CN108381034B - A kind of laser auto focusing obstacle eliminating system and control method - Google Patents
A kind of laser auto focusing obstacle eliminating system and control method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
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Abstract
The invention discloses a kind of laser auto focusing obstacle eliminating system and control methods, its system includes that nature photoimaging systems, ccd be photosensitive and feedback system, Distance positioning and detection system, cloud platform control system, laser auto focusing system and information centre's processing system, by full-automatic fixed-focus reduce during manual focusing caused by error；And using the method emitted afterwards of first focusing, avoids the laser with very high-energy and cause non-essential destruction, so that this system is safer in laser focusing.Its control method passes through the optics formula of simultaneous image objects process and laser focusing, establish the relational expression between imaging optical system parameter and Focused Optical system parameter, the influence apart from two formula of factor pair is eliminated, completely left out remote laser remove obstacles middle ranging the step for, the step bring error is reduced, the accuracy that laser focuses is improved.
Description
Technical field
The invention belongs to Maintenance of Electric Transmission Line technical fields, and in particular to a kind of laser auto focusing obstacle eliminating system and control
Method.
Background technique
Since strong wind weather easily occur in some areas annual spring, autumn, barrier (greenhouse volume often occurs for distribution line
Curtain, color steel plate, plastic film, balloon, celebration colour bar, kite, polybag, vertically hung scroll etc.) scraped on conducting wire by wind, cause urban district and
The barrier hung on the power line conductive of surrounding area, ground wire is increasing, frequent occurrence line outage, to it is defeated, match
The safe operation of electric line, which causes, to be seriously threatened.Currently, there is following methods to remove obstacles mode in power grid: one, insulation bucket arm
Vehicle lift-off is won, and the device of the method is huge, is not able to satisfy complicated landform, and power grid need to do power failure processing；Two, wheel type machine
People is carried foreign matter cleanout tool and is removed, and the method is cumbersome and mechanical stress is easy damage circuit；Three, unmanned plane flame is clear
It removes, the method position fixing process is complicated, higher cost, pollutes environment, and be more closely easy to damage route apart from alive circuit.
Long distance laser, which is removed obstacles, efficiently solves the above problem, has operating cost low, the influence to route is small, can band
The advantages of electric operation, but following problem is still had at present: one, manual operation be difficult orientation distance farther away barrier；
Two, need to calculate the distance between laser emitting point and barrier to determine the focal length of laser, distance measuring method, which has, at present actively surveys
Away from two methods of passive ranging:
1, initiative range measurement: to a branch of electromagnetic wave of object emission or laser, according to needed for receiving electromagnetic wave or laser again
Time difference calculates distance, although this method can measure distance, premise be electromagnetic wave or the vertical directive object of laser and
It can be reflected by barrier, otherwise can not receive reflected electromagnetic wave or laser, therefore generally be difficult to realize；
2, passive ranging: pass through the difference stored in the size and database of object in picture received by camera
The article size of distance is compared to judge the distance between camera and object, but due in practice, barrier size
It varies and is difficult to calculate and obstructions chart picture is irregular figure, therefore establish database and be difficult to realize.
The present invention proposes a kind of laser auto focusing obstacle eliminating system and control method, by establishing image objects process and swashing
The optics formula of light focusing, establishes the relational expression between imaging optical system parameter and Focused Optical system parameter, supports
Effect of the distance that disappeared between two formula, completely left out remote laser remove obstacles middle ranging the step for, and its precision is non-
Chang Gao.
Summary of the invention
A kind of laser auto focusing obstacle eliminating system includes nature photoimaging systems, ccd is photosensitive and feedback system, distance are fixed
Position and detection system, cloud platform control system, laser auto focusing system and information centre's processing system；
Wherein imaging system is by concave-convex lens group lens imaging, make object ccd is photosensitive and feedback system on show
The picture of object；Information centre's processing system identifies the barrier in image and utilizes holder by center-initial point distance method of determining and calculating
Control system adjusts the angle of single unit system, and barrier image moves to ccd is photosensitive and the center of the received image of feedback system
Place；The clarity tune for barrier picture in natural photoimaging systems that lens group in mobile nature photoimaging systems will identify that
To highest；Measured variable and system preset invariant when by information centre's processing system by clarity highest
It substitutes into built-in derivation formula and obtains the laser focusing amount s of laser auto focusing system and cutting for shoot laser progress barrier
It removes.
