CN117519185A - Weeding system and method for transformer substation - Google Patents
Weeding system and method for transformer substation Download PDFInfo
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- CN117519185A CN117519185A CN202311607592.9A CN202311607592A CN117519185A CN 117519185 A CN117519185 A CN 117519185A CN 202311607592 A CN202311607592 A CN 202311607592A CN 117519185 A CN117519185 A CN 117519185A
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- 238000009333 weeding Methods 0.000 title claims abstract description 73
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- 238000001514 detection method Methods 0.000 claims abstract description 26
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- 238000003384 imaging method Methods 0.000 claims description 2
- 238000013473 artificial intelligence Methods 0.000 abstract description 2
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Abstract
The invention discloses a weeding system and a weeding method for a transformer substation, and relates to the field of artificial intelligence; a weeding control command is sent out through a control center of the main control room; the controller receives the weeding control instruction and sends out a control signal; the driving module drives running operation according to the driving signal; the camera module collects image data around the transformer substation according to the camera signal and feeds the image data back to the controller; the controller determines a planned path according to the image data; the avoidance module detects whether an obstacle exists around the transformer substation on a planned path, feeds back a detection result to the controller, and performs avoidance according to an avoidance instruction sent by the controller; the mower performs weeding according to the weeding instruction sent by the controller; the invention can realize weeding of the transformer substation with low cost and high efficiency.
Description
Technical Field
The invention relates to the field of artificial intelligence, in particular to a weeding system and method for a transformer substation.
Background
The transformer substation needs to weed regularly in summer every year, otherwise, in the season of withering, the grass can cause air breakdown and trip once it fires, enlarges the accident scope. Traditional manual weeding, workers can move in the equipment area, safety management is not easy, and meanwhile, weeding cost is high.
Disclosure of Invention
The invention aims to provide a weeding system and method for a transformer substation, which can realize weeding of the transformer substation with low cost and high efficiency.
In order to achieve the above object, the present invention provides the following solutions:
a substation weeding system, the system comprising: a main control room control center and a weeding robot which are connected with each other; the weeding robot includes: the device comprises a controller, a driving module, a camera module, an avoidance module and a mower;
the controller is connected with the control center of the main control room; the driving module, the camera module, the avoidance module and the mower are all connected with the controller;
the main control room control center is used for sending out weeding control instructions;
the controller is used for receiving the weeding control instruction and sending out a control signal; the control signal includes: a drive signal and an imaging signal;
the driving module is used for driving running operation according to the driving signal;
the camera module is used for acquiring image data around the transformer substation according to the camera signal and feeding the image data back to the controller;
the controller is also used for determining a planning path according to the image data;
the avoidance module is used for:
detecting whether an obstacle exists around the transformer substation on the planned path, and feeding back a detection result to the controller;
performing avoidance according to an avoidance instruction sent by the controller;
the mower is used for weeding according to weeding instructions sent by the controller.
Optionally, the driving module includes: the device comprises a drive control sub-module, a motor drive sub-module and a motor;
the driving control sub-module is connected with the controller; the motor driving submodule is connected with the driving control submodule; the motor is connected with the motor driving sub-module;
the driving control sub-module is used for receiving the driving signal and generating a driving instruction according to the driving signal;
the motor driving sub-module is used for driving the motor according to the driving instruction so as to generate power.
Optionally, the avoidance module includes: the photoelectric collision detection module and the ultrasonic obstacle avoidance module;
the photoelectric collision detection module and the ultrasonic obstacle avoidance module are connected with the controller;
the photoelectric collision detection module is used for detecting whether an obstacle exists around the transformer substation on the planned path and feeding back a detection result to the controller;
the ultrasonic obstacle avoidance module is used for avoiding according to an avoidance instruction sent by the controller.
Optionally, the system further comprises: a wireless module;
the controller is connected with the control center of the main control room through the wireless module.
Optionally, the system further comprises: a wheel;
the wheels are arranged on the weeding robot and are connected with the motor;
the wheels rotate under the power of the motor.
Optionally, the system further comprises: an odometer;
the odometer is arranged on the wheel; the odometer is used for measuring the travel of the wheel rotation.
