CN108879551A - The laser deicing device ice self-removing method of view-based access control model - Google Patents
The laser deicing device ice self-removing method of view-based access control model Download PDFInfo
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- CN108879551A CN108879551A CN201810624583.3A CN201810624583A CN108879551A CN 108879551 A CN108879551 A CN 108879551A CN 201810624583 A CN201810624583 A CN 201810624583A CN 108879551 A CN108879551 A CN 108879551A
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- laser
- icing
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G7/00—Overhead installations of electric lines or cables
- H02G7/16—Devices for removing snow or ice from lines or cables
Abstract
The invention discloses a kind of laser deicing device ice self-removing method of view-based access control model, visual sensor module acquires present image information；Control system carries out image recognition, obtains icing location information, and resolve to it, is converted into angle coordinate and sends instructions to turntable, makes its rotation, tracking icing and cable contact position；According to the information of input unit, into cut mode；Laser part sends laser, and control system sends corresponding angle command to turntable, controls turntable and drive laser part rotation, equipment starts to be cut along path, until icing is cut off completely.The present invention carries out target following and automatic cutting by control laser deicing device, improves cutting efficiency by the acquisition of visual sensor module and displaying target position.
Description
Technical field
The present invention relates to electric system high voltage transmission line deicing fields, and in particular to a kind of laser deicing dress of view-based access control model
Set ice self-removing method.
Background technique
Severe cold rain and snow 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 long feature of route, 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 route
Power-off carries out deicing, and vulnerable to landform limitation etc..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,
So that the temperature of high-tension cable is higher than zero degree by laser heating can not congeal into ice or direct ice melting, have that power is strong, non-connects
The advantages that touching operates, is removable.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.
Summary of the invention
The purpose of the present invention is to provide a kind of laser deicing device ice self-removing methods of view-based access control model, first to icing
Target identification and automatically track, carry out automatic cutting then to remove cable icing, this method have high degree of automation,
The high feature of cutting efficiency.
The technical solution for realizing the aim of the invention is as follows：A kind of laser deicing device automatic de-icing side of view-based access control model
Method, this method realize that the laser deicing device includes turntable, laser part, pedestal, power supply system based on laser deicing device
System, input unit, display screen, control system and visual sensor module；The turntable includes orientation component and pitch components, institute
The orientation component side of being mounted on the base is stated, the pitch components are mounted on above orientation component, the laser part and view
Feel that 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, carries 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 the visible light camera is connect with industrial personal computer, is used for
Control system for parameters of visual sensor, capture cable and icing image are adjusted according to the instruction of industrial personal computer, and captured image is transferred to work
Control machine；
The round-the-clock laser ice self-removing method includes the following steps：
Step 1, visual sensor module acquires present image information, sends control system to, and show on a display screen；
Step 2, when, there are when icing, the image of acquisition being amplified in image；
Step 3, control system receives operational order, carries out image recognition to region is confined in acquired image, obtains
To image coordinate, the i.e. contact position of icing and cable；
Step 4, control system resolves the image coordinate of icing contact position, obtains angle coordinate, further according to seat
The transformational relation of mark system obtains turntable coordinate, sends instructions to turntable, makes its rotation, tracking icing and cable contact position；
Step 5, according to the information of input unit, into cut mode；
Step 6, laser part emits laser, control system according to real-time tracking situation send corresponding cut direction and
Cutting speed is instructed to turntable, is controlled turntable and is driven laser part rotation；
Step 7, control system carries out image recognition, if still there is icing, control system to current acquired image
Return step 3, turntable will continue to track icing；As not having icing in image, control system does not send instructions to turntable, cutting knot
Beam.
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 precision is high, is controlled by visual servo, improves operation precision；(3) cutting efficiency is high, can automatically into
Line trace cutting, mitigates manpower and material resources；(4) for visible light camera of the present invention compared with the video camera of other forms, structure is simple,
Cheap, the service life is long, and acquisition image is apparent in daytime or the stronger environment of light, may advantageously facilitate and improve deicing work
The execution of work.
