CN108847611A - Reflection-type laser removes foreign matter device and removes matter method - Google Patents
Reflection-type laser removes foreign matter device and removes matter method Download PDFInfo
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- CN108847611A CN108847611A CN201810624644.6A CN201810624644A CN108847611A CN 108847611 A CN108847611 A CN 108847611A CN 201810624644 A CN201810624644 A CN 201810624644A CN 108847611 A CN108847611 A CN 108847611A
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- foreign matter
- control system
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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
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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
Foreign matter device, which is removed, the invention discloses a kind of reflection-type laser removes matter method.Present image information is shown by visual sensor acquisition, display；Control system carries out image recognition, obtains foreign matter point winding information, and resolve to it, is converted into angle coordinate and sends instructions to turntable, makes its rotation, and tracking foreign matter winds point；According to the information of input unit, cut into cut mode.The present invention is shown target position by visual sensor, on the basis of automatically tracking, laser, which is controlled, by user terminal removes foreign matter device, device is improved to the adaptability of complicated foreign matter, it can be according to the actual situation, optimum Cutting mode is chosen, the diversity and flexibility of cutting are increased, improves control precision and cutting efficiency.
Description
Technical field
The present invention relates to intelligences to remove high voltage transmission line foreign matter field, specifically, being a kind of reflection-type laser removing
Foreign matter device removes matter method.
Background technique
Overhead transmission line is along thread environment complexity, the floatabilities such as kite and kite string, agripast cloth, advertising cloth, sunshade net
The frequent lash of foreign matter on the transmission line, leads to line tripping power failure or route damage, causes pole to electric system and society
Huge economic loss.
Currently, being carried out there are two types of the main methods of foreign matter removing for transmission line of electricity, one is the upper towers of staff to remove,
Have the shortcomings that need to climb that shaft tower, cabling, high voltage high altitude operation, difficulty is high, risk is big, time-consuming, needs power failure operation, expends
A large amount of manpower and material resources.Another is UAV flight's flame device using more method or utilizes other mechanical distant
It controls device and removes foreign matter, for different foreign matters, same device, which may need to change a variety of operating methods, could complete to cut, wherein
Certain methods can also damage cable, can not promote the use of a large area.
Since foreign matter type, canoe are varied, current related high voltage cable removes foreign matter apparatus in practical work
During work, generally require to expend a large amount of manual labor, and can exist and cut sordid phenomenon, control complexity, low efficiency.
Summary of the invention
Foreign matter device is removed the purpose of the present invention is to provide a kind of reflection-type laser and removes matter method, selects cutting path
And speed, increase flexibility ratio, mobility, the control precision, cutting efficiency during removing high-voltage line foreign matter, so as to complete
Remove the task of overhead transmission line road foreign matter.
The technical solution for realizing this discovery purpose is：A kind of reflection-type laser removes foreign matter device and removes matter method,
Steps are as follows：
The manual cutting mode, which refers to, carries out indiscriminate manual mode cutting to the foreign matter of different shape.On operation circle
The rotation direction of "upper", "lower", "left", "right" control motor is selected to change on face by changing the size of motor speed slider bar
Become the speed of cutting；Specific step is as follows：
Step 1：Visual sensor acquires present image information, sends control system to, and show over the display；
Step 2：When foreign matter is in camera view, control system sends a command to visual sensor, changes in camera
Portion's parameter makes the image amplification of acquisition.At this point, foreign matter image information can be clearly displayed on display；
Step 3：Control system receives operational order, by control system to visual sensor acquired image center
Determine region and carry out image recognition, obtains image coordinate, the i.e. winding position of foreign matter and cable；
Step 4：Control system resolves the image coordinate of foreign matter winding point, angle coordinate is obtained, further according to coordinate
The transformational relation of system obtains turntable coordinate, sends instructions to turntable, makes its rotation, and tracking foreign matter winds point；
Step 5：According to the information of input unit, into cut mode；
Step 6：Cut direction, cutting speed instruct control system based on the received, calculate corresponding turntable instruction；
Step 7：Laser part sends laser, and the turntable being calculated in step 6 instruction is sent to by control system to be turned
Platform, control turntable drive laser part rotation；
Step 8：Continue to cut off if necessary, repeats step 1 to seven；
The semi-automatic cutting mode, which refers to, carries out indiscriminate semiautomatic-mode cutting to the foreign matter of different shape.Setting
Cutting parameter and cutting path, device are cut according to setting automatically；Specific step is as follows：
Step 1：Visual sensor acquires present image information, sends control system to, and show over the display；
Step 2：When foreign matter is in camera view, control system sends a command to visual sensor, changes in camera
Portion's parameter makes the image amplification of acquisition.At this point, foreign matter image information can be clearly displayed on display；