It is a kind of control laser auto focusing obstacle eliminating system method include the following steps:
S1. imaging system is by concave-convex lens group lens imaging, make object ccd is photosensitive and feedback system on show object
The picture of body；
S2. information centre's processing system identifies the barrier in image and utilizes cloud by center-initial point distance method of determining and calculating
Bench control system adjusts the angle of single unit system, by barrier image move to that ccd is photosensitive and the received image of feedback system in
At the heart；
S3. unidirectionally moving the lens group in nature photoimaging systems using overshoot principle passes through barrier imaging by mould
The process that paste fogs after becoming clear, measured variable u feeds back to letter when barrier clarity is in the process medium wave peak
Cease central processing system；
S4. pass through information centre's processing system for the measured variable u and preset invariant F of system1, F2, D,
f1, f2The laser focusing amount given value s that built-in derivation formula obtains laser auto focusing system is substituted into, actual value s ' is adjusted
To s and shoot laser carries out the excision of barrier.
The natural photoimaging systems by built-in motor at the uniform velocity adjusts concave-convex lens group camera lens and ccd it is photosensitive and feed back
The distance u of ccd photosensitive imaging screen in system, it is clear to be carried out by information centre's processing system to the barrier identified
Degree analysis, by built-in motor, adjustable range u searches out u when barrier is imaged clearest and by the Distance positioning back and forth
And detection system is calculated by image distance the value of u feeding back to information centre's processing system.
The built-in motor adjusts that clarity is initial each time, the built-in motor can first by the camera lens and
The position of ccd photosensitive imaging screen 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 the image distance, which calculates given camera lens and the initial coordinate of ccd photosensitive imaging screen, initial camera lens and ccd
The distance u of photosensitive imaging screen0For pre-set value in information centre's processing system；It is concave-convex when motor start-up operation
The distance between lens of lens group and imaging screen variation delta u will be directly fed back in information centre's processing system, u0With Δ u it
With as required image distance u.
The variable that information centre's processing system is arrived according to feedback, passes through derivation formula
Corresponding laser focusing amount s at this time is calculated, and by information centre's processing system to laser auto focusing system
Built-in motor issues instruction, adjusts it to corresponding value, to complete laser automatic focusing focusing amount s at this time；Wherein
F1For the natural photoimaging systems convexity focal length of lens, F2Negative value is taken for the natural photoimaging systems concave focal length of lens, D is natural light
Concave-convex lens distance in imaging system, u are the image distance in nature photoimaging systems, f1It is burnt for the concavees lens in laser focusing system
Away from f2For the focal length of convex lens in laser focusing system.
The center-initial point distance method of determining and calculating, which is utilized algorithm of convex hull and rotates the algorithm that gets stuck, finds out the obstacle identified
Two farthest points of distance in object profile, the center of two o'clock line is as barrier profile center, by will be in barrier profile
The heart 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 due to laser auto focusing system and imaging
System has common center, so barrier is located on focusing center's line of laser auto focusing system at this time.
Focusing amount is adjusted to be completed by laser focusing lens group camera lens, including concave, convex lens are each a piece of, when two lens distances not
Emitted laser focus position is also different simultaneously, therefore it is that the distance between two lens are adjusted that focusing amount, which is adjusted,.
Focusing amount s ' and the given s of information centre's processing system measured by the Distance positioning and detection system
When consistent, that is, it is considered as focusing and completes, built-in motor no longer moves.Referred to from information centre's processing system to laser emitter sending
It enables, laser is emitted automatically, to complete fully-automatic laser focusing.
The present invention includes that nature photoimaging systems, ccd be photosensitive and feedback system, Distance positioning and detection system, holder control
System, laser auto focusing system and information centre's processing system processed.Natural photoimaging systems include concave, convex lens, imaging lens
Cylinder；Distance positioning and detection system rely primarily on information centre's processing system, adjust the distance and calculated, in addition to this further include
To the detection program of imaging definition；Cloud platform control system includes lens cone frame and direction adjusting rod, relies primarily on information centre
The instruction that processing system issues is adjusted angle；Ccd is photosensitive and feedback system includes ccd photosensitive part, feed circuit；Laser
Autofocus system includes laser condensing lens cylinder and information centre's processing system to the system output order part.
The invention has the following advantages:
Easily there is strong wind weather in China and west Mongolia annual spring, autumn, the power supply line, power supply bureau that borders on the river often occurs
Barrier winding influences the problem of line security is run, and general processing system process needs to have a power failure, and affects power supply enterprise
Economic benefit.
