CN112655398B - Full-automatic auxiliary branch picking mechanism for removing tree obstacles and branch picking method - Google Patents
Full-automatic auxiliary branch picking mechanism for removing tree obstacles and branch picking method Download PDFInfo
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- CN112655398B CN112655398B CN202110283418.8A CN202110283418A CN112655398B CN 112655398 B CN112655398 B CN 112655398B CN 202110283418 A CN202110283418 A CN 202110283418A CN 112655398 B CN112655398 B CN 112655398B
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Abstract
The invention provides a full-automatic auxiliary branch picking mechanism and a branch picking method for removing tree obstacles, which comprise the following steps: the device comprises a grapple component, a host machine component and an insulating operating rod; the first grapple shell is fixedly arranged on the first claw hook lining; the second grapple shell is fixedly arranged on the second claw hook lining; the lifting platform is fixedly connected with the host machine component through a connecting rod; the first grapple shell is hinged with the main machine component through a first connecting piece; the second grapple shell is hinged with the main machine component through a second connecting piece; the first claw hook lining and the second claw hook shell are respectively hinged with the lifting platform; the main machine component is provided with a driving device for controlling the opening and closing of the grapple component; the invention solves the technical problem that the stuck broken branches cannot be processed when the overhead line clears the tree barrier, and simultaneously solves the safety problem that the high-altitude falling injures the barrier clearing personnel due to the use of a non-special tool. The invention plans the obstacle clearing line according to the requirement, sets the obstacle clearing position according to the actual condition, and can also patrol the overhead line, thereby ensuring the timely treatment of the obstacle clearing work.
Description
Technical Field
The invention relates to the technical field of overhead line obstacle cleaning, in particular to a full-automatic auxiliary branch picking mechanism and a branch picking method for obstacle cleaning.
Background
When overhead line cleared up the barrier, the broken branch that easily takes place the clearance can't drop, the condition of card on the tree. In the prior art, the blocked broken branches are usually disposed of by an obstacle removing person using tools such as an insulating pull rod. The personnel of removing obstacles use five centimetres right angle drag hooks in insulating pull rod top to draw and drag disconnected branch, if the branch does not have reasonable acceptance point, insulating pull rod will hardly catch on disconnected branch or horizontal slip, waste time and energy. In the processing process, the falling time of the broken branches is not controllable, and the potential safety hazard that the broken branches fall from high altitude and injure barrier clearing personnel is caused exists.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to overcome the defects of the traditional technology and provides the full-automatic auxiliary tree obstacle clearing mechanism which is simple in structure, convenient to use, high in accuracy and safe and can improve the tree obstacle clearing treatment of the blocked and broken branches.
Full-automatic supplementary branch mechanism of picking up of barrier to trees clearance includes: the device comprises a grapple component, a host machine component and an insulating operating rod;
the grapple component, the host machine component and the insulating operating rod are connected in sequence;
the grapple assembly is provided with a first grapple outer shell, a second grapple outer shell, a first grapple inner liner, a second grapple inner liner, a lifting platform, a first connecting piece and a second connecting piece;
the first grapple shell is fixedly arranged on the first claw hook lining;
the second grapple shell is fixedly arranged on the second claw hook lining;
the lifting platform is fixedly connected with the host machine component through a connecting rod;
the first grapple shell is hinged with the main machine component through a first connecting piece;
the second grapple shell is hinged with the main machine component through a second connecting piece;
the first claw hook lining and the second claw hook shell are respectively hinged with the lifting platform;
the main machine component is provided with a driving device for controlling the opening and closing of the grapple component;
the insulating operating rod is provided with a control key connected with the driving device.
It should be further noted that the host component is internally provided with a single chip microcomputer, a drive control circuit, a wireless communication module and a storage battery for supplying power to the electrical elements in the host component;
the singlechip is connected with the driving device through a driving control circuit;
the single chip microcomputer is connected with the control key, receives a control instruction input by a user, controls the driving device to operate, and drives the grapple assembly to open and close to clamp the tree barrier;
the single chip microcomputer is connected with the wireless communication module and sends the operation state of the branch picking mechanism to the obstacle clearing terminal.
It should be further noted that an infrared distance sensor is arranged on the lifting platform;
a display lamp is arranged on the host machine component;
the single chip microcomputer is connected with the infrared distance sensor, receives a distance sensing signal sensed by the infrared distance sensor, and controls the driving device to operate to drive the grapple assembly to open and close to clamp the tree barrier when the distance sensing signal reaches a preset distance threshold value;
the singlechip is connected with the display lamp, and the display lamp displays the running state of the branch picking mechanism.