The weeding method of the transformer substation is realized by adopting the system; the method comprises the following steps:
collecting image data around a transformer substation;
determining a planned path according to the image data;
the avoidance control module detects whether an obstacle exists around the transformer substation on the planned path to obtain a detection result, and controls the avoidance module to avoid based on the detection result;
and controlling the driving module to drive the mower to run on the planned path, and controlling the mower to weed according to the weeding instruction.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention provides a weeding system and a weeding method for a transformer substation, wherein a controller receives weeding control instructions and sends out control signals; the driving module drives running operation according to the driving signal; the camera module collects image data around the transformer substation according to the camera signal and feeds the image data back to the controller; the controller determines a planned path according to the image data; the avoidance module detects whether an obstacle exists around the transformer substation on a planned path, feeds back a detection result to the controller, and performs avoidance according to an avoidance instruction sent by the controller; the mower performs weeding according to the weeding instruction sent by the controller; the invention can realize weeding of the transformer substation with low cost and high efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a structural diagram of a substation weeding system provided by an embodiment of the invention;
fig. 2 is a design block diagram of a substation weeding system provided by an embodiment of the invention;
fig. 3 is a flowchart of a substation weeding method provided by an embodiment of the invention.
Symbol description:
the weeding robot comprises a main control room control center-1, a weeding robot-2, a controller-3, a driving module-4, a camera module-5, an avoidance module-6 and a mower-7.
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.
The invention aims to provide a weeding system and method for a transformer substation, which can realize weeding of the transformer substation with low cost and high efficiency.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Example 1
As shown in fig. 1, an embodiment of the present invention provides a weeding system for a transformer substation, including: a main control room control center 1 and a weeding robot 2 connected with each other; the weeding robot 2 includes: controller 3, drive module 4, camera module 5, dodge module 6 and lawn mower 7.
The controller 3 is connected with the main control room control center 1; the driving module 4, the camera module 5, the avoidance module 6 and the mower 7 are all connected with the controller 3.
The main control room control center 1 is used for sending out weeding control instructions; the controller 3 is used for receiving weeding control instructions and sending out control signals; the control signal includes: a drive signal and an image pickup signal.
The driving module 4 is used for driving running operation according to the driving signal; the camera module 5 is used for acquiring image data around the transformer substation according to the camera signal and feeding the image data back to the controller 3.
The controller 3 is also used for determining a planned path according to the image data; the avoidance module 6 is configured to detect whether an obstacle exists around the substation on the planned path, and feed back the detection result to the controller 3.
The avoidance module 6 is further configured to avoid according to an avoidance instruction sent by the controller 3.
The mower 7 is used for weeding according to weeding instructions sent by the controller 3.
Specifically, the driving module 4 includes: the device comprises a drive control sub-module, a motor drive sub-module and a motor.
The driving control submodule is connected with the controller 3; the motor driving submodule is connected with the driving control submodule; the motor is connected with the motor driving sub-module.
The driving control sub-module is used for receiving the driving signal and generating a driving instruction according to the driving signal; the motor driving sub-module is used for driving the motor according to the driving instruction so as to generate power.
Furthermore, the avoidance module 6 includes: the photoelectric collision detection module and the ultrasonic obstacle avoidance module; the photoelectric collision detection module and the ultrasonic obstacle avoidance module are both connected with the controller 3.
The photoelectric collision detection module is used for detecting whether an obstacle exists around the transformer substation on a planned path, and feeding back a detection result to the controller 3.
The ultrasonic obstacle avoidance module is used for avoiding according to an avoidance instruction sent by the controller 3.
In one embodiment, the system further comprises: a wireless module; the controller 3 is connected with the main control room control center 1 through a wireless module.
The system further comprises: a wheel; the wheels are arranged on the weeding robot 2 and are connected with the motor; the wheels are rotated under the power of the motor.
As an alternative embodiment, the system further comprises: an odometer; the odometer is arranged on the wheel; the odometer is used to measure the travel of the wheel rotation.
As shown in fig. 2, in practical application, the main control room control center 1 includes: task management host and radio base station. The task management host adopts a common pc machine to schedule the tasks of the robot.
The wireless base station uses UBNT RocketM2 and 2G15120 DEG sector to do wireless coverage.
The weeding robot 2 may further include: wireless remote control, laser radar, IMU, automatic charging module and generator.
The wireless remote control, the IMU and the odometer are all connected with the controller 3.
The controller 3 is connected with the wireless base station through a wireless module and is used for receiving tasks issued by the task management host. The controller 3 stores a map of the transformer substation, and the map is constructed by using a Cartographer algorithm according to radar, odometer and IMU information. The controller 3 takes NVDIAJetsonTX1 as a core.
The camera module 5 adopts a camera with the model of optical astorpro RGB-D in the Orbi, and is used for shooting a front real-time image and transmitting the front real-time image to the controller 3.
The laser radar is the Leishen C16120 m 16 line; the odometer is mounted on a wheel and is a wheel type odometer, and the model number is YC2010-31 Hall magnetic encoder.
