CN116954241A - Tree obstacle cleaning robot device and tree obstacle cleaning method - Google Patents
Tree obstacle cleaning robot device and tree obstacle cleaning method Download PDFInfo
- Publication number
- CN116954241A CN116954241A CN202310742123.1A CN202310742123A CN116954241A CN 116954241 A CN116954241 A CN 116954241A CN 202310742123 A CN202310742123 A CN 202310742123A CN 116954241 A CN116954241 A CN 116954241A
- Authority
- CN
- China
- Prior art keywords
- robot
- tree
- controller
- tree obstacle
- communication mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000004140 cleaning Methods 0.000 title claims description 20
- 230000007246 mechanism Effects 0.000 claims abstract description 95
- 238000004891 communication Methods 0.000 claims abstract description 66
- 238000001514 detection method Methods 0.000 claims abstract description 37
- 230000004888 barrier function Effects 0.000 claims abstract description 24
- 238000006243 chemical reaction Methods 0.000 claims description 49
- 238000005520 cutting process Methods 0.000 claims description 14
- 230000008569 process Effects 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 8
- 238000004364 calculation method Methods 0.000 claims description 4
- 238000012546 transfer Methods 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 3
- 230000007704 transition Effects 0.000 claims 3
- 238000013138 pruning Methods 0.000 abstract description 4
- 238000009529 body temperature measurement Methods 0.000 description 7
- 230000008901 benefit Effects 0.000 description 5
- 238000007689 inspection Methods 0.000 description 5
- 230000002159 abnormal effect Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 241001465754 Metazoa Species 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000001737 promoting effect Effects 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 1
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 235000005770 birds nest Nutrition 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000004377 microelectronic Methods 0.000 description 1
- 230000006798 recombination Effects 0.000 description 1
- 238000005215 recombination Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000011895 specific detection Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 238000009966 trimming Methods 0.000 description 1
- 235000005765 wild carrot Nutrition 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The application provides a tree obstacle clearing robot device and a tree obstacle clearing method, wherein the robot and a controller are used for controlling the robot to clear a tree obstacle, the robot comprises a communication mechanism and a detection mechanism, the communication mechanism is in communication connection with the controller, the detection mechanism is electrically connected with the communication mechanism, the detection mechanism comprises a camera module, a distance sensing module and a positioning module, the communication mechanism transmits information detected by the camera module, the distance sensing module and the positioning module to the controller, and the controller establishes a model and generates a flight route according to the received information so as to enable the robot to clear the tree obstacle automatically. The communication mechanism transmits the information detected by the detection mechanism to the controller, and the controller establishes a model and generates a flight route according to the received information so that the robot automatically cleans tree barriers, and the potential safety hazard during manual pruning can be avoided, so that the automation degree is high and the working efficiency is high.
Description
Technical Field
The application relates to the technical field of tree obstacle clearing devices, in particular to a tree obstacle clearing robot device and a tree obstacle clearing method.
Background
Along with the development of social economy, the power demand is also more and more vigorous, the construction of the power grid in China is continuously surpassed, and higher requirements are also put forward on the reliability and safety of power operation. The progress and development of the electric power industry provide electric power service for a plurality of areas with severe geographic environments, meanwhile, a plurality of power transmission line corridors are built in areas with dense vegetation forests and complex environments, trees which are continuously approaching to high-voltage lines bring great hidden danger to line operation safety, line tripping caused by insufficient safety distance between the lines and the trees is extremely likely to be caused, the power supply service quality is influenced, and social adverse effects and economic losses are caused.
Aiming at the problem that the tree obstacle influences the line operation, the traditional line inspection scheme relies on manual climbing to finish pruning of branches, so that potential safety hazards exist, the degree of automation is low, and the working efficiency is low. Meanwhile, the operation cost caused by tree cutting is considered, and the tree crowns are often needed to be trimmed to a safe range in a trimming mode, but the operation cost is also a great difficulty and risk for workers.
Disclosure of Invention
The application provides the following technical scheme:
the utility model provides a tree barrier clearance robot device, includes robot and controller, the controller is used for controlling the robot to clear up the tree barrier, the robot includes communication mechanism and detection mechanism, communication mechanism with controller communication connection, detection mechanism with the communication mechanism electricity is connected, detection mechanism includes camera module, distance sensing module and positioning module, communication mechanism will camera module distance sensing module with the information transfer that positioning module detected extremely the controller, the controller is according to the information establishment model of receipt and the formation flight route of formation, so that the robot is to the automatic clearance of tree barrier.
Preferably, the camera module further comprises a temperature measuring camera, the temperature measuring camera is electrically connected with the communication mechanism, the temperature measuring camera is used for detecting the temperature of an object to be detected in the moving process of the robot, and temperature information can be transmitted to the controller through the communication mechanism.
