CN108899846A - Based on infrared round-the-clock laser deicing method - Google Patents
Based on infrared round-the-clock laser deicing method Download PDFInfo
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- CN108899846A CN108899846A CN201810624589.0A CN201810624589A CN108899846A CN 108899846 A CN108899846 A CN 108899846A CN 201810624589 A CN201810624589 A CN 201810624589A CN 108899846 A CN108899846 A CN 108899846A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G7/00—Overhead installations of electric lines or cables
- H02G7/16—Devices for removing snow or ice from lines or cables
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Abstract
The invention discloses a kind of based on infrared round-the-clock laser deicing method, and three kinds of cutting modes are optional, respectively manual mode, semiautomatic-mode and automatic mode.The present invention acquires image information by visual sensor module, control system carries out target identification, on the basis of automatically tracking, laser deicing device is controlled by user terminal, device is improved to the adaptability of icing, optimum Cutting mode can be chosen according to the actual situation, the diversity and flexibility for increasing cutting improve control precision and cutting efficiency.
Description
Technical field
The present invention relates to electric system high voltage transmission line deicing fields, and in particular to a kind of based on infrared round-the-clock laser
De-icing 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, in the case where light condition difference, deicing effect
Difference, and there is also certain risks.
Summary of the invention
The purpose of the present invention is to provide a kind of based on infrared round-the-clock laser deicing method, on the basis automatically tracked
On, laser is controlled by user terminal and removes cable icing, optimum Cutting mode can be chosen according to the actual situation, increase cutting
Diversity and flexibility, improve control precision and cutting efficiency.
The technical solution for realizing the aim of the invention is as follows：It is a kind of based on infrared round-the-clock laser deicing method, the party
Method based on laser deicing device realize, the laser deicing device include turntable, laser part, pedestal, power-supply system, input it is defeated
Device, control system and visual sensor module out；The turntable includes orientation component and pitch components, the orientation component peace
Above the pedestal, the pitch components are mounted on above orientation component, the laser part and visual sensor module
It 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 infrared thermal imager, and the infrared thermal imager 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 de-icing method includes manual mode, semiautomatic-mode and automatic mode, and Three models select a use；
The specific method of manual mode is：
S11, visual sensor module acquire present image information, send control system to, and show over the display；
S12, when, there are when icing, the image of acquisition being amplified in image；
S13, control system receive operational order, carry out image recognition to region is confined in acquired image, obtain
The contact position of image coordinate, i.e. icing and cable；
S14, control system resolve the image coordinate of icing contact position, angle coordinate are obtained, further according to coordinate
The transformational relation of system obtains turntable coordinate, sends instructions to turntable, makes its rotation, tracking icing and cable contact position；
S15, according to the information of input unit, into cut mode；
S16, cut direction, cutting speed instruct control system based on the received, calculate corresponding turntable instruction；
S17, laser part send laser, and the turntable being calculated in S16 instruction is sent to turntable by control system, control
Turntable drives laser part rotation；
S18 continues to cut off if necessary, repeats S11~S17；
The specific method of semiautomatic-mode is：
S21, visual sensor module acquire present image information, send control system to, and show over the display；
S22, when, there are when icing, the image of acquisition being amplified in image；
S23, control system receive operational order, carry out image recognition to region is confined in acquired image, obtain
The contact position of image coordinate, i.e. icing and cable；
S24, control system resolve the image coordinate of icing contact position, angle coordinate are obtained, further according to coordinate
The transformational relation of system obtains turntable coordinate, sends instructions to turntable, makes its rotation, tracking icing and cable contact position；
S25, according to the information of input unit, into cut mode；
S26, control system instruct according to the cutting cycle-index and cutting speed received, calculate the first turntable and refer to
It enables, the first turntable instruction corresponds to the cycle-index and velocity of rotation of turntable rotation；
S27, clicks the beginning and end of cutting path in video, and control system is believed according to the pixel of beginning and end
Breath, image coordinate is resolved, angle coordinate is obtained, turntable coordinate is obtained further according to the transformational relation of coordinate system, calculates
The instruction of second turntable, the second turntable instruction correspond to the angle for needing to turn over from cutting path origin-to-destination turntable；
S28, laser part send laser, and control system sends the instruction of the first turntable and the second turntable is instructed to turntable, control
Turntable processed drives laser part rotation；Display simultaneous display goes out the path planned, equipment starts to be cut along path；
S29, after the completion of cutting, control system carries out image recognition to current acquired image, if still there is icing,
Control system returns to S23, and turntable continues to track icing, waits instruction；If not having icing in image, control system does not send instruction
To turntable, waiting terminates；
The specific method of automatic mode is：
S31, visual sensor module acquire present image information, send control system to, and show on a display screen；
S32, when, there are when icing, the image of acquisition being amplified in image；
S33, control system receive operational order, carry out image recognition to region is confined in acquired image, obtain
The contact position of image coordinate, i.e. icing and cable；
S34, control system resolve the image coordinate of icing contact position, angle coordinate are obtained, further according to coordinate
The transformational relation of system obtains turntable coordinate, sends instructions to turntable, makes its rotation, tracking icing and cable contact position；
S35, according to the information of input unit, into cut mode；
S36, laser part emit laser, and control system sends corresponding cut direction according to real-time tracking situation and cuts
Speed command is cut to turntable, turntable is controlled and drives laser part rotation；
S37, control system carry out image recognition to current acquired image, if still there is icing, control system is returned
S33 is returned, turntable will continue to track icing；As not having icing in image, control system does not send instructions to turntable, and cutting terminates.
