CN108288836A - It is a kind of that the long-range barrier clearing device of molten electric transmission line hot-line and method are cut based on laser - Google Patents
It is a kind of that the long-range barrier clearing device of molten electric transmission line hot-line and method are cut based on laser Download PDFInfo
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- CN108288836A CN108288836A CN201810243718.1A CN201810243718A CN108288836A CN 108288836 A CN108288836 A CN 108288836A CN 201810243718 A CN201810243718 A CN 201810243718A CN 108288836 A CN108288836 A CN 108288836A
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- 230000004888 barrier function Effects 0.000 title claims abstract description 56
- 230000005540 biological transmission Effects 0.000 title claims abstract description 33
- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000012545 processing Methods 0.000 claims abstract description 42
- 230000009471 action Effects 0.000 claims abstract description 15
- 238000003384 imaging method Methods 0.000 claims description 31
- 229910052751 metal Inorganic materials 0.000 claims description 19
- 239000002184 metal Substances 0.000 claims description 19
- 238000001816 cooling Methods 0.000 claims description 10
- 230000003287 optical effect Effects 0.000 claims description 8
- 230000000694 effects Effects 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 6
- 238000012790 confirmation Methods 0.000 claims description 2
- 230000017525 heat dissipation Effects 0.000 claims description 2
- 230000003993 interaction Effects 0.000 claims description 2
- 238000009423 ventilation Methods 0.000 claims description 2
- 230000010365 information processing Effects 0.000 claims 1
- 230000005611 electricity Effects 0.000 abstract description 6
- 230000007613 environmental effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 4
- 230000035772 mutation Effects 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000009194 climbing Effects 0.000 description 2
- 239000004020 conductor Substances 0.000 description 2
- 238000009795 derivation Methods 0.000 description 2
- 239000004744 fabric Substances 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 241001465754 Metazoa Species 0.000 description 1
- 238000001354 calcination Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000034994 death Effects 0.000 description 1
- 231100000517 death Toxicity 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- 208000002925 dental caries Diseases 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000009738 saturating Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/32—Measuring distances in line of sight; Optical rangefinders by focusing the object, e.g. on a ground glass screen
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/02—Mountings, adjusting means, or light-tight connections, for optical elements for lenses
- G02B7/04—Mountings, adjusting means, or light-tight connections, for optical elements for lenses with mechanism for focusing or varying magnification
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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Abstract
The long-range barrier clearing device of molten electric transmission line hot-line and method are cut based on laser the invention discloses a kind of, this barrier clearing device includes nature photoimaging systems, information centre's processing system, Laser emission and autofocus system, Distance positioning and detecting system, cloud platform control system and emergency braking system this six big system.Utilize the device and method, without employing large-scale or auxiliary equipment, without pedaling tower, do not have to consider the environmental conditions such as landform and line levels, realize in time, quickly, safety it is remote can livewire work, remove the electric lines of various voltage class, all kinds of foreign matters on electrification railway contact net.The present apparatus is extracted by contour of track, the barrier on automatic identification transmission line of electricity, run-home and is emitted laser after equipment automatic focusing, is removed or shoot down foreign matter within tens of seconds.If natural person or birds occurs in laser action range, equipment automatically cuts off the power circuit of LASER Discharge Tube, prevents this barrier clearing device from maloperation occur, injures people or birds.
Description
Technical field
The invention belongs to Maintenance of Electric Transmission Line technical fields, and in particular to a kind of to cut molten electric transmission line hot-line based on laser
Long-range barrier clearing device and method.
