CN116784308A - Intelligent laser bird-repellent robot - Google Patents
Intelligent laser bird-repellent robot Download PDFInfo
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- CN116784308A CN116784308A CN202310058368.2A CN202310058368A CN116784308A CN 116784308 A CN116784308 A CN 116784308A CN 202310058368 A CN202310058368 A CN 202310058368A CN 116784308 A CN116784308 A CN 116784308A
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- 238000004458 analytical method Methods 0.000 claims description 8
- 238000004364 calculation method Methods 0.000 claims description 5
- 230000008054 signal transmission Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 10
- 238000001514 detection method Methods 0.000 abstract description 4
- 230000002940 repellent Effects 0.000 description 8
- 238000009434 installation Methods 0.000 description 7
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- 238000010586 diagram Methods 0.000 description 3
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 2
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- 238000011065 in-situ storage Methods 0.000 description 1
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- 230000004048 modification Effects 0.000 description 1
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- 229910052573 porcelain Inorganic materials 0.000 description 1
- 230000001846 repelling effect Effects 0.000 description 1
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- 230000000007 visual effect Effects 0.000 description 1
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Abstract
The invention relates to the technical field of power grid equipment, in particular to an intelligent laser bird-driving robot which comprises a robot walking unit, a rotating table and a machine shell, wherein the rotating table and the machine shell are sequentially arranged above the robot walking unit from bottom to top, the rotating table is arranged between the robot walking unit and the machine shell through an adjusting mechanism, and two laser transmitters facing the front end of the machine shell are symmetrically arranged on the inner side of the machine shell. According to the invention, the original structural foundation is scientifically and reasonably improved, and the two laser transmitters, the high-definition camera, the laser radar and the infrared light supplementing lamp are arranged in the shell, so that comprehensive detection treatment on birds can be realized, whether flying objects entering the transformer substation are birds can be rapidly and accurately judged, two parallel green lasers with the wavelength of 532nm can be emitted to expel birds, and the bird expelling effect of the laser bird expelling device is effectively improved.
Description
Technical Field
The invention relates to the technical field of power grid equipment, in particular to an intelligent laser bird-driving robot.
Background
At present, birds are easy to build bird nests in places with holes in gaps of transformer substation equipment, in spaces of insulating cover pipes and disconnecting link mechanisms around main transformers and in frame structures, and bird droppings and scattered branches are easy to attach to porcelain bottles to cause short circuits, so that damage to transformer substation related equipment caused by birds is reduced, bird repelling devices are generally required to be installed near the transformer substation equipment to prevent birds from nesting and moving near the transformer substation equipment, and therefore stability and safety of operation of the transformer substation equipment are improved.
The current common bird-repellent devices around the main current transformer substation are divided into two types, namely an ultrasonic bird-repellent device and a vertical laser bird-repellent device, wherein the ultrasonic bird-repellent device has the advantages of low use cost, convenience in installation and the like, but has the defects of strong adaptability, resistance, short transmission distance and the like of birds, and the vertical laser bird-repellent device has obvious bird-repellent effect, but can only be installed in a local area at fixed points, and has poor flexibility.
Therefore, the bird-repellent robot with good bird-repellent effect and high flexibility is particularly important in protecting substation equipment.
Disclosure of Invention
The invention aims at: in order to solve the problems that the existing laser bird repellent device used in a transformer substation has a bird repellent effect to be improved and has poor flexibility, the intelligent laser bird repellent robot is provided.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the utility model provides an intelligent laser bird-driving robot, includes robot walking unit, revolves platform and casing, revolve platform and casing from supreme top that sets gradually in the robot walking unit down, revolve the platform and install between robot walking unit and casing through adjustment mechanism, two laser transmitters towards the casing front end are installed to the inboard symmetry of casing, the inboard of casing is located between two laser transmitters and installs high definition digtal camera and the laser radar towards the casing front end from supreme down in proper order, the connector that is used for laser emitter, high definition digtal camera and laser radar circuit to connect is installed at the inboard rear of casing, the electric cabinet is installed to the upper end rear side of robot walking unit.
