CN108808549A - De-icing method based on laser deicing system - Google Patents
De-icing method based on laser deicing system Download PDFInfo
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- CN108808549A CN108808549A CN201810624573.XA CN201810624573A CN108808549A CN 108808549 A CN108808549 A CN 108808549A CN 201810624573 A CN201810624573 A CN 201810624573A CN 108808549 A CN108808549 A CN 108808549A
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- laser
- icing
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- turntable
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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
-
- 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 invention discloses a kind of de-icing method based on laser deicing system, three kinds of cutting modes are optional, respectively manual mode, semiautomatic-mode and automatic mode.The present invention acquires image information by visual sensor module, control system carries out target identification, on the basis of from motion tracking, laser deicing device is controlled by user terminal, adaptability of the device to icing is improved, optimum Cutting mode can be chosen according to actual conditions, diversity and the flexibility for increasing cutting, improve control accuracy and cutting efficiency.
Description
Technical field
The present invention relates to electric system high voltage transmission line deicing fields, and in particular to a kind of removing based on laser deicing system
Ice method.
Background technology
Severe cold sleety weather in winter, transmission line of electricity, pylon are easy icing snowberg, broken cable, tower can be caused when serious
Frame collapses, and causes around people and animals' injures and deaths, transmission line of electricity damage, loss very big.Overhead transmission line has multi-point and wide-ranging, span
Greatly, the feature of circuit length, the deicing of transmission line of electricity are very difficult.
The existing means for removing ultra-high-tension power transmission line icing snowberg mainly have mechanical deicing, heating power ice melting, natural deicing
(also referred to as passive deicing), four class of hybrid mode.Mechanical deicing is a kind of contact anti-ice operation, and poor safety performance needs circuit
Power-off carries out deicing, and is easily limited by landform.Naturally it deices without additional-energy, but applicability and controllability are poor.Heating power
Ice melting makes icing melt or fall off with heating measures, most widely used.Laser deicing technology as a kind of heating power ice melting mode,
Make the temperature of high-tension cable that can not congeal into ice higher than zero degree or direct ice melting by laser heating, has that power is strong, non-connects
The advantages that touching operation, moving.But current laser deicing technique device needs whole manual operation control, is seen by people
Icing situation control anti-ice operation is examined, feedback real-time is poor, and working efficiency is low, and deicing effect is poor, and there is also certain danger
Property.
Invention content
The purpose of the present invention is to provide a kind of de-icing method based on laser deicing system, from the basis of motion tracking
On, laser is controlled by user terminal and removes cable icing, can be chosen optimum Cutting mode according to actual conditions, increase cutting
Diversity and flexibility, improve control accuracy and cutting efficiency.
Realize that the technical solution of the object of the invention is：A kind of de-icing method based on laser deicing system, this method
It is realized based on laser deicing system, the laser deicing system includes turntable, laser part, pedestal, power-supply system, input dress
It sets, display screen, control system and visual sensor module；The turntable includes orientation component and pitch components, the orientation portion
Part is mounted on above the pedestal, and the pitch components are mounted on above orientation component, the laser part and visual sensor
Module is mounted in the connection parts of pitch components；
The control system includes industrial personal computer and control driving part, and the industrial personal computer is connect with visual sensor module,
It is identified for controlling visual sensor module adjusting parameter, and to the image of visual sensor module acquisition, identification is tied
Fruit is transferred to control driving part；The control driving part is connected with orientation component, pitch components, is carried out for controlling turntable
The rotation in orientation and pitching two-freedom, and then drive laser part and the rotation of visual sensor module；
The visual sensor module includes visible light camera and infrared thermography, the visual sensor module with
Industrial personal computer connects, and for adjusting control system for parameters of visual sensor according to the instruction of industrial personal computer, switches visible image capturing according to Intensity threshold
When light intensity is more than threshold value, image is acquired by visible light camera for machine and infrared thermography, when light intensity is less than or equal to threshold value,
Image is acquired by infrared thermography, and by the image transmitting of acquisition to industrial personal computer；
The de-icing method includes manual mode, semiautomatic-mode and automatic mode, and Three models select a use；
The specific method of manual mode is：
S11, visual sensor module acquire present image information, send control system to, and show over the display；
S12, when, there are when icing, the image of acquisition being amplified in image；
S13, control system receive operational order, carry out image recognition to confining region in the image collected, obtain
The contact position of image coordinate, i.e. icing and cable；
S14, control system resolve the image coordinate of icing contact position, angle coordinate are obtained, further according to coordinate
The transformational relation of system obtains turntable coordinate, sends instructions to turntable, makes its rotation, tracking icing and cable contact position；
S15, according to the information of input unit, into cut mode；