An IMU (FDIDETA 10 AHRS) is installed in the center of the cart; the laser radar is integrated with an odometer and an IMU for positioning and slam map construction.
The wireless remote control supports Bluetooth and PS2 wireless handles and a model airplane remote controller, and can manually control the start and stop of the weeding robot 2, the travelling path and the like when used for field control.
The wireless module is used for communication of the weeding robot 2 end, and an omni-directional antenna is mounted by using UBNTBulletM 2.
Photoelectric collision detection module: and detecting whether the robot collides with an obstacle, if so, sending a signal to the controller 3, and then sending a command to the motor driving sub-module to control the weeding robot 2 to stop.
Ultrasonic obstacle avoidance module: the control system is mainly used for avoiding obstacles, and when the control system is about 10cm, the weeding robot 2 is controlled to bypass the obstacles, and the model is F40/16TR1.
Specifically, the controller 3 receives a mowing task issued by the task management host, and issues an opening command of the ultrasonic obstacle avoidance function to the drive control sub-module, so as to open the ultrasonic obstacle avoidance function. The controller 3 completes navigation positioning and path planning, and then starts mowing.
The controller 3 is internally provided with an obstacle avoidance system, and the design main design body function of the system function comprises 3 main components, namely conventional path running, environment monitoring and obstacle avoidance detouring. The normal path running is mainly that the mower 7 normally weed according to a preset or automatically generated path of the system, the process runs by means of satellite navigation, and the running direction is corrected by means of visual recognition equipment, namely by means of interactive control between the camera module 5 and the controller 3; the environment monitoring is mainly used for sensing barrier information of farmland environment, and the photoelectric collision detection module is used for detecting whether barriers exist around the transformer substation on a planned path and feeding back detection results to the controller 3.
The ultrasonic obstacle avoidance module is used for avoiding according to an avoidance instruction sent by the controller 3.
In practical application, the visual recognition equipment, namely the camera module 5 and the ultrasonic ranging sensor can be utilized to analyze the condition of the field obstacle, determine whether the obstacle exists on the driving path, and acquire the position and the outline dimension information of the obstacle; the obstacle avoidance detouring mainly detects and controls whether the obstacle is effectively avoided, and the mower 7 returns to a preset path to travel after obstacle avoidance.
The obstacle avoidance mainly depends on a laser radar, but the laser radar has a blind area, so that the blind needs to be supplemented by an ultrasonic radar, and an infrared photoelectric collision sensor detects and processes the collision after the accident happens.
The camera module 5 adopts a binocular RGB-D depth camera, can acquire images and distance depth information at the same time, and can also be used for identifying the type of an obstacle and whether the obstacle is weeds or not and the heights of the weeds, so that weeding in places where weeding is not needed, such as places where the heights of roads and weeds are low, is avoided, and energy is saved.
The specific avoidance algorithm is global path planning through a global map built by SLAM, and is completed by a TEB or DWA local path planning algorithm for temporarily appearing obstacles and moving targets, wherein the avoidance algorithms are all open source algorithms in ROS.
In the task process, the photoelectric encoder is collected and converted into speed information and sent to the controller 3, and a speed control instruction is issued to the drive control sub-module to control the operation of the motor.
When the electric quantity is insufficient, the controller 3 issues an automatic return charging command to the drive control sub-module, and further controls the automatic charging module to be in butt joint with the charging pile for charging. The drive control sub-module is completed by STM 32.
The motor adopts a four-stroke engine to provide power, a part of the power is used for directly driving the mower 7 to mow, and meanwhile, the motor is connected with a generator to generate electricity, so that four 150W speed reducing motors are electrically driven to complete the movement. The movement form is four-wheel drive differential.
Example 2
The embodiment of the invention provides a weeding method for a transformer substation, which is realized by adopting the system in the embodiment 1.
As shown in fig. 3, the method includes:
step 100: image data around the substation is collected.
Step 200: a planned path is determined from the image data.
Step 300: the control avoidance module detects whether an obstacle exists around the transformer substation on a planned path, a detection result is obtained, and the control avoidance module is controlled to avoid based on the detection result.
Step 400: and controlling the driving module to drive on the planned path and controlling the mower to weed according to the weeding instruction.
In practical application, the actual operation steps of the method can be as follows:
step 1: the task management host adopts a common pc machine to schedule the tasks of the robot.
Step 2: the mobile base station performs 3/4/5G communication.
Step 3: the storage battery is used for providing energy for power, one part of power is output to the shaft direct-drive mower to mow, and the other part of power drives four 150W speed reduction motors to complete movement. The movement form is four-wheel drive differential.
