CN106953266B - A kind of cleaning of transmission line of electricity and scarer - Google Patents
A kind of cleaning of transmission line of electricity and scarer Download PDFInfo
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- CN106953266B CN106953266B CN201710283352.6A CN201710283352A CN106953266B CN 106953266 B CN106953266 B CN 106953266B CN 201710283352 A CN201710283352 A CN 201710283352A CN 106953266 B CN106953266 B CN 106953266B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M29/00—Scaring or repelling devices, e.g. bird-scaring apparatus
- A01M29/16—Scaring or repelling devices, e.g. bird-scaring apparatus using sound waves
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- Life Sciences & Earth Sciences (AREA)
- Birds (AREA)
- Engineering & Computer Science (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses a kind of cleaning of transmission line of electricity and scarers, moving trolley including the overhead track, overhead rail setting that are arranged along transmission line of electricity, the balance mechanism that the moving trolley bottom surface is set, the crusing robot being arranged in the moving trolley, the control centre for being arranged in the moving trolley and connect with the crusing robot, and the cleaning mechanism for being used to clear up transmission line of electricity in the moving trolley is set；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 grabbing Bird's Nest the present apparatus will not run-off the straight the phenomenon that, so that the safe operation to transmission line of electricity is protected；Simultaneously using natural bird repellent realize in a period of time birds will not former address is nested again again the phenomenon that.
Description
Technical field
The present invention relates to electric power bird-proof device technical fields, and in particular to a kind of cleaning of transmission line of electricity and scarer.
Background technique
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 the further implementation of various countries animal and environmental protective measure has the population of birds and quantity significantly
Increase, scope of activities expand increasingly, cause high risks 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, will cause line fault, when blowing, the Bird's Nest on shaft tower is by wind
It dissipates and falls on live wire or outstanding bottle, will cause short circuit grounding failure；2) Bird Flight, for example black stork of the biggish birds of figure,
The long 1m of its body is more, and wing expansion is bigger, and flight may cause alternate short between conducting wire when the biggish birds of figure or birds are fought
Road or singlephase earth fault；3) birds droppings flashover, birds droppings (especially dilute dung of cat owl) 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 with the wind and the air gap is caused to puncture, and 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 above sub.
(2) install bird-resistant: bird-resistant generally uses multiply steel strand wires one end to fix and (be fixed in special pedestal),
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) use deep bid diameter insulator umbrella: 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 glass reinforced plastic 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, the bird repellent mode of above-mentioned fixation 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 carried on the transmission line, is connected respectively with anti-bird windmill compressive shrinkage machines, voice recognition chip and ultrasonic listening sensor
It connects, the operation of anti-bird windmill compressive shrinkage machines, ultrasonic listening sensor is controlled for the testing result according to voice recognition chip
For detecting the obstacle distance in front of robot body at transmission line of electricity.Birds are expelled in the invention using electric windmill, right
It is larger in the loss of electricity；And the transmission line of electricity damaged is not repaired, so that lesser flaw further expansion.
The invention of Publication No. 105397794B is related to a kind of power 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 is located on robot body frame structure, for confession
Steel tower position near electric line carries out Bird's Nest identification, and robot body frame structure is also based on bird for making an inspection tour to power 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 power 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；Simultaneously also not to the power transmission line corroded by bird excrement
Road is cleared up, so that lesser flaw further expansion.
Summary of the invention
The problem to be solved by the invention is to provide a kind of cleaning of transmission line of electricity and scarers, can be effectively solved defeated
The phenomenon that electric line birds are nested, while bird's nest can be removed, avoid existing directly destroy bird's nest from generating birds
It compared with major injury, causes moving trolley unbalance due to winning or walking, and clear up in time transmission line of electricity, avoids continuing rotten
The phenomenon that erosion.