As a further description of the above technical solution:
the adjusting mechanism comprises a supporting seat arranged at the lower end of the rotary table, a bottom plate which is rotatably arranged above the supporting seat and is positioned below the rotary table, a driven gear arranged at the upper end of the supporting seat, a servo motor arranged at the upper end of the bottom plate and a driving gear which is arranged at the upper end of the servo motor and meshed with the driven gear.
As a further description of the above technical solution:
the adjusting mechanism further comprises a rotary groove formed in the upper end of the rotary table, a double-shaft motor arranged on the inner side of the rotary groove and a rotary frame fixed between the outer shell of the double-shaft motor and the lower end of the shell.
As a further description of the above technical solution:
the middle part of biax motor is installed the transmission shaft, the equal demountable installation in both ends of transmission shaft has spacing buckle, the spacing catching groove corresponding with spacing buckle has all been seted up at the both ends of revolving stage.
As a further description of the above technical solution:
the front end of the shell is provided with a plurality of high-transmittance sheets coaxial with the laser emitter, the high-definition camera and the laser radar.
As a further description of the above technical solution:
the upper end demountable installation of casing has the rain cap, the front end of casing is located the front side of high definition digtal camera and installs infrared light filling lamp.
As a further description of the above technical solution:
and an MCU for signal transmission, analysis, calculation and control is arranged on the inner side of the electric cabinet.
As a further description of the above technical solution:
the output end of the high-definition camera and the output end of the laser radar are electrically connected with the input end of the MCU, and the output end of the MCU is electrically connected with the input ends of the robot walking unit, the servo motor, the double-shaft motor and the laser transmitter.
In summary, due to the adoption of the technical scheme, the beneficial effects of the invention are as follows:
1. according to the invention, the original structural foundation is scientifically and reasonably improved, two laser transmitters, one high-definition camera, a laser radar and an infrared light supplementing lamp are arranged in the shell, in the working process of the bird repellent device, the high-definition camera can acquire image data in front of the laser transmitters in real time, the laser radar can detect whether an object enters a transformer substation area in real time, when the laser radar detects that a flying object enters the transformer substation area, and meanwhile, when the image contrast analysis of the flying object acquired by the high-definition camera is birds, the two laser transmitters can synchronously transmit green laser beams to repel birds, the structure can realize comprehensive detection processing of the birds, can quickly and accurately judge whether the flying object entering the transformer substation is birds, and can transmit two parallel green laser beams with the wavelength of 532nm to repel the birds, so that the bird repellent effect of the laser bird repellent device is effectively improved.
2. According to the invention, the supporting seat, the driven gear, the bottom plate, the servo motor and the driving gear are arranged between the robot walking unit and the rotating table, meanwhile, the rotating groove, the double-shaft motor and the rotating frame are arranged between the rotating table and the shell, the servo motor can drive the driving gear to rotate, the rotating table can transversely rotate and adjust on the supporting seat under the meshing transmission action between the driving gear and the driven gear, when the double-shaft motor works, the transmission shaft is fixed, the rotating frame on the outer shell of the double-shaft motor can be driven to rotate in the rotating groove of the rotating table, so that the shell is driven to longitudinally rotate and adjust, the structure can realize transverse and longitudinal multidirectional rotation and adjustment treatment of the bird driving device, and meanwhile, the structure is matched with the robot walking unit, so that the bird driving device can track the flying track of birds in real time and dynamically, and the flexibility and the bird driving effect of laser bird driving are improved.
Drawings
Fig. 1 is a schematic diagram of the structure of an intelligent laser bird-driving robot according to the present invention;
fig. 2 is a schematic structural diagram of an electric cabinet in the present invention;
FIG. 3 is a schematic view of the structure of the support base, the turntable and the casing according to the present invention;
FIG. 4 is a schematic side cross-sectional view of a turntable according to the present invention;
FIG. 5 is a schematic view showing the disassembly of the housing according to the present invention;
fig. 6 is a schematic connection diagram of the electric control part of the present invention.
