CN108599078A - A kind of laser deicing method based on path planning - Google Patents
A kind of laser deicing method based on path planning Download PDFInfo
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- CN108599078A CN108599078A CN201810624553.2A CN201810624553A CN108599078A CN 108599078 A CN108599078 A CN 108599078A CN 201810624553 A CN201810624553 A CN 201810624553A CN 108599078 A CN108599078 A CN 108599078A
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- laser
- deicing
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- icing
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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
Abstract
The present invention discloses a kind of laser deicing method based on path planning, when there is ice slush in icing lower layer, turns laser aiming ice slush and cable ties dot center position, utilizes thermal stress effects deicing；It when icing lower layer is less than 1.5cm without ice slush and ice covering thickness, turns laser and does repeated translation scanning along cable axial line, utilize heat fusing effect deicing；When icing lower layer without ice slush and ice covering thickness in 1.5cm~3cm when, the axial line for turning laser successively along upper layer/lower layer's icing does repeated translation scanning, utilizes heat fusing effect deicing；When icing lower layer is more than 3cm without ice slush and ice covering thickness, laser is turned first does repeated translation scanning along cable axial line, utilize heat fusing effect ice melting, laser is turned later does wave scanning along cable axle center line position, lower layer's icing is removed using thermal stress, finally the axial line along upper layer icing does repeated translation scanning, and upper layer icing is removed using heat fusing effect.The present invention improves operating efficiency for different situations setting deicing path and pattern.
Description
Technical field
The invention belongs to technical field of electric power, are specifically related to a kind of laser deicing method based on path planning.
Background technology
Icing type mainly has 5 kinds of glaze, mixing rime, soft rime, bloom and snow slush, and wherein soft rime and bloom is in conducting wire
On adhesive force it is very faint, only need slight vibration that can be detached from the surface of bonded conducting wire, do not constitute a threat to substantially to conducting wire,
What clearing ice technology need to be solved mainly is glaze, mixes the icing of the river in Jiangsu Province which flows into the Huangpu River of Shanghai and 3 type of snow slush, especially glaze, mixing river in Jiangsu Province which flows into the Huangpu River of Shanghai icing, two
Person's bonding force on conducting wire is very strong, and density is very high.Laser deicing mainly utilizes two kinds of principles, and one is laser to be hot-melted effect,
By increasing absorption coefficient of the ice to laser, ensures and remove speed of icing, generally the power of laser, hot spot are required high；One is
Thermal stress effects refer to when ice Local Instantaneous absorbs big energy, and each section of ice will be unable to free wxpansion, and the inside of ice will
It generates inside stress wave impact ice body, leads to ice body fragmentation, generally the single pulse energy of laser is required high.Currently, laser
De-icing method mainly carries out repeated translation scanning motion by adjusting laser power, and scan path and pattern are all relatively simple,
Lacked in terms of applicability, deicing operation process is slow, efficiency is low.
Invention content
Present invention aims at a kind of laser deicing method based on path planning is provided, deicing is set for different situations
Path and pattern, improve operating efficiency.
Realize that the technical solution of the object of the invention is：A kind of laser deicing method based on path planning, including such as
Lower step：
Step 1 selects laser according to operating distance；
Step 2 determines deice mode according to icing situation, totally four kinds of patterns：
Pattern one：When there is ice slush in icing lower layer, laser aiming ice slush and cable ties dot center position are turned, is answered using heat
Stress effect carries out deicing；
Pattern two：When icing lower layer is less than 1.5cm without ice slush and ice covering thickness, turns laser and do weight along cable axial line
Multiple translation scan carries out deicing using heat fusing effect；
Pattern three：When icing lower layer without ice slush and ice covering thickness in 1.5cm~3cm when, turn successively laser along upper layer/under
The axial line of layer icing does repeated translation scanning, and deicing is carried out using heat fusing effect；
Pattern four：When icing lower layer is more than 3cm without ice slush and ice covering thickness, laser is turned first and is done along cable axial line
Repeated translation scans, and carries out ice melting using heat fusing effect, turns laser later and do wave scanning along cable axle center line position, answer
The removing of lower layer's icing is carried out with thermal stress, above-mentioned heat thawing and thermal stress ice detachment is repeated, until lower layer's icing is fallen；Most
The axial line along upper layer icing does repeated translation scanning afterwards, and upper layer icing removing is carried out using heat fusing effect.