Background technology
Currently, power transmission and distribution overhead transmission line, electrification railway contact net are mostly the bare metal protected by naked layer
Line is skyborne by tower erection, but the floatabilities foreign matter such as kite string, plastic cloth and advertising cloth, it is easy to be blown off by strong wind
Onto exposed plain conductor, once the foreign matter of such floatability is wet by rain, snow, dew retting, easily cause plain conductor alternate short
The failures such as road, single-phase earthing damage so as to cause defeated, distribution line tripping or circuit, cause people and animals' injures and deaths and power outage,
Therefore the foreign matter in time on cleaning transmission line of electricity is particularly significant for power supply safety.Foreign matter on traditional removing transmission line of electricity is adopted
With the modes such as livewire work or power failure processing, main tool, method and disadvantage to be used are described below：
(1) electrification is handled using insulating bar, operable apart from limited, needs to climb shaft tower, time-consuming and laborious and have
Certain risk；
(2) insulation ropes winding traction remove, need by remove device throwing to overhead transmission line on the road, for it is liftoff compared with
Foreign matter operation is relatively difficult on high circuit, and it is also relatively difficult to remove larger foreign matter；
(3) it uses hanging basket rope ladder to carry out manual processing, needs to climb pole tower operation, difficulty is larger and with certain dangerous
Property；
(4) it is handled with aerial lift device with insulated arm, the defect moved on a large scale can be handled, but by geographical conditions and height limitation pole
Greatly；
(5) it creeps on line traffic control or remote line the newer tool such as remove device, needs device being placed on circuit, also need
Climb shaft tower；
(6) unmanned plane flame is handled, but unmanned plane is complicated for operation and wing is easily damaged or even cuts in misoperation
Line is powered off, serious consequence is caused；
Above-mentioned tool and method is generally complicated with operation procedure, the activity duration is long, personnel's physical demand is big, operation peace
The problems such as full blast danger is high, manpower and materials consumption is big.
Effectively to solve the disadvantage that existing method and deficiency, the object of the present invention is to provide one kind cut based on laser it is molten
The long-range barrier clearing device of electric transmission line hot-line, be suitable for the overhead transmission lines of various voltage class, distribution network line and electrical
Change railway contact line, patent of the present invention, which is removed obstacles, to be operated succinctly conveniently, without being used in combination with other equipment.Wherein natural light is imaged
System is responsible for collecting information and is transferred to information centre's processing system；Information centre's processing system divides foreign matter into line definition
Analysis, and determine image distance when barrier imaging is most clear；Image distance is transferred to described information center processing by positioning and detecting system
System；Cloud platform control system makes barrier by reducing the distance between barrier profile center and laser focusing center origin
Positioned at the Laser emission and focusing center's line of autofocus system；Information centre's processing system is allocated according to the variable of feedback
The Laser emission and autofocus system complete automatic focusing, determine corresponding laser focusing amount s；Information centre's processing system
Instruction is sent out to laser emitter, LED laser transmitting tube emits laser automatically, completes work of removing obstacles；Operating personnel can be on ground
It is manually operated on face, does not have to climbing shaft tower and not only save the time without being in contact with transmission line of electricity, also more ensure that work
The safety of personnel.
Based on precision of laser ranging problem, the present invention is public by the optics for establishing image objects process and laser focusing
Formula establishes the relational expression between imaging optical system parameter and Focused Optical system parameter, counteracts distance in two formula
Between effect, avoid current distance measuring method, i.e. initiative range measurement and the shortcomings that two methods of passive ranging, dramatically carry
High range accuracy.
Based on laser safety in utilization and reliability, the target that the present invention is positioned by recognition detection judges that it is barrier
Hinder object or natural person, birds, the laser transmitting system only when the identifying system detects there is barrier on circuit, and
And can just start laser transmitting laser when natural person and birds are not detected, external circuit is otherwise cut off, this largely avoided
The hidden danger of laser misuse, has ensured the safety of the person.
Invention content
In order to achieve the above objectives, the technical solution adopted by the present invention is：
It is a kind of that the long-range barrier clearing device of molten electric transmission line hot-line is cut based on laser, it is characterised in that：Described device includes 3
Main system and 3 auxiliary systems, wherein 3 main systems include nature photoimaging systems, information centre's processing system, laser hair
It penetrates and autofocus system, 3 auxiliary systems includes Distance positioning and detecting system, cloud platform control system, emergency braking system；
Wherein natural photoimaging systems and Laser emission and autofocus system are wrapped up and are connected with each other by conjuncted metal shell.