Legend description:
1. a robot walking unit; 2. a support base; 201. a driven gear; 3. a rotary table; 301. a rotary groove; 302. limiting buckling grooves; 303. a bottom plate; 4. a housing; 401. a rain cap; 402. a high permeability sheet; 5. an electric control box; 501. an MCU; 6. a servo motor; 601. a drive gear; 7. a biaxial motor; 701. a transmission shaft; 702. limiting buckle plates; 703. a rotating frame; 8. a laser emitter; 9. high definition camera; 10. a laser radar; 11. a connector; 12. an infrared light supplementing lamp.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-6, the present invention provides a technical solution: the utility model provides an intelligent laser bird-driving robot, including robot walking unit 1, revolve platform 3 and casing 4 follow supreme top that sets gradually in robot walking unit 1 down, revolve platform 3 and install between robot walking unit 1 and casing 4 through adjustment mechanism, two laser emitter 8 towards casing 4 front end are installed to the inboard symmetry of casing 4, the inboard of casing 4 is located between two laser emitter 8 and installs high definition digtal camera 9 and laser radar 10 towards casing 4 front end from supreme down in proper order, be used for laser emitter 8, high definition digtal camera 9 and laser radar 10 circuit connection's connector 11 is installed at the inboard rear of casing 4, electric cabinet 5 is installed to the upper end rear side of robot walking unit 1, the internally mounted of robot walking unit 1 has central control module, laser navigation module, ultrasonic wave shock absorbing module and power module, can carry out real-time removal power supply to bird repellent device, can carry out integrated processing with the data of gathering and analyze and contrast simultaneously, thereby the stability of bird repellent device whole operation has been improved.
The diameter of the green laser emitted by the laser emitter 8 is 100mm, the wavelength is 532nm, the condition that visual reflection is generated by a 'rod-shaped' green laser is simulated by organisms, when the green laser rod scans, birds look like a green big rod, so that the bird-repellent effect is achieved, but the birds are not damaged, and meanwhile, the birds scientists prove that by countless tests: the bird's eye is most sensitive to the 520-532nm laser beam, so that the green laser with the emission diameter of 100mm and the wavelength of 532nm has better bird-driving effect.
Specifically, as shown in fig. 1, 3, 4 and 5, the adjusting mechanism includes a supporting seat 2 disposed at the lower end of the turntable 3, a bottom plate 303 rotatably mounted above the supporting seat 2 and located below the turntable 3, a driven gear 201 mounted at the upper end of the supporting seat 2, a servo motor 6 mounted at the upper end of the bottom plate 303, and a driving gear 601 mounted at the upper end of the servo motor 6 and meshed with the driven gear 201, when the servo motor 6 works and rotates, the driving gear 601 can be driven to rotate, and under the meshing transmission effect between the driving gear 601 and the driven gear 201, the turntable 3 can integrally perform transverse rotation adjustment processing, so as to drive the casing 4 to perform transverse rotation adjustment therewith.
The adjusting mechanism further comprises a rotary groove 301 formed in the upper end of the rotary table 3, a double-shaft motor 7 arranged on the inner side of the rotary groove 301, and a rotary frame 703 fixed between the outer shell of the double-shaft motor 7 and the lower end of the casing 4, wherein when the double-shaft motor 7 works and rotates, the rotary frame 703 can be driven to longitudinally rotate in the rotary groove 301, so that the whole casing 4 is driven to longitudinally rotate and adjust.
The middle part of biax motor 7 installs transmission shaft 701, and the spacing buckle 702 of equal demountable installation in transmission shaft 701's both ends, and spacing buckle 302 corresponding with spacing buckle 702 has all been seted up at the both ends of revolving stage 3, and spacing buckle 702 and spacing buckle 302's setting can be with the spacing installation of transmission shaft 701 fixed point of biax motor 7 to the appointed installation position of revolving stage 3.
