CN111771857A - Weeding robot for transformer substation and use method thereof - Google Patents
Weeding robot for transformer substation and use method thereof Download PDFInfo
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- CN111771857A CN111771857A CN202010585499.2A CN202010585499A CN111771857A CN 111771857 A CN111771857 A CN 111771857A CN 202010585499 A CN202010585499 A CN 202010585499A CN 111771857 A CN111771857 A CN 111771857A
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- crawler
- weeding
- transformer substation
- mechanical arm
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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
- A01M21/00—Apparatus for the destruction of unwanted vegetation, e.g. weeds
- A01M21/04—Apparatus for destruction by steam, chemicals, burning, or electricity
- A01M21/043—Apparatus for destruction by steam, chemicals, burning, or electricity by chemicals
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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
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
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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
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Pest Control & Pesticides (AREA)
- Insects & Arthropods (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Toxicology (AREA)
- General Health & Medical Sciences (AREA)
- Health & Medical Sciences (AREA)
- Mechanical Engineering (AREA)
- Catching Or Destruction (AREA)
- Soil Working Implements (AREA)
Abstract
The invention discloses a weeding robot for a transformer substation and a using method thereof. According to the invention, the crawler trolley is adopted to drive the spray head to hoe, the two-degree-of-freedom electric mechanical arm and the electric rotary platform can hoe without dead angles in the transformer substation, the weeding effect is better, the labor cost is greatly saved, time and labor are saved, weeding can be completed through remote control, and two main problems of pesticide damage to human bodies and prevention of personal casualty accidents are effectively solved; full automation makes and sprays even and the wide coverage of pesticide, has effectively compensatied artifical the omission problem of spraying.
Description
Technical Field
The invention relates to a weeding robot for a transformer substation and a using method thereof, and belongs to the technical field of weeding equipment for the transformer substation.
Background
In the transformer substation, weeds vegetation is very fast around the outdoor equipment, and it is too high to transformer equipment safety and stability operation to cause the hidden danger for avoiding the vegetation to grow, need guarantee that weeds can not be too high in the transformer substation, and present 110 kilovolts and following transformer substation mostly are unmanned substation, and fortune dimension personnel can't know the interior weeds condition of transformer substation in real time, hardly accomplish timely processing, and most transformer substation is located far away, and it is great to hoe out the grass cost.
At present, a transformer substation needs to regularly spray pesticides for preventing and controlling weeds to influence the operation of transformer equipment, the work is finished manually, the labor force is limited to a certain extent, the transformer substation can also cause great damage to human bodies due to pesticide contact for a long time, and personal casualty accidents can be caused by mistakenly touching the transformer equipment due to pesticide spraying personnel.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the utility model provides a weeding robot for a transformer substation and a use method thereof, which are used for solving the problems in the prior art.
The technical scheme adopted by the invention is as follows: the utility model provides a transformer substation is with robot of weeding, includes nozzle, two degree of freedom electric mechanical arm, electric rotary platform and tracked trolley, and the nozzle is installed at two degree of freedom electric mechanical arm cantilever ends, and the two degree of freedom electric mechanical arm other ends are installed on electric rotary platform, and electric rotary platform installs at the tracked trolley top, and the nozzle passes through pipe connection to the water pump, and the water pump is connected to the liquid reserve tank.
Preferably, the crawler trolley comprises a trolley body, a plurality of pairs of crawler wheels, each pair of crawler wheels is rotatably connected with two sides of the trolley body, two crawler belts are respectively installed on the crawler wheels on two sides of the trolley body, and one pair of crawler wheels is connected with a driving motor.
Preferably, the crawler wheels are arranged in three pairs in a triangular manner.
Preferably, an obstacle sensor is attached to a front side of the crawler.
Preferably, a camera is mounted on the front side of the crawler.
Preferably, the two-degree-of-freedom electric mechanical arm and the electric rotating platform are externally sleeved with a telescopic waterproof sleeve.
Preferably, the two-degree-of-freedom electric mechanical arm, the electric rotating platform, the driving motor of the crawler and the water pump are connected to a controller, and the controller is connected with the obstacle sensor and the camera.
Preferably, the controller is further connected with a liquid level sensor, and the liquid level sensor is installed in the liquid storage tank.
The weeding robot for the transformer substation further comprises a remote control handle in wireless connection with the crawler trolley, wherein the remote control handle comprises a shell, and a display screen, a return key, an upper key, a lower key, a left key, a right key and a confirmation key which are arranged on the shell.