Step 4: the robot weed control robot perception, map construction and path planning part takes an industrial personal computer (Industrial Personal Computer, IPC) as a core.
Step 5: the weeding robot operation control is completed by ATmega 2560.
The invention has the advantages that:
1. the size is high little, mobility is good, can remove power part in the work area in a flexible way, provides power by four-stroke engine, and a part of power is cut grass by the direct-drive grass cutter of output shaft, connects generator JFZ2907 simultaneously and generates electricity to four 150W gear motor completion motions of electric drive. The movement form is four-wheel drive differential.
2. The main design body function of the obstacle avoidance system comprises 3 main components, namely conventional path driving, environment monitoring and obstacle avoidance detour. The conventional path running mainly comprises normal weeding operation of weeding equipment according to a preset or automatically generated path of a system, wherein the process relies on satellite navigation running and vision recognition equipment to correct the running direction; the environment monitoring mainly comprises the steps of sensing barrier information of farmland environment, analyzing field barrier conditions by using visual equipment and an ultrasonic ranging sensor, determining whether barriers exist on a driving path, and acquiring position and outline dimension information of the barriers; the obstacle avoidance detouring is mainly to detect and control whether the obstacle is effectively avoided, and the weeding equipment returns to a preset path to run after obstacle avoidance.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (7)
1. A substation weeding system, the system comprising: a main control room control center and a weeding robot which are connected with each other; the weeding robot includes: the device comprises a controller, a driving module, a camera module, an avoidance module and a mower;
the controller is connected with the control center of the main control room; the driving module, the camera module, the avoidance module and the mower are all connected with the controller;
the main control room control center is used for sending out weeding control instructions;
the controller is used for receiving the weeding control instruction and sending out a control signal; the control signal includes: a drive signal and an imaging signal;
the driving module is used for driving running operation according to the driving signal;
the camera module is used for acquiring image data around the transformer substation according to the camera signal and feeding the image data back to the controller;
the controller is also used for determining a planning path according to the image data;
the avoidance module is used for:
detecting whether an obstacle exists around the transformer substation on the planned path, and feeding back a detection result to the controller;
performing avoidance according to an avoidance instruction sent by the controller;
the mower is used for weeding according to weeding instructions sent by the controller.
2. The substation weeding system according to claim 1, wherein the drive module comprises: the device comprises a drive control sub-module, a motor drive sub-module and a motor;
the driving control sub-module is connected with the controller; the motor driving submodule is connected with the driving control submodule; the motor is connected with the motor driving sub-module;
the driving control sub-module is used for receiving the driving signal and generating a driving instruction according to the driving signal;
the motor driving sub-module is used for driving the motor according to the driving instruction so as to generate power.
3. The substation weeding system according to claim 1, wherein said avoidance module comprises: the photoelectric collision detection module and the ultrasonic obstacle avoidance module;
the photoelectric collision detection module and the ultrasonic obstacle avoidance module are connected with the controller;
the photoelectric collision detection module is used for detecting whether an obstacle exists around the transformer substation on the planned path and feeding back a detection result to the controller;
the ultrasonic obstacle avoidance module is used for avoiding according to an avoidance instruction sent by the controller.
4. The substation weeding system according to claim 1, wherein said system further comprises: a wireless module;
the controller is connected with the control center of the main control room through the wireless module.
5. The substation weeding system according to claim 2, wherein said system further comprises: a wheel;
the wheels are arranged on the weeding robot and are connected with the motor;
the wheels rotate under the power of the motor.
6. The substation weeding system according to claim 5, wherein said system further comprises: an odometer;
the odometer is arranged on the wheel; the odometer is used for measuring the travel of the wheel rotation.
7. A method for weeding a substation, characterized in that the method is implemented by the system according to any one of claims 1-6; the method comprises the following steps:
collecting image data around a transformer substation;
determining a planned path according to the image data;
the avoidance control module detects whether an obstacle exists around the transformer substation on the planned path to obtain a detection result, and controls the avoidance module to avoid based on the detection result;
and controlling the driving module to drive the mower to run on the planned path, and controlling the mower to weed according to the weeding instruction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311607592.9A CN117519185A (en) | 2023-11-28 | 2023-11-28 | Weeding system and method for transformer substation |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311607592.9A CN117519185A (en) | 2023-11-28 | 2023-11-28 | Weeding system and method for transformer substation |
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| CN117519185A true CN117519185A (en) | 2024-02-06 |
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| CN202311607592.9A Pending CN117519185A (en) | 2023-11-28 | 2023-11-28 | Weeding system and method for transformer substation |
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