Bird nest cleaning operation platform for power distribution tower of power system

Abstract

The invention relates to a bird nest cleaning operation platform for a power distribution tower of a power system, which comprises an automatic pole climbing mechanism, a remote control mechanical arm, a communication module and a visual monitoring module, and is characterized in that the automatic pole climbing mechanism comprises a pole climbing frame and at least two vertically arranged mounting frames; the pole climbing frame is connected with the adjacent mounting frames through connecting belts, the adjacent mounting frames are connected through connecting belts, a plurality of pole climbing wheels are arranged on the inner side of the pole climbing frame in the vertical direction, the upper end and the lower end of each mounting frame are each provided with a roller through a support, and the pole climbing wheels are connected together through chain wheels and chains to rotate synchronously. The remote control mechanical arm is installed on the top of the pole climbing frame, and a cleaning rod is detachably installed at the free end of the remote control mechanical arm. The bird nest cleaning operation platform is combined with an automatic climbing rod mechanism, a multi-degree-of-freedom remote control mechanical arm, visualization and other technologies, intelligent cleaning of climbing-free power distribution network bird nests is achieved, and power supply safety and reliability of a power distribution network are guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of power systems, and in particular to a bird's nest cleaning operation platform for a power distribution tower of a power system. Background Art

[0002] In recent years, the number of bird activities has continued to increase, and the number of bird nests has also increased sharply. The number of power system failures due to bird damage and bird nests has also increased year by year. When birds build nests on distribution network lines, since most of the nests are made of materials such as straw, shrubs, and even iron wire, it is easy to form conductive faults such as phase-to-phase short circuits and single-phase grounding when encountering humid weather such as rain and fog, which eventually leads to line tripping; because birds carry flammable items such as cigarette butts into the nests when building nests, fires are eventually caused to affect the safety of the distribution network over a large area, posing a huge safety hazard to the operation of the power grid.

[0003] In response to the above problems, this application combines the currently rapidly developing intelligent robots and visualization technologies to design a bird's nest cleaning operation platform for power system distribution towers. Combined with automatic climbing mechanisms, multi-degree-of-freedom remote-controlled robotic arms, visualization and other technologies, intelligent cleaning of bird nests in distribution networks without climbing is realized. The operator stands under the tower and remotely controls the automatic climbing mechanism to perform climbing operations. Through the mobile phone, the robotic arm can be controlled at any time to perform operations and understand the removal of bird nests. The application of this application has extremely high practical significance and value for ensuring the safety and reliability of power supply in the distribution network. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a bird's nest cleaning operation platform for the distribution pole tower of the power system, which combines the automatic climbing mechanism, multi-degree-of-freedom remote-controlled mechanical arm, visualization and other technologies to realize the intelligent cleaning of bird's nests in the distribution network without climbing, which has extremely high practical significance and value for ensuring the safe and reliable power supply of the distribution network.

[0005] To solve the above problems, the technical solution adopted by the present invention is:

[0006] A bird's nest cleaning operation platform for a power distribution tower in an electric power system, comprising an automatic pole climbing mechanism, a remote control mechanical arm, a communication module and a visual monitoring module, wherein the automatic pole climbing mechanism comprises a pole climbing frame and at least two vertically arranged mounting frames, wherein the pole climbing frame is connected to adjacent mounting frames and adjacent mounting frames are connected to each other via a connecting belt, wherein a plurality of pole climbing wheels are arranged along the vertical direction on the inner side of the pole climbing frame, wherein a roller wheel is installed at the upper and lower ends of the mounting frame via a bracket, and wherein the plurality of pole climbing wheels are connected together via a sprocket chain for synchronous rotation;

[0007] The remote control mechanical arm comprises a base fixed on the top of the climbing pole frame, a rotatable rotating arm arranged on the base, and a first swing arm hinged to the upper end of the rotating arm for pitching movement, the free end of the first swing arm is hinged to the second swing arm for pitching movement, and the free end of the second swing arm is detachably mounted with a cleaning rod;

[0008] The visual monitoring module includes a camera and a control box arranged on the top of the climbing pole frame, and a battery and a real-time video transmission module are arranged in the control box; the communication module is arranged in the control box, and can realize wireless remote control of the robotic arm in conjunction with the remote control.

[0009] As an implementation mode of the present invention, the communication module includes a wireless communication module, an infrared communication module and a laser communication module, so as to improve the anti-interference capability in a complex strong magnetic field environment.