It should be further noted that a timing module is also arranged inside the host computer component;
the single chip microcomputer is connected with the timing module, when a distance sensing signal sensed by the infrared distance sensor reaches a preset distance threshold value, the grapple component grabs the tree obstacle, the display lamp is switched from a red lamp to a green lamp, the timing module performs timing, and after the preset time delay, the grapple component is opened.
It is further noted that an inner hooking section is respectively arranged at one end of the first grapple shell far away from the lifting platform and at one end of the second grapple shell far away from the lifting platform;
the interior section of colluding of first grapple shell and the interior section of colluding of second grapple shell set up relatively.
It is further noted that a positioning module is also arranged inside the host machine component;
the host machine component is also provided with a camera;
the single chip microcomputer is connected with the positioning module, acquires current position information and sends the position information to the obstacle clearing server;
the single chip microcomputer is connected with the camera, obtains a video image shot by the camera, and transmits the video image to the obstacle clearing terminal and the obstacle clearing server.
The invention also provides a full-automatic auxiliary branch picking method for removing the tree obstacles, which adopts a full-automatic auxiliary branch picking mechanism for removing the tree obstacles; the method comprises the following steps:
the obstacle clearing terminal acquires information of the overhead line and a plurality of tree obstacle positions on the overhead line and displays the information;
the obstacle clearing server acquires a plurality of obstacle clearing task information, wherein the obstacle clearing task information comprises route information of an obstacle clearing route, tree obstacle positions related to the obstacle clearing route and preset obstacle clearing time information;
the obstacle clearing server is configured with a plurality of obstacle clearing routes, and each obstacle clearing position in an obstacle clearing area corresponding to the obstacle clearing routes.
The obstacle clearing server is used for configuring obstacle clearing guide data, and the obstacle clearing guide data correspond to the obstacle clearing route;
the obstacle clearing server sends the obstacle clearing task information to the obstacle clearing terminal and the picking mechanism, the obstacle clearing task information is matched with the obstacle clearing personnel information ID, and one obstacle clearing task information is related to one obstacle clearing personnel.
The obstacle clearing server is used for positioning obstacle clearing personnel through the branch picking mechanism, and the branch picking mechanism sends obstacle clearing information to the obstacle clearing server in real time;
matching the received position information of the branch picking mechanism with the position of a tree obstacle of a preset obstacle clearing route, and judging whether the requirements are met;
and if the obstacle clearing route requirement is not met, sending a prompt to an obstacle clearing terminal.
Further, the obstacle clearing server configures the shortest obstacle clearing time and the longest obstacle clearing time according to each tree obstacle position;
when the time for completing certain obstacle clearing operation is between the shortest obstacle clearing time and the longest obstacle clearing time, judging that the current obstacle clearing state is normal;
and when the time for completing certain tree obstacle clearing operation is less than the shortest obstacle clearing time or exceeds the longest obstacle clearing time, sending a prompt to an obstacle clearing terminal.
Further, the obstacle clearing server acquires overhead line data;
the obstacle clearing server acquires the actual obstacle clearing position of the obstacle clearing personnel based on the overhead line data, the obstacle clearing guide data and the obstacle clearing route, and responds to the obstacle clearing area where the current actual obstacle clearing position is located;
judging whether the current actual obstacle clearing position of the obstacle clearing personnel is superposed with the preset obstacle clearing guide data and the obstacle clearing route;
if the obstacles are overlapped, the obstacle clearing terminal guides the obstacle clearing personnel to clear the obstacles according to preset obstacle clearing guide data and an obstacle clearing route;
and if the two lines do not coincide, sending an alarm prompt, receiving obstacle clearing line adjustment information sent by the obstacle clearing terminal, and adjusting the current obstacle clearing guide data and the obstacle clearing route based on the obstacle clearing line adjustment information.
According to the technical scheme, the invention has the following advantages:
the invention solves the technical problem that the stuck broken branches cannot be processed when the overhead line clears the tree barrier, and simultaneously solves the safety problem that the high-altitude falling injures the barrier clearing personnel due to the use of a non-special tool.
