Power transmission line tree obstacle removing direction control equipment and control method

Abstract

The invention discloses power transmission line tree obstacle removing direction control equipment and a control method. A mechanical device grabs a to-be-cut tree and outputs thrust, a sensor obtains tree data and wind speed, a remote controller responds to operation and sends a remote control signal to a controller, and the controller is connected with the remote controller and sends the remote control signal to the controller. And responding to the remote controller to operate and control the mechanical device to grab the tree, receiving tree data and wind speed from the sensor, and controlling the thrust of the mechanical device according to the tree data and the wind speed. According to the invention, the falling direction of the tree is controlled through the power transmission line tree obstacle removing direction control equipment, and the falling direction of the tree does not need to be controlled by an inspector through climbing the tree and binding a rope, and the inspector can grasp the tree through a remote controller after a safety distance control mechanical device grabs the tree; the controller controls the mechanical device to output thrust through the tree data and the wind speed to push the tree to a specified direction to fall down, so that the efficiency of polling and felling the tree on the electric power line can be improved, the falling direction of the tree can be ensured, and the safety of the electric power line and polling personnel is ensured.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of power line obstacle removal, and in particular to a power transmission line tree obstacle removal direction control device and a control method. Background Art

[0002] In order to transmit electricity over long distances, power lines in the transmission network usually need to pass through forest trees, or when there are trees around transformers and substations, if the trees are too high or the distance to the lines is too small, it will affect the safety of the lines. It is necessary to cut down the trees and clear the obstacles to eliminate safety hazards.

[0003] In the prior art, when inspectors inspect power lines and find that trees around the lines pose a safety hazard and need to be cut down, the inspectors usually climb up the tree trunks and tie ropes. During the tree-cutting process, the falling trees are dragged by the ropes to make the trees fall away from the power lines, transformers or substations. The method of manually climbing up the trees and tying ropes to drag the falling trees has low tree-cutting efficiency, which affects the efficiency of power line inspection. On the other hand, it is difficult to ensure the direction in which the trees fall, resulting in the trees falling toward the transmission lines and damaging the power lines or equipment, and the personal safety of the inspectors cannot be guaranteed. Summary of the invention

[0004] The embodiment of the present invention provides a power transmission line tree clearance direction control device and control method, so as to control the direction of tree falling through mechanized automatic operation when tree clearance is required during power line inspection, thereby ensuring the power line or equipment and human safety during the tree clearance process, and improving the efficiency of tree clearance during power line inspection.

[0005] In a first aspect, an embodiment of the present invention provides a power transmission line tree obstacle removal direction control device, including a mechanical device, a sensor, a controller, a remote controller and a power supply, wherein the controller is electrically connected to the mechanical device, the sensor and the remote controller respectively, and the power supply supplies power to the mechanical device, the sensor and the controller;

[0006] A mechanical device for grabbing the tree to be felled and delivering thrust;

[0007] sensors to obtain tree data and wind speed;

[0008] A remote controller, for sending a remote control signal to the controller in response to an operation;

[0009] The controller is used to:

[0010] After being connected to the remote controller, the mechanical device is controlled to grab the tree to be felled in response to the operation of the remote controller;

[0011] Receive tree data and wind speed from sensors;

[0012] The thrust of the mechanical device is controlled according to the tree data and wind speed.

[0013] Optionally, the mechanical device includes a clamping claw, a thrust rod and a base, the clamping claw is connected to the base via the thrust rod, and the remote controller includes an operation button.

[0014] Optionally, the clamp includes a plurality of grippers and a lead screw located between the plurality of grippers and driven by a motor.

[0015] Optionally, the thrust rod is a thrust rod driven by an electric jack.

[0016] Optionally, the sensor includes a camera and a wind speed sensor.