Compared with prior art, the present invention its remarkable advantage is：(1) flexibility ratio is high, and equipment is light, adapts to differently
Shape, and different cutting modes is selected according to different actual conditions, optimal cutting effect can be obtained；(2) control precision is high,
It is controlled by visual servo, improves operation precision.
Detailed description of the invention
Fig. 1 is the general assembly structural schematic diagram based on infrared laser deicing device.
Fig. 2 is that the present invention is based on infrared round-the-clock laser deicing method flow diagrams.
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 that the present invention is based on the pitch components of infrared laser deicing device and orientation modular construction schematic diagram.
Fig. 8 is the orientation feature profile figure and top view the present invention is based on infrared laser deicing device.
Fig. 9 is that the present invention is based on the pitch components top views of infrared laser deicing device.
Figure 10 is that the present invention is based on the control system operation schematic diagrams of infrared laser deicing device.
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
It is a kind of based on infrared round-the-clock laser deicing method, this method is realized based on laser deicing device, such as Fig. 1 institute
Show, the laser deicing device includes turntable 1, laser part 2, pedestal 3, power-supply system, input unit, display screen, control system
System and visual sensor module 4；The turntable 1 includes orientation component 5 and pitch components 6, and the orientation component 5 is mounted on described
3 top of pedestal, the pitch components 6 are mounted on 5 top of orientation component, and the laser part 2 and visual sensor module 4 are installed
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
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 infrared thermal imager, and the infrared thermal imager 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；
As shown in Fig. 2, the de-icing method includes manual mode, semiautomatic-mode and automatic mode, Three models select one
It uses.
The manual mode refer in operation interface select "upper", "lower", "left", "right" control motor rotation side
To, by change motor speed slider bar size, change the speed of cutting.The specific method of manual mode is：
S11, visual sensor module acquire present image information, send control system to, and show over the display；
S12, when, there are when icing, the image of acquisition being amplified in image；
S13, control system receive operational order, carry out image recognition to region is confined in acquired image, obtain
The contact position of image coordinate, i.e. icing and cable；
S14, control system resolve the image coordinate of icing contact position, angle coordinate are obtained, further according to coordinate
The transformational relation of system obtains turntable coordinate, sends instructions to turntable, makes its rotation, tracking icing and cable contact position；
S15, according to the information of input unit, into cut mode；
S16, cut direction, cutting speed instruct control system based on the received, calculate corresponding turntable instruction；
S17, laser part send laser, and the turntable being calculated in S16 instruction is sent to turntable by control system, control
Turntable drives laser part rotation；
S18 continues to cut off if necessary, repeats S11~S17；
The semiautomatic-mode refers to that, by setting cutting parameter and cutting path, device is cut according to setting automatically.Half
The specific method of automatic mode is：
S21, visual sensor module acquire present image information, send control system to, and show over the display；
S22, when, there are when icing, the image of acquisition being amplified in image；
S23, control system receive operational order, carry out image recognition to region is confined in acquired image, obtain
The contact position of image coordinate, i.e. icing and cable；
S24, control system resolve the image coordinate of icing contact position, angle coordinate are obtained, further according to coordinate
The transformational relation of system obtains turntable coordinate, sends instructions to turntable, makes its rotation, tracking icing and cable contact position；
S25, according to the information of input unit, into cut mode；
S26, control system instruct according to the cutting cycle-index and cutting speed received, calculate the first turntable and refer to
It enables, the first turntable instruction corresponds to the cycle-index and velocity of rotation of turntable rotation；
S27, clicks the beginning and end of cutting path in video, and control system is believed according to the pixel of beginning and end
Breath, image coordinate is resolved, angle coordinate is obtained, turntable coordinate is obtained further according to the transformational relation of coordinate system, calculates