S16, control system are instructed according to cut direction, the cutting speed of reception, calculate corresponding turntable instruction；
S17, laser part send laser, and the turntable being calculated in S16 instruction is sent to turntable, controlled by control system
Turntable drives laser part rotation；
S18 continues to cut off if necessary, repeats S11~S17；
The specific method of semiautomatic-mode is：
S21, visual sensor module acquire present image information, send control system to, and show over the display；
S22, when, there are when icing, the image of acquisition being amplified in image；
S23, control system receive operational order, carry out image recognition to confining region in the image collected, obtain
The contact position of image coordinate, i.e. icing and cable；
S24, control system resolve the image coordinate of icing contact position, angle coordinate are obtained, further according to coordinate
The transformational relation of system obtains turntable coordinate, sends instructions to turntable, makes its rotation, tracking icing and cable contact position；
S25, according to the information of input unit, into cut mode；
S26, control system instruct according to the cutting cycle-index and cutting speed received, calculate the first turntable and refer to
It enables, the first turntable instruction corresponds to the cycle-index and velocity of rotation of turntable rotation；
S27, clicks the beginning and end of cutting path in video, and control system is believed according to the pixel of beginning and end
Breath, image coordinate is resolved, angle coordinate is obtained, turntable coordinate is obtained further according to the transformational relation of coordinate system, calculates
Second turntable instructs, and the second turntable instruction, which corresponds to from cutting path origin-to-destination turntable, needs the angle turned over；
S28, laser part send laser, and control system sends the instruction of the first turntable and the second turntable is instructed to turntable, control
Turntable processed drives laser part rotation；Display simultaneous display goes out the path of planning, and equipment starts to be cut along path；
S29, after the completion of cutting, control system carries out image recognition to current the image collected, if still there is icing,
Control system returns to S23, and turntable continues to track icing, waits for instruction；If not having icing in image, control system does not send instruction
To turntable, waiting terminates；
The specific method of automatic mode is：
S31, visual sensor module acquire present image information, send control system to, and show on a display screen；
S32, when, there are when icing, the image of acquisition being amplified in image；
S33, control system receive operational order, carry out image recognition to confining region in the image collected, obtain
The contact position of image coordinate, i.e. icing and cable；
S34, control system resolve the image coordinate of icing contact position, angle coordinate are obtained, further according to coordinate
The transformational relation of system obtains turntable coordinate, sends instructions to turntable, makes its rotation, tracking icing and cable contact position；
S35, according to the information of input unit, into cut mode；
S36, laser part emit laser, and control system sends corresponding cut direction according to real-time tracking situation and cuts
Speed command is cut to turntable, control turntable drives laser part rotation；
S37, control system carry out image recognition to current the image collected, if still there is icing, control system is returned
S33 is returned, turntable will continue to track icing；As not having icing, control system not to send instructions to turntable in image, cutting terminates.
Compared with prior art, the present invention its remarkable advantage is：(1) flexibility ratio is high, and equipment is light, adapts to differently
Shape；(2) control accuracy is high, is controlled by visual servo, improves performance accuracy；(3) it is selected according to different actual conditions
Different cutting modes is selected, best cutting effect can be obtained；(4) apparatus of the present invention strong applicability, well lighted or difference
When, icing image can be accurately obtained, is conducive to execute anti-ice operation.
Description of the drawings
Fig. 1 is the general assembly structural schematic diagram of laser deicing system.
Fig. 2 is that the present invention is based on the de-icing method flow charts of laser deicing system.
Fig. 3 is the result figure of collected complete image gray processing.
Fig. 4 is the perspective view that image information carries out x-axis and y-axis respectively in the coordinate system of camera plane.
Fig. 5 (a) is plane of delineation coordinate system about Y-axis projection ∑ Ai,jCurve graph, Fig. 5 (b) are that plane of delineation coordinate system closes
In X-axis projection ∑ Ai,jCurve graph.
Fig. 6 is pinhole camera modeling figure.
Fig. 7 is the pitch components and orientation modular construction schematic diagram of laser deicing system.
Fig. 8 is the orientation feature profile figure and vertical view of laser deicing system.
Fig. 9 is the pitch components vertical view of laser deicing system.
Figure 10 is the control system operating diagram of laser deicing system.
Figure 11 is four kinds of mode method flow charts of the invention.
Figure 12 is laser deicing systematic difference schematic diagram.
Attached drawing identifies：1 is turntable, and 2 be laser part, and 3 be pedestal, and 4 be visual sensor module, and 5 be orientation component, 6
It is orientation torque motor for pitch components, 7,8 be orientation angles measuring device, and 9 be bearing block one, and 10 be bearing block two, and 11 are
Pitching moment motor, 12 be pitch angle measuring device, and 13 be connection parts, and 14 be orientation limiting lock parts, and 15 be orientation
Pedestal, 16 be orientation holder, and 17 be laser beam emitting head, and 18 be pitching limiting lock parts, and 19 be laser accumulator, and 20 be direct current
Power supply, 21 laser controlling casees, 22 be industrial personal computer, and 23 be display, and 24 be input unit.
