CN106942198A

CN106942198A - A kind of intelligent bird driving device

Info

Publication number: CN106942198A
Application number: CN201710283891.XA
Authority: CN
Inventors: 时伟
Original assignee: State Grid Henan Pingxian Power Supplying Co
Current assignee: State Grid Henan Pingxian Power Supplying Co
Priority date: 2017-04-26
Filing date: 2017-04-26
Publication date: 2017-07-14
Anticipated expiration: 2037-04-26
Also published as: CN106942198B

Abstract

The invention discloses a kind of intelligent bird driving device, the moving cart that is set including the overhead track that is set along transmission line of electricity, the overhead rail, the balanced controls of the moving cart bottom surface, the crusing robot set in the moving cart, the control centre for being arranged in the moving cart and be connected with the crusing robot are arranged on, and are arranged on the spray body in the moving cart for spraying bird repellent；By the cooperation of overhead track and moving cart crusing robot is moved along transmission line of electricity; birds situation on transmission line of electricity and shaft tower can be monitored; and Bird's Nest is cleared up by Bird's Nest picking mechanism; in combination with moving cart bottom balanced controls ensure capture Bird's Nest when the present apparatus will not run-off the straight phenomenon so that the safe operation to transmission line of electricity is protected；Realize that birds in a period of time will not former address is nested again again phenomenon using natural bird repellent simultaneously.

Description

A kind of intelligent bird driving device

Technical field

The present invention relates to electric power bird-proof device technical field, and in particular to a kind of intelligent bird driving device.

Background technology

With economic fast development, the whole society proposes higher requirement for the safe and high quality service of power system. But for a long time, frequent all kinds of flashover faults but seriously threaten the safe and reliable operation of transmission line of electricity, to electricity Power enterprise causes huge economic loss.Analysis shows, dirty in all kinds of flashover faults that power system is met with according to statistics Dodge and bird dodges and account for sizable ratio, especially in recent years, the quickening of various countries' process of industrialization also results in pollution sources simultaneously Increase；And the further implementation of various countries animal and environmental protective measure make it that the population of birds and quantity have significantly Increase, scope of activities expand increasingly, and high risks are caused to transmission line of electricity.

Harm of the birds to power circuit is as follows：1) birds are nested, Birds In Spring starts to nest on electric power line pole tower, Spawning, mostly hatching, the birds such as magpie, crow, goshawk, these birds mouthful hold the things such as branch, iron wire, faggot in the month, empty on the line past Flight is returned, when the things such as iron wire fall between cross-arm and wire, line fault can be caused, when blowing, the Bird's Nest on shaft tower is by wind Dissipate on live wire or outstanding bottle, short circuit grounding failure can be caused；2) Bird Flight, for example black stork of the larger birds of build, The long 1m of its body is more, and wing expansion is bigger, and flight is likely to result in alternate short between wire when the larger birds of build or birds fight Road or singlephase earth fault；3) birds droppings flashover, birds droppings the dilute dung of cat owl (particularly) pollution bottle string, there was dampness in the air, big Easily occur flashover during mist, bird station had loose bowels downwards on the cross-arm on bottle string top dung and cause when being flowed down along bottle string single-phase earthing or Person's birds droppings blows to electrical body and causes the air gap to puncture with the wind, causes failure.

At present, the anti-bird measure of high-tension line mainly prevents birds droppings flashover by the mode such as expelling, frightening and block.Tool Body mode is as follows.

(1) take measures to expel, frighten birds, do not allow birds to rest on shaft tower, at least do not allow bird to rest on insulation Directly over sub.

(2) bird-resistant is installed：Bird-resistant is typically fixed and (is fixed in special base) using multiply steel strand wires one end, One end is scattered, and is cut into 80~100cm length, forms mushroom (or using hand-drawn wire steel wire weld) and " dragon spruce " shape.

(3) using deep bid footpath insulator umbrella：On porcelain (glass) insulator by first or several, interval use instead it is big Disk footpath insulator installs deep bid footpath insulator additional at the top of composite insulator, and (diameter can be for current deep bid footpath silica gel full skirt cover Between 400-600mm), deep bid footpath fiberglass full skirt cover (between diameter 700mm).

(4) means such as bird-proof cover, anti-bird baffle plate, bird prevention net are installed additional, such as head of mast brushing red paint, hang small red flag, Install and plate washer and mesh etc. are installed on windbell, flush board etc. and the anti-bird magnetic paint of spraying, steel tower cross-arm.

