CN106816824A - A kind of fully-automatic laser obstacle eliminating system and method for trolley line - Google Patents
A kind of fully-automatic laser obstacle eliminating system and method for trolley line Download PDFInfo
- Publication number
- CN106816824A CN106816824A CN201710094968.9A CN201710094968A CN106816824A CN 106816824 A CN106816824 A CN 106816824A CN 201710094968 A CN201710094968 A CN 201710094968A CN 106816824 A CN106816824 A CN 106816824A
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- China
- Prior art keywords
- laser
- trolley line
- barrier
- dynamic focusing
- fully
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- Laser Beam Processing (AREA)
Abstract
The present invention relates to a kind of fully-automatic laser obstacle eliminating system for trolley line,Including laser bodies,Industrial camera,Controller,Display screen,Laser range finder and dynamic focusing system,Industrial camera absorbs built on stilts line image to be removed obstacles,Built on stilts line image is shown enlarged on display screen is easy to observation,Laser range finder tests out obstacle distance and signal is transported to controller,Controller is provided with judge module and control module,Judge module judges the position of barrier on trolley line according to absorbed trolley line picture signal,Laser bodies send laser and enter dynamic focusing system,Control module controls dynamic focusing system Laser Focusing to barrier,Laser lights barrier,Barrier burns or gasifies,Laser obstacle eliminating system is simple to operate,Work need not be climbed,It is time saving and energy saving,Accuracy is very high,Suitable for trolley line higher,The situations such as tiny barrier,It is with low cost,Operating personnel obtains safety guarantee,It is practical.
Description
Technical field
Removed obstacles field the present invention relates to trolley line, and in particular to a kind of fully-automatic laser obstacle eliminating system for trolley line and
Method.
Background technology
Overhead transmission line refers mainly to aerial line, is erected on ground, is to be fixed on uprightly transmission pressure with insulator
In on the shaft tower on ground to transmit the transmission line of electricity of electric energy, because overhead transmission line directly it is exposed in atmosphere, kite, plastic cloth, modeling
The floating objects such as pocket, kite string easily blow off onto trolley line, once the foreign matter of such floatability is wet by rain, snow, dew retting, easily
The failures such as plain conductor phase fault, single-phase earthing are caused, so as to cause the tripping operation of electric line or circuit to be damaged, or even is hung down
Fall the foreign matter of the accessible position of people and animals, it is likely that cause people and animals' injures and deaths, therefore, the foreign matter pair cleared up on transmission line of electricity in time
It is particularly significant in power supply safety, but limited away from ground etc. due to installing ground abnormity, trolley line, bring very big to foreign matter is removed
Difficulty, traditional method of removing obstacles is that workpeople installs crawling device by climbing shaft tower on trolley line, and crawling device is in frame
It is mobile on ceases to be busy to remove foreign matter, but due to climbing dangerous larger, activity duration long, complex operation, high cost, effect on driving birds is not good etc.
Many defects, so this method of removing obstacles is being slowly eliminated, take and treat be to be removed obstacles using laser, staff
Only need on the ground open and move laser, the barrier on laser alignment trolley line, treat when enough long-time obstacles
Thing will burn or gasify, thus remove obstacles, operation very simple and fast, but for trolley line and small volume higher
Obstacle for, artificial mobile laser alignment is difficult, positioning not precisely so that cannot normal work.
The content of the invention
In order to overcome trolley line in the prior art to remove obstacles run into activity duration long, effect on driving birds is not good, location difficulty, operation wind
The problems such as danger is high, the present invention provides a kind of fully-automatic laser obstacle eliminating system and method for trolley line, and concrete technical scheme is such as
Under：
A kind of fully-automatic laser obstacle eliminating system for trolley line, including laser bodies, industrial camera, controller, display screen,
Laser range finder and dynamic focusing system, industrial camera absorb built on stilts line image to be removed obstacles, and built on stilts line image is shown enlarged in
It is easy to observation on display screen, laser range finder tests out obstacle distance and signal is transported to controller, and controller is provided with to be sentenced
Disconnected module and control module, judge module judge the position of barrier on trolley line according to absorbed trolley line picture signal, swash
Light device body sends laser and enters dynamic focusing system, and control module controls dynamic focusing system Laser Focusing to barrier,
Laser lights barrier, barrier burning or gasification.