In order to solve the above technical problems, the technical solution adopted by the present invention are as follows:
A kind of cleaning of transmission line of electricity and scarer, including overhead track, the hanger rail being arranged along transmission line of electricity
The moving trolley that is arranged on road, the balance mechanism that the moving trolley bottom surface is set, the inspection being arranged in the moving trolley
Robot, the control centre for being arranged in the moving trolley and being connect with the crusing robot, and be arranged in the shifting
For clearing up the cleaning mechanism of transmission line of electricity on dynamic trolley；
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
The balanced adjustment module that bottom is matched with the balance monitoring module；
The balanced adjustment module includes the main balancing pole that the moving trolley bottom surface is arranged in, and 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 rotating electric machine of L-type support arm end is set, is arranged on the rotating electric machine output shaft
The balanced ball of the secondary electric expansion boom end is arranged in secondary electric telescopic rod；
The balance monitoring module includes MEMS gyroscope and MEMS accelerometer；
The cleaning mechanism includes the flexible module being arranged in the moving trolley, is arranged in the flexible module ends
Cleaning modul, and setting in moving trolley front end for observing the whether clean high-definition camera of transmission line of electricity；
The flexible module includes the first two axle The Cloud Terraces, and the first telescopic arm in first two axle The Cloud Terraces is arranged in, if
The second two axle The Cloud Terraces in first telescopic arm end are set, the second telescopic arm in second two axle The Cloud Terraces is set, if
Set the cleaning modul in second telescopic arm end；
The cleaning modul includes the containing liquid chamber being arranged on second telescopic arm, and the containing liquid chamber lower end is arranged in
Outlet tube, the inverted V type support arm that the outlet tube end is set and is connected with second telescopic arm, setting it is described fall
Two transversal stretching bars of V-type support arm end, are arranged in the cleaning unit of the two transversal stretchings boom end；
The cleaning unit includes half tubbiness backplate, and the cleaning support on the half tubbiness backplate inner wall is arranged in, and is arranged
Cleaning brush in the cleaning support, is arranged in the driven wheel in the cleaning brush mandrel, passes through belt with the driven wheel
First driving motor of transmission, first driving motor are arranged on the outside of the half tubbiness backplate, and setting is described half
Spray nozzle on tubbiness backplate for being connected with outlet tube.
Solenoid valve is set on the outlet tube, and micro pump is set on the outlet tube.
Further, the birds detection module includes acoustic detection module and sound detection module, the acoustic detection
Module includes the ultrasonic sensor that the crusing robot front end setting is arranged in, 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 receiving 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 third two axle The Cloud Terraces
CCD camera, the third two axle The Cloud Terraces and CCD camera are connect with the control module respectively.
Further, the birds expulsion module includes loudspeaker and anti-bird windmill, and the loudspeaker and Mp 3 player connect
It connects, the Mp 3 player is connect by relay with the control module, the driving mechanism and the control of the anti-bird windmill
Module connection.
Further, the control module includes single-chip 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 the crusing robot top passes through the flexible cross of rotating mechanism setting
Telescopic column is arranged in arm, the front end lower section of 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 and hollow pipe lower edge rotation connect, 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 center passes through drawstring and setting
The second driving motor on the hollow pipe top connects, and the drawstring is wrapped in the rotation axis of second driving motor,
Pressing spring is pressed in setting above the connecting plate, is arranged between second driving motor and the connecting plate in the hollow pipe
Collar stop, the pressing spring upper end are connect with the collar stop, the rotating mechanism, flexible transverse arm, telescopic column and
Second driving motor is connect with the control module respectively.
