CN108400555B - Laser deicing system and method - Google Patents
Laser deicing system and method Download PDFInfo
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- CN108400555B CN108400555B CN201810354834.0A CN201810354834A CN108400555B CN 108400555 B CN108400555 B CN 108400555B CN 201810354834 A CN201810354834 A CN 201810354834A CN 108400555 B CN108400555 B CN 108400555B
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- 230000005540 biological transmission Effects 0.000 description 15
- 238000002844 melting Methods 0.000 description 13
- 230000008018 melting Effects 0.000 description 11
- 238000005516 engineering process Methods 0.000 description 8
- 230000006870 function Effects 0.000 description 6
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
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- 238000000576 coating method Methods 0.000 description 3
- 238000010438 heat treatment Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
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- 238000005259 measurement Methods 0.000 description 2
- 239000000155 melt Substances 0.000 description 2
- 238000010295 mobile communication Methods 0.000 description 2
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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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- 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
- H02G7/00—Overhead installations of electric lines or cables
- H02G7/16—Devices for removing snow or ice from lines or cables
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Abstract
The embodiment of the invention provides a laser deicing system and a laser deicing method, which are characterized in that the system comprises a laser emitting device for emitting laser; a movable carrying device for carrying the laser emitting device; the cable tracking device is used for capturing, aiming and tracking the position of the cable and feeding back the real-time position information of the cable to the control device; the detecting device is used for detecting the thickness of the ice and snow covered on the cable and feeding back the detected thickness value of the ice and snow to the control device; the control device is used for adjusting the laser emission direction of the laser emission device according to the real-time position information; and adjusting the laser emission power of the laser emission device according to the ice and snow thickness value. Through the laser deicing system and the laser deicing method, workers can conveniently conduct local deicing operation on the high-voltage cable on the complex terrain, and when the movable bearing device is unmanned aerial vehicle, unmanned vehicle and other equipment, the convenience is more obvious.
Description
Technical Field
The embodiment of the invention relates to the field of photoelectric technology application, in particular to a system and a method for deicing by utilizing laser.
Background
In 2008, the large-scale rain, snow and freezing disasters in the south bring about the creation of provinces such as Hunan, guizhou, jiangxi and Zhejiang power systems, the distribution of power transmission lines is wide, the power transmission lines are in micro-topography microclimate areas, and the accident of line disconnection of the inverted tower frequently occurs, so that the reliable power supply of users is directly affected. The study of the ice melting scheme of the power transmission line is a key for ensuring the reliability of power supply of users in the ice disaster period. In recent years, heating deicing has become the mainstream deicing mode of the power grid. The heating method treatment mode is a mode of applying high-flow alternating current or high-flow direct current to the lead wire and the ground wire of the power transmission line to melt ice. However, the scheme of heating and deicing is suitable for deicing the whole power transmission line, and the partial area of the line cannot be subjected to targeted deicing treatment, so that the partial area without ice and with less ice of the power transmission line is likely to be dry-burned, and the power transmission line is damaged. Meanwhile, when a mode of large alternating current or large-flow direct current is adopted, ice melting of the overhead line ground wire cannot be achieved. Therefore, an ice melting method aiming at a partial heavy ice area of a power transmission line becomes a problem to be solved.
Disclosure of Invention
In view of the above, the embodiments of the present invention provide a system and a method for deicing by using a laser, which solve the problem of difficulty in deicing a high-voltage cable in the prior art.
In a first aspect, an embodiment of the present invention provides a laser deicing system, including:
a laser emitting device for emitting laser light;
a movable carrying device for carrying the laser emitting device;
the cable tracking device is used for capturing, aiming and tracking the position of the cable and feeding back the real-time position information of the cable to the control device;
the detecting device is used for detecting the thickness of the ice and snow covered on the cable and feeding back the detected thickness value of the ice and snow to the control device;
the control device is used for adjusting the laser emission direction of the laser emission device according to the real-time position information; and adjusting the laser emission power of the laser emission device according to the ice and snow thickness value.