Compared with prior art, remarkable advantage is the method for the present invention：1) present invention according to the shape of icing on power transmission line,
Thickness and operating distance determine deicing power, strategy and path, with strong points, applied widely；2) the comprehensive heat fusing of the present invention
Deicing is carried out with two kinds of principles of thermal stress, energy consumption is small, efficient；3) present invention is easy to operate, it is easy to accomplish automation, system energy
It is enough to be analyzed and judged according to the target information of visual feedback, the deicing measures such as corresponding path planning are executed, without excessive
Manual operation；4) the method for the present invention belongs to contactless deicing, reduces the labor intensity and probability of failure of operating personnel, safety
Property it is high, deicing effect is good.
Description of the drawings
Fig. 1 is cable axial line position view in the present invention.
Fig. 2 is four kinds of mode method flow charts of the invention.
Specific implementation mode
In the following with reference to the drawings and specific embodiments, scheme is further illustrated the present invention.
The method of the present invention controllable adjustable laser power, laser beam scan path, laser scanning speed, laser scanning period,
After carrying out image recognition according to visual feedback information, the icing completed under heat fusing, thermal stress jointly cooperation on power transmission line is clear
Except work.When based on thermal stress deicing, icing is instantaneously heated using peak value pulse laser, icing is made to generate prodigious part temperature
Degree gradient, to generate stress, is mainly used in the relatively thin place of ice covering thickness, is allowed to generate since uneven heating is even
Crackle, further, crack propagation cause icing fragmentation, and at this time under the effect of gravity, the ice cube of fragmentation falls off.Based on heat fusing
When deicing, energy used in laser needs ascending increase, so that icing is maintained certain temperature melted by heat, is removed to reach
The purpose of ice, is as follows：
Step 1 selects laser according to operating distance.The laser of selection should be solid state laser, laser peak power
It should be no less than 7MW, laser single-pulse energy is no less than 60MJ, pulse width 1064nm, and spot diameter is no more than 1cm.
Step 2 determines deice mode according to icing situation, totally four kinds of patterns：
Pattern one：When there is ice slush in icing lower layer, laser aiming ice slush and cable ties dot center position are turned, is answered using heat
Stress effect carries out deicing.Initial laser power is set first, then turns laser aiming ice slush and cable ties dot center position, presses
Emit laser according to initial laser power, deicing is carried out using thermal stress effects, until deicing is completed.
Pattern two：When icing lower layer is less than 1.5cm without ice slush and ice covering thickness, when icing lower layer without ice slush and icing it is thick
It when degree is less than 1.5cm, turns laser and does repeated translation scanning along cable axial line, deicing is carried out using heat fusing effect.First
Initial laser power, laser scanning range, sweep speed, scan period and power increment are set, laser is then turned, according to first
Beginning laser power, laser scanning range, sweep speed do repeated translation scanning along cable axial line, are carried out using heat fusing effect
Deicing after the completion of a cycle, increases power, other are constant, continue to do repeated translation scanning, i.e., according to present laser power
Repeated translation scanning is done along cable axial line with laser scanning range, sweep speed, until after laser power increases to the upper limit,
Maintain Upper Bound Power constant until deicing is completed.
Pattern three：When icing lower layer without ice slush and ice covering thickness in 1.5cm~3cm when, turn successively laser along upper layer/under
The axial line of layer icing does repeated translation scanning, and deicing is carried out using heat fusing effect.Initial laser power, laser are set first
Scanning range, sweep speed, scan period and power increment turn laser along upper layer/lower layer's icing in a cycle successively
Axial line is scanned according to initial laser power, laser scanning range, sweep speed repeated translation, is carried out using heat fusing effect
Deicing after the completion of a cycle, increases power, continues upper layer/lower layer's repeated translation scanning, until on laser power increases to
After limit, maintain Upper Bound Power constant until deicing is completed.