A use method of a weeding robot for a transformer substation comprises the following steps: when the weeding program is automatically executed, the controller sends a weeding program instruction to the two-degree-of-freedom electric mechanical arm and the crawler, corresponding weeding actions are executed, meanwhile, the obstacle sensor is started, whether an obstacle exists or not is automatically checked, a detection result is fed back to the controller, and if no obstacle exists, the two-degree-of-freedom electric mechanical arm and the crawler continue to execute the corresponding weeding actions; if the obstacle is found, stopping executing the corresponding weeding action by the two-degree-of-freedom electric mechanical arm and the crawler, jumping out of the weeding cycle, and executing the obstacle avoiding action; under the condition of no obstacle, the movement track of the crawler is set according to the planar shape of the transformer substation field, so that the crawler can reach each corner of the transformer substation, and meanwhile, the movement track of the two-degree-of-freedom electric mechanical arm is set, so that the crawler can rotate and move up and down to achieve the weeding effect.
The invention has the beneficial effects that: compared with the prior art, the invention has the following effects:
(1) the economic efficiency is as follows: the crawler trolley is adopted to drive the spray head to hoe, the two-degree-of-freedom electric mechanical arm and the electric rotary platform can hoe without dead corners in the transformer substation, the weeding effect is better, the labor cost is greatly saved, the time and the labor are saved, the crawler trolley can be spliced by LEGO (Legao) parts, the durability of the LEGO (Legao) parts is good, the parts do not need to be maintained frequently, and the material cost and the maintenance cost are saved;
(2) effectiveness: the invention can remotely control and complete weeding, and effectively solves two main problems of pesticide damage to human body and prevention of human casualty accidents; the full-automatic operation ensures that the pesticide spraying is uniform and the coverage is wide, thereby effectively making up for the problem of omission of manual spraying;
(3) risk assessment and management and control are carried out on the influence of people, equipment and environment: at present, the manual pesticide spraying can cause damage to human bodies, and human casualty accidents can also be caused by the fact that pesticide spraying personnel touch power transformation equipment by mistake.
Drawings
FIG. 1 is a schematic diagram of the control principle of the present invention;
FIG. 2 is a schematic structural view of the present invention;
fig. 3 is a schematic diagram of the remote controller structure.
Detailed Description
The invention is further described with reference to the accompanying drawings and specific embodiments.
Example 1: as shown in fig. 1-3, a weeding robot for a transformer substation comprises a nozzle 1, a two-degree-of-freedom electric mechanical arm 2, an electric rotating platform 3 and a crawler 5, wherein the nozzle 1 is installed at a cantilever end of the two-degree-of-freedom electric mechanical arm 2, the other end of the two-degree-of-freedom electric mechanical arm 2 is installed on the electric rotating platform 3, the electric rotating platform 3 is installed at the top of the crawler 5, the nozzle 1 is connected to a water pump through a pipeline 4, the water pump is connected to a liquid storage tank 6, and a mechanical structure of the crawler is made of LEGO (LeGao) materials.
The crawler is used for performing forward, backward, left-turn and right-turn operations in a transformer substation grassland, is an actuating mechanism of the robot, is similar to human 'double feet', and can avoid the influence of hollow zones on the advancing of the robot;
the two-degree-of-freedom electric mechanical arm is used for weeding operation, is an actuating mechanism of a robot, is similar to an 'arm' of a human being, and can realize a specific weeding process
Preferably, the crawler 5 includes a body, two crawlers 7 and two crawler wheels 8, the crawler wheels 8 are provided in a plurality of pairs, each pair of crawler wheels 8 is rotatably connected to two sides of the body, the two crawlers 7 are respectively mounted on the crawler wheels 8 on two sides of the body, and one pair of crawler wheels 8 is connected to a driving motor.
Preferably, the track wheels 8 are arranged in three pairs in a triangular manner.
Preferably, obstacle sensor is installed to above-mentioned 5 front sides of tracked vehicle, can survey the obstacle condition in tracked vehicle the place ahead, in time makes and avoids or remind, is convenient for feed back the controller with detected signal, realizes closed-loop control, can let the robot realize avoiding the obstacle at the automatic execution weeding in-process.
Preferably, the front side of the crawler 5 is provided with a camera which can monitor the front condition of the crawler, so as to facilitate weeding control of the crawler.