[0017] In a second aspect, an embodiment of the present invention provides a control method for a power transmission line tree obstacle removal direction control device, which is applied to the power transmission line tree obstacle removal direction control device according to any one of the first aspects, comprising:

[0018] After being connected to the remote controller, the mechanical device is controlled to grab the tree to be felled in response to the operation of the remote controller;

[0019] Receive tree data and wind speed from sensors;

[0020] The thrust of the mechanical device is controlled according to the tree data and wind speed.

[0021] Optionally, the sensor includes a camera and a wind speed sensor, and receiving tree data and wind speed from the sensor includes:

[0022] receiving the captured tree image from the camera and receiving the detected wind speed from the wind speed sensor;

[0023] Identify the diameter, tree species, and wind-exposed area of ​​the tree based on the camera;

[0024] The weight and center of gravity height of the tree are estimated based on the diameter and tree species.

[0025] Optionally, the mechanical device includes a thrust rod, and the thrust of the mechanical device is controlled according to the tree data and the wind speed, including:

[0026] Substitute the weight and center of gravity height of the tree into the following overturning moment calculation formula to calculate the overturning moment M:

[0027] M=W tree ×G×h cg ÷cos(θ);

[0028] W tree is the weight of the tree, G is the gravity coefficient, h cgis the height of the center of gravity of the tree, θ is the angle of the thrust rod of the mechanism;

[0029] Calculate the reverse moment M and the length L of the thrust rod arm The ratio of the basic thrust F 0 ;

[0030] The wind speed compensation thrust F is calculated by the following preset thrust compensation formula: V :

[0031] F v =C d ×A×1 / 2σv 2 ;

[0032] C d is the drag coefficient, A is the windward area of ​​the tree, σ is the air density, and v is the wind speed;

[0033] Calculate the basic thrust F 0 and the wind speed compensation thrust F V The sum of the values ​​is used to obtain the target thrust of the mechanical device;

[0034] A thrust rod controlling the mechanical device outputs the target thrust.

[0035] Optionally, controlling the thrust rod of the mechanical device to output the target thrust includes:

[0036] The electric jack driving the thrust rod is controlled based on a PID algorithm to output the target thrust.

[0037] Optionally, in the process of controlling the thrust of the mechanical device according to the tree data, wind speed and terrain slope, the method further includes:

[0038] When receiving the stop output operation on the remote controller, the thrust rod of the mechanical device is controlled to stop outputting thrust.

[0039] The power transmission line tree obstacle removal direction control device of the present embodiment includes a mechanical device, a sensor, a controller, a remote controller and a power supply. The controller is electrically connected to the mechanical device, the sensor and the remote controller respectively, and the power supply supplies power to the mechanical device, the sensor and the controller. When it is necessary to cut down trees next to the power transmission line, the inspection personnel can control the mechanical device to grab the trees to be cut down by the remote controller. The controller receives the tree data and wind speed from the sensor, and controls the thrust of the mechanical device according to the tree data and wind speed. There is no need for the inspection personnel to climb up the tree trunk and bind the rope to control the falling direction of the tree by dragging. The inspection personnel can control the mechanical device to grab the tree by the remote controller at a safe distance. The controller adaptively controls the mechanical device to output thrust through the tree data and wind speed to push the tree to fall in the specified direction. This can not only improve the efficiency of power line inspection and tree cutting, but also ensure the direction of tree falling, ensure the safety of power lines and inspection personnel, and improve the automation and intelligence of tree cutting during power line inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 A schematic diagram of a transmission line tree obstacle removal direction control device provided by an embodiment of the present invention;

[0041] Figure 2 It is a schematic diagram of the overall structure of the mechanical device;

[0042] Figure 3 It is a schematic diagram of the structure of the clamping jaws in the mechanical device;

[0043] Figure 4 A schematic diagram of a scene in which a mechanical device controls the direction of a tree's fall;

[0044] Figure 5 The present invention is a flowchart of a control method for a power transmission line tree obstacle removal direction control device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0045] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0046] Figure 1 The schematic diagram of the structure of a power line tree clearing direction control device provided by an embodiment of the present invention is used to control the falling direction of trees when trees need to be cut down during power line inspection. Specifically, the felled trees can be pushed away from the power lines to avoid hitting the power lines when they fall. Figure 1As shown, the power line tree obstacle removal direction control device of the embodiment of the present invention includes a mechanical device 1, a sensor 2, a controller 3, a remote controller 4 and a power supply 5. The controller 3 is electrically connected to the mechanical device 1, the sensor 2 and the remote controller 4 respectively, and the power supply 5 supplies power to the mechanical device 1, the sensor 2 and the controller 3.