[0010] As an embodiment of the present invention, it also includes a remote control, which is provided with a sending processor and a key operation module. When the key operation module is operated, the sending processor can simultaneously send out wireless signals, infrared signals and laser signals; after the wireless communication module, infrared communication module and laser communication module receive the signal, the receiving processor processes the signal, and controls the remote control robotic arm to perform actual actions through the execution module.

[0011] As an implementation mode of the present invention, the wireless communication module is designed using the 2.4 GHz frequency band, and specifically uses a SX1212 single-core wireless chip; transparent communication is performed between the wireless communication chip and the core processor via a serial port.

[0012] As an implementation mode of the present invention, the visual monitoring module further includes a flat panel display screen, which is wirelessly connected to the real-time video transmission module to perform real-time transmission and display of the video.

[0013] As an implementation manner of the present invention, the flat-panel display screen and the remote controller are integrated into an integrated structure.

[0014] As an implementation manner of the present invention, the coordinate structure of the remote-controlled robotic arm is in the form of cylindrical coordinates.

[0015] As an implementation mode of the present invention, the bottom of the remote-controlled mechanical arm is detachably mounted on the top of the climbing pole frame through a bottom plate; and the control box is fixed on the base.

[0016] As an embodiment of the present invention, the climbing pole frame and the mounting frame are connected by a second connecting belt, and the mounting frames are connected by a first connecting belt, wherein the second connecting belt and the climbing pole frame are detachably connected together, and the connection length of the second connecting belt can be adjusted.

[0017] As an embodiment of the present invention, the connecting belt is made of flexible material; the climbing pole frame is a shell with an inner end open, and the climbing pole wheel is installed inside the climbing pole frame through a rotating shaft; and anti-slip belts are provided on the surfaces of the climbing pole wheel and the roller wheel.

[0018] The beneficial effects of adopting the above technical solution are:

[0019] The bird's nest cleaning operation platform provided by the present invention combines the currently rapidly developing intelligent robots and visualization technologies, and combines the automatic pole climbing mechanism, multi-degree-of-freedom remote-controlled mechanical arms, visualization and other technologies to realize the intelligent cleaning of bird nests in the distribution network without climbing. The operator stands under the pole tower and remotely controls the automatic pole climbing mechanism to perform the climbing operation. Through the mobile phone, the mechanical arm can be controlled at any time to perform the operation and understand the removal of the bird's nest. Its application has extremely high practical significance and value for ensuring the power supply safety and reliability of the distribution network.

[0020] The coordinated movement of the control motors in the remote-controlled robotic arm adopts a synchronous control method, which can improve the coordination ability of different motors during movement. In position control, the synchronization of the movement process is ensured, thereby improving the multi-degree-of-freedom coordinated movement ability of the remote-controlled robotic arm.

[0021] The SX1212 single-core wireless chip includes radio frequency functions and logic control functions, and integrates voltage-controlled oscillators, phase-locked loop circuits, power amplifier circuits, low-noise amplifier circuits, modulation and demodulation circuits, frequency converters, and intermediate frequency amplifier circuits. The wireless communication chip and the core processor communicate transparently through the serial port. This design has many advantages, such as long transmission distance, high receiving sensitivity, low power consumption, relatively strong penetration and diffraction capabilities, and can better cope with the working conditions of strong electromagnetic interference environments when working on poles.

[0022] The bird's nest cleaning operation platform has created an overall system software and hardware platform with visualization functions, integrating functions such as wireless remote control, real-time video transmission, and system status visualization presentation, and finally established an obstacle clearance visualization operation system based on multi-degree-of-freedom servo technology of remote-controlled robotic arms. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of the present invention.

[0024] Figure 2 It is a structural schematic diagram from another angle of the present invention.

[0025] Among them: 1 climbing pole frame, 2 climbing pole wheel, 3 mounting frame, 4 roller wheel, 5 first connecting belt, 6 second connecting belt, 7 bracket, 8 base, 9 rotating arm, 10 first swing arm, 11 second swing arm, 12 locking part, 13 bottom plate, 14 control box, 15 cleaning rod, 16 camera. DETAILED DESCRIPTION

[0026] In order to make the objectives, technical solutions and advantages of the present invention more clear, the present invention is clearly and completely described below in conjunction with specific embodiments.

[0027] like Figure 1 and Figure 2 A bird's nest cleaning operation platform for a power distribution tower in an electric power system is shown, which includes an automatic pole climbing mechanism, a remote control mechanical arm, a communication module and a visual monitoring module. The automatic pole climbing mechanism includes a pole climbing frame 1 and no less than two vertically arranged mounting frames 3. The pole climbing frame 1 is connected to adjacent mounting frames 3 and adjacent mounting frames 3 are connected to each other through a connecting belt. A plurality of pole climbing wheels 2 are arranged on the inner side of the pole climbing frame 1 along the vertical direction. A roller wheel 4 is installed at the upper and lower ends of the mounting frame 3 through a bracket 7. The plurality of pole climbing wheels 2 are connected together through a sprocket chain for synchronous rotation. The wheel axle of one of the pole climbing wheels 2 is connected to the output shaft of a servo motor.

