CN106942198B - Intelligent bird repelling device - Google Patents
Intelligent bird repelling device Download PDFInfo
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- CN106942198B CN106942198B CN201710283891.XA CN201710283891A CN106942198B CN 106942198 B CN106942198 B CN 106942198B CN 201710283891 A CN201710283891 A CN 201710283891A CN 106942198 B CN106942198 B CN 106942198B
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- movable trolley
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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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- 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
- A01M29/12—Scaring or repelling devices, e.g. bird-scaring apparatus using odoriferous substances, e.g. aromas, pheromones or chemical agents
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M29/00—Scaring or repelling devices, e.g. bird-scaring apparatus
- A01M29/30—Scaring or repelling devices, e.g. bird-scaring apparatus preventing or obstructing access or passage, e.g. by means of barriers, spikes, cords, obstacles or sprinkled water
- A01M29/32—Scaring or repelling devices, e.g. bird-scaring apparatus preventing or obstructing access or passage, e.g. by means of barriers, spikes, cords, obstacles or sprinkled water specially adapted for birds, e.g. spikes
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- 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
- A01M31/00—Hunting appliances
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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
- A01M31/00—Hunting appliances
- A01M31/002—Detecting animals in a given area
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Birds (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Toxicology (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses an intelligent bird repelling device which comprises an overhead rail arranged along a power transmission line, a movable trolley arranged on the overhead rail, a balance mechanism arranged on the bottom surface of the movable trolley, an inspection robot arranged on the movable trolley, a control center arranged on the movable trolley and connected with the inspection robot, and a spraying mechanism arranged on the movable trolley and used for spraying bird repelling agents; the inspection robot can move along the power transmission line through the matching of the overhead track and the movable trolley, the bird conditions on the power transmission line and a tower can be monitored, the bird nest is cleaned through the bird nest picking mechanism, and meanwhile, the device is ensured not to incline when the bird nest is picked by combining with the balance mechanism at the bottom of the movable trolley, so that the safe operation of the power transmission line is protected; meanwhile, the natural bird repellent is adopted to prevent the birds from building the nests again at the original site within a period of time.
Description
Technical Field
The invention relates to the technical field of electric bird repelling devices, in particular to an intelligent bird repelling device.
Background
With the rapid development of economy, the society has raised higher requirements for the safe and high-quality service of the power system. However, for a long time, various frequent flashover accidents seriously threaten the safe and reliable operation of the transmission line, and cause huge economic loss to power enterprises. According to statistical analysis, pollution flashover and bird flashover account for a considerable proportion of various flashover accidents encountered by a power system, and particularly in recent years, the increase of pollution sources is caused by the acceleration of the industrialization process of various countries; further implementation of animal and environmental protection measures in various countries greatly increases the population and the number of birds, and the range of activity tends to be enlarged, thereby causing great harm to the power transmission line.
Birds have the following hazards to power lines: 1) birds nest, birds begin to nest, lay eggs and hatch on a power transmission line tower in spring, most birds such as magpies, crows, hawks and the like, the birds hold branches, iron wires, firewood and the like at mouths of the birds, fly back and forth on the power transmission line, when the iron wires and the like fall between cross arms and wires, line faults can be caused, and when wind blows, the bird nests on the tower are blown away by wind and fall on live wires or suspension bottles, short circuit grounding faults can be caused; 2) birds fly, wherein the bodies of birds with larger sizes such as the geranium and the geranium are more than 1m long, wings of the birds are more unfolded, and the flying of the birds with larger sizes or the birds fighting each other can cause interphase short circuit or single-phase grounding fault between wires; 3) bird droppings flashover, bird droppings (particularly thin droppings of owls) pollute the bottle strings and easily flashover when air is wet and heavy fog, and the bird stands on a cross arm at the upper part of the bottle strings to draw the thin droppings downwards and flows downwards along the bottle strings to cause single-phase grounding or the bird droppings blow to a charged body along with wind to cause air gap breakdown, thereby causing faults.
At present, bird prevention measures for high-voltage lines are to prevent bird droppings from flashover by means of expelling, scaring, shielding and the like. The specific manner is as follows.
(1) Measures are taken to expel and frighten the birds, so that the birds are not allowed to stay on the tower, and at least not allowed to stay right above the insulator.
(2) Installing bird spikes: bird-preventing stabs are generally formed by fixing one end of a plurality of steel strands (fixed in a specially-made base), scattering one end of the steel strands, cutting the steel strands into 80-100 cm in length, and forming mushroom shapes (or welding the steel strands by cold-drawn wires) and spruce trees.
(3) Adopt big dish footpath insulator full skirt: a large-disc-diameter insulator is changed into a first insulator or a plurality of insulators at intervals on a porcelain (glass) insulator or the top of a composite insulator is additionally provided with the large-disc-diameter insulator, and at present, a large-disc-diameter silica gel umbrella skirt cover (the diameter can be between 400 and 600 mm) and a large-disc-diameter glass fiber reinforced plastic umbrella skirt cover (the diameter is between 700 mm) are adopted.
(4) And (3) additionally arranging bird prevention covers, bird prevention baffles, bird prevention nets and other means, such as coating red paint on the top of the tower, hanging small red flags, installing windbells, bird frightening plates and the like, spraying bird prevention magnetic paint, installing baffles and nets on cross arms of the iron tower and the like.