[0047] Among them, the mechanical device 1 can be a device that grabs the trunk of the tree to be cut down and outputs thrust to push the tree to a specified direction and fall down. The way in which the mechanical device 1 grabs and outputs thrust can be achieved by electric drive. The sensor 2 is used to obtain tree data and wind speed, wherein the tree data may include data such as trunk diameter, tree species, wind-exposed area, weight, center of gravity height, etc. The wind speed can be the wind speed at the location of the tree. The remote control 4 can be a device for manually controlling the mechanical device. The controller 3 can be set in the mechanical device 1. The controller 3 can be various types of MCU or other processors, such as DSP processors, etc. The controller 3 is the brain of the mechanical device 1, which is used to control the mechanical device 1 to grab trees and output thrust. The power supply 5 can be a DC power supply or an AC power supply, such as a rechargeable battery or a generator. Among them, the remote control 4 and the controller 3 can be connected through wireless communication, such as wireless communication such as Bluetooth, WiFi, infrared, etc.

[0048] After being connected to the remote controller 4, the controller 3 can respond to the remote controller operation to control the mechanical device 1 to grab the tree to be cut down, and receive tree data and wind speed from the sensor 2, and control the thrust of the mechanical device 1 according to the tree data and wind speed.

[0049] like Figure 2 The figure shows a schematic diagram of the structure of an embodiment of the mechanical device 1. The mechanical device 1 may include a clamp 10, a thrust rod 11 and a base 12. The clamp 10 is connected to the base 12 via the thrust rod 11. The remote control 2 may include operation buttons, such as a start button, an output button (C button) and a stop output button (D button).

[0050] In one embodiment, the thrust rod 11 can be a rod of fixed length, and the material of the thrust rod 11 can be aluminum. The thrust rod 11 can be connected to the base 12 through an electric jack, and the thrust is output through the electric jack, and the thrust is transmitted to the clamp 10 through the thrust rod 11. In another embodiment, the thrust rod 11 can also be a hydraulically driven retractable rod, and the thrust is output by retracting the hydraulically driven rod, wherein the base 12 can be a movable base. For example, the base 12 can be equipped with movable wheels, and the mechanical device can be moved to a specified position quickly, conveniently and labor-savingly through the movable wheels. In another embodiment, the base 12 can also be an electric trolley. This embodiment does not limit the structure of the base 12.

[0051] like Figure 3The diagram shows a schematic diagram of a clamp 10. Specifically, the clamp 10 may include a plurality of grippers 101 and a lead screw 104 located in the middle of the plurality of grippers 101 and driven by a motor 105. The plurality of grippers 101 may be directly connected via a first movable hinge structure 102 to achieve the opening and closing of the grippers 101, so as to facilitate the grasping and releasing of trees. The entire clamp 10 may be connected to a thrust rod 11 via a second movable hinge structure 103. In one embodiment, the minimum opening and closing size of the clamp 10 is about 70 mm, that is, when the clamp 10 is fully closed, a tree with a minimum diameter of 70 mm can still be grasped. The maximum opening and closing size of the clamp 10 is about 270 mm, so as to control the maximum diameter of a tree that can be grasped by the mechanical device 1.

[0052] In one embodiment, the sensor includes a camera and a wind speed sensor. The camera can capture images of trees and obtain data such as the trunk diameter, tree species, wind-exposed area, weight, etc. of the trees through image recognition technology. The wind speed sensor is used to collect wind speed. The camera and the wind speed sensor can be installed on the clamp 10, or on one end of the thrust rod 11 close to the clamp 10, to facilitate the detection of wind speed and the capture of images of trees.