The instruction of second turntable, the second turntable instruction correspond to the angle for needing to turn over from cutting path origin-to-destination turntable；
S28, laser part send laser, and control system sends the instruction of the first turntable and the second turntable is instructed to turntable, control
Turntable processed drives laser part rotation；Display simultaneous display goes out the path planned, equipment starts to be cut along path；
S29, after the completion of cutting, control system carries out image recognition to current acquired image, if still there is icing,
Control system returns to S23, and turntable continues to track icing, waits instruction；If not having icing in image, control system does not send instruction
To turntable, waiting terminates；
The specific method of automatic mode is：
S31, visual sensor module acquire present image information, send control system to, and show on a display screen；
S32, when, there are when icing, the image of acquisition being amplified in image；
S33, control system receive operational order, carry out image recognition to region is confined in acquired image, obtain
The contact position of image coordinate, i.e. icing and cable；
S34, control system resolve the image coordinate of icing contact position, angle coordinate are obtained, further according to coordinate
The transformational relation of system obtains turntable coordinate, sends instructions to turntable, makes its rotation, tracking icing and cable contact position；
S35, according to the information of input unit, into cut mode；
S36, laser part emit laser, and control system sends corresponding cut direction according to real-time tracking situation and cuts
Speed command is cut to turntable, turntable is controlled and drives laser part rotation；
S37, control system carry out image recognition to current acquired image, if still there is icing, control system is returned
S33 is returned, turntable will continue to track icing；As not having icing in image, control system does not send instructions to turntable, and cutting terminates.
Further, in above-mentioned Three models, image recognition includes the following steps：
After control system receives the incoming trace command of input unit, image recognition is carried out；It is obtained by image recognition
Y-axis coordinate of the width d and icing cable that icing cable diameter projects in camera plane in the plane of delineation；Specially：
Step 31, the pixel value that control system captures visual sensor module is n*m image gray processing；
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, in above-mentioned Three models, the tracking in S14, S24, S34 is specially：
Step 41, actual distance of the icing apart from equipment is found out according to focal length f
Step 42, coordinate of the laser point in the plane of delineation is calculated as coordinates of targets (x according to Zc0,y0) and icing line
Cable true diameter D；Specially：
Step 421, absolute parallel according to 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
13 end of connection parts of side, the order by controlling driving part are sent into lock pillar in 2 10 1 circular holes of bearing block, are passed through
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.
Infrared ray is electromagnetic wave of the wavelength between microwave and visible light, is a kind of light that human eye can't see, natural
The all objects on boundary can nearly all issue infrared ray.The core of thermal imaging system is a kind of sensing that can detect pole small temperature difference
The temperature difference is converted into real time video image and shown by device.Any object for having temperature can all issue infrared ray, and thermal imaging system is exactly
The infrared ray that object issues is received, the Temperature Distribution on measured object surface is shown by coloured picture, according to temperature
Fine difference finds out the abnormal point of temperature.When deicer work is under the dark surrounds of no visible light or low-light, it is seen that
Light video camera can not work, and can still obtain circuit image information using infrared thermal imager at this time and then learn icing situation.According to
This, the present invention proposes a kind of based on infrared laser deicing device, can obtain line under the dark surrounds of no visible light or low-light
The icing information on road effectively improves in laser deicing device operation process to target for the feature of snow and ice cover cable
Discrimination can also accurately track when target is shaken, so that laser is aimed at ice cube, improve laser work efficiency.
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 " progress operation, process
Safety, 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 essence
Quasi- cutting；Can livewire work, reduce power-off bring economic loss；It is high to control precision, is controlled by visual servo, improves
Operation precision；It is easy to control, laser automatic tracking may be implemented using image recognition.