Optionally, the control device may be further configured to control a moving direction and/or a moving speed of the movable bearing device according to the real-time position information.
Optionally, the control device may be further configured to control a moving direction and/or a moving speed of the movable bearing device according to the ice and snow thickness value.
Optionally, the detecting device may be configured to detect a thickness of ice and snow covered on the cable, and specifically includes: and the control device adjusts the laser emission direction of the laser emission device according to the real-time position information fed back by the cable tracking device, and the laser emission device emits laser with first power intensity to detect the thickness of the ice and snow.
Correspondingly, the movable bearing device can comprise an engineering vehicle, an unmanned vehicle or an unmanned aerial vehicle.
Optionally, the system further comprises a power supply device for providing power to the system. The power supply device comprises power storage equipment, autonomous power generation equipment or power taking equipment, wherein the power taking equipment can take power from a cable or a nearby power supply and convert the power into a power supply usable by the laser emission device, and the power taking mode can be direct-plug power taking, contact power taking or wireless power taking from the cable in a magnetic induction mode.
Optionally, the cable tracking device specifically includes:
an image pickup device for acquiring image data;
the image recognition device is used for recognizing the cable covered with the ice and snow according to the acquired image data;
and the positioning and tracking device is used for capturing, aiming and tracking the cable according to the identified cable covered with the ice and snow and feeding back the real-time position information of the cable to the control device.
Optionally, the control device is further used for controlling the duration of laser irradiation and controlling the moving speed of the laser irradiation point.
Through this kind of laser defroster, the staff can conveniently carry out local deicing operation to the high-voltage cable on the complicated topography, and when portable loading attachment was unmanned aerial vehicle, this kind of convenience was more obvious.
In a second aspect, an embodiment of the present invention further provides a laser deicing method, including:
s1, capturing, aiming and tracking the position of a cable, and feeding back real-time position information of the cable to a control device;
s2, detecting the thickness of the ice and snow covered on the cable, and feeding back the detected ice and snow thickness value to the control device;
s3, adjusting the laser emission direction of the laser emission device according to the real-time position information; and adjusting the laser emission power of the laser emission device according to the ice and snow thickness value;
and S4, emitting laser to the cable according to the adjusted laser emitting direction and the adjusted laser emitting power, and performing deicing operation on the cable.
Optionally, step S1 may specifically include:
s11, acquiring image data;
s12, identifying the cable covered with ice and snow according to the acquired image data;
and S13, capturing, aiming and tracking the cable according to the identified cable covered with the ice and snow, and feeding back real-time position information of the cable to the control device.
Optionally, the laser emission device is arranged on the movable bearing device; the method may further comprise: and controlling the moving direction and/or the moving speed of the movable bearing device according to the real-time position information.
Optionally, the laser emission device is arranged on the movable bearing device; the method may further comprise: and the movable bearing device is used for controlling the moving direction and/or the moving speed of the movable bearing device according to the ice and snow thickness value.
Optionally, step S2 specifically includes: and adjusting the laser emission direction of the laser emission device according to the fed-back real-time position information, emitting laser with first power intensity by the laser emission device, detecting the thickness of the ice and snow, and feeding back the detected thickness value of the ice and snow to the control device.
Correspondingly, the movable bearing device comprises an engineering vehicle, an unmanned vehicle or an unmanned aerial vehicle.
Optionally, the method further comprises: the duration of the laser irradiation is controlled, and the moving speed of the laser irradiation point is controlled.