However, aforesaid way is all fixed, it is impossible to be oriented birds expulsion according to live birds physical presence situation, The equipment that very possible scene does not have birds and wastes bird repellent, it is also possible to which the mode that live birds much expel is improper When, meanwhile, the bird repellent mode of above-mentioned fixation also reduces operating efficiency while waste of resource.

Publication No. 105356396A invention is related to a kind of anti-bird platform of transmission line of electricity based on bird sound detection, including anti- Bird windmill compressive shrinkage machines, voice recognition chip, robot body and ultrasonic listening sensor, voice recognition chip are used to detect Bird sound type near transmission line of electricity, anti-bird windmill compressive shrinkage machines are used for the contraction or release for controlling anti-bird windmill main body, robot Main body is mounted on transmission line of electricity, is connected respectively with anti-bird windmill compressive shrinkage machines, voice recognition chip and ultrasonic listening sensor Connect, the operation for controlling anti-bird windmill compressive shrinkage machines according to the testing result of voice recognition chip, ultrasonic listening sensor For detecting the obstacle distance in front of robot body at transmission line of electricity.Birds are expelled in the invention using electric windmill, right It is larger in the loss of electricity.

Publication No. 105397794B invention is related to a kind of supply line's bird-repeller system, including bird-resistant compressive shrinkage machines, Bird-resistant main body, Bird's Nest identification equipment and robot body frame structure, Bird's Nest identification equipment are located on robot body frame structure, for supplying Steel tower position near electric line carries out Bird's Nest identification, and robot body frame structure is used to make an inspection tour supply line, also based on bird Nest recognition result control bird-resistant compressive shrinkage machines shrink or released bird-resistant main body.Pass through the invention, it is possible to increase bird-resistant Bird repellent accuracy, safeguards the power supply safety of supply line.But the invention is larger for the injury of birds, man and nature are being advocated The epoch of harmonious coexistence, the invention is not suitable for large-scale promote.

The content of the invention

Problem to be solved by this invention is to provide a kind of intelligent bird driving device, can effectively solve transmission line of electricity birds The phenomenon nested, while bird's nest can be removed, it is to avoid existing directly destroyed bird's nest is produced compared with major injury to birds, and It can not prevent that birds from nesting again within a period of time, and the phenomenon for causing moving cart unbalance due to winning or walking.

In order to solve the above technical problems, the technical solution adopted by the present invention is：

A kind of intelligent bird driving device, including set along transmission line of electricity overhead track, the overhead rail set move Dolly, it is arranged on the balanced controls of the moving cart bottom surface, the crusing robot set in the moving cart, is arranged on institute The control centre for stating in moving cart and being connected with the crusing robot, and be arranged in the moving cart for spraying The spray body of bird repellent；

Set on the crusing robot birds detection modules, visual inspection module, birds expulsion module, Bird's Nest remove module, Control module and communication module；

The Bird's Nest, which removes module, includes Bird's Nest picking mechanism and Bird's Nest holding structure, and the control module and the movement are small Car, birds detection module, visual inspection module, birds expulsion module, Bird's Nest remove module and the connection of communication module signal；

The balanced controls include the balance monitoring module being arranged on moving cart bottom surface, are arranged on the moving cart bottom The balanced adjustment module being engaged with the balance monitoring module；

The balanced adjustment module includes being arranged on the main balancing pole of the moving cart bottom surface, is arranged under the main balancing pole The balance plate at end, is arranged on multiple motors on the balance plate bottom surface, is arranged on the L in the driving motor output shaft Type support arm, is arranged on the electric rotating machine of the L-type support arm end, is arranged on secondary electronic on the electric rotating machine output shaft Expansion link, is arranged on the balanced ball of the secondary electric expansion boom end；

The balance monitoring module includes MEMS gyroscope and MEMS accelerometer；

The spray body includes the flexible module being arranged in the moving cart, is arranged on the spray of the flexible end of module Apply module；

The flexible module includes the first two axle The Cloud Terraces, is arranged on the first telescopic arm in first two axle The Cloud Terraces, is arranged on Second two axle The Cloud Terraces of the first telescopic arm end, are arranged on the second telescopic arm in second two axle The Cloud Terraces, are arranged on 3rd two axle The Cloud Terraces of the second telescopic arm end, and the 3rd telescopic arm being arranged in the 3rd two axle The Cloud Terraces, with And it is arranged on the spray module on the 3rd telescopic arm；

The spray module includes storage tank, is arranged on the presser unit on the storage tank, is arranged on the storage tank Nozzle, the electromagnetic switch being engaged with the nozzle, and it is arranged on the coordinate detection unit of the spray body front end.