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 body of crusing robot rear setting, on the cabinet body
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 body upper end in opening two sides setting, institute
It states and sliding block is set in sliding slot, transverse slat is set on the sliding block, the cabinet body side is arranged in the side of the transverse slat glide direction
Electric telescopic rod, the end of the electric telescopic rod are 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 transmission line of electricity cleaning and scarer, 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 loudspeaker and anti-bird windmill birds are expelled when monitoring birds；
S3, pass through whether CCD camera has Bird's Nest to be monitored on shaft tower during carriage walking, if it exists Bird's Nest
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 the rotation of the second driving motor so that drawstring pulls arc pawl, manipulation is flexible at this time
The crawl to Bird's Nest is completed in column elongation, is adjusted at the same time by balance mechanism, it is ensured that the stabilization of present apparatus structure
Property；
S5, it is carried out in Bird's Nest with the presence or absence of bird to during the crawl of Bird's Nest by the infrared camera on hollow pipe
Monitoring, there are being put into Bird's Nest holding structure after grabbing Bird's Nest when bird or bird egg, bird is then by Bird's Nest from height if it does not exist
Under sky is thrown；
S6, it is detected when there is erosion, transmission line of electricity is carried out by cleaning module clear by high-definition camera
It washes；
Bird's Nest holding structure is handled after S7, inspection.
The present invention provides a kind of cleaning of transmission line of electricity and scarers, pass through the cooperation of overhead track and moving trolley
Crusing robot is moved along transmission line of electricity, the birds situation on transmission line of electricity and shaft tower can be supervised
It surveys, and Bird's Nest is cleared up by Bird's Nest picking mechanism, ensure grabbing in combination with the balance mechanism of moving trolley bottom
When Bird's Nest the present apparatus will not run-off the straight the phenomenon that, so that the safe operation to transmission line of electricity is protected.
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 issuing 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, regardless of birds whether on route 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, anti-Qiang Guang, distort small, the small in size, 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, improve flexibility ratio and cope 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, in discovery 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 loudspeaker, and birds can fly away from transmission line of electricity periphery after hearing sound, to realize to birds
Expulsion.And joined anti-bird windmill, 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, thus right so that anti-bird windmill is rotated
The birds on periphery impact, to realize the expulsion to birds.
Control module includes single-chip 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 using very large scale integration technology the central processing with data-handling capacity
Device CPU, random access memory ram, read only memory ROM, it is a variety of I/O mouthfuls and interrupt system, the functions such as timer/counter (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.Control centre uses industrial personal computer and alarm, and industrial personal computer includes meter
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, so that equipment be avoided to occur because of the situation of Bird's Nest short circuit；In order to avoid balance
Mechanism includes the balance monitoring module being arranged on moving trolley bottom surface, and setting is supervised in the moving trolley bottom and the balance
Survey the balanced adjustment module that module matches；The balanced adjustment module includes the main balancing pole that trolley bottom surface is arranged in, 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 in, and is arranged in the driving motor output shaft
On L-type support arm, the rotating electric machine of L-type support arm end is set, is arranged on the rotating electric machine output shaft
The balanced ball of 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, avoids the phenomenon that deviateing.
In addition, the cleaning mechanism used includes the flexible module being arranged in the moving trolley, setting is described flexible
The cleaning modul of module ends, and setting are used to observe the whether clean high-definition camera of transmission line of electricity in moving trolley front end
Head, and the flexible module used includes the first two axle The Cloud Terraces, and the first telescopic arm in first two axle The Cloud Terraces is arranged in, and is arranged
The second telescopic arm in second two axle The Cloud Terraces is arranged in the second two axle The Cloud Terraces in first telescopic arm end, setting
The cleaning modul in second telescopic arm end；The position adjustment that cleaning modul is realized by module of stretching, passes through height
Clear camera recognizes whether dirt, to determine whether be used to clean transmission line of electricity；And the flexible module used
It is capable of being adjusted for any angle and length, so that it is guaranteed that it is able to carry out the adjustment of angle, and cleaning modul includes containing liquid chamber,
The outlet tube of the containing liquid chamber lower end is set, the inverted V type support arm of the outlet tube end is set, and setting is in the V
Two transversal stretching bars of type support arm end, are arranged in the cleaning unit of the two transversal stretchings boom end；It is supported by inverted V type
Arm can ensure the package to transmission line of electricity, and the cleaning unit used includes half tubbiness backplate, and setting is protected in half tubbiness
The cleaning brush in the cleaning support is arranged in cleaning support on plate inner wall, is arranged in driven in the cleaning brush mandrel
Wheel, the first driving motor being driven with the driven wheel by belt, the first driving motor setting are protected in half tubbiness
On the outside of plate, and the spray nozzle on the half tubbiness backplate for being connected with outlet tube is set；Pass through the rotation of cleaning brush
Ensure the cleaning to transmission line of electricity, and the cleaning brush used is sequentially distributed for three, can without dead angle to transmission line of electricity into
Row cleaning, and preferably realize control, solenoid valve is set on outlet tube, and micro pump is arranged on outlet tube；Realization pair
Its cleaning.