Detailed description of the invention
Fig. 1 is the general assembly structural schematic diagram of the laser deicing device of view-based access control model.
Fig. 2 is that the present invention is based on the laser deicing device ice self-removing method flow charts of vision.
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
∑ A is projected in X-axisi,jCurve graph.
Fig. 6 is pinhole camera modeling figure.
Fig. 7 is the pitch components and orientation modular construction schematic diagram of laser deicing device of the present invention.
Fig. 8 is the orientation feature profile figure and top view of laser deicing device of the present invention.
Fig. 9 is the pitch components top view of laser deicing device of the present invention.
Figure 10 is the control system operation schematic diagram of laser deicing device of the present invention.
Figure 11 is four kinds of mode method flow charts of the invention.
Figure 12 is the application schematic diagram of laser deicing device.
Attached drawing mark：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 components, and 15 be orientation
Pedestal, 16 be orientation bracket, and 17 be laser beam emitting head, and 18 be pitching limiting lock components, and 19 be laser battery, 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 embodiment
A kind of laser deicing device ice self-removing method of view-based access control model, this method is based on the realization of laser deicing device, such as
Shown in Fig. 1, the laser deicing device includes turntable 1, laser part 2, pedestal 3, power-supply system, input unit, display screen, control
System and visual sensor module 4 processed；The turntable 1 includes orientation component 5 and pitch components 6, and the orientation component 5 is mounted on
3 top of pedestal, the pitch components 6 are mounted on 5 top of orientation component, the laser part 2 and visual sensor module 4
In the connection parts 13 for installing 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
Connection, for controlling 4 adjusting parameter of visual sensor module, and the image acquired to visual sensor module 4 identifies, 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 the visible light camera is connect with industrial personal computer 22, is used
In adjusting control system for parameters of visual sensor according to the instruction of industrial personal computer 22, cable and icing image are captured, and captured image is transmitted
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 video camera
Extra light disturbance can be filtered, good image effect is obtained.The present invention obtains covering for route in the environment of bright light
Ice information can effectively improve the identification in laser deicing device operation process to target for the feature of snow and ice cover cable
Rate can also accurately track when target is shaken, so that laser is aimed at ice cube, improve laser work efficiency.
As shown in Fig. 2, specific step is as follows for the laser deicing device ice self-removing method of view-based access control model：
Step 1, visual sensor module acquires present image information, sends control system to, and show on a display screen；
Step 2, when, there are when icing, the image of acquisition being amplified in image；
Step 3, control system receives operational order, carries out image recognition to region is confined in acquired image, obtains
To image coordinate, the i.e. contact position of icing and cable；
Step 4, control system resolves the image coordinate of icing contact point, obtains angle coordinate, 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；
Step 5, according to the information of input unit, into cut mode；
Step 6, laser part emits laser, control system according to real-time tracking situation send corresponding cut direction and
Cutting speed is instructed to turntable, is controlled turntable and is driven laser part rotation；
Step 7, control system carries out image recognition, if still there is icing, control system to current acquired image
Return step 3, turntable will continue to track icing；As not having icing in image, control system does not send instructions to turntable, cutting knot
Beam.
Further, deicing target identification method includes the following steps in step 3：
After control system receives the incoming trace command of input unit, image recognition is carried out；It is obtained by image recognition
Y-axis coordinate of the width d and icing cable that icing cable diameter projects in camera plane in the plane of delineation；Specially：
Step 31, control system will be seen that the image gray processing that the pixel value that light cameras capture arrives is n*m；
Step 32, 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 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 column 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 saves 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 column in matrix (1)i,j.Curve graph is done to result, it is available 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, step 4 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 optical 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 and camera axle center corresponding points are sat in reality
Fixation alternate position spike under mark system；
Step 422, the corresponding point in camera imaging axle center is in imaging process, no matter being how many with a distance from camera,
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 surface 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, image size relevant to distant objects is only described with a camera parameters：Focal length
f；
According to Similar Principle of Triangle it can be concluded that：
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 corresponding relationship 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 θxDevice horizontal resection speed is adjusted, obtains angle delta θ=(Δ θ that turntable should rotatex,Δ
θy), industrial personal computer sends commands to turntable, is overlapped laser point and cut point.
