CN113597908A - Device and method for monitoring and automatically weeding equipment on electric pole - Google Patents
Device and method for monitoring and automatically weeding equipment on electric pole Download PDFInfo
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- CN113597908A CN113597908A CN202110919962.7A CN202110919962A CN113597908A CN 113597908 A CN113597908 A CN 113597908A CN 202110919962 A CN202110919962 A CN 202110919962A CN 113597908 A CN113597908 A CN 113597908A
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- monitoring
- weeding
- saw blade
- electric pole
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/08—Other tools for pruning, branching or delimbing standing trees
- A01G3/085—Motor-driven saws for pruning or branching
- A01G3/086—Chain saws
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/83—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having cutting members on endless belts or sprocket chains
- A01D34/833—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having cutting members on endless belts or sprocket chains with blades on endless sprocket chains
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/835—Mowers; Mowing apparatus of harvesters specially adapted for particular purposes
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Suspension Of Electric Lines Or Cables (AREA)
Abstract
The application discloses device and method for monitoring and automatically weeding equipment on an electric pole, which comprises the following steps: the weeding machine comprises a main controller, a weeding module and a monitoring module; the weeding module comprises a supporting mechanism, a driving mechanism and a mowing mechanism; the support mechanism includes: an inner ring, an outer ring and a swing arm; the inner ring can be slidably arranged on the electric pole; the outer ring is rotatably sleeved on the inner ring; the swing arm is rotatably arranged on the outer ring; the mowing mechanism is arranged on the swing arm; the driving mechanism is connected with the supporting mechanism; the monitoring module is arranged on the supporting mechanism; the main controller is internally provided with a positioning piece and is electrically connected with the driving mechanism and the monitoring module. The method and the device can monitor the running condition of the equipment on the electric pole in real time, so as to judge whether the equipment on the electric pole is in fault or not and position and report fault information when the equipment is in fault during traveling; meanwhile, the growth conditions of fast-growing plants and high-pole plants around the electric pole can be monitored, the plants are automatically cleaned, and the operation of pole climbing personnel is guaranteed.
Description
Technical Field
The application relates to the technical field of electric pole maintenance equipment, in particular to a device and a method for monitoring and automatically weeding equipment on an electric pole.
Background
In a power system, the overhead line is used for transmitting electric energy, which accounts for more than 95% of all transmission modes; therefore, the power grid operation and maintenance personnel need to regularly patrol the overhead line, regularly climb the pole to measure the temperature of the equipment one by one, and measure the load.
And most of power lines are arranged in suburbs in a penetrating mode and are easily threatened by fast-growing and high-pole plants, and power grid short circuit and power failure accidents caused by contact with overhead bare conductors due to overhigh growth of the plants occur every year. Meanwhile, the fast-growing plants grow too densely and are easy to hide small animals such as snakes, insects, rats and ants, so that the fast-growing plants also have potential safety hazards of causing bite poisoning of operation and maintenance personnel. Therefore, the plants around the electric pole, such as fast-growing plants and high-pole plants, need to be removed before the pole climbing operation.
The existing operation and maintenance mode is that operation and maintenance personnel regularly drive a vehicle to patrol, regularly hold the electric saw to remove the plants around the electric pole, and then hold the instrument to measure the temperature and the load of the equipment one by one, and the mode has higher labor cost and untimely potential safety hazard discovery.
Disclosure of Invention
In view of this, an object of the present application is to provide a device and a method for monitoring and automatically weeding on an electric pole, which are used to solve the problems that the existing electric pole maintenance method consumes manpower and cannot find potential safety hazards in time.