Pattern four：When icing lower layer is more than 3cm without ice slush and ice covering thickness, laser is turned first and is done along cable axial line
Repeated translation scans, and carries out ice melting using heat fusing effect, turns laser later and do wave scanning along cable axle center line position, answer
The removing of lower layer's icing is carried out with thermal stress, above-mentioned heat thawing and thermal stress ice detachment is repeated, until lower layer's icing is fallen；Most
The axial line along upper layer icing does repeated translation scanning afterwards, and upper layer icing removing is carried out using heat fusing effect.Specially:First
Laser scanning range is set, heat melts initial laser power, thermal stress initial laser power, heat fusing sweep speed, thermal stress
Sweep speed, heat thawing peak power sweep time and heat melt power increment, then turn laser and initially swash according to hot melt
Luminous power, heat fusing sweep speed, laser scanning range do repeated translation scanning along cable axial line, are made using heat fusing effect
The ice covering thickness of cable axle center line position reduces, and after the completion of a cycle, increases power, continues repeated translation scanning, until swashing
After light device power increases to the upper limit, Upper Bound Power constant scanning a period of time is maintained；Then laser is turned to cable axle center line position,
According to thermal stress initial laser power, laser scanning range, thermal stress sweep speed (as a kind of specific implementation mode, the number
Value is 3 times of heat fusing sweep speeds), it does wave scanning and (as a kind of specific implementation mode, does zigzag or sinusoidal waveform is swept
Retouch), it is repeated in above-mentioned heat thawing and thermal stress process, until lower layer's icing is fallen；Upper layer icing removing is finally carried out, according to
Heat melts initial laser power, laser scanning range, heat fusing sweep speed and does repeated translation along the axial line of upper layer icing and sweep
It retouches, carries out deicing using heat fusing effect, after the completion of a cycle, increase power, continue repeated translation scanning, until laser
After power increases to the upper limit, maintain Upper Bound Power constant until upper layer icing removes completion.
As a kind of specific implementation mode, when using thermal stress effects deicing, initial power is set as the power of laser
The upper limit.When melting effect deicing using heat, initial power is set as the 30% of the laser power upper limit；And power increment is swept
The relationship for retouching number, sweep speed and operating distance is：
Power increment is：Wherein PmaxFor peak value Upper Bound Power, l is operating distance；
Scanning times are：Wherein l is operating distance, n round numbers；
Sweep speed is：Wherein l is operating distance, and the unit of v is °/s.
Embodiment 1
In order to illustrate effect of the present invention, operating distance is selected to carry out deicing experiment for the place of 100m.DPSS is selected at this time
Nanosecond laser, peak power can reach 7MW, and laser single-pulse energy can reach 60MJ, pulse width 1064nm, hot spot
Diameter 3mm.
When carrying out laser deicing, according to icing situation selection mode：
Pattern one：When image recognition, which goes out icing lower layer, ice slush, aggravates force effect auxiliary using thermal stress effects and remove
Ice, initial laser power adjust to 100%, turn laser aiming ice slush and cable ties dot center position, instantaneously heated, made
Ice cube generates prodigious localized temperature gradients, carries out realtime graphic identification during laser work, exists until image recognition goes out ice slush
Until voluntarily falling off under gravity or receiving other operational orders；
Pattern two：When image recognition goes out icing lower thickness less than 1.5cm, using heat fusing effect deicing, turn
Laser uses repeated translation scan mode, turntable to drive laser to be swept with the speed of 0.0003 °/s along cable direction of axis line
Retouch, using laser thermal effect ice melting, scanning range is that image maximum multiple amplifies the 1/4 of downward view width, laser power from
30% starts to adjust, and often scans 5 times laser powers and increases by 20%, according to initial laser scanning range, sweep speed along cable shafts
Heart line does repeated translation scanning, and power remains unchanged after reaching 100%, realtime graphic identification is during which carried out, until image recognition
Go out at this icing and remove the when of completing to stop, or until receiving other operational orders；
Pattern three：When it without ice slush and thickness is 1.5~3cm that image recognition, which goes out icing lower layer, using heat fusing effect
Deicing is divided into the upper and lower using cable axial line as line of demarcation, turn laser icing cable the upper and lower icing
Axial line, turntable drives laser to be scanned, utilizes laser thermal effect ice melting with the speed of 0.0003 °/s, repeats levels
Translation scan movement, laser power adjusts since 30%, and levels often scan 5 times laser powers and increase by 20%, reach
Power remains unchanged after 100%, during which carries out image recognition in real time, stops when image recognition goes out icing removing completion at this
Only, or until receiving other operational orders；
Pattern four：When it without ice slush and thickness is 3cm or more that image recognition, which goes out icing lower layer, icing is more thick and heavy at this time,
Heat fusing can be carried out to operate with thermal stress.First turn laser along cable axial line using heat fusing effect deicing, turntable with
The speed of 0.0003 °/s drives laser to be scanned, and scanning range is that image maximum multiple amplifies the 1/4 of downward view width, is swashed
Luminous power is adjusted since 30%, is often scanned 5 times laser powers and is increased by 20%, laser scanning range, heat melt sweep speed not
Become and do repeated translation scanning along cable axial line, after laser power increases to the upper limit, maintains constant one section of the scanning of Upper Bound Power
Time；It after suspending laser to cooling later, aims at again, makes laser along cable axial line position, laser power adjusting is arrived
100% carries out deicing using thermal stress, and initial laser scanning range is constant, and turntable drives laser complete with the speed of 0.0009 °/s
It is scanned at the wave of a cycle, repeats thermal stress according to this and heat melts anti-ice operation, until lower layer's icing is fallen；So
Afterwards, do heat fusing deicing for icing upper layer, laser scanning range is constant, turntable with the speed of 0.0003 °/s drive laser into
Row scanning, setting initial laser power are 30%, often scan 5 times laser powers and increase by 20%, power maintains not after reaching 100%
Become repeated translation scanning, during which carry out image recognition in real time, stops until image recognition goes out when upper layer icing removes completion, or connect
Until receiving other operational orders.