The present invention reduces generated error during manual focusing by full-automatic fixed-focus, and remote by eliminating
The step for ranging, reduces the step bring error, improves the accuracy that laser focuses；Laser has very high energy, meeting
The strike of damaging property, this system use the method emitted afterwards of first focusing in laser focusing, so that laser is using more
Safety.And this method is by calculating disappeared object in focusing and lens barrel apart from the factor, so that focusing becomes
It is simpler.
Detailed description of the invention
Fig. 1 is the relation schematic diagram between each system of the present invention；
Fig. 2 is center of the present invention-initial point distance method of determining and calculating process schematic；
Fig. 3 is the process schematic that image distance of the present invention calculates；
Fig. 4 is the natural photoimaging systems schematic diagram of the present invention；
Fig. 5 is laser auto focusing system schematic of the present invention；
Specific embodiment
The present invention will be further described below with reference to the drawings.
As shown in Figure 1, the present invention includes that nature photoimaging systems, ccd be photosensitive and feedback system, Distance positioning and detection system
System, cloud platform control system, laser auto focusing system and information centre's processing system.
Wherein imaging system is by concave-convex lens group lens imaging, make object ccd is photosensitive and feedback system on show
The picture of object；Information centre's processing system identifies the barrier in image and utilizes holder by center-initial point distance method of determining and calculating
Control system adjusts the angle of single unit system, and barrier image moves to ccd is photosensitive and the center of the received image of feedback system
Place；The clarity tune for barrier picture in natural photoimaging systems that lens group in mobile nature photoimaging systems will identify that
To highest；Measured variable and system preset invariant when by information centre's processing system by clarity highest
It substitutes into built-in derivation formula and obtains the laser focusing amount s of laser auto focusing system and cutting for shoot laser progress barrier
It removes.
As shown in Fig. 2, the center-initial point distance method of determining and calculating is that the algorithm that got stuck using algorithm of convex hull and rotation finds out knowledge
Not Chu barrier profile in farthest two points of distance, the center of two o'clock line is as barrier profile center, by that will hinder
Hinder object profile center and picture centre origin to carry out the measuring and calculating of distance, delta L, reduces Δ by adjusting the cloud platform control system
L, until Δ L → → 0 when stop adjust and carry out next step operation.
Specially the central point of the coordinate value of return and this piece image is compared, finds out the distance between two points
Δ L issues an instruction if coordinate is located at the upper left side of central point, makes camera lens towards the mobile Δ L distance in lower right.Due to figure
Quickly as processing, image obtains also quickly, so controller reaches camera lens tracking target, and target constantly to lens control
It is fixed on the midpoint of camera lens.After having the characteristics that this barrier can be on straight line locating for laser focus point the present invention.
The outline identification, specific method are after object is imaged on ccd photosensitive imaging screen, by collected
Image carries out binary conversion treatment to each image.To treated, image is scanned, and is successively scanned since the first row.When
After confirming first stain, recursive lookup is carried out to upper left, lower-left, upper right and bottom right respectively centered on this stain, if this
There is one in adjacent eight points of stain for white point, is then a profile point.It repeats the above steps, until entire profile is found out, and
Return to the midpoint coordinates of profile.The present invention can automatically extract the profile of barrier after having the characteristics that this.
As shown in figure 3, the image distance calculates the camera lens described in giving and the initial coordinate of ccd photosensitive imaging screen is
0, initial camera lens and ccd photosensitive imaging screen distance u0By the value fixed in information centre's processing system；Work as electricity
Machine is started to work, and the distance between camera lens and imaging screen variation delta u (having positive and negative) 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.
In the natural photoimaging systems, at the uniform velocity adjusted by built-in motor camera lens and the ccd it is photosensitive and
The distance u of ccd photosensitive imaging screen in feedback system carries out the barrier identified by information centre's processing system
Clarity analysis, by built-in motor, adjustable range searches out u when barrier is imaged clearest and by the distance back and forth
Positioning and detection system are calculated by image distance feeds back to information centre's processing system for the value of u.
The built-in motor is initial in adjusting clarity each time, can be first by the camera lens and ccd photosensitive imaging
The position of screen is moved to the fixation position u stored in information centre's processing system0Operation is adjusted again afterwards.The present invention is having
Image distance u can accurately be calculated in imaging process after having the feature.