Specifically, as shown in fig. 1, 3 and 5, the front end of the casing 4 is provided with a plurality of high-transmittance sheets 402 coaxial with the laser emitter 8, the high-definition camera 9 and the laser radar 10, and the high-transmittance sheets 402 are made of optical quartz glass, so that the front areas of the laser emitter 8, the high-definition camera 9 and the laser radar 10 can be subjected to sealing coverage treatment, the laser emitter 8, the high-definition camera 9 and the laser radar 10 are prevented from being contacted with external dust and impurities, and meanwhile, the high-transmittance optical quartz glass is adopted to manufacture the high-transmittance sheet, so that the loss of light penetration is reduced.
The upper end demountable installation of casing 4 has rain-proof cap 401, and the setting of rain-proof cap 401 can carry out rain-proof protection with casing 4 upper end and handle, can carry out the ann of casing 4 internal assembly and tear open and overhaul the operation after disassembling simultaneously, and infrared light filling lamp 12 is installed to the front end of casing 4's front side that is located high definition digtal camera 9, and infrared light filling lamp 12 can provide the illumination for high definition digtal camera 9 the place ahead region when light is relatively poor, makes things convenient for the image acquisition at high definition digtal camera 9 night.
Specifically, as shown in fig. 1-6, the MCU501 for signal transmission, analysis, calculation and control is installed on the inner side of the electric cabinet 5, the output ends of the high-definition camera 9 and the laser radar 10 are electrically connected with the input ends of the MCU501, the output ends of the MCU501 are electrically connected with the input ends of the robot walking unit 1, the servo motor 6, the double-shaft motor 7 and the laser transmitter 8, the high-definition camera 9 and the laser radar 10 can collect image data and position data of the flying object respectively, and transmit the image data and the position data to the MCU501 in real time for analysis and calculation, the MCU501 analyzes and calculates the expected position data of the image data of the incoming flying object, so that whether the flying object is a bird can be compared and judged, when the image data is compared and judged to be a bird, the position data can be used as pulse data for rotation adjustment of the servo motor 6 and the double-shaft motor 7, and the robot walking unit 1 can assist in adjusting the bird-driving device to transversely rotate when receiving the control signal, so as to realize tracking of the flying track of the bird by the laser transmitter 8.
Working principle: in the daily use process, the high-definition camera 9 can acquire image data of the area in front of the casing 4 in real time, and transmit the data to the MCU501 in real time for analysis and comparison, meanwhile, the laser radar 10 can scan whether a flying object exists in front of the casing 4 at intervals, and transmit the data to the MCU501 in real time for analysis, the MCU501 can perform comprehensive analysis and calculation on the incoming data, when the flying object detection and the image data are judged to be birds, the MCU501 can control the two laser transmitters 8 to work in advance, two parallel green laser columns with the diameter of 100mm and the wavelength of 532nm are emitted, meanwhile, the MCU501 can transmit the image data and the position data which are transmitted in real time according to the high-definition camera 9 and the laser radar 10, the servo motor 6 and the double-shaft motor 7 are controlled to correspondingly work, the driving gear 601 can be driven to rotate when the servo motor 6 works, under the meshing transmission effect between the driving gear 601 and the driven gear 201, the rotary table 3 can be transversely rotated on the supporting seat 2 as a whole, when the double-shaft motor 7 works, the double-shaft motor 7 can drive the rotary frame 703 to longitudinally rotate in the rotary groove 301, so that the shell 4 is driven to realize tracking of green laser columns according to the flying track of birds, meanwhile, the robot walking unit 1 can be mutually cooperated with the servo motor 6 and the double-shaft motor 7 through in-situ rotation adjustment, so that birds are tracked and driven rapidly, and after the birds fly away from a protection area for a period of time, the laser bird-driving device can be automatically reset to an initial detection position.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (8)
1. The utility model provides an intelligent laser bird-driving robot, includes robot walking unit (1), revolves platform (3) and casing (4), its characterized in that, revolve platform (3) and casing (4) follow supreme top that sets gradually in robot walking unit (1) down, revolve platform (3) install between robot walking unit (1) and casing (4) through adjustment mechanism, two laser emitter (8) towards casing (4) front end are installed to the inboard symmetry of casing (4), the inboard of casing (4) is located between two laser emitter (8) and installs high definition digtal camera (9) and laser radar (10) towards casing (4) front end in proper order from supreme down, connector (11) that are used for laser emitter (8), high definition digtal camera (9) and laser radar (10) circuit connection are installed at the inboard rear of casing (4), electric cabinet (5) are installed to the upper end rear side of robot walking unit (1).