[0053] The working principle of the power transmission line tree obstacle removal direction control device of this embodiment is as follows:

[0054] like Figure 4 As shown, when it is necessary to cut down a tree A near a power transmission line C, the inspection personnel first set the power transmission line tree clearing direction control device B on the side of the tree A near the power transmission line C. After the power supply 5 is powered, the controller 3 on the mechanical device 1 will automatically search for the remote controller 4, and communicate with the remote controller 4 after pairing. The inspection personnel start the mechanical device 1 through the remote controller 4, and manually control the thrust rod to aim at the tree A, and then control the gripper to grab the tree A, such as the gripper 101 on the clamp 10 is closed, and the motor 105 drives the screw rod 104 to drill into the tree trunk. At the same time, the camera collects images of the tree to identify the tree. The trunk diameter, tree species, wind-exposed area, weight, etc. of the tree are collected by the wind speed sensor. The controller 3 calculates the thrust according to the tree data and the wind speed. After the inspection personnel issues an output thrust command through the remote controller 4, the relay of the electric jack is controlled to close. The thrust of the electric jack is transmitted to the clamp 10 through the thrust rod and then to the tree. The inspection personnel start to cut down the tree. When the tree is cut off, due to the thrust, the tree falls to the side away from the transmission line C. When the tree falls, the gripper releases the tree, and the transmission line tree obstacle clearing direction control device B prevents the tree A from falling toward the transmission line C.

[0055] The power transmission line tree obstacle removal direction control device of the present embodiment includes a mechanical device, a sensor, a controller, a remote controller and a power supply. The controller is electrically connected to the mechanical device, the sensor and the remote controller respectively, and the power supply supplies power to the mechanical device, the sensor and the controller. When it is necessary to cut down trees next to the power transmission line, the inspection personnel can control the mechanical device to grab the trees to be cut down by the remote controller. The controller receives the tree data and wind speed from the sensor, and controls the thrust of the mechanical device according to the tree data and wind speed. There is no need for the inspection personnel to climb up the tree trunk and bind the rope to control the falling direction of the tree by dragging. The inspection personnel can control the mechanical device to grab the tree by the remote controller at a safe distance. The controller adaptively controls the mechanical device to output thrust through the tree data and wind speed to push the tree to fall in the specified direction. This can not only improve the efficiency of power line inspection and tree cutting, but also ensure the direction of tree falling, ensure the safety of power lines and inspection personnel, and improve the automation and intelligence of tree cutting during power line inspection.

[0056] Figure 5 A flow chart of a control method for a power line tree clearing direction control device provided by an embodiment of the present invention. The control method for a power line tree clearing direction control device according to an embodiment of the present invention is applicable to controlling the power line tree clearing direction control device to control the falling direction of the felled trees through the power line tree clearing direction control device. The method can be executed by controlling the power line tree clearing direction control device, such as Figure 5 As shown, the control method of the power transmission line tree obstacle removal direction control device according to the embodiment of the present invention may specifically include the following steps:

[0057] S501. After connecting to the remote controller, respond to the remote controller operation to control the mechanical device to grab the tree to be cut down.

[0058] like Figure 1 As shown, the power transmission line tree obstacle removal direction control device of the embodiment of the present invention includes a mechanical device 1, a sensor 2, a controller 3, a remote controller 4 and a power supply 5, wherein the mechanical device 1 can be a device for grabbing the trunk of the tree to be cut down and outputting thrust, such as Figure 2 As shown, the mechanical device 1 includes a clamping jaw 10, a thrust rod 11 and a base 12, the clamping jaw 10 is connected to the base 12 via the thrust rod 11, and the remote controller includes operation buttons.

