moving trolley unbalance of winning or walk.
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 includes that the overhead track being arranged along transmission line of electricity, the overhead rail are set
The moving trolley set, be arranged the crusing robot being arranged in the balance mechanism of the moving trolley bottom surface, the moving trolley,
The control centre for being arranged in the moving trolley and being connect with the crusing robot；
Birds detection module, visual inspection module, birds expulsion module, Bird's Nest are set on the crusing robot and remove mould
Block, control module and communication module；
It includes Bird's Nest picking mechanism and Bird's Nest holding structure that the Bird's Nest, which removes module, the control module and the movement
Trolley, birds detection module, visual inspection module, birds expulsion module, Bird's Nest are removed module and are connected with communication module signal；
The balance mechanism includes the balance monitoring module being arranged on moving trolley bottom surface, is arranged in the moving trolley
Bottom and the matched balanced adjustment module of the balance monitoring module；
The balanced adjustment module includes the main balancing pole being arranged in the moving trolley bottom surface, is arranged in the main balance
Multiple driving motors on the balance plate bottom surface are arranged in the balance plate of bar lower end, are arranged in the driving motor output shaft
On L-type support arm, the electric rotating machine in L-type support arm end is set, is arranged on the electric rotating machine output shaft
The balanced ball in the secondary electric expansion boom end is arranged in secondary electric telescopic rod；
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 that the ultrasonic sensor being arranged in the crusing robot front end is arranged, the ultrasonic sensor and the control
Module is connected for being monitored to the birds on transmission line of electricity.
Further, the sound detection module includes the microphone for receiving extraneous birds sound, is stored with various birds
The voice recognition chip that the storage card of sound and sound for being received to the microphone are identified, the voice are known
Other chip is connect with the control module.
Further, the visual inspection module includes that the crusing robot top is arranged by the first two axle The Cloud Terraces
CCD camera, first two axle The Cloud Terraces and CCD camera are connect with the control module respectively.
Further, the birds expulsion module includes loud speaker and anti-bird windmill, and the loud speaker connects with Mp 3 player
It connects, the Mp 3 player is connect by relay with the control module, driving mechanism and the control of the anti-bird windmill
Module connects.
Further, the control module includes microcontroller, and the communication module includes GPRS module, the control centre
Including industrial personal computer and alarm.
Further, the Bird's Nest picking mechanism includes that flexible cross is arranged by rotating mechanism in the crusing robot top
Telescopic column is arranged in the front end lower section of arm, the flexible transverse arm, and hollow pipe, the hollow pipe is arranged in the lower end of the telescopic column
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, and the connecting plate is centrally through drawstring and setting
Driving motor on the hollow pipe top connects, and the drawstring is wrapped in the rotation axis of the driving motor, the connection
Pressing spring is pressed in setting above plate, and collar stop, institute are arranged between the driving motor and the connecting plate in the hollow pipe
It states pressing spring upper end to connect with the collar stop, the rotating mechanism, flexible transverse arm, telescopic column and driving motor difference
It is connect with the control module.
Further, the rotating mechanism includes the second two axle The Cloud Terraces.
Further, infrared camera, the infrared camera and the control module is arranged in the side of the hollow pipe
Connection.
Further, the Bird's Nest holding structure includes the cabinet of crusing robot rear setting, on the cabinet
End setting is open and electric push-and-pull cover board is arranged in the corresponding opening.
Further, the electric push-and-pull cover board includes sliding slot of the cabinet upper end in opening both sides setting, institute
It states and sliding block is set in sliding slot, transverse slat is set on the sliding block, the cabinet side is arranged in the side of the transverse slat glide direction
The end of electric telescopic rod, the electric telescopic rod is connect by connecting rod with the transverse slat, the electric telescopic rod with it is described
Transverse slat is parallel.