Preferably, the robot further comprises:
one end of the connecting rod is connected with the detection mechanism;
the conversion piece is connected with the other end of the connecting rod;
the knife saw assembly is connected with the conversion piece;
the communication mechanism can control the conversion piece to rotate, so that the direction of the knife saw assembly is switched.
Preferably, the connecting rod comprises a first connecting part and a second connecting part which are connected with the conversion piece, one of the first connecting part and the second connecting part is rotationally connected with the conversion piece, and the other one of the first connecting part and the second connecting part is detachably connected with the conversion piece.
Preferably, the first connecting portion is rotatably connected with the conversion member, the second connecting portion is provided with an electromagnetic member detachably connected with the conversion member, and the conversion member includes:
the driving piece is rotationally connected with the first connecting part;
the first positioning hole is detachably connected with the electromagnetic piece;
and the second positioning hole is detachably connected with the electromagnetic piece.
Preferably, the horizontal steering shaft is arranged on the connecting rod, and the horizontal steering shaft can drive the knife saw assembly connected with the connecting rod to rotate along the horizontal direction.
Preferably, the knife saw assembly comprises a swing joint, a connecting rod, a torque protection joint, a motor, a sensor, a knife saw and a knife saw controller.
Preferably, the sensing module is used for measuring the distance between the robot and the measured object, and the distance between the robot and the measured object in the moving process of the robot is more than or equal to 0.7m.
Preferably, the detection mechanism further comprises an expansion interface, and the expansion interface is used for being connected with other robots.
The tree obstacle clearing method adopts the tree obstacle clearing robot device according to any one of the above steps, and comprises the following steps:
s1: the robot flies in the tree obstacle area, and in the flying process of the robot, the camera module, the distance sensing module and the positioning module transmit measured image information and position information to the controller through the communication mechanism to initially establish a tree obstacle clearing three-dimensional model so as to establish a three-dimensional flying line;
s2: the controller divides dangerous objects in the image into single individuals in an edge calculation mode, performs preliminary division on the tree barrier, and cuts the tree root and branch parts of the tree barrier;
s3: the controller sets a safe area for cutting for the robot, avoids the danger of operation in a transmission line channel, sets a threshold value of the safe operation area, and alarms and marks if the unmanned aerial vehicle touches an obstacle outside the safe area;
s4: the robot performs fine clearance on the tree obstacle, and the clearance on the tree obstacle is realized by planning the flying angle of the multi-wing tree obstacle cleaning robot, the angle of the mounting device and the like in an automatic modeling mode.
The application provides a tree obstacle cleaning robot device, which comprises a robot and a controller, wherein the controller is used for controlling the robot to clean a tree obstacle, the robot comprises a communication mechanism and a detection mechanism, the communication mechanism is in communication connection with the controller, the detection mechanism is electrically connected with the communication mechanism, the detection mechanism comprises a camera module, a distance sensing module and a positioning module, the communication mechanism transmits information detected by the camera module, the distance sensing module and the positioning module to the controller, and the controller establishes a model and generates a flight route according to the received information so as to enable the robot to automatically clean the tree obstacle. The camera module in the detection mechanism is used for detecting the image information of waiting to clear up the tree obstacle, and distance sensing module is used for detecting the distance information of waiting to clear up the tree obstacle, and positioning module is used for detecting the position information of waiting to clear up the tree obstacle, and communication mechanism passes to the controller with the information transfer that detection mechanism detected, and the controller builds the model and generates the flight route according to the information that receives to make the robot clear up the tree obstacle is automatic, so set up the potential safety hazard when can avoiding artifical pruning, degree of automation is high and work efficiency is high.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present application, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
Fig. 1 is a three-dimensional view of a robot blade according to the present embodiment;
fig. 2 is a three-dimensional view of the robot in a vertical blade state;
fig. 3 is a structural view of the connecting rod and the conversion member.
In the figure: 1. a communication mechanism; 2. a detection mechanism; 21. a camera module; 22. a distance sensing module; 23. an expansion interface; 3. a connecting rod; 31. a first connection portion; 32. a second connecting portion; 4. a conversion member; 41. a driving member; 42. a first positioning hole; 43. a second positioning hole; 5. a knife saw assembly; 6. an electromagnetic member; 7. a horizontal steering shaft; 8. rotor structure.
Detailed Description
The following description of the embodiments of the present application 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 application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
As shown in fig. 1-3, the embodiment of the application provides a robot device for cleaning a tree obstacle, which comprises a robot and a controller, wherein the controller is used for controlling the robot to clean the tree obstacle, the robot comprises a communication mechanism 1 and a detection mechanism 2, the communication mechanism 1 is in communication connection with the controller, the detection mechanism 2 is electrically connected with the communication mechanism 1, the detection mechanism 2 comprises a camera module 21, a distance sensing module 22 and a positioning module, the communication mechanism 1 transmits information detected by the camera module 21, the distance sensing module 22 and the positioning module to the controller, and the controller establishes a model and generates a flight route according to the received information so as to enable the robot to automatically clean the tree obstacle.