Through this kind of laser defroster, the staff can conveniently carry out local deicing operation to the high-voltage cable on the complicated topography, and when portable loading attachment was unmanned aerial vehicle, this kind of convenience was more obvious.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a laser deicing system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a preferred construction of the cable tracking device of FIG. 1 in accordance with the present invention;
FIG. 3 is a flow chart illustrating a laser deicing method according to an embodiment of the present invention;
fig. 4 is a schematic flow chart of step S1 in the embodiment of fig. 3 according to the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
It should be further noted that, for convenience of description, only some, but not all of the matters related to the present invention are shown in the accompanying drawings. Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart depicts operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently, or at the same time. Furthermore, the order of the operations may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figures. The processes may correspond to methods, functions, procedures, subroutines, and the like.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the invention. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
Fig. 1 shows a schematic structural diagram of a laser deicing system, as shown in fig. 1, comprising the following devices/modules:
a laser emitting device for emitting laser light; may include gas lasers, solid state lasers, semiconductor lasers, dye lasers, free electron lasers, or combinations thereof, and may also include pulsed high power lasers; the laser signal with different power levels can be emitted, and can be used for tracking, positioning and detecting the thickness of ice and snow when the laser signal is emitted by the laser signal with low power, and can be used for carrying out snow melting and deicing operation on ice and snow when the laser signal is emitted by the laser signal with high power.
Optionally, when the thickness of the ice and snow needs to be detected, the detection operation can be performed by adopting the laser with the first laser emission power; when the thickness value of the ice and snow is lower than the first threshold value, the deicing operation can be performed by adopting the second laser emission power; when the thickness of the ice and snow exceeds the first threshold value and is lower than the second threshold value, the deicing operation can be performed by adopting third laser emission power; when the thickness of the ice and snow exceeds the second threshold value, the deicing operation can be performed by adopting the fourth laser emission power; the thicker the ice and snow thickness is, the higher the laser emission power is, but, on the basis of the fundamental principle that the cable safety is not affected, the highest laser emission power can not melt the cable skin and can not damage the cable itself.
A movable carrying device for carrying the laser emitting device; the movable bearing equipment such as engineering vehicles, off-road vehicles, unmanned aerial vehicles and the like can be included.
The cable tracking device is used for capturing, aiming and tracking the position of the cable and feeding back the real-time position information of the cable to the control device; preferably, the capturing, aiming and tracking functions of the cable can be realized by utilizing laser emitted by the laser emitting device; preferably, the coarse positioning of the cable can be achieved first by a GPS positioning system, followed by the capturing, aiming and tracking of the cable position.
The detecting device is used for detecting the thickness of the ice and snow covered on the cable and feeding back the detected thickness value of the ice and snow to the control device; preferably, the detection of the thickness of the ice and snow can be realized by utilizing the laser emitted by the laser emitting device, the measurement of the thickness of the ice and snow can be realized by using the technologies such as infrared rays, ultrasonic waves and the like, and the estimation of the thickness of the ice and snow can be realized by using the image recognition technology; optionally, according to the positioning information fed back by the cable tracking device, the thickness of the ice and snow is detected by utilizing the laser emitted by the laser emitting device, and the detected thickness value of the ice and snow is fed back to the control device.
The control device is used for adjusting the laser emission direction of the laser emission device according to the real-time position information; and adjusting the laser emission power of the laser emission device according to the ice and snow thickness value.
Optionally, the control device may be further configured to control a moving direction and/or a moving speed of the movable bearing device according to the real-time position information.
Optionally, the control device may be further configured to control a moving direction and/or a moving speed of the movable bearing device according to the ice and snow thickness value.
Optionally, the detecting device may be configured to detect a thickness of ice and snow covered on the cable, and specifically includes: and the control device adjusts the laser emission direction of the laser emission device according to the real-time position information fed back by the cable tracking device, and the laser emission device emits laser with first power intensity to detect the thickness of the ice and snow. The laser with the first power intensity is only used for detecting the thickness of ice and snow, and does not play a role in melting snow, so the power intensity can be smaller. Alternatively, the detection of the thickness of the ice and snow can be realized by adopting infrared rays, ultrasonic waves and the like, and the photographed image can be analyzed by an image recognition technology to obtain a reference value of the thickness of the ice and snow.