Used as a preferred embodiment of the present invention, the laser bodies include the titanium dioxide inside metal shell
Carbon laser, laser beam reshaping device and visible ray black light beam merging apparatus, carbon dioxide laser produce CO2 laser to enter
Enter laser beam reshaping device, laser beam reshaping device change the intensity distribution of incoming laser beam and be transported to visible ray can not
See photosynthetic bundle device, it is seen that light black light beam merging apparatus are easy to naked eyes identification laser position during visible ray is added laser, move
State focusing system is CO2 Laser Focusings in a bit.
As a preferred embodiment of the present invention, also including fast anti-mirror and speculum, the laser that dynamic focusing system is focused on
Speculum is refracted to through fast anti-mirror, speculum is gone out laser reflection for 45 °
As a preferred embodiment of the present invention, high voltage protective set is installed, after metal shell behind the carbon dioxide laser
Side is provided with the string holes that the water pipe and power supply source line of turnover of supplying water are penetrated, and protection window is installed in metal shell front.
Used as a preferred embodiment of the present invention, the laser beam reshaping device includes that housing and two pieces of multiple differences are recessed
Convex lens, two pieces of concave and convex lenses are separately mounted to the front and back end of housing.
Used as a preferred embodiment of the present invention, the dynamic focusing system includes dynamic focusing mirror, concave mirror and aspheric
Face mirror.
As a preferred embodiment of the present invention, also including being easy to industrial camera to catch the sight of grabgraf picture.
A kind of fully-automatic laser for trolley line is removed obstacles method, including following step is poly-,
(1) barrier is found, the real-time image signal of industrial camera intake trolley line is transferred to controller, controller called data
Image model in storehouse during the normal clear of trolley line is contrasted with real-time image signal, judge module disturbance in judgement thing
Orientation, laser range finder tests out barrier with a distance from laser bodies and transmits signals to controller；
(2) Laser Focusing, carbon dioxide laser produces CO2 laser, and CO2 laser sequentially passes through laser beam reshaping device, visible
Light black light beam merging apparatus, dynamic focusing system, fast anti-mirror, speculum, protection window are transmitted into outside；
(3) position, the distance that control module is tested according to the judged result and laser range finder of judge module, control dynamic focusing
System is strafed Laser Focusing movement on barrier；
(4) remove, barrier burns or gasifies.
Beneficial effects of the present invention：Laser obstacle eliminating system is simple to operate, and industrial camera absorbs built on stilts line image to be removed obstacles
Amplify through display screen and show, time saving and energy saving without climbing work, the position of judge module disturbance in judgement thing, laser range finder is surveyed
Obstacle distance is tried out, control module control dynamic focusing system is focused on barrier, so that the irradiation position of laser is adjusted,
Accuracy is very high, it is adaptable to the situation such as trolley line higher, tiny barrier, and with low cost, operating personnel obtains safety guarantee,
Practical, in addition, laser bodies are rational in infrastructure, carbon dioxide laser, laser beam reshaping device, visible ray are invisible
Photosynthetic bundle device, collaborative work, send the CO2 laser beams of high energy Far Range.
Brief description of the drawings
Fig. 1 is the schematic diagram of present system；
Fig. 2 is the schematic diagram of laser beam reshaping device of the present invention；
Fig. 3 is the schematic diagram of dynamic focusing system of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawings, specific embodiment of the invention is described further：
In the description of the invention, it is necessary to explanation, term " " center ", " on ", D score, "left", "right", " vertical ", " water
It is flat ", " interior ", the orientation of the instruction such as " outward " or position relationship be based on orientation shown in the drawings or position relationship, merely to just
Described in the description present invention and simplifying, rather than indicate imply signified position or element must have specific orientation, with
Specific azimuth configuration and operation, therefore be not considered as limiting the invention.