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 components 18, orientation limiting lock components 14, azimuth base 15 and orientation bracket 16；The azimuth base
15 connect with pedestal 3, and orientation bracket 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 vehicle-mounted laser deicer in orientation；Described orientation limiting lock components 14
It in 16 edge of orientation bracket, is connect with azimuth base 15, the order by controlling driving part makes it fall into azimuth base 15 1
When in a circular hole, orientation, constant bearing bracket 16 are locked；The orientation bracket 16 is located at the surface of entire orientation component 5, uses
In connection pitch components 6, it is driven to rotate 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 components 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, is sent to control driving part by electric signal；The pitching limiting lock components 18 are mounted in the bearing block 2 10
Lock pillar is sent into 2 10 1 circular holes of bearing block, is passed through by 13 end of connection parts of side, the order by controlling driving part
Fixed connecting part 13 carrys out the pitch angle of mechanical retention pitching moment motor 11；
The pedestal 3 is located at the bottommost of device, provides support 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 battery 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 battery 19 is used for in the laser part 2
Laser controlling case 21 is powered；
The display 23 receives 22 signal of industrial personal computer, 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.
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
Route 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, passes through orientation angles measuring device 8, pitch angle measurement dress
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 mode are set, operating efficiency is improved, as shown in figure 11, specific step 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 modes：
Mode 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, carry out deicing using thermal stress effects, until deicing is completed.
Mode two：When icing lower layer is without ice slush and ice covering thickness is less than 1.5cm, laser is turned along cable axial line and does weight
Multiple translation scan carries out deicing using heat fusing effect.First be arranged initial laser power, laser scanning range, scanning speed,
Scan period and power increment, then turn laser, according to initial laser power, laser scanning range, scanning 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 according to present laser power and laser scanning range, scanning speed along cable axial line
Repeated translation scanning, until maintaining Upper Bound Power constant until deicing is completed after laser power increases to the upper limit.
Mode three：When icing lower layer is without ice slush and ice covering thickness is in 1.5cm~3cm, successively turn laser along upper layer/under
The axial line of layer icing does repeated translation scanning, carries out deicing using heat fusing effect.Initial laser power, laser are set first
Scanning range, scanning speed, scan period and power increment successively turn laser along upper layer/lower layer's icing in a cycle
Axial line is scanned according to initial laser power, laser scanning range, scanning 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.
Mode four：When icing lower layer is without ice slush and ice covering thickness is greater than 3cm, laser is turned first and is done along cable axial line
Repeated translation scanning carries out ice melting using heat fusing effect, turns laser later along cable axle center line position and do wave scanning, 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, carries out the removing of upper layer icing using heat fusing effect.Specially:First
Laser scanning range is set, heat melts initial laser power, thermal stress initial laser power, heat fusing scanning speed, thermal stress
Scanning speed, heat thawing peak power sweep time and heat melt power increment, then turn laser and initially swash according to hot melt
Optical power, heat fusing scanning 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 scanning speed (as a kind of specific embodiment, the number
Value is 3 times of heat fusing scanning speeds), it does wave scanning and (as a kind of specific embodiment, 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；The removing of upper layer icing is finally carried out, according to
Heat melts initial laser power, laser scanning range, heat fusing scanning 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 embodiment, 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, scanning 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；
Scanning 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 laser, 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：
Mode one：When image recognition, which goes out icing lower layer, ice slush, removed using thermal stress effects plus gravity auxiliary
Ice, initial laser power adjust to 100%, turn laser aiming ice slush and cable ties dot center position, instantaneously heated, made
Ice cube generates very big 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；
Mode two：When image recognition goes out icing lower thickness less than 1.5cm, using heat fusing effect deicing, turn
Laser uses repeated translation scanning mode along cable direction of axis line, and turntable drives laser to be swept with the speed of 0.0003 °/s
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 every 5 times laser powers of scanning increase by 20%, according to initial laser scanning range, scanning 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
Icing is removed and is stopped when completing at this out, or until receiving other operational orders；
Mode three：When image recognition goes out icing lower layer without ice slush and when with a thickness of 1.5~3cm, 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 upper and lower level
Translation scan movement, laser power adjusts since 30%, and the every 5 times laser powers of scanning of upper and lower level increase by 20%, reaches
Power remains unchanged after 100%, during which real-time perfoming image recognition, stops when image recognition goes out icing removing completion at this
Only, or until receiving other operational orders；
Mode four：When image recognition goes out icing lower layer without ice slush and when with a thickness of 3cm or more, 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, swashs
Optical power is adjusted since 30%, and every 5 times laser powers of scanning increase by 20%, and laser scanning range, heat melt scanning 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%, and every 5 times laser powers of scanning increase by 20%, and power maintains not after reaching 100%
Become repeated translation scanning, during which real-time perfoming image recognition, stopping when image recognition goes out the removing completion of upper layer icing, or connect
Until receiving other operational orders.