Cooperate through steel material's grapple shell and bionical flexible construction's claw hook inside lining, with the firm grasp of lopping, the elevating platform is retrieved and is obstructed this moment, the display lamp obtains the instruction and truns into green light by the red light, the inside time delay of host computer subassembly starts 5 to 10 seconds timing simultaneously, the personnel of obstacles removing utilize 5 to 10 seconds's time to pull down the lopping, after 5 to 10 seconds, the reverse start-up of inside motor, make the elevating platform rise, the grapple subassembly opens, the display lamp truns into the red light by the green light, whole process realizes automaticly, accomplish the course of work. The whole treatment process realizes the effects of full automation, rapidness, accuracy and safety.
According to the invention, based on overhead line data, obstacle clearing guide data and an obstacle clearing route, the acquired obstacle clearing route of the obstacle clearing personnel is used for judging the current actual obstacle clearing position of the obstacle clearing personnel and judging whether the obstacle clearing requirement is met, the planning design of the obstacle clearing route is realized, and the obstacle clearing personnel is instructed to operate according to the obstacle clearing guide data, so that the obstacle clearing process efficiency is improved, the obstacle clearing route can be adjusted in real time according to the actual situation, and the actual requirements on the site are met.
The invention can plan the obstacle clearing line according to the requirement, set the obstacle clearing position according to the actual condition, and also can patrol the overhead line, ensure the timely treatment of the obstacle clearing work, monitor the obstacle clearing process of the obstacle clearing personnel and ensure the timely and smooth completion of the obstacle clearing work.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description will be briefly introduced, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
FIG. 1 is a schematic view of a fully-automatic auxiliary picking mechanism for removing obstacles on a tree;
FIG. 2 is a schematic view of an embodiment of a fully-automatic auxiliary picking mechanism for removing obstacles on a tree.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a full-automatic auxiliary branch picking mechanism for removing tree obstacles, which comprises the following components as shown in figures 1 and 2: the device comprises a grapple component 1, a main machine component 2 and an insulating operating rod 3;
the grapple component 1, the main machine component 2 and the insulating operating rod 3 are connected in sequence;
the grapple assembly 1 is provided with a first grapple outer shell 4, a second grapple outer shell 11, a first grapple inner liner 5, a second grapple inner liner 12, a lifting platform 7, a first connecting piece 8 and a second connecting piece 14;
the first grapple shell 4 is fixedly arranged on the first grapple inner liner 5; the second grapple shell 11 is fixedly arranged on the second grapple inner liner 12; the lifting platform 7 is fixedly connected with the host machine component 2 through a connecting rod 13;
the first grapple shell 4 is hinged with the main machine component 2 through a first connecting piece 8; the second grapple shell 11 is hinged with the main machine component 2 through a second connecting piece 14; the first claw hook lining 5 and the second claw hook shell 11 are respectively hinged with the lifting platform 7; the main machine component 2 is provided with a driving device 23 for controlling the opening and closing of the grapple component 1; the insulating operation rod 3 is provided with a control key 27 connected with the driving device 23.
The hinge connection mode of the invention can realize the hinge connection between the components through rivets. The driving device 23 may be a servo motor.
It should be further noted that the host component 2 is internally provided with a single chip 21, a driving control circuit 22, a wireless communication module 24 and a storage battery 25 for supplying power to the electrical elements inside the host component;
the singlechip 21 is connected with a driving device 23 through a driving control circuit 22; the single chip microcomputer 21 is connected with the control key 27, receives a control instruction input by a user, controls the driving device 23 to operate, and drives the grapple assembly 1 to open and close to clamp the tree barrier; the singlechip 21 is connected with the wireless communication module 24 and sends the running state of the branch picking mechanism to the obstacle clearing terminal.
The control keys 27 may include on and off keys, speed keys, etc.
The main unit 2 may have a charging interface and a corresponding charging circuit for charging the battery 25.
An infrared distance sensor 6 is arranged on the lifting platform 7; the host machine component 2 is provided with a display lamp 10; the single chip microcomputer 21 is connected with the infrared distance sensor 6, receives a distance sensing signal sensed by the infrared distance sensor 6, and controls the driving device 23 to operate when the distance sensing signal reaches a preset distance threshold value, so as to drive the grapple assembly 1 to open and close to clamp the tree obstacle; the singlechip 21 is connected with the display lamp 10, and the display lamp 10 displays the running state of the branch picking mechanism.