Specifically, when the robot flies in the area of the tree barrier to be cleaned, the camera module 21 shoots image information of the tree barrier in real time, and transmits the shot image information to the controller through the communication mechanism 1 in real time; a positioning module (not shown in the figure) is used for positioning the position information of the robot in real time and transmitting the positioning information to the controller through the communication mechanism 1 in real time; the distance sensing module 22 senses the distance between the tree obstacle and the robot in real time and transmits the distance information to the controller through the communication mechanism 1 in real time; the controller receives and processes the three kinds of information, a model is built according to the received information, a flying path of the robot is further generated according to the built model, and the robot is further used for cleaning tree barriers.
The robot refers to a flying robot capable of cleaning a tree obstacle, and the robot is provided with a rotor structure 8 for flying and a blade assembly 5 for cutting the tree obstacle.
It should be noted that, in the process of inspecting the tree obstacle by the robot, the detection mechanism 2 of the robot can measure the image information of the tree obstacle, the positioning information of the robot and the distance between the robot and the tree obstacle, so that the controller can model the position information of the tree obstacle according to the information, and plan the flight path of the robot when cleaning the tree obstacle according to the modeled information of the tree obstacle.
It should be noted that, the communication connection between the communication mechanism 1 and the controller is realized through a 5G wireless network, so as to improve the signal transmission efficiency, thereby improving the working efficiency of the robot.
By the arrangement, the tree obstacle can be automatically modeled and the flying path can be generated, and the follow-up control robot automatically cleans the tree obstacle according to the flying path generated by the controller.
The tree obstacle cleaning robot device with the structure comprises a robot and a controller, wherein the controller is used for controlling the robot to clean the tree obstacle, the robot comprises a communication mechanism 1 and a detection mechanism 2, the communication mechanism 1 is connected with the controller in a communication mode, the detection mechanism 2 is electrically connected with the communication mechanism 1, the detection mechanism 2 comprises a camera module 21, a distance sensing module 22 and a positioning module, the communication mechanism 1 transmits information detected by the camera module 21, the distance sensing module 22 and the positioning module to the controller, and the controller establishes a model and generates a flight route according to the received information so that the robot can automatically clean the tree obstacle. The camera module 21 in the detection mechanism 2 is used for detecting the image information of the tree obstacle to be cleaned, the distance sensing module 22 is used for detecting the distance information of the tree obstacle to be cleaned, the positioning module is used for detecting the position information of the tree obstacle to be cleaned, the communication mechanism 1 transmits the information detected by the detection mechanism 2 to the controller, and the controller builds a model and generates a flight route according to the received information so as to enable the robot to automatically clean the tree obstacle.
In addition, in order to further provide modeling efficiency, a plurality of robots can be used for inspecting the area to be cleaned of the tree obstacle; in order to further improve the cleaning efficiency, a plurality of robots can be used for automatically cleaning the tree obstacle to be cleaned.
In some embodiments, the camera module 21 further includes a temperature measurement camera electrically connected to the communication mechanism 1, where the temperature measurement camera is used for detecting a temperature of an object to be measured in a moving process of the robot, and is capable of transmitting temperature information to the controller through the communication mechanism 1.
Specifically, the temperature measurement camera can be used for carrying out temperature sensing early warning on animals such as a metal connecting frame and a bird nest on a circuit, if the temperature measurement camera finds that the temperature of a body rises or the suspected animal nests, an early warning packet is returned to a controller through the communication mechanism 1, and the controller can calibrate hidden danger coordinates, suspected hidden danger contents and on-site photos on the position according to received information.
It should be noted that the temperature measuring camera can also be an infrared temperature sensing device so as to sense the temperature of the robot and detect the temperature on the route to be detected.
Through setting up the temperature measurement camera, temperature measurement camera and communication mechanism 1 electricity are connected, and after temperature measurement camera measured abnormal temperature information (be higher than other position temperatures), with abnormal temperature information through communication mechanism 1 transfer to the controller, the controller can combine the location information of the abnormal temperature position of positioning module transmission to mark this position, and the photo of this position is shot to camera module 21, the controller is with above-mentioned information record, dodges the abnormal temperature position when producing robot flight circuit.