However, the above-mentioned methods are all fixed, can not carry out directional birds expulsion according to the actual existence condition of on-the-spot birds, probably there is not the birds on the spot and wasted the equipment that drives the bird, also probably there are many on-the-spot birds and the mode of expulsion is improper, simultaneously, above-mentioned fixed bird mode of driving has also reduced work efficiency when wasting resources.
The invention with the publication number of 105356396A relates to a power transmission line bird prevention platform based on bird sound detection, which comprises bird prevention windmill contraction equipment, a voice recognition chip, a robot main body and an ultrasonic detection sensor, wherein the voice recognition chip is used for detecting the type of bird sound near the power transmission line, the bird prevention windmill contraction equipment is used for controlling the contraction or the push-out of the bird prevention windmill main body, the robot main body is carried on the power transmission line, is respectively connected with the bird prevention windmill contraction equipment, the voice recognition chip and the ultrasonic detection sensor and is used for controlling the operation of the bird prevention windmill contraction equipment according to the detection result of the voice recognition chip, and the ultrasonic detection sensor is used for detecting the distance of an obstacle in front of the power transmission line of the robot main body. The invention adopts the electric windmill to expel birds, and has larger loss of electric quantity.
The invention with the publication number of 105397794B relates to a power supply line bird repelling system, which comprises bird-stab-prevention contraction equipment, a bird-stab-prevention main body, bird nest identification equipment and a robot main framework, wherein the bird nest identification equipment is positioned on the robot main framework and used for carrying out bird nest identification on the position of an iron tower near a power supply line, and the robot main framework is used for carrying out patrol on the power supply line and controlling the bird-stab-prevention contraction equipment to contract or push out the bird-stab-prevention main body based on a bird nest identification result. By the aid of the bird repelling device, bird repelling accuracy of bird stabbing prevention can be improved, and power supply safety of a power supply line is maintained. However, the invention has great harm to birds, and is not suitable for large-scale popularization in the era of advocating harmony between human and nature.
Disclosure of Invention
The invention aims to solve the problem of providing an intelligent bird repelling device, which can effectively solve the nesting phenomenon of birds in a power transmission line, can take down bird nests, and avoids the problems that the prior art directly destroys the bird nests to cause great damage to the birds, the birds cannot be prevented from nesting again within a period of time, and the phenomenon that a moving trolley is unbalanced due to picking or walking.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
an intelligent bird repelling device comprises an overhead rail arranged along a power transmission line, a movable trolley arranged on the overhead rail, a balancing mechanism arranged on the bottom surface of the movable trolley, an inspection robot arranged on the movable trolley, a control center arranged on the movable trolley and connected with the inspection robot, and a spraying mechanism arranged on the movable trolley and used for spraying bird repelling agents;
the inspection robot is provided with a bird detection module, a visual inspection module, a bird expelling module, a bird nest removing module, a control module and a communication module;
the bird nest removing module comprises a bird nest picking mechanism and a bird nest storing mechanism, and the control module is in signal connection with the movable trolley, the bird detecting module, the visual inspection module, the bird expelling module, the bird nest removing module and the communication module;
the balance mechanism comprises a balance monitoring module arranged on the bottom surface of the movable trolley and a balance adjusting module which is arranged at the bottom of the movable trolley and matched with the balance monitoring module;
the balance adjusting module comprises a main balance rod arranged on the bottom surface of the moving trolley, a balance plate arranged at the lower end of the main balance rod, a plurality of driving motors arranged on the bottom surface of the balance plate, an L-shaped supporting arm arranged on an output shaft of the driving motors, a rotating motor arranged at the end part of the L-shaped supporting arm, an auxiliary electric telescopic rod arranged on the output shaft of the rotating motor, and a balance ball arranged at the end part of the auxiliary electric telescopic rod;
the balance monitoring module comprises a MEMS gyroscope and a MEMS accelerometer;
the spraying mechanism comprises a telescopic module arranged on the movable trolley and a spraying module arranged at the tail end of the telescopic module;
the telescopic module comprises a first two-shaft pan-tilt, a first telescopic arm arranged on the first two-shaft pan-tilt, a second two-shaft pan-tilt arranged at the end part of the first telescopic arm, a second telescopic arm arranged on the second two-shaft pan-tilt, a third two-shaft pan-tilt arranged at the end part of the second telescopic arm, a third telescopic arm arranged on the third two-shaft pan-tilt, and the spraying module arranged on the third telescopic arm;
the spraying module comprises a storage tank, a pressurizing unit arranged on the storage tank, a nozzle arranged on the storage tank, an electromagnetic switch matched with the nozzle, and a coordinate detection unit arranged at the front end of the spraying mechanism.
The pressurizing unit comprises a pressurizing cylinder arranged in the storage tank, a pressurizing telescopic rod arranged in the pressurizing cylinder, a leather cup of the pressurizing telescopic rod, and a one-way valve arranged at the lower part of the pressurizing cylinder and used for communicating the storage tank.
And chili water or balsam pear water is arranged in the storage tank.
Further, birds detection module includes sound wave detection module and sound detection module, sound wave detection module is including setting up the ultrasonic sensor who patrols and examines the robot front end and set up, ultrasonic sensor with control module connects and is used for monitoring birds on the transmission line.
Furthermore, the sound detection module comprises a microphone for receiving external bird sounds, a memory card for storing various bird sounds and a voice recognition chip for recognizing the sounds received by the microphone, and the voice recognition chip is connected with the control module.