Step 3：Control system receives operational order, by control system to visual sensor acquired image center
Determine region and carry out image recognition, obtains image coordinate, the i.e. winding position of foreign matter and cable；
Step 4：Control system resolves the image coordinate of foreign matter winding point, angle coordinate is obtained, further according to coordinate
The transformational relation of system obtains turntable coordinate, sends instructions to turntable, makes its rotation, and tracking foreign matter winds point；
Step 5：According to the information of input unit, into cut mode；
Step 6：Control system is instructed according to the cutting cycle-index and cutting speed received, calculates turntable instruction,
The instruction corresponds to the cycle-index and velocity of rotation of turntable rotation；
Step 7：The beginning and end of cutting path is clicked in video, and control system is according to the pixel of beginning and end
Information resolves image coordinate, obtains angle coordinate, obtains turntable coordinate further according to the transformational relation of coordinate system, calculates
Turntable instructs out, which corresponds to the angle for needing to turn over from cutting path origin-to-destination turntable；
Step 8：Laser part sends laser, the turntable instruction that control system sending step six and step 7 are calculated
To turntable, controls turntable and drive laser part rotation.Display shows the path of planning at this time, and equipment starts to carry out along path
Cutting；
Step 9：After the completion of cutting, control system carries out image recognition to current acquired image, if still had different
Object, control system return step three, turntable will continue to track foreign matter, wait instruction；If not having foreign matter in image, control system is not
Turntable is sent instructions to, waiting terminates；
The automatic cutting mode, which refers to, carries out indiscriminate automatic mode cutting to all foreign matters, and specific step is as follows：
Step 1：Visual sensor acquires present image information, sends control system to, and show over the display；
Step 2：Artificial judgement, when foreign matter is in camera view, control system sends a command to visual sensor, changes
Phase convertor inner parameter makes the image amplification of acquisition.At this point, image information can be clearly displayed on display；
Step 3：Control system receives operational order, by control system to visual sensor acquired image center
Determine region and carry out image recognition, obtains image coordinate, i.e. foreign matter winding position；
Step 4：Control system resolves the image coordinate of foreign matter winding point, angle coordinate is obtained, further according to coordinate
The transformational relation of system obtains turntable coordinate, sends instructions to turntable, makes its rotation, and tracking foreign matter winds point；
Step 5：According to the information of input unit, into cut mode；
Step 6：Laser part sends laser, and control system sends corresponding cut direction according to real-time tracking situation
It instructs with cutting speed to turntable, controls turntable and drive laser part rotation.Equipment starts to be cut；
Step 7：Control system carries out image recognition to current acquired image, if still there is foreign matter point, control system
System return step three, turntable will continue to track foreign matter；As not having foreign matter in image, control system does not send instructions to turntable, cuts
Cut end；
Using above-mentioned a variety of cutting modes reflection-type laser remove foreign matter device, including turntable, laser part, input it is defeated
Device, control system and visual sensor out；Wherein, turntable includes orientation component and pitch components, and laser part includes laser
Emitting head, reflection mirror component one, reflection mirror component two；
Orientation component is mounted on above fixed frame, and pitch components are mounted on above orientation component, and laser beam emitting head is mounted on
In orientation component, reflection mirror component one, reflection mirror component two are mounted in pitch components, and visual sensor is mounted on pitch components
In；
Control system is connect with visual sensor, adjusts control system for parameters of visual sensor；Visual sensor is used to capture foreign matter point,
Image is transmitted to control system and carries out image recognition；Control system is connected with orientation component, pitch components respectively, control system pair
The result of image recognition is handled, and driving orientation component, pitch components carry out the rotation in orientation and pitching two-freedom, thus
Drive visual sensor and laser part rotation；Input/output unit is connect with control system, the control for display control program
Interface processed and input operation information.
Compared with prior art, the present invention its remarkable advantage is：(1) flexibility ratio is high, and reflection type structure keeps equipment lighter,
Different terrain is adapted to, and selects different cutting modes according to different actual conditions, optimal cutting effect can be obtained；
(2) high degree of automation is controlled by visual servo, improves operation precision；(3) mode diversification, a variety of cutting sides
Method is selected for operator, can utmostly realize the complete cutting to foreign matter.
Detailed description of the invention
Fig. 1 is the general assembly structural schematic diagram that reflection-type laser of the invention removes foreign matter device.
Fig. 2 is that reflection-type laser of the invention removes the orientation component of foreign matter device and the side view of pitch components.
Fig. 3 is the sectional view and side view for the turntable that reflection-type laser of the invention removes foreign matter device.
Fig. 4 is the top view and sectional view for the orientation component that reflection-type laser of the invention removes foreign matter device.