In order to achieve the above technical objective, the present application provides in a first aspect an apparatus for monitoring and automatically weeding on an electric pole, including: the weeding machine comprises a main controller, a weeding module and a monitoring module;
the weeding module comprises a supporting mechanism, a driving mechanism and a mowing mechanism;
the support mechanism includes: an inner ring, an outer ring and a swing arm;
the inner ring is slidably mounted on the electric pole along the vertical direction;
the outer ring can be rotatably sleeved on the inner ring along the horizontal direction;
the swing arm is rotatably arranged on the outer ring along the vertical direction;
the mowing mechanism is arranged on the swing arm and used for weeding;
the driving mechanism is connected with the supporting mechanism and is used for driving the inner ring to slide, the outer ring to rotate and the swing arm to rotate;
the monitoring module set up in on the supporting mechanism, include: a fault sensing system and an image acquisition system;
the fault sensing system is used for sensing the temperature and the voltage loss condition of equipment on the electric pole;
the image acquisition system is used for acquiring images around the electric pole;
the main controller is internally provided with a positioning piece, and is electrically connected with the driving mechanism and the monitoring module to control the driving mechanism and acquire monitoring information of the monitoring module.
Further, the mowing mechanism comprises: a saw blade and a push post;
the saw blade is arranged on the side part of the swing arm;
the push column is slidably arranged on the swing arm and used for pushing the saw blade to extend out of the swing arm or retract into the swing arm;
the driving mechanism is connected with the mowing mechanism and used for driving the saw blade to rotate and driving the push post to slide.
Further, the mowing mechanism further comprises: a pressure sensor;
the pressure sensor is connected with the master controller and used for sensing the pressure of the saw blade.
Further, the push columns comprise an outer push column and a plurality of inner push columns;
a plurality of slideways for the outer pushing column and the inner pushing column to slide are arranged on the swing arm;
the saw blade is a closed saw blade and is arranged around the periphery of the swing arm in a surrounding manner;
the plane encircled by the saw blade is vertical to the vertical plane;
the plurality of inner pushing columns are uniformly arranged in the saw blade along the surrounding direction of the saw blade;
the outer pushing column is arranged outside the saw blade.
Furthermore, the driving mechanism comprises a first motor, a second motor, a third motor, a fourth motor and a fifth motor which are all connected with the main controller;
the first motor is connected with the inner ring and used for driving the inner ring to slide along the vertical direction;
the second motor is connected with the outer ring and used for driving the outer ring to rotate around the inner ring;
the third motor is connected with the swing arm and used for driving the swing arm to rotate along the vertical direction;
the fourth motor is connected with the saw blade and used for driving the saw blade to rotate;
and the fifth motor is connected with the push column and used for driving the push column to slide along the slide way.
Further, the fault sensing system includes: an infrared sensor and a variable voltage monitoring sensor;
the infrared sensor is used for monitoring the temperature of equipment on the electric pole;
the voltage-transformation monitoring sensor is used for monitoring the voltage-loss condition of the line and the transformer.
Further, the fault sensing system further comprises: an optical sensor;
the optical sensor is used for being matched with the infrared sensor to monitor the temperature of equipment on the electric pole.
Further, the fault sensing system further comprises: a radar detector;
the radar detector is used for detecting whether an organism is close to the saw blade.
The second aspect of the application provides a method for monitoring and automatically weeding equipment on an electric pole, which is applied to any one of the above devices for monitoring and automatically weeding the equipment on the electric pole, and comprises a monitoring program and a weeding program;
the monitoring program comprises the following steps:
s11, acquiring the temperature of a transformer oil layer, a switch, a connecting hardware fitting, a high-voltage binding post and a low-voltage binding post on an electric pole and acquiring the voltage loss condition of a circuit and the transformer;
s12, executing a first judgment, a second judgment and a third judgment, wherein the first judgment is as follows: judging whether the temperature of the transformer oil layer, the switch or the connecting hardware exceeds a preset temperature value, wherein the second judgment is as follows: whether the temperature difference between the high-voltage wiring terminal and the low-voltage wiring terminal exceeds a preset temperature difference value is judged, and the third judgment is as follows: judging whether the line and the transformer are in voltage loss, and if at least one of the first judgment, the second judgment and the third judgment is yes, sending fault information to an operator;
the weeding program comprises the following steps:
s21, obtaining images around the electric pole;
s22, executing a fourth judgment, wherein the fourth judgment is as follows: and judging whether the plants around the electric pole need to be cleaned or not according to the surrounding images, and if so, driving the mowing mechanism to mow.