2. The intelligent laser bird-driving robot according to claim 1, wherein the adjusting mechanism comprises a supporting seat (2) arranged at the lower end of the rotary table (3), a bottom plate (303) rotatably arranged above the supporting seat (2) and positioned below the rotary table (3), a driven gear (201) arranged at the upper end of the supporting seat (2), a servo motor (6) arranged at the upper end of the bottom plate (303) and a driving gear (601) arranged at the upper end of the servo motor (6) and meshed with the driven gear (201).
3. The intelligent laser bird-driving robot according to claim 2, wherein the adjusting mechanism further comprises a rotating groove (301) formed at the upper end of the rotating table (3), a double-shaft motor (7) arranged on the inner side of the rotating groove (301), and a rotating frame (703) fixed between the outer shell of the double-shaft motor (7) and the lower end of the machine shell (4).
4. An intelligent laser bird-driving robot according to claim 3, wherein a transmission shaft (701) is mounted in the middle of the double-shaft motor (7), limiting buckle plates (702) are detachably mounted at two ends of the transmission shaft (701), and limiting buckle grooves (302) corresponding to the limiting buckle plates (702) are formed at two ends of the rotary table (3).
5. The intelligent laser bird-driving robot according to claim 1, wherein a plurality of high-transmission sheets (402) concentric with the laser emitter (8), the high-definition camera (9) and the laser radar (10) are installed at the front end of the casing (4).
6. The intelligent laser bird-driving robot according to claim 1, wherein a rain cap (401) is detachably mounted at the upper end of the casing (4), and an infrared light supplementing lamp (12) is mounted at the front side of the front end of the casing (4) located at the high-definition camera (9).
7. The intelligent laser bird-driving robot according to claim 1, wherein an MCU (501) for signal transmission, analysis, calculation and control is installed on the inner side of the electric cabinet (5).
8. The intelligent laser bird-driving robot according to claim 7, wherein the output ends of the high-definition camera (9) and the laser radar (10) are electrically connected with the input end of the MCU (501), and the output end of the MCU (501) is electrically connected with the input ends of the robot walking unit (1), the servo motor (6), the double-shaft motor (7) and the laser transmitter (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310058368.2A CN116784308A (en) | 2023-01-13 | 2023-01-13 | Intelligent laser bird-repellent robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310058368.2A CN116784308A (en) | 2023-01-13 | 2023-01-13 | Intelligent laser bird-repellent robot |
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| Publication Number | Publication Date |
|---|---|
| CN116784308A true CN116784308A (en) | 2023-09-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202310058368.2A Pending CN116784308A (en) | 2023-01-13 | 2023-01-13 | Intelligent laser bird-repellent robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117918330A (en) * | 2024-03-21 | 2024-04-26 | 国网山西省电力公司太原供电公司 | Laser bird repellent device for transformer substation protection |
-
2023
- 2023-01-13 CN CN202310058368.2A patent/CN116784308A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117918330A (en) * | 2024-03-21 | 2024-04-26 | 国网山西省电力公司太原供电公司 | Laser bird repellent device for transformer substation protection |
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