Specific implementation mode
A kind of de-icing method based on laser deicing system, this method based on laser deicing system realize, as shown in Figure 1,
The laser deicing system include turntable 1, laser part 2, pedestal 3, power-supply system, input unit, display screen, control system and
Visual sensor module 4；The turntable 1 includes orientation component 5 and pitch components 6, and the orientation component 5 is mounted on the pedestal
3 tops, the pitch components 6 are mounted on 5 top of orientation component, and the laser part 2 and visual sensor module 4 install pitching
In the connection parts 13 of component 6；
The control system includes industrial personal computer 22 and control driving part, the industrial personal computer 22 and visual sensor module 4
Connection, for controlling 4 adjusting parameter of visual sensor module, and the image acquired to visual sensor module 4 is identified, will
Recognition result is transferred to control driving part；The control driving part is connected with orientation component 5, pitch components 6, for controlling
Turntable carries out the rotation in orientation and pitching two-freedom, and then laser part 2 and visual sensor module 4 is driven to rotate；
The visual sensor module 4 includes visible light camera and infrared thermography, the visual sensor module 4
It connect with industrial personal computer 22, for adjusting control system for parameters of visual sensor according to the instruction of industrial personal computer 22, is switched according to Intensity threshold visible
Light video camera and infrared thermography when light intensity is more than threshold value, acquire image, light intensity is less than or equal to threshold by visible light camera
When value, image is acquired by infrared thermography, and by the image transmitting of acquisition to industrial personal computer 22.
Visible light refers to the part that human eye can distinguish in electromagnetic wave, in the environment of bright light, it is seen that light images function
Extra light disturbance is filtered, good image effect is obtained.Infrared ray is electromagnetism of the wavelength between microwave and visible light
Wave, is a kind of light that human eye can't see, and all objects of nature can nearly all send out infrared ray.The core of thermal imaging system is
The temperature difference is converted into real time video image and shown by a kind of sensor that can detect pole small temperature difference.It is any to have temperature
Object can all send out infrared ray, and thermal imaging system is exactly the infrared ray for receiving object and sending out, and is shown by coloured picture tested
The Temperature Distribution for measuring object surface, the abnormal point of temperature is found out according to the fine difference of temperature.When deicer is operated in can not
When under light-exposed or low-light dark surrounds, it is seen that light video camera can not work, and infrared thermography can be used at this time and obtain circuit
Image information learns icing situation in turn.Accordingly, the present invention proposes a kind of laser deicing system based on multisensor, well lighted
When (such as fine day on daytime) image is acquired by visible light camera, (such as cloudy day on daytime or at night) is logical when light difference
Laser deicing system job mistake can effectively be improved for the feature of snow and ice cover cable by crossing infrared thermography acquisition image
To the discrimination of target in journey, it can also be accurately tracked when target is shaken, laser is enable to aim at ice cube, improve laser work
Efficiency.
As shown in Fig. 2, the de-icing method includes manual mode, semiautomatic-mode and automatic mode, Three models select one
It uses.
The manual mode refer in operation interface select "upper", "lower", "left", "right" control motor rotation side
To, by change motor speed slider bar size, change the speed of cutting.The specific method of manual mode is：
S11, visual sensor module acquire present image information, send control system to, and show over the display；
S12, when, there are when icing, the image of acquisition being amplified in image；
S13, control system receive operational order, carry out image recognition to confining region in the image collected, obtain
The contact position of image coordinate, i.e. icing and cable；
S14, control system resolve the image coordinate of icing contact position, angle coordinate are obtained, further according to coordinate
The transformational relation of system obtains turntable coordinate, sends instructions to turntable, makes its rotation, tracking icing and cable contact position；
S15, according to the information of input unit, into cut mode；
S16, control system are instructed according to cut direction, the cutting speed of reception, calculate corresponding turntable instruction；
S17, laser part send laser, and the turntable being calculated in S16 instruction is sent to turntable, controlled by control system
Turntable drives laser part rotation；
S18 continues to cut off if necessary, repeats S11~S17；
The semiautomatic-mode refers to that, by the way that cutting parameter and cutting path is arranged, device is cut according to setting automatically.Half
The specific method of automatic mode is：
S21, visual sensor module acquire present image information, send control system to, and show over the display；
S22, when, there are when icing, the image of acquisition being amplified in image；
S23, control system receive operational order, carry out image recognition to confining region in the image collected, obtain
The contact position of image coordinate, i.e. icing and cable；
S24, control system resolve the image coordinate of icing contact position, angle coordinate are obtained, further according to coordinate
The transformational relation of system obtains turntable coordinate, sends instructions to turntable, makes its rotation, tracking icing and cable contact position；
S25, according to the information of input unit, into cut mode；
S26, control system instruct according to the cutting cycle-index and cutting speed received, calculate the first turntable and refer to
It enables, the first turntable instruction corresponds to the cycle-index and velocity of rotation of turntable rotation；
S27, clicks the beginning and end of cutting path in video, and control system is believed according to the pixel of beginning and end
Breath, image coordinate is resolved, angle coordinate is obtained, turntable coordinate is obtained further according to the transformational relation of coordinate system, calculates
Second turntable instructs, and the second turntable instruction, which corresponds to from cutting path origin-to-destination turntable, needs the angle turned over；
S28, laser part send laser, and control system sends the instruction of the first turntable and the second turntable is instructed to turntable, control
Turntable processed drives laser part rotation；Display simultaneous display goes out the path of planning, and equipment starts to be cut along path；
S29, after the completion of cutting, control system carries out image recognition to current the image collected, if still there is icing,
Control system returns to S23, and turntable continues to track icing, waits for instruction；If not having icing in image, control system does not send instruction
To turntable, waiting terminates；
The specific method of automatic mode is：
S31, visual sensor module acquire present image information, send control system to, and show on a display screen；
S32, when, there are when icing, the image of acquisition being amplified in image；
S33, control system receive operational order, carry out image recognition to confining region in the image collected, obtain
The contact position of image coordinate, i.e. icing and cable；
S34, control system resolve the image coordinate of icing contact position, angle coordinate are obtained, further according to coordinate
The transformational relation of system obtains turntable coordinate, sends instructions to turntable, makes its rotation, tracking icing and cable contact position；
S35, according to the information of input unit, into cut mode；
S36, laser part emit laser, and control system sends corresponding cut direction according to real-time tracking situation and cuts
Speed command is cut to turntable, control turntable drives laser part rotation；
S37, control system carry out image recognition to current the image collected, if still there is icing, control system is returned
S33 is returned, turntable will continue to track icing；As there is no icing object, control system not to send instructions to turntable, cutting knot in image
Beam.