The presser unit includes the pressurization cylinder being arranged in the storage tank, and the pressurization being arranged in the pressurization cylinder is stretched Contracting bar, is arranged on the pressurization expansion link leather cup, is arranged on the check valve that the pressurization cylinder bottom is used to connect the storage tank Door.

Capsicum water or balsam pear water are set in the storage tank.

Further, the birds detection module includes acoustic detection module and sound detection module, the acoustic detection Module includes being arranged on the ultrasonic sensor that the crusing robot front end is set, the ultrasonic sensor and the control Module is connected to be monitored the birds on transmission line of electricity.

Further, the sound detection module includes the microphone of the extraneous birds sound of reception, be stored with various birds The storage card of sound and the voice recognition chip for the sound that the microphone is received to be identified, the voice are known Other chip is connected with the control module.

Further, the visual inspection module includes what the crusing robot top was set by the first two axle The Cloud Terraces CCD camera, first two axle The Cloud Terraces and CCD camera are connected with the control module respectively.

Further, the birds expulsion module includes loudspeaker and anti-bird windmill, and the loudspeaker connects with Mp 3 player Connect, the Mp 3 player is connected by relay with the control module, drive mechanism and the control of the anti-bird windmill Module is connected.

Further, the control module includes single-chip microcomputer, and the communication module includes GPRS module, the control centre Including industrial computer and alarm.

Further, the Bird's Nest picking mechanism passes through the flexible horizontal stroke of rotating mechanism setting including the crusing robot top Telescopic column is set below arm, the front end of the flexible transverse arm, and the lower end of the telescopic column sets hollow pipe, the hollow pipe Lower edge is uniformly arranged multiple arcs pawl, and the arc pawl is rotatably connected with the hollow pipe lower edge, and the top of the arc pawl is stretched Enter in the hollow pipe, the top of the arc pawl is slidably connected with connecting plate, the connecting plate is centrally through drawstring with setting Motor on the hollow pipe top is connected, and the drawstring is wrapped in the rotary shaft of the motor, the connection Set to press in pressing spring, the hollow pipe above plate and collar stop, institute are set between the motor and the connecting plate State pressing spring upper end to be connected with the collar stop, the rotating mechanism, flexible transverse arm, telescopic column and motor difference It is connected with the control module.

Further, the rotating mechanism includes the second two axle The Cloud Terraces.

Further, the side of the hollow pipe sets infrared camera, the infrared camera and the control module Connection.

Further, the Bird's Nest holding structure is included on the cabinet that the crusing robot rear is set, the cabinet End sets opening and the correspondence opening sets electric push-and-pull cover plate.

Further, the electric push-and-pull cover plate includes the chute that the cabinet upper end is set in the opening both sides, institute To state set in chute and transverse slat is set on sliding block, the sliding block, the cabinet side is set in the side of the transverse slat glide direction Electric expansion bar, the end of the electric expansion bar is connected by connecting rod with the transverse slat, the electric expansion bar with it is described Transverse slat is parallel.

A kind of application method of intelligent bird driving device, comprises the following steps：

S1, control centre's control moving cart are run in overhead rail, and the crusing robot in moving cart is visited by sound wave Module and sound detection module are surveyed to whether there are birds to be monitored on transmission line of electricity and shaft tower；

S2, when monitoring birds birds are expelled by loudspeaker and anti-bird windmill；

S3, during carriage walking by CCD camera to whether there is Bird's Nest to be monitored on shaft tower, if there is Bird's Nest says report Alert information is sent to control centre；

S4, control centre are received after the warning message of Bird's Nest, and hollow pipe is moved to by the flexible transverse arm of manipulation and telescopic column The overcentre of Bird's Nest, and rotated by motor so that drawstring pulls arc pawl, now manipulation telescopic column extends The crawl to Bird's Nest is completed, is at the same time adjusted by balanced controls, it is ensured that the stability of present apparatus structure；

S5, to during the crawl of Bird's Nest by the infrared camera on hollow pipe to being supervised in Bird's Nest with the presence or absence of bird Survey, be put into when there is bird or bird egg after crawl Bird's Nest in Bird's Nest holding structure, if in the absence of if bird by Bird's Nest from high-altitude Under throwing；

S6, after Bird's Nest is removed, by spray body to the anti-bird agent of spraying at Bird's Nest is removed, prevent that birds from nesting again；

S7, inspection are handled Bird's Nest holding structure after finishing.