Optionally, the system further comprises a power supply device for providing power to the system. The power supply device comprises power storage equipment, autonomous power generation equipment or power taking equipment, the power taking equipment can take power from a cable or a nearby power supply and convert the power into a power supply which is available to the laser emitting device, and the power taking mode can be direct-plug power taking, contact power taking or wireless power taking from the cable in a magnetic induction mode, and can also directly take power from a power interface of a telegraph pole.
Optionally, the control device further includes: the duration of the laser irradiation is controlled, and the moving speed of the laser irradiation point is controlled. Monitoring the thickness of ice and snow covered on the cable in real time, and moving the laser irradiation point to the next position when the thickness is lower than the preset thickness; alternatively, the irradiation point may be moved back and forth uniformly within a certain section, avoiding burning the cable.
Fig. 2 shows an alternative structural schematic diagram of a cable tracking device, which specifically comprises:
an image pickup device for acquiring image data; optionally, the surrounding environment image can be shot in real time, the surrounding environment image can be shot intermittently, the image shooting operation can be started under the control of a user, the existence of a nearby cable can be determined according to GPS positioning information, and then the shooting operation of the surrounding environment image is started autonomously;
the image recognition device is used for recognizing the cable covered with the ice and snow according to the acquired image data; optionally, performing deep learning analysis on a large number of cable images covered with ice and snow through an artificial intelligence technology, identifying acquired image data, and determining whether the cable covered with ice and snow exists or not;
and the positioning and tracking device is used for capturing, aiming and tracking the cable according to the identified cable covered with the ice and snow and feeding back the real-time position information of the cable to the control device.
Alternatively, the control device may be controlled by an instruction of the console, or may be automatically controlled according to received image data, positioning data, tracking data, or the like.
Optionally, the laser deicing system may further include a wireless transceiver device that transmits the image data, the data obtained by the cable tracking device and the detecting device to the console, and receives the control signal transmitted by the remote console. The console may be a remote console or a console platform on a mobile carrier.
Through this kind of laser defroster, the staff can conveniently carry out local deicing operation to the high-voltage cable on the complicated topography, and when portable loading attachment was unmanned aerial vehicle, this kind of convenience was more obvious.
Fig. 3 shows a schematic flow chart of a laser deicing method according to another embodiment of the present invention, which includes the following steps:
s1, capturing, aiming and tracking the position of a cable, and feeding back real-time position information of the cable to a control device;
in one implementation, the capturing, aiming and tracking functions of the cable can be achieved by using laser light emitted by the laser emitting device; preferably, the coarse positioning of the cable can be achieved first by a GPS positioning system, followed by the capturing, aiming and tracking of the cable position.
S2, detecting the thickness of the ice and snow covered on the cable, and feeding back the detected ice and snow thickness value to the control device;
the detection of the thickness of the ice and snow can be realized by utilizing the laser emitted by a laser emitting device, the measurement of the thickness of the ice and snow can be realized by utilizing the technologies such as infrared rays, ultrasonic waves and the like, and the estimation of the thickness of the ice and snow can be realized by utilizing the image recognition technology; optionally, according to the positioning information fed back by the cable tracking device, the thickness of the ice and snow is detected by utilizing the laser emitted by the laser emitting device, and the detected thickness value of the ice and snow is fed back to the control device.
S3, adjusting the laser emission direction of the laser emission device according to the real-time position information; and adjusting the laser emission power of the laser emission device according to the ice and snow thickness value;
in the embodiment of the invention, when the thickness value of the ice and snow is lower than the first threshold value, the deicing operation can be performed by adopting the second laser emission power; when the thickness of the ice and snow exceeds the first threshold value and is lower than the second threshold value, the deicing operation can be performed by adopting third laser emission power; when the thickness of the ice and snow exceeds the second threshold value, the deicing operation can be performed by adopting the fourth laser emission power; the thicker the ice and snow thickness is, the higher the laser emission power is, but, on the basis of the fundamental principle that the cable safety is not affected, the highest laser emission power can not melt the cable skin and can not damage the cable itself.