Fig. 5 is the front view and side view for the pitch components that reflection-type laser of the invention removes foreign matter device.
Fig. 6 is the control system operation schematic diagram that reflection-type laser of the invention removes foreign matter device.
Fig. 7 is the flow chart that reflection-type laser of the present invention removes foreign matter device operating method.
Fig. 8 is flow chart of the present invention except the cutting method in foreign matter operating method.
Specific embodiment
The invention is further explained in the following combination with the attached drawings of the specification.
In conjunction with Fig. 7, the manual cutting mode, which refers to, carries out indiscriminate manual mode cutting to the foreign matter of different shape.
Selected in operation interface by staff "upper", "lower", "left", "right" control motor rotation direction, pass through change motor
The size of speed slider bar changes the speed of cutting.Specific step is as follows：
Step 1：Visual sensor acquires present image information, sends control system to, and show over the display；
Step 2：When foreign matter is in camera view, control system sends a command to visual sensor, changes in camera
Portion's parameter makes the image amplification of acquisition.At this point, foreign matter image information can be clearly displayed on display；
Step 3：Control system receives operational order, by control system to visual sensor acquired image center
Determine region and carry out image recognition, obtains image coordinate, i.e. foreign matter winding position；
Step 4：Control system resolves the image coordinate of foreign matter winding point, angle coordinate is obtained, further according to coordinate
The transformational relation of system obtains turntable coordinate, sends instructions to turntable, makes its rotation, and tracking foreign matter winds point；
Step 5：According to the information of input unit, into cut mode；
Step 6：Control system is instructed according to the cut direction, the cutting speed that receive, control turntable rotation；
Step 7：Laser part sends laser, and control system sends corresponding angle command to turntable, controls turntable band
Dynamic laser part rotation；
Step 8：Continue to cut off if necessary, repeats step 1 to seven；
The semi-automatic cutting mode, which refers to, carries out indiscriminate semiautomatic-mode cutting, setting to the foreign matter of different shape
Cutting parameter and cutting path, device are cut according to setting automatically.Specific step is as follows：
Step 1：Visual sensor acquires present image information, sends control system to, and show over the display；
Step 2：When foreign matter is in camera view, control system sends a command to visual sensor, changes in camera
Portion's parameter makes the image amplification of acquisition.At this point, foreign matter image information can be clearly displayed on display；
Step 3：Control system receives operational order, by control system to visual sensor acquired image center
Determine region and carry out image recognition, obtains image coordinate, the i.e. winding position of foreign matter and cable；
Step 4：Control system resolves the image coordinate of foreign matter winding point, angle coordinate is obtained, further according to coordinate
The transformational relation of system obtains turntable coordinate, sends instructions to turntable, makes its rotation, and tracking foreign matter winds point；
Step 5：According to the information of input unit, into cut mode；
Step 6：Control system is instructed according to the cutting cycle-index and cutting speed received, calculates corresponding turn
Platform instruction；
Step 7：Staff clicks the beginning and end of cutting path in video, and control system is according to starting point and end
The Pixel Information of point, image coordinate is resolved, angle coordinate is obtained, and obtains turntable seat further according to the transformational relation of coordinate system
Mark calculates corresponding turntable instruction；
Step 8：Laser part sends laser, and control system sends corresponding instruction to turntable, controls turntable and drive and swash
The rotation of light component.Display shows the path of planning at this time, and equipment starts to be cut along path；
Step 9：After the completion of cutting, control system carries out image recognition to current acquired image, if still had different
Object, control system repeat step 3 to four, and turntable will continue to track foreign matter, wait instruction；If there is no foreign matter in image, control system
System does not send instructions to turntable, and waiting terminates；
Step 10：Continue to cut off if necessary, repeats step 1 to nine；
The automatic cutting mode, which refers to, carries out indiscriminate automatic mode cutting to all foreign matters, and specific step is as follows：
Step 1：Visual sensor acquires present image information, sends control system to, and show over the display；
Step 2：When foreign matter is in camera view, control system sends a command to visual sensor, changes camera internal
Parameter makes the image amplification of acquisition.At this point, image information can be clearly displayed on display；
Step 3：Control system receives operational order, by control system to visual sensor acquired image center
Determine region and carry out image recognition, obtains image coordinate, the i.e. winding position of foreign matter and cable；
Step 4：Control system resolves the image coordinate of foreign matter winding point, angle coordinate is obtained, further according to coordinate
The transformational relation of system obtains turntable coordinate, sends instructions to turntable, makes its rotation, and tracking foreign matter winds point；
Step 5：According to the information of input unit, into cut mode；
Step 6：Laser part sends laser, and control system sends corresponding instruction to turntable, controls turntable and drive and swash
The rotation of light component.Equipment starts to be cut；
Step 7：Control system carries out image recognition to current acquired image, if still there is foreign matter point, control system
System repeats step 3 to four, and turntable will continue to track foreign matter；As not having foreign matter in image, control system, which is not sent instructions to, to be turned
Platform, cutting terminate.