Furthermore, the device for monitoring and automatically weeding the electric pole comprises a weeding module and a monitoring module;
the weeding module comprises: a mowing mechanism;
the mowing mechanism comprises a saw blade and a pressure sensor;
the weeding program step S22 includes:
s221, executing a fourth judgment, and if the fourth judgment result is yes, driving the mowing mechanism to reach a cutting position, wherein the cutting position is obtained by calculating images around the electric pole collected by an image collecting system;
s222, driving the saw blade to rotate, driving the outer ring to rotate along the positive direction, and simultaneously obtaining the pressure of the saw blade;
s222, executing a fifth judgment, wherein the fifth judgment is as follows: judging whether the pressure of the saw blade exceeds a first preset pressure value or not, and if so, driving the outer ring to rotate reversely;
s223, executing a sixth judgment, wherein the sixth judgment is as follows: and judging whether the pressure of the saw blade exceeds a second preset pressure value or not, and if the sixth judgment result is yes, sending fault information.
According to the technical scheme, the device and the method for monitoring the equipment on the electric pole and automatically weeding can monitor the running condition of the equipment on the electric pole in real time, so that whether the equipment on the electric pole is in fault or not is judged, and fault information is positioned and reported when the equipment on the electric pole is in fault, so that operation and maintenance personnel can know whether potential safety hazards exist in the equipment on the electric pole or not in time and respond; meanwhile, the growth conditions of fast-growing plants and high-pole plants around the electric pole can be monitored, if the growth height of the plants is detected to reach a preset standard, the fast-growing plants around the pole tower can be automatically cleared, and the operation pole climbing conditions of pole climbing personnel are guaranteed.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a top perspective view of an apparatus for monitoring and automatically weeding on an electric pole according to an embodiment of the present disclosure, which is mounted on the electric pole;
fig. 2 is a bottom perspective view of the apparatus for monitoring and automatically weeding on an electric pole according to the embodiment of the present invention, which is mounted on the electric pole;
fig. 3 is a schematic diagram of a device for monitoring equipment on an electric pole and automatically weeding according to an embodiment of the present application before pole installation;
fig. 4 is a schematic view of the saw blade of the device for monitoring and automatically weeding on the electric pole provided by the embodiment of the application when being unfolded;
fig. 5 is a schematic view of the device for monitoring and automatically weeding on an electric pole according to the embodiment of the present application when the saw blade is retracted;
in the figure: 1. a support mechanism; 11. an inner ring; 111. a roller; 12. an outer ring; 13. swinging arms; 131. a slideway; 2. a mowing mechanism; 21. a saw blade; 22. pushing the column; 221. pushing the column outwards; 222. an inner pushing column; 23. pressure sensing; 3. a communication module; 4. an electric pole; 5. a fault sensing system; 51. an infrared sensor; 52. a variable voltage monitoring sensor; 53. an optical sensor; 54. a radar detector; 6. an image acquisition system; 7. a warning light.
Detailed Description
The technical solutions of the embodiments of the present application will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are some, but not all embodiments of the present application. 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 scope of protection claimed herein.
In the description of the embodiments of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the embodiments of the present application and simplifying the description, but do not indicate or imply that the referred devices or elements must have specific orientations, be configured in specific orientations, and operate, and thus, should not be construed as limiting the embodiments of the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present application, it should be noted that the terms "mounted," "connected," and "connected" are used broadly and are defined as, for example, a fixed connection, an exchangeable connection, an integrated connection, a mechanical connection, an electrical connection, a direct connection, an indirect connection through an intermediate medium, and a communication between two elements, unless otherwise explicitly stated or limited. Specific meanings of the above terms in the embodiments of the present application can be understood in specific cases by those of ordinary skill in the art.
The embodiment of the application discloses device of equipment monitoring and automatic weeding on pole.
Referring to fig. 1, an apparatus for monitoring and automatically weeding on an electric pole provided in an embodiment of the present application includes: a master controller (not shown), a weeding module and a monitoring module.