Further, the vision inspection module includes the CCD camera that the robot top of patrolling and examining set up through fourth diaxon cloud platform, fourth diaxon cloud platform and CCD camera respectively with control module connects.
Further, the bird repelling module comprises a loudspeaker and a bird repelling windmill, the loudspeaker is connected with an mp3 player, the mp3 player is connected with the control module through a relay, and a driving mechanism of the bird repelling windmill is connected with the control module.
Further, control module includes the singlechip, communication module includes the GPRS module, control center includes industrial computer and alarm.
Further, the bird nest picking mechanism comprises a telescopic cross arm is arranged on the top of the inspection robot through a rotating mechanism, a telescopic stand column is arranged below the front end of the telescopic cross arm, a hollow tube is arranged at the lower end of the telescopic stand column, a plurality of arc-shaped claws are arranged along the uniform distribution below the hollow tube, the arc-shaped claws are connected with the hollow tube along the rotation, the top ends of the arc-shaped claws extend into the hollow tube, the top ends of the arc-shaped claws are connected with a connecting plate in a sliding manner, the center of the connecting plate is connected with a driving motor arranged on the upper portion of the hollow tube through a pull rope, the pull rope is wound on the rotation shaft of the driving motor, a pressing spring is arranged above the connecting plate, an annular stop block is arranged between the driving motor and the connecting plate in the hollow tube, the upper end of, The telescopic upright post and the driving motor are respectively connected with the control module.
Further, the rotating mechanism comprises a second two-axis pan-tilt head.
Furthermore, an infrared camera is arranged on the side face of the hollow tube and connected with the control module.
Furthermore, the bird's nest storage mechanism comprises a cabinet body arranged behind the inspection robot, wherein an opening is formed in the upper end of the cabinet body, and an electric push-pull cover plate is arranged corresponding to the opening.
Furthermore, the electric push-pull cover plate comprises sliding grooves formed in the two sides of the opening and at the upper end of the cabinet body, sliding blocks are arranged in the sliding grooves, transverse plates are arranged on the sliding blocks, an electric telescopic rod is arranged on one side of the side face of the cabinet body in the sliding direction of the transverse plates, the end portion of the electric telescopic rod is connected with the transverse plates through connecting rods, and the electric telescopic rod is parallel to the transverse plates.
A use method of an intelligent bird repelling device comprises the following steps:
s1, the control center controls the moving trolley to run on the overhead track, and the inspection robot on the moving trolley monitors whether birds exist on the power transmission line and the tower or not through the sound wave detection module and the sound detection module;
s2, when birds are detected, the birds are repelled through a loudspeaker and an anti-bird windmill;
s3, monitoring whether a bird nest exists on the tower or not through the CCD camera in the trolley traveling process, and if the bird nest exists, sending alarm information to a control center;
s4, after the control center receives the alarm information of the bird nest, the telescopic cross arm and the telescopic stand column are controlled to move the hollow tube to the position above the center of the bird nest, the pull rope pulls the arc-shaped claw through the rotation of the driving motor, the telescopic stand column is controlled to extend to complete the grabbing of the bird nest, and meanwhile, the balance mechanism is used for adjusting to ensure the stability of the structure of the device;
s5, monitoring whether a bird exists in the bird nest or not through an infrared camera on the hollow tube in the grabbing process of the bird nest, when the bird or the egg exists, grabbing the bird nest and then placing the bird nest into the bird nest storage mechanism, and if the bird does not exist, throwing the bird nest down from the high altitude;
s6, after the bird nest is removed, spraying an anti-bird agent to the position where the bird nest is removed through a spraying mechanism to prevent the birds from nesting again;
and S7, processing the bird nest storage mechanism after the inspection is finished.
The invention provides an intelligent bird repelling device, which can be used for enabling an inspection robot to move along a power transmission line through the matching of an overhead rail and a movable trolley, monitoring bird conditions on the power transmission line and a tower, cleaning a bird nest through a bird nest picking mechanism, and simultaneously ensuring that the device cannot incline when grabbing the bird nest by combining with a balance mechanism at the bottom of the movable trolley, thereby protecting the safe operation of the power transmission line.
Patrol and examine and set up birds monitoring module on the robot, including sound wave detection module and sound detection module, whether sound wave detection module has fallen birds through ultrasonic sensor on to the power transmission line and surveys, and it is received by reflecting when having birds through sending the ultrasonic wave, alright to having birds to monitor. The sound detection module stores the sound of various birds through the storage card to receive peripheral bird song through the microphone, through the speech recognition chip to peripheral bird song and the bird sound of storage carry out the comparison, can monitor whether peripheral birds have, whether birds are on circuit and shaft tower, all carry out the expulsion, greatly reduced birds is to the harm of transmission line.
The vision inspection module is through setting up the diaxon cloud platform on patrolling and examining the robot top to set up the CCD camera on the diaxon cloud platform, CCD camera a semiconductor imaging device, therefore have sensitivity height, anti highlight, the distortion is little, small, long-lived, advantages such as anti-vibration, can observe the peripheral condition of patrolling and examining the in-process through the CCD camera, can realize artifical the intervention and patrol and examine, thereby carry out manual operation to the special circumstances, improve the success rate of flexibility ratio and reply special circumstances.