The natural photoimaging systems include natural light imaging lens group, the photosensitive screens of CCD；The natural light imaging is saturating
Microscope group is located at the front end in the small cavity of conjuncted metal shell, is connect with the sliding rail of metal shell inner surface；The sliding rail
Road to mobile natural light imaging lens group in focussing process position；The photosensitive screens of the CCD, which are located at, possesses natural light imaging
The tail of cavity body of lens group is transferred to central controller to receiving lens imaging.
The Laser emission and autofocus system include laser automatic focusing device, focus concavees lens, focus convex lens,
Laser emitter, beam collimator, battery case, cooling fan；Wherein the focusing concave, convex lens are located at conjuncted metal shell
Front end in large cavity is connect with the sliding rail of metal shell inner surface；The sliding rail in focussing process moving
The position of dynamic condenser lens；The laser automatic focusing device is connected with the inner wall of metal shell large cavity, is located at and focuses concave, convex
The centre of lens, both ends be separately connected focus concave, convex lens, by stretch adjust the distance between concave, convex lens with this come into
Row focusing；Distance between concave, convex lens is measured by the Distance positioning and detecting system, obtained by being calculated with central controller
The distance between focusing concave, convex lens be compared, when two apart from it is equal when be considered as focusing and complete.
The beam collimator uses at least by each a piece of collimating optics unit formed of concave-convex lens, swashs positioned at described
Optical transmitting set front end collimates the laser beam that the laser emitter is sent out；The laser emitter is located at the beam collimation
The rear of device is fixed on using large cavity axle center as on the axial symmetry metal framework of axis, in metal framework close to the table of lens side
It is evenly distributed with LED laser transmitting tube by the center of circle of axle center on face, the metal framework other side is mounted with control circuit, is adjusted and swashs
The luminous power of radiant meets the adjustable requirement of laser emitter luminous power；The LED laser transmitting tube is by rear electricity
Lithium battery power supply in the box of pond controls open and close by the control circuit of central controller；In order to reduce the temperature of laser emitter,
Cooling fan described in rear carries out it local heat dissipation, air-flow caused by fan by both ends in front of laser emitter ventilation
Hole is discharged.
Information centre's processing system includes contact action plate and central controller；Wherein central controller controls
Nature photoimaging systems, Laser emission and autofocus system, Distance positioning and detecting system, holder emergency braking system,
Carry receive information, under the sending instructions of the task, and have the function of calculating；The contact action plate is the matchmaker of human-computer interaction
Be situated between, user can observe the position that laser optical path is aimed at by contact action plate, and can under special circumstances to barrier into
Row delineation manually.
The Distance positioning and detecting system is 2 interior lens rangefinders, is located at and focuses concavees lens and convex lens
On small cavity inner wall on large cavity inner wall between mirror and between natural light imaging lens group and the photosensitive screens of CCD, plays and build
The effect that data acquire before vertical negative-feedback and data calculate.
The cloud platform control system includes 2 electric rotating machines, controls Laser emission and autofocus system respectively in water
Plane and vertical plane carry out the rotation of certain angle, include additionally that attachment fixes disk and tripod；The emergency braking system
System is in case of emergency to be cut off the power by outside.
One kind method of removing obstacles includes the following steps：
S1. the natural photoimaging systems are responsible for collecting information and are transferred to information centre's processing system；
S2. described information central processing system is analyzed foreign matter into line definition and is determined when barrier imaging is most clear
Image distance u；
S3. image distance u is transferred to described information central processing system by the positioning and detecting system；
S4. the cloud platform control system makes barrier be located at the Laser emission and autofocus system by reducing Δ L
Focusing center's line；
S5. described information central processing system allocates the Laser emission according to the variable of feedback and autofocus system is complete
At automatic focusing, corresponding laser focusing amount s is determined；
S6. described information central processing system sends out instruction startup Laser Power Devices to Laser emission and autofocus system,
Automatic transmitting laser, completes work of removing obstacles
S7. described information central processing system is analyzed comparison confirmation laser in each working cycles by identification function and is made
With whether there is or not natural persons in region, if there is natural person, the emergency braking system disconnects switch in time, prevents accident；
S8. described information central processing system interacts the information completed in each working cycles with the cloud platform control system
Processing links.