As shown in figure 4, need to be measured image distance in the natural photoimaging systems, main formulas be convex lens at
As formula:
The formula describes object distance v in imaging system and can relationship between the amount of asking.Wherein v is object distance, and u is image distance, and F is
The equivalent focal length of convex lens of imaging system lens group；
For equivalent focal length of convex lens, since it is really made of a convex lens, a concavees lens, therefore its equivalent convex lens
Focal length F are as follows:
Wherein F1For the natural photoimaging systems convexity focal length of lens, F2It (is taken negative for the natural photoimaging systems concave focal length of lens
Value), D is nature photoimaging systems concave convex lens distance.
As shown in figure 5, for laser focusing system, laser incident concavees lens in parallel, and meet when laser light incident convex lens
Near-axial condition, when incident convex lens incidence point and convex lens centre distance be approximately equal to convex lens eye point and convex lens center away from
From this is apart from derivation process are as follows:
Wherein θ1For the incident convex lens light and horizontal direction angle in laser focusing system, h is laser focusing system
In laser light incident concavees lens incidence point and concavees lens centre distance, y be laser focusing system in laser light incident convex lens when
Incidence point and convex lens centre distance, s are the distance between convex lens and concavees lens in laser focusing system, f1It is poly- for laser
Concave Mirrors Focus in burnt system；
By (3) Shi Ke get
Pass through convex lens light conversion formula after laser emitting concavees lens are as follows:
Wherein θ2For the laser emitting light and convex lens central axis angle in laser focusing system, f2For laser focusing
Focal length of convex lens in system；
(4) formula substitution (5) formula is obtained:
Since laser meets near-axial condition by convex lens:
Wherein L is the distance between convex lens and object；
(4), (6) formula are substituted into (7) formula and obtained:
The formula describes object distance L in focusing system and can relationship between the amount of asking.
By laser focusing system and natural photoimaging systems simultaneous:
Wherein (9) v=L
(2) formula is substituted into (1) formula and is obtained with (8), (9) simultaneous solution:
Wherein focusing amount s is convex lens and concavees lens distance in laser auto focusing system；F1For natural photoimaging systems
Middle focal length of convex lens, F2For the natural photoimaging systems concave focal length of lens (taking negative value)；D is nature photoimaging systems concave convex lens
Mirror distance；U is is surveyed image distance；f1For Concave Mirrors Focus in laser auto focusing system；f2For convex lens in laser auto focusing system
Mirror focal length.
The formula offsets the object distance in focusing system and imaging system, and realizing to be measured can be surveyed by inside or known completely
Variable determine that, without carrying out the measurement of outer distance, eliminating ray ranging needs vertical incidence and barrier light transmittance
Low limitation, at the same compared with image compares ranging without huge database and accuracy it is higher.
The laser automatic focusing system arrives the variable of information centre's processing system according to feedback, is counted by formula (10)
Corresponding laser focusing amount s at this time is calculated, and is sent out by built-in motor of information centre's processing system to laser auto focusing system
It instructs out, adjusts it focusing amount s at this time to corresponding value, to complete laser automatic focusing.
Laser auto focusing system feeds back to information centre's processing system, information centre's processing system by the completion that will focus
Laser emitter is issued and is instructed, makes Laser emission and focuses on target object.
Certainly, the present invention can also have other various embodiments, without deviating from the spirit and substance of the present invention, ripe
It knows those skilled in the art and makes various corresponding changes and modifications, but these corresponding changes and change in accordance with the present invention
Shape all should fall within the scope of protection of the appended claims of the present invention.