In some embodiments, the robot further comprises a connecting rod 3, a conversion piece 4 and a knife saw assembly 5, wherein one end of the connecting rod 3 is connected with the detection mechanism 2; the conversion piece 4 is connected with the other end of the connecting rod 3; the knife saw assembly 5 is connected with the conversion piece 4; the communication mechanism 1 can control the rotation of the switch 4, thereby switching the direction of the blade saw assembly 5.
In this embodiment an alternative implementation is provided, the conversion element 4 is a gear assembly, the conversion element 4 is meshed with the connecting rod 3 through a gear set, and the conversion element 4 is capable of rotating relative to the connecting rod 3; according to the model established by the controller after the robot is patrolled and examined, when the flying route is generated for the robot, the controller transmits information to the communication mechanism 1 at the position where the angle of the knife saw needs to be adjusted, and controls the motor of the conversion piece 4 to rotate, so that the adjustment of the conversion piece 4 is realized, and the adjustment of the direction of the knife saw is realized.
Robot is clear up the in-process of tree barrier, to the different shapes of tree barrier, in order to be convenient for the knife saw of robot to cut the clearance to the tree barrier, need adjust the angle of knife saw, adjust the angle of knife saw through the manual work among the prior art, the low and change in-process of regulation efficiency has the security risk that makes operating personnel injured. And this embodiment is through setting up the conversion piece 4 that is connected with connecting rod 3 and knife saw respectively, and the controller passes through communication mechanism 1 control conversion piece 4 and rotates to realize the adjustment to the knife saw direction, thereby promote the clearance efficiency of knife saw to the tree obstacle, and can avoid taking place the incident when adjusting the direction of knife saw.
In some embodiments, the connecting rod 3 includes a first connecting portion 31 and a second connecting portion 32 connected to the conversion member 4, one of the first connecting portion 31 and the second connecting portion 32 is rotatably connected to the conversion member 4, and the other is detachably connected to the conversion member 4.
In this embodiment an alternative embodiment is provided, in which the first connection part 31 is rotatably connected to the conversion element 4 and the second connection part 32 is detachably connected to the conversion element 4.
In this embodiment, an alternative embodiment is also provided, in which the first connecting portion 31 is detachably connected to the conversion element 4, and the second connecting portion 32 is rotatably connected to the conversion element 4.
When the first connecting portion 31 is rotationally connected with the conversion member 4, and the second connecting portion 32 is detachably connected with the conversion member 4, preferably, two positioning portions detachably connected with the second connecting portion 32 are arranged on the conversion member 4, and an included angle of a connecting line between the two positioning portions and the first connecting portion 31 is 90 degrees, at this time, the knife saw is in a horizontal direction when the second connecting portion 32 is connected with one of the positioning portions, and the knife saw is in a vertical direction when the second connecting portion 32 is connected with the other positioning portion.
The first connecting portion 31 and the second connecting portion 32 connected with the conversion member 4 are provided through the connecting rod 3, one of the first connecting portion 31 and the second connecting portion 32 is rotatably connected with the conversion member 4, and the other is detachably connected with the conversion member 4. So set up, can realize the quick regulation to the saw angle to promote the convenience that the saw was adjusted.
In addition, as for the detachable connection manner of the other of the first connection portion 31 and the second connection portion 32 with the conversion member 4, the detachable connection manner is not unique, and may be a snap connection, a magnetic connection, a screw connection, and the preferred detachable connection can be remotely controlled by a controller to connect or disconnect.
In some embodiments, the first connecting portion 31 is rotatably connected to the conversion element 4, the second connecting portion 32 is provided with an electromagnetic element 6 detachably connected to the conversion element 4, and the conversion element 4 includes a driving element 41, a first positioning hole 42 and a second positioning hole 43; the driving member 41 is rotatably connected to the first connecting portion 31; the first positioning hole 42 is detachably connected with the electromagnetic piece 6; the second positioning hole 43 is detachably connected with the electromagnetic member 6.
Specifically, the magnetic attraction piece 6 is a permanent magnet positioning bolt, the driving piece 41 is a stepping motor, taking the case that a horizontal knife in the horizontal direction of the knife saw assembly 5 is turned into a vertical knife in the vertical direction as an example, the controller sends a signal to the communication mechanism, the second connecting part 32 of the connecting rod 3 is controlled to be electrified, magnetic force is generated to attract the permanent magnet positioning bolt to leave the first positioning hole 42 of the conversion piece 4 and enter the connecting rod 3, the stepping motor receives the instruction to rotate 90 degrees to be converted into a vertical knife mode after the instruction is completed, the controller controls the electromagnetic piece 6 to be powered off through the communication mechanism 1 after the gesture is in place, the permanent magnet bolt leaves the second connecting part 32 of the connecting rod 3 and enters the second positioning hole 43, and the knife saw assembly 5 completes the conversion work from the horizontal knife to the vertical knife.