A timing module 26 is also arranged in the main machine component 2; the single chip microcomputer 21 is connected with the timing module 26, when a distance sensing signal sensed by the infrared distance sensor 6 reaches a preset distance threshold value, the grapple component 1 grabs the tree obstacle, and the display lamp 10 changes from a red light to a green light. The timing module starts timing, and after the timing reaches the preset time, the grapple component 1 is opened to release the tree barrier.
The single-chip microcomputer 21 may be implemented in a computer-readable medium using, for example, computer software, hardware, or any combination thereof. For hardware implementation, the embodiments described herein may be implemented using at least one of an Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a processor, a controller, a microcontroller, a microprocessor, and an electronic unit designed to perform the functions described herein, and in some cases, such embodiments may be implemented in a controller. For a software implementation, the implementation such as a process or a function may be implemented with a separate software module that allows performing at least one function or operation. The software codes may be implemented by software applications (or programs) written in any suitable programming language, which may be stored in memory and executed by the controller.
That is to say, the grapple assembly 1 can meet the requirements of closing and opening, and the first grapple shell 4, the second grapple shell 11, the first grapple inner liner 5, the second grapple inner liner 12, the lifting platform 7, the first connecting piece 8 and the second connecting piece 14 in the grapple assembly 1 can meet the requirements of closing and opening the grapple assembly, and can grab the obstacles and other obstacles.
In order to meet the requirement that the grapple component can firmly grab the broken branches, a mode of combining a grapple shell made of steel materials and a claw hook lining of a bionic flexible structure is adopted, and the requirement that the grapple component can firmly grab the broken branches is met.
An inner hooking section 15 is respectively arranged at one end of the first grapple shell 4 far away from the lifting platform 7 and one end of the second grapple shell 11 far away from the lifting platform 7; the section 15 that colludes in of first grapple shell 4 and the section 15 that colludes in of second grapple shell 11 set up relatively, can guarantee to snatch firm steady.
According to the invention, the infrared distance sensor can be adopted to sense the broken branches, the motor is started, the lifting platform is recovered, the grapple component is closed, and the full-automatic requirement of closed grabbing of the grapple component is realized.
In order to remind the barrier clearing personnel when the broken branches are caught, when the lifting platform is blocked to recover, namely the broken branches are completely caught by the grapple component, the display lamp is changed from a red lamp to a green lamp, and the requirement of reminding the barrier clearing personnel when the broken branches are caught is met.
In order to realize the full-automatic requirement when the grapple component 1 is opened, when the display lamp is changed from a red lamp to a green lamp, the display lamp is started in a delayed mode, timing is started, barrier clearing personnel pull down the broken branches by using the time with preset duration, and after the preset duration, the motor is started reversely, so that the lifting platform rises, the grapple component 1 is opened, the display lamp is changed from the green lamp to the red lamp, and the full-automatic requirement when the grapple component 1 is opened is realized.
As a preferred embodiment of the present invention, when used: the barrier removing personnel hold the insulating operating rod 3, extend the grapple assembly 1 to the blocked broken branches, when the blocked broken branches are blocked, the infrared distance sensor senses the broken branches, the motor is started, the lifting platform is recovered, and the grapple assembly 1 is closed to grab the broken branches.
Cooperate through steel material's grapple shell and bionical flexible construction's claw hook inside lining, with the firm grasp of lopping, the elevating platform is retrieved and is obstructed this moment, the display lamp obtains the instruction and truns into green light by the red light, the inside time delay of host computer subassembly starts 5 to 10 seconds timing simultaneously, the personnel of obstacles removing utilize 5 to 10 seconds's time to pull down the lopping, after 5 to 10 seconds, the reverse start-up of inside motor, make the elevating platform rise, the grapple subassembly opens, the display lamp truns into the red light by the green light, whole process realizes automaticly, accomplish the course of work.
The elements and algorithm steps of the various examples described in the embodiments disclosed in the fully automatic auxiliary picking mechanism for clearing tree obstacles provided by the present invention can be implemented by electronic hardware, computer software or a combination of both, and in the above description the components and steps of the various examples have been generally described in terms of function in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In some embodiments of the fully automatic obstacle clearing auxiliary picking mechanism of the present invention, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may also be an electric, mechanical or other form of connection.