Further, in above-mentioned Three models, image recognition includes the following steps：
After control system receives the incoming trace command of input unit, image recognition is carried out；It is obtained by image recognition
Y-axis coordinates of the width d and icing cable that icing cable diameter projects in camera plane in the plane of delineation；Specially：
Step 31, the pixel value that control system captures visual sensor module is the image gray processing of n*m；
Step 32, image is converted to the form of byte arrays, obtains the image array of a n*m, wherein each member
Plain AijThe gray value of the corresponding pixel：
Step 33, the image information for specifying region in image is obtained, image recognition matrix is converted to, carries out projection process,
∑ A is asked for every a line, each row in image recognition matrixi,j；
As shown in Figure 3, it is assumed that be the region of specified identification in rectangle frame, illustrated with the matrix of 6*12.Rectangle frame
Interior corresponding gray value preserves corresponding position in a matrix.
It is extracted, is converted to image recognition matrix：
The image information that matrix (1) indicates is carried out to the projection of x-axis and y-axis respectively in the coordinate system of camera plane, such as
Shown in Fig. 4.
∑ A is asked for every a line, each row in matrix (1)i,j.Curve graph is done to result, can be obtained in y-axis and x-axis
On projection such as Fig. 5 (a) and Fig. 5 (b) shown in.
Step 34, the curve obtained by analyzing projection, obtains y-axis valley value correspondence image coordinate, the i.e. y-coordinate of cable
Y0~y1；
Step 35, it finds out in y-axis that the pixel of trough is wide, obtains the width d that icing cable diameter projects in camera plane.
Further, in above-mentioned Three models, the tracking in S14, S24, S34 is specially：
Step 41, actual distance of the icing apart from equipment is found out according to focal length f
Step 42, coordinate of the laser point in the plane of delineation is calculated as coordinates of targets (x according to Zc0,y0) and icing line
Cable true diameter D；Specially：
Step 421, absolute parallel according to light path and camera imaging axle center, it is known that phase of the laser point in camera axle center corresponding points
To fixed position, known to this relative position；In real coordinate system, if the coordinate of camera axle center corresponding points is (ac,bc), then swash
Light spot position is (ac+dx,bc+ dy), dx and dy are respectively under same distance, and laser point is sat with camera axle center corresponding points in reality
Fixed position under mark system is poor；
Step 422, the corresponding point in camera imaging axle center is in imaging process, though with a distance from camera be it is how many,
Coordinate in camera plane is constant always, is (xc,yc)；If coordinate of the laser point in camera plane is (x0,y0), (x0,y0)
=(xc+dx’,yc+ dy '), dx ' and dy ' they are laser point and coordinate difference of the camera axle center corresponding points under camera plane coordinate system；
Then：
Solve (x0,y0)；
Step 423, as shown in fig. 6, according to the pin-hole model of video camera, object emission mistake of the light from scene or distant place
Come, by the surfaces object X, pass through lens centre, forms the image x of handstand in the imaging plane at side distance f after the lens, with
Object is at handstand similarity relation；Therefore, it is only described with a camera parameters with the relevant image size of distant objects：Focal length
f；
It can be obtained according to Similar Principle of Triangle：
I.e.Control system acquires icing cable true diameter D by the formula.