The first connecting part 31 is rotatably connected with the conversion piece 4, the second connecting part 32 is provided with an electromagnetic piece 6 detachably connected with the conversion piece 4, and the conversion piece 4 comprises a driving piece 41, a first positioning hole 42 and a second positioning hole 43; the driving member 41 is rotatably connected to the first connecting portion 31; the first positioning hole 42 is detachably connected with the electromagnetic piece 6; the second positioning hole 43 is detachably connected with the electromagnetic member 6. Through set up the electromagnetism piece 6 of being connected with first locating hole 42 and second locating hole 43 can dismantle at second connecting portion 32, can promote the efficiency that the horizontal sword of tool setting saw erects the sword and switch, promote the convenience of switching. And the controller can remotely switch the working direction of the knife saw, so that the automation degree of the knife saw direction switching is improved.
In addition, a third positioning hole, a fourth positioning hole, a fifth positioning hole, and the like may be provided, and the subsequent positioning holes are provided on a circumference with the first connection portion 31 as a center and the distance between the first connection portion 31 and the first positioning hole 42 as a radius.
In some embodiments, the tree obstacle clearing robot device further comprises a horizontal steering shaft 7, wherein the horizontal steering shaft 7 is arranged on the connecting rod 3, and the horizontal steering shaft 7 can drive the knife saw assembly 5 connected with the connecting rod 3 to rotate along the horizontal direction.
Specifically, set up horizontal steering shaft 7 on connecting rod 3, connecting rod 3 include with detection mechanism 2 be connected first section and with the second section that knife saw subassembly 5 are connected, horizontal steering shaft 7 one end is connected horizontal steering shaft 7's the other end and the second section are connected with first section, horizontal steering shaft 7 horizontal rotation can drive knife saw horizontal rotation.
As a preferred embodiment, the horizontal steering shaft 7 is disposed in the middle of the connecting rod 3, so that when the knife saw needs to rotate in the horizontal direction, the stability of the knife saw during rotation can be improved by disposing the horizontal steering shaft 7 in the middle of the connecting rod 3, and the robot in the air is prevented from shaking.
Here, the horizontal steering shaft 7 is disposed on the connecting rod 3, and the horizontal steering shaft 7 can drive the blade saw assembly 5 connected with the connecting rod 3 to rotate in the horizontal direction, so that the blade saw can be ensured to complete 360-degree rotation in the horizontal direction.
In some embodiments, the blade assembly 5 includes a swing joint, a link, a torque protection joint, a motor, a sensor, a blade, and a blade controller.
Specifically, the hanging knife saw part mainly comprises a swinging joint, a connecting rod, a torque protection joint, a motor, a sensor, a knife saw controller and a knife saw. The swinging joint is responsible for connecting the knife saw connecting rod and the robot and enabling the hanging part to swing freely in the pitching and rolling directions; the torsion protection joint adopts parts such as springs and the like, so as to buffer the influence of the torsion of the hanging knife saw on the air-borne robot; the knife saw controller is used for controlling a knife saw switch and the rotating speed; the knife saw is an actuating mechanism for cleaning tree barriers, and the cutting direction of the knife saw is the same as the advancing direction of the unmanned aerial vehicle; to reduce the difficulty of the knife saw to align with the tree obstacle and the cutting efficiency.
In this embodiment, a double-blade saw structure is adopted, so that the number of blade saws can be increased or decreased according to practical situations.
Here, through setting up knife saw subassembly 5 into swing joint, connecting rod, moment of torsion protection joint, motor, sensor, knife saw and knife saw controller, can promote the efficiency when the knife saw cuts clearance to the tree obstacle, when promoting its cutting tree obstacle, the stability of robot overall device.
In some embodiments, the distance sensing module 22 is configured to measure a distance between the robot and the object, and make the distance between the robot and the object greater than or equal to 0.7m during the moving process.
Specifically, the tree model achieves that the maximum wind deflection distance is smaller than 1.5 meters from the horizontal safety distance of the wire edge, the maximum sag distance of the wire is smaller than 1 meter from the vertical distance of the tip of the wire (the safety distance can be manually input), dangerous objects in the image are divided into single individuals in an edge calculation mode, and the trees in the high-altitude tree are very complicated, so that the trees are required to be initially divided, and the tree roots and the branch parts are cut; the robot automatically carries the knife saw assembly 5 to clear the cut single bodies of tree barriers. When the tool saw device works, the heading, the height and the speed of the aerial robot and the angle of the tool saw are adjusted according to the storage model, so that the tool saw assembly 5 can carry out horizontal 'shaving' type top cutting operation (the horizontal steering shaft 7 is used for 360-degree steering adjustment of the cutting angle in the horizontal direction) or zigzag type vertical cutting operation (the driving piece 41 is used for ensuring that the 90-degree steering adjustment of the tool in the vertical direction is in a vertical tool mode) on the tree barrier at proper angles, strength and forward propelling speed, or the tool for working is withdrawn from the obstacle clearance operation at proper speeds; the base station is authorized to operate before operation, and the operation site picture is transmitted, and the base station has the right to manually take over the database to operate the robot.