The step 3 control system carries out image recognition to region is confined in acquired image, obtains image coordinate,
That is the specific method of the winding position of foreign matter and cable is：
Step 3.1：The pixel value that control system arrives cameras capture is the image gray processing of n*m；
Step 3.2：Image is converted to the form of byte array, obtains the image array of a n*m, wherein each member
Plain AijThe gray value of the corresponding pixel
Step 3.3：The image information for specifying region in image is obtained, image recognition matrix is converted to, matrix is indicated
Image information carries out the projection of x-axis and y-axis respectively in the coordinate system of camera plane；For every a line in image recognition matrix,
Each column seek ∑ Ai,j, curve graph is made to the result, obtains the projection in x-axis and y-axis；
Step 3.4：The curve obtained by analyzing projection obtains the corresponding image coordinate of valley value, i.e. foreign matter winds point
Coordinate (x1,y1)；
The pixel for finding out trough in y-axis is wide to get the width d projected in camera plane to cable diameter.
The specific method of the step 4 is：
According in camera model pin-hole model and Similar Principle of Triangle obtain
Wherein, f is camera focus, and d is the width that cable diameter projects in camera plane, d0It is cable true diameter,
The actual distance Zc of foreign matter distance means is found out by the formula；
It is absolute parallel according to optical path and camera imaging axle center, obtain laser point in the relatively fixed position of camera axle center corresponding points
Set place；In real coordinate system, if the coordinate of camera axle center corresponding points is (ac,bc), then laser spot position is (ac+dx,bc+ dy),
Dx and dy is respectively laser point and fixation alternate position spike of the camera axle center corresponding points under real coordinate system under same distance；
For the corresponding point in camera imaging axle center in imaging process, the 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
Coordinate difference of the point with camera axle center corresponding points under camera plane coordinate system, then：
Solve (x0,y0)；
Resolve laser point relative angle coordinate (θx0,θy0)
Resolve foreign matter point relative angle coordinate (θx1,θy1)
As shown in Figure 1, removing the general assembly structural schematic diagram of foreign matter device for reflection-type laser of the present invention, which includes turning
Platform 22, dust proof member 3, laser part 4, fixed frame 5 (preferably tripod), power-supply system, input/output unit, control system,
Communication module, visual sensor 10 (preferably high definition industrial camera), wherein turntable 22 includes orientation component 1, pitch components 2.Side
Position component 1 is mounted on 5 top of tripod；Pitch components 2 are mounted on 1 top of orientation component；17 sets of dust cover in dust proof member 3
Outside pitch components 2, dust-proof mirror 31 is mounted in orientation component 1；Laser part 4 includes laser beam emitting head 19, reflection mirror component
One 20, reflection mirror component 2 21, laser beam emitting head 19 are mounted in orientation component 1, reflection mirror component 1, reflection mirror component two
21 are mounted in pitch components 2, and by this strapdown structure, optical path can pass through reflection mirror component 1 and reflection mirror component
After 2 21 successive reflex, it is parallel to camera optical axis sending, therefore only need to adjust the angle of reflecting mirror, without sending out laser
Penetrating first 19 follows turntable 22 to rotate；Visual sensor 10 is mounted in pitch components 2.
In control system, industrial personal computer 35 is connect with visual sensor 10, is adjusted control system for parameters of visual sensor, is made to get a clear view；
Visual sensor 10 and industrial personal computer 35 connect, and after capturing foreign matter point, image are transmitted to industrial personal computer 35 and carries out image recognition；Industrial personal computer
35 are connected by controlling driving part 38 with orientation component 1, pitch components 2, can carry out turn of orientation and pitching two-freedom
It is dynamic, so that laser part 4 and visual sensor 10 be driven to rotate；Industrial personal computer 35 is transmitted to control for after the result treatment of image recognition
Driving part 38 processed, adjusts orientation component 1 and pitch components 2 are tracked, and laser part 4 is driven to cut foreign matter；
Control system and the connection of communication module 9 are for obtaining remote control information；Power-supply system be control system, visual sensor 10,
Orientation component 1, pitch components 2, laser part 4, communication module 9 are powered.