Step 43, calculating coordinate of the plane of delineation coordinate system to angle coordinate system；Control system is according to camera under distance Zc
Pixel and the correspondence of angle coordinate system obtain the angle coordinate (θ of laser point in plane coordinate systemx0,θy0) and icing line
The angular coordinate theta of cable y-axisy1；Specially：
Resolve laser point relative angle coordinate (θx0,θy0)：
Resolve icing cable y-axis relative angle coordinate θy1：
y1-yc=Zc*tanθy1。
Step 44, Δ θ is obtained as difference according to the y-axis angle coordinate of laser point and icing cabley, according to the D of step 4, work
Control machine selects suitable Δ θxCarry out adjusting apparatus horizontal resection speed, obtains angle delta θ=(Δ θ that turntable should rotatex,Δ
θy), industrial personal computer sends commands to turntable, and laser point and cut point is made to overlap.
Further, as shown in Figure 7, Figure 8, the orientation component 5 includes orientation torque motor 7, orientation angles measurement dress
Set 8, orientation limiting lock parts 18, orientation limiting lock parts 14, azimuth base 15 and orientation holder 16；The azimuth base
15 connect with pedestal 3, and orientation holder 16 and pitch components 6 connect；The orientation angles measuring device 8 is placed in inside pedestal 3, is used
Control driving part is sent to by electric signal in the angle for rotating true bearing；The orientation torque motor 7 is located at orientation
8 top of angle measurement unit, realizes rotation of the laser deicing device in orientation；The orientation limiting lock parts 14 are located at side
Position 16 edge of holder, connect with azimuth base 15, and the order by controlling driving part makes it fall into 15 1 circles of azimuth base
When in hole, orientation, constant bearing holder 16 are locked；The orientation holder 16 is located at the surface of entire orientation component 5, for connecting
Pitch components 6 are connect, it is driven to be rotated in orientation；
As shown in Fig. 7,9, the pitch components 6 include bearing block 1, bearing block 2 10, pitching moment motor 11, connection
Component 13, pitch angle measuring device 12 and pitching limiting lock parts 18；The bearing block 1 and bearing block 2 10 and orientation
Component 5 connects, and orientation component 5 is followed to rotate；The pitching moment motor 11 is located in the bearing block 1, for driving connection
The pitching of relay part 13 rotates；13 crossbearer of coupling part is in pitching moment motor 11 and pitch angle measuring device 12
Between, it is connected as drive mechanism, and with the visual sensor module 4 and laser part 2, them is driven to rotate together；It is described
Pitch angle measuring device 12 is placed in bearing block 2 10, by obtaining the angle of practical pitch rotation with the rotation of connection parts 13
Degree, control driving part is sent to by electric signal；The pitching limiting lock parts 18 are mounted in the bearing block 2 10
13 end of connection parts of side, the order by controlling driving part make lock pillar be sent into 2 10 1 circular holes of bearing block, pass through
Fixed connecting part 13 carrys out the pitch angle of mechanical retention pitching moment motor 11；
The visual sensor module 4 is mounted in the connection parts 13 of pitch components 6, with rotating therewith, including
Visible light camera and infrared thermography switch visible light camera according to Intensity threshold and infrared thermography carry out image
Acquisition.The visible light camera includes optical lens and imaging sensor, and the optical lens includes optical mirror slip and machinery
The material of mechanism, optical mirror slip is generally optical glass, optical resin or optical ceramics material, is coated in lens surface optically thin
Film, to mitigate the construction weight of optical lens, structural material uses light material, described image sensor optical signal can be turned
Change electric signal into, for being specifically imaged, the visible light camera acquires cable and icing figure in real time when light intensity is more than threshold value
Picture is transferred to industrial personal computer 22 by Ethernet.The infrared thermography acquires cable in real time when light intensity is less than or equal to threshold value
With icing image, industrial personal computer 22 is sent to by Ethernet.
The pedestal 3 is located at the bottommost of device, and support is provided to whole device.
The laser part 2 includes laser beam emitting head 17 and laser controlling case 21；The laser beam emitting head 17 passes through optical fiber
It is connect with the laser controlling case 21, follows connection parts 13 to rotate with visual sensor module 4；
The visual sensor module 4 is communicated by Ethernet with control system；
The power-supply system includes laser accumulator 19 and DC power supply 20；The DC power supply 20 is used for entire motor
Load, input/output unit and visual sensor module 4 are powered, and the laser accumulator 19 is used for in the laser part 2
Laser controlling case 21 is powered；
The input/output unit includes display 23 and input unit 24；The display 23 is received by HDMI interface
22 signal of industrial personal computer, display control program control interface；The input unit 24 is sent to industrial personal computer for inputting operation information
22。
As shown in Figure 10, the industrial personal computer 22 sends commands to visual sensor module 4 by Ethernet serial ports, realizes figure
As parameter change；The industrial personal computer 22 connects visual sensor module 4 by Ethernet, realizes that image is obtained and identified, positions
Circuit and icing obtain the position of icing, shape information feeds back to control driving part；The industrial personal computer 22 is gone here and there by RS422
Mouth is connect with the control driving part, realizes the rotation cutting of turntable 1；The industrial personal computer 22 is connect with the input/output unit
Realize human-computer interaction；The control driving part is located in pedestal 3, and dress is measured by orientation angles measuring device 8, pitch angle
It sets 12 and receives the angle information of orientation component 5 and pitch components 6 respectively, and industrial personal computer 22 is transmitted to by RS422 serial ports, connect simultaneously
22 information control azimuth component 5 of industrial personal computer and pitch components 6 are received, two-freedom movement is carried out.