It is demonstrated experimentally that the comprehensive heat fusing of the method for the present invention and two kinds of principles of thermal stress carry out deicing, energy consumption is small, high-efficient；
Furthermore 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, highly-safe, deicing effect is good.
Figure 12 is a kind of application mode of the 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 precision is high,
The features such as cutting efficiency is high, easy to control, mobility strong.Firstly, the present invention can long-range " ground-to-air " progresss operation, process pacifies
Entirely, instead of traditional artificial climbing livewire work mode；Secondly, figure of the present invention is light, it is not necessarily to excessive operator, it can be accurate
Cutting；Can livewire work, reduce power-off bring economic loss；It is high to control precision, is controlled, is improved by visual servo
Operation precision；It is easy to control, laser automatic tracking may be implemented using image recognition, icing position is realized using high definition industrial camera
The acquisition of confidence breath.
Claims (10)
1. a kind of laser deicing device ice self-removing method of view-based access control model, which is characterized in that this method is filled based on laser deicing
Realization is set, the laser deicing device includes 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), the side
Position component (5) is mounted on above the pedestal (3), and the pitch components (6) are mounted on above orientation component (5), the laser
Component (2) and visual sensor module (4) are 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, is transferred to control driving part for 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) rotation；
The visual sensor module (4) includes visible light camera, and the visible light camera is connect with industrial personal computer (22), is used
In adjusting control system for parameters of visual sensor according to the instruction of industrial personal computer (22), cable and icing image are captured, and captured image is passed
It is defeated by industrial personal computer (22)；
The ice self-removing method includes the following steps：
Step 1, visual sensor module acquires present image information, sends control system to, and show on a display screen；
Step 2, when, there are when icing, the image of acquisition being amplified in image；
Step 3, control system receives operational order, carries out image recognition to region is confined in acquired image, obtains figure
As coordinate, the i.e. contact position of icing and cable；
Step 4, control system resolves the image coordinate of icing contact position, obtains angle coordinate, further according to coordinate system
Transformational relation obtain turntable coordinate, send instructions to turntable, make its rotation, tracking icing and cable contact position；
Step 5, according to the information of input unit, into cut mode；
Step 6, laser part emits laser, and control system sends corresponding cut direction and cutting according to real-time tracking situation
Speed command controls turntable and drives laser part rotation to turntable；
Step 7, control system carries out image recognition to current acquired image, if still there is icing, control system is returned
Step 3, turntable will continue to track icing；As not having icing in image, control system does not send instructions to turntable, and cutting terminates.
2. the laser deicing device ice self-removing method of view-based access control model according to claim 1, which is characterized in that step 3
Middle deicing target identification method includes the following steps：
Step 31, control system will be seen that the image gray processing that the pixel value that light cameras capture arrives is n*m；
Step 32, 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 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 column 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 laser deicing device ice self-removing method of view-based access control model according to claim 1, which is characterized in that step 4
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 corresponding relationship 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 θxDevice horizontal resection speed is adjusted, obtains angle delta θ=(Δ θ that turntable should rotatex,Δθy), work
Control machine sends commands to turntable, is overlapped laser point and cut point.