Natural photoimaging systems are by adjusting lens group and the photosensitive screen distance u of the CCD in the step S2, and by institute
It states the image distance u values that barrier clarity is in corresponding to crest location by positioning and detecting system by image distance calculating and feeds back to institute
State information centre's processing system.
The step S4 adjusts the cloud platform control system reduction Δ L by information centre's processing system makes barrier shadow
Image position at the center of imaging system, due to the misalignment between the Laser emission and autofocus system and imaging system away from
It can be neglected compared with object distance, it is possible to which equivalent the two of regarding as has common center；Therefore when Δ L infinite tendencies and 0, barrier
Hinder level on focusing center's line of the Laser emission and autofocus system.
The step S5 is calculated at this time according to the variable for feeding back to described information central processing system by derivation formula
Corresponding laser focusing amount s, and as described information central processing system to built in the Laser emission and autofocus system
Motor sends out instruction, when focusing amount is s, completes laser automatic focusing.
In the natural photoimaging systems, concave-convex lens group camera lens and the photosensitive screens of CCD are at the uniform velocity adjusted by built-in motor
Distance u, the barrier that identifies is analyzed into line definition by information centre's processing system, is searched out by adjusting
Barrier imaging clarity crest location u and by the Distance positioning and detecting system by image distance calculate by u's
Value feeds back to information centre's processing system.
In the center-initial point distance method of determining and calculating, the barrier identified is found out with the algorithm that gets stuck is rotated using algorithm of convex hull
Two points for hindering distance in object profile farthest, the centers of 2 lines is as barrier profile center, by by barrier profile
Center and picture centre origin carry out the measuring and calculating of distance, delta L, reduce Δ L by adjusting the cloud platform control system, until Δ L
Stop adjusting when → → 0, barrier image is located at the center of imaging system at this time, and since Laser emission and automatic focus are
System has common center with imaging system, so when barrier be located at focusing center's line of Laser emission and autofocus system
On.
At the beginning of the built-in motor adjusts clarity each time, the built-in motor can first by the camera lens and
The position of CCD photosensitive imaging screens is moved to the pre-set fixed position u of institute in information centre's processing system0It carries out again afterwards built-in
Motor at the uniform velocity adjusts operation.It is 0 that wherein the image distance, which calculates and gives the initial coordinate of camera lens and CCD photosensitive imaging screens, just
The camera lens of beginning and CCD photosensitive imaging screen distances u0For pre-set value in information centre's processing system；Work as motor
It starts to work, the distance between concave-convex lens group camera lens and imaging screen variation delta u will be directly fed back to information centre's processing system
In system, u0With the as required image distance u of the sum of Δ u.
According to the variable for feeding back to information centre's processing system, pass through derivation formula
Corresponding laser focusing amount s at this time is calculated, and by information centre's processing system to Laser emission and autofocus system
Built-in motor send out instruction, so that it is adjusted focusing amount s at this time to corresponding value, to complete laser automatic focusing；Its
Middle F1For the natural photoimaging systems convexity focal length of lens, F2It is nature to take negative value, D for the natural photoimaging systems concave focal length of lens
Concave-convex lens distance in photoimaging systems, u are the image distance in nature photoimaging systems, f1For the concavees lens in laser focusing system
Focal length, f2For the focal length of convex lens in laser focusing system.
The laser emitter is using the adjustable laser emitter of luminous power of laser light source, the operator on ground
The case where member can be according to foreign bodies on transmission lines selects the optical power adjustment shelves of laser emitter on contact action plate in advance
Position；The beam collimator forms collimating optics unit, the laser for sending out laser emitter using at least two pieces of eyeglasses
Beam collimation, the control device of this part further include switching and being used for for adjusting the optical power adjustment of excitation-emission device luminous power
Indicate the luminous power indicator of luminous power size.At the same time, the cooling system is installed in the lower end of laser emitter, including
Cooling switch and temperature indicator two parts prevent laser emitter because of high frequency work for cooling to laser emitter
Make the high temperature generated and damages.