The invention provides a kind of intelligent bird driving device, survey monitor is caused by the cooperation of overhead track and moving cart Device people can be moved along transmission line of electricity, and the birds situation on transmission line of electricity and shaft tower can be monitored, and passes through Bird's Nest picking mechanism is cleared up Bird's Nest, and this dress when capturing Bird's Nest is ensured in combination with the balanced controls of moving cart bottom Put will not run-off the straight phenomenon so that the safe operation to transmission line of electricity is protected.

Birds monitoring modular, including acoustic detection module and sound detection module, acoustic detection are set on crusing robot Whether module has birds to detect by ultrasonic sensor to falling on transmission line of electricity, and it exists by sending ultrasonic wave It is reflected back and receives during birds, just can be monitored to whetheing there is birds.Sound detection module is stored with respectively by storage card The sound of birds is planted, and by the chirping of birds on microphone reception periphery, chirping of birds and storage by voice recognition chip to periphery Birds sound be compared, whether can there are birds to be monitored on periphery, no matter whether birds on circuit and shaft tower, All expelled, substantially reduce harm of the birds to transmission line of electricity.

Visual inspection module sets CCD to take the photograph by setting two axle The Cloud Terraces on crusing robot top, and in two axle The Cloud Terraces As head, a kind of semiconductor imaging device of CCD camera, thus there is high sensitivity, anti-high light, distort small, small volume, life-span The advantages of length, anti-vibration, the periphery situation during inspection can be observed by CCD camera, it is possible to achieve artificial Inspection is intervened, so as to manually be operated to special circumstances, flexibility ratio is improved and tackles the success rate of special circumstances.

Birds expulsion module is expelled by sound and light to birds, and Mp 3 player internal memory contains expulsion birds Sound, when finding transmission line of electricity, shaft tower or here there are birds.Control module opens Mp 3 player by relay, by sound Sound is expanded and blazed abroad by loudspeaker, and birds, which hear, can fly away from transmission line of electricity periphery after sound, so as to realize to birds Expulsion.And anti-bird windmill is added, anti-bird windmill is a kind of existing method that birds are expelled by optical reflection, control module Controller drive mechanism is reflected light by the optical mirror slip on windmill, so that right so that anti-bird windmill is rotated The birds on periphery impact, so as to realize the expulsion to birds.

Control module includes single-chip microcomputer, and communication module includes GPRS module, and control centre includes industrial computer and alarm, single Piece machine is a kind of IC chip, is that the center with data-handling capacity is handled using very large scale integration technology Device CPU, random access memory ram, read only memory ROM, a variety of I/O mouthfuls and interrupt system, the function such as timer/counter（Can The circuits such as display driver circuit, pulse-width modulation circuit, analog multiplexer, A/D converter can also be included）It is integrated into one block of silicon The small and perfect microcomputer system constituted on piece, it is powerful.GPRS module can realize control centre with patrolling Examine the remote radio communication of robot, and signal stabilization.Control centre uses industrial computer and alarm, and industrial computer includes meter Device, database server and human-computer interaction device etc. are calculated, the crusing robot at scene can be controlled, alarm can Bird's Nest is won there is provided staff with being alarmed when finding Bird's Nest.

When Bird's Nest picking mechanism can have Bird's Nest on shaft tower or transmission line of electricity, staff remotely takes Bird's Nest, Avoid birds from perching to impact transmission line of electricity, so as to avoid equipment from because of the situation of Bird's Nest short circuit occurring；In order to avoid balance Mechanism includes the balance monitoring module being arranged on moving cart bottom surface, is arranged on the moving cart bottom and is supervised with the balance Survey the balanced adjustment module that module is engaged；The balanced adjustment module includes being arranged on the main balancing pole of dolly bottom surface, and adopts Main balancing pole is electric expansion bar, it is ensured that the present apparatus can be extended downwardly from, and preferably be balanced；In main balancing pole Lower end sets balance plate, is arranged on multiple motors on the balance plate bottom surface, is arranged on the driving motor output shaft On L-type support arm, be arranged on the electric rotating machine of the L-type support arm end, be arranged on the electric rotating machine output shaft Secondary electric expansion bar, is arranged on the balanced ball of the secondary electric expansion boom end；The balance monitoring module includes MEMS gyro Instrument, MEMS accelerometer and microcontroller；The dynamic for resulting in moving cart by MEMS gyroscope and MEMS accelerometer is put down Weigh data, and feed back to microcontroller and be adjusted, it is ensured that the present apparatus realizes dynamic equilibrium, it is to avoid the phenomenon of deviation occurs.