It is demonstrated experimentally that two kinds of principles of the method for the present invention synthesis heat fusing and thermal stress carry out deicing, energy consumption is small, efficient；
In addition the method for the present invention is easy to operate, it is easy to accomplish automation, device can be analyzed according to the target information of visual feedback
With judgement, the deicing measures such as corresponding path planning are executed, excessive manual operation is not necessarily to, reduces the labor intensity of operating personnel
And probability of failure, safe, deicing effect is good.
Claims (10)
1. a kind of laser deicing method based on path planning, which is characterized in that include the following steps：
Step 1 selects laser according to operating distance；
Step 2 determines deice mode according to icing situation, totally four kinds of patterns：
Pattern one：When there is ice slush in icing lower layer, laser aiming ice slush and cable ties dot center position are turned, is imitated using thermal stress
It should carry out deicing；
Pattern two：When icing lower layer is less than 1.5cm without ice slush and ice covering thickness, turning laser, along cable axial line to do repetition flat
Scanning is moved, deicing is carried out using heat fusing effect；
Pattern three：When icing lower layer without ice slush and ice covering thickness in 1.5cm~3cm when, turn laser successively and covered along upper layer/lower layer
The axial line of ice does repeated translation scanning, and deicing is carried out using heat fusing effect；
Pattern four：When icing lower layer is more than 3cm without ice slush and ice covering thickness, laser is turned first and does repetition along cable axial line
Translation scan carries out ice melting using heat fusing effect, turns laser later and do wave scanning along cable axle center line position, utilize heat
Stress carries out the removing of lower layer's icing, above-mentioned heat thawing and thermal stress ice detachment is repeated, until lower layer's icing is fallen；Last edge
The axial line of upper layer icing does repeated translation scanning, and upper layer icing removing is carried out using heat fusing effect.
2. the laser deicing method according to claim 1 based on path planning, which is characterized in that step 1 selected swashs
Light device is solid state laser, and laser peak power should be no less than 7MW, and laser single-pulse energy is no less than 60MJ, and pulse width is
1064nm, spot diameter are no more than 1cm.
3. the laser deicing method according to claim 1 based on path planning, which is characterized in that pattern a period of time deicing
Concrete operations are：Initial laser power is set first, laser aiming ice slush and cable ties dot center position are then turned, according to first
Beginning laser power emits laser, and deicing is carried out using thermal stress effects, until deicing is completed.
4. the laser deicing method according to claim 1 based on path planning, which is characterized in that deicing when pattern two
Concrete operations are：Initial laser power, laser scanning range, sweep speed, scan period and power increment are set first, then
Laser is turned, repeated translation scanning is done along cable axial line according to initial laser power, laser scanning range, sweep speed, profit
Carries out deicing with heat fusing effect, after the completion of a cycle, increases power, continue to do repeated translation scanning, up to laser work(
After rate increases to the upper limit, maintain Upper Bound Power constant until deicing is completed.
5. the laser deicing method according to claim 1 based on path planning, which is characterized in that deicing when pattern three
Concrete operations are：Setting initial laser power, laser scanning range, sweep speed, scan period and power increment first, one
Axial line of the laser along upper layer/lower layer's icing is turned in period successively, according to initial laser power, laser scanning range, scanning
Speed repeated translation scans, and carries out deicing using heat fusing effect, after the completion of a cycle, increases power, continue repeated translation
Scanning maintains Upper Bound Power constant until deicing is completed until after laser power increases to the upper limit.