Above-mentioned obstacle recognition is identified using consistency profiles extraction contour of track, in the grid line being made of straight line
There are barriers, and the contour line of identification will be caused to generate mutation by Lu Zhongruo, sets the threshold value φ of mutation to know to barrier
Not, it is identified as barrier if mutation value is more than threshold value φ and draws a circle to approve the profile, if mutation value is skipped less than threshold value φ.It is above-mentioned
People, object identifying system be to be extracted to image information using consistency profiles, and be compared with information in database, identification exist
It whether there is natural person and birds within the scope of laser effect.
Consistency profiles above-mentioned it is characterized in that：Binary conversion treatment is carried out to the picture of shooting first, by the pixel on image
The gray value of point is set as 0 or 255, whole image is showed apparent black-white visual effect, then to the image of binaryzation
Be read out, carry out image scanning line by line, if image contains multiple black blocks, extract from left to right each color lump profile and only
Extract a profile.In order to improve recognition efficiency and speed, exterior contour information is only extracted, internal information is ignored, with
This reduces data processing amount.First profile point is defined and looked for profile point simultaneously, and from it, four adjacent up and down
Point starts recurrence and finds, until the point of entire profile is all searched out.The definition of the profile point, it is characterised in that if
There are one being white point in 8 consecutive points (upper and lower, left and right, upper left, lower-left, upper right, bottom right) of one stain, that is, it is considered
Profile point.
Above-mentioned identifying system be identified using OpenCV and it known others, object or barrier carry out with
Track, the emergency braking system are when the identifying system judges that there are natural person or birds within the scope of laser effect
When, emergency braking system will receive the power-off signal sent out from information centre's processing system, can quickly cut off Laser emission
The power supply of circuit switchs.The laser transmitting system only recognizes circuit when identifying system, and recognizes on circuit
There is a barrier, and unidentified emits laser to can just start LED laser pipe when people or birds.
It is above-mentioned a kind of the long-range barrier clearing device of molten electric transmission line hot-line to be cut based on laser, it is characterised in that：Supply unit
With control system, laser emitter, switch, cooling device are connected, and reliable power is provided for them.
Description of the drawings
Fig. 1 is the installation diagram front view of the present invention；
Fig. 2 is the installation diagram stereogram of the present invention；
Fig. 3 is the installation diagram right view of the present invention；
Fig. 4 is natural photoimaging systems of the invention and Laser emission and autofocus system internal structure schematic diagram；
Label meaning in Fig. 1-Fig. 4 that embodiment is related to：
1- natural light imaging lens groups；The photosensitive screens of 2-CCD；3- interior lens rangefinders；4- holder electric rotating machines；5- laser
Automatic focusing device；6- contact action plates；7- central controllers；8- cooling fans；9- battery cases；10- focuses concavees lens；11- is poly-
Burnt convex lens；12- laser emitters；13- beam collimators；14- tripods；15- attachmentes fix disk；16- ventholes；17- is big
Cavity；The small cavitys of 18-.
Specific implementation method
The present invention will be further described below with reference to the drawings.
It is a kind of the long-range barrier clearing device of molten electric transmission line hot-line is cut based on laser to include：Natural light imaging lens group 1, CCD
Photosensitive screen 2, interior lens rangefinder 3, holder electric rotating machine 4, laser automatic focusing device 5, contact action plate 6, central controller
7, cooling fan 8, battery case 9, focusing concavees lens 10, focusing convex lens 11, laser emitter 12, beam collimator 13, three feet
Frame 14, attachment fix disk 15, venthole 16, large cavity 17, small cavity 18.