Wherein, the weeding module comprises a supporting mechanism 1, a driving mechanism (not shown) and a mowing mechanism 2; the support mechanism 1 includes: an inner ring 11, an outer ring 12 and a swing arm 13; the inner ring 11 is slidably mounted on the electric pole 4 along the vertical direction; the outer ring 12 is rotatably sleeved on the inner ring 11 along the horizontal direction; the swing arm 13 is rotatably provided on the outer ring 12 in the vertical direction. The mowing mechanism 2 is arranged on the swing arm 13 and used for weeding; the driving mechanism 2 is connected with the supporting mechanism 1 and is used for driving the inner ring 11 to slide, the outer ring 12 to rotate and the swing arm 13 to rotate.
Specifically, the inner ring 11 may be provided with a plurality of rollers 111, and the rollers 111 are driven to rotate by a driving mechanism, so as to drive the inner ring 11 to slide in the vertical direction; the outer ring 12 can be sleeved on the inner ring 11 through a bearing and can rotate along the horizontal direction through the driving of a driving mechanism; the swing arm 13 may be connected to the outer ring 12 by a rotatable member that may be driven by an electric gear or the like.
It should be noted that, in this embodiment, the inner ring 11 slides in the vertical direction based on the electric pole 4 being arranged in the vertical direction, and the horizontal direction corresponds to the radial direction of the electric pole 4; in practical applications, if the electric pole 4 is disposed in an inclined manner, the supporting mechanism 1 can be adaptively adjusted according to the inclined direction of the electric pole 4.
The mowing mechanism 2 can be used for mowing in various ways, for example, a cutting knife can be used, the swinging arm 13 and the outer ring 12 drive the mowing mechanism to move so as to cut plants, a plurality of rotating knife teeth can also be arranged along the circumferential direction of the swinging arm, and the rotating knife teeth can be controlled by the driving mechanism to rotate so as to cut the plants.
In practical application, referring to fig. 3, the outer ring 12 and the inner ring 11 may be detachable and can be detached along the circumferential direction to be mounted on the electric pole 4. Specifically, the outer ring 12 may be a plurality of metal blocks, the plurality of metal blocks may slide along the inner ring 11, and when the inner ring 11 is a complete ring, the driving metal blocks slide to drive the entire outer ring 12 to rotate along the inner ring 11; when the pole 4 was installed to needs on, can make its interval reduce with a plurality of metal blocks that slide, later open inner ring 11 and cup joint on pole 4, install on pole 4 after the interval of readjustment metal block make a plurality of metal blocks along inner ring 11 evenly distributed can. Simultaneously, because there is the unequal condition of thickness of lower extreme on the part pole among the practical application, consequently inner ring 11 can possess elasticity to inner ring 11 can be along with the diameter of pole regulation self in vertical direction slip in-process, keeps the laminating with the pole.
In the present embodiment, the mowing mechanism 2 includes: a saw blade 21 and a push post 22; the saw blade 21 is arranged at the side part of the swing arm 13; the pushing column 22 is slidably arranged on the swing arm 13 and used for pushing the saw blade 21 to extend out of the swing arm 13 or retract into the swing arm 13; the driving mechanism is connected with the mowing mechanism 2 and is used for driving the saw blade 21 to rotate and driving the push post 22 to slide.
Wherein, the pushing column 22 comprises an outer pushing column 221 and a plurality of inner pushing columns 222; the swing arm 13 is provided with a plurality of slideways 131 for the outer pushing column 221 and the inner pushing column 222 to slide; the saw blade 21 is a closed saw blade and is arranged around the periphery of the swing arm 13; the plane that the saw blade 21 encircles is perpendicular to the vertical plane, which facilitates the cutting of the saw blade 21. A plurality of inner pushing posts 222 are uniformly arranged in the saw blade 21 along the surrounding direction of the saw blade 21; the outward pushing post 221 is disposed outside the saw blade 21. Meanwhile, the saw blade 21 may include a plurality of saw blades 21 aligned up and down on the swing arm 13.