The bird expelling module expels birds through sound and light, and the mp3 player stores the sound for expelling the birds when finding birds on a power transmission line, a pole tower or the side. The control module opens the mp3 player through the relay, the sound is expanded and spread out through the loudspeaker, and birds can fly away from the periphery of the power transmission line after hearing the sound, so that the birds are repelled. And the anti-bird windmill is added, which is the existing method for expelling birds through optical reflection, the driving mechanism of the module controller is controlled so that the anti-bird windmill rotates, light rays are reflected through the optical lens on the windmill, and therefore surrounding birds are affected, and the expelling of the birds is realized.
The control module includes a single chip computer, the communication module includes GPRS module, the control center includes industrial control computer and alarm, the single chip computer is an integrated circuit chip, it adopts super large scale integrated circuit technology to integrate the functions of CPU, RAM, ROM, various I/O ports, interrupt system, timer/counter, etc. (may also include display driving circuit, pulse width modulation circuit, analog multiplexer, A/D converter, etc.) with data processing capacity into a small and perfect microcomputer system formed on a silicon chip, and it has strong function. The GPRS module can realize remote wireless communication between the control center and the inspection robot, and signals are stable. The control center adopts industrial computer and alarm, and the industrial computer has included calculator, database server and man-machine interaction equipment etc. can control the robot that patrols and examines at the scene, and the alarm can report to the police when discovering the bird's nest, provides the staff and picks up the bird's nest.
The bird nest picking mechanism can remotely pick up bird nests by workers when the bird nests exist on a tower or a power transmission line, so that the influence of bird inhabitation on the power transmission line is avoided, and the condition that equipment is short-circuited due to the bird nests is avoided; in order to avoid the balance mechanism comprising a balance monitoring module arranged on the bottom surface of the movable trolley, a balance adjusting module which is arranged at the bottom of the movable trolley and is matched with the balance monitoring module; the balance adjusting module comprises a main balance rod arranged on the bottom surface of the trolley, and the main balance rod is an electric telescopic rod, so that the device can extend downwards and can be well balanced; the lower end of a main balancing rod is provided with a balancing plate, a plurality of driving motors arranged on the bottom surface of the balancing plate, an L-shaped supporting arm arranged on an output shaft of the driving motor, a rotating motor arranged at the end part of the L-shaped supporting arm, an auxiliary electric telescopic rod arranged on the output shaft of the rotating motor, and a balancing ball arranged at the end part of the auxiliary electric telescopic rod; the balance monitoring module comprises an MEMS gyroscope, an MEMS accelerometer and a microcontroller; the dynamic balance data of the moving trolley can be obtained through the MEMS gyroscope and the MEMS accelerometer and fed back to the microcontroller for adjustment, so that the dynamic balance of the device is ensured to be realized, and the phenomenon of deviation is avoided.
In addition, the adopted spraying mechanism comprises a telescopic module arranged on the movable trolley and a spraying module arranged at the tail end of the telescopic module; the adopted telescopic module comprises a first two-shaft pan-tilt, a first telescopic arm arranged on the first two-shaft pan-tilt, a second two-shaft pan-tilt arranged at the end part of the first telescopic arm, a second telescopic arm arranged on the second two-shaft pan-tilt, a third two-shaft pan-tilt arranged at the end part of the second telescopic arm, a third telescopic arm arranged on the third two-shaft pan-tilt, and the spraying module arranged on the third telescopic arm; the three telescopic arms ensure the combination with three two-axis holders, the effect of dead-angle-free spraying is realized, in order to ensure the accuracy of spraying, a coordinate detection unit is arranged at the front end of a spraying mechanism, the adopted coordinate detection unit is an MEMS gyroscope and an MEMS accelerometer, the spatial coordinate of the front end of a picking mechanism can be rapidly calculated, and then rapid spraying is realized, and the adopted spraying module comprises a storage tank, a pressurizing unit arranged on the storage tank, a nozzle arranged on the storage tank, an electromagnetic switch matched with the nozzle, and a coordinate detection unit arranged at the front end of the spraying mechanism; pressurize in to the storage tank through the pressurizing unit for produce the high pressure in the storage tank, when electromagnetic switch opened, can spray hot pepper water or balsam pear water on the pole to bird's nest department, make here can not have birds to nest in a period, because suitable birds position of nesting is not many on every tower pole in addition, consequently can reduce the possibility that birds nest once more.
In addition, the adopted pressurizing unit comprises a pressurizing cylinder arranged in the material storage tank, a pressurizing telescopic rod arranged in the pressurizing cylinder, a leather cup arranged on the pressurizing telescopic rod, and a one-way valve arranged at the lower part of the pressurizing cylinder and used for communicating the material storage tank; can realize pressurizeing fast through this pressurization unit to the storage tank, and in order to ensure the pressurized effect, set up pressure sensor on the storage tank, avoid pressure undersize or too big phenomenon, and set up chilli water or balsam pear water in the storage tank, can avoid birds phenomenon of nesting once more through natural irritability preparation.
The invention can expel birds on or along the power transmission line by the inspection robot, so that the birds are prevented from inhabiting a tower or being peripheral to damage the power transmission network, the inspection robot can remove bird nests on the tower or the power transmission line by the aid of the bird nest picking mechanism, the balance mechanism is arranged at the bottom of the movable trolley, the safety of the device can be ensured under the condition that the bird nests are grabbed or the wind is generated, the safety of the birds is protected under the condition that the birds exist, the birds which are frequently dangerous due to the erection of the power transmission line can not be killed, and meanwhile, the phenomenon that the birds cannot nest again at the original site within a period of time is realized by the aid of the natural bird repellent.