As shown in figure 1, a kind of fully-automatic laser obstacle eliminating system for trolley line, including laser bodies 1, industrial camera
2nd, controller 3, display screen, laser range finder 4 and dynamic focusing system 5, industrial camera 2 absorb built on stilts line image to be removed obstacles,
Built on stilts line image be shown enlarged on display screen is easy to observation, laser range finder 4 test out barrier from laser bodies 1 away from
Controller 3 is transported to from and distance signal, controller 3 is the computer with algorithm, and controller 3 is provided with judge module and control
Molding block, picture signal of the judge module according to absorbed trolley line picture signal with trolley line foreign in database is compared
To judging, so as to be clear from the position of barrier on trolley line, laser bodies 1 send laser into dynamic focusing system 5,
The distance signal control dynamic that the trolley line picture signal and laser range finder 4 that control module is absorbed according to industrial camera are collected is poly-
Laser Focusing to barrier, laser lights barrier, barrier burning or gasification to burnt system 5.
Specifically, the laser bodies 1 include the carbon dioxide laser 12, laser inside metal shell 11
Light-beam forming unit 13 and visible ray black light beam merging apparatus 14, carbon dioxide laser produce CO2 laser to enter laser light
Beam apparatus for shaping 13, laser beam reshaping device 13 includes housing 13a and two pieces of multiple difference concave and convex lenses 13b, two pieces of concave and convex lenses
13b is separately mounted to the front and back end of housing 13, and laser beam reshaping device 13 changes the intensity distribution of incoming laser beam, adjusts it
Phase distribution controlling its propagation characteristic, make that it propagates is farther, and laser enters visible ray black light beam merging apparatus 14, can
See that light black light beam merging apparatus 14 are easy to naked eyes identification laser position, human eye that laser can be seen during visible ray is added laser
Light path track, dynamic focusing system 5 is CO2 Laser Focusings in a bit.
In order to obtain more preferable using effect, fully-automatic laser obstacle eliminating system also includes fast anti-mirror 6 and speculum 7, dynamic
The laser that focusing system 5 is focused on is refracted to speculum 7 through fast anti-mirror 6, and fast anti-mirror 6 is by quick motor with speculum group into quickly
Motor drives speculum quickly to shake, and a laser of irradiation is changing into face to be strafed, and scope is wider, and speculum 7 is laser reflection
45 ° are gone out.
Specifically, the carbon dioxide laser 12 installs high voltage protective set 15 below, the rear of metal shell 11 is provided with confession
Protection window 18 is installed in the string holes 17 that the water pipe 16 and power supply source line of water turnover are penetrated, the front of metal shell 11, and cooling water is through water pipe
16 enter the inside of metal shell 11 and positioned at the rear of carbon dioxide laser 12, and high voltage protective set 15 covers carbon dioxide laser
12 power ends for preventing cooling water directly contact carbon dioxide laser 12, with anti-tamper, protection window 18 prevents foreign matter from entering gold
In category shell 11, each part is damaged.
Specifically, dynamic focusing system 5 includes dynamic focusing mirror 53, concave mirror 51 and aspherical mirror 52, concave mirror
51 play optically focused, and aspherical mirror 52 can reduce the aberration of optical correction eyeglass, and dynamic focusing mirror 53 is focused to laser, control
Molding block specifically controls dynamic focusing mirror 53 to rotate so as to realize adjusting the purpose of laser focus position, in addition, fully-automatic laser
Obstacle eliminating system also includes also including being easy to industrial camera 2 to catch the sight 8 of grabgraf picture.
Above content is to combine specific preferred embodiment further description made for the present invention, it is impossible to assert
Specific implementation of the invention is confined to these explanations, for general technical staff of the technical field of the invention,
On the premise of not departing from present inventive concept, some simple deduction or replace can also be made, should be all considered as belonging to of the invention
Protection domain.
Claims (8)
1. a kind of fully-automatic laser obstacle eliminating system for trolley line, it is characterised in that：Including laser bodies, industrial camera,
Controller, display screen, laser range finder and dynamic focusing system, industrial camera absorb built on stilts line image to be removed obstacles, trolley line
Image is shown enlarged on display screen is easy to observation, and laser range finder tests out obstacle distance and signal is transported to control
Device, controller is provided with judge module and control module, and judge module is judged on trolley line according to absorbed trolley line picture signal
The position of barrier, laser bodies send laser and enter dynamic focusing system, and control module control dynamic focusing system is sharp
Light focuses on barrier, and laser lights barrier, barrier burning or gasification.