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 route
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, while birds droppings or other erosions on the transmission line of electricity for needing to clear up, to ensure the safety of transmission line of electricity.
Detailed description of the invention
The invention will be further described below in conjunction with the accompanying drawings:
Fig. 1 is the system construction drawing of transmission line of electricity cleaning and scarer of the present invention；
Fig. 2 is structural schematic diagram of the 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；
Fig. 6 is the structural schematic diagram of cleaning mechanism of the present invention.
Specific embodiment
It is practical new below in conjunction with this to keep the objectives, technical solutions, and advantages of the embodiments of the present invention clearer
The attached drawing 1-6 of type embodiment, is clearly and completely described the technical solution of the utility model embodiment.Obviously, described
Embodiment be the utility model a part of the embodiment, instead of all the embodiments.Based on described the utility model
Embodiment, those of ordinary skill in the art's every other embodiment obtained fall within the protection scope of the utility model.
Embodiment one
As shown in figs. 1,2 and 6: present embodiments provide a kind of cleaning of transmission line of electricity and scarer, including along
The overhead track 13 of transmission line of electricity setting, is arranged in the moving trolley 3 moving trolley 3 being arranged on the overhead track 13
The crusing robot 1 being arranged and the control being connect with the crusing robot 1 on the balance mechanism 33 of bottom surface, the moving trolley 3
Center 7 processed, and be arranged in the moving trolley 3 for clearing up the cleaning mechanism 35 of transmission line of electricity；The crusing robot 1
Upper setting birds detection module 2, visual inspection module 4, birds expulsion module 8, Bird's Nest remove module 9, control module 5 and communication
Module 6, the Bird's Nest remove module 19 and include Bird's Nest picking mechanism 14 and Bird's Nest holding structure 15, the control module 5 and institute
It states moving trolley 3, birds detection module 2, visual inspection module 4, birds expulsion module 8, Bird's Nest and removes module 9 and communication module
Signal 6 connects；
The balance mechanism 33 includes the balance monitoring module 34 being arranged on moving trolley bottom surface, is arranged in the movement
The balanced adjustment module that trolley bottom is matched with the balance monitoring module；
The balanced adjustment module includes the main balancing pole 331 that 3 bottom surface of moving trolley is arranged in, and is arranged in the master
Multiple driving motors 333 on 332 bottom surface of 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 rotating electric machine 335 of 334 end of L-type support arm is set,
Secondary electric telescopic rod 336 on 335 output shaft of rotating electric 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 include MEMS gyroscope and MEMS accelerometer；
The cleaning mechanism 35 includes the flexible module being arranged in the moving trolley, is arranged in the flexible module end
The cleaning modul in portion, and setting are used to observe the whether clean high-definition camera 40 of transmission line of electricity in moving trolley front end；
The flexible module includes the first two axle The Cloud Terraces 351, and first be arranged in first two axle The Cloud Terraces 351 is flexible
The second two axle The Cloud Terraces 353 of 352 end of the first telescopic arm are arranged in arm 352, are arranged in second two axle The Cloud Terraces 353
On the second telescopic arm 354, the cleaning modul of 354 end of the second telescopic arm is set；
The cleaning modul includes the containing liquid chamber 355 being arranged on second telescopic arm 354, is arranged in the containing liquid chamber
The outlet tube 356 of 355 lower ends, the inverted V type that 356 end of outlet tube is set and is connected with second telescopic arm 354
Two transversal stretching bars 359 of 358 end of inverted V type support arm are arranged in support arm 358, are arranged in two transversal stretching
The cleaning unit of 359 end of bar；
The cleaning unit includes half tubbiness backplate 360, and the cleaning support on half tubbiness backplate, 360 inner wall is arranged in
364, the cleaning brush 363 in the cleaning support 364 is set, the driven wheel in 363 mandrel of cleaning brush is set, with institute
The first driving motor 361 that driven wheel is driven by belt is stated, first driving motor 361 is arranged in the half tubbiness backplate
360 outsides, and the spray nozzle 362 on the half tubbiness backplate 360 for being connected with outlet tube 356 is set.