Specifically, referring to fig. 3, when the saw blade 21 completely extends out of the swing arm 13, the outer pushing posts 221 and the inner pushing posts 222 are located outside the slideway 131; when the saw blade 21 is retracted only within the swing arm 13, the out-drive post 221 and the plurality of in-drive posts 222 are both located inside the slide 131. When mowing is needed, the driving mechanism pushes each pushing column to move towards the slideway at the outer side of the slideway 131, and the inner pushing column 221 pushes the saw blade 21 outwards; when the mowing mechanism 2 is not required to mow, the driving mechanism pushes each pushing post to move towards the inner side slideway of the slideway 131, and the pushing posts 222 push the saw blade to retract inwards.
Further, the mowing mechanism 2 further includes: a pressure sensor 23; the pressure sensor 23 is connected with the main controller and used for sensing the pressure of the saw blade 21.
In this embodiment, the driving mechanism includes a plurality of motors connected to the main controller, which are a first motor, a second motor, a third motor, a fourth motor, and a fifth motor, respectively.
The first motor is connected with the inner ring 11 and used for driving the inner ring 11 to slide along the vertical direction, specifically, the first motor can drive the rollers on the inner ring 11 to rotate so as to drive the inner ring 11 to slide.
The second motor is connected to the outer ring 12 for driving the outer ring 12 to rotate around the inner ring 11, and the driving manner may be, for example, the second motor drives a gear and other transmission components, and the gear is in transmission connection with the outer ring 12 to drive the outer ring 12.
The third motor is connected with the swing arm 13 and used for driving the swing arm 13 to rotate along the vertical direction, the driving mode is that the swing arm 13 can be connected to the outer ring 12 through an electric gear or an electric rotating shaft, and the third motor drives the swing arm 13 to rotate through driving the electric gear or the electric rotating shaft.
The fourth motor is connected with the saw blade 21 and is used for driving the saw blade 21 to rotate, the driving mode can be, for example, the transmission gear is arranged on the swing arm 13, the saw blade 21 is meshed with the transmission gear when the swing arm 13 is in an outward unfolding state, and the saw blade 21 is driven to rotate through the driving transmission gear.
The fifth motor is connected to the push rod 22 for driving the push rod 22 to slide along the slide rail 131.
The monitoring module is disposed on the supporting mechanism 1, and specifically, may be disposed on the swing arm 13 or the outer ring 12, without limitation. The monitoring module includes: a fault sensing system 5 and an image acquisition system 6; the fault sensing system 5 is used for sensing the temperature and the voltage loss condition of equipment on the electric pole 4; the image acquisition system 6 is used for acquiring images around the electric pole;
specifically, a fault sensing system includes: an infrared sensor 51 and a variable voltage monitoring sensor 52; the infrared sensor 51 is used for monitoring the temperature of the equipment on the electric pole 4; the transformer monitoring sensor 52 is used for monitoring the voltage loss condition of the line and the transformer.
Further, the fault sensing system may further include: an optical sensor 53 and a radar detector 54; the optical sensor 53 is used in conjunction with the infrared sensor 51 to monitor the temperature of the equipment on the pole. Radar detector 54 is used to detect whether a living being is near blade 21.
The main controller is internally provided with a positioning piece, can send positioning information when needed, if equipment faults are found, and is electrically connected with the driving mechanism and the monitoring module to control the driving mechanism and obtain monitoring information of the monitoring module.
Specifically, the master controller monitors the temperature of equipment on the electric pole through the optical sensor 53 and the infrared sensor 51, monitors the voltage loss condition of the line and the transformer through the voltage transformation monitoring sensor 52, and generates fault information to the mobile phone, the operation terminal and the like of operation and maintenance personnel through the communication module 3 when detecting that the temperature exceeds a set range or the voltage loss condition of the line and the transformer. The master controller can also gather the pole through image acquisition system 6 image all around, and judge whether pole plant all around need prune through modes such as image with gathering and preset database data contrast, if need, then go up and down and rotate to suitable position after through actuating mechanism control supporting mechanism 1, control saw blade 21 starts the cutting plant, the pressure of simultaneously through pressure sensor 23 response saw blade, control saw blade 21 antiport when saw blade 21 pressure exceeds the setting value, avoid the saw blade card to die, accomplish the plant pruning back at saw blade 21, then accomodate only in the swing arm 13 through actuating mechanism control saw blade 21. The master controller can also detect whether a living organism is close to the saw blade 21 through the radar detector 54, and when the distance between the living organism and the saw blade 21 is detected to be less than a set safety value, the saw blade 21 is controlled to stop rotating through the driving mechanism.