And S4, emitting laser to the cable according to the adjusted laser emitting direction and the adjusted laser emitting power, and performing deicing operation on the cable.
The laser emission device is used for emitting laser; may include gas lasers, solid state lasers, semiconductor lasers, dye lasers, free electron lasers, or combinations thereof, and may also include pulsed high power lasers; the laser signal with different power levels can be emitted, and can be used for tracking, positioning and detecting the thickness of ice and snow when the laser signal is emitted by the laser signal with low power, and can be used for carrying out snow melting and deicing operation on ice and snow when the laser signal is emitted by the laser signal with high power.
Optionally, the laser emission device is arranged on the movable bearing device; the method may further comprise: and controlling the moving direction and/or the moving speed of the movable bearing device according to the real-time position information.
Optionally, the laser emission device is arranged on the movable bearing device; the method may further comprise: and the movable bearing device is used for controlling the moving direction and/or the moving speed of the movable bearing device according to the ice and snow thickness value.
A movable carrying device for carrying the laser emitting device; the movable bearing equipment such as engineering vehicles, off-road vehicles, unmanned aerial vehicles and the like can be included.
Optionally, the method further comprises: the duration of the laser irradiation is controlled, and the moving speed of the laser irradiation point is controlled. Monitoring the thickness of ice and snow covered on the cable in real time, and moving the laser irradiation point to the next position when the thickness is lower than the preset thickness; alternatively, the irradiation point may be moved back and forth uniformly within a certain section, avoiding burning the cable.
Fig. 4 shows an alternative flow chart of step S1 in fig. 3, where step S1 may specifically include:
s11, acquiring image data;
optionally, the surrounding environment image can be shot in real time, the surrounding environment image can be shot intermittently, the image shooting operation can be started under the control of a user, the existence of a nearby cable can be determined according to GPS positioning information, and then the shooting operation of the surrounding environment image is started autonomously;
s12, identifying the cable covered with ice and snow according to the acquired image data;
optionally, performing deep learning analysis on a large number of cable images covered with ice and snow through an artificial intelligence technology, identifying acquired image data, and determining whether the cable covered with ice and snow exists or not;
and S13, capturing, aiming and tracking the cable according to the identified cable covered with the ice and snow, and feeding back real-time position information of the cable to the control device.
Step S2 may include: and adjusting the laser emission direction of the laser emission device according to the fed-back real-time position information, emitting laser with first power intensity by the laser emission device, detecting the thickness of the ice and snow, and feeding back the detected thickness value of the ice and snow to the control device.
Alternatively, the control device may be controlled by an instruction of a remote console, or may be automatically controlled by itself according to received image data, positioning data, tracking data, or the like.
Optionally, the laser deicing system may further include a wireless transceiver device that transmits the image data, the data obtained by the cable tracking device and the detecting device to the remote console, and receives the control signal transmitted by the remote console.
Through the laser deicing method, workers can conveniently conduct local deicing operation on the high-voltage cable on the complex terrain, and when the movable bearing device is an unmanned plane, the convenience is more obvious.
According to another aspect of the present invention, there is provided a laser deicing method, the method comprising:
the method comprises the steps that an icing condition of a certain power transmission line is found on an icing monitoring system, a whole set of laser ice melting equipment is placed on an engineering vehicle, a small-sized generator is arranged, and the vehicle is driven to an icing position; disposing the laser device within a predetermined distance (e.g., 100 m) from the freezing point and powering it using the generator; aiming at the ice-melting starting point by using a laser aiming device, and testing whether the equipment emits light normally; according to the actual icing thickness displayed by the monitoring system, selecting the power of the laser and the moving speed of the aiming point, so as to control the speed of ice melting; starting a laser, and emitting laser with corresponding power according to the selected power to irradiate a starting point of ice melting on a power transmission line; after light is emitted, the ATP tracking system is started. The laser irradiation points automatically track the power transmission line according to the moving speed of the selected aiming point, so that the laser irradiation points always irradiate on the ice coating of the power transmission line, and the ice coating on the power transmission line is melted by utilizing laser energy; observing the ice melting condition on the power transmission line, closing a laser switch, stopping light emission, and closing an ATP tracking system after the laser irradiation point melts the ice coating above the power transmission line (or completely melts the ice-melting area); and cutting off the power supply of the generator to the laser to finish ice melting.