[0059] In this embodiment, Figure 4As shown, when it is necessary to cut down tree A near the transmission line C, the inspection personnel first set the transmission line tree clearance direction control device B on the side of tree A near the transmission line C. After the power is supplied, the remote control in the mechanical device is paired and connected with the remote control. The inspection personnel start the mechanical device through the remote control, and manually control the thrust rod in the mechanical device to aim at tree A through the remote control, and then control the gripper to grab tree A.

[0060] S502: Receive tree data and wind speed from sensors.

[0061] The sensors of this embodiment may include a camera and a wind speed sensor. The camera can collect tree images of the trees. After the controller receives the tree images from the sensor, it can identify the diameter, tree species and wind-exposed area of ​​the trees based on the camera, and estimate the weight and center of gravity height of the trees based on the diameter and tree species.

[0062] Specifically, a tree recognition model can be pre-trained. For example, various tree images can be collected as sample images, and the sample images can be annotated with diameter, tree species and wind-exposed area, wherein the tree species can be the type of tree, and the wind-exposed area can be the area of ​​the cross-section of the trunk passing through the axis of the trunk, that is, the area of ​​the cross-section of the trunk after the tree is cut open along the axis of the tree. Of course, the wind-exposed area can also be the projection area of ​​the tree (including the leaves on the trunk and branches) in a direction perpendicular to the axis of the tree.

[0063] Neural networks such as CNN, RNN, and DNN can be constructed as tree recognition models. After the sample image is input into the tree recognition model, the predicted diameter, tree species, and windward area can be obtained. The loss rate (such as mean square error loss, cross entropy loss, etc.) is calculated through the predicted and labeled diameters, tree species, and windward area. The parameters of the tree recognition model are adjusted through the loss rate and the existing gradient descent algorithm until the loss rate is less than the preset value or the number of training times reaches the preset number, thereby obtaining a trained tree recognition model.

[0064] After felling trees and collecting tree images, the collected tree images are input into the tree recognition model to obtain the diameter, tree species and wind-exposed area of ​​the tree, and the weight and center of gravity height of the tree are estimated by the diameter and tree species. For example, the volume is calculated by the diameter and tree height (the height can be calculated through the image), the density of the tree can be found in the tree species and density comparison table through the tree species, the weight can be calculated through the volume and tree density, and the center of gravity height can be estimated through the tree height, such as half or one-third of the tree height.

[0065] S503: Control the thrust of the mechanical device according to the tree data and the wind speed.

[0066] In one embodiment, the weight and center of gravity height of the tree may be substituted into the following backward moment calculation formula to calculate the backward moment M:

[0067] M=W tree ×G×h cg ÷cos(θ);

[0068] W tree is the weight of the tree, G is the gravity coefficient, h cg is the height of the center of gravity of the tree, θ is the angle of the thrust rod of the mechanical device, that is, the angle between the thrust rod and the ground, and the angle θ can be determined when the controller controls the thrust rod.

[0069] Further calculate the reverse moment M and the length of the thrust rod L arm The ratio of the basic thrust F 0 ,pass Figure 4 It can be seen that when the weight of the tree W tree and the center of gravity height h cg Under certain conditions, the larger the angle θ, the higher the point of action of the thrust on the trunk, the easier it is to push the tree, and the smaller the required torque M. The smaller the angle θ, the lower the point of action of the thrust on the trunk, the more difficult it is to push the tree, and the larger the required torque M. Among them, the basic thrust F 0 It can be the minimum force required to push a tree over to overcome its weight and prevent it from falling.