Solenoid valve 357 is set on the upper outlet tube 356, and micro pump 365 is set on the outlet tube 356；
The birds detection module 2 includes acoustic detection module 36 and sound detection module 38, the acoustic detection module
36 include the ultrasonic sensor that the crusing robot front end setting is arranged in, 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 38 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 receiving to the microphone are identified, the voice recognition chip with
The control module connection.
The visual inspection module 4 includes that 1 top of crusing robot is taken the photograph by the CCD that third two axle The Cloud Terraces 12 are arranged
As head 11, the third two axle The Cloud Terraces 12 and CCD camera 11 are connect with the control module 5 respectively.
The birds expulsion module 8 includes loudspeaker 34 and anti-bird windmill 10, and the loudspeaker 34 connects with Mp 3 player
Connect, the Mp 3 player is 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 single-chip 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, so that the safe operation to transmission line of electricity carries out
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 issuing 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, regardless of birds whether on route 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, anti-Qiang Guang, distort small, the small in size, 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, improve flexibility ratio and cope 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, in discovery 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 loudspeaker, and birds can fly away from transmission line of electricity periphery after hearing sound, to realize to birds
Expulsion.And joined anti-bird windmill, 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, thus right so that anti-bird windmill is rotated
The birds on periphery impact, to realize the expulsion to birds.
Control module includes single-chip 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 using very large scale integration technology the central processing with data-handling capacity
Device CPU, random access memory ram, read only memory ROM, it is a variety of I/O mouthfuls and interrupt system, the functions such as timer/counter (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.Control centre uses industrial personal computer and alarm, and industrial personal computer includes meter
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.
The cleaning mechanism of use includes the flexible module being arranged in the moving trolley, is arranged in the flexible module end
The cleaning modul in portion, and setting are used to observe the whether clean high-definition camera of transmission line of electricity in moving trolley front end, and adopt
Flexible module includes the first two axle The Cloud Terraces, and the first telescopic arm in first two axle The Cloud Terraces is arranged in, and is arranged described
The second telescopic arm in second two axle The Cloud Terraces is arranged in second two axle The Cloud Terraces of the first telescopic arm end, is arranged described
The cleaning modul of second telescopic arm end；The position adjustment that cleaning modul is realized by module of stretching, passes through high-definition camera
Head recognizes whether dirt, to determine whether being used to clean transmission line of electricity；And the flexible module used can appoint
Meaning angle and length are adjusted, so that it is guaranteed that being able to carry out the adjustment of angle, and cleaning modul includes containing liquid chamber, setting exists
The outlet tube of the containing liquid chamber lower end, is arranged in the inverted V type support arm of the outlet tube end, and setting is supported in the inverted V type
Two transversal stretching bars of arm end, are arranged in the cleaning unit of the two transversal stretchings boom end；It can by inverted V type support arm
Ensure the package to transmission line of electricity, and the cleaning unit used includes half tubbiness backplate, is arranged in the half tubbiness backplate inner wall
On cleaning support, the cleaning brush in the cleaning support is set, the driven wheel in the cleaning brush mandrel is set, with institute
The first driving motor that driven wheel is driven by belt is stated, first driving motor is arranged on the outside of the half tubbiness backplate,
And the spray nozzle on the half tubbiness backplate for being connected with outlet tube is set；Ensured by the rotation of cleaning brush pair
The cleaning of transmission line of electricity, and the cleaning brush used is sequentially distributed for three, can transmission line of electricity is cleaned without dead angle,
And preferably realize control, solenoid valve is set on outlet tube, and micro pump is arranged on outlet tube；It realizes to the clear of its
It washes.