[0028] The remote control mechanical arm includes a base 8 fixedly mounted on the top of the climbing pole frame 1, a rotatable rotating arm 9 rotatably mounted on the base 8, and a first swing arm 10 hinged to the upper end of the rotating arm 9 for pitching motion, the free end of the first swing arm 10 is hinged to a second swing arm 11 for pitching motion, the free end of the second swing arm 11 is detachably mounted with a cleaning rod 15, the free end of the cleaning rod is provided with a barb and other devices, and the bird's nest is cleaned by the cleaning rod 15;

[0029] The visual monitoring module includes a camera 16 and a control box 14 arranged on the top of the climbing pole frame 1, and the control box 14 is provided with a battery and a real-time video transmission module; the communication module is arranged in the control box 14, and can realize wireless remote control of the robotic arm in conjunction with the remote control.

[0030] The bird's nest cleaning operation platform provided by the present invention combines the currently rapidly developing intelligent robots and visualization technologies, and combines the automatic pole climbing mechanism, multi-degree-of-freedom remote-controlled mechanical arms, visualization and other technologies to realize the intelligent cleaning of bird nests in the distribution network without climbing. The operator stands under the pole tower and remotely controls the automatic pole climbing mechanism to perform the climbing operation. Through the mobile phone, the mechanical arm can be controlled at any time to perform the operation and understand the removal of the bird's nest. Its application has extremely high practical significance and value for ensuring the power supply safety and reliability of the distribution network.

[0031] The bird's nest cleaning operation platform has created an overall system software and hardware platform with visualization functions, integrating functions such as wireless remote control, real-time video transmission, and system status visualization presentation, and finally established an obstacle clearance visualization operation system based on multi-degree-of-freedom servo technology of remote-controlled robotic arms.

[0032] In this embodiment, the communication module includes a wireless communication module, an infrared communication module and a laser communication module, which realizes multi-means integrated wireless communication and improves the anti-interference capability in complex strong magnetic field environments.

[0033] The bird's nest cleaning operation platform also includes a remote control, which is provided with a sending processor and a key operation module. When the key operation module is operated, the sending processor can simultaneously send out wireless signals, infrared signals and laser signals; after the wireless communication module, infrared communication module and laser communication module receive the signal, the receiving processor processes the signal and controls the remote control mechanical arm to perform actual actions through the execution module.

[0034] The wireless communication module is designed with a 2.4GHz frequency band with strong anti-interference ability and low power consumption, and specifically uses a SX1212 single-core wireless chip, which includes radio frequency functions and logic control functions, and integrates a voltage-controlled oscillator, a phase-locked loop circuit, a power amplifier circuit, a low-noise amplifier circuit, a modulation and demodulation circuit, a frequency converter, and an intermediate amplifier circuit. The wireless communication chip and the core processor communicate transparently through the serial port. This design has many advantages such as long transmission distance, high receiving sensitivity, low power consumption, relatively strong penetration and diffraction capabilities, and can better cope with the working conditions of strong electromagnetic interference environment when working on the pole.

[0035] The coordinated movement of the control motors in the remote-controlled robotic arm adopts a synchronous control method, which can improve the coordination ability of different motors during movement. In position control, the synchronization of the movement process is ensured, thereby improving the multi-degree-of-freedom coordinated movement ability of the remote-controlled robotic arm.

[0036] The visual monitoring module also includes a flat screen, which is wirelessly connected to the video real-time transmission module to transmit and display the video in real time. The flat screen is integrated with the remote control into an integrated structure, which can be in the form of a mobile phone, tablet or laptop.

[0037] The coordinate structure of the remote-controlled robotic arm is in the form of cylindrical coordinates.

[0038] The bottom of the remote-controlled mechanical arm is detachably mounted on the top of the climbing pole frame 1 through a bottom plate 13 ; the control box 14 is fixed on the base 8 .

[0039] The climbing pole frame 1 is connected to the mounting frame 3 via a second connecting belt 6, and the mounting frames 3 are connected via a first connecting belt 5, wherein the second connecting belt 6 and the climbing pole frame 1 are detachably connected together, and the connection length of the second connecting belt 6 can be adjusted to be suitable for pole towers with different diameters.