In some embodiments, the detection mechanism 2 further comprises an expansion interface 23, the expansion interface 23 being adapted to connect with other robots.
Specifically, the expansion interface 23 is used for a post-extension function, and can be interactively and electrically connected with other robots.
Furthermore, the expansion interface 23 may also be a charging interface of the seat robot.
In some embodiments, the robot automatically recognizes, ranges and calibrates Beidou positioning coordinates for lines, trees and buildings when flying for the first time. The data are transmitted back to the base station in real time through the 5G signals for archiving and data analysis, the base station builds a model on the analyzed data, generates a flight route, comprises information such as a flight restricted area, an early warning area, an operation flight height, a cutter angle, a rotating speed and the like, and transmits back to the multi-wing tree obstacle cleaning robot, the robot executes deforestation operation according to a set task, and the information such as image information, line equipment temperature, wind power, humidity and the like in an operation range during deforestation operation is transmitted back to the base station in real time for monitoring.
The robot is an aviation aircraft without pilot operation, and can automatically fly through a ground remote control and flight control system. The multi-rotor unmanned aerial vehicle adopted by the design has the advantages of small volume, vertical take-off and landing, fixed-point hovering, strong maneuverability and the like, and is rapidly developed in the military and civil fields. In recent years, along with the maturation of technologies such as microelectronics and micro-motors, the multi-wing tree obstacle cleaning robot is gradually developed towards the direction of cheapness and intellectualization. Many tasks can be accomplished by carrying a work tool. The design is provided with a camera, a temperature measuring device and a reserved specific detection device expansion port. The work such as transmission line safety inspection can be accomplished. The mode that this design many wings tree barrier clearance robot carried the operation instrument is the suspension mode, and this mode carries expands the utensil volume greatly, can be used to cargo transportation, cable laying etc.. For the clearance of tree obstacle, because the knife saw that many wings tree obstacle clearance robot carried has characteristics that bulky, blade are sharp, is fit for adopting the hanging mode, carries multiunit knife saw, promotes cutting efficiency.
Utilize many wings tree barrier clearance robot and wireless communication control mode to carry out transmission line's automatic inspection, when promoting inspection efficiency, can reduce the security risk to minimum. Based on the method, the tree-cutting tool such as electric saw cutting is innovatively carried on the multi-wing tree-obstacle cleaning robot to remotely and automatically clean the tree obstacle of the power transmission line, the problem that the tree obstacle affects the operation safety of the line is solved, and meanwhile, the personal safety hidden trouble of operators in climbing and pruning operation is reduced.
The method for removing the line tree obstacle by using the robot comprises the following steps: the first link is to utilize the four rotor structures 8 of the robot, and the structure has the characteristics of stability and control accuracy, and is a main power source for unmanned aerial vehicle flight. The automatic inspection and distance sensing module is responsible for monitoring the horizontal and vertical distance between the tree and the line in real time, calibrating the suspected hidden trouble content of the tree lower than the set early warning value, establishing a hidden trouble model of the tree, generating a standing book, and the communication mechanism 1 is responsible for transmitting the on-site image to the base station in real time for storage, analysis and human-computer interaction;
the tree obstacle clearing method adopts the tree obstacle clearing robot device and comprises the following steps:
s1: the robot flies in the tree obstacle area, and in the flying process of the robot, the camera module 21, the distance sensing module 22 and the positioning module transmit measured image information and position information to a controller through the communication mechanism 1 to initially establish a tree obstacle clearing three-dimensional model so as to establish a three-dimensional flying line;
s2: the controller divides dangerous objects in the image into single individuals in an edge calculation mode, performs preliminary division on the tree barrier, and cuts the tree root and branch parts of the tree barrier;
s3: the controller sets a safe area for cutting for the robot, avoids the danger of operation in a transmission line channel, sets a threshold value of the safe operation area, and alarms and marks if the unmanned aerial vehicle touches an obstacle outside the safe area;
s4: the robot performs fine clearance on the tree obstacle, and the clearance on the tree obstacle is realized by planning the flying angle of the multi-wing tree obstacle cleaning robot, the angle of the mounting device and the like in an automatic modeling mode.