A kind of application method of self-inducting bird-proof device, includes the following steps：
S1, control centre's control moving trolley are run in overhead rail, and the crusing robot in moving trolley passes through sound
Whether wave detecting module and sound detection module on transmission line of electricity and shaft tower to having birds to be monitored；
S2, by loud speaker and anti-bird windmill birds are expelled when monitoring birds；
S3, during carriage walking by CCD camera to whether thering is Bird's Nest to be monitored on shaft tower, if there are Bird's Nests
Say that warning message is sent to control centre；
After S4, control centre receive the warning message of Bird's Nest, manipulates flexible transverse arm and telescopic column moves hollow pipe
It moves to the overcentre of Bird's Nest, and by driving motor rotation so that drawstring pulling arc pawl, manipulates telescopic column at this time
The crawl to Bird's Nest is completed in elongation, is at the same time adjusted by balance mechanism, it is ensured that the stability of present apparatus structure；
S5, the crawl of Bird's Nest is carried out by the infrared camera on hollow pipe to whether there is bird in Bird's Nest in the process
Monitoring, there are being put into Bird's Nest holding structure after capture Bird's Nest when bird or bird egg, by Bird's Nest from height if bird is not present
Under sky is thrown；
Bird's Nest holding structure is handled after S6, inspection.
The present invention provides a kind of self-inducting bird-proof devices, to patrol by the cooperation of overhead track and moving trolley
Inspection robot can be moved along transmission line of electricity, can be monitored to the birds situation on transmission line of electricity and shaft tower, and
Bird's Nest is cleared up by Bird's Nest picking mechanism, is ensured when capturing Bird's Nest in combination with the balance mechanism of moving trolley bottom
The present apparatus will not run-off the straight the phenomenon that, to being 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
Module is detected by ultrasonic sensor to whether having fallen birds on transmission line of electricity, by sending out ultrasonic wave, is existed
It is reflected back and receives when birds, it can be to whether there is or not birds to be monitored.Sound detection module is stored with respectively by storage card
The sound of kind birds, and by the chirping of birds on microphone reception periphery, chirping of birds and storage by voice recognition chip to periphery
Birds sound be compared, whether can there are birds to be monitored on periphery, no matter whether birds on circuit and shaft tower,
It is all expelled, substantially reduces harm of the birds to transmission line of electricity.
Visual inspection module is arranged CCD in two axle The Cloud Terraces and takes the photograph by the way that two axle The Cloud Terraces are arranged on crusing robot top
As head, a kind of semiconductor imaging device of CCD camera, thus there is high sensitivity, resist strong light, distort small, the small, service life
The advantages that length, anti-vibration, the periphery situation during inspection can be observed, be may be implemented artificial by CCD camera
Inspection is intervened, to carry out manual operation to special circumstances, flexibility ratio is improved and copes with the success rate of special circumstances.
Birds expulsion module expels birds by sound and light, and expulsion birds are stored in Mp 3 player
Sound, finding transmission line of electricity, shaft tower or this side, there are when birds.Control module opens Mp 3 player by relay, by sound
Sound is expanded and is blazed abroad by loud speaker, and birds can fly away from transmission line of electricity periphery after hearing sound, to realize to birds
Expulsion.And anti-bird windmill is added, anti-bird windmill is a kind of existing method for expelling birds by optical reflection, control module
Controller driving mechanism is reflected light by the optical mirror slip on windmill so that anti-bird windmill is rotated, to right
The birds on periphery impact, to realize the expulsion to birds.
Control module includes microcontroller, and communication module includes GPRS module, and control centre includes industrial personal computer and alarm, list
Piece machine is a kind of IC chip, is to use very large scale integration technology the central processing with data-handling capacity
Device CPU, random access memory ram, read only memory ROM, a variety of I/O mouthfuls and system, the functions such as timer/counter are interrupted（It can
Can further include the circuits such as display driver circuit, pulse-width modulation circuit, analog multiplexer, A/D converter）It is integrated into one block of silicon
The small and perfect microcomputer system that on piece is constituted, it is powerful.GPRS module may be implemented control centre and patrol
Examine the remote radio communication of robot, and signal stabilization.It includes meter that control centre, which uses industrial personal computer and alarm, industrial personal computer,
Device, database server and human-computer interaction device etc. are calculated, the crusing robot at scene can be controlled, alarm can
To alarm when finding Bird's Nest, staff is provided, Bird's Nest is won.