Embodiment two
As shown in Figure 3 and Figure 4: the difference of itself and embodiment one is:
The Bird's Nest picking mechanism 14 includes that 1 top of crusing robot passes through the flexible transverse arm of the setting of rotating mechanism 16
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 connected with 19 lower edge of hollow pipe rotation,
The top of the arc pawl 27 is protruded into the hollow pipe 19, and top and the connecting plate 26 of the arc pawl 27 are slidably connected, institute
It states 26 center of connecting plate to connect by drawstring 23 with the second driving motor 22 that 19 top of hollow pipe is arranged in, the drawstring
23 are wrapped in the rotation axis 21 of second driving motor 22, and pressing spring 25, the sky are pressed in setting above the connecting plate 26
Collar stop 24 is set between second driving motor 22 and the connecting plate 26 in heart pipe 19, it is described by pressing spring 25
End is connect with the collar stop 24, and the rotating mechanism 16, flexible transverse arm 17, telescopic column 18 and the second driving motor 22 divide
It is not connect with the control module 5.
The rotation connection of the lower edge of arc pawl and hollow pipe, and be slidably connected with connecting plate, in this way when connecting plate is gone up and down
It waits the lower end opening that will drive arc pawl or shrinks, thus realize the crawl to Bird's Nest, the rotation connection of arc pawl and hollow pipe
It can be by hingedly realizing, 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 can realize sliding by universal joint setting sliding block, and such connecting plate is to moving down
When dynamic, arc pawl top is moved 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
The vertical distance for adjusting arc pawl to Bird's Nest opens the rotation of the second driving motor after arc pawl corresponds to the center of Bird's Nest
And telescopic column is slowly extended, so that drawstring is wound on the rotating shaft, so that connecting plate be increased, so that arc pawl is from upper
It is downwardly into the edge of Bird's Nest, and inwardly tightens and Bird's Nest is grabbed.Then it controls telescopic cross bar and telescopic column says that Bird's Nest is mobile
It to Bird's Nest holding structure, then extends telescopic column and says that Bird's Nest is put into Bird's Nest holding structure, simultaneously close off the second driving electricity
Machine, by drawstring unwrapping wire under the action of pressing pressing spring, connecting plate declines, and arc pawl unclamps, and Bird's Nest can be put into Bird's Nest storage machine
In structure, so as to be grabbed to other Bird's Nests.The center of drawstring cannot be impacted by pressing spring, drawstring needs
It to be connect with the center of connecting plate, therefore the upper end by pressing spring is fixed by collar stop, to realize pressing bullet
The purpose of spring accumulation of energy.
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.Whether infrared camera can have birdling or bird egg to be monitored in Bird's Nest, guarantee the safety of bird.