6. the laser deicing method according to claim 1 based on path planning, which is characterized in that deicing when pattern four
Concrete operations are：Setting thermal stress initial laser power, heat melt initial laser power, laser scanning range, thermal stress first
Sweep speed, heat fusing sweep speed, the thermal stress scan period, heat melts the scan period and heat melts power increment, then adjusts
Turn laser to do repetition according to heat thawing initial laser power, laser scanning range, heat fusing sweep speed along cable axial line and put down
Scanning is moved, so that the ice covering thickness of cable axle center line position is reduced using heat fusing effect, after the completion of a cycle, increases power,
Continue repeated translation scanning, until after laser power increases to the upper limit, pause laser to cooling；Then laser is turned to cable axis
Heart line position does wave scanning according to thermal stress initial laser power, laser scanning range, thermal stress sweep speed, one
After the completion of period, above-mentioned heat thawing and thermal stress process are repeated, until lower layer's icing is fallen；Finally melt according to heat initial
Laser power, laser scanning range, heat fusing sweep speed do repeated translation scanning along the axial line of upper layer icing, utilize hot melt
Change effect and carry out deicing, after the completion of a cycle, increase power, continue repeated translation scanning, until laser power increases to
After the upper limit, maintain Upper Bound Power constant until deicing is completed.
7. the laser deicing method based on path planning according to claim 3 or 6, which is characterized in that utilize thermal stress
When effect deicing, initial power is set as the upper limit of the power of laser.
8. the laser deicing method based on path planning according to claim 4 or 5 or described in 6, which is characterized in that melted using heat
When changing effect deicing, initial power is set as the 30% of the laser power upper limit.
9. the laser deicing method based on path planning according to claim 4 or 5 or described in 6, which is characterized in that melted using heat
When changing effect deicing, power increment, scanning times, sweep speed and operating distance relationship be：
Power increment is：Wherein PmaxFor peak value Upper Bound Power, l is operating distance；
Scanning times are：Wherein l is operating distance, n round numbers；
Sweep speed is：Wherein l is operating distance, and the unit of v is °/s.
10. the laser deicing method according to claim 1 based on path planning, which is characterized in that the wave of pattern four
Shape scanning is that zigzag or sinusoidal waveform scan.
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| CN201810624553.2A CN108599078A (en) | 2018-06-16 | 2018-06-16 | A kind of laser deicing method based on path planning |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109888710A (en) * | 2019-03-19 | 2019-06-14 | 国网湖南省电力有限公司 | A kind of power equipment de-icing method and system |
| CN110369402A (en) * | 2019-07-02 | 2019-10-25 | 华中科技大学 | A kind of long-range deicing system of multiaxis laser and method |
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| CN104410029A (en) * | 2014-12-27 | 2015-03-11 | 赵东旭 | Non-contact deicer and method for power transmission line |
| CN105634130A (en) * | 2016-01-28 | 2016-06-01 | 中国电力科学研究院 | De-icing communication method suitable for overhead line |
| CN108167142A (en) * | 2017-12-26 | 2018-06-15 | 湖北三江航天红阳机电有限公司 | A kind of method and apparatus of laser ablation fan blade surface icing |
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| CN101325321A (en) * | 2008-04-09 | 2008-12-17 | 中国工程物理研究院应用电子学研究所 | Method for deicing aerial high voltage power line using laser |
| CN104410029A (en) * | 2014-12-27 | 2015-03-11 | 赵东旭 | Non-contact deicer and method for power transmission line |
| CN105634130A (en) * | 2016-01-28 | 2016-06-01 | 中国电力科学研究院 | De-icing communication method suitable for overhead line |
| CN108167142A (en) * | 2017-12-26 | 2018-06-15 | 湖北三江航天红阳机电有限公司 | A kind of method and apparatus of laser ablation fan blade surface icing |
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| CN109888710A (en) * | 2019-03-19 | 2019-06-14 | 国网湖南省电力有限公司 | A kind of power equipment de-icing method and system |
| CN110369402A (en) * | 2019-07-02 | 2019-10-25 | 华中科技大学 | A kind of long-range deicing system of multiaxis laser and method |
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