In addition, the spray body used includes the flexible module being arranged in the moving cart, it is arranged on described flexible The spray module of end of module；And the flexible module used includes the first two axle The Cloud Terraces, it is arranged in first two axle The Cloud Terraces The first telescopic arm, be arranged on the second two axle The Cloud Terraces of the first telescopic arm end, be arranged in second two axle The Cloud Terraces The second telescopic arm, be arranged on the 3rd two axle The Cloud Terraces of the second telescopic arm end, and be arranged on the 3rd liang of axle cloud The 3rd telescopic arm on platform, and the spray module being arranged on the 3rd telescopic arm；Ensured by three telescopic arms And the combination of three two axle The Cloud Terraces, realizes the effect sprayed without dead angle, and in order to ensure the accuracy of spraying, before spray body End sets coordinate detection unit, and the coordinate detection unit used can be calculated quickly for MEMS gyroscope and MEMS accelerometer Go out the space coordinate of picking mechanism front end, and then realize fast spraying, and the spray module used includes storage tank, is arranged on institute The presser unit on storage tank is stated, the nozzle on the storage tank is arranged on, the electromagnetic switch being engaged with the nozzle, and It is arranged on the coordinate detection unit of the spray body front end；Pressurizeed by presser unit into storage tank so that in storage tank High pressure is produced, can be to spraying capsicum water or balsam pear water on the electric pole at Bird's Nest so that this is in one when electromagnetic switch is opened It is not have birds to nest in the section time, and because the position that suitable birds are nested on each tower bar is few, therefore can be significantly Reduce the possibility that birds are nested again.

In addition, the presser unit used includes the pressurization cylinder being arranged in the storage tank, it is arranged in the pressurization cylinder Pressurization expansion link, be arranged on the pressurization expansion link leather cup, being arranged on the pressurization cylinder bottom is used to connect the storage tank One-way cock；Quick-pressing can be realized to storage tank by the presser unit, and in order to ensure the effect of pressurization, in storing Pressure sensor is set on tank, it is to avoid the too small or excessive phenomenon of pressure, and capsicum water or balsam pear water are set in storage tank, can The phenomenon for avoiding birds from nesting again by natural excitant preparation.

The present invention is expelled by crusing robot to birds on transmission line of electricity or on the way, it is to avoid birds are perched in bar Tower or periphery cause to damage to power transmission network, and crusing robot carry Bird's Nest picking mechanism can be by the bird on shaft tower or circuit Nest is removed, and sets balanced controls in moving cart bottom, it can be ensured that in the case where grab Bird's Nest or have wind, it is ensured that this The safety of device, and in the case where it has bird protect bird safety, will not be caused because of electric transmission line erection frequency endanger The extinction of birds, while realizing that birds in a period of time will not former address is nested again again phenomenon using natural bird repellent.

Brief description of the drawings

The invention will be further described below in conjunction with the accompanying drawings：

Fig. 1 is the system construction drawing of intelligent bird driving device of the present invention；

Fig. 2 is the structural representation of the present invention；

Fig. 3 is the structural representation of Bird's Nest picking mechanism of the present invention；

Fig. 4 is the structural representation of Bird's Nest holding structure of the present invention；

Fig. 5 is the structural representation of balanced controls of the present invention；

Fig. 6 is the structural representation of spray body of the present invention.

Embodiment

To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention Accompanying drawing 1-6, the technical scheme to the embodiment of the present invention is clearly and completely described.Obviously, described embodiment is this A part of embodiment of invention, rather than whole embodiments.Based on described embodiments of the invention, the common skill in this area The every other embodiment that art personnel are obtained, belongs to the scope of protection of the invention.