Bird's Nest picking mechanism can, there are when Bird's Nest, staff remotely takes Bird's Nest on shaft tower or transmission line of electricity,
It avoids birds from inhabiting to impact transmission line of electricity, to avoid equipment from because of the situation of Bird's Nest short circuit occurring；In order to avoid balance
Mechanism includes the balance monitoring module being arranged on moving trolley bottom surface, and setting is supervised in the moving trolley bottom and the balance
Survey the matched balanced adjustment module of module；The balanced adjustment module includes the main balancing pole being arranged in trolley bottom surface, and is adopted
Main balancing pole is electric telescopic rod, it is ensured that the present apparatus can extend downwardly, and preferably be balanced；In main balancing pole
Balance plate is arranged in lower end, and multiple driving motors on the balance plate bottom surface are arranged, and is arranged in the driving motor output shaft
On L-type support arm, the electric rotating machine in L-type support arm end is set, is arranged on the electric rotating machine output shaft
The balanced ball in the secondary electric expansion boom end is arranged in secondary electric telescopic rod；The balance monitoring module includes MEMS gyro
Instrument, MEMS accelerometer and microcontroller；The dynamic that moving trolley can be obtained by MEMS gyroscope and MEMS accelerometer is flat
Weigh data, and feeds back to microcontroller and be adjusted, it is ensured that the present apparatus realizes dynamic equilibrium, the phenomenon that avoiding deviateing.
The present invention expels birds on transmission line of electricity or on the way by crusing robot, and birds is avoided to inhabit in bar
Tower or periphery damage power transmission network, and the included Bird's Nest picking mechanism of crusing robot can be by the bird on shaft tower or circuit
Nest is removed, and balance mechanism is arranged in moving trolley 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 in the case where it has bird protect bird safety, will not be caused because of electric transmission line erection frequency endanger
The extinction of birds meets the road of the harmonious development of man and nature.
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 the structural schematic diagram of the present invention；
Fig. 3 is the structural schematic diagram of Bird's Nest picking mechanism of the present invention；
Fig. 4 is the structural schematic diagram of Bird's Nest holding structure of the present invention；
Fig. 5 is the structural schematic diagram of balance mechanism of the present invention.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
Attached drawing 1-5, the technical solution of the embodiment of the present invention is clearly and completely described.Obviously, described embodiment is this
A part of the embodiment of invention, instead of all the embodiments.Based on described the embodiment of the present invention, the common skill in this field
The every other embodiment that art personnel are obtained, shall fall within the protection scope of the present invention.
Embodiment one
As depicted in figs. 1 and 2：A kind of self-inducting bird-proof device is present embodiments provided, including is set along transmission line of electricity
Balance in 3 bottom surface of the moving trolley is arranged in the moving trolley 3 that is arranged on the overhead track 13 set, the overhead track 13
The crusing robot 1 being arranged in mechanism 33, the moving trolley 3 and the control centre 7 being connect with the crusing robot 1, institute
It states and birds detection module 2, visual inspection module 4, birds expulsion module 8, Bird's Nest removing module 9, control is set on crusing robot 1
Molding block 5 and communication module 6, the Bird's Nest removes module 19 and includes Bird's Nest picking mechanism 14 and Bird's Nest holding structure 15, described
Control module 5 removes mould with the moving trolley 3, birds detection module 2, visual inspection module 4, birds expulsion module 8, Bird's Nest
Block 9 and communication module signal 6 connect；
The balance mechanism 33 includes the balance monitoring module 34 being arranged on moving trolley bottom surface, is arranged in the movement
Small car bottom and the matched balanced adjustment module of the balance monitoring module；
The balanced adjustment module includes the main balancing pole 331 being arranged in 3 bottom surface of the moving trolley, is arranged in the master
Multiple driving motors 333 on 332 bottom surface of the balance plate are arranged in the balance plate 332 of 331 lower end of balancing pole, are arranged in institute
The L-type support arm 334 on 333 output shaft of driving motor is stated, the electric rotating machine 335 in 334 end of L-type support arm is set,
Secondary electric telescopic rod 336 on 335 output shaft of the electric rotating machine is set, and setting is in 336 end of the secondary electric telescopic rod
Balanced 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 that the ultrasonic sensor being arranged in the crusing robot front end is arranged, the ultrasonic sensor and the control mould
Block is connected for being monitored to the birds on transmission line of electricity.
The sound detection module 35 includes the microphone for receiving extraneous birds sound, is stored with depositing for various birds sound
The voice recognition chip that card storage and sound for being received to the microphone are identified, the voice recognition chip with
The control module connection.