A kind of application method for being cut the long-range barrier clearing device of molten electric transmission line hot-line based on laser, is included the following steps：
Step 1, operating personnel estimate the type and quality of barrier on conducting wire first, then device for opening master switch, and
The optical power adjustment switch position of laser emitter, equipment is selected to start to work on contact action plate, natural light imaging len
Group 1 collects focus position information and by the type of 7 analyses and comparison foreign bodies on transmission lines of central controller；
Step 2, central controller 7 is analyzed foreign matter into line definition and is generated using clarity as ordinate, with image distance u
For the curve of abscissa, image distance u of the abscissa as barrier imaging when most clear corresponding to curve maximum point is chosen；
Image distance u is transferred to the central controller 7 by step 3, interior lens rangefinder 3；
Step 4, holder electric rotating machine 4 make barrier be located at the Laser emission and autofocus system by reducing Δ L
Focusing center's line；
Step 5, central controller 7 allocate the laser automatic focusing device 5 according to the variable of feedback and determine corresponding laser
Focusing amount s completes automatic focusing；
Step 6, central controller 7 send out instruction to laser emitter 12, and laser is emitted automatically, and identifying system is working
Analysis comparison confirms that whether there is or not natural persons in laser action region in cycle, if there are natural person or birds, emergency braking system and
When disconnect switch, after the zone of action is without natural person device for clearing away obstacle repeat foregoing work；
Step 7, after waiting for foreign matter calcination, operating personnel turn off the power switch, and withdraw barrier clearing device, complete a work
It recycles.
The present invention propose it is a kind of the long-range barrier clearing device of molten electric transmission line hot-line and method are cut based on laser, it is not necessary that other are auxiliary
Equipment is helped, without climbing shaft tower, is extracted by contour of track, the barrier on automatic identification transmission line of electricity, equipment is automatically fixed
Defocused run-home simultaneously emits laser, removes or shoot down foreign matter within tens of seconds.If there is natural person, flies in laser action range
Fowl, then equipment automatically cut off switch, prevent danger.In whole process operating personnel with transmission line equipment without being in direct contact, can
Livewire work, can at a distance in time, quickly and safely remove line on foreign matter, carry be easy, it is easy to operate, it is time saving and energy saving, simultaneously
Avoid the possibility of laser misuse.
Claims (10)
1. a kind of cutting the long-range barrier clearing device of molten electric transmission line hot-line based on laser, it is characterised in that：Described device includes 3 masters
System and 3 auxiliary systems, wherein 3 main systems include nature photoimaging systems, information centre's processing system, Laser emission
And autofocus system, 3 auxiliary systems include Distance positioning and detecting system, cloud platform control system, emergency braking system；Its
Middle nature photoimaging systems and Laser emission and autofocus system are wrapped up and are connected with each other by conjuncted metal shell.
2. according to claim 1 cut the long-range barrier clearing device of molten electric transmission line hot-line based on laser, it is characterised in that：Institute
The natural photoimaging systems stated include natural light imaging lens group, the photosensitive screens of CCD；The natural light imaging lens group is located at connection
Front end in the small cavity of body metal shell, connect with the sliding rail of metal shell inner surface；The sliding rail is focusing
The position of natural light imaging lens group is moved in the process；The photosensitive screens of the CCD are located at the chamber for possessing natural light imaging lens group
Body tail portion is transferred to central controller to receiving lens imaging.
3. according to claim 1 cut the long-range barrier clearing device of molten electric transmission line hot-line based on laser, it is characterised in that：Institute
The Laser emission and autofocus system stated include laser automatic focusing device, focus concavees lens, focus convex lens, Laser emission
Device, beam collimator, battery case, cooling fan；Wherein the focusing concave, convex lens are located in conjuncted metal shell large cavity
Front end, connect with the sliding rail of metal shell inner surface；The sliding rail focuses thoroughly to mobile in focussing process
The position of mirror；The laser automatic focusing device is connected with the inner wall of metal shell large cavity, is located at and focuses in concave, convex lens
Between, both ends, which are separately connected, focuses concave, convex lens, is focused with this by stretching to adjust the distance between concave, convex lens；By
The Distance positioning and detecting system measure the distance between concave, convex lens, with central controller calculate it is obtained focus it is recessed,
The distance between convex lens is compared, when two apart from it is equal when be considered as focusing complete.
4. according to claim 3 cut the long-range barrier clearing device of molten electric transmission line hot-line based on laser, it is characterised in that：Institute
Beam collimator is stated to use at least by each a piece of collimating optics unit formed of concave-convex lens, before being located at the laser emitter
End, collimates the laser beam that the laser emitter is sent out；The laser emitter is located at the rear of the beam collimator, Gu
It is scheduled on using large cavity axle center on the axial symmetry metal framework of axis, to be with axle center on the surface of lens side in metal framework
The center of circle is evenly distributed with LED laser transmitting tube, and the metal framework other side is mounted with control circuit, and the light work(of laser light source is adjusted
Rate meets the adjustable requirement of laser emitter luminous power；The LED laser transmitting tube is by the battery in rear cell box
Power supply controls open and close by the control circuit of central controller；In order to reduce the temperature of laser emitter, the cooling described in rear
Fan carries out it local heat dissipation, and air-flow is discharged by the ventilation hole at both ends in front of laser emitter caused by fan.
