WO2019052017A1 - 电子围栏自动除异物装置 - Google Patents

电子围栏自动除异物装置 Download PDF

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Publication number
WO2019052017A1
WO2019052017A1 PCT/CN2017/113482 CN2017113482W WO2019052017A1 WO 2019052017 A1 WO2019052017 A1 WO 2019052017A1 CN 2017113482 W CN2017113482 W CN 2017113482W WO 2019052017 A1 WO2019052017 A1 WO 2019052017A1
Authority
WO
WIPO (PCT)
Prior art keywords
foreign matter
disposed
processor
signal
cleaning
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.)
Ceased
Application number
PCT/CN2017/113482
Other languages
English (en)
French (fr)
Inventor
田毅
岳洋
刘辉
苗俊杰
张玉亮
陈凯亮
魏肖明
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Maintenance Branch of State Grid Hebei Electric Power Co Ltd
State Grid Corp of China SGCC
Original Assignee
Maintenance Branch of State Grid Hebei Electric Power Co Ltd
State Grid Corp of China SGCC
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Maintenance Branch of State Grid Hebei Electric Power Co Ltd, State Grid Corp of China SGCC filed Critical Maintenance Branch of State Grid Hebei Electric Power Co Ltd
Priority to SG11202001620WA priority Critical patent/SG11202001620WA/en
Publication of WO2019052017A1 publication Critical patent/WO2019052017A1/zh
Anticipated expiration legal-status Critical
Priority to ZA2020/01790A priority patent/ZA202001790B/en
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
    • B08B1/12—Brushes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B5/00—Cleaning by methods involving the use of air flow or gas flow
    • B08B5/02—Cleaning by the force of jets, e.g. blowing-out cavities
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F26—DRYING
    • F26B—DRYING SOLID MATERIALS OR OBJECTS BY REMOVING LIQUID THEREFROM
    • F26B21/00—Arrangements for supplying or controlling air or other gases for drying solid materials or objects

Definitions

  • the present application belongs to the technical field of electronic fence auxiliary devices, and particularly relates to an electronic fence automatic foreign matter removing device.
  • Substations are important national assets.
  • electronic fences are generally installed on the surrounding walls of substations.
  • the electronic fence consists of a number of live power grids installed on the fence to prevent personnel from intruding and to block and deter.
  • the present application is directed to providing a solution to the problem of an automatic electronic device for removing foreign objects from an electronic fence capable of automatically cleaning foreign objects.
  • the electronic fence automatic foreign matter removing device includes: a track suitable for being disposed on a fence, a patrol car disposed on the track and movable along the track, and a detecting mechanism disposed on the patrol car Set in a cleaning mechanism on the inspection vehicle, a driving mechanism for driving the inspection vehicle to move along the track, and a processor disposed on the inspection vehicle;
  • the detecting mechanism is configured to collect a real image of the power grid and send the image to the processor;
  • the processor is configured to compare the real image collected by the detecting mechanism with a preset image, and send a stop signal to the driving mechanism when the foreign object is detected in the real image, and generate and clean a foreign matter signal is sent to the cleaning mechanism;
  • the driving mechanism is configured to control the patrol car to stop moving according to the stop signal
  • the cleaning mechanism is configured to clean foreign matter according to the cleaning foreign matter signal.
  • the track comprises two guide rails arranged in parallel, each of the guide rails is adapted to be fixed on the fence, and the two guide rails are all located on one side of the power grid.
  • the inspection vehicle includes:
  • each of the driving wheels corresponds to one of the guide rails, and is driven along the guide rail under the driving of the driving mechanism;
  • Two driven wheels are disposed on the vehicle body, and each of the driven wheels corresponds to one of the guide rails.
  • the driving mechanism includes:
  • a first motor disposed on the vehicle body
  • a first controller disposed on the vehicle body, and connected to the first motor and the processor; the first controller is configured to receive the stop signal, and according to the stop Signaling to control the first motor to stop;
  • the drive shaft is rotatably coupled to the vehicle body, and the two drive wheels are disposed at two ends of the drive shaft; and the other end of the drive belt is coupled to the drive shaft.
  • the detecting mechanism includes:
  • a camera rotatably connected to the second end of the bracket and connected to the processor; the camera is configured to collect an actual image of the power grid and send the image to the processor.
  • the cleaning mechanism includes: [0026] a second motor disposed on the inspection vehicle;
  • a second controller disposed on the inspection vehicle, and connected to the second motor and the processor; the second controller is configured to receive the cleaning foreign matter signal, and according to the cleaning The foreign matter signal controls the second motor to start;
  • crank the first end of the crank is connected to an output shaft of the second motor
  • a slider a first end of the slider is rotatably coupled to a second end of the crank, and a second end of the slider is provided with a through hole;
  • a brush comprising a brush bar and a brush head, the first end of the brush bar is hinged on the inspection vehicle, the middle portion passes through the through hole, and the second end is connected to the brush head; The head is in contact with the power grid;
  • the brush bar is swingable around the hinge point of the brush bar and the inspection vehicle, and the swing direction is consistent with the longitudinal direction of the power grid; in the swing direction perpendicular to the brush bar, the second motor And the crank are located on the side of the brush bar.
  • the brush head includes:
  • a housing a first end of the housing is connected to the second end of the brush bar, a second end of the housing is provided with bristles; and a sidewall of the second end of the housing is disposed a plurality of air holes for blowing air;
  • a fan disposed in the cavity of the housing and adapted to be connected to a power source
  • a heater disposed in the cavity of the housing, and a horizontal projection between the fan and the air hole, suitable for connecting a power source;
  • the fan and the heater are both connected to the second controller.
  • the detecting mechanism is further configured to collect an image of the power grid after cleaning the foreign object, and send the image to the processor;
  • the processor is further configured to compare an image of the power grid after cleaning the foreign object with a preset image, and after the foreign object is not recognized, generate a travel signal to send to the driving mechanism, and generate a stop cleaning signal to send to The cleaning mechanism;
  • the driving mechanism is configured to receive the traveling signal, and control the patrol car to travel forward;
  • the cleaning mechanism receives the stop cleaning signal and stops cleaning foreign matter.
  • an insulating layer is disposed on a surface of the track, the inspection vehicle, the detecting mechanism, the cleaning mechanism, the driving mechanism, and the processor.
  • the terminal controller is further included, and the processor and the terminal controller are connected by using a wireless signal.
  • the substation is surrounded by a wall and a power grid is placed on the fence.
  • the track is mounted on the fence and is wrapped around the wall for a week.
  • the inspection vehicle can move along the track so it can reach any location on the fence.
  • the detecting mechanism, the cleaning mechanism, the driving mechanism and the processor are all arranged on the inspection vehicle, the detecting mechanism is used for detecting the presence or absence of foreign matter on the power grid, the cleaning mechanism is used for cleaning foreign matter on the power grid, and the driving mechanism is used for driving the inspection vehicle to move.
  • the inspection vehicle moves along the track, and the detection mechanism collects the actual image of the power grid and sends it to the processor, and the processor compares the real image with the preset image.
  • a stop signal is generated and sent to the The driving mechanism and the driving mechanism control the inspection vehicle to stop moving according to the stop signal.
  • the processor also generates a signal for cleaning foreign matter and sends it to the cleaning mechanism, which starts cleaning the foreign matter.
  • the beneficial effects produced by the above technical solution are as follows:
  • the electronic fence of the present scheme can replace the manual inspection by the foreign object device, and the automatic inspection can be automatically performed after the foreign object is found, saving labor and labor, reducing the workload of the maintenance personnel, and improving Productivity.
  • FIG. 1 is a schematic diagram of an automatic electronic device for removing foreign objects according to an embodiment of the present application
  • FIG. 2 is a working flow chart of an automatic electronic device for removing foreign objects according to an embodiment of the present application
  • FIG. 3 is a schematic view of a driving mechanism according to an embodiment of the present application.
  • FIG. 4 is a schematic view of a driving wheel and a guide rail according to an embodiment of the present application.
  • FIG. 5 is a side view of the cleaning mechanism according to the embodiment of the present application.
  • FIG. 6 is a schematic view of a brush head according to an embodiment of the present application.
  • FIG. 7 is another working flow chart of the automatic electronic device for removing foreign objects according to the embodiment of the present application.
  • the electronic fence automatic foreign matter removing device includes a rail 10 adapted to be disposed on a fence, disposed on the rail 10, and capable of being along the rail.
  • a patrol car 20 in which the track 10 moves, a detecting mechanism 30 disposed on the patrol car 20, a cleaning mechanism 40 disposed on the patrol car 20, and the patrol car 20 are driven along the track 10
  • a moving drive mechanism 50 and a processor disposed on the inspection vehicle 20 As shown in FIG. 2, the detecting mechanism 30 is configured to collect an actual image of the power grid and send it to the processor.
  • the processor is configured to compare the real image collected by the detecting mechanism 30 with a preset image, and send a stop signal to the driving mechanism 50 when a foreign matter is generated in the real image, and generate a foreign object.
  • a signal is sent to the cleaning mechanism 40.
  • the driving mechanism 50 is configured to control the inspection vehicle 20 to stop moving according to the stop signal.
  • the cleaning mechanism 40 is configured to clean foreign matter according to the cleaning foreign matter signal.
  • the substation is surrounded by a wall with a power grid.
  • the track 10 is mounted on a fence and is wrapped around the wall for a week.
  • the inspection vehicle 20 is able to move along the track 10 so that it can reach any location on the wall.
  • the processor uses image recognition technology.
  • Image recognition technology refers to object recognition of images to identify targets of various characteristics. The technique is based on the main features of the image, for example: the letter A has a prominent tip, and the upper part of the letter P has a closed circle, the letter Y. The center has an acute angle and so on.
  • the core of the technology is the image recognition model, which first establishes the memory mode of the image, also known as the template. When the target is identified, its overall image is established according to its main features. When the image is completely consistent with the template, the target is recognized. For example: Create a template for the letter A, and create an image based on the size, orientation, and shape of the identified target, when the image is modeled with the letter A. Once the board is completely consistent, the target can be identified as the letter A.
  • an image of a foreign object such as a tree branch, a plastic bag, a balloon, and an ice cream, which is commonly found on the power grid, is first input into the processor to create a template.
  • the detection mechanism 30 collects the actual image of the power grid and sends it to the processor.
  • the processor recognizes the target in the image, and forms an overall image according to the main features of the target, when the overall image and the preset template are completely Consistently, the target can be identified.
  • the image is created according to the size, shape, color, etc. of the target.
  • the image is exactly the same as the template branch, and the target can be identified as a branch.
  • the processor generates a stop signal and sends it to the drive mechanism 50, and the drive mechanism 50 controls the inspection vehicle 20 to stop moving forward.
  • the processor generates a signal for cleaning foreign matter and sends it to the cleaning mechanism 40, which cleans up the foreign matter.
  • This embodiment mimics the process of manual inspection, personnel inspection, walking along the wall, eyes scanning the grid, stopping the walking when a foreign object is found, and taking cleaning action.
  • the inspection vehicle 20 is equivalent to a leg, and is wound around the wall.
  • the cleaning mechanism 40 is equivalent to a hand, and can clean foreign objects.
  • the detection mechanism 30 is equivalent to an eye, and the actual image of the power grid is observed.
  • the processor is equivalent to the brain. The actual image is compared with the cognitive memory, and instructions are issued to the inspection vehicle 20 and the cleaning mechanism 40. Therefore, the electronic fence removing device of the electronic fence in this embodiment can perform the inspection and clean the foreign matter instead of the manual.
  • the rail 10 includes two guide rails 11 disposed in parallel, each of the guide rails 11 is adapted to be fixed on a fence, and the two guide rails 11 are all located on one side of the power grid. .
  • the wheel of the inspection vehicle 20 is in direct contact with the guide rail 11, and the guide rail 11 is provided with two, which facilitates more stable support of the inspection vehicle 20.
  • Both rails 11 are located on one side of the grid, so the inspection cart 20 is also located on one side of the grid, preventing the rails 11 or the inspection cart 20 from colliding with the grid.
  • the inspection vehicle 20 includes a vehicle body 23, two driving wheels 21, and two driven wheels 22.
  • Two driving wheels 21 are disposed on the vehicle body 23, and each of the driving wheels 21 corresponds to one of the guide rails 11, and is driven along the guide rail 11 by the driving mechanism 50.
  • Two driven wheels 22 are disposed on the vehicle body 23, and each of the driven wheels 22 corresponds to one of the guide rails 11. Both the driving wheel 21 and the driven wheel 22 are provided with two, and one of the guide rails 11 is connected with a driving wheel 21 and a driven wheel 22 for more stable support of the vehicle body 23.
  • each of the driving wheels 21 and each of the driven wheels 22 includes an inner wheel and an outer wheel, the inner wheel is in contact with a corresponding guide rail 11, and the outer wheel is located inside the inner wheel. And the diameter of the outer wheel is greater than The diameter of the inner wheel ensures that the driving wheel 21 and the driven wheel 22 advance along the guide rail 11 and prevents the driving wheel 21 and the driven wheel 22 from coming off the guide rail 11.
  • the drive mechanism 50 includes a first motor 51, a first controller, a drive belt 52, and a drive shaft 53.
  • the first motor 51 is disposed on the vehicle body 23.
  • a first controller is disposed on the body 23 and coupled to the first motor 51 and the processor.
  • the first controller is configured to receive the stop signal and control the first motor 51 to stop according to the stop signal.
  • the drive belt 52-end is connected to the output shaft of the first motor 51.
  • the drive shaft 53 is rotatably coupled to the vehicle body 23, and the two drive wheels 21 are disposed at both ends of the drive shaft 53.
  • the other end of the belt 52 is coupled to the drive shaft 53.
  • the first motor 51 When the inspection vehicle 20 is traveling, the first motor 51 is operated. After the foreign object is found, the processor generates a stop signal and sends it to the first controller. The first controller receives the stop signal and controls the first motor 51 to stop, causing the drive belt 52 to stop rotating, thereby causing the drive shaft 53 to stop rotating.
  • the two driving wheels 21 are respectively disposed at the two ends of the driving shaft 53. Therefore, the driving shaft 53 drives the driving wheel 21 to stop rotating, and finally the vehicle body 23 stops moving forward.
  • the detecting mechanism 30 includes a bracket 31 and a camera 32.
  • the first end of the bracket 31 is fixed to the inspection cart 20.
  • the camera 32 is rotatably coupled to the second end of the bracket 31 and coupled to the processor; the camera 32 is configured to collect an actual image of the power grid and transmit the image to the processor.
  • the first end of the bracket 31 is fixed to the vehicle body 23, and the second end is connected to the camera 32.
  • the camera 32 is rotatably connected to the bracket 31, so that the angle of the camera 32 can be adjusted according to the relative height and angle of the power grid and the camera 32, so that the angle of view of the camera 32 is larger, and the captured image is more clear.
  • the camera 32 is coupled to the processor to transmit a real image of the grid to the processor.
  • the cleaning mechanism 40 includes a second motor 41, a second controller, a crank 42, a slider 43, and a brush 44.
  • the second motor 41 is disposed on the inspection vehicle 20.
  • a second controller is disposed on the inspection vehicle 20 and coupled to the second motor 41 and the processor.
  • the second controller is configured to receive the clean foreign matter signal, and control the second motor 41 to be activated according to the clean foreign matter signal.
  • the first end of the crank 42 is coupled to the output shaft of the second motor 41.
  • the first end of the slider 43 is rotatably connected to the second end of the crank 42, and the second end of the slider 43 is provided with a through hole.
  • the brush 44 includes a brush bar 441 and a brush head 442.
  • the first end of the brush bar 441 is hinged on the inspection vehicle 20, the middle portion passes through the through hole, and the second end is connected to the brush head 442.
  • the brush head 442 is capable of coming into contact with the electrical grid.
  • the brush bar 441 can swing around the hinge point of the brush bar 441 and the inspection vehicle 20, and the swing direction Consistent with the length of the grid.
  • the second motor 41 and the crank 42 are located laterally of the brush bar 441 in a direction perpendicular to the swinging direction of the brush bar 441.
  • the processor After the foreign object is found, the processor generates a clean foreign matter signal and sends it to the second controller.
  • the second controller receives the foreign matter signal and controls the second motor 41 to start.
  • the second motor 41 drives the crank 42 to rotate, and the crank 4 2 drives the slider 43 to rotate, and the slider 43 drives the brush bar 441 to swing around the hinge point.
  • the second end of the brush bar 441 is connected to the brush head 442, and the brush head 442 is in contact with the power grid, so the brush bar 441 drives the brush head 442 to clean the power grid.
  • the brush bar 441 reciprocates in the longitudinal direction of the power grid. In the direction perpendicular to the swing direction, the second motor 41 and the crank 42 are located on the side of the brush bar 441 to prevent the brush bar 441 from occurring in the swinging ⁇ and the second motor 41 or the crank 42. Cross collision.
  • the brush head 442 includes a housing 4421, a fan 4424, and a heater 4425.
  • the first end of the housing 4421 is connected to the second end of the brush bar 441, and the second end of the housing 4421 is provided with bristles 4422.
  • a plurality of air holes 4423 for blowing are provided on the side wall of the second end of the housing 4421.
  • a fan 4424 is disposed within the cavity of the housing 4421 and is adapted to be connected to a power source.
  • a heater 4425 is disposed in the cavity of the housing 4421, and a horizontal projection is located between the fan 4424 and the air hole 4423, and is adapted to be connected to a power source. The fan 4424 and the heater 4425 are both connected to the second controller.
  • the blower 4424 is used for blowing air, and the airflow is blown out from the air hole 4423 for purging dust and foreign matter on the surface of the power grid.
  • the bristles 4422 are used to clean dust and foreign matter. The combination of purging and sweeping enhances the cleaning effect.
  • Heater 4 425 is located between the fan and the vent, heats the blown gas, and then blows it out of vent 4423 to blow dry water from the grid surface or to clean up frost, fog or ice. Both the blower 4424 and the heater 4425 are coupled to the second controller so that the second controller can control the start and stop of the blower 4424 and the heater 4425.
  • the detecting mechanism 30 is further configured to collect an image of the electrical network after cleaning the foreign object, and send the image to the processor.
  • the processor is further configured to compare an image of the power grid after cleaning the foreign object with a preset image, generate a travel signal to the driving mechanism 50 after the foreign object is not recognized, and generate a stop cleaning signal to send to the Cleaning mechanism 40.
  • the drive mechanism 50 is configured to receive the travel signal and control the patrol cart 20 to travel forward.
  • the cleaning mechanism 40 receives the stop cleaning signal and stops cleaning foreign matter.
  • the detecting mechanism 30 collects an image of the power grid again and transmits it to the processor.
  • the processor compares the image of the grid after cleaning the foreign object with the preset image. If the foreign object is still recognized, the processor continues to generate the stop signal and sends it to the driving mechanism 50, and the driving mechanism 50 controls the inspection according to the stop signal.
  • the processor If no foreign object is recognized, the processor generates a travel signal and sends it to the drive mechanism 50.
  • the drive mechanism 50 controls the inspection vehicle 20 to travel forward according to the travel signal.
  • the processor also generates a stop cleaning signal and sends it to the cleaning mechanism 40.
  • the cleaning mechanism 40 receives the stop cleaning signal and stops cleaning foreign matter.
  • the camera 32 collects an image of the power grid and sends the image to the processor, and the processor compares the image of the power grid after the foreign object is cleaned with the preset image. If the foreign object is still recognized, the processor continues to generate the image.
  • the motion signal is sent to the first controller, the first controller receives the stop signal and controls the first motor to stop; the processor also generates a clean foreign matter signal and sends the signal to the second controller, and the second controller receives the cleaned foreign matter signal and controls The second motor remains down.
  • the processor If no foreign object is recognized, the processor generates a travel signal and sends the signal to the first controller, the first controller receives the travel signal and controls the first motor to operate; the processor also generates a stop clean signal and sends the signal to the second controller, The second controller receives the stop cleaning signal and controls the second motor to stop.
  • the track 10, the inspection vehicle 20, the detecting mechanism 30, the cleaning mechanism 40, the driving mechanism 50, and the surface of the processor are all provided with an insulating layer to prevent contact When it hits the power grid, it causes a false alarm signal.
  • the electronic fence removing device further includes a terminal controller, and the processor and the terminal controller are connected by a wireless signal to perform data interaction and transmission.
  • the administrator can view the real image collected by the detecting mechanism 30 through the terminal controller, and can control the processor to generate a stop signal, clear the foreign matter signal, the traveling signal or stop the cleaning signal, and can respectively drive the driving mechanism 50 and the cleaning mechanism 40. Send an instruction.
  • the electronic fence of the present invention can replace the manual inspection by the foreign object device, and can automatically clean after the foreign object is found, saving labor and effort, reducing the workload of maintenance personnel, and improving production efficiency.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Cleaning In General (AREA)

Abstract

本申请属于电子围栏辅助设备技术领域，特别涉及电子围栏自动除异物装置。电子围栏自动除异物装置包括适于设置在围墙上的轨道、设置在轨道上且能够沿轨道移动的巡检车，设置在巡检车上的探测机构、设置在巡检车上的清理机构、驱动巡检车沿轨道移动的驱动机构和设置在巡检车上的处理器；探测机构用于采集电网的实时图像，并发送给处理器；处理器用于将实时图像与预设的图像进行对比，当识别到异物时生成止动信号发送给驱动机构，以及生成清理异物信号发送给清理机构；驱动机构控制巡检车停止移动；清理机构清理异物。使用该装置能够代替人工进行巡检，发现异物后能够自动进行清理，省时省力，减少维护人员的工作量，提高生产效率。

Description

电子围栏自动除异物装置
[0001] 本申请要求于 2017年 09月 13日提交中国专利局、 申请号为 201710823633.6、 发 明名称为"电子围栏自动除异物装置"的中国专利申请的优先权， 其全部内容通过 引用结合在本申请中。
技术领域
[0002] 本申请属于电子围栏辅助设备技术领域， 特别涉及电子围栏自动除异物装置。
背景技术
[0003] 变电站属于国家重要资产， 为防止站内变压器、 配电箱等电力设备被破坏或偷 盗， 也为了避免人员误入造成安全事故， 一般在变电站四周的围墙上设置电子 围栏。 电子围栏由设置在围墙上的多条带电电网组成， 防止人员入侵， 起到阻 挡和威慑的作用。
[0004] 由于变电站大多设置在户外， 运行环境恶劣， 尤其是风沙、 雨雪天气吋， 电网 表面经常附着灰尘， 或者搭挂树枝、 塑料袋等， 另外温度较低吋电网表面的水 分还会结冰。 电子围栏上的异物容易引发误报警， 增加巡检人员的工作量， 还 会加速电网的老化， 缩短使用寿命， 因此巡检人员每隔一段吋间就要清理一次 异物。 由于电子围栏设在高处， 因此清理异物吋维护人员需要高空作业， 费吋 费力， 而且存在安全风险。 另外变电站占地面积一般很大， 绕电子围栏清理一 周往往需要很长吋间， 增加了维护人员的工作量， 降低工作效率。
技术问题
[0005] 有鉴于此， 本申请旨在提供一种能够自动清理异物的电子围栏自动除异物装置 问题的解决方案
技术解决方案
[0006] 为达到上述目的， 本申请所采用的技术方案是：
[0007] 电子围栏自动除异物装置， 包括： 适于设置在围墙上的轨道、 设置在所述轨道 上且能够沿所述轨道移动的巡检车， 设置在所述巡检车上的探测机构、 设置在 所述巡检车上的清理机构、 驱动所述巡检车沿所述轨道移动的驱动机构和设置 在所述巡检车上的处理器；
[0008] 所述探测机构用于采集电网的实吋图像， 并发送给所述处理器；
[0009] 所述处理器用于将所述探测机构采集的实吋图像与预设的图像进行对比， 当在 实吋图像中识别到异物吋生成止动信号发送给所述驱动机构， 以及生成清理异 物信号发送给所述清理机构；
[0010] 所述驱动机构用于根据所述止动信号控制所述巡检车停止移动；
[0011] 所述清理机构用于根据所述清理异物信号清理异物。
[0012] 进一步的， 所述轨道包括平行设置的两根导轨， 各个所述导轨适于固定在围墙 上， 且所述两根导轨均位于电网的一侧。
[0013] 进一步的， 所述巡检车包括：
[0014] 车体；
[0015] 两个主动轮， 设置在所述车体上， 每个所述主动轮对应一根所述导轨， 在驱动 机构的驱使下沿所述导轨移动；
[0016] 两个从动轮， 设置在所述车体上， 每个所述从动轮对应一根所述导轨。
[0017] 进一步的， 所述驱动机构包括：
[0018] 第一电机， 设置在所述车体上；
[0019] 第一控制器， 设置在所述车体上， 并与所述第一电机和所述处理器相连； 所述 第一控制器用于接收所述止动信号， 并根据所述止动信号控制所述第一电机停 止；
[0020] 传动带， 一端连接所述第一电机的输出轴； 和
[0021] 驱动轴， 与所述车体转动连接， 两个所述主动轮设于所述驱动轴两端； 所述传 动带的另一端连接所述驱动轴。
[0022] 进一步的， 所述探测机构包括：
[0023] 支架， 第一端固定在所述巡检车上； 和
[0024] 摄像头， 与所述支架的第二端转动连接， 并与所述处理器相连； 所述摄像头用 于采集电网的实吋图像， 并发送给所述处理器。
[0025] 进一步的， 所述清理机构包括： [0026] 第二电机， 设置在所述巡检车上；
[0027] 第二控制器， 设置在所述巡检车上， 并与所述第二电机和所述处理器相连； 所 述第二控制器用于接收所述清理异物信号， 并根据所述清理异物信号控制所述 第二电机启动；
[0028] 曲柄， 所述曲柄的第一端与所述第二电机的输出轴相连；
[0029] 滑块， 所述滑块的第一端与所述曲柄的第二端转动连接， 所述滑块的第二端设 有通孔； 和
[0030] 毛刷， 包括刷杆和刷头， 所述刷杆的第一端铰接在所述巡检车上， 中部穿过所 述通孔， 第二端连接所述刷头； 所述刷头能够与所述电网相接触；
[0031] 所述刷杆能够绕所述刷杆与所述巡检车的铰接点摆动， 摆动方向与电网的长度 方向一致； 在垂直于所述刷杆的摆动方向上， 所述第二电机和所述曲柄均位于 所述刷杆的侧方。
[0032] 进一步的， 所述刷头包括：
[0033] 壳体， 所述壳体的第一端与所述刷杆的第二端相连， 所述壳体的第二端设有刷 毛； 所述壳体的第二端的侧壁上设有多个用于吹风的风孔；
[0034] 风机， 设置在所述壳体的腔体内， 适于连接电源； 和
[0035] 加热器， 设置在所述壳体的腔体内， 水平投影位于所述风机和所述风孔之间， 适于连接电源；
[0036] 所述风机和所述加热器均连接所述第二控制器。
[0037] 进一步的， 所述探测机构还用于采集清理异物后的电网的图像， 并发送给所述 处理器；
[0038] 所述处理器还用于将清理异物后的电网的图像与预设的图像进行对比， 当未识 别到异物后， 生成行进信号发送给所述驱动机构， 以及生成停止清理信号发送 给所述清理机构；
[0039] 所述驱动机构用于接收所述行进信号， 并控制所述巡检车向前行进；
[0040] 所述清理机构接收所述停止清理信号， 并停止清理异物。
[0041] 进一步的， 所述轨道、 所述巡检车、 所述探测机构、 所述清理机构、 所述驱动 机构和所述处理器的表面均设置有绝缘层。 [0042] 进一步的， 还包括终端控制器， 所述处理器与所述终端控制器通过无线信号相 连。
发明的有益效果
有益效果
[0043] 由于采用了上述技术方案， 本申请取得的技术进步是：
[0044] 变电站的四周为围墙， 围墙上设有电网。 轨道安装在围墙上， 绕围墙一周。 巡 检车能够沿轨道移动， 因此可以到达围墙上的任一地点。 探测机构、 清理机构 、 驱动机构和处理器均设置在巡检车上， 探测机构用于检测电网上有无异物， 清理机构用于清理电网上的异物， 驱动机构用于驱动巡检车移动。
[0045] 巡检车沿轨道移动， 探测机构采集电网的实吋图像并发送给处理器， 处理器将 实吋图像与预设图像进行对比， 当识别到异物吋， 生成止动信号并发送给驱动 机构， 驱动机构根据止动信号控制巡检车停止移动。 同吋， 处理器还生成清理 异物信号并发送给清理机构， 清理机构幵始清理异物。
[0046] 采用上述技术方案所产生的有益效果在于： 使用本方案的电子围栏除异物装置 能够代替人工进行巡检， 发现异物后能够自动进行清理， 省吋省力， 减少维护 人员的工作量， 提高生产效率。
对附图的简要说明
附图说明
[0047] 构成本申请的一部分的附图用来提供对本申请的进一步理解， 并不构成对本申 请的不当限定。 在附图中：
[0048] 图 1是本申请实施例所述的电子围栏自动除异物装置的示意图；
[0049] 图 2是本申请实施例所述的电子围栏自动除异物装置的工作流程图；
[0050] 图 3是本申请实施例所述的驱动机构的示意图；
[0051 ] 图 4是本申请实施例所述的主动轮和导轨的示意图；
[0052] 图 5是本申请实施例所述的清理机构的侧视图；
[0053] 图 6是本申请实施例所述的刷头的示意图；
[0054] 图 7是本申请实施例所述的电子围栏自动除异物装置的另一工作流程图。
[0055] 附图标记说明： [0056] 10-轨道， 11-导轨， 20-巡检车， 21-主动轮， 22-从动轮， 23-车体， 30-探测机 构， 31-支架， 32-摄像头， 40-清理机构， 41-第二电机， 42-曲柄， 43-滑块， 44- 毛刷， 441-刷杆， 442-刷头， 4421-壳体， 4422-刷毛， 4423-风孔， 4424-风机， 4 425-加热器， 50-驱动机构， 51-第一电机， 52-传动带， 53-驱动轴。
本发明的实施方式
[0057] 为了使本申请的目的、 技术方案及优点更加清楚明白， 以下将参考附图并结合 实施例， 对本申请进行进一步详细说明。 此处所描述的具体的示意性实施例及 其说明仅用于解释本申请， 并不用于限定本申请。
[0058] 本实施例提供一种电子围栏自动除异物装置， 结合图 1所示， 电子围栏自动除 异物装置包括适于设置在围墙上的轨道 10、 设置在所述轨道 10上且能够沿所述 轨道 10移动的巡检车 20、 设置在所述巡检车 20上的探测机构 30、 设置在所述巡 检车 20上的清理机构 40、 驱动所述巡检车 20沿所述轨道 10移动的驱动机构 50和 设置在所述巡检车 20上的处理器。 结合图 2所示， 所述探测机构 30用于采集电网 的实吋图像， 并发送给所述处理器。 所述处理器用于将所述探测机构 30采集的 实吋图像与预设的图像进行对比， 当在实吋图像中识别到异物吋生成止动信号 发送给所述驱动机构 50， 以及生成清理异物信号发送给所述清理机构 40。 所述 驱动机构 50用于根据所述止动信号控制所述巡检车 20停止移动。 所述清理机构 4 0用于根据所述清理异物信号清理异物。 变电站的四周为围墙， 围墙上设有电网 。 轨道 10安装在围墙上， 绕围墙一周。 巡检车 20能够沿轨道 10移动， 因此可以 到达围墙上的任一地点。
[0059] 处理器将电网的实吋图像与预设的图像进行对比的过程中， 运用的是图像识别 技术。 图像识别技术指对图像进行对象识别， 以识别各种不同特征的目标， 该 技术以图像的主要特征为基础， 例如： 字母 A有个突出的尖端， 字母 P的上部有 个封闭圆圈， 字母 Y的中心有个锐角等。 该技术的核心是图像识别模型， 即首先 建立图像的记忆模式， 又称模板， 当对目标进行识别吋， 根据其主要特征建立 其整体映像， 当映像与模板完全一致吋， 目标即被识别， 例如： 建立字母 A的模 板， 根据识别到的目标的大小、 方位、 形状建立其映像， 当该映像与字母 A的模 板完全一致吋， 该目标即可被识别为字母 A。
[0060] 在该实施例中， 先将电网上常见的异物， 如树枝、 塑料袋、 气球及冰凌等物体 的图像输入处理器中， 建立模板。 巡检车 20行进吋， 探测机构 30采集电网的实 吋图像并发送给处理器， 处理器识别该图像中的目标， 根据目标的主要特征形 成其整体映像， 当整体映像与预设的模板完全一致吋， 即可识别出目标， 如根 据目标的大小、 形状、 颜色等建立其映像， 该映像与模板树枝完全一致， 即可 识别该目标为树枝。 此吋， 处理器生成止动信号并发送给驱动机构 50， 驱动机 构 50控制巡检车 20停止前进。 另外， 处理器还生成清理异物信号并发送给清理 机构 40， 清理机构 40幵始清理异物。
[0061] 该实施例模仿人工巡检的过程， 人员巡检吋， 沿围墙行走， 眼睛扫视电网， 当 发现异物吋， 停止行走， 并采取清理动作。 该实施例中， 巡检车 20相当于腿， 绕围墙前行， 清理机构 40相当于手， 能够清理异物， 探测机构 30相当于眼睛， 观察电网的实吋图像， 处理器相当于脑， 将实吋图像与认知记忆进行对比分析 ， 并向巡检车 20和清理机构 40发出指令。 因此， 该实施例中的电子围栏除异物 装置能够代替人工进行巡检并清理异物。
[0062] 具体的， 结合图 3所示， 所述轨道 10包括平行设置的两根导轨 11， 各个所述导 轨 11适于固定在围墙上， 且所述两根导轨 11均位于电网的一侧。 巡检车 20的车 轮与导轨 11直接接触， 导轨 11设有两根， 便于更加稳定的支撑巡检车 20。 两根 导轨 11均位于电网的一侧， 因此巡检车 20也位于电网的一侧， 防止导轨 11或巡 检车 20与电网发生交叉碰撞。
[0063] 具体的， 结合图 3所示， 所述巡检车 20包括车体 23、 两个主动轮 21和两个从动 轮 22。 两个主动轮 21设置在所述车体 23上， 每个所述主动轮 21对应一根所述导 轨 11， 在驱动机构 50的驱使下沿所述导轨 11移动。 两个从动轮 22设置在所述车 体 23上， 每个所述从动轮 22对应一根所述导轨 11。 主动轮 21和从动轮 22均设有 两个， 且一根导轨 11上各连接一个主动轮 21和一个从动轮 22， 便于更加稳定的 支撑车体 23。
[0064] 结合图 4所示， 每个主动轮 21和每个从动轮 22均包括内轮和外轮， 所述内轮与 对应的导轨 11相接触， 所述外轮位于所述内轮的内侧， 且所述外轮的直径大于 所述内轮的直径， 保证主动轮 21和从动轮 22沿导轨 11前进， 并防止主动轮 21和 从动轮 22脱离导轨 11。
[0065] 具体的， 结合图 3所示， 所述驱动机构 50包括第一电机 51、 第一控制器、 传动 带 52和驱动轴 53。 第一电机 51设置在所述车体 23上。 第一控制器设置在所述车 体 23上， 并与所述第一电机 51和所述处理器相连。 所述第一控制器用于接收所 述止动信号， 并根据所述止动信号控制所述第一电机 51停止。 传动带 52—端连 接所述第一电机 51的输出轴。 驱动轴 53与所述车体 23转动连接， 两个所述主动 轮 21设于所述驱动轴 53两端。 所述传动带 52的另一端连接所述驱动轴 53。
[0066] 巡检车 20行驶吋， 第一电机 51运行。 发现异物后， 处理器生成止动信号， 并发 送给第一控制器。 第一控制器接收止动信号， 并控制第一电机 51停机， 带动传 动带 52停止转动， 从而使得驱动轴 53停止转动。 两个主动轮 21分别设于驱动轴 5 3两端， 因此驱动轴 53带动主动轮 21停止转动， 最终实现车体 23停止前进。
[0067] 作为一种实施例， 结合图 1所示， 所述探测机构 30包括支架 31和摄像头 32。 支 架 31的第一端固定在所述巡检车 20上。 摄像头 32与所述支架 31的第二端转动连 接， 并与所述处理器相连； 所述摄像头 32用于采集电网的实吋图像， 并发送给 所述处理器。 优选的， 支架 31的第一端固定在车体 23上， 第二端连接摄像头 32 。 摄像头 32与支架 31转动连接， 因此可以根据电网与摄像头 32的相对高度及角 度， 调整摄像头 32的角度， 以使得摄像头 32的视角更大， 拍摄的图像更加清晰 。 摄像头 32与处理器相连， 将电网的实吋图像传送给处理器。
[0068] 作为一种实施例， 结合图 5所示， 所述清理机构 40包括第二电机 41、 第二控制 器、 曲柄 42、 滑块 43和毛刷 44。 第二电机 41设置在所述巡检车 20上。 第二控制 器设置在所述巡检车 20上， 并与所述第二电机 41和所述处理器相连。 所述第二 控制器用于接收所述清理异物信号， 并根据所述清理异物信号控制所述第二电 机 41启动。 所述曲柄 42的第一端与所述第二电机 41的输出轴相连。 所述滑块 43 的第一端与所述曲柄 42的第二端转动连接， 所述滑块 43的第二端设有通孔。 毛 刷 44包括刷杆 441和刷头 442， 所述刷杆 441的第一端铰接在所述巡检车 20上， 中 部穿过所述通孔， 第二端连接所述刷头 442。 所述刷头 442能够与所述电网相接 触。 所述刷杆 441能够绕所述刷杆 441与所述巡检车 20的铰接点摆动， 摆动方向 与电网的长度方向一致。 在垂直于所述刷杆 441的摆动方向上， 所述第二电机 41 和所述曲柄 42均位于所述刷杆 441的侧方。
[0069] 发现异物后， 处理器生成清理异物信号， 并发送给第二控制器。 第二控制器接 收清理异物信号， 并控制第二电机 41启动。 第二电机 41带动曲柄 42转动， 曲柄 4 2带动滑块 43转动， 滑块 43带动刷杆 441绕铰接点摆动。 刷杆 441的第二端连接刷 头 442， 刷头 442与电网接触， 因此刷杆 441带动刷头 442清扫电网。 刷杆 441沿电 网的长度方向往复摆动， 在垂直于摆动方向上， 第二电机 41和曲柄 42均位于刷 杆 441的侧方， 避免刷杆 441在摆动吋与第二电机 41或曲柄 42发生交叉碰撞。
[0070] 具体的， 结合图 6所示， 所述刷头 442包括壳体 4421、 风机 4424和加热器 4425。
所述壳体 4421的第一端与所述刷杆 441的第二端相连， 所述壳体 4421的第二端设 有刷毛 4422。 所述壳体 4421的第二端的侧壁上设有多个用于吹风的风孔 4423。 风机 4424设置在所述壳体 4421的腔体内， 适于连接电源。 加热器 4425设置在所 述壳体 4421的腔体内， 水平投影位于所述风机 4424和所述风孔 4423之间， 适于 连接电源。 所述风机 4424和所述加热器 4425均连接所述第二控制器。
[0071] 风机 4424用于吹风， 气流从风孔 4423中吹出， 用于吹扫电网表面的灰尘和异物 。 刷毛 4422用于清扫灰尘和异物。 吹扫和清扫相结合， 增强清理效果。 加热器 4 425位于风机和风孔之间， 将吹出的气体加热， 然后从风孔 4423中吹出， 用于吹 干电网表面的水分或清理附着的霜、 雾或冰凌。 风机 4424和加热器 4425均连接 所述第二控制器， 因此第二控制器能够控制风机 4424和加热器 4425的启停。
[0072] 作为一种实施例， 结合图 7所示， 所述探测机构 30还用于采集清理异物后的电 网的图像， 并发送给所述处理器。 所述处理器还用于将清理异物后的电网的图 像与预设的图像进行对比， 当未识别到异物后， 生成行进信号发送给所述驱动 机构 50， 以及生成停止清理信号发送给所述清理机构 40。 所述驱动机构 50用于 接收所述行进信号， 并控制所述巡检车 20向前行进。 所述清理机构 40接收所述 停止清理信号， 并停止清理异物。
[0073] 清理异物后， 探测机构 30再次采集电网的图像， 并发送给所述处理器。 处理器 将清理异物后的电网的图像与预设的图像进行对比， 如依然识别到异物， 处理 器继续生成止动信号并发送给驱动机构 50， 驱动机构 50根据止动信号控制巡检 车停止前进； 处理器还生成清理异物信号并发送给清理机构 40， 清理机构 40继 续清理异物。 如未识别到异物， 处理器生成行进信号并发送给驱动机构 50， 驱 动机构 50根据行进信号控制所述巡检车 20向前行进； 处理器还生成停止清理信 号， 并发送给清理机构 40， 清理机构 40接收所述停止清理信号， 并停止清理异 物。
[0074] 优选的， 摄像头 32采集电网的图像， 并发送给所述处理器， 处理器将清理异物 后的电网的图像与预设的图像进行对比， 如依然识别到异物， 处理器继续生成 止动信号并发送给第一控制器， 第一控制器接收止动信号并控制第一电机停机 ； 处理器还生成清理异物信号并发送给第二控制器， 第二控制器接收清理异物 信号并控制第二电机保持幵机。 如未识别到异物， 处理器生成行进信号并发送 给第一控制器， 第一控制器接收行进信号并控制第一电机运行； 处理器还生成 停止清理信号， 并发送给第二控制器， 第二控制器接收停止清理信号并控制第 二电机停机。
[0075] 优选的， 所述轨道 10、 所述巡检车 20、 所述探测机构 30、 所述清理机构 40、 所 述驱动机构 50和所述处理器的表面均设置有绝缘层， 防止触碰到电网， 引起误 发报警信号。
[0076] 作为一种实施例， 所述电子围栏除异物装置还包括终端控制器， 所述处理器与 所述终端控制器通过无线信号相连， 进行数据交互传递。 管理人员能够通过终 端控制器査看探测机构 30采集的实吋图像， 并能够控制处理器生成止动信号、 清理异物信号、 行进信号或停止清理信号， 且能够分别向驱动机构 50、 清理机 构 40发送指令。
[0077] 使用本方案的电子围栏除异物装置能够代替人工进行巡检， 发现异物后能够自 动进行清理， 省吋省力， 减少维护人员的工作量， 提高生产效率。
[0078] 以上所述仅为本申请的较佳实施例而已， 并不用以限制本申请， 凡在本申请的 精神和原则之内， 所作的任何修改、 等同替换和改进等， 均应包含在本申请的 保护范围之内。

Claims

权利要求书
[权利要求 1] 电子围栏自动除异物装置， 其特征在于， 包括： 适于设置在围墙上的 轨道、 设置在所述轨道上且能够沿所述轨道移动的巡检车， 设置在所 述巡检车上的探测机构、 设置在所述巡检车上的清理机构、 驱动所述 巡检车沿所述轨道移动的驱动机构和设置在所述巡检车上的处理器； 所述探测机构用于采集电网的实吋图像， 并发送给所述处理器； 所述处理器用于将所述探测机构采集的实吋图像与预设的图像进行对 比， 当在实吋图像中识别到异物吋生成止动信号发送给所述驱动机构 ， 以及生成清理异物信号发送给所述清理机构； 所述驱动机构用于根据所述止动信号控制所述巡检车停止移动； 所述清理机构用于根据所述清理异物信号清理异物。
[权利要求 2] 根据权利要求 1所述的电子围栏自动除异物装置， 其特征在于： 所述 轨道包括平行设置的两根导轨， 各个所述导轨适于固定在围墙上， 且 所述两根导轨均位于电网的一侧。
[权利要求 3] 根据权利要求 2所述的电子围栏自动除异物装置， 其特征在于， 所述 巡检车包括： 车体；
两个主动轮， 设置在所述车体上， 每个所述主动轮对应一根所述导轨 ， 在驱动机构的驱使下沿所述导轨移动；
两个从动轮， 设置在所述车体上， 每个所述从动轮对应一根所述导轨
[权利要求 4] 根据权利要求 3所述的电子围栏自动除异物装置， 其特征在于， 所述 驱动机构包括：
第一电机， 设置在所述车体上；
第一控制器， 设置在所述车体上， 并与所述第一电机和所述处理器相 连； 所述第一控制器用于接收所述止动信号， 并根据所述止动信号控 制所述第一电机停止；
传动带， 一端连接所述第一电机的输出轴； 和 驱动轴， 与所述车体转动连接， 两个所述主动轮设于所述驱动轴两端 ； 所述传动带的另一端连接所述驱动轴。
[权利要求 5] 根据权利要求 1所述的电子围栏自动除异物装置， 其特征在于， 所述 探测机构包括：
支架， 第一端固定在所述巡检车上； 和
摄像头， 与所述支架的第二端转动连接， 并与所述处理器相连； 所述 摄像头用于采集电网的实吋图像， 并发送给所述处理器。
[权利要求 6] 根据权利要求 1所述的电子围栏自动除异物装置， 其特征在于， 所述 清理机构包括：
第二电机， 设置在所述巡检车上；
第二控制器， 设置在所述巡检车上， 并与所述第二电机和所述处理器 相连； 所述第二控制器用于接收所述清理异物信号， 并根据所述清理 异物信号控制所述第二电机启动；
曲柄， 所述曲柄的第一端与所述第二电机的输出轴相连；
滑块， 所述滑块的第一端与所述曲柄的第二端转动连接， 所述滑块的 第二端设有通孔； 和
毛刷， 包括刷杆和刷头， 所述刷杆的第一端铰接在所述巡检车上， 中 部穿过所述通孔， 第二端连接所述刷头； 所述刷头能够与所述电网相 接触；
所述刷杆能够绕所述刷杆与所述巡检车的铰接点摆动， 摆动方向与电 网的长度方向一致； 在垂直于所述刷杆的摆动方向上， 所述第二电机 和所述曲柄均位于所述刷杆的侧方。
[权利要求 7] 根据权利要求 6所述的电子围栏自动除异物装置， 其特征在于， 所述 刷头包括：
壳体， 所述壳体的第一端与所述刷杆的第二端相连， 所述壳体的第二 端设有刷毛； 所述壳体的第二端的侧壁上设有多个用于吹风的风孔； 风机， 设置在所述壳体的腔体内， 适于连接电源； 和
加热器， 设置在所述壳体的腔体内， 水平投影位于所述风机和所述风 孔之间， 适于连接电源；
所述风机和所述加热器均连接所述第二控制器。
[权利要求 8] 根据权利要求 1至 7任一项所述的电子围栏自动除异物装置， 其特征在 于： 所述探测机构还用于采集清理异物后的电网的图像， 并发送给所 述处理器；
所述处理器还用于将清理异物后的电网的图像与预设的图像进行对比 ， 当未识别到异物后， 生成行进信号发送给所述驱动机构， 以及生成 停止清理信号发送给所述清理机构；
所述驱动机构用于接收所述行进信号， 并控制所述巡检车向前行进； 所述清理机构接收所述停止清理信号， 并停止清理异物。
[权利要求 9] 根据权利要求 1至 7任一项所述的电子围栏自动除异物装置， 其特征在 于： 所述轨道、 所述巡检车、 所述探测机构、 所述清理机构、 所述驱 动机构和所述处理器的表面均设置有绝缘层。
[权利要求 10] 根据权利要求 1至 7任一项所述的电子围栏自动除异物装置， 其特征在 于： 还包括终端控制器， 所述处理器与所述终端控制器通过无线信号 相连。
PCT/CN2017/113482 2017-09-13 2017-11-29 电子围栏自动除异物装置 Ceased WO2019052017A1 (zh)

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