The visual inspection module 4 is taken the photograph including 1 top of the crusing robot by the CCD that the first two axle The Cloud Terraces 12 are arranged
As head 11, first two axle The Cloud Terraces 12 and CCD camera 11 are connect with the control module 5 respectively.
The birds expulsion module 8 includes loud speaker 34 and anti-bird windmill 10, and the loud speaker 34 connects with Mp 3 player
Connect, the Mp 3 player is connect by relay with the control module 5, the driving mechanism of the anti-bird windmill 10 with it is described
Control module 5 connects.
The control module 5 includes microcontroller, and the communication module 6 includes GPRS module, and the control centre 7 includes work
Control machine and alarm.
The present invention by the cooperation of overhead track and moving trolley allow crusing robot along transmission line of electricity into
Row movement, to be monitored to the birds situation on transmission line of electricity and shaft tower, to be carried out to the safe operation of transmission line of electricity
Protection.
Birds monitoring modular, including acoustic detection module and sound detection module, acoustic detection are set on crusing robot
Module is detected by ultrasonic sensor to whether having fallen birds on transmission line of electricity, by sending out ultrasonic wave, is existed
It is reflected back and receives when birds, it can be to whether there is or not birds to be monitored.Sound detection module is stored with respectively by storage card
The sound of kind birds, and by the chirping of birds on microphone reception periphery, chirping of birds and storage by voice recognition chip to periphery
Birds sound be compared, whether can there are birds to be monitored on periphery, no matter whether birds on circuit and shaft tower,
It is all expelled, substantially reduces harm of the birds to transmission line of electricity.
Visual inspection module is arranged CCD in two axle The Cloud Terraces and takes the photograph by the way that two axle The Cloud Terraces are arranged on crusing robot top
As head, a kind of semiconductor imaging device of CCD camera, thus there is high sensitivity, resist strong light, distort small, the small, service life
The advantages that length, anti-vibration, the periphery situation during inspection can be observed, be may be implemented artificial by CCD camera
Inspection is intervened, to carry out manual operation to special circumstances, flexibility ratio is improved and copes with the success rate of special circumstances.
Birds expulsion module expels birds by sound and light, and expulsion birds are stored in Mp 3 player
Sound, finding transmission line of electricity, shaft tower or this side, there are when birds.Control module opens Mp 3 player by relay, by sound
Sound is expanded and is blazed abroad by loud speaker, and birds can fly away from transmission line of electricity periphery after hearing sound, to realize to birds
Expulsion.And anti-bird windmill is added, anti-bird windmill is a kind of existing method for expelling birds by optical reflection, control module
Controller driving mechanism is reflected light by the optical mirror slip on windmill so that anti-bird windmill is rotated, to right
The birds on periphery impact, to realize the expulsion to birds.
Control module includes microcontroller, and communication module includes GPRS module, and control centre includes industrial personal computer and alarm, list
Piece machine is a kind of IC chip, is to use very large scale integration technology the central processing with data-handling capacity
Device CPU, random access memory ram, read only memory ROM, a variety of I/O mouthfuls and system, the functions such as timer/counter are interrupted（It can
Can further include the circuits such as display driver circuit, pulse-width modulation circuit, analog multiplexer, A/D converter）It is integrated into one block of silicon
The small and perfect microcomputer system that on piece is constituted, it is powerful.GPRS module may be implemented control centre and patrol
Examine the remote radio communication of robot, and signal stabilization.It includes meter that control centre, which uses industrial personal computer and alarm, industrial personal computer,
Device, database server and human-computer interaction device etc. are calculated, the crusing robot at scene can be controlled, alarm can
To alarm when finding Bird's Nest, staff is provided, Bird's Nest is won.
Embodiment two
As shown in Figure 3 and Figure 4：Its with embodiment one difference lies in：
The Bird's Nest picking mechanism 14 includes that the transverse arm that stretches is arranged by rotating mechanism 16 in 1 top of the crusing robot
17, telescopic column 18 is arranged in the front end lower section of the flexible transverse arm 17, and hollow pipe 19, institute is arranged in the lower end of the telescopic column 18
It states 19 lower edge of hollow pipe and is uniformly arranged several arc pawls 27, the arc pawl 27 is rotatably connected with 19 lower edge of the hollow pipe,
The top of the 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, institute
It states connecting plate 26 to connect with the driving motor 22 for being arranged on 19 top of the hollow pipe centrally through drawstring 23, the drawstring 23 twines
It is wound in the rotation axis 21 of the driving motor 22,26 top of the connecting plate, which is arranged, presses pressing spring 25, in the hollow pipe 19
Collar stop 24 is set between the driving motor 22 and the connecting plate 26, it is described to press 25 upper end of pressing spring and the annular
Block 24 connects, the rotating mechanism 16, flexible transverse arm 17, telescopic column 18 and driving motor 22 respectively with the control module
5 connections.