As shown in Figure 2-5, orientation component 1 includes orientation torque motor 11, (rotation becomes transmitter to orientation angles measuring device
Or Lineside encoding unit) 12, orientation limiting lock components 23, laser installation joint unit 24, pedestal 25 and orientation bracket 26.Its
In, pedestal 25 is fixed on 5 top of tripod；Orientation bracket 26 is mounted on pedestal 25 and pitch components 2 connect.Laser installation
Joint unit 24 for connecting laser part 4, and passes through laser in the circular hole in 25 center of pedestal；Orientation angles measurement
Device (rotation becomes transmitter or Lineside encoding unit) 12 is placed in inside pedestal 25, is obtained the angle of true bearing rotation by it, is led to
It crosses electric signal and is sent to control driving part 38；Orientation torque motor 11 be located at orientation angles measuring device (rotation become transmitter or
Person's Lineside encoding unit) 12 top, it can be achieved that orientation component 1 in orientation -180~180 degree rotation；Orientation limiting lock components
23 are located on 26 edge of orientation bracket, and the order by controlling driving part 38 makes it fall into a circular hole at 25 edge of pedestal
In, for locking orientation, constant bearing bracket 26.
Pitch components 2 include bearing block 1, bearing block 2 14, pitching moment motor 15, pitch axis 1, connection parts
28, pitch axis 2 29, pitch angle measuring device (rotation becomes transmitter or Lineside encoding unit) 16, pitching limiting lock components
30.Wherein, bearing block 1 and bearing block 2 14 are fixedly mounted on the orientation bracket 26 of orientation component 1, one 13 He of bearing block
Bearing block 2 14 is parallel to each other, and orientation component 1 is followed to rotate；Pitching moment motor 15 is located in bearing block 1, it can be achieved that 0~
90 degree of pitching rotations.Pitch axis 1 is located in bearing block 1, pitching moment motor 15 is connected, as pitching moment motor 15
Drive mechanism；28 crossbearer of connection parts is connected, as biography among pitch axis 1 and pitch axis 2 29 with pitch axis 1
Dynamic structure, and be connected with visual sensor 10, it rotates together；Pitch axis 2 29 is located in bearing block 2 14, connects connection parts
28, as driven structure；Pitch angle measuring device (rotation becomes transmitter or Lineside encoding unit) 16 is placed in bearing block 2 14,
Pitch angle measuring device (rotation becomes transmitter or Lineside encoding unit) 16 is able to detect the angle of the rotation of pitch axis 2 29, passes through
Electric signal is sent to control driving part 38, is further transmitted to control system 8；Pitching limiting lock components 30 are located at pitch axis
2 29 outside, the pitch angle for mechanical retention pitching moment motor 15.Orientation bracket 26 is fixed on pedestal 25, is used for
Pitch components 2 are connected, it is driven to rotate in orientation.
Dust proof member 3 includes dust cover 17, laser work window 18, dust-proof mirror 31.Dust cover 17 is covered in pitch components 2
Outside, for internal dust-proof；Laser work window 18 is used to pass through dust cover 17 when laser work in dust cover 17；It is dust-proof
Mirror 31 is located at 1 lower section of orientation component, at the circular hole that laser installation joint unit 24 connects, prevents impurity from entering.
Laser part 4 includes laser beam emitting head 19, reflection mirror component 1, reflection mirror component 2 21, laser controlling case 32.
Wherein, laser beam emitting head 19 is connect by optical fiber with laser controlling case 32, is emitted laser, is at laser light source；Laser beam emitting head
19 are connected with laser installation joint unit 24, together in the circular hole in 25 center of the pedestal of orientation component 1, make laser beam emitting head
19 straight up, laser by emitting head issue after straight up；Reflection mirror component 2 21 installs 24 phase of joint unit with laser
Even, it is located at right above laser beam emitting head 19, laser after emitting head sending on reflection mirror component 2 21 by straight up, passing through
45 ° of reflected illuminations are on reflection mirror component 1；Reflection mirror component 1 is mounted on the interior of the pitch axis 2 29 of pitch components 2
Side, after laser reflects away on reflection mirror component 1, light beam is parallel with visual sensor optical axis, also, reflection mirror component
One 20 rotate together with pitch axis 2 29 and visual sensor 10, can reflect the laser light to the required position in camera observation area
It sets, without rotating the biggish laser beam emitting head of weight, to alleviate the burden of motor, improves the essence of motor rotation
Degree.
Power-supply system includes laser battery 33 and DC power supply 34.DC power supply 34 is mainly used for negative to entire motor
It carries, input/output unit and visual sensor 10 are powered.Laser battery 33 is mainly used for the laser controlling in laser part 4
Case 32 is powered.