2. a kind of fully-automatic laser obstacle eliminating system for trolley line according to claim 1, it is characterised in that：The laser
Device body includes the carbon dioxide laser inside metal shell, laser beam reshaping device and visible ray black light
Beam merging apparatus, carbon dioxide laser produces CO2 laser to enter laser beam reshaping device, laser beam reshaping device change into
Penetrate the intensity distribution of laser beam and be transported to visible ray black light beam merging apparatus, it is seen that light black light beam merging apparatus are visible
Light is easy to naked eyes identification laser position in adding laser, and dynamic focusing system is CO2 Laser Focusings in a bit.
3. a kind of fully-automatic laser obstacle eliminating system for trolley line according to claim 1, it is characterised in that：Also include fast
Anti- mirror and speculum, the laser that dynamic focusing system is focused on are refracted to speculum through fast anti-mirror, and speculum goes out laser reflection for 45 °
Go.
4. a kind of fully-automatic laser obstacle eliminating system for trolley line according to claim 2, it is characterised in that：The dioxy
Change and high voltage protective set is installed behind carbon laser, metal shell rear is provided with the line that the water pipe and power supply source line of turnover of supplying water are penetrated
Hole, metal shell front is installed by protection window.
5. a kind of fully-automatic laser obstacle eliminating system for trolley line according to claim 2, it is characterised in that：The laser
Light-beam forming unit includes housing and two pieces of multiple difference concave and convex lenses, and two pieces of concave and convex lenses are separately mounted to the front and back end of housing.
6. a kind of fully-automatic laser obstacle eliminating system for trolley line according to claim 1, it is characterised in that：The dynamic
Focusing system includes dynamic focusing mirror, concave mirror and aspherical mirror.
7. a kind of fully-automatic laser obstacle eliminating system for trolley line according to claim 1, it is characterised in that：Also include just
The sight of grabgraf picture is caught in industrial camera.
8. a kind of fully-automatic laser for trolley line is removed obstacles method, it is characterised in that：It is poly- including following step,
(1) barrier is found, the real-time image signal of industrial camera intake trolley line is transferred to controller, controller called data
Image model in storehouse during the normal clear of trolley line is contrasted with real-time image signal, judge module disturbance in judgement thing
Orientation, laser range finder tests out barrier with a distance from laser bodies and transmits signals to controller；
(2) Laser Focusing, carbon dioxide laser produces CO2 laser, and CO2 laser sequentially passes through laser beam reshaping device, visible
Light black light beam merging apparatus, dynamic focusing system, fast anti-mirror, speculum, protection window are transmitted into outside；
(3) position, the distance that control module is tested according to the judged result and laser range finder of judge module, control dynamic focusing
System is strafed Laser Focusing movement on barrier；
(4) remove, barrier burns or gasifies.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710094968.9A CN106816824A (en) | 2017-02-22 | 2017-02-22 | A kind of fully-automatic laser obstacle eliminating system and method for trolley line |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710094968.9A CN106816824A (en) | 2017-02-22 | 2017-02-22 | A kind of fully-automatic laser obstacle eliminating system and method for trolley line |
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| Publication Number | Publication Date |
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| CN106816824A true CN106816824A (en) | 2017-06-09 |
Family
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|---|---|---|---|