Embodiment three
The difference of itself and embodiment two is: the Bird's Nest holding structure 15 is arranged including 1 rear of crusing robot
Cabinet body 39, the simultaneously corresponding 37 setting electric push-and-pull cover boards of the opening of 39 upper end of cabinet body setting opening 37.Bird's Nest stores machine
Structure is realized by cabinet body, 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 39 upper end of cabinet body in the setting of 37 two sides of the opening, the cunning
Sliding block 29 is set in slot 28, transverse slat 30 is set on the sliding block 29,39 side of cabinet body is in 30 glide direction of 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 body is open
Dynamic, to cover to opening, the movement of transverse slat is realized by the electric telescopic rod that cabinet body side is arranged, electric telescopic rod
End and transverse slat realized by connecting rod, to be slided with motion plate.
Example IV
The application method for present embodiments providing a kind of transmission line of electricity cleaning and scarer, 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 loudspeaker and anti-bird windmill birds are expelled when monitoring birds；
S3, pass through whether CCD camera has Bird's Nest to be monitored on shaft tower during carriage walking, if it exists Bird's Nest
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 the rotation of the second driving motor so that drawstring pulls arc pawl, manipulation is flexible at this time
The crawl to Bird's Nest is completed in column elongation；It is adjusted at the same time by balance mechanism, it is ensured that the stabilization of present apparatus structure
Property；
S5, it is carried out in Bird's Nest with the presence or absence of bird to during the crawl of Bird's Nest by the infrared camera on hollow pipe
Monitoring, there are being put into Bird's Nest holding structure after grabbing Bird's Nest when bird or bird egg, bird is then by Bird's Nest from height if it does not exist
Under sky is thrown；
S6, it is detected when there is erosion, transmission line of electricity is carried out by cleaning module clear by high-definition camera
It washes；
Bird's Nest holding structure is handled after S7, inspection.There are carry out protectiveness when bird and bird egg to it to turn
It moves, can send to zoo or bird preservation center, the laying of transmission line of electricity is avoided 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, so that equipment be avoided to occur because of the situation of Bird's Nest short circuit；In order to avoid balance
Mechanism includes the balance monitoring module being arranged on moving trolley bottom surface, and setting is supervised in the moving trolley bottom and the balance
Survey the balanced adjustment module that module matches；The balanced adjustment module includes the main balancing pole that trolley bottom surface is arranged in, 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 in, and is arranged in the driving motor output shaft
On L-type support arm, the rotating electric machine of L-type support arm end is set, is arranged on the rotating electric machine output shaft
The balanced ball of 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, avoids the phenomenon that deviateing.
Finally, it is stated that 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 solution 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 cleaning of transmission line of electricity and scarer, it is characterised in that: including be arranged along transmission line of electricity overhead track, institute
The moving trolley for stating overhead rail setting, the balance mechanism that the moving trolley bottom surface is arranged in are set in the moving trolley
The crusing robot set, the control centre for being arranged in the moving trolley and being connect with the crusing robot, and setting
For clearing up the cleaning mechanism of transmission line of electricity in the moving trolley；
On the crusing robot be arranged birds detection module, 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
The balanced adjustment module matched with the balance monitoring module；
The balanced adjustment module includes the main balancing pole that the moving trolley bottom surface is arranged in, and is arranged under the main balancing pole
The balance plate at end is arranged in multiple driving motors on the balance plate bottom surface, the L in the driving motor output shaft is arranged in
The rotating electric machine of L-type support arm end is arranged in type support arm, and the pair being arranged on the rotating electric machine output shaft is electronic
The balanced ball of the secondary electric expansion boom end is arranged in telescopic rod；
The balance monitoring module includes MEMS gyroscope and MEMS accelerometer；
The cleaning mechanism includes the flexible module being arranged in the moving trolley, and the clear of the flexible module ends is arranged in
Module is managed, and setting is used to observe the whether clean high-definition camera of transmission line of electricity in moving trolley front end；
The flexible module includes the first two axle The Cloud Terraces, and the first telescopic arm in first two axle The Cloud Terraces is arranged in, and setting exists
Second two axle The Cloud Terraces of first telescopic arm end, are arranged in the second telescopic arm in second two axle The Cloud Terraces, and setting exists
The cleaning modul of second telescopic arm end；
The cleaning modul includes the containing liquid chamber being arranged on second telescopic arm, and the containing liquid chamber lower end is arranged in goes out liquid
Pipe, the inverted V type support arm that the outlet tube end is arranged in and is connected with second telescopic arm are arranged in the inverted V type
Two transversal stretching bars of support arm end, are arranged in the cleaning unit of the two transversal stretchings boom end.