Input/output unit includes display 36 and input unit 37.Display 36 receives industrial personal computer 35 by HDMI interface
Signal, 8 control interface of display control program；Input unit 37 is used to input the operation information of operator, is sent to industrial personal computer
35。
As shown in fig. 6, control system includes industrial personal computer 35 and control driving part 38.Industrial personal computer 35 passes through RS485 serial ports
Visual sensor 10 is sent commands to, is changed for realizing focal length, the narrow angle of wide-angle, presetting bit image parameter；Industrial personal computer 35 passes through
Coaxial cable receives 10 image of visual sensor and information, identifies route and foreign matter, obtains foreign matter location information and feed back to control
Driving part 38；Industrial personal computer 35 is connect with control driving part 38 by RS422 serial ports and realizes that the rotation of turntable 22 is cut；Industrial personal computer
35 connect realization human-computer interaction with input/output unit；Control driving part 38 is located in the pedestal 25 in orientation component 1, passes through
Orientation angles measuring device (rotation become transmitter or Lineside encoding unit) 12, pitch angle measuring device (rotation become transmitter or
Lineside encoding unit) 16 angle informations for receiving orientation component 1 and pitch components 2 respectively, and industrial personal computer is transmitted to by RS422 serial ports
35, while 35 information of industrial personal computer, control azimuth component 1 and pitch components 2 are received, carry out two-freedom movement.
Communication module includes wireless transmitter module and wireless receiving module, is mainly used for realizing 35 wireless monitor function of industrial personal computer
Energy；Communication module has the function of wireless awakening and networking function.
Visual sensor 10 is fixedly mounted on 28 lower section of connection parts of pitch components 2, with rotating therewith, and in real time
It acquires image information in front and control system 8 is sent to by coaxial cable, and receive 35 signal instruction of industrial personal computer.
Tripod 5 is located at the bottommost of device, by changing the length adjustment device height of three feet, provides and stablizes properly
Shooting state.
The present invention is when being cut by laser, using a kind of cutting method based on the classification of high-voltage line foreign matter, for difference
Situation setting removes foreign matter path and mode, operating efficiency is improved, as shown in figure 8, specific step is as follows：
Step 1 selects laser according to operating distance；
Step 2, it is determined according to foreign matter form and canoe and removes foreign matter mode：
Mode one：When foreign matter is hanging type, the region between laser aiming foreign matter and cable is turned, along cable axial line
Repeated translation scanning is done, is cut using laser；
Mode two：When foreign matter is mounted model, laser is turned along the intersection of foreign matter and cable and does repeated translation scanning, utilize
Laser is cut；
Mode three：When foreign matter is winding-type, determines the contact point of foreign matter and cable, turn laser successively to each contact point
Repeated translation scanning is done at place, is cut using laser.
The laser that the first step selects is solid state laser, and the peak power of laser is 300W, and spot diameter does not surpass
Cross 1cm；When operating distance is when within 100 meters, setting laser initial power is 100W；When operating distance is greater than 100 meters, setting
Laser power is 150W.
The hanging type foreign matter is the biggish foreign matter of area that filament is connected to, and filament is directly contacted with cable, intersection
Less than 0.5mm, foreign matter is suspended in lower section；
Mounted model foreign matter is that identifiable object is hung directly from cable, is not wound with cable, object and cable
The length of intersection is greater than 0.5mm；
Winding-type foreign matter be linear, band-like or strip foreign matter be coiled on cable, there is multi-turn to contact with cable, and foreign matter and
The length of any one place contact point of cable is greater than 0.5mm.
The specific execution step of the mode one is：
Step 1：Obtain the location information for the foreign matter being suspended in below cable；
Step 2：The region between cable and foreign matter is determined by foreign matter location information；
Step 3：It is right in the region determined by step 2 according to operating distance selection initial laser power, scanning speed
Filament carries out translation scan, is cut using fuel factor is generated when laser irradiation material；
Step 4：After the completion of current period, foreign matter is judged whether there is by the image information obtained, if still remaining,
Increase power, repeat step 1 to three and repeat translation scan, until foreign matter falls off；If repeating in cutting process, laser power
Increase to the upper limit, then maintains Upper Bound Power constant until foreign matter falls off.
The specific execution step of the mode two is：
Step 1：The location information of mounted model foreign matter is obtained, and positions the intersection of foreign matter and cable；
Step 2：Initial laser power, scanning speed are selected according to operating distance, along intersection starting point to intersection terminal along straight
Line does translation scan, is cut using fuel factor is generated when laser irradiation material；
Step 3：After the completion of current period, foreign matter is judged whether there is by the image information obtained, if still remaining,
Increase power, repeat step 1 to two and repeat translation scan, until foreign matter falls off；If repeating in cutting process, laser power
Increase to the upper limit, then maintains Upper Bound Power constant until foreign matter falls off.