Drawings
The invention is further described below with reference to the accompanying drawings:
FIG. 1 is a system structure diagram of the intelligent bird repelling device of the invention;
FIG. 2 is a schematic structural view of the present invention;
FIG. 3 is a schematic structural diagram of the bird nest picking mechanism of the present invention;
FIG. 4 is a schematic structural view of the bird nest storage mechanism of the present invention;
FIG. 5 is a schematic view of the balance mechanism of the present invention;
fig. 6 is a schematic structural view of the spray mechanism of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to fig. 1 to 6 of the embodiments of the present invention. It is to be understood that the embodiments described are only some of the embodiments of the present invention, and not all of them. All other embodiments, which can be derived from the description of the embodiments of the present invention by a person skilled in the art, are within the scope of the present invention.
Example one
As shown in fig. 1 and 2: the embodiment provides an intelligent bird repelling device, which comprises an overhead rail 13 arranged along a power transmission line, a movable trolley 3 arranged on the overhead rail 13, a balance mechanism 33 arranged on the bottom surface of the movable trolley 3, an inspection robot 1 arranged on the movable trolley 3 and a control center 7 connected with the inspection robot 1, wherein the inspection robot 1 is provided with a bird detection module 2, a visual inspection module 4, a bird expelling module 8, a bird nest clearing module 9, a control module 5 and a communication module 6, the bird nest clearing module 19 comprises a bird nest picking mechanism 14 and a bird nest storage mechanism 15, and the control module 5 is in signal connection with the movable trolley 3, the bird detection module 2, the visual inspection module 4, the bird expelling module 8, the bird nest clearing module 9 and the communication module 6;
the balance mechanism 33 comprises a balance monitoring module 34 arranged on the bottom surface of the movable trolley and a balance adjusting module arranged at the bottom of the movable trolley and matched with the balance monitoring module;
the balance adjusting module comprises a main balance rod 331 arranged on the bottom surface of the moving trolley 3, a balance plate 332 arranged at the lower end of the main balance rod 331, a plurality of driving motors 333 arranged on the bottom surface of the balance plate 332, an L-shaped supporting arm 334 arranged on the output shaft of the driving motors 333, a rotating motor 335 arranged at the end part of the L-shaped supporting arm 334, an auxiliary electric telescopic rod 336 arranged on the output shaft of the rotating motor 335, and a balance ball 337 arranged at the end part of the auxiliary electric telescopic rod 336;
the balance monitoring module 34 comprises a MEMS gyroscope and a MEMS accelerometer;
the spraying mechanism 35 comprises a telescopic module arranged on the moving trolley 3 and a spraying module arranged at the tail end of the telescopic module;
the telescopic module comprises a first two-axis tripod head 351, a first telescopic arm 352 arranged on the first two-axis tripod head 351, a second two-axis tripod head 353 arranged at the end part of the first telescopic arm 352, a second telescopic arm 354 arranged on the second two-axis tripod head 353, a third two-axis tripod head 355 arranged at the end part of the second telescopic arm 354, a third telescopic arm 356 arranged on the third two-axis tripod head 355 and the spraying module arranged on the third telescopic arm 356;
the spray module includes a storage tank 357, a pressurizing unit disposed on the storage tank 357, a nozzle 358 disposed on the storage tank 357, an electromagnetic switch engaged with the nozzle 358, and a coordinate detecting unit 362 disposed on the storage tank 357.
Bird detection module 2 includes sound wave detection module 36 and sound detection module 38, sound wave detection module 36 is including setting up the ultrasonic sensor who patrols and examines the robot front end setting, ultrasonic sensor with control module connects and is used for monitoring the birds on the transmission line.
The sound detection module 38 includes a microphone for receiving external bird sounds, a memory card for storing various bird sounds, and a voice recognition chip for recognizing the sounds received by the microphone, and the voice recognition chip is connected to the control module.
Visual inspection module 4 includes patrol and examine 1 top of robot and pass through the CCD camera 11 of fourth diaxon cloud platform 12 setting, fourth diaxon cloud platform 12 and CCD camera 11 respectively with control module 5 is connected.
The bird repelling module 8 comprises a loudspeaker 34 and an anti-bird windmill 10, the loudspeaker 34 is connected with an mp3 player, the mp3 player is connected with the control module 5 through a relay, and a driving mechanism of the anti-bird windmill 10 is connected with the control module 5.
The control module 5 comprises a single chip microcomputer, the communication module 6 comprises a GPRS module, and the control center 7 comprises an industrial personal computer and an alarm.
According to the invention, the inspection robot can move along the power transmission line by matching the overhead track and the movable trolley, so that the bird conditions on the power transmission line and the tower are monitored, and the safe operation of the power transmission line is protected.
Patrol and examine and set up birds monitoring module on the robot, including sound wave detection module and sound detection module, whether sound wave detection module has fallen birds through ultrasonic sensor on to the power transmission line and surveys, and it is received by reflecting when having birds through sending the ultrasonic wave, alright to having birds to monitor. The sound detection module stores the sound of various birds through the storage card to receive peripheral bird song through the microphone, through the speech recognition chip to peripheral bird song and the bird sound of storage carry out the comparison, can monitor whether peripheral birds have, whether birds are on circuit and shaft tower, all carry out the expulsion, greatly reduced birds is to the harm of transmission line.