Claims (9)
1. a kind of laser auto focusing obstacle eliminating system, it is characterised in that including natural photoimaging systems, ccd is photosensitive and feedback is
System, Distance positioning and detection system, cloud platform control system, laser auto focusing system and information centre's processing system；Wherein at
As system is by concave-convex lens group lens imaging, make object ccd is photosensitive and feedback system on show the picture of object；In information
Heart processing system identifies the barrier in image and adjusts entirety using cloud platform control system by center-initial point distance method of determining and calculating
The angle of device, by barrier image move to that ccd is photosensitive and the center of the received image of feedback system at；Mobile natural light imaging
The barrier that lens group in system will identify that clarity of picture in natural photoimaging systems is adjusted to highest；By in information
It is public to substitute into built-in derivation for the preset invariant of measured variable and system when heart processing system is by clarity highest
Formula obtains the laser focusing amount s of laser auto focusing system and shoot laser carries out the excision of barrier；The derivation formula is
Wherein F1For the natural photoimaging systems convexity focal length of lens, F2For
The natural photoimaging systems concave focal length of lens takes negative value, and D is nature photoimaging systems concave convex lens distance, u be natural light at
As the image distance in system, f1For the Concave Mirrors Focus in laser focusing system, f2For the focal length of convex lens in laser focusing system；
The variable is the u in the derivation formula, and the invariant is the F in the derivation formula1,F2,D,f1,f2。
2. a kind of laser auto focusing obstacle eliminating system control method, it is characterised in that it is automatic to control laser described in claim 1
Obstacle eliminating system is focused, is included the following steps:
S1. imaging system is by concave-convex lens group lens imaging, make object ccd is photosensitive and feedback system on show object
Picture；
S2. information centre's processing system identifies the barrier in image and utilizes holder control by center-initial point distance method of determining and calculating
The angle of system call interception single unit system processed, by barrier image move to that ccd is photosensitive and the center of the received image of feedback system at；
S3. unidirectionally moving the lens group in nature photoimaging systems using overshoot principle passes through barrier imaging by fuzzy change
The process to fog after clear, measured variable u is fed back in information when barrier clarity is in the process medium wave peak
Heart processing system；
S4. pass through information centre's processing system for the measured variable u and preset invariant F of system1,F2,D,f1,f2
The laser focusing amount given value s that built-in derivation formula obtains laser auto focusing system is substituted into, actual value s ' is adjusted to s simultaneously
The excision of shoot laser progress barrier.
3. control method according to claim 2, it is characterised in that the natural photoimaging systems pass through built-in motor
At the uniform velocity adjust that concave-convex lens group camera lens and ccd be photosensitive and feedback system in ccd photosensitive imaging screen distance u, by the letter
Breath central processing system carries out clarity analysis to the barrier identified, and by built-in motor, adjustable range u is searched out back and forth
U when barrier is imaged clearest is simultaneously calculated by image distance by the Distance positioning and detection system the value of u being fed back to letter
Cease central processing system.
4. control method according to claim 3, it is characterised in that at the beginning of the built-in motor adjusts clarity each time
Begin, the position of the camera lens and ccd photosensitive imaging screen first can be moved to information centre's processing system by the built-in motor
The pre-set fixed position u of institute in system0It carries out built-in motor again afterwards and at the uniform velocity adjusts operation.
5. control method according to claim 3, it is characterised in that the image distance calculates first that camera lens and ccd is photosensitive
Imaging screen initial coordinate is set as 0, the initial distance u of camera lens and ccd photosensitive imaging screen0For in information centre's processing system
Pre-set value；When motor is started to work, the distance between concave-convex lens group camera lens and imaging screen variation delta u will be directly anti-
It is fed in information centre's processing system, u0With the as required image distance u of the sum of Δ u.
6. control method according to claim 2, it is characterised in that described adjust actual value s ' to s is by information centre
Processing system issues instruction to the built-in motor of laser auto focusing system, adjusts it to corresponding focusing amount at this time
Value, to complete laser automatic focusing.
7. control method according to claim 2, it is characterised in that the center-initial point distance method of determining and calculating is utilized convex
Packet algorithm finds out two points that distance is farthest in the barrier profile identified with the algorithm that gets stuck is rotated, and the center of two o'clock line is made
Pass through adjusting by the way that barrier profile center and picture centre origin to be carried out to the measuring and calculating of distance, delta L for barrier profile center
The cloud platform control system reduces Δ L, until Δ L → → 0 when stop adjusting, barrier image is located at imaging system at this time
At center, and since laser auto focusing system and imaging system have common center, so barrier is located at laser certainly at this time
On focusing center's line of dynamic focusing system.
8. control method according to claim 2, it is characterised in that focusing amount adjusts complete by laser focusing lens group camera lens
At, including concave, convex lens are each a piece of, when two lens distance differences, emitted laser focus position is also different, therefore adjusts
It is that the distance between two lens are adjusted that coke amount, which is adjusted,.
9. control method according to claim 2, it is characterised in that measured by the Distance positioning and detection system
Focusing amount s ' it is consistent with the information centre given s of processing system when, that is, be considered as focusing and complete, built-in motor no longer moves,
It issues and instructs from information centre's processing system to laser emitter, laser is emitted automatically, focused to complete fully-automatic laser
Journey.
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| CN109708529B (en) * | 2018-12-26 | 2020-07-24 | 中国科学院长春光学精密机械与物理研究所 | Laser focusing striking system and method |
| 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 |
| CN113600559A (en) * | 2020-08-06 | 2021-11-05 | 广东电网有限责任公司珠海供电局 | Laser cleaning feedback type focal length adjustment and control device thereof |
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