Preferably, the two-degree-of-freedom electric mechanical arm 2 and the electric rotary platform 3 are externally sleeved with a telescopic waterproof sleeve, so that the electric mechanical arm and the rotary platform can be prevented from being corroded or damaged by a hoeing agent liquid medicine, and a protection effect is achieved.
Preferably, the two-degree-of-freedom electric mechanical arm 2, the electric rotating platform 3, the driving motor of the crawler 5 and the water pump are connected to a controller, the controller is connected with an obstacle sensor and a camera, the controller is installed in the crawler, the controller adopts a controller EV3 and is used for storing a program written by programming software MindstormsEV3, the controller is a control mechanism of the robot, is similar to the human brain and can control an execution mechanism of the robot to enable the execution mechanism to execute a preset programmed program.
Preferably, the controller is further connected with a liquid level sensor, and the liquid level sensor is installed in the liquid storage tank.
A weeding robot for a transformer substation also comprises a remote control handle wirelessly connected with a controller of a crawler, and is an auxiliary device outside the closed-loop control of the robot, when the robot cannot execute automatic weeding, the robot can be remotely controlled manually to weed, the remote control handle comprises a shell 11 and a display screen 9, a return key 10, an upper left key 12, a lower left key 12 and a right key 13 which are arranged on the shell 11, and the display screen can display whether the robot runs normally, whether the program execution is correct, and the condition in front of the crawler shot by a camera; the return key can quit the program to stop the robot; the upper, lower, left and right keys can control the forward, backward, left and right rotation of the crawler; the confirmation key can start remote control, and the special remote control handle is provided in consideration of the complex terrain of part of the transformer substation and the difficulty in designing the movement track of the robot, can be connected with the controller in the crawler through Bluetooth, so that remote control is realized.
Example 2: a use method of a weeding robot for a transformer substation comprises the following steps: when the weeding program is automatically executed, the controller sends a weeding program instruction to the two-degree-of-freedom electric mechanical arm and the crawler, corresponding weeding actions are executed, meanwhile, the obstacle sensor is started, whether an obstacle exists or not is automatically checked, a detection result is fed back to the controller, and if no obstacle exists, the two-degree-of-freedom electric mechanical arm and the crawler continue to execute the corresponding weeding actions; if the obstacle is found, stopping executing the corresponding weeding action by the two-degree-of-freedom electric mechanical arm and the crawler, jumping out of the weeding cycle, and executing the obstacle avoiding action; under the condition of no obstacle, the movement track of the crawler is set according to the planar shape of the transformer substation field, so that the crawler can reach each corner of the transformer substation, and meanwhile, the movement track of the two-degree-of-freedom electric mechanical arm is set, so that the crawler can rotate and move up and down to achieve the weeding effect.
In order to make the weeding process smoother, the running speed of the track, the movement track of the two-degree-of-freedom electric mechanical arm and the 360-degree electric rotary platform and the pesticide spraying speed of the nozzle are required to be noticed in the design process.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present invention, and therefore, the scope of the present invention should be determined by the scope of the claims.
Claims (10)
1. The utility model provides a transformer substation is with robot of weeding which characterized in that: the device comprises a nozzle (1), two-degree-of-freedom electric mechanical arm (2), an electric rotating platform (3) and a crawler trolley (5), wherein the nozzle (1) is installed at the cantilever end of the two-degree-of-freedom electric mechanical arm (2), the other end of the two-degree-of-freedom electric mechanical arm (2) is installed on the electric rotating platform (3), the electric rotating platform (3) is installed at the top of the crawler trolley (5), the nozzle (1) is connected to a water pump through a pipeline (4), and the water pump is connected to a liquid storage tank (6).
2. The weeding robot for the transformer substation of claim 1, wherein: the crawler trolley (5) comprises a trolley body, two crawler belts (7) and crawler wheels (8), wherein the crawler wheels (8) are in multiple pairs, each pair of crawler wheels (8) is rotatably connected with the two sides of the trolley body, the two crawler belts (7) are respectively installed on the crawler wheels (8) on the two sides of the trolley body, and one pair of crawler wheels (8) is connected with a driving motor.
3. The weeding robot for the transformer substation of claim 1, wherein: the crawler wheels (8) are arranged in three pairs in a triangular shape.