[0070] The wind speed compensation thrust F is calculated by the following preset thrust compensation formula: V :

[0071] F v =C d ×A×1 / 2σv 2 ;

[0072] C d is the drag coefficient, A is the windward area of ​​the tree, σ is the air density, and v is the wind speed. It should be noted that the wind speed compensates for the thrust F V Directional, such as Figure 4 As shown in the figure, when the wind blows from the thrust rod side of the mechanical device B to the tree A, the wind speed compensates the thrust F V When the wind blows from the tree A to the thrust rod of the mechanical device B, the wind speed compensates the thrust F. V Is a positive value, calculate the basic thrust F 0 and wind speed compensation thrust F VThe target thrust of the mechanical device is obtained by summing the values, thereby controlling the thrust rod of the mechanical device to output the target thrust. Specifically, when the thrust rod is driven by the electric jack, the electric jack driving the thrust rod can be controlled to output the target thrust based on the PID algorithm. For example, the motor of the electric jack is controlled based on the PID algorithm. The specific PID algorithm can refer to the prior art and will not be described in detail here.

[0073] In one embodiment, in the process of controlling the thrust of a mechanical device according to tree data and wind speed, upon receiving a stop output operation on a remote controller, the thrust rod of the mechanical device can be controlled to stop outputting thrust. On the one hand, this allows inspection personnel to control the mechanical device to stop working through the remote controller in the event of an emergency. On the other hand, when the direction of a tree changes, the inspection personnel can control the mechanical device to stop outputting thrust through the remote controller and then adjust the position to re-control the direction of the tree.

[0074] In an optional embodiment, after the tree is cut down, the mechanical device can control the gripper to release the tree when the tree is pushed to a certain angle, such as controlling the gripper of the clamp to open and controlling the screw rod to reverse and withdraw from the trunk, so that the tree automatically falls to the side away from the power transmission line under the action of gravity.

[0075] In the power line tree clearing direction control device of the embodiment of the present invention, after being connected to the remote control, the controller responds to the remote control operation to control the mechanical device to grab the trees to be cut down, receives tree data and wind speed from the sensor, and controls the thrust of the mechanical device according to the tree data and wind speed. There is no need for patrol personnel to climb trees and bind ropes to drag and control the falling direction of trees. The patrol personnel can control the mechanical device to grab the trees at a safe distance through the remote control, and the controller controls the mechanical device to output thrust through the tree data and wind speed to push the trees to fall in the specified direction. This can not only improve the efficiency of power line inspection and tree felling, but also ensure the direction of tree falling, and ensure the safety of power lines and patrol personnel.

[0076] Furthermore, the diameter, species and wind-exposed area of ​​the trees can be identified based on the tree images, and the basic thrust can be calculated by estimating the weight and center of gravity height of the trees based on the diameter and species of the trees, as well as the compensatory thrust based on the wind speed and wind-exposed area. This enables adaptive wind speed adjustment and control of the thrust of the mechanical device to push the trees down, improves the reliability of the power transmission line tree clearance direction control equipment in controlling the direction of tree falling, and improves the intelligence and automation of tree felling during the power transmission line inspection process, reduces manpower requirements, reduces labor intensity, and improves the efficiency of power transmission line inspection.

[0077] Through the above description of the implementation mode, the technicians in the relevant field can clearly understand that the present invention can be implemented by means of software and necessary general hardware, and of course it can also be implemented by hardware, but in many cases the former is a better implementation mode. The controller can be various general and / or special processing components with processing and computing capabilities. Some examples of controllers include but are not limited to central processing units (CPUs), graphics processing units (GPUs), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, microcontrollers, etc. The controller performs the various methods and processes described above, such as the control method of the power transmission line tree clearance direction control device.

[0078] In some embodiments, the control method of the power line tree clearing direction control device may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit. In some embodiments, part or all of the computer program may be loaded and / or installed on the controller via a ROM and / or a communication unit. When the computer program is loaded into the RAM and executed by the controller, one or more steps of the control method of the power line tree clearing direction control device described above may be performed. Alternatively, in other embodiments, the controller may be configured to perform the control method of the power line tree clearing direction control device by any other appropriate means (e.g., by means of firmware).

[0079] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a controller so that when the computer programs are executed by the controller, the functions / operations specified in the flow charts and / or block diagrams are implemented. The computer programs may be executed entirely on the power line tree clearing direction control device, partially on the power line tree clearing direction control device, as a stand-alone software package partially on the power line tree clearing direction control device and partially on a remote machine, or entirely on a remote machine or server.