Embodiment one

As depicted in figs. 1 and 2：Present embodiments provide a kind of intelligent bird driving device, including along transmission line of electricity set it is built on stilts The moving cart 3 set on track 13, the overhead track 13, the balanced controls 33 for being arranged on the bottom surface of moving cart 3, institute State the crusing robot 1 set in moving cart 3 and the control centre 7 being connected with the crusing robot 1, the inspection machine Birds detection module 2, visual inspection module 4, birds expulsion module 8, Bird's Nest is set to remove module 9, the and of control module 5 on people 1 Communication module 6, the Bird's Nest, which removes module 19, includes Bird's Nest picking mechanism 14 and Bird's Nest holding structure 15, the control module 5 Module 9 is removed with the moving cart 3, birds detection module 2, visual inspection module 4, birds expulsion module 8, Bird's Nest and is communicated Module by signal 6 is connected；

The balanced controls 33 include the balance monitoring module 34 being arranged on moving cart bottom surface, are arranged on the moving cart The balanced adjustment module that bottom is engaged with the balance monitoring module；

The balanced adjustment module includes being arranged on the main balancing pole 331 of the bottom surface of moving cart 3, is arranged on the main balance The balance plate 332 of the lower end of bar 331, is arranged on multiple motors 333 on the bottom surface of balance plate 332, is arranged on the drive L-type support arm 334 on the dynamic output shaft of motor 333, is arranged on the electric rotating machine 335 of the end of L-type support arm 334, sets Secondary electric expansion bar 336 on the output shaft of electric rotating machine 335, is arranged on the flat of the end of secondary electric expansion bar 336 Weigh ball 337；

34 pieces of the balance monitoring mould includes MEMS gyroscope and MEMS accelerometer；

The spray body 35 includes the flexible module being arranged in the moving cart 3, is arranged on the flexible end of module Spray module；

The flexible module includes the first two axle The Cloud Terraces 351, is arranged on the first telescopic arm in first two axle The Cloud Terraces 351 352, the second two axle The Cloud Terraces 353 of the end of the first telescopic arm 352 are arranged on, are arranged in second two axle The Cloud Terraces 353 The second telescopic arm 354, be arranged on the 3rd two axle The Cloud Terraces 355 of the end of the second telescopic arm 354, and be arranged on described The 3rd telescopic arm 356 in three two axle The Cloud Terraces 355, and the spray module being arranged on the 3rd telescopic arm 356；

The spray module includes storage tank 357, is arranged on the presser unit on the storage tank 357, is arranged on the storing Nozzle 358 on tank 357, the electromagnetic switch being engaged with the nozzle 358, and the seat being arranged on the storage tank 357 Mark detection unit 362.

The birds detection module 2 includes acoustic detection module 36 and sound detection module 38, the acoustic detection module 36 include being arranged on the ultrasonic sensor that the crusing robot front end is set, the ultrasonic sensor and the control mould Block is connected to be monitored the birds on transmission line of electricity.

Microphone that the sound detection module 38 includes receiving extraneous birds sound, the various birds sound that are stored with are deposited Card storage and the voice recognition chip for the sound that the microphone is received to be identified, the voice recognition chip with The control module connection.

The visual inspection module 4 is taken the photograph including the CCD that the top of crusing robot 1 is set by the first two axle The Cloud Terraces 12 As first 11, first two axle The Cloud Terraces 12 and CCD camera 11 are connected with the control module 5 respectively.

The birds expulsion module 8 includes loudspeaker 34 and anti-bird windmill 10, and the loudspeaker 34 connects with Mp 3 player Connect, the Mp 3 player is connected by relay with the control module 5, the drive mechanism of the anti-bird windmill 10 with it is described Control module 5 is connected.

The control module 5 includes single-chip microcomputer, and the communication module 6 includes GPRS module, and the control centre 7 includes work Control machine and alarm.

The present invention allows crusing robot to enter along transmission line of electricity by the cooperation of overhead track and moving cart Row movement, so as to be monitored to the birds situation on transmission line of electricity and shaft tower, so that the safe operation to transmission line of electricity is carried out Protection.

Embodiment two

As shown in Figure 3 and Figure 4：It is with the difference of embodiment one：

The Bird's Nest picking mechanism 14 includes the top of crusing robot 1 and sets flexible transverse arm 17, institute by rotating mechanism 16 State and telescopic column 18 is set below the front end of flexible transverse arm 17, the lower end of the telescopic column 18 sets hollow pipe 19, the sky The lower edge of heart pipe 19 is uniformly arranged several arc pawls 27, and the arc pawl 27 is rotatably connected with the lower edge of hollow pipe 19, described The top of arc pawl 27 is stretched into the hollow pipe 19, and top and the connecting plate 26 of the arc pawl 27 are slidably connected, the company Fishplate bar 26 is connected centrally through drawstring 23 with being arranged on the motor 22 on the top of hollow pipe 19, and the drawstring 23 is wrapped in In the rotary shaft 21 of the motor 22, the top of connecting plate 26, which is set, presses in pressing spring 25, the hollow pipe 19 in institute Setting collar stop 24 between motor 22 and the connecting plate 26 is stated, it is described to press the upper end of pressing spring 25 and the collar stop 24 connections, the rotating mechanism 16, flexible transverse arm 17, telescopic column 18 and motor 22 connect with the control module 5 respectively Connect.