It should be noted that the monitoring module may further include a warning light 7, and the master controller may turn on the warning light 7 at night to achieve an anti-collision effect; the warning lamp 7 can be turned on when the equipment failure is found to indicate that maintenance is needed, and the warning lamp 7 with different colors can be displayed under different conditions.
The above is the first embodiment provided in the present application, and the following is the second embodiment provided in the present application.
A method for monitoring and automatically weeding equipment on an electric pole is applied to the device for monitoring and automatically weeding the equipment on the electric pole in the first embodiment, and comprises a monitoring program and a weeding program;
the monitoring program comprises the following steps:
s11, acquiring the temperature of a transformer oil layer, a switch, a connecting hardware fitting, a high-voltage binding post and a low-voltage binding post on an electric pole and acquiring the voltage loss condition of a circuit and the transformer;
wherein, transformer oil reservoir, switch, link fitting, high voltage terminal and low pressure terminal are the equipment on the pole, and in practical application, fortune dimension personnel can adjust the monitoring position.
S12, executing a first judgment, a second judgment and a third judgment, wherein the first judgment is as follows: judging whether the temperature of the transformer oil layer, the switch or the connecting hardware exceeds a preset temperature value, wherein the second judgment is as follows: whether the temperature difference between the high-voltage wiring terminal and the low-voltage wiring terminal exceeds a preset temperature difference value is judged, and the third judgment is as follows: judging whether the line and the transformer are in voltage loss, and if at least one of the first judgment, the second judgment and the third judgment is yes, sending monitoring fault information to an operator;
specifically, the optical sensor 53 and the infrared sensor 51 may be provided with a sensing time interval, and the temperature may be sensed at each part by installing the set sensing time interval. And when the judgment result of the third judgment is yes, the power failure of the equipment on the electric pole 4 is expressed, and the master controller can control the standby power supply to start at the moment.
The monitoring fault information may include positioning information of the master controller, temperature information of specific components, and voltage loss condition information of the line and the transformer.
The weeding program comprises the following steps:
s21, acquiring images around the electric pole 4;
specifically, the main controller acquires images around the electric pole 4 through the image acquisition system 6.
S22, executing a fourth judgment, wherein the fourth judgment is as follows: and judging whether the plants around the electric pole need to be cleaned or not according to the surrounding images, and if so, driving the mowing mechanism 2 to mow.
Specifically, the fourth determination may be to compare the image of the periphery of the electric pole 4 acquired in step S21 with the image stored in the database, or to determine the height of the plant around the electric pole 4 through the image of the periphery of the electric pole 4, and when the height of the plant around the electric pole 4 is found out by the set height value, it indicates that the plant around the electric pole needs to be cleaned.
It should be noted that, before the fourth determination result is yes, that is, when the fourth determination result is no, the master controller may control the supporting mechanism 1 to ascend to a high point of the electric pole 4 and be located at a position close to the device on the electric pole, and after the fourth determination result is yes, control the supporting mechanism 1 to descend to be close to the plant.
Further, the equipment monitoring and automatic weeding device on the electric pole 4 comprises a weeding module and a monitoring module; the weeding module comprises: a mowing mechanism 2; the mowing mechanism 2 comprises a saw blade 21 and a pressure sensor 23;
the weeding procedure step S22 includes:
s221, executing a fourth judgment, and if the fourth judgment result is yes, driving the mowing mechanism 2 to reach a cutting position;
specifically, the cutting position may be calculated by the main controller according to the image of the periphery of the electric pole 4 acquired by the image acquisition system 6, for example, the cutting position may be a position with a preset length from the plant height to the lower position; the cutting position can also be a position set in advance, for example, the cutting position is located at a height position of 20cm from the ground of the electric pole.