The vision inspection module is through setting up the diaxon cloud platform on patrolling and examining the robot top to set up the CCD camera on the diaxon cloud platform, CCD camera a semiconductor imaging device, therefore have sensitivity height, anti highlight, the distortion is little, small, long-lived, advantages such as anti-vibration, can observe the peripheral condition of patrolling and examining the in-process through the CCD camera, can realize artifical the intervention and patrol and examine, thereby carry out manual operation to the special circumstances, improve the success rate of flexibility ratio and reply special circumstances.
The bird expelling module expels birds through sound and light, and the mp3 player stores the sound for expelling the birds when finding birds on a power transmission line, a pole tower or the side. The control module opens the mp3 player through the relay, the sound is expanded and spread out through the loudspeaker, and birds can fly away from the periphery of the power transmission line after hearing the sound, so that the birds are repelled. And the anti-bird windmill is added, which is the existing method for expelling birds through optical reflection, the driving mechanism of the module controller is controlled so that the anti-bird windmill rotates, light rays are reflected through the optical lens on the windmill, and therefore surrounding birds are affected, and the expelling of the birds is realized.
The control module includes a single chip computer, the communication module includes GPRS module, the control center includes industrial control computer and alarm, the single chip computer is an integrated circuit chip, it adopts super large scale integrated circuit technology to integrate the functions of CPU, RAM, ROM, various I/O ports, interrupt system, timer/counter, etc. (may also include display driving circuit, pulse width modulation circuit, analog multiplexer, A/D converter, etc.) with data processing capacity into a small and perfect microcomputer system formed on a silicon chip, and it has strong function. The GPRS module can realize remote wireless communication between the control center and the inspection robot, and signals are stable. The control center adopts industrial computer and alarm, and the industrial computer has included calculator, database server and man-machine interaction equipment etc. can control the robot that patrols and examines at the scene, and the alarm can report to the police when discovering the bird's nest, provides the staff and picks up the bird's nest.
Example two
As shown in fig. 3 and 4: the difference from the first embodiment is that:
the bird nest picking mechanism 14 comprises a telescopic cross arm 17 arranged at the top end of an inspection robot 1 through a rotating mechanism 16, a telescopic upright post 18 is arranged below the front end of the telescopic cross arm 17, a hollow tube 19 is arranged at the lower end of the telescopic upright post 18, a plurality of arc claws 27 are uniformly arranged below the hollow tube 19, the arc claws 27 are rotatably connected with the hollow tube 19 along the lower edge, the top ends of the arc claws 27 extend into the hollow tube 19, the top ends of the arc claws 27 are slidably connected with a connecting plate 26, the center of the connecting plate 26 is connected with a driving motor 22 arranged at the upper part of the hollow tube 19 through a pull rope 23, the pull rope 23 is wound on a rotating shaft 21 of the driving motor 22, a pressing spring 25 is arranged above the connecting plate 26, an annular stop block 24 is arranged between the driving motor 22 and the connecting plate 26 in the hollow tube 19, and the upper end of the pressing spring 25 is connected, the rotating mechanism 16, the telescopic cross arm 17, the telescopic upright post 18 and the driving motor 22 are respectively connected with the control module 5.
Arc claw and the lower edge swivelling joint of hollow tube, and with connecting plate sliding connection, the lower extreme that can drive the arc claw like this when the connecting plate goes up and down opens or contracts, thereby realize snatching the bird's nest, the arc claw can be realized through articulated with the swivelling joint of hollow tube, the arc claw can be realized through the mode of T type spout with the slider with being connected of connecting plate, set up the spout at the connecting plate lower surface, the arc claw top sets up the slider through universal joint, alright realize sliding, when the connecting plate moves down like this, the inside removal in arc claw top, the arc claw lower part opens, the connecting plate is portable upwards, the arc claw top is outwards opened, the shrink in arc claw lower part. After discovering the bird nest, through rotary mechanism adjustment direction, flexible xarm adjustment horizontal distance, the vertical distance of flexible stand adjustment arc claw to bird nest opens driving motor rotation and slowly extends flexible stand after the arc claw corresponds the central point of bird nest, makes the stay cord twine in the axis of rotation, thereby risees the connecting plate, makes the arc claw insert the edge of bird nest from the top down, and inwards tightens up and snatch the bird nest. Then control flexible horizontal pole and flexible stand and say that the bird nest removes to the bird nest and deposits mechanism top, extend flexible stand again and say the bird nest and put into the bird nest and deposit the mechanism in, close driving motor simultaneously, with the stay cord unwrapping wire under the effect of pressing the spring, the connecting plate descends, and the arc claw loosens, in the bird nest alright put into the bird nest and deposit the mechanism to can snatch other bird nests. The central point that the pressure spring can not put the stay cord causes the influence, and the stay cord needs to be connected with the center of connecting plate, consequently fixes through annular dog to the upper end of pressing the spring to realize the purpose of pressing the spring energy storage.
The rotating mechanism 16 comprises a second two-axis cradle head, the rotating mechanism also adopts a two-axis cradle head, and the oblique operation of the bird nest picking mechanism can be further realized, so that the bird nest picking mechanism is more convenient.