Arc pawl is rotatably connected with the lower edge of hollow pipe, and is slidably connected with connecting plate, in this way when connecting plate lifts
Waiting can drive the lower end of arc pawl to open or shrink, to realize that the crawl to Bird's Nest, arc pawl are rotatably connected with hollow pipe
Can be by hinged realization, the connection of arc pawl and connecting plate can be realized by way of T-type sliding slot and sliding block, in connecting plate
Sliding slot is arranged in lower surface, and arc pawl top is arranged sliding block by universal joint, can realize sliding, and such connecting plate is to moving down
When dynamic, arc pawl top moves inward, and arc pawl lower part is opened, and connecting plate moves up formula, and arc pawl top is flared out, arc
It shrinks shape pawl lower part.After finding Bird's Nest, by rotating mechanism adjustment direction, the transverse arm that stretches adjusts horizontal distance, telescopic column
Arc pawl is adjusted to the vertical distance of Bird's Nest, after arc pawl corresponds to the center of Bird's Nest, the rotation of opening driving motor is simultaneously slow
Slow elongation telescopic column so that drawstring is wound on the rotating shaft, to increase connecting plate so that arc pawl is from the top down
It is inserted into the edge of Bird's Nest, and inwardly tightens and Bird's Nest is captured.Then it controls telescopic cross bar and telescopic column says that Bird's Nest is moved to bird
It above nest holding structure, then extends telescopic column and says that Bird's Nest is put into Bird's Nest holding structure, simultaneously close off driving motor, pressing
Drawstring unwrapping wire, connecting plate are declined under the action of spring, arc pawl unclamps, and Bird's Nest can be put into Bird's Nest holding structure, to
Other Bird's Nests can be captured.The center of drawstring cannot be impacted by pressing spring, drawstring is needed and connect
The center of plate connects, therefore the upper end by pressing spring is fixed by collar stop, to realize pressing spring energy-storage
Purpose.
The rotating mechanism 16 includes the second two axle The Cloud Terraces, and rotating mechanism also uses two axle The Cloud Terraces, can also realize Bird's Nest
The oblique operation of picking mechanism, it is more convenient.
Infrared camera 20 is arranged in the side of the hollow pipe 19, and the infrared camera 20 connects with the control module 5
It connects.Infrared camera can ensure the safety of bird to whether having birdling or bird egg to be monitored in Bird's Nest.
Embodiment three
Its with embodiment two difference lies in：The Bird's Nest holding structure 15 is arranged including 1 rear of the crusing robot
Cabinet 33, the simultaneously 37 setting electric push-and-pull cover boards of the corresponding opening of 33 upper end of cabinet setting opening 37.Bird's Nest stores machine
Structure is realized by cabinet, and electric push-and-pull cover board is arranged on the cabinet, and strong wind and rainwater is avoided to impact inside.Cabinet
The opening of body is to be put into Bird's Nest in upper end.
The electric push-and-pull cover board includes sliding slot 28 of 33 upper end of the cabinet in the setting of 37 both sides of the opening, the cunning
Sliding block 29 is set in slot 28, transverse slat 30 is set on the sliding block 29,33 side of the cabinet is in 30 glide direction of the transverse slat
Electric telescopic rod 31 is arranged in side, and the end of the electric telescopic rod 31 is connect by connecting rod 32 with the transverse slat 30, described
Electric telescopic rod 31 is parallel with the transverse slat 30.Transverse slat can be slided by sliding block and sliding slot in the top that cabinet is open
Dynamic, to be covered to opening, electric telescopic rod that the movement of transverse slat is arranged by cabinet side is realized, electric telescopic rod
End realized by connecting rod with transverse slat, to being slided with motion plate.