S222, driving the saw blade to rotate, driving the outer ring to rotate along the positive direction, and simultaneously obtaining the pressure of the saw blade;
specifically, after reaching the cutting position, the main controller drives the saw blade 21 to rotate through the driving mechanism, and drives the outer ring 21 to rotate in the forward direction, wherein the forward rotation may be clockwise or counterclockwise, which is only for convenience of illustration and is opposite to the reverse rotation.
S222, executing a fifth judgment, wherein the fifth judgment is as follows: judging whether the pressure of the saw blade exceeds a first preset pressure value or not, and if so, driving the outer ring to rotate reversely;
s223, executing a sixth judgment, wherein the sixth judgment is as follows: and judging whether the pressure of the saw blade exceeds a second preset pressure value or not, and if the sixth judgment result is yes, sending fault information.
Specifically, when the pressure of the saw blade 21 sensed by the pressure sensor 23 exceeds a first preset pressure value, which indicates that the initial directional resistance is excessive, the outer ring 12 is controlled to rotate in the reverse direction. When the pressure of the saw blade 21 exceeds a second preset pressure value, the cutting cannot be completed through the saw blade 21, the mowing mechanism enters a storage state, and returns to a monitoring program after fault information is sent to a system or operation and maintenance personnel. The fault information may include the situation of blocked cutting and positioning information.
The device and the method for monitoring the equipment on the electric pole and automatically weeding can greatly improve the working efficiency of electric power workers, reduce the labor cost, communicate the intelligent city power distribution network with the city cloud service, find out the hidden trouble of equipment failure in time, remove the threat of fast-growing plants and high-pole plants to the electric power equipment, improve the safety and efficiency of pole-climbing operation personnel and protect the environment.
Although the present invention has been described in detail with reference to examples, it will be apparent to those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention.
Claims (10)
1. The utility model provides a device of equipment monitoring and automatic weeding on pole which characterized in that includes: the weeding machine comprises a main controller, a weeding module and a monitoring module;
the weeding module comprises a supporting mechanism, a driving mechanism and a mowing mechanism;
the support mechanism includes: an inner ring, an outer ring and a swing arm;
the inner ring is slidably mounted on the electric pole along the vertical direction;
the outer ring can be rotatably sleeved on the inner ring along the horizontal direction;
the swing arm is rotatably arranged on the outer ring along the vertical direction;
the mowing mechanism is arranged on the swing arm and used for weeding;
the driving mechanism is connected with the supporting mechanism and is used for driving the inner ring to slide, the outer ring to rotate and the swing arm to rotate;
the monitoring module set up in on the supporting mechanism, include: a fault sensing system and an image acquisition system;
the fault sensing system is used for sensing the temperature condition and the voltage loss condition of equipment on the electric pole;
the image acquisition system is used for acquiring images around the electric pole;
the main controller is internally provided with a positioning piece, is electrically connected with the driving mechanism and the monitoring module, and is used for controlling the driving mechanism and obtaining the induction condition of the fault sensing system and the image collected by the image collecting system.
2. The on-pole equipment monitoring and automatic weeding device according to claim 1, wherein the mowing mechanism comprises: a saw blade and a push post;
the saw blade is arranged on the side part of the swing arm;
the push column is slidably arranged on the swing arm and used for pushing the saw blade to extend out of the swing arm or retract into the swing arm;
the driving mechanism is connected with the mowing mechanism and used for driving the saw blade to rotate and driving the push post to slide.
3. The on-pole equipment monitoring and automatic weeding device according to claim 2, wherein the mowing mechanism further comprises: a pressure sensor;
the pressure sensor is connected with the master controller and used for sensing the pressure of the saw blade.
4. The apparatus for monitoring and automatically weeding on an electric pole as claimed in claim 2, wherein said pushing posts comprise an outer pushing post and a plurality of inner pushing posts;
a plurality of slideways for the outer pushing column and the inner pushing column to slide are arranged on the swing arm;
the saw blade is a closed saw blade and is arranged around the periphery of the swing arm in a surrounding manner;
the plane encircled by the saw blade is vertical to the vertical plane;
the plurality of inner pushing columns are uniformly arranged in the saw blade along the surrounding direction of the saw blade;
the outer pushing column is arranged outside the saw blade.