The division of the modules in the above embodiments of the present invention is merely illustrative, and there may be another division manner in actual implementation, and in addition, each functional module in each embodiment of the present application may be integrated in one processor, or may exist alone physically, or two or more modules may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules.
The electronic device of the embodiments of the present invention exists in a variety of forms including, but not limited to:
(1) Mobile communication devices, which are characterized by mobile communication functionality and are aimed at providing voice, data communication. Such terminals include smart phones (e.g., iPhone), multimedia phones, functional phones, and low-end phones, among others.
(2) Ultra mobile personal computer equipment, which belongs to the category of personal computers, has the functions of calculation and processing and generally has the characteristic of mobile internet surfing. Such terminals include PDA, MID and UMPC devices, etc., such as iPad.
(3) Portable entertainment devices such devices can display and play multimedia content. Such devices include audio, video players (e.g., iPod), palm game consoles, electronic books, and smart toys and portable car navigation devices.
(4) The server is a device for providing computing services, and the server is similar to a general computer architecture in that the server comprises a processor 1010, a hard disk, a memory, a system bus and the like, but has high requirements in terms of processing capacity, stability, reliability, security, expandability, manageability and the like because of the need to provide highly reliable services.
(5) Other electronic devices with data interaction function.
The apparatus embodiments described above are merely illustrative, in which the modules illustrated as separate components may or may not be physically separate, and the components shown as modules may or may not be physical, i.e., may be located in one place, or may be distributed over a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
The functional modules in the embodiments of the present invention may be integrated in one processing unit, or each module may exist alone physically, or two or more modules may be integrated in one unit. The integrated units may be implemented in hardware or in hardware plus software functional units.
The integrated units implemented in the form of software functional units described above may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium, and includes several instructions for causing a computer apparatus (which may be a personal computer, a server, or a network apparatus, etc.) or a smart terminal device or a Processor (Processor) to perform part of the steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In the foregoing embodiments of the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of modules is merely a logical function division, and there may be additional divisions of actual implementation, e.g., multiple modules or components may be combined or integrated into another system, or some features may be omitted, or not performed.
The modules illustrated as separate components may or may not be physically separate, and components shown as modules may or may not be physical modules, i.e., may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that the present invention may be modified or equivalents substituted for some of the features thereof. All equivalent structures made by the content of the specification and the drawings of the invention are directly or indirectly applied to other related technical fields, and are also within the scope of the invention.
Claims (12)
1. A laser deicing system, the system comprising:
a laser emitting device for emitting laser light;
a movable carrying device for carrying the laser emitting device;
the cable tracking device is used for capturing, aiming and tracking the position of the cable and feeding back the real-time position information of the cable to the control device;
the detecting device is used for detecting the thickness of the ice and snow covered on the cable and feeding back the detected thickness value of the ice and snow to the control device;
the control device is used for adjusting the laser emission direction of the laser emission device according to the real-time position information; and adjusting the laser emission power of the laser emission device according to the ice and snow thickness value;
the detecting device is used for detecting the thickness of ice and snow covered on the cable, and specifically comprises the following steps: the control device adjusts the laser emission direction of the laser emission device according to the real-time position information fed back by the cable tracking device, and the laser emission device emits laser with first power intensity to detect the thickness of the ice and snow;
wherein, the cable tracking device specifically includes: an image pickup device for acquiring image data;
the image recognition device is used for recognizing the cable covered with the ice and snow according to the acquired image data;
and the positioning and tracking device is used for capturing, aiming and tracking the cable according to the identified cable covered with the ice and snow and feeding back the real-time position information of the cable to the control device.