The tree obstacle cleaning robot device comprises a robot and a controller, wherein the controller is used for controlling the robot to clean the tree obstacle, the robot comprises a communication mechanism 1 and a detection mechanism 2, the communication mechanism 1 is connected with the controller in a communication mode, the detection mechanism 2 is electrically connected with the communication mechanism 1, the detection mechanism 2 comprises a camera module 21, a distance sensing module 22 and a positioning module, the communication mechanism 1 transmits information detected by the camera module 21, the distance sensing module 22 and the positioning module to the controller, and the controller establishes a model and generates a flight route according to the received information so that the robot can automatically clean the tree obstacle. The camera module 21 in the detection mechanism 2 is used for detecting the image information of the tree obstacle to be cleaned, the distance sensing module 22 is used for detecting the distance information of the tree obstacle to be cleaned, the positioning module is used for detecting the position information of the tree obstacle to be cleaned, the communication mechanism 1 transmits the information detected by the detection mechanism 2 to the controller, and the controller builds a model and generates a flight route according to the received information so as to enable the robot to automatically clean the tree obstacle.
The basic principles of the present application have been described above in connection with specific embodiments, however, it should be noted that the advantages, benefits, effects, etc. mentioned in the present application are merely examples and not intended to be limiting, and these advantages, benefits, effects, etc. are not to be considered as essential to the various embodiments of the present application. Furthermore, the specific details disclosed herein are for purposes of illustration and understanding only, and are not intended to be limiting, as the application is not necessarily limited to practice with the above described specific details.
The block diagrams of the devices, apparatuses, devices, systems referred to in the present application are only illustrative examples and are not intended to require or imply that the connections, arrangements, configurations must be made in the manner shown in the block diagrams. As will be appreciated by one of skill in the art, the devices, apparatuses, devices, systems may be connected, arranged, configured in any manner. Words such as "including," "comprising," "having," and the like are words of openness and mean "including but not limited to," and are used interchangeably therewith. The terms "or" and "as used herein refer to and are used interchangeably with the term" and/or "unless the context clearly indicates otherwise. The term "such as" as used herein refers to, and is used interchangeably with, the phrase "such as, but not limited to.
It is also noted that in the apparatus, devices and methods of the present application, the components or steps may be disassembled and/or assembled. Such decomposition and/or recombination should be considered as equivalent aspects of the present application.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
It should be understood that the terms "first", "second", "third", "fourth", "fifth" and "sixth" used in the description of the embodiments of the present application are used for more clearly describing the technical solutions, and are not intended to limit the scope of the present application.
The foregoing description has been presented for purposes of illustration and description. Furthermore, this description is not intended to limit embodiments of the application to the form disclosed herein. Although a number of example aspects and embodiments have been discussed above, a person of ordinary skill in the art will recognize certain variations, modifications, alterations, additions, and subcombinations thereof.
Claims (10)
1. The utility model provides a tree barrier clearance robot device, its characterized in that, includes robot and controller, the controller is used for controlling the robot to clear up the tree barrier, the robot includes communication mechanism and detection mechanism, communication mechanism with the controller communication is connected, detection mechanism with the communication mechanism electricity is connected, detection mechanism includes camera module, distance sensing module and positioning module, communication mechanism will camera module distance sensing module reaches the information transfer that positioning module detected extremely the controller, the controller establishes the model and generates the flight route according to the information of receipt, so that the robot is right the automatic clearance of tree barrier.
2. The tree obstacle clearing robot device according to claim 1, wherein the camera module further comprises a temperature measuring camera, the temperature measuring camera is electrically connected with the communication mechanism, the temperature measuring camera is used for detecting the temperature of an object to be tested in the moving process of the robot, and temperature information can be transmitted to the controller through the communication mechanism.
3. The tree obstacle clearing robot device as recited in claim 1, wherein the robot further comprises:
one end of the connecting rod is connected with the detection mechanism;
the conversion piece is connected with the other end of the connecting rod;
the knife saw assembly is connected with the conversion piece;
the communication mechanism can control the conversion piece to rotate, so that the direction of the knife saw assembly is switched.
4. The tree obstacle clearing robot assembly of claim 3, wherein the connecting rod includes a first connecting portion and a second connecting portion connected to the transition piece, one of the first connecting portion and the second connecting portion being rotatably connected to the transition piece, the other of the first connecting portion and the second connecting portion being detachably connected to the transition piece.
5. The tree obstacle clearing robot device according to claim 4, wherein the first connection portion is rotatably connected with the conversion member, the second connection portion is provided with an electromagnetic member detachably connected with the conversion member, the conversion member includes:
the driving piece is rotationally connected with the first connecting part;
the first positioning hole is detachably connected with the electromagnetic piece;
and the second positioning hole is detachably connected with the electromagnetic piece.
6. The tree obstacle clearing robot device of claim 3, further comprising a horizontal steering shaft disposed on the connecting rod, the horizontal steering shaft capable of driving the blade assembly connected to the connecting rod to rotate in a horizontal direction.