The present invention, using the laser deicing method based on path planning, is set when being cut by laser for different situations
Deicing path and pattern are set, operating efficiency is improved, as shown in figure 11, 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, turns laser and do weight along cable axial line
Multiple translation scan carries out deicing using heat fusing effect.First be arranged initial laser power, laser scanning range, sweep speed,
Scan period and power increment, then turn laser, according to initial laser power, laser scanning range, sweep speed along cable
Axial line does repeated translation scanning, carries out deicing using heat fusing effect, after the completion of a cycle, increases power, other are constant,
Continue to do repeated translation scanning, i.e., is done along cable axial line according to present laser power and laser scanning range, sweep speed
Repeated translation scans, until after laser power increases to the upper limit, maintains 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.
In order to illustrate deicing effect of the present invention, operating distance is selected to carry out deicing experiment for the place of 100m.It selects at this time
DPSS nanosecond lasers, peak power can reach 7MW, and laser single-pulse energy can reach 60MJ, pulse width 1064nm,
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.
Figure 12 is a kind of application mode of the present invention, and laser deicing device 25 is arranged on car body 26.
In conclusion the present invention have high safety, flexibility ratio it is high, can livewire work, adaptable, control accuracy is high,
The features such as cutting efficiency is high, easy to control, mobility strong.First, the present invention can long-range " ground-to-air " progresss operation, process pacifies
Entirely, instead of traditional artificial climbing livewire work mode；Secondly, build of the present invention is light, is not necessarily to excessive operating personnel, can be accurate
Cutting；Can livewire work, reduce the economic loss brought of power-off；Control accuracy is high, is controlled, is improved by visual servo
Performance accuracy；It is easy to control, laser automatic tracking may be implemented using image recognition.
Claims (10)
1. a kind of de-icing method based on laser deicing system, which is characterized in that this method is based on the realization of laser deicing system, institute
It includes turntable (1), laser part (2), pedestal (3), power-supply system, input unit, display screen, control system to state laser deicing system
System and visual sensor module (4)；The turntable (1) includes orientation component (5) and pitch components (6), the orientation component (5)
Above the pedestal (3), the pitch components (6) are mounted on above orientation component (5), the laser part (2) and
Visual sensor module (4) is mounted in the connection parts (13) of pitch components (6)；
The control system includes industrial personal computer (22) and control driving part, the industrial personal computer (22) and visual sensor module
(4) it connects, is carried out for controlling visual sensor module (4) adjusting parameter, and to the image of visual sensor module (4) acquisition
Identification, control driving part is transferred to by recognition result；The control driving part and orientation component (5), pitch components (6) phase
Even, the rotation in orientation and pitching two-freedom is carried out for controlling turntable, and then drives laser part (2) and visual sensor mould
Block (4) rotates；
The visual sensor module (4) includes visible light camera and infrared thermography, the visual sensor module (4)
It connect with industrial personal computer (22), for adjusting control system for parameters of visual sensor according to the instruction of industrial personal computer (22), is switched according to Intensity threshold
Visible light camera and infrared thermography, when light intensity is more than threshold value, by visible light camera acquisition image, light intensity is less than etc.
When threshold value, image is acquired by infrared thermography, and give the image transmitting of acquisition to industrial personal computer (22)；
The de-icing method includes manual mode, semiautomatic-mode and automatic mode, and Three models select a use；
The specific method of manual mode is：
S11, visual sensor module acquire present image information, send control system to, and show over the display；
S12, when, there are when icing, the image of acquisition being amplified in image；
S13, control system receive operational order, carry out image recognition to confining region in the image collected, obtain image
The contact position of coordinate, i.e. icing and cable；
S14, control system resolve the image coordinate of icing contact position, angle coordinate are obtained, further according to coordinate system
Transformational relation obtains turntable coordinate, sends instructions to turntable, makes its rotation, tracking icing and cable contact position；
S15, according to the information of input unit, into cut mode；
S16, control system are instructed according to cut direction, the cutting speed of reception, calculate corresponding turntable instruction；
S17, laser part send laser, and the turntable being calculated in S16 instruction is sent to turntable, controls turntable by control system
Drive laser part rotation；
S18 continues to cut off if necessary, repeats S11~S17；
The specific method of semiautomatic-mode is：
S21, visual sensor module acquire present image information, send control system to, and show over the display；
S22, when, there are when icing, the image of acquisition being amplified in image；
S23, control system receive operational order, carry out image recognition to confining region in the image collected, obtain image
The contact position of coordinate, i.e. icing and cable；
S24, control system resolve the image coordinate of icing contact position, angle coordinate are obtained, further according to coordinate system
Transformational relation obtains turntable coordinate, sends instructions to turntable, makes its rotation, tracking icing and cable contact position；
S25, according to the information of input unit, into cut mode；
S26, control system are instructed according to the cutting cycle-index and cutting speed received, calculate the instruction of the first turntable, institute