Example IV
A kind of application method of self-inducting bird-proof device is present embodiments provided, is included the following steps：
S1, control centre's control moving trolley are run in overhead rail, and the crusing robot in moving trolley passes through sound
Whether wave detecting module and sound detection module on transmission line of electricity and shaft tower to having birds to be monitored；
S2, by loud speaker and anti-bird windmill birds are expelled when monitoring birds；
S3, during carriage walking by CCD camera to whether thering is Bird's Nest to be monitored on shaft tower, if there are Bird's Nests
Say that warning message is sent to control centre；
After S4, control centre receive the warning message of Bird's Nest, manipulates flexible transverse arm and telescopic column moves hollow pipe
It moves to the overcentre of Bird's Nest, and by driving motor rotation so that drawstring pulling arc pawl, manipulates telescopic column at this time
The crawl to Bird's Nest is completed in elongation；At the same time it is adjusted by balance mechanism, it is ensured that the stability of present apparatus structure；
S5, the crawl of Bird's Nest is carried out by the infrared camera on hollow pipe to whether there is bird in Bird's Nest in the process
Monitoring, there are being put into Bird's Nest holding structure after capture Bird's Nest when bird or bird egg, by Bird's Nest from height if bird is not present
Under sky is thrown.
Bird's Nest holding structure is handled after S6, inspection.There are carry out protectiveness when bird and bird egg to it to turn
It moves, the laying for avoiding transmission line of electricity to zoo or bird preservation center can be sent to impact the existence of birds, it can be right
The birds of treasuring of country are protected.
Bird's Nest picking mechanism can, there are when Bird's Nest, staff remotely takes Bird's Nest on shaft tower or transmission line of electricity,
It avoids birds from inhabiting to impact transmission line of electricity, to avoid equipment from because of the situation of Bird's Nest short circuit occurring；In order to avoid balance
Mechanism includes the balance monitoring module being arranged on moving trolley bottom surface, and setting is supervised in the moving trolley bottom and the balance
Survey the matched balanced adjustment module of module；The balanced adjustment module includes the main balancing pole being arranged in trolley bottom surface, and is adopted
Main balancing pole is electric telescopic rod, it is ensured that the present apparatus can extend downwardly, and preferably be balanced；In main balancing pole
Balance plate is arranged in lower end, and multiple driving motors on the balance plate bottom surface are arranged, and is arranged in the driving motor output shaft
On L-type support arm, the electric rotating machine in L-type support arm end is set, is arranged on the electric rotating machine output shaft
The balanced ball in the secondary electric expansion boom end is arranged in secondary electric telescopic rod；The balance monitoring module includes MEMS gyro
Instrument, MEMS accelerometer and microcontroller；The dynamic that moving trolley can be obtained by MEMS gyroscope and MEMS accelerometer is flat
Weigh data, and feeds back to microcontroller and be adjusted, it is ensured that the present apparatus realizes dynamic equilibrium, the phenomenon that avoiding deviateing.
Finally illustrate, the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, this field is common
Other modifications or equivalent replacement that technical staff makes technical scheme of the present invention, without departing from technical solution of the present invention
Spirit and scope, be intended to be within the scope of the claims of the invention.
Claims (8)
1. a kind of self-inducting bird-proof device, it is characterised in that：Include the overhead track being arranged along transmission line of electricity, described aerial
Patrolling of being arranged in the balance mechanism of the moving trolley bottom surface, the moving trolley is arranged in the moving trolley that is arranged on track
The control centre for examining robot, being arranged in the moving trolley and being connect with the crusing robot；
Be arranged on the crusing robot birds detection modules, visual inspection module, birds expulsion module, Bird's Nest remove module,
Control module and communication module；
It includes Bird's Nest picking mechanism and Bird's Nest holding structure that the Bird's Nest, which removes module, and the control module and the movement are small
Vehicle, birds detection module, visual inspection module, birds expulsion module, Bird's Nest are removed module and are connected with communication module signal；
The balance mechanism includes the balance monitoring module being arranged on moving trolley bottom surface, is arranged in the moving trolley bottom
With the matched balanced adjustment module of the balance monitoring module；
The balanced adjustment module includes the main balancing pole being arranged in the moving trolley bottom surface, is arranged under the main balancing pole
The balance plate at end is arranged multiple driving motors on the balance plate bottom surface, the L in the driving motor output shaft is arranged
The electric rotating machine in L-type support arm end is arranged in type support arm, and the pair being arranged on the electric rotating machine output shaft is electronic
The balanced ball in the secondary electric expansion boom end is arranged in telescopic rod；
The balance monitoring module includes MEMS gyroscope and MEMS accelerometer；
The Bird's Nest picking mechanism includes that the transverse arm that stretches, the flexible cross is arranged by rotating mechanism in the crusing robot top
Telescopic column is set below the front end of arm, and hollow pipe is arranged in the lower end of the telescopic column, and the hollow pipe lower edge is uniformly arranged
Multiple arcs pawl, the arc pawl are rotatably connected with the hollow pipe lower edge, and the hollow pipe is stretched on the top of the arc pawl
Interior, the top of the arc pawl is slidably connected with connecting plate, and the connecting plate is centrally through drawstring with setting in the hollow pipe
The driving motor on top connects, and the drawstring is wrapped in the rotation axis of the driving motor, is arranged above the connecting plate and presses
Collar stop is arranged in the hollow pipe between the driving motor and the connecting plate for pressing spring, described by pressing spring
End is connect with the collar stop, the rotating mechanism, stretch transverse arm, telescopic column and driving motor respectively with the control mould
Block connects.