4. the laser deicing device ice self-removing method of view-based access control model according to claim 3, which is characterized in that step 42
Specially：
Step 421, absolute parallel according to optical 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 and camera axle center corresponding points are in real coordinate system
Under fixation alternate position spike；
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 table
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, image size relevant to distant objects is only described with a camera parameters：Focal length f；
According to Similar Principle of Triangle it can be concluded that：
I.e.Control system acquires icing cable true diameter D by the formula.
5. the laser deicing device ice self-removing method of view-based access control model according to claim 3, which is characterized in that step 43
Specially：
Resolve laser point relative angle coordinate (θx0,θy0)：
Resolve icing cable y-axis relative angle coordinate θy1：
y1-yc=Zc*tanθy1。
6. the laser deicing device ice self-removing method of view-based access control model described in -5 any one according to claim 1, feature
It is, the orientation component (5) includes orientation torque motor (7), orientation angles measuring device (8), orientation limiting lock components
(18), orientation limiting lock components (14), azimuth base (15) and orientation bracket (16)；The azimuth base (15) and pedestal
(3) it connects, orientation bracket (16) and pitch components (6) connection；The orientation angles measuring device (8) is placed in pedestal (3) inside,
Angle for rotating true bearing is sent to control driving part by electric signal；The orientation torque motor (7) is located at
Above orientation angles measuring device (8), rotation of the vehicle-mounted laser deicer in orientation is realized；The orientation limiting lock zero
Part (14) is located at orientation bracket (16) edge, connect with azimuth base (15), and the order by controlling driving part falls into it
When in (15) circular holes of azimuth base, orientation, constant bearing bracket (16) are locked；The orientation bracket (16) is located at entire side
The surface of position component (5) drives it to rotate 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 components (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, is sent to control driving part 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 will
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, provides support to whole device.
7. the laser deicing device ice self-removing method of view-based access control model according to claim 6, which is characterized in that the side
Position angle measurement unit (8) and pitch angle measuring device (12) are that rotation becomes transmitter or Lineside encoding unit.
8. the laser deicing device ice self-removing method of view-based access control model according to claim 6, which is characterized in that described to swash
Light component (2) includes laser beam emitting head (17) and laser controlling case (21)；The laser beam emitting head (17) by optical fiber with it is described
Laser controlling case (21) connection 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 laser deicing device ice self-removing method of view-based access control model according to claim 6, which is characterized in that the electricity
Source system includes laser battery (19) and DC power supply (20)；The DC power supply (20) is used for entire motor load, defeated
Enter output device and visual sensor module (4) power supply, the laser battery (19) is used to swash in the laser part (2)
Photocontrol case (21) power supply；
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 laser deicing device ice self-removing method of view-based access control model according to claim 6, which is characterized in that described
Industrial personal computer (22) is sent commands to visual sensor module (4) by Ethernet serial ports, realizes that image parameter changes；The industry control
Machine (22) connects visual sensor module (4) by Ethernet, realizes image acquisition and identification, positioning line fault and icing, obtains
The position of icing, shape information feed back to control driving part；The industrial personal computer (22) is driven by RS422 serial ports and the control
Turntable (1) rotation cutting is realized in dynamic component connection；The industrial personal computer (22) connect with the input/output unit realizes man-machine friendship
Mutually；The control driving part is located in pedestal (3), passes through orientation angles measuring device (8), pitch angle measuring device (12)
The angle information of orientation component (5) and pitch components (6) is received respectively, and industrial personal computer (22) are transmitted to by RS422 serial ports, simultaneously
Industrial personal computer (22) information control azimuth component (5) and pitch components (6) are received, two-freedom movement is carried out.
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Cited By (1)
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| CN112186692A (en) * | 2020-10-21 | 2021-01-05 | 国网湖南省电力有限公司 | Ultrahigh-voltage insulator deicing device and method |
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