State cycle-index and velocity of rotation that the instruction of the first turntable corresponds to turntable rotation；
S27, clicks the beginning and end of cutting path in video, and control system, will according to the Pixel Information of beginning and end
Image coordinate is resolved, and angle coordinate is obtained, and is obtained turntable coordinate further according to the transformational relation of coordinate system, is calculated second turn
Platform instructs, and the second turntable instruction, which corresponds to from cutting path origin-to-destination turntable, needs the angle turned over；
S28, laser part send laser, and control system sends the instruction of the first turntable and the second turntable is instructed to turntable, and control turns
Platform drives laser part rotation；Display simultaneous display goes out the path of planning, and equipment starts to be cut along path；
S29, after the completion of cutting, control system carries out image recognition to current the image collected, if still there is icing, control
System returns to S23, and turntable continues to track icing, waits for instruction；If not having icing in image, control system, which is not sent instructions to, to be turned
Platform, waiting terminate；
The specific method of automatic mode is：
S31, visual sensor module acquire present image information, send control system to, and show on a display screen；
S32, when, there are when icing, the image of acquisition being amplified in image；
S33, control system receive operational order, carry out image recognition to confining region in the image collected, obtain image
The contact position of coordinate, i.e. icing and cable；
S34, control system resolve the image coordinate of icing contact position, angle coordinate are obtained, further according to coordinate system
Transformational relation obtains turntable coordinate, sends instructions to turntable, makes its rotation, tracking icing and cable contact position；
S35, according to the information of input unit, into cut mode；
S36, laser part emit laser, and control system sends corresponding cut direction and cutting speed according to real-time tracking situation
Degree instruction drives laser part rotation to turntable, control turntable；
S37, control system carries out image recognition to current the image collected, if still there is icing, control system returns
S33, turntable will continue to track icing；As not having icing, control system not to send instructions to turntable in image, cutting terminates.
2. the de-icing method according to claim 1 based on laser deicing system, which is characterized in that in S13, S23, S33
The method of image recognition is：
Step 31, the pixel value that control system captures visual sensor module is the image gray processing of n*m；
Step 32, image is converted to the form of byte arrays, obtains the image array of a n*m, wherein each elements Aij
The gray value of the corresponding pixel：
Step 33, the image information for specifying region in image is obtained, image recognition matrix is converted to, carries out projection process, for
Every a line, each row seek ∑ A in image recognition matrixi,j；
Step 34, by analyzing the obtained curve of projection, obtain y-axis valley value correspondence image coordinate, i.e. the y-coordinate y0 of cable~
y1；
Step 35, it finds out in y-axis that the pixel of trough is wide, obtains the width d that icing cable diameter projects in camera plane.
3. the de-icing method according to claim 1 based on laser deicing system, which is characterized in that in S14, S24, S34
Tracking it is identical, specially：
Step 41, actual distance of the icing apart from equipment is found out according to focal length f
Step 42, coordinate of the laser point in the plane of delineation is calculated as coordinates of targets (x according to Zc0,y0) and icing cable it is true
Real diameter D；
Step 43, calculating coordinate of the plane of delineation coordinate system to angle coordinate system；Control system is according to camera plane under distance Zc
Pixel and the correspondence of angle coordinate system obtain the angle coordinate (θ of laser point in coordinate systemx0,θy0) and icing cable y-axis
Angular coordinate thetay1；
Step 44, Δ θ is obtained as difference according to the y-axis angle coordinate of laser point and icing cabley, according to the D of step 4, industrial personal computer
Select suitable Δ θxCarry out adjusting apparatus horizontal resection speed, obtains angle delta θ=(Δ θ that turntable should rotatex,Δθy), work
Control machine sends commands to turntable, and laser point and cut point is made to overlap.
4. the de-icing method according to claim 3 based on laser deicing system, which is characterized in that step 42 is specially：
Step 421, absolute parallel according to light path and camera imaging axle center, it is known that laser point is relatively solid camera axle center corresponding points
Place is set in positioning, known to this relative position；In real coordinate system, if the coordinate of camera axle center corresponding points is (ac,bc), then laser point
Position is (ac+dx,bc+ dy), dx and dy are respectively under same distance, and laser point is with camera axle center corresponding points in real coordinate system
Under fixed position it is poor；
Step 422, the corresponding point in camera imaging axle center is in imaging process, no matter being how many with a distance from camera, in camera
Coordinate in plane is constant always, is (xc,yc)；If coordinate of the laser point in camera plane is (x0,y0), (x0,y0)=(xc
+dx’,yc+ dy '), dx ' and dy ' they are laser point and coordinate difference of the camera axle center corresponding points under camera plane coordinate system；Then：
Solve (x0,y0)；
Step 423, according to the pin-hole model of video camera, light comes from the object emission of scene or distant place, by object X tables
Face passes through lens centre, forms the image x of handstand in the imaging plane at side distance f after the lens, similar at handstand to object
Relationship；Therefore, it is only described with a camera parameters with the relevant image size of distant objects：Focal length f；
It can be obtained according to Similar Principle of Triangle：
I.e.Control system acquires icing cable true diameter D by the formula.