5. according to claim 1 cut the long-range barrier clearing device of molten electric transmission line hot-line based on laser, it is characterised in that：Institute
The information centre's processing system stated includes contact action plate and central controller；Wherein central controller controls natural light at
As system, Laser emission and autofocus system, Distance positioning and detecting system, holder emergency braking system, reception carry
Information, under the sending instructions of the task, and have the function of calculating；The contact action plate is the medium of human-computer interaction, Yong Huke
The position that laser optical path is aimed at is observed by contact action plate, and barrier can be enclosed manually under special circumstances
It is fixed.
6. according to claim 2 or 3 cut the long-range barrier clearing device of molten electric transmission line hot-line based on laser, feature exists
In：The Distance positioning and detecting system is 2 interior lens rangefinders, is located at and focuses between concavees lens and convex lens
Large cavity inner wall on and the small cavity inner wall between natural light imaging lens group and the photosensitive screens of CCD on, it is negative anti-to play foundation
The effect that data acquire before feedback and data calculate.
7. according to claim 1 cut the long-range barrier clearing device of molten electric transmission line hot-line based on laser, it is characterised in that：Institute
The cloud platform control system stated includes 2 electric rotating machines, and control Laser emission and autofocus system are in horizontal plane and vertically respectively
Face carries out the rotation of certain angle, includes additionally that attachment fixes disk and tripod；The emergency braking system be to
In emergency circumstances cut off the power by outside.
A kind of method 8. electric transmission line hot-line is removed obstacles, which is characterized in that control it is described in claim 1 cut based on laser it is molten defeated
Electric line charges long-range barrier clearing device, includes the following steps：
S1. the natural photoimaging systems are responsible for collecting information and are transferred to information centre's processing system；
S2. described information central processing system analyzes foreign matter into line definition and determines image distance when barrier imaging is most clear
u；
S3. image distance u is transferred to described information central processing system by the positioning and detecting system；
S4. the cloud platform control system is by reducing the distance between barrier profile center and laser focusing center origin Δ L
Barrier is set to be located at focusing center's line of the Laser emission and autofocus system；
S5. described information central processing system allocates the Laser emission according to the variable of feedback and autofocus system is completed certainly
Dynamic focusing, determines corresponding laser focusing amount s；
S6. described information central processing system sends out the power supply that instruction starts laser to Laser emission and autofocus system, from
Dynamic transmitting laser, completes work of removing obstacles；
S7. described information central processing system analyzes comparison confirmation laser action area by identification function in each working cycles
Whether there is or not natural persons in domain, if there is natural person, the emergency braking system disconnects switch in time, prevents accident；
S8. described information central processing system interacts the information processing completed in each working cycles with the cloud platform control system
Link.
The method 9. electric transmission line hot-line according to claim 8 is removed obstacles, it is characterised in that：In the step S2 natural light at
As system is calculated by adjusting lens group and the photosensitive screen distance u of the CCD, and by the positioning and detecting system by image distance
Barrier clarity is in the image distance u values corresponding to crest location and feeds back to described information central processing system.
The method 10. electric transmission line hot-line according to claim 8 is removed obstacles, it is characterised in that：The step S4 passes through information
Central processing system adjusts the cloud platform control system and reduces between barrier profile center and laser focusing center origin
Distance, delta L makes barrier image be located at the center of imaging system, due to the Laser emission and autofocus system and imaging
Misalignment between system is away from negligible compared with object distance, it is possible to which equivalent the two of regarding as has common center；Therefore work as
Δ L infinite tendencies and when 0, barrier is located on focusing center's line of the Laser emission and autofocus system.
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Application publication date: 20180717 |