2. Laser deicing system according to claim 1, wherein the control means are further adapted to control the direction of movement and/or the speed of movement of the movable carrier in dependence of the real-time position information.
3. Laser deicing system according to claim 1, wherein the control means are further adapted to control the direction of movement and/or the speed of movement of the movable carrier in dependence of the ice and snow thickness value.
4. A laser deicing system as set forth in claim 1, wherein said movable carrier comprises an engineering vehicle, an unmanned vehicle, or an unmanned vehicle.
5. A laser deicing system as set forth in claim 1, wherein said system further comprises power supply means for providing power to said system.
6. A laser deicing system according to claim 5, wherein the power supply comprises a power storage device, an autonomous power generation device, or a power extraction device that extracts power from a cable or nearby power source and converts it into power for the laser emitting device.
7. A laser deicing system according to claim 1, wherein the control means is further adapted to control the duration of laser irradiation and the speed of movement of the laser irradiation spot.
8. A method of laser deicing, the method comprising:
s1, capturing, aiming and tracking the position of a cable, and feeding back real-time position information of the cable to a control device;
s2, detecting the thickness of the ice and snow covered on the cable, and feeding back the detected ice and snow thickness value to the control device;
s3, adjusting the laser emission direction of the laser emission device according to the real-time position information; and adjusting the laser emission power of the laser emission device according to the ice and snow thickness value;
s4, emitting laser to the cable according to the adjusted laser emitting direction and the adjusted laser emitting power, and performing deicing operation on the cable;
the step S1 specifically includes: s11, acquiring image data;
s12, identifying the cable covered with ice and snow according to the acquired image data;
s13, capturing, aiming and tracking the cable according to the identified cable covered with the ice and snow, and feeding back real-time position information of the cable to the control device;
the step S2 specifically includes: and adjusting the laser emission direction of the laser emission device according to the fed-back real-time position information, emitting laser with first power intensity by the laser emission device, detecting the thickness of the ice and snow, and feeding back the detected thickness value of the ice and snow to the control device.
9. A method of laser deicing according to claim 8, wherein the laser emitting device is disposed on a movable carrier; the method further comprises the steps of: and controlling the moving direction and/or the moving speed of the movable bearing device according to the real-time position information.
10. A method of laser deicing according to claim 8, wherein the laser emitting device is disposed on a movable carrier;
the method further comprises the steps of: and the movable bearing device is used for controlling the moving direction and/or the moving speed of the movable bearing device according to the ice and snow thickness value.
11. Laser deicing method according to claim 9 or 10, wherein the movable carrier comprises an engineering vehicle, an unmanned vehicle or an unmanned vehicle.
12. A laser deicing method according to claim 8, wherein the method further comprises: the duration of the laser irradiation is controlled, and the moving speed of the laser irradiation point is controlled.
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| CN109572946A (en) * | 2018-12-27 | 2019-04-05 | 北京华夏光谷光电科技有限公司 | Suresh Kumar high power laser Ice Breaking System |
| CN109888710B (en) * | 2019-03-19 | 2021-05-07 | 国网湖南省电力有限公司 | Deicing method and system for power equipment |
| CN111310549A (en) * | 2019-12-06 | 2020-06-19 | 国网湖南省电力有限公司 | Laser deicing safe disposal method and system based on image mode |
| CN110912063A (en) * | 2019-12-06 | 2020-03-24 | 国网湖南省电力有限公司 | Deicing laser aiming method and device for intelligent substation |
| CN110829336A (en) * | 2019-12-10 | 2020-02-21 | 国网湖南省电力有限公司 | Laser deicing device and method for transformer substation |
| CN114228924B (en) * | 2021-12-09 | 2023-05-23 | 哈尔滨工业大学 | Ice breaking system and method based on laser scanning point distribution auxiliary vibration load |
| CN114592470A (en) * | 2022-02-22 | 2022-06-07 | 中铁第四勘察设计院集团有限公司 | Railway turnout snow melting system and method based on laser surface heat treatment |
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