[0040] The connecting belt is made of flexible material to adapt to the outer diameter of the tower pole. When connecting the climbing pole frame 1 and the mounting frame 3, the connecting belt must be kept tight to prevent the climbing pole wheel 2 and the roller 4 from slipping. The climbing pole frame 1 is a shell with an inner end open, and the climbing pole wheel 2 is installed inside the climbing pole frame 1 through a rotating shaft. Anti-slip belts are provided on the surfaces of the climbing pole wheel 2 and the roller 4.

[0041] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art may still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A bird's nest cleaning operation platform for power distribution towers in an electric power system, characterized in that: It comprises an automatic pole climbing mechanism, a remote control mechanical arm, a communication module and a visual monitoring module, wherein the automatic pole climbing mechanism comprises a pole climbing frame (1) and at least two vertically arranged mounting frames (3), wherein the pole climbing frame (1) is connected to adjacent mounting frames (3) and adjacent mounting frames (3) are connected to each other via a connecting belt, wherein a plurality of pole climbing wheels (2) are arranged along the vertical direction on the inner side of the pole climbing frame (1), wherein a roller wheel (4) is installed at the upper and lower ends of the mounting frame (3) via a bracket (7), and the plurality of pole climbing wheels (2) are connected together via a sprocket chain for synchronous rotation; The remote-controlled mechanical arm comprises a base (8) fixedly mounted on the top of the climbing pole frame (1), a rotating arm (9) rotatably mounted on the base (8), and a first swing arm (10) hingedly connected to the upper end of the rotating arm (9) for pitching motion, the free end of the first swing arm (10) being hingedly connected to a second swing arm (11) for pitching motion, and the free end of the second swing arm (11) being detachably mounted with a cleaning rod (15); The visual monitoring module comprises a camera (16) and a control box (14) arranged on the top of the climbing pole frame (1), wherein a battery and a real-time video transmission module are arranged in the control box (14); the communication module is arranged in the control box (14) and can realize wireless remote control of the mechanical arm in cooperation with a remote controller.

2. The bird's nest cleaning operation platform for power distribution towers in a power system according to claim 1, characterized in that: The communication module includes a wireless communication module, an infrared communication module and a laser communication module, which improves the anti-interference ability in a complex strong magnetic field environment.

3. The bird's nest cleaning operation platform for power distribution towers in a power system according to claim 2, characterized in that: It also includes a remote control, which is provided with a sending processor and a key operation module. When the key operation module is operated, the sending processor can simultaneously send out wireless signals, infrared signals and laser signals; after the wireless communication module, infrared communication module and laser communication module receive the signal, the receiving processor processes the signal, and controls the remote control robotic arm to perform actual actions through the execution module.

4. The bird's nest cleaning operation platform for power distribution towers in a power system according to claim 3, characterized in that: The wireless communication module is designed using the 2.4 GHz frequency band, and specifically uses the SX1212 single-core wireless chip; the wireless communication chip and the core processor communicate transparently via the serial port.

5. The bird's nest cleaning operation platform for power distribution towers in a power system according to claim 4, characterized in that: The visual monitoring module also includes a flat screen, which is connected to the video real-time transmission module via wireless to perform real-time transmission and display of the video.

6. The bird's nest cleaning operation platform for power distribution towers in a power system according to claim 5, characterized in that: The flat display screen and the remote controller are integrated into an integrated structure.

7. The bird's nest cleaning operation platform for power distribution towers in a power system according to claim 1, characterized in that: The coordinate structure of the remote-controlled robotic arm is in the form of cylindrical coordinates.

8. The bird's nest cleaning operation platform for power distribution towers in a power system according to claim 1, characterized in that: The bottom of the remote-controlled mechanical arm is detachably mounted on the top of the climbing pole frame 1 through a bottom plate (13); the control box (14) is fixed on the base (8).

9. The bird's nest cleaning operation platform for power distribution towers in a power system according to claim 1, characterized in that: The climbing pole frame (1) and the mounting frame (3) are connected via a second connecting belt (6), and the mounting frames (3) are connected via a first connecting belt (5), wherein the second connecting belt (6) and the climbing pole frame (1) are detachably connected together, and the connection length of the second connecting belt (6) is adjustable.

10. The bird's nest cleaning operation platform for power distribution towers in a power system according to claim 9, characterized in that: The connecting belt is made of a flexible material; the pole climbing frame (1) is a shell with an inner end open, and the pole climbing wheel (2) is installed inside the pole climbing frame (1) via a rotating shaft; and anti-slip belts are provided on the surfaces of the pole climbing wheel (2) and the roller (4).

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