| CN201710094968.9A Pending CN106816824A (en) | 2017-02-22 | 2017-02-22 | A kind of fully-automatic laser obstacle eliminating system and method for trolley line |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107144957A (en) * | 2017-06-26 | 2017-09-08 | 广东电网有限责任公司东莞供电局 | A kind of laser is removed transmission line of electricity and floatd the sighting system of article hanger |
| CN107234104A (en) * | 2017-07-14 | 2017-10-10 | 东莞市开关厂有限公司 | Integrated carbon dioxide laser obstacle cleaning machine |
| CN107643601A (en) * | 2017-11-09 | 2018-01-30 | 北京电子工程总体研究所 | One kind is based on CO2Laser tube light source expand and real-time focusing device |
| CN107706821A (en) * | 2017-11-09 | 2018-02-16 | 北京电子工程总体研究所 | A kind of CO of structural I-beam2Laser power grid foreign matter removes instrument |
| CN107994502A (en) * | 2017-12-04 | 2018-05-04 | 广东电网有限责任公司东莞供电局 | A kind of CO2Laser removes the transmission line of electricity drift attached water cooling power supply integrated device of article hanger |
| CN108381034A (en) * | 2018-03-23 | 2018-08-10 | 王雪燕 | A kind of laser auto focusing obstacle eliminating system and control method |
| CN108738813A (en) * | 2018-06-27 | 2018-11-06 | 国网新疆电力有限公司喀什供电公司 | Trees are removed obstacles laser aid |
| CN108746087A (en) * | 2018-07-17 | 2018-11-06 | 云南电网有限责任公司曲靖供电局 | The clear line apparatus of laser and system |
| CN109193449A (en) * | 2018-08-17 | 2019-01-11 | 东莞市开关厂有限公司 | A kind of intelligent portable laser is removed obstacles instrument |
| CN112153284A (en) * | 2020-09-23 | 2020-12-29 | 上海西邦电气有限公司 | Equipment safety protection method applied to laser obstacle clearing instrument |
| CN112180976A (en) * | 2020-09-30 | 2021-01-05 | 重庆电子工程职业学院 | Control system and method for intelligent fire-spraying obstacle-removing unmanned aerial vehicle |
| WO2021208340A1 (en) * | 2020-04-14 | 2021-10-21 | 上海西邦电气有限公司 | Laser obstacle removing instrument collimating lens having automatic focusing function |
| CN113618248A (en) * | 2021-07-20 | 2021-11-09 | 浙江上青元电力科技有限公司 | Laser obstacle removing system |
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| CN107144957A (en) * | 2017-06-26 | 2017-09-08 | 广东电网有限责任公司东莞供电局 | A kind of laser is removed transmission line of electricity and floatd the sighting system of article hanger |
| CN107234104A (en) * | 2017-07-14 | 2017-10-10 | 东莞市开关厂有限公司 | Integrated carbon dioxide laser obstacle cleaning machine |
| CN107643601A (en) * | 2017-11-09 | 2018-01-30 | 北京电子工程总体研究所 | One kind is based on CO2Laser tube light source expand and real-time focusing device |
| CN107706821A (en) * | 2017-11-09 | 2018-02-16 | 北京电子工程总体研究所 | A kind of CO of structural I-beam2Laser power grid foreign matter removes instrument |
| CN107994502A (en) * | 2017-12-04 | 2018-05-04 | 广东电网有限责任公司东莞供电局 | A kind of CO2Laser removes the transmission line of electricity drift attached water cooling power supply integrated device of article hanger |
| CN108381034B (en) * | 2018-03-23 | 2019-10-15 | 王雪燕 | A kind of laser auto focusing obstacle eliminating system and control method |
| CN108381034A (en) * | 2018-03-23 | 2018-08-10 | 王雪燕 | A kind of laser auto focusing obstacle eliminating system and control method |
| CN108738813A (en) * | 2018-06-27 | 2018-11-06 | 国网新疆电力有限公司喀什供电公司 | Trees are removed obstacles laser aid |
| CN108746087A (en) * | 2018-07-17 | 2018-11-06 | 云南电网有限责任公司曲靖供电局 | The clear line apparatus of laser and system |
| CN109193449A (en) * | 2018-08-17 | 2019-01-11 | 东莞市开关厂有限公司 | A kind of intelligent portable laser is removed obstacles instrument |
| WO2021208340A1 (en) * | 2020-04-14 | 2021-10-21 | 上海西邦电气有限公司 | Laser obstacle removing instrument collimating lens having automatic focusing function |
| CN112153284A (en) * | 2020-09-23 | 2020-12-29 | 上海西邦电气有限公司 | Equipment safety protection method applied to laser obstacle clearing instrument |
| CN112180976A (en) * | 2020-09-30 | 2021-01-05 | 重庆电子工程职业学院 | Control system and method for intelligent fire-spraying obstacle-removing unmanned aerial vehicle |
| CN112180976B (en) * | 2020-09-30 | 2022-11-11 | 重庆电子工程职业学院 | Control system and method for intelligent fire-spraying obstacle-removing unmanned aerial vehicle |
| CN113618248A (en) * | 2021-07-20 | 2021-11-09 | 浙江上青元电力科技有限公司 | Laser obstacle removing system |
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