Arc pawl is rotatably connected with the lower edge of hollow pipe, and is slidably connected with connecting plate, so when connecting plate is lifted Time can drive the lower end of arc pawl to open or shrink, so as to realize the crawl to Bird's Nest, arc pawl is rotatably connected with hollow pipe Can be by being hinged realization, the connection of arc pawl and connecting plate can be realized by way of T-shaped chute and sliding block, in connecting plate Lower surface sets chute, and arc pawl top sets sliding block by universal joint, just can realize slip, and such connecting plate is to moving down When dynamic, arc pawl top is moved inward, and arc pawl bottom is opened, and connecting plate moves up formula, and arc pawl top is flared out, arc Shrink shape pawl bottom.After Bird's Nest is found, by rotating mechanism adjustment direction, stretch transverse arm adjustment horizontal range, telescopic column Arc pawl is adjusted to the vertical distance of Bird's Nest, behind the center of arc pawl correspondence Bird's Nest, motor rotation is opened and slow Slow elongation telescopic column so that drawstring is wound on the rotating shaft, so that connecting plate be raised so that arc pawl is from the top down The edge of Bird's Nest is inserted, and is inwardly tightened up to Bird's Nest crawl.Then control telescopic cross bar and telescopic column say that Bird's Nest is moved to bird Above nest holding structure, then extend telescopic column and say that Bird's Nest is put into Bird's Nest holding structure, motor is simultaneously closed off, in pressing By drawstring unwrapping wire in the presence of spring, connecting plate declines, and arc pawl unclamps, and Bird's Nest just can be put into Bird's Nest holding structure, so that Other Bird's Nests can be captured.The center of drawstring can not be impacted by pressing spring, drawstring is needed with being connected The center connection of plate, therefore fixed for the upper end by pressing spring by collar stop, so as to realize pressing spring energy-storage Purpose.

The rotating mechanism 16 includes the second two axle The Cloud Terraces, and rotating mechanism also uses two axle The Cloud Terraces, can also realize Bird's Nest The oblique operation of picking mechanism, more facilitates.

The side of the hollow pipe 19 sets infrared camera 20, and the infrared camera 20 connects with the control module 5 Connect.Infrared camera can be monitored to whether having birdling or bird egg in Bird's Nest, it is ensured that the safety of bird.

The presser unit includes the pressurization cylinder 361 being arranged in the storage tank 357, is arranged on the pressurization cylinder 361 Interior pressurization expansion link 363, is arranged on the pressurization leather cup of expansion link 363, and being arranged on pressurization cylinder 361 bottom is used to connect The one-way cock 359 of the storage tank 357.

Capsicum water is set in the storage tank 357.

Embodiment three

It is with the difference of embodiment two：The Bird's Nest holding structure 15 includes the cabinet that the rear of crusing robot 1 is set Body 39, the upper end of cabinet 39 sets opening 37 and the correspondence opening 37 sets electric push-and-pull cover plate.Bird's Nest holding structure leads to Cabinet is crossed to realize, and the setting electric push-and-pull cover plate on cabinet, it is to avoid strong wind and rainwater are impacted to inside.Cabinet Opening, in upper end, is to be put into Bird's Nest.

The electric push-and-pull cover plate includes the chute 28 that the upper end of cabinet 39 is set in 37 both sides of the opening, the cunning Set in groove 28 and transverse slat 30 is set on sliding block 29, the sliding block 29, the side of cabinet 39 is in the glide direction of transverse slat 30 Side sets electric expansion bar 31, and the end of the electric expansion bar 31 is connected by connecting rod 32 with the transverse slat 30, described Electric expansion bar 31 is parallel with the transverse slat 30.Transverse slat can be slided by sliding block and chute in the top of cabinet opening Dynamic, so as to be covered to opening, transverse slat is moved through the electric expansion bar of cabinet side setting to realize, electric expansion bar End realized with transverse slat by connecting rod, so as to be slided with motion plate.