2. transmission line of electricity cleaning as described in claim 1 and scarer, it is characterised in that: the cleaning unit includes half barrel
Shape backplate is arranged in the cleaning support on the half tubbiness backplate inner wall, the cleaning brush in the cleaning support is arranged in, setting
Driven wheel in the cleaning brush mandrel, the first driving motor being driven with the driven wheel by belt, described first drives
Dynamic motor is arranged on the outside of the half tubbiness backplate, and is arranged on the half tubbiness backplate for being connected with outlet tube
Spray nozzle；
Solenoid valve is set on the outlet tube, and micro pump is set on the outlet tube.
3. transmission line of electricity as described in claim 1 cleaning and scarer, it is characterised in that: the birds detection module includes
Acoustic detection module and sound detection module,
The acoustic detection module includes the ultrasonic sensor that the crusing robot front end setting is arranged in, the ultrasonic wave
Sensor is connect for being monitored to the birds on transmission line of electricity with the control module.
4. transmission line of electricity as claimed in claim 3 cleaning and scarer, it is characterised in that: the sound detection module includes
It receives the microphone of extraneous birds sound, be stored with the storage card of various birds sound, and for being received to the microphone
To the voice recognition chip that is identified of sound；
The voice recognition chip is connect with the control module.
5. transmission line of electricity as described in claim 1 cleaning and scarer, it is characterised in that: the visual inspection module includes
The CCD camera that the crusing robot top is arranged by third two axle The Cloud Terraces, third two axle The Cloud Terraces and CCD camera difference
It is connect with the control module.
6. transmission line of electricity as described in claim 1 cleaning and scarer, it is characterised in that: the birds expulsion module includes
Loudspeaker and anti-bird windmill, the loudspeaker are connect with Mp 3 player, and the Mp 3 player passes through relay and the control
Module connection, the driving mechanism of the anti-bird windmill are connect with the control module.
7. transmission line of electricity cleaning as described in claim 1 and scarer, it is characterised in that: the control module includes monolithic
Machine, the communication module include GPRS module, and the control centre includes industrial personal computer and alarm.
8. transmission line of electricity as described in claim 1 cleaning and scarer, it is characterised in that: the Bird's Nest picking mechanism includes
Flexible transverse arm is arranged by rotating mechanism in the crusing robot top, and telescopic vertical is arranged below the front end of the flexible transverse arm
Column, the lower end of the telescopic column are arranged hollow pipe, and the hollow pipe lower edge is uniformly arranged multiple arcs pawl, the arc pawl with
The hollow pipe lower edge rotation connection, the top of the arc pawl are protruded into the hollow pipe, the top of the arc pawl and company
Fishplate bar is slidably connected, and the connecting plate center is connect by drawstring with the second driving motor that the hollow pipe top is arranged in,
The drawstring is wrapped in the rotation axis of second driving motor, and pressing spring is pressed in setting above the connecting plate, described hollow
Collar stop, the pressing spring upper end and the annular are set between pipe inherence second driving motor and the connecting plate
Block connection, the rotating mechanism, flexible transverse arm, telescopic column and the second driving motor are connect with the control module respectively.
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| CN201710283352.6A CN106953266B (en) | 2017-04-26 | 2017-04-26 | A kind of cleaning of transmission line of electricity and scarer |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110231667A (en) * | 2019-06-27 | 2019-09-13 | 安徽理工大学 | A kind of electric transmission line channel protection alarm system |
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