2. self-inducting bird-proof device as described in claim 1, it is characterised in that：The birds detection module includes that sound wave is visited
Module and sound detection module are surveyed,
The acoustic detection module includes that the ultrasonic sensor being arranged in the crusing robot front end, the ultrasonic wave is arranged
Sensor is connect with the control module for being monitored to the birds on transmission line of electricity.
3. self-inducting bird-proof device as claimed in claim 2, it is characterised in that：The sound detection module includes outside receiving
The microphone of boundary's birds sound, the storage card for being stored with various birds sound, and the sound for being received to the microphone
The voice recognition chip that sound is identified；
The voice recognition chip is connect with the control module.
4. self-inducting bird-proof device as described in claim 1, it is characterised in that：The visual inspection module includes described patrols
The CCD camera that is arranged by the first two axle The Cloud Terraces of inspection robot top, first two axle The Cloud Terraces and CCD camera respectively with
The control module connection.
5. self-inducting bird-proof device as described in claim 1, it is characterised in that：The birds expulsion module includes loud speaker
With anti-bird windmill, the loud speaker is connect with Mp 3 player, and the Mp 3 player is connected by relay and the control module
It connects, the driving mechanism of the anti-bird windmill is connect with the control module.
6. self-inducting bird-proof device as described in claim 1, it is characterised in that：The control module includes microcontroller, institute
It includes GPRS module to state communication module, and the control centre includes industrial personal computer and alarm.
7. self-inducting bird-proof device as described in claim 1, it is characterised in that：The side setting of the hollow pipe is infrared to take the photograph
As head, the infrared camera is connect with the control module.
8. self-inducting bird-proof device as claimed in claim 7, it is characterised in that：The Bird's Nest holding structure includes described patrols
The cabinet of robot rear setting is examined, the cabinet upper end setting is open and electric push-and-pull cover board is arranged in the corresponding opening.
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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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| Application Number | Priority Date | Filing Date | Title |
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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 true CN106711861B (en) | 2018-11-02 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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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 |
| CN110994458B (en) * | 2019-12-21 | 2021-07-20 | 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN201214244Y (en) * | 2008-05-19 | 2009-04-01 | 昆明理工大学 | Parallel holding paw for robot |
| KR101040134B1 (en) * | 2011-02-01 | 2011-06-09 | 주식회사 유원기업 | Units for bird nesting prevention |
| CN104600624B (en) * | 2015-01-23 | 2017-02-22 | 国家电网公司 | Field electrification inspection operation robot |
| CN204450571U (en) * | 2015-02-12 | 2015-07-08 | 董小明 | Mechanical hand |
| CN105356396A (en) * | 2015-12-17 | 2016-02-24 | 无锡桑尼安科技有限公司 | Bird preventing method for transmission line |
| CN105707055B (en) * | 2015-12-17 | 2018-01-30 | 刘秀兰 | High-tension line bird repellent platform |
| CN206023054U (en) * | 2016-09-18 | 2017-03-15 | 国网内蒙古东部电力有限公司 | A kind of transmission line of electricity overhead transmission line engineering Poling Construction coaster |
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