4. The weeding robot for the transformer substation of claim 1, wherein: and an obstacle sensor is arranged on the front side of the crawler trolley (5).
5. The weeding robot for the transformer substation of claim 1, wherein: the front side of the crawler trolley (5) is provided with a camera.
6. The weeding robot for the transformer substation of claim 1, wherein: the two-degree-of-freedom electric mechanical arm (2) and the electric rotating platform (3) are sleeved with a telescopic waterproof sleeve.
7. The weeding robot for the transformer substation of claim 1, wherein: the two-degree-of-freedom electric mechanical arm (2), the electric rotating platform (3), the driving motor of the tracked trolley (5) and the water pump are connected to a controller, and the controller is connected with an obstacle sensor and a camera.
8. The weeding robot for the transformer substation of claim 1, wherein: the controller is also connected with a liquid level sensor which is arranged in the liquid storage tank.
9. The weeding robot for the transformer substation of claim 1, wherein: the crawler type remote control device is characterized by further comprising a remote control handle in wireless connection with the crawler type trolley, wherein the remote control handle comprises a shell (11), a display screen (9) arranged on the shell (11), a return key (10), an upper key, a lower key, a left key, a right key (12) and a confirmation key (13).
10. The use method of the weeding robot for the transformer substation according to any one of claims 1 to 9, wherein: the method comprises the following steps: when the weeding program is automatically executed, the controller sends a weeding program instruction to the two-degree-of-freedom electric mechanical arm and the crawler, corresponding weeding actions are executed, meanwhile, the obstacle sensor is started, whether an obstacle exists or not is automatically checked, a detection result is fed back to the controller, and if no obstacle exists, the two-degree-of-freedom electric mechanical arm and the crawler continue to execute the corresponding weeding actions; if the obstacle is found, stopping executing the corresponding weeding action by the two-degree-of-freedom electric mechanical arm and the crawler, jumping out of the weeding cycle, and executing the obstacle avoiding action; under the condition of no obstacle, the movement track of the crawler is set according to the planar shape of the substation field, so that the crawler can reach each corner of the substation, and meanwhile, the movement track of the two-degree-of-freedom electric mechanical arm is set, so that the crawler can rotate and move up and down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010585499.2A CN111771857A (en) | 2020-06-24 | 2020-06-24 | Weeding robot for transformer substation and use method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010585499.2A CN111771857A (en) | 2020-06-24 | 2020-06-24 | Weeding robot for transformer substation and use method thereof |
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| Publication Number | Publication Date |
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| CN111771857A true CN111771857A (en) | 2020-10-16 |
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| CN202010585499.2A Pending CN111771857A (en) | 2020-06-24 | 2020-06-24 | Weeding robot for transformer substation and use method thereof |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204426448U (en) * | 2014-11-06 | 2015-07-01 | 安徽农业大学 | A kind of self-walking intelligent sprayer based on image procossing |
| CN106054898A (en) * | 2016-07-26 | 2016-10-26 | 天津鲁赫环保科技有限公司 | Intelligent weeding machine and weeding method |
| CN206341777U (en) * | 2016-11-25 | 2017-07-21 | 国网河南省电力公司平顶山供电公司 | Remote operation substation equipment field speech suggestion device |
| US20170238460A1 (en) * | 2016-02-22 | 2017-08-24 | Franklin Robotics, Inc. | Weeding Robot and Method |
| CN108605918A (en) * | 2018-03-16 | 2018-10-02 | 昆明理工大学 | A kind of adjustable vehicle-mounted sprayer |
-
2020
- 2020-06-24 CN CN202010585499.2A patent/CN111771857A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204426448U (en) * | 2014-11-06 | 2015-07-01 | 安徽农业大学 | A kind of self-walking intelligent sprayer based on image procossing |
| US20170238460A1 (en) * | 2016-02-22 | 2017-08-24 | Franklin Robotics, Inc. | Weeding Robot and Method |
| CN106054898A (en) * | 2016-07-26 | 2016-10-26 | 天津鲁赫环保科技有限公司 | Intelligent weeding machine and weeding method |
| CN206341777U (en) * | 2016-11-25 | 2017-07-21 | 国网河南省电力公司平顶山供电公司 | Remote operation substation equipment field speech suggestion device |
| CN108605918A (en) * | 2018-03-16 | 2018-10-02 | 昆明理工大学 | A kind of adjustable vehicle-mounted sprayer |
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Application publication date: 20201016 |