The side of hollow tube 19 sets up infrared camera 20, infrared camera 20 with control module 5 is connected. Whether have young bird or bird's egg to monitor in the bird's nest can be carried out to infrared camera, guarantees little bird's safety.
The pressurizing unit comprises a pressurizing cylinder 361 arranged in the material storage tank 357, a pressurizing telescopic rod 363 arranged in the pressurizing cylinder 361, a leather cup arranged on the pressurizing telescopic rod 363, and a one-way valve 359 arranged at the lower part of the pressurizing cylinder 361 and used for communicating the material storage tank 357.
The material storage tank 357 is filled with chili water.
EXAMPLE III
The difference from the second embodiment is that: the bird nest storage mechanism 15 comprises a cabinet body 39 arranged behind the inspection robot 1, an opening 37 is arranged at the upper end of the cabinet body 39, and an electric push-pull cover plate is arranged corresponding to the opening 37. The bird's nest storage mechanism is realized through the cabinet body, and an electric push-pull cover plate is arranged on the cabinet body, so that the influence of strong wind and rainwater on the inside is avoided. The opening of the cabinet body is arranged at the upper end and is used for placing a bird nest.
The electric push-pull cover plate comprises sliding grooves 28 formed in the two sides of the opening 37 at the upper end of the cabinet body 39, sliding blocks 29 are arranged in the sliding grooves 28, transverse plates 30 are arranged on the sliding blocks 29, electric telescopic rods 31 are arranged on one side of the side face of the cabinet body 39 in the sliding direction of the transverse plates 30, the end portions of the electric telescopic rods 31 are connected with the transverse plates 30 through connecting rods 32, and the electric telescopic rods 31 are parallel to the transverse plates 30. The diaphragm can slide in cabinet body open-ended top through slider and spout to cover the opening, the removal of diaphragm is realized through the electric telescopic handle that the cabinet side set up, and electric telescopic handle's tip and diaphragm pass through the connecting rod and realize, thereby drive the diaphragm and slide.
Example four
The embodiment provides a using method of an intelligent bird repelling device, which comprises the following steps:
s1, the control center controls the moving trolley to run on the overhead track, and the inspection robot on the moving trolley monitors whether birds exist on the power transmission line and the tower or not through the sound wave detection module and the sound detection module;
s2, when birds are detected, the birds are repelled through a loudspeaker and an anti-bird windmill;
s3, monitoring whether a bird nest exists on the tower or not through the CCD camera in the trolley traveling process, and if the bird nest exists, sending alarm information to a control center;
s4, after the control center receives the alarm information of the bird nest, the telescopic cross arm and the telescopic upright post are controlled to move the hollow tube to the position above the center of the bird nest, the pull rope pulls the arc-shaped claw through the rotation of the driving motor, and at the moment, the telescopic upright post is controlled to extend to complete the grabbing of the bird nest; meanwhile, the structure stability of the device is ensured by adjusting through a balance mechanism;
s5, monitoring whether a bird exists in the bird nest or not through an infrared camera on the hollow tube in the grabbing process of the bird nest, when the bird or the egg exists, grabbing the bird nest and then placing the bird nest into the bird nest storage mechanism, and if the bird does not exist, throwing the bird nest down from the high altitude;
s6, after the bird nest is removed, spraying an anti-bird agent to the position where the bird nest is removed through a spraying mechanism to prevent the birds from nesting again;
and S7, processing the bird nest storage mechanism after the inspection is finished. Carry out the protectiveness to it when having little bird and bird egg and shift, can send to zoo or birds protection center, avoid laying of transmission line to cause the influence to the existence of birds, can protect the treasure birds of country.
The bird nest picking mechanism can remotely pick up bird nests by workers when the bird nests exist on a tower or a power transmission line, so that the influence of bird inhabitation on the power transmission line is avoided, and the condition that equipment is short-circuited due to the bird nests is avoided; in order to avoid the balance mechanism comprising a balance monitoring module arranged on the bottom surface of the movable trolley, a balance adjusting module which is arranged at the bottom of the movable trolley and is matched with the balance monitoring module; the balance adjusting module comprises a main balance rod arranged on the bottom surface of the trolley, and the main balance rod is an electric telescopic rod, so that the device can extend downwards and can be well balanced; the lower end of a main balancing rod is provided with a balancing plate, a plurality of driving motors arranged on the bottom surface of the balancing plate, an L-shaped supporting arm arranged on an output shaft of the driving motor, a rotating motor arranged at the end part of the L-shaped supporting arm, an auxiliary electric telescopic rod arranged on the output shaft of the rotating motor, and a balancing ball arranged at the end part of the auxiliary electric telescopic rod; the balance monitoring module comprises an MEMS gyroscope, an MEMS accelerometer and a microcontroller; the dynamic balance data of the moving trolley can be obtained through the MEMS gyroscope and the MEMS accelerometer and fed back to the microcontroller for adjustment, so that the dynamic balance of the device is ensured to be realized, and the phenomenon of deviation is avoided.
Finally, the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, and other modifications or equivalent substitutions made by the technical solutions of the present invention by those of ordinary skill in the art should be covered within the scope of the claims of the present invention as long as they do not depart from the spirit and scope of the technical solutions of the present invention.