The specific execution step of the mode three is：
Step 1：The location information for obtaining winding-type foreign matter randomly selects the contact point of a foreign matter and cable, and setting is just
Beginning laser power, scanning speed turn and do repeated translation scanning at laser butt contact, hot using generating when laser irradiation material
Effect is cut；After the completion of a cycle, increase power, continue to do repeated translation scanning, until the contact point is removed；If
It repeats in cutting process, laser power increases to the upper limit, then maintains Upper Bound Power constant until the contact point is removed；
Step 2：Amplification is directed to the target identification frame of foreign matter；
Step 3：If occurring contact point again in identification frame, it is moved at the cut point by certain cutting sequence and does weight
Multiple translation scan after the completion of a cycle, increases power, continues to do repeated translation scanning, until the contact point is removed；If weight
In multiple cutting process, laser power increases to the upper limit, then maintains Upper Bound Power constant until the contact point is removed；
Step 4：Step 2 is repeated to three, until winding-type foreign matter is cut off completely.
When laser work is in automatically scanning state, the relationship of scanning speed power increment and operating distance is：
Scanning speed：Wherein l is operating distance, and the unit of v is °/s；
Power increment：Wherein PmaxFor peak value Upper Bound Power, l is operating distance.
Claims (3)
1. a kind of reflection-type laser removes foreign matter device and removes matter method, it is characterised in that：It is clear that this method is based on reflection-type laser
Except foreign matter device, which includes turntable (22), laser part (4), input/output unit, control system and visual sensor
(10)；Wherein, turntable (22) includes orientation component (1) and pitch components (2), laser part (4) include laser beam emitting head (19),
Reflection mirror component one (20), reflection mirror component two (21)；
Orientation component (1) is mounted on above fixed frame (5), and pitch components (2) are mounted on above orientation component (1), Laser emission
Head (19) is mounted in orientation component (1), and reflection mirror component one (20), reflection mirror component two (21) are mounted on pitch components (2)
In, visual sensor (10) is mounted in pitch components (2)；
Control system is connect with visual sensor (10), adjusts control system for parameters of visual sensor；Visual sensor (10) is different for capturing
Image is transmitted to control system and carries out image recognition by object point；Control system respectively with orientation component (1), pitch components (2) phase
Even, control system handles the result of image recognition, and driving orientation component (1), pitch components (2) carry out orientation and pitching
The rotation of two-freedom, so that visual sensor (10) and laser part (4) be driven to rotate；Input/output unit and control system
Connection, control interface and input operation information for display control program；
This method includes manual cutting mode, semi-automatic cutting mode and automatic cutting mode；
Specific step is as follows for the manual cutting mode：
Step 1：Visual sensor acquires present image information, sends control system to, and show over the display；
Step 2：When foreign matter is in visual sensor picture, control system sends a command to visual sensor, changes vision
Sensor internal parameter makes the image amplification of acquisition, clearly displays foreign matter image information on display；
Step 3：Control system receives operational order, carries out image to region is confined in visual sensor acquired image
Identification, obtains image coordinate, the i.e. winding position of foreign matter and cable；
Step 4：Control system resolves the image coordinate of foreign matter winding point, angle coordinate is obtained, further according to coordinate system
Transformational relation obtains turntable coordinate, sends instructions to turntable, makes its rotation, and tracking foreign matter winds point；
Step 5：According to the information of input unit, into cut mode；
Step 6：Cut direction, cutting speed instruct control system based on the received, calculate corresponding turntable instruction；
Step 7：Laser part sends laser, and the instruction of obtained turntable is sent to turntable by control system, and control turntable, which drives, to swash
The rotation of light component；
Step 8：Continue to cut off if necessary, repeats step 1 to seven；
Specific step is as follows for the semi-automatic cutting mode：
Step 1：Visual sensor acquires present image information, sends control system to, and show over the display；
Step 2：When foreign matter is in visual sensor picture, control system sends a command to visual sensor, changes vision
Sensor internal parameter makes the image amplification of acquisition, clearly displays foreign matter image information on display；
Step 3：Control system receives operational order, carries out image to region is confined in visual sensor acquired image
Identification, obtains image coordinate, the i.e. winding position of foreign matter and cable；
Step 4：Control system resolves the image coordinate of foreign matter winding point, angle coordinate is obtained, further according to coordinate system
Transformational relation obtains turntable coordinate, sends instructions to turntable, makes its rotation, and tracking foreign matter winds point；
Step 5：According to the information of input unit, into cut mode；
Step 6：Control system is instructed according to the cutting cycle-index and cutting speed received, calculates turntable instruction, this refers to