Example IV

A kind of application method of intelligent bird driving device is present embodiments provided, is comprised the following steps：

S4, control centre are received after the warning message of Bird's Nest, and hollow pipe is moved to by the flexible transverse arm of manipulation and telescopic column The overcentre of Bird's Nest, and rotated by motor so that drawstring pulls arc pawl, now manipulation telescopic column extends Complete the crawl to Bird's Nest；At the same time it is adjusted by balanced controls, it is ensured that the stability of present apparatus structure；

S7, inspection are handled Bird's Nest holding structure after finishing.Protectiveness transfer is carried out to it when there is bird and bird egg, can To deliver to zoo or bird preservation center, it is to avoid existence of the laying of transmission line of electricity to birds is impacted, can be to country Birds of treasuring protected.

Finally illustrate, the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, this area is common Other modifications or equivalent that technical staff is made to technical scheme, without departing from technical solution of the present invention Spirit and scope, all should cover among scope of the presently claimed invention.

Claims

1. a kind of intelligent bird driving device, it is characterised in that：Including set along transmission line of electricity overhead track, the overhead track The moving cart of upper setting, it is arranged on the balanced controls of the moving cart bottom surface, the survey monitor set in the moving cart Device people, the control centre for being arranged in the moving cart and being connected with the crusing robot, and it is arranged on the movement It is used for the spray body for spraying bird repellent on dolly；

The balance monitoring module includes MEMS gyroscope and MEMS accelerometer；

2. intelligent bird driving device as claimed in claim 1, it is characterised in that：The presser unit includes being arranged on the storing Pressurization cylinder in tank, is arranged on the pressurization expansion link in the pressurization cylinder, is arranged on the pressurization expansion link leather cup, is arranged on institute State the one-way cock that pressurization cylinder bottom is used to connect the storage tank.

3. intelligent bird driving device as claimed in claim 1, it is characterised in that：The birds detection module includes acoustic detection mould Block and sound detection module,

The acoustic detection module includes being arranged on the ultrasonic sensor that the crusing robot front end is set, the ultrasonic wave Sensor is connected to be monitored the birds on transmission line of electricity with the control module.

4. intelligent bird driving device as claimed in claim 3, it is characterised in that：The sound detection module includes receiving extraneous bird The storage card of the microphone of class sound, the various birds sound that are stored with, and for entering to the sound that the microphone is received The voice recognition chip of row identification；

The voice recognition chip is connected with the control module.

5. intelligent bird driving device as claimed in claim 1, it is characterised in that：The visual inspection module includes the survey monitor The CCD camera that device people top is set by the first two axle The Cloud Terraces, first two axle The Cloud Terraces and CCD camera respectively with it is described Control module is connected.

6. intelligent bird driving device as claimed in claim 1, it is characterised in that：The birds expulsion module includes loudspeaker and anti- Bird windmill, the loudspeaker is connected with Mp 3 player, and the Mp 3 player is connected by relay with the control module, institute The drive mechanism for stating anti-bird windmill is connected with the control module.

7. intelligent bird driving device as claimed in claim 1, it is characterised in that：The control module includes single-chip microcomputer, described logical Believe that module includes GPRS module, the control centre includes industrial computer and alarm.

8. intelligent bird driving device as claimed in claim 1, it is characterised in that：The Bird's Nest picking mechanism includes the survey monitor Device people top is set by rotating mechanism sets telescopic column below flexible transverse arm, the front end of the flexible transverse arm, described flexible The lower end of column sets hollow pipe, and the hollow pipe lower edge is uniformly arranged multiple arcs pawl, the arc pawl and the hollow pipe Lower edge is rotatably connected, and the top of the arc pawl is stretched into the hollow pipe, and the top of the arc pawl is slided with connecting plate to be connected Connect, the connecting plate is connected centrally through drawstring with being arranged on the motor on the hollow pipe top, and the drawstring is wrapped in Set and pressed in pressing spring, the hollow pipe in the motor in the rotary shaft of the motor, above the connecting plate Collar stop is set between the connecting plate, and the pressing spring upper end is connected with the collar stop, the rotating mechanism, Flexible transverse arm, telescopic column and motor are connected with the control module respectively.

9. the application method of intelligent bird driving device as claimed in claim 1, it is characterised in that：Comprise the following steps：

S7, inspection are handled Bird's Nest holding structure after finishing.