5. The device for equipment monitoring and automatic weeding on electric poles as claimed in claim 4, wherein the driving mechanism comprises a first motor, a second motor, a third motor, a fourth motor and a fifth motor which are all connected with the master controller;
the first motor is connected with the inner ring and used for driving the inner ring to slide along the vertical direction;
the second motor is connected with the outer ring and used for driving the outer ring to rotate around the inner ring;
the third motor is connected with the swing arm and used for driving the swing arm to rotate along the vertical direction;
the fourth motor is connected with the saw blade and used for driving the saw blade to rotate;
and the fifth motor is connected with the push column and used for driving the push column to slide along the slide way.
6. The apparatus for monitoring and automatically weeding on electric poles according to claim 1, wherein said fault sensing system comprises: an infrared sensor and a variable voltage monitoring sensor;
the infrared sensor is used for monitoring the temperature of equipment on the electric pole;
the voltage-transformation monitoring sensor is used for monitoring the voltage-loss condition of the line and the transformer.
7. The apparatus for monitoring and automatically weeding on electric poles according to claim 6, wherein said fault sensing system further comprises: an optical sensor;
the optical sensor is used for being matched with the infrared sensor to monitor the temperature of equipment on the electric pole.
8. The apparatus for monitoring and automatically weeding on electric poles according to claim 6, wherein said fault sensing system further comprises: a radar detector;
the radar detector is used for detecting whether an organism is close to the mowing mechanism or not.
9. A method for monitoring and automatically weeding equipment on an electric pole, which is characterized by being applied to the device for monitoring and automatically weeding the equipment on the electric pole according to any one of claims 1 to 8 and comprising a monitoring program and a weeding program;
the monitoring program comprises the following steps:
s11, acquiring the temperature of a transformer oil layer, a switch, a connecting hardware fitting, a high-voltage binding post and a low-voltage binding post on an electric pole and acquiring the voltage loss condition of a circuit and the transformer;
s12, executing a first judgment, a second judgment and a third judgment, wherein the first judgment is as follows: judging whether the temperature of the transformer oil layer, the switch or the connecting hardware exceeds a preset temperature value, wherein the second judgment is as follows: whether the temperature difference between the high-voltage wiring terminal and the low-voltage wiring terminal exceeds a preset temperature difference value is judged, and the third judgment is as follows: judging whether the line and the transformer are in voltage loss, and if at least one of the first judgment, the second judgment and the third judgment is yes, sending monitoring fault information to an operator;
the weeding program comprises the following steps:
s21, obtaining images around the electric pole;
s22, executing a fourth judgment, wherein the fourth judgment is as follows: and judging whether the plants around the electric pole need to be cleaned or not according to the surrounding images, and if so, driving the mowing mechanism to mow.
10. The method for monitoring and automatically weeding on an electric pole according to claim 9, wherein the device for monitoring and automatically weeding on an electric pole comprises a weeding module and a monitoring module;
the weeding module comprises: a mowing mechanism;
the mowing mechanism comprises a saw blade and a pressure sensor;
the step S22 includes:
s221, executing a fourth judgment, and if the fourth judgment result is yes, driving the mowing mechanism to reach a cutting position;
s222, driving the saw blade to rotate, driving the outer ring to rotate along the positive direction, and simultaneously obtaining the pressure of the saw blade;
s222, executing a fifth judgment, wherein the fifth judgment is as follows: judging whether the pressure of the saw blade exceeds a first preset pressure value or not, and if so, driving the outer ring to rotate reversely;
s223, executing a sixth judgment, wherein the sixth judgment is as follows: and judging whether the pressure of the saw blade exceeds a second preset pressure value or not, and if so, sending weeding fault information.
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| CN202110919962.7A CN113597908B (en) | 2021-08-11 | 2021-08-11 | Device and method for monitoring and automatically weeding equipment on electric pole |
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| CN113597908B (en) | 2022-04-12 |
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