Enable the cycle-index and velocity of rotation for corresponding to turntable rotation；
Step 7：Select the beginning and end of cutting path in video, control system according to the Pixel Information of beginning and end,
Image coordinate is resolved, angle coordinate is obtained, turntable coordinate is obtained further according to the transformational relation of coordinate system, calculates turntable
Instruction, the instruction correspond to the angle for needing to turn over from cutting path origin-to-destination turntable；
Step 8：Laser part sends laser, and the turntable that control system sending step six and step 7 obtain is instructed to turntable, control
Turntable processed drives laser part rotation；Display shows the path of planning at this time, and device starts to be cut along path；
Step 9：After the completion of cutting, control system carries out image recognition to current acquired image, if still there is foreign matter,
Return step three, turntable continue to track foreign matter, wait instruction；If not having foreign matter in image, control system, which is not sent instructions to, to be turned
Platform, waiting terminate；
Specific step is as follows for the automatic cutting mode：
Step 1：Visual sensor acquires present image information, sends control system to, and show over the display；
Step 2：When foreign matter is in visual sensor picture, control system sends a command to visual sensor, changes vision and passes
Sensor inner parameter makes the image amplification of acquisition, clearly displays image information on display；
Step 3：Control system receives operational order, by control system to confining area in visual sensor acquired image
Domain carries out image recognition, obtains image coordinate, the i.e. winding position of foreign matter and cable；
Step 4：Control system resolves the image coordinate of foreign matter winding point, angle coordinate is obtained, further according to coordinate system
Transformational relation obtains turntable coordinate, sends instructions to turntable, makes its rotation, and tracking foreign matter winds point；
Step 5：According to the information of input unit, into cut mode；
Step 6：Laser part sends laser, and control system sends corresponding cut direction according to real-time tracking situation and cuts
Speed command is cut to turntable, turntable is controlled and drives laser part rotation, equipment starts to be cut；
Step 7：Control system carries out image recognition, if still there is foreign matter point, return step to current acquired image
Three, turntable continues to track foreign matter；As not having foreign matter in image, control system does not send instructions to turntable, and cutting terminates.
2. according to claim 1 remove matter method, it is characterised in that：The step 3 control system is to collected figure
Region is confined as in and carries out image recognition, obtains image coordinate, i.e. the specific method of the winding position of foreign matter and cable is：
Step 3.1：The pixel value that control system arrives cameras capture is the image gray processing of n*m；
Step 3.2：Image is converted to the form of byte array, obtains the image array of a n*m, wherein each elements Aij
The gray value of the corresponding pixel
Step 3.3：The image information for specifying region in image is obtained, image recognition matrix is converted to, the image that matrix is indicated
Information carries out the projection of x-axis and y-axis respectively in the coordinate system of camera plane；For every a line in image recognition matrix, each
Column seek ∑ Ai,j, curve graph is made to the result, obtains the projection in x-axis and y-axis；
Step 3.4：The curve obtained by analyzing projection obtains the corresponding image coordinate of valley value, i.e. foreign matter winding point coordinate
(x1,y1)；
The pixel for finding out trough in y-axis is wide to get the width d projected in camera plane to cable diameter.
3. according to claim 1 or 2 remove matter method, it is characterised in that：The specific method of the step 4 is：
According in camera model pin-hole model and Similar Principle of Triangle obtain
Wherein, f is camera focus, and d is the width that cable diameter projects in camera plane, d0It is cable true diameter, by this
Formula finds out the actual distance Zc of foreign matter distance means；
It is absolute parallel according to optical path and camera imaging axle center, obtain laser point in the fixed position relative of camera axle center corresponding points
Place；In real coordinate system, if the coordinate of camera axle center corresponding points is (ac,bc), then laser spot position is (ac+dx,bc+ dy), dx
It is respectively laser point and fixation alternate position spike of the camera axle center corresponding points under real coordinate system under same distance with dy；
For the corresponding point in camera imaging axle center in imaging process, the 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 phase
Coordinate difference of the arbor heart corresponding points under camera plane coordinate system, then：
Solve (x0,y0)；
Resolve laser point relative angle coordinate (θx0,θy0)
Resolve foreign matter point relative angle coordinate (θx1,θy1)
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| CN110280911A (en) * | 2019-07-31 | 2019-09-27 | 安徽南瑞继远电网技术有限公司 | The long-range foreign matter of laser removes the method and structure of instrument automatic back-and-forth cutting |
| CN112382972A (en) * | 2020-10-23 | 2021-02-19 | 国网山东省电力公司鱼台县供电公司 | Foreign matter removing system and method for power transmission line |
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| CN112382972A (en) * | 2020-10-23 | 2021-02-19 | 国网山东省电力公司鱼台县供电公司 | Foreign matter removing system and method for power transmission line |
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