As an embodiment of the present invention, a positioning module is further disposed inside the host component 2; the host machine component 2 is also provided with a camera; the single chip microcomputer 21 is connected with the positioning module, acquires current position information and sends the position information to the obstacle clearance server; the single chip microcomputer 21 is connected with the camera, obtains a video image shot by the camera, and transmits the video image to the obstacle clearing terminal and the obstacle clearing server.
The obstacle clearing terminal may be implemented in various forms. For example, the terminal described in the embodiments of the present invention may include a mobile terminal such as a mobile phone, a smart phone, a notebook computer, a Personal Digital Assistant (PDA), a tablet computer (PAD), a navigation device, and the like. In the following, it is assumed that the terminal is a mobile terminal.
The invention also provides a full-automatic auxiliary branch picking method for removing the tree obstacles, which comprises the following steps:
the obstacle clearing terminal acquires information of the overhead line and a plurality of tree obstacle positions on the overhead line and displays the information;
the information of the overhead line is acquired, and the information can be acquired through unmanned routing inspection or through a preset overhead line layout. And leading overhead line information into a barrier clearing terminal. Overhead line information may be deployed internally to the server. The position of the tree obstacle can also be detected based on unmanned inspection and the corresponding position of the inspection map is identified. Or manually patrolling and identifying the corresponding position of the patrol map.
The obstacle clearing server acquires a plurality of obstacle clearing task information, wherein the obstacle clearing task information comprises route information of an obstacle clearing route, tree obstacle positions related to the obstacle clearing route and preset obstacle clearing time information.
The obstacle clearance server divides the overhead line into a plurality of obstacle clearance areas based on the overhead line information.
Because overhead line has many, can divide into a plurality of clearance areas according to overhead line information. And allocating the obstacle clearing personnel according to actual needs.
The obstacle clearing server is configured with a plurality of obstacle clearing routes, and each obstacle clearing position in an obstacle clearing area corresponding to the obstacle clearing routes.
That is to say, one obstacle clearance route is used for matching all the tree obstacle positions in the obstacle clearance area, and a complete obstacle clearance route is formed.
The obstacle clearing server is used for configuring obstacle clearing guide data, and the obstacle clearing guide data correspond to the obstacle clearing route; the obstacle clearance guide data guides the obstacle clearance personnel to carry out effective obstacle clearance according to the obstacle clearance route.
And the obstacle clearing server configures the shortest obstacle clearing time and the longest obstacle clearing time according to each obstacle clearing position.
The obstacle clearing terminal can display obstacle clearing guide data and guide obstacle clearing personnel to conduct obstacle clearing operation.
The obstacle clearing server sends the obstacle clearing task information to the obstacle clearing terminal and the picking mechanism, the obstacle clearing task information is matched with the obstacle clearing personnel information ID, and one obstacle clearing task information is related to one obstacle clearing personnel.
And the obstacle clearing server receives the position information of the picking mechanism in real time and judges whether the obstacle clearing personnel execute obstacle clearing according to the obstacle clearing task information.
Specifically, the obstacle clearing server receives the position information of the branch picking mechanism in real time.
The obstacle clearing server positions obstacle clearing personnel through the branch picking mechanism, and the branch picking mechanism sends obstacle clearing information to the obstacle clearing server in real time.
And the obstacle clearing server matches the received position information of the picking mechanism with the tree obstacle position of a preset obstacle clearing route, and judges whether the requirements are met.
And if the obstacle clearing route requirement is not met, sending a prompt to an obstacle clearing terminal.
The obstacle clearing server is also used for judging that the current obstacle clearing state is normal when the time for completing certain obstacle clearing operation is between the shortest obstacle clearing time and the longest obstacle clearing time;
and when the time for completing certain tree obstacle clearing operation is less than the shortest obstacle clearing time or exceeds the longest obstacle clearing time, sending a prompt to an obstacle clearing terminal.
And the obstacle clearing server receives obstacle clearing video data and obstacle clearing personnel operation data collected by the picking mechanism.
As an embodiment to which the present invention relates, a clearance server acquires overhead line data.
In this embodiment, the overhead line planning data is based on the power supply lines that the power supply network needs to lay. Can have many, the personnel of removing obstacles patrols and examines and remove obstacles to overhead line as required.
The obstacle clearing server acquires the actual obstacle clearing position of the obstacle clearing personnel based on the overhead line data, the obstacle clearing guide data and the obstacle clearing route, and responds to the obstacle clearing area where the current actual obstacle clearing position is located.