[0080] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0081] It is worth noting that in the above-mentioned embodiment of the power transmission line tree obstacle removal direction control device, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division. For example, the controller and the power supply can be integrated in the mechanical device as long as the corresponding functions can be realized; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0082] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A transmission line tree obstacle removal direction control device, characterized in that: It includes a mechanical device, a sensor, a controller, a remote controller and a power supply, wherein the controller is electrically connected to the mechanical device, the sensor and the remote controller respectively, and the power supply supplies power to the mechanical device, the sensor and the controller; A mechanical device for grabbing the tree to be felled and delivering thrust; sensors to obtain tree data and wind speed; A remote controller, for sending a remote control signal to the controller in response to an operation; The controller is used to: After being connected to the remote controller, the mechanical device is controlled to grab the tree to be felled in response to the operation of the remote controller; Receive tree data and wind speed from sensors; The thrust of the mechanical device is controlled according to the tree data and wind speed.

2. The power transmission line tree obstacle removal direction control device according to claim 1, characterized in that: The mechanical device comprises a clamping claw, a thrust rod and a base, the clamping claw is connected to the base via the thrust rod, and the remote controller comprises an operation button.

3. The power transmission line tree obstacle removal direction control device according to claim 2, characterized in that: The clamping jaw comprises a plurality of grippers and a lead screw located among the plurality of grippers and driven by a motor.

4. The power transmission line tree obstacle removal direction control device according to claim 2, characterized in that: The thrust rod is a thrust rod driven by an electric jack.

5. The power transmission line tree obstacle removal direction control device according to any one of claims 1 to 4, characterized in that: The sensors include a camera and a wind speed sensor.

6. A control method for a power transmission line tree obstacle removal direction control device, applied to the power transmission line tree obstacle removal direction control device according to any one of claims 1 to 5, comprising: After being connected to the remote controller, the mechanical device is controlled to grab the tree to be felled in response to the operation of the remote controller; Receive tree data and wind speed from sensors; The thrust of the mechanical device is controlled according to the tree data and wind speed.

7. The method according to claim 6, characterized in that The sensor includes a camera and a wind speed sensor, and receiving tree data and wind speed from the sensor includes: receiving the captured tree image from the camera and receiving the detected wind speed from the wind speed sensor; Identify the diameter, tree species, and wind-exposed area of ​​the tree based on the camera; The weight and center of gravity height of the tree are estimated based on the diameter and tree species.

8. The method according to claim 7, characterized in that The mechanical device includes a thrust rod, and the thrust of the mechanical device is controlled according to the tree data and the wind speed, including: Substitute the weight and center of gravity height of the tree into the following overturning moment calculation formula to calculate the overturning moment M: M=W tree ×G×h cg ÷cos(θ); W tree is the weight of the tree, G is the gravity coefficient, h cg is the height of the center of gravity of the tree, θ is the angle of the thrust rod of the mechanism; Calculate the reverse moment M and the length L of the thrust rod arm The ratio of is the basic thrust F0; The wind speed compensation thrust F is calculated by the following preset thrust compensation formula: V : F v =C d ×A×1 / 2σv 2 ; C d is the drag coefficient, A is the windward area of ​​the tree, σ is the air density, and v is the wind speed; Calculate the basic thrust F0 and the wind speed compensation thrust F V The sum of the values ​​is used to obtain the target thrust of the mechanical device; A thrust rod controlling the mechanical device outputs the target thrust.

9. The method according to claim 8, characterized in that Controlling the thrust rod of the mechanical device to output the target thrust includes: The electric jack driving the thrust rod is controlled based on a PID algorithm to output the target thrust.

10. The method according to any one of claims 7 to 9, characterized in that: In the process of controlling the thrust of the mechanical device according to the tree data and the wind speed, it also includes: When a stop output operation is received on the remote controller, the thrust rod of the mechanical device is controlled to stop outputting thrust.

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