Claims (8)
1. The utility model provides an intelligence bird repellent device which characterized in that: the system comprises an overhead rail arranged along a power transmission line, a movable trolley arranged on the overhead rail, a balance mechanism arranged on the bottom surface of the movable trolley, an inspection robot arranged on the movable trolley, a control center arranged on the movable trolley and connected with the inspection robot, and a spraying mechanism arranged on the movable trolley and used for spraying bird repellent;
the inspection robot is provided with a bird detection module, a visual inspection module, a bird expelling module, a bird nest removing module, a control module and a communication module;
the bird nest removing module comprises a bird nest picking mechanism and a bird nest storing mechanism, and the control module is in signal connection with the movable trolley, the bird detecting module, the visual inspection module, the bird expelling module, the bird nest removing module and the communication module;
the balance mechanism comprises a balance monitoring module arranged on the bottom surface of the movable trolley and a balance adjusting module which is arranged at the bottom of the movable trolley and matched with the balance monitoring module;
the balance adjusting module comprises a main balance rod arranged on the bottom surface of the moving trolley, a balance plate arranged at the lower end of the main balance rod, a plurality of driving motors arranged on the bottom surface of the balance plate, an L-shaped supporting arm arranged on an output shaft of the driving motors, a rotating motor arranged at the end part of the L-shaped supporting arm, an auxiliary electric telescopic rod arranged on the output shaft of the rotating motor, and a balance ball arranged at the end part of the auxiliary electric telescopic rod;
the balance monitoring module comprises a MEMS gyroscope and a MEMS accelerometer;
the spraying mechanism comprises a telescopic module arranged on the movable trolley and a spraying module arranged at the tail end of the telescopic module;
the telescopic module comprises a first two-shaft pan-tilt, a first telescopic arm arranged on the first two-shaft pan-tilt, a second two-shaft pan-tilt arranged at the end part of the first telescopic arm, a second telescopic arm arranged on the second two-shaft pan-tilt, a third two-shaft pan-tilt arranged at the end part of the second telescopic arm, a third telescopic arm arranged on the third two-shaft pan-tilt, and the spraying module arranged on the third telescopic arm;
the spraying module comprises a storage tank, a pressurizing unit arranged on the storage tank, a nozzle arranged on the storage tank, an electromagnetic switch matched with the nozzle, and a coordinate detection unit arranged at the front end of the spraying mechanism.
2. An intelligent bird repelling device according to claim 1, wherein: the pressurizing unit comprises a pressurizing cylinder arranged in the storage tank, a pressurizing telescopic rod arranged in the pressurizing cylinder, a leather cup of the pressurizing telescopic rod, and a one-way valve arranged at the lower part of the pressurizing cylinder and used for communicating the storage tank.
3. An intelligent bird repelling device according to claim 1, wherein: the bird detection module comprises an acoustic detection module and a sound detection module,
the sound wave detection module is in including setting up the ultrasonic sensor who patrols and examines the robot front end and set up, ultrasonic sensor with control module connects and is used for monitoring birds on the transmission line.
4. An intelligent bird repelling device according to claim 3, wherein: the sound detection module comprises a microphone for receiving outside bird sounds, a memory card for storing various bird sounds, and a voice recognition chip for recognizing the sounds received by the microphone;
the voice recognition chip is connected with the control module.
5. An intelligent bird repelling device according to claim 1, wherein: the vision inspection module comprises a CCD camera arranged at the top end of the inspection robot through a fourth two-axis holder, and the fourth two-axis holder and the CCD camera are respectively connected with the control module.
6. An intelligent bird repelling device according to claim 1, wherein: the bird repelling module comprises a loudspeaker and a bird repelling windmill, the loudspeaker is connected with an mp3 player, the mp3 player is connected with the control module through a relay, and a driving mechanism of the bird repelling windmill is connected with the control module.
7. An intelligent bird repelling device according to claim 1, wherein: the control module comprises a single chip microcomputer, the communication module comprises a GPRS module, and the control center comprises an industrial personal computer and an alarm.
8. An intelligent bird repelling device according to claim 1, wherein: the nest picking mechanism comprises a telescopic cross arm arranged at the top end of the inspection robot through a rotating mechanism, a telescopic upright post is arranged below the front end of the telescopic cross arm, a hollow pipe is arranged at the lower end of the telescopic upright post, a plurality of arc claws are uniformly distributed on the lower edge of the hollow pipe and are rotationally connected with the lower edge of the hollow pipe, the top end of the arc claw extends into the hollow tube, the top end of the arc claw is connected with the connecting plate in a sliding way, the center of the connecting plate is connected with a driving motor arranged at the upper part of the hollow pipe through a pull rope, the pull rope is wound on a rotating shaft of the driving motor, a pressing spring is arranged above the connecting plate, an annular stop block is arranged between the driving motor and the connecting plate in the hollow tube, the upper end of the pressing spring is connected with the annular stop block, and the rotating mechanism, the telescopic cross arm, the telescopic upright post and the driving motor are respectively connected with the control module.
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| CN107697292B (en) * | 2017-09-29 | 2020-09-04 | 河南送变电建设有限公司 | Bird repelling device for high-voltage transmission line tower |
| CN112640884B (en) * | 2020-12-29 | 2022-10-28 | 中国航空工业集团公司西安飞机设计研究所 | Airport bird repelling device and bird repelling method thereof |
| CN116584409B (en) * | 2023-05-23 | 2024-05-24 | 江苏省农业科学院 | Automatic collection and intelligent marking equipment for eggs |
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