In the invention, the overhead line data, the obstacle clearance guide data and the obstacle clearance route can be displayed in a map coordinate mode, and simultaneously, the state of the overhead line data, the terrain state, the longitude and latitude, the height and other data of the overhead line data are displayed.
And acquiring distance information between the obstacle clearing areas. Distance information between barrier positions.
And judging whether the current actual obstacle clearing position of the obstacle clearing personnel coincides with the preset obstacle clearing guide data and the obstacle clearing route.
In the invention, in order to determine whether the obstacle clearing process of the obstacle clearing personnel meets the obstacle clearing line and the obstacle clearing requirement, the obstacle clearing server judges whether the preset obstacle clearing guide data and the obstacle clearing route are overlapped or not in real time, and if the preset obstacle clearing guide data and the obstacle clearing route are not overlapped, the obstacle clearing personnel deviates from the route.
And if the obstacles are overlapped, the obstacles removing terminal guides the obstacles removing personnel to remove the obstacles according to preset obstacles removing guide data and obstacles removing routes.
And if the two lines do not coincide, sending an alarm prompt, receiving obstacle clearing line adjustment information sent by the obstacle clearing terminal, and adjusting the current obstacle clearing guide data and the obstacle clearing route based on the obstacle clearing line adjustment information.
According to the invention, based on overhead line data, obstacle clearing guide data and an obstacle clearing route, the acquired obstacle clearing route of the obstacle clearing personnel is used for judging the current actual obstacle clearing position of the obstacle clearing personnel and judging whether the obstacle clearing requirement is met, the planning design of the obstacle clearing route is realized, and the obstacle clearing personnel is instructed to operate according to the obstacle clearing guide data, so that the obstacle clearing process efficiency is improved, the obstacle clearing route can be adjusted in real time according to the actual situation, and the actual requirements on the site are met.
The fully automatic auxiliary tree obstacle clearing branch picking mechanism provided by the invention is the units and algorithm steps of each example described in connection with the embodiments disclosed herein, and can be realized by electronic hardware, computer software or a combination of the two. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (2)
1. The utility model provides a full-automatic supplementary branch mechanism of picking up of barrier clearance, its characterized in that includes: the device comprises a grapple component (1), a main machine component (2) and an insulating operating rod (3);
the grapple component (1), the main machine component (2) and the insulating operating rod (3) are connected in sequence;
the grapple component (1) is provided with a first grapple outer shell (4), a second grapple outer shell (11), a first grapple inner liner (5), a second grapple inner liner (12), a lifting platform (7), a first connecting piece (8) and a second connecting piece (14);
the first grapple shell (4) is fixedly arranged on the first grapple lining (5);
the second grapple shell (11) is fixedly arranged on the second grapple inner liner (12);
the lifting platform (7) is fixedly connected with the main machine component (2) through a connecting rod (13);
the first grapple shell (4) is hinged with the main machine component (2) through a first connecting piece (8);
the second grapple shell (11) is hinged with the main machine component (2) through a second connecting piece (14);
the first claw hook lining (5) and the second claw hook shell (11) are respectively hinged with the lifting platform (7);
the main machine component (2) is provided with a driving device for controlling the opening and closing of the grapple component (1);
the insulating operating rod (3) is provided with a control key connected with the driving device;
the host machine component (2) is internally provided with a singlechip, a drive control circuit, a wireless communication module and a storage battery for supplying power to electrical elements in the host machine component;
the singlechip is connected with the driving device through a driving control circuit;
the single chip microcomputer is connected with the control key, receives a control instruction input by a user, controls the driving device to operate, and drives the grapple assembly (1) to open and close to clamp the tree barrier;
the single chip microcomputer is connected with the wireless communication module and sends the running state of the branch picking mechanism to the obstacle clearing terminal;
an infrared distance sensor (6) is arranged on the lifting platform (7);
a display lamp (10) is arranged on the host machine component (2);
the single chip microcomputer is connected with the infrared distance sensor (6) and used for receiving a distance sensing signal sensed by the infrared distance sensor (6), and when the distance sensing signal reaches a preset distance threshold value, the driving device is controlled to operate to drive the grapple assembly (1) to be opened and closed so as to clamp the tree barrier;
the single chip microcomputer is connected with a display lamp (10), and the display lamp (10) displays the running state of the branch picking mechanism;
a timing module is also arranged in the host machine component (2);