7. The tree obstacle clearing robot assembly of claim 3, wherein the knife saw assembly comprises a swing joint, a linkage, a torque protection joint, a motor, a sensor, a knife saw, and a knife saw controller.
8. The tree obstacle clearing robot device according to claim 1, wherein the distance sensing module is configured to measure a distance between the robot and the object under test, and to enable the distance between the robot and the object under test in a moving process of the robot to be greater than or equal to 0.7m.
9. The tree obstacle clearing robot device of claim 1, wherein the detection mechanism further comprises an expansion interface for interfacing with other robots.
10. A tree obstacle clearing method, characterized in that the tree obstacle clearing robot device according to any one of claims 1-9 is used, comprising the steps of:
s1: the robot flies in the tree obstacle area, and in the flying process of the robot, the camera module, the distance sensing module and the positioning module transmit measured image information and position information to the controller through the communication mechanism to initially establish a tree obstacle clearing three-dimensional model so as to establish a three-dimensional flying line;
s2: the controller divides dangerous objects in the image into single individuals in an edge calculation mode, performs preliminary division on the tree barrier, and cuts the tree root and branch parts of the tree barrier;
s3: the controller sets a safe area for cutting for the robot, avoids the danger of operation in a transmission line channel, sets a threshold value of the safe operation area, and alarms and marks if the unmanned aerial vehicle touches an obstacle outside the safe area;
s4: the robot performs fine clearance on the tree obstacle, and the clearance on the tree obstacle is realized by planning the flying angle of the multi-wing tree obstacle cleaning robot, the angle of the mounting device and the like in an automatic modeling mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310742123.1A CN116954241A (en) | 2023-06-21 | 2023-06-21 | Tree obstacle cleaning robot device and tree obstacle cleaning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310742123.1A CN116954241A (en) | 2023-06-21 | 2023-06-21 | Tree obstacle cleaning robot device and tree obstacle cleaning method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116954241A true CN116954241A (en) | 2023-10-27 |
Family
ID=88459470
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310742123.1A Pending CN116954241A (en) | 2023-06-21 | 2023-06-21 | Tree obstacle cleaning robot device and tree obstacle cleaning method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116954241A (en) |
-
2023
- 2023-06-21 CN CN202310742123.1A patent/CN116954241A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103224026B (en) | A kind ofly be applicable to dedicated unmanned helicopter obstacle avoidance system that mountain area electrical network patrols and examines and workflow thereof | |
| CN204822072U (en) | Many rotor unmanned aerial vehicle aircraft with function is reconnoitered in fire control | |
| CN107065932B (en) | Control method of disaster detection quad-rotor unmanned aerial vehicle | |
| US9975632B2 (en) | Aerial vehicle system | |
| US11609159B2 (en) | Systems, devices, and methods for agricultural sample collection | |
| CN205691166U (en) | Toxic and harmful monitors based on four rotor wing unmanned aerial vehicles | |
| CN112731960A (en) | Unmanned aerial vehicle remote power transmission line intelligent inspection system and method | |
| CN109885083A (en) | Transmission line of electricity fining inspection flying platform and method for inspecting based on laser radar | |
| CN111300372A (en) | Air-ground cooperative intelligent inspection robot and inspection method | |
| CN105015767A (en) | Multi-rotor type unmanned aircraft system with fire detecting function | |
| CN108255189A (en) | A kind of power patrol unmanned machine system | |
| CN108045596A (en) | The flying quality inspection and detection system and method for a kind of fixed-wing unmanned plane | |
| CN208873047U (en) | A kind of inspection device based on multi-rotor unmanned aerial vehicle | |
| JP2017527493A (en) | Control method of flying object for surface cleaning | |
| JP2019015670A (en) | Flight altitude setting method of unmanned aircraft and unmanned aircraft system | |
| CN111766897B (en) | Channel inspection method, unmanned aerial vehicle and system for power transmission line | |
| KR102178393B1 (en) | Transmission line monitoring apparatus using unmanned aerial vehicles | |
| WO2020000790A1 (en) | Vertical mine shaft detection method and system | |
| CN109358654A (en) | A kind of empty amphibious search and rescue support unmanned vehicle system of water | |
| CN105252980B (en) | A kind of air-ground amphibious emergency management and rescue Detecting Robot and application thereof | |
| CN113271357B (en) | Ground-air cooperative networking system and control method | |
| CN106444839A (en) | Unmanned-aerial-vehicle high-voltage-cable automatic line patrol system | |
| CN112327929A (en) | Unmanned aerial vehicle aviation flight management system | |
| CN108082482A (en) | A kind of electric saw unmanned plane | |
| CN113778137A (en) | Unmanned aerial vehicle autonomous inspection method for power transmission line |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |