CN105552809A - Self-adaptive bird prevention platform of high-voltage line - Google Patents
Self-adaptive bird prevention platform of high-voltage line Download PDFInfo
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- 230000002265 prevention Effects 0.000 title abstract description 3
- 239000003814 drug Substances 0.000 claims abstract description 59
- 229940079593 drug Drugs 0.000 claims abstract description 31
- 230000009184 walking Effects 0.000 claims abstract description 24
- 238000000034 method Methods 0.000 claims abstract description 17
- 230000008569 process Effects 0.000 claims abstract description 16
- 238000001914 filtration Methods 0.000 claims description 47
- 230000007246 mechanism Effects 0.000 claims description 34
- 230000006978 adaptation Effects 0.000 claims description 30
- 230000036541 health Effects 0.000 claims description 19
- 238000005259 measurement Methods 0.000 claims description 19
- 238000012545 processing Methods 0.000 claims description 19
- 230000008859 change Effects 0.000 claims description 13
- 238000002347 injection Methods 0.000 claims description 10
- 239000007924 injection Substances 0.000 claims description 10
- 239000003623 enhancer Substances 0.000 claims description 9
- 230000011218 segmentation Effects 0.000 claims description 9
- 238000005728 strengthening Methods 0.000 claims description 9
- 239000000203 mixture Substances 0.000 claims description 6
- 239000007921 spray Substances 0.000 claims description 6
- 241000282693 Cercopithecidae Species 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 238000000926 separation method Methods 0.000 claims description 3
- 238000005507 spraying Methods 0.000 claims description 3
- 230000003068 static effect Effects 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 5
- 239000012212 insulator Substances 0.000 description 6
- 239000002699 waste material Substances 0.000 description 5
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- 229910000831 Steel Inorganic materials 0.000 description 3
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- 230000005540 biological transmission Effects 0.000 description 2
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- 235000001674 Agaricus brunnescens Nutrition 0.000 description 1
- 241000351396 Picea asperata Species 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G7/00—Overhead installations of electric lines or cables
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M29/00—Scaring or repelling devices, e.g. bird-scaring apparatus
- A01M29/12—Scaring or repelling devices, e.g. bird-scaring apparatus using odoriferous substances, e.g. aromas, pheromones or chemical agents
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/10—Image enhancement or restoration using non-spatial domain filtering
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/70—Denoising; Smoothing
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- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Insects & Arthropods (AREA)
- Health & Medical Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Birds (AREA)
- Toxicology (AREA)
- General Health & Medical Sciences (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention relates to a self-adaptive bird prevention platform of a high-voltage line, comprising a drug storage tank, a many-to-one selection switch, a bird detection device and a robot main structure; the robot main structure walks on a high-voltage line; the drug storage tank, the many-to-one selection switch and the bird detection device are carried on the robot main structure; the bird detection device is used for identifying target bird body types around the high-voltage line; the many-to-one selection switch is connected with the drug storage tank; the bird drive drug types to be sprayed are selected from the drug storage tank based on the target bird body types; meanwhile, the robot main structure determines whether to walk on based on the target bird body types. Through the platform of the invention, in the process of walking on the high-voltage line by the robot, the birds around the high-voltage line are driven away self-adaptively.
Description
The divisional application of the patent of " the anti-bird platform of self adaptation high-tension line " that the present invention is application number is 201510955624.3, the applying date, to be December 17, denomination of invention in 2015 be.
Technical field
The present invention relates to high-voltage fence field, particularly relate to the anti-bird platform of a kind of self adaptation high-tension line.
Background technology
At present, the anti-bird measure of high-tension line mainly prevents birds droppings flashover by modes such as expelling, frighten and block.Concrete mode is as follows.
(1) take measures to expel, frighten birds, not allowing birds rest on shaft tower, is at least do not allow bird rest on directly over insulator.
(2) bird-resistant is installed: bird-resistant generally adopts multiply steel strand wire one end to fix (being fixed in special base), scatter in one end, be cut into 80 ~ 100cm length, form mushroom (or adopting hand-drawn wire steel wire weld) and " dragon spruce tree " shape.
(3) deep bid footpath insulator umbrella is adopted: first or several, interval used instead deep bid footpath insulator on porcelain (glass) insulator or install deep bid footpath insulator additional at composite insulator top, current deep bid footpath silica gel full skirt cover (diameter can between 400-600mm), deep bid footpath fiberglass full skirt cover (between diameter 700mm).
(4) install the means such as bird-proof cover, anti-bird baffle plate, bird prevention net additional, as at head of mast brushing red paint, hang little red flag, windbell, flush board etc. be installed and spray on anti-bird magnetic paint, steel tower cross-arm plate washer and net etc. are installed.
But, aforesaid way is all fixing, directed birds expulsion can not be carried out according to on-the-spot birds physical presence situation, very possible scene does not have birds and wastes the equipment driving bird, also likely on-the-spot birds are a lot of and mode that is expulsion is imappropriate, meanwhile, above-mentioned fixing bird mode of driving, while waste resource, also reduces operating efficiency.
Therefore, need the anti-bird scheme of a kind of new high-tension line, on the one hand, a set of equipment can be adopted to drive bird operation to overall circuit, avoid the waste of resource, on the other hand, can according to the concrete condition of on-the-spot birds, the such as kind of on-the-spot bird, determines concrete to drive bird measure, promotes the efficiency of driving bird.
Summary of the invention
In order to solve the problem, the invention provides the anti-bird platform of a kind of self adaptation high-tension line, first design a set of can the robot body structure of independent ambulation on high-tension line, secondly the type based on flying bird near bird health check-up measurement equipment detection place of high-precision image processing is adopted, then adopt and can carry out driving bird according to the medicine spray appliance of the different medicine of dissimilar injection, finally, the unimpeded walking that multiple sensors ensures robot body's structure is introduced.
According to an aspect of the present invention, provide the anti-bird platform of a kind of self adaptation high-tension line, described platform comprises drug stock control tank, multipair same form selector switch, bird health check-up measurement equipment and robot main structure, robot main structure walking is on high-tension line, drug stock control tank, multipair same form selector switch and bird health check-up measurement equipment are all mounted in robot main structure, bird health check-up measurement equipment is for identifying the target bird body type near high-tension line, multipair same form selector switch is connected with drug stock control tank, what based target bird body type was selected to spray from drug stock control tank drives bird medicine types, simultaneously, robot main structure based target bird body type determines whether to walk on.
More specifically, in the anti-bird platform of described self adaptation high-tension line, comprise: Compact Flash, be positioned at control cabinet, prestored bird body tonal range, bird body tonal range is used for the bird body in image and background separation, and Compact Flash has also prestored each gray processing bird body masterplate, the corresponding a kind of birds of each gray processing bird body masterplate, each gray processing bird body masterplate is for obtaining by taking obtained image execution gray processing process to the benchmark bird body of corresponding birds; CCD vision sensor, is positioned on anti-tilt structure, takes to obtain high-tension line image to the scene near high-tension line; Bird health check-up measurement equipment, is positioned on anti-tilt structure, comprises self adaptation recursive filtering subset, medium filtering subset, change of scale enhancer equipment, Target Segmentation subset and target recognin equipment; Self adaptation recursive filtering subset is connected with CCD vision sensor, for performing the process of self adaptation recursive filtering to high-tension line image, with the Gaussian noise in filtering high-tension line image, obtains the first filtering image; Medium filtering subset is connected with self adaptation recursive filtering subset, for performing the medium filtering process based on 5 × 5 pixel windows to the first filtering image, with the scattering composition in filtering first filtering image, obtains the second filtering image; Change of scale enhancer equipment is connected with medium filtering subset, strengthening process, to strengthen the contrast of object and background in image, obtaining and strengthening image for performing change of scale to the second filtering image; Target Segmentation subset is connected respectively with change of scale enhancer equipment and Compact Flash, and will strengthen all pixel composition bird body subgraphs of grey scale pixel value in bird body tonal range in image, bird body subgraph is separated from the background strengthening image and obtains; Target recognin equipment is connected respectively with Target Segmentation subset and Compact Flash, by bird body subgraph and each gray processing bird body stencil matching, the birds type corresponding to gray processing bird body masterplate the highest for matching degree is exported as target bird body type; Drug stock control tank, is positioned on anti-tilt structure, and drive bird medicine for storing expulsion the various of various birds, each drives the corresponding a kind of birds of bird medicine, and the various bird medicine that drives is stored in different spaces respectively in drug stock control tank; Multipair same form selector switch, be positioned on anti-tilt structure, between drug stock control tank and injection channel, according to the target birds type that AT98C51 single-chip microcomputer receives, various in drug stock control tank drive in bird medicine selects corresponding with the target birds type bird medicine that drives to drive bird medicine as target and eject; Spraying equipment, is positioned on anti-tilt structure, comprises injection channel and shower nozzle, the target in injection channel is driven bird medicine and is gone out by sprinkler; AT98C51 single-chip microcomputer, is positioned at control cabinet, is connected with multipair same form selector switch, and the target birds type received is transmitted to multipair same form selector switch; Robot main structure, comprise anti-tilt structure, control cabinet, brshless DC motor, hoisting ring, walking mechanism, retaining mechanism and hold-down mechanism, anti-tilt structure is positioned on the high-tension line of front, control cabinet and brshless DC motor are all positioned at the below of high-tension line, hoisting ring is for being lifted into high-tension line by robot main structure, walking mechanism and retaining mechanism are all positioned on high-tension line, and hold-down mechanism is positioned at the below of high-tension line; Anti-tilt structure comprises Anti-inclining wheel, set bolt and connecting plate, and connecting plate is taken turns with Anti-inclining respectively and set bolt is connected, and prevents robot main structure from tilting backwards; Be provided with master control borad and battery in control cabinet, master control borad be integrated with AVR32 chip, Wireless Telecom Equipment and static memory, Wireless Telecom Equipment is used for setting up two-way wireless communication link with the power supply Operation Server of far-end; Brshless DC motor is connected with the driving wheel of walking mechanism and the contact roller of hold-down mechanism respectively by decelerator; Walking mechanism comprises three V shaped wheels of Timing Belt, Timing Belt strainer, driving wheel and horizontal positioned, driving wheel provides power for three walkings of V shaped wheel on high-tension line, Timing Belt successively through driving wheel, Timing Belt strainer and three V shaped wheels to keep the synchronous walking of three V shaped wheels; Retaining mechanism comprises the monkey wrench, intermediate support, bottom pin member and the U-bolt that are linked in sequence, falls from high-tension line for preventing robot main structure; Hold-down mechanism is connected with brshless DC motor, comprises contact roller, ratchet, ratchet, back-moving spring and holddown spring; Touch switch transducer, is positioned on anti-tilt structure, is electrically connected with AVR32 chip, for when touching high-tension line obstacle, sends contact obstacle signal; Infrared sensor, is positioned on anti-tilt structure, is electrically connected with AVR32 chip, for when apart from 400 millimeters, front high-tension line obstacle, sends obstruction forewarning signal; Wherein, AVR32 chip is connected respectively with driving wheel, AT98C51 single-chip microcomputer and bird health check-up measurement equipment, receiving target bird sound type, and judge whether the flying bird type corresponding to target bird sound type is harmful to high-tension line, if harmful, then send stopping to driving wheel and to advance signal, and target bird sound type is wirelessly sent to AT98C51 single-chip microcomputer as target birds type, if harmless, then send to driving wheel and continue signal of advancing.
More specifically, in the anti-bird platform of described self adaptation high-tension line, also comprise: control cabinet moves limit switch, for limiting the displacement of control cabinet.
More specifically, in the anti-bird platform of described self adaptation high-tension line: CCD vision sensor is also electrically connected with AVR32 chip.
More specifically, in the anti-bird platform of described self adaptation high-tension line: high-tension line image is carried out the compressed encoding based on MPEG-4 standard by AVR32 chip.
More specifically, in the anti-bird platform of described self adaptation high-tension line: the image after compression is sent to the power supply Operation Server of far-end by AVR32 chip by Wireless Telecom Equipment.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the block diagram of the anti-bird platform of self adaptation high-tension line illustrated according to an embodiment of the present invention.
Reference numeral: 1 drug stock control tank; 2 multipair same form selector switches; 3 bird health check-up measurement equipments; 4 robot main structures
Embodiment
Below with reference to accompanying drawings the embodiment of the anti-bird platform of self adaptation high-tension line of the present invention is described in detail.
In prior art, the scarecrow device of employing is all fixing, different occasion to drive bird configuration identical, cannot carry out adaptively driving bird according to the concrete condition of on-the-spot birds, and, employ and overlap scarecrow device more, cause the serious waste of resource.
In order to overcome above-mentioned defect, the present invention proposes the anti-bird platform of a kind of self adaptation high-tension line, adopt a set of scarecrow device to carry out motor driven to whole high-tension line and drive bird, and integrated high accuracy bird health check-up measurement equipment and targetedly medicine spray mechanism ensured the accuracy of driving bird.
Fig. 1 is the block diagram of the anti-bird platform of self adaptation high-tension line illustrated according to an embodiment of the present invention, described platform comprises drug stock control tank, multipair same form selector switch, bird health check-up measurement equipment and robot main structure, robot main structure walking is on high-tension line, drug stock control tank, multipair same form selector switch and bird health check-up measurement equipment are all mounted in robot main structure, bird health check-up measurement equipment is for identifying the target bird body type near high-tension line, multipair same form selector switch is connected with drug stock control tank, what based target bird body type was selected to spray from drug stock control tank drives bird medicine types, simultaneously, robot main structure based target bird body type determines whether to walk on.
Then, continue to be further detailed the concrete structure of the anti-bird platform of self adaptation high-tension line of the present invention.
Described platform comprises: Compact Flash, be positioned at control cabinet, prestore bird body tonal range, bird body tonal range is used for the bird body in image and background separation, Compact Flash has also prestored each gray processing bird body masterplate, the corresponding a kind of birds of each gray processing bird body masterplate, each gray processing bird body masterplate is for obtaining by taking obtained image execution gray processing process to the benchmark bird body of corresponding birds.
Described platform comprises: CCD vision sensor, is positioned on anti-tilt structure, takes to obtain high-tension line image to the scene near high-tension line.
Described platform comprises: bird health check-up measurement equipment, is positioned on anti-tilt structure, comprises self adaptation recursive filtering subset, medium filtering subset, change of scale enhancer equipment, Target Segmentation subset and target recognin equipment.
Self adaptation recursive filtering subset is connected with CCD vision sensor, for performing the process of self adaptation recursive filtering to high-tension line image, with the Gaussian noise in filtering high-tension line image, obtains the first filtering image; Medium filtering subset is connected with self adaptation recursive filtering subset, for performing the medium filtering process based on 5 × 5 pixel windows to the first filtering image, with the scattering composition in filtering first filtering image, obtains the second filtering image.
Change of scale enhancer equipment is connected with medium filtering subset, strengthening process, to strengthen the contrast of object and background in image, obtaining and strengthening image for performing change of scale to the second filtering image; Target Segmentation subset is connected respectively with change of scale enhancer equipment and Compact Flash, and will strengthen all pixel composition bird body subgraphs of grey scale pixel value in bird body tonal range in image, bird body subgraph is separated from the background strengthening image and obtains.
Target recognin equipment is connected respectively with Target Segmentation subset and Compact Flash, by bird body subgraph and each gray processing bird body stencil matching, the birds type corresponding to gray processing bird body masterplate the highest for matching degree is exported as target bird body type.
Described platform comprises: drug stock control tank, is positioned on anti-tilt structure, and drive bird medicine for storing expulsion the various of various birds, each drives the corresponding a kind of birds of bird medicine, and the various bird medicine that drives is stored in different spaces respectively in drug stock control tank.
Described platform comprises: multipair same form selector switch, be positioned on anti-tilt structure, between drug stock control tank and injection channel, according to the target birds type that AT98C51 single-chip microcomputer receives, various in drug stock control tank drive in bird medicine selects corresponding with the target birds type bird medicine that drives to drive bird medicine as target and eject.
Described platform comprises: spraying equipment, is positioned on anti-tilt structure, comprises injection channel and shower nozzle, the target in injection channel is driven bird medicine and is gone out by sprinkler.
Described platform comprises: AT98C51 single-chip microcomputer, is positioned at control cabinet, is connected with multipair same form selector switch, and the target birds type received is transmitted to multipair same form selector switch.
Described platform comprises: robot main structure, comprise anti-tilt structure, control cabinet, brshless DC motor, hoisting ring, walking mechanism, retaining mechanism and hold-down mechanism, anti-tilt structure is positioned on the high-tension line of front, control cabinet and brshless DC motor are all positioned at the below of high-tension line, hoisting ring is for being lifted into high-tension line by robot main structure, walking mechanism and retaining mechanism are all positioned on high-tension line, and hold-down mechanism is positioned at the below of high-tension line.
Anti-tilt structure comprises Anti-inclining wheel, set bolt and connecting plate, and connecting plate is taken turns with Anti-inclining respectively and set bolt is connected, and prevents robot main structure from tilting backwards.
Be provided with master control borad and battery in control cabinet, master control borad be integrated with AVR32 chip, Wireless Telecom Equipment and static memory, Wireless Telecom Equipment is used for setting up two-way wireless communication link with the power supply Operation Server of far-end; Brshless DC motor is connected with the driving wheel of walking mechanism and the contact roller of hold-down mechanism respectively by decelerator; Walking mechanism comprises three V shaped wheels of Timing Belt, Timing Belt strainer, driving wheel and horizontal positioned, driving wheel provides power for three walkings of V shaped wheel on high-tension line, Timing Belt successively through driving wheel, Timing Belt strainer and three V shaped wheels to keep the synchronous walking of three V shaped wheels.
Retaining mechanism comprises the monkey wrench, intermediate support, bottom pin member and the U-bolt that are linked in sequence, falls from high-tension line for preventing robot main structure; Hold-down mechanism is connected with brshless DC motor, comprises contact roller, ratchet, ratchet, back-moving spring and holddown spring.
Described platform comprises: touch switch transducer, is positioned on anti-tilt structure, is electrically connected with AVR32 chip, for when touching high-tension line obstacle, sends contact obstacle signal.
Described platform comprises: infrared sensor, is positioned on anti-tilt structure, is electrically connected with AVR32 chip, for when apart from 400 millimeters, front high-tension line obstacle, sends obstruction forewarning signal.
Wherein, AVR32 chip is connected respectively with driving wheel, AT98C51 single-chip microcomputer and bird health check-up measurement equipment, receiving target bird sound type, and judge whether the flying bird type corresponding to target bird sound type is harmful to high-tension line, if harmful, then send stopping to driving wheel and to advance signal, and target bird sound type is wirelessly sent to AT98C51 single-chip microcomputer as target birds type, if harmless, then send to driving wheel and continue signal of advancing.
Alternatively, in described platform, also comprise: control cabinet moves limit switch, for limiting the displacement of control cabinet; CCD vision sensor is also electrically connected with AVR32 chip; High-tension line image is carried out the compressed encoding based on MPEG-4 standard by AVR32 chip; And alternatively, the image after compression is sent to the power supply Operation Server of far-end by AVR32 chip by Wireless Telecom Equipment.
In addition, filter, as the term suggests, be the device that ripple is filtered." ripple " is a physical concept widely, and at electronic technology field, " ripple " is narrowly confined to refer in particular to the process of the value fluctuations in time describing various physical quantity.This process, by the effect of various kinds of sensors, is converted into the function of time of voltage or electric current, is referred to as the time waveform of various physical quantity, or is referred to as signal.Because the independent variable time is continuous value, be referred to as continuous time signal, be referred to as analog signal habitually again.
Along with generation and the develop rapidly of digital electronic computer technology, for the ease of computer, signal is processed, create complete Theories and methods continuous time signal being transformed into discrete-time signal under sampling theorem instructs.That is, can only express primary signal by the sample value of original analog signal on series of discrete time coordinate point and not lose any information, since what these concepts of ripple, waveform, signal were expressed is the change of various physical quantity in objective world, is exactly the carrier of the various information that modern society depends on for existence naturally.Informational needs is propagated, and what lean on is exactly the transmission of waveform signal.Signal it generation, conversion, transmission each link may distort due to the existence of environment and interference, or even in quite a number of cases, this distortion is also very serious, causes signal and entrained information thereof to be embedded in the middle of noise dearly.In order to these noises of filtering, recover signal originally, need to use various filter to carry out filtering process.
Adopt the anti-bird platform of self adaptation high-tension line of the present invention, for the problem that prior art high-tension line expulsion mode too ossifys, first adopt custom-designed robot body's framework as circuit walking arrangement, be integrated with drug stock control tank, multipair same form selector switch, bird health check-up measurement equipment thereon to realize on-the-spot bird body type detection and the sprinkling of adaptive expulsion medicine, thus achieve targetedly flexibly scene drive bird pattern, avoid the waste of driving bird resource.
Be understandable that, although the present invention with preferred embodiment disclose as above, but above-described embodiment and be not used to limit the present invention.For any those of ordinary skill in the art, do not departing under technical solution of the present invention ambit, the technology contents of above-mentioned announcement all can be utilized to make many possible variations and modification to technical solution of the present invention, or be revised as the Equivalent embodiments of equivalent variations.Therefore, every content not departing from technical solution of the present invention, according to technical spirit of the present invention to any simple modification made for any of the above embodiments, equivalent variations and modification, all still belongs in the scope of technical solution of the present invention protection.
Claims (2)
1. the anti-bird platform of self adaptation high-tension line, described platform comprises drug stock control tank, multipair same form selector switch, bird health check-up measurement equipment and robot main structure, robot main structure walking is on high-tension line, drug stock control tank, multipair same form selector switch and bird health check-up measurement equipment are all mounted in robot main structure, bird health check-up measurement equipment is for identifying the target bird body type near high-tension line, multipair same form selector switch is connected with drug stock control tank, what based target bird body type was selected to spray from drug stock control tank drives bird medicine types, simultaneously, robot main structure based target bird body type determines whether to walk on.
2. the anti-bird platform of self adaptation high-tension line as claimed in claim 1, it is characterized in that, described platform comprises:
Compact Flash, be positioned at control cabinet, prestore bird body tonal range, bird body tonal range is used for the bird body in image and background separation, Compact Flash has also prestored each gray processing bird body masterplate, the corresponding a kind of birds of each gray processing bird body masterplate, each gray processing bird body masterplate is for obtaining by taking obtained image execution gray processing process to the benchmark bird body of corresponding birds;
CCD vision sensor, is positioned on anti-tilt structure, takes to obtain high-tension line image to the scene near high-tension line;
Bird health check-up measurement equipment, is positioned on anti-tilt structure, comprises self adaptation recursive filtering subset, medium filtering subset, change of scale enhancer equipment, Target Segmentation subset and target recognin equipment; Self adaptation recursive filtering subset is connected with CCD vision sensor, for performing the process of self adaptation recursive filtering to high-tension line image, with the Gaussian noise in filtering high-tension line image, obtains the first filtering image; Medium filtering subset is connected with self adaptation recursive filtering subset, for performing the medium filtering process based on 5 × 5 pixel windows to the first filtering image, with the scattering composition in filtering first filtering image, obtains the second filtering image; Change of scale enhancer equipment is connected with medium filtering subset, strengthening process, to strengthen the contrast of object and background in image, obtaining and strengthening image for performing change of scale to the second filtering image; Target Segmentation subset is connected respectively with change of scale enhancer equipment and Compact Flash, and will strengthen all pixel composition bird body subgraphs of grey scale pixel value in bird body tonal range in image, bird body subgraph is separated from the background strengthening image and obtains; Target recognin equipment is connected respectively with Target Segmentation subset and Compact Flash, by bird body subgraph and each gray processing bird body stencil matching, the birds type corresponding to gray processing bird body masterplate the highest for matching degree is exported as target bird body type;
Drug stock control tank, is positioned on anti-tilt structure, and drive bird medicine for storing expulsion the various of various birds, each drives the corresponding a kind of birds of bird medicine, and the various bird medicine that drives is stored in different spaces respectively in drug stock control tank;
Multipair same form selector switch, be positioned on anti-tilt structure, between drug stock control tank and injection channel, according to the target birds type that AT98C51 single-chip microcomputer receives, various in drug stock control tank drive in bird medicine selects corresponding with the target birds type bird medicine that drives to drive bird medicine as target and eject;
Spraying equipment, is positioned on anti-tilt structure, comprises injection channel and shower nozzle, the target in injection channel is driven bird medicine and is gone out by sprinkler;
AT98C51 single-chip microcomputer, is positioned at control cabinet, is connected with multipair same form selector switch, and the target birds type received is transmitted to multipair same form selector switch;
Robot main structure, comprise anti-tilt structure, control cabinet, brshless DC motor, hoisting ring, walking mechanism, retaining mechanism and hold-down mechanism, anti-tilt structure is positioned on the high-tension line of front, control cabinet and brshless DC motor are all positioned at the below of high-tension line, hoisting ring is for being lifted into high-tension line by robot main structure, walking mechanism and retaining mechanism are all positioned on high-tension line, and hold-down mechanism is positioned at the below of high-tension line;
Anti-tilt structure comprises Anti-inclining wheel, set bolt and connecting plate, and connecting plate is taken turns with Anti-inclining respectively and set bolt is connected, and prevents robot main structure from tilting backwards;
Be provided with master control borad and battery in control cabinet, master control borad be integrated with AVR32 chip, Wireless Telecom Equipment and static memory, Wireless Telecom Equipment is used for setting up two-way wireless communication link with the power supply Operation Server of far-end;
Brshless DC motor is connected with the driving wheel of walking mechanism and the contact roller of hold-down mechanism respectively by decelerator;
Walking mechanism comprises three V shaped wheels of Timing Belt, Timing Belt strainer, driving wheel and horizontal positioned, driving wheel provides power for three walkings of V shaped wheel on high-tension line, Timing Belt successively through driving wheel, Timing Belt strainer and three V shaped wheels to keep the synchronous walking of three V shaped wheels;
Retaining mechanism comprises the monkey wrench, intermediate support, bottom pin member and the U-bolt that are linked in sequence, falls from high-tension line for preventing robot main structure;
Hold-down mechanism is connected with brshless DC motor, comprises contact roller, ratchet, ratchet, back-moving spring and holddown spring;
Touch switch transducer, is positioned on anti-tilt structure, is electrically connected with AVR32 chip, for when touching high-tension line obstacle, sends contact obstacle signal;
Infrared sensor, is positioned on anti-tilt structure, is electrically connected with AVR32 chip, for when apart from 400 millimeters, front high-tension line obstacle, sends obstruction forewarning signal;
Wherein, AVR32 chip is connected respectively with driving wheel, AT98C51 single-chip microcomputer and bird health check-up measurement equipment, receiving target bird sound type, and judge whether the flying bird type corresponding to target bird sound type is harmful to high-tension line, if harmful, then send stopping to driving wheel and to advance signal, and target bird sound type is wirelessly sent to AT98C51 single-chip microcomputer as target birds type, if harmless, then send to driving wheel and continue signal of advancing;
Control cabinet moves limit switch, for limiting the displacement of control cabinet;
CCD vision sensor is also electrically connected with AVR32 chip;
High-tension line image is carried out the compressed encoding based on MPEG-4 standard by AVR32 chip;
Image after compression is sent to the power supply Operation Server of far-end by AVR32 chip by Wireless Telecom Equipment.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510955624.3A CN105356397A (en) | 2015-12-17 | 2015-12-17 | Self-adaptive bird-repelling platform for high-voltage line |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510955624.3A Division CN105356397A (en) | 2015-12-17 | 2015-12-17 | Self-adaptive bird-repelling platform for high-voltage line |
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| CN105552809A true CN105552809A (en) | 2016-05-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610120656.6A Withdrawn CN105633885A (en) | 2015-12-17 | 2015-12-17 | Self-adaptive anti-bird platform for high-voltage line |
| CN201610121750.3A Pending CN105552809A (en) | 2015-12-17 | 2015-12-17 | Self-adaptive bird prevention platform of high-voltage line |
| CN201510955624.3A Pending CN105356397A (en) | 2015-12-17 | 2015-12-17 | Self-adaptive bird-repelling platform for high-voltage line |
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| CN201610120656.6A Withdrawn CN105633885A (en) | 2015-12-17 | 2015-12-17 | Self-adaptive anti-bird platform for high-voltage line |
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| CN201510955624.3A Pending CN105356397A (en) | 2015-12-17 | 2015-12-17 | Self-adaptive bird-repelling platform for high-voltage line |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107294000A (en) * | 2016-05-24 | 2017-10-24 | 刘太龙 | A kind of operating desk for high voltage line maintenance |
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| CN106530189A (en) * | 2016-10-14 | 2017-03-22 | 中国民航科学技术研究院 | Airport bird-repellent intelligent decision-making method based on support vector machine |
| CN107257530A (en) | 2017-06-06 | 2017-10-17 | 余姚德诚科技咨询有限公司 | Intelligent police car loudspeaker |
| CN108184071B (en) * | 2017-12-13 | 2020-09-08 | 阜阳汇中芯自动化技术有限公司 | Fruit tree planting field monitoring platform |
| CN110338170B (en) * | 2019-06-01 | 2022-07-15 | 张霞 | Targeted field batching system |
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| Publication number | Publication date |
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| CN105356397A (en) | 2016-02-24 |
| CN105633885A (en) | 2016-06-01 |
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Application publication date: 20160504 |