5. the de-icing method according to claim 3 based on laser deicing system, which is characterized in that step 43 is specially：
Resolve laser point relative angle coordinate (θx0,θy0)：
Resolve icing cable y-axis relative angle coordinate θy1：
y1-yc=Zc*tanθy1。
6. according to the de-icing method based on laser deicing system described in claim 1-5 any one, which is characterized in that described
Orientation component (5) includes orientation torque motor (7), orientation angles measuring device (8), orientation limiting lock parts (18), orientation
Limiting lock parts (14), azimuth base (15) and orientation holder (16)；The azimuth base (15) connect with pedestal (3), side
Position holder (16) and pitch components (6) connection；The orientation angles measuring device (8) is placed in pedestal (3) inside, and being used for will be practical
The angle of orientation rotation is sent to control driving part by electric signal；The orientation torque motor (7) is located at orientation angles survey
It measures above device (8), realizes rotation of the laser deicing device in orientation；The orientation limiting lock parts (14) are located at orientation
Holder (16) edge, connect with azimuth base (15), and the order by controlling driving part makes it fall into azimuth base (15) one
When in a circular hole, orientation, constant bearing holder (16) are locked；The orientation holder (16) is being located at entire orientation component (5) just
Top drives it to be rotated in orientation for connecting pitch components (6)；
The pitch components (6) include bearing block one (9), bearing block two (10), pitching moment motor (11), connection parts
(13), pitch angle measuring device (12) and pitching limiting lock parts (18)；The bearing block one (9) and bearing block two (10)
It is connect with orientation component (5), orientation component (5) is followed to rotate；The pitching moment motor (11) is located at the bearing block one (9)
In, for driving the pitching of connection parts (13) to rotate；Coupling part (13) crossbearer is in pitching moment motor (11) and bows
It is intermediate to face upward angle measurement unit (12), as drive mechanism, and with the visual sensor module (4) and laser part (2) phase
Even, them are driven to rotate together；The pitch angle measuring device (12) is placed in bearing block two (10), by with connection parts
(13) rotation obtains the angle of practical pitch rotation, and control driving part is sent to by electric signal；The pitching limiting lock zero
Component (18) is mounted on connection parts (13) end on the inside of the bearing block two (10), and the order by controlling driving part makes
Lock pillar is sent into bearing block two (10) circular hole, by fixed connecting part (13) come mechanical retention pitching moment motor (11)
Pitch angle；
The pedestal (3) is located at the bottommost of device, and support is provided to whole device.
7. the de-icing method according to claim 6 based on laser deicing system, which is characterized in that the orientation angles are surveyed
It is that rotation becomes transmitter or Lineside encoding unit to measure device (8) and pitch angle measuring device (12).
8. the de-icing method according to claim 6 based on laser deicing system, which is characterized in that the laser part
(2) include laser beam emitting head (17) and laser controlling case (21)；The laser beam emitting head (17) passes through optical fiber and the laser control
Case (21) connection processed, follows connection parts (13) to rotate with visual sensor module (4)；
The visual sensor module (4) is communicated by Ethernet with control system.
9. the de-icing method according to claim 6 based on laser deicing system, which is characterized in that the power-supply system packet
Include laser accumulator (19) and DC power supply (20)；The DC power supply (20) is used to fill to entire motor load, input and output
It sets and visual sensor module (4) power supply, the laser accumulator (19) is used for laser controlling case in the laser part (2)
(21) it powers；
The display (23) receives industrial personal computer (22) signal, display control program control interface by HDMI interface；It is described defeated
Enter device (24) for inputting operation information, is sent to industrial personal computer (22).
10. the de-icing method according to claim 6 based on laser deicing system, which is characterized in that the industrial personal computer
(22) visual sensor module (4) is sent commands to by Ethernet serial ports, realizes that image parameter changes；The industrial personal computer (22)
Visual sensor module (4) is connected by Ethernet, image acquisition and identification, positioning line fault and icing is realized, obtains icing
Position, shape information feed back to control driving part；The industrial personal computer (22) passes through RS422 serial ports and the control driving part
Connection realizes that turntable (1) rotates cutting；The industrial personal computer (22) connect with the input/output unit realizes human-computer interaction；Institute
It states control driving part to be located in pedestal (3), respectively by orientation angles measuring device (8), pitch angle measuring device (12)
The angle information of orientation component (5) and pitch components (6) is received, and industrial personal computer (22) is transmitted to by RS422 serial ports, is received simultaneously
Industrial personal computer (22) information control azimuth component (5) and pitch components (6) carry out two-freedom movement.
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Application publication date: 20181113 |