the single chip microcomputer is connected with the timing module, when a distance sensing signal sensed by the infrared distance sensor (6) reaches a preset distance threshold value, the grapple component (1) grabs the tree obstacle, and the display lamp (10) is changed from a red lamp to a green lamp;
the timing module starts timing, and after the timing reaches a preset time length, the grapple component (1) is opened;
an inner hooking section (15) is respectively arranged at one end of the first grapple shell (4) far away from the lifting platform (7) and one end of the second grapple shell (11) far away from the lifting platform (7);
the inner hooking section (15) of the first grapple shell (4) is opposite to the inner hooking section (15) of the second grapple shell (11);
a positioning module is also arranged in the host machine component (2);
the host machine component (2) is also provided with a camera;
the single chip microcomputer is connected with the positioning module, acquires current position information and sends the position information to the obstacle clearing server;
the single chip microcomputer is connected with the camera, acquires a video image shot by the camera, and transmits the video image to the obstacle clearing terminal and the obstacle clearing server;
through first grapple shell (4), second grapple shell (11), first grapple inside lining (5) and second grapple inside lining (12) mutually support, with the firm grasp of delimitation, the elevating platform is retrieved and is hindered this moment, the display lamp obtains the instruction and truns into green light by the red light, the inside time delay of host computer subassembly starts 5 to 10 seconds timing simultaneously, the personnel of obstacles removing utilize 5 to 10 seconds to pull down the delimitation, after 5 to 10 seconds, the reverse start of inside motor, make the elevating platform rise, the grapple subassembly opens, the display lamp truns into red light by the green light, the automation is realized to whole process, accomplish the course of work.
2. A full-automatic auxiliary branch picking method for removing obstacles is characterized in that the full-automatic auxiliary branch picking mechanism for removing obstacles as claimed in claim 1 is adopted; the method comprises the following steps:
the obstacle clearing terminal acquires information of the overhead line and a plurality of tree obstacle positions on the overhead line and displays the information;
the obstacle clearing server acquires a plurality of obstacle clearing task information, wherein the obstacle clearing task information comprises route information of an obstacle clearing route, tree obstacle positions related to the obstacle clearing route and preset obstacle clearing time information;
the obstacle clearing server is configured with a plurality of obstacle clearing routes, and each obstacle clearing position in an obstacle clearing area corresponding to each obstacle clearing route;
the obstacle clearing server is used for configuring obstacle clearing guide data, and the obstacle clearing guide data correspond to the obstacle clearing route;
the obstacle clearing server sends obstacle clearing task information to the obstacle clearing terminal and the picking mechanism, the obstacle clearing task information is matched with an obstacle clearing person information ID, and one obstacle clearing task information is related to one obstacle clearing person;
the obstacle clearing server positions obstacle clearing personnel through the branch picking mechanism, and the branch picking mechanism sends obstacle clearing information to the obstacle clearing server in real time;
matching the received position information of the branch picking mechanism with the position of a tree obstacle of a preset obstacle clearing route, and judging whether the requirements are met;
if the obstacle clearing route requirement is not met, sending a prompt to an obstacle clearing terminal;
the obstacle clearing server configures the shortest obstacle clearing time and the longest obstacle clearing time according to each obstacle clearing position;
when the time for completing certain obstacle clearing operation is between the shortest obstacle clearing time and the longest obstacle clearing time, judging that the current obstacle clearing state is normal;
when the time for completing certain tree obstacle clearing operation is less than the shortest obstacle clearing time or exceeds the longest obstacle clearing time, sending a prompt to an obstacle clearing terminal;
the obstacle clearing server acquires overhead line data;
the obstacle clearing server acquires the actual obstacle clearing position of the obstacle clearing personnel based on the overhead line data, the obstacle clearing guide data and the obstacle clearing route, and responds to the obstacle clearing area where the current actual obstacle clearing position is located;
judging whether the current actual obstacle clearing position of the obstacle clearing personnel is superposed with the preset obstacle clearing guide data and the obstacle clearing route;
if the obstacles are overlapped, the obstacle clearing terminal guides the obstacle clearing personnel to clear the obstacles according to preset obstacle clearing guide data and an obstacle clearing route;
and if the two lines do not coincide, sending an alarm prompt, receiving obstacle clearing line adjustment information sent by the obstacle clearing terminal, and adjusting the current obstacle clearing guide data and the obstacle clearing route based on the obstacle clearing line adjustment information.
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