Claims (10)
1. a kind of based on infrared round-the-clock laser deicing method, which is characterized in that this method based on laser deicing device realize,
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 orientation component
(5) it is mounted on above the pedestal (3), the pitch components (6) are mounted on above orientation component (5), the laser part (2)
It is mounted in the connection parts (13) of pitch components (6) with visual sensor module (4)；
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 infrared thermal imager, and the infrared thermal imager 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 de-icing method includes manual mode, semiautomatic-mode and automatic mode, and Three models select a use；
The specific method of manual mode is：
S11, visual sensor module acquire present image information, send control system to, and show over the display；
S12, when, there are when icing, the image of acquisition being amplified in image；
S13, control system receive operational order, carry out image recognition to region is confined in acquired image, obtain image
The contact position of coordinate, i.e. icing and cable；
S14, control system resolve the image coordinate of icing contact position, angle coordinate are obtained, further according to coordinate system
Transformational relation obtains turntable coordinate, sends instructions to turntable, makes its rotation, tracking icing and cable contact position；
S15, according to the information of input unit, into cut mode；
S16, cut direction, cutting speed instruct control system based on the received, calculate corresponding turntable instruction；
S17, laser part send laser, and the turntable being calculated in S16 instruction is sent to turntable by control system, control turntable
Drive laser part rotation；
S18 continues to cut off if necessary, repeats S11~S17；
The specific method of semiautomatic-mode is：
S21, visual sensor module acquire present image information, send control system to, and show over the display；
S22, when, there are when icing, the image of acquisition being amplified in image；
S23, control system receive operational order, carry out image recognition to region is confined in acquired image, obtain image
The contact position of coordinate, i.e. icing and cable；
S24, control system resolve the image coordinate of icing contact position, angle coordinate are obtained, further according to coordinate system
Transformational relation obtains turntable coordinate, sends instructions to turntable, makes its rotation, tracking icing and cable contact position；
S25, according to the information of input unit, into cut mode；
S26, control system are instructed according to the cutting cycle-index and cutting speed received, calculate the instruction of the first turntable, institute
State cycle-index and velocity of rotation that the instruction of the first turntable corresponds to turntable rotation；
S27, clicks the beginning and end of cutting path in video, and control system, will according to the Pixel Information of beginning and end
Image coordinate is resolved, and angle coordinate is obtained, and is obtained turntable coordinate further according to the transformational relation of coordinate system, is calculated second turn
Platform instruction, the second turntable instruction correspond to the angle for needing to turn over from cutting path origin-to-destination turntable；
S28, laser part send laser, and control system sends the instruction of the first turntable and the second turntable is instructed to turntable, and control turns
Platform drives laser part rotation；Display simultaneous display goes out the path planned, equipment starts to be cut along path；
S29, after the completion of cutting, control system carries out image recognition to current acquired image, if still there is icing, control
System returns to S23, and turntable continues to track icing, waits instruction；If not having icing in image, control system, which is not sent instructions to, to be turned
Platform, waiting terminate；
The specific method of automatic mode is：
S31, visual sensor module acquire present image information, send control system to, and show on a display screen；
S32, when, there are when icing, the image of acquisition being amplified in image；
S33, control system receive operational order, carry out image recognition to region is confined in acquired image, obtain image
The contact position of coordinate, i.e. icing and cable；
S34, control system resolve the image coordinate of icing contact position, angle coordinate are obtained, further according to coordinate system
Transformational relation obtains turntable coordinate, sends instructions to turntable, makes its rotation, tracking icing and cable contact position；
S35, according to the information of input unit, into cut mode；
S36, laser part emit laser, and control system sends corresponding cut direction and cutting speed according to real-time tracking situation
Degree instruction controls turntable and drives laser part rotation to turntable；
S37, control system carries out image recognition to current acquired image, if still there is icing, control system is returned
S33, turntable will continue to track icing；As not having icing in image, control system does not send instructions to turntable, and cutting terminates.
2. according to claim 1 based on infrared round-the-clock laser deicing method, which is characterized in that S13, S23, S33
The method of middle image recognition is：
Step 31, the pixel value that control system captures visual sensor module is the image gray processing of n*m；
Step 32, image is converted to the form of byte 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. according to claim 1 based on infrared round-the-clock laser deicing method, which is characterized in that S14, S24, S34
In tracking it is identical, specially：
Step 41, actual distance of the icing apart from equipment is found out according to focal length f
Step 42, coordinate of the laser point in the plane of delineation is calculated as coordinates of targets (x according to Zc0,y0) and icing cable it is true
Real diameter D；
Step 43, calculating coordinate of the plane of delineation coordinate system to angle coordinate system；Control system is according to camera plane under distance Zc
Pixel and the 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. according to claim 3 based on infrared round-the-clock laser deicing method, which is characterized in that step 42 is specific
For：
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.
The angle delta θ that should be rotated=(Δ θx,Δθy), industrial personal computer sends commands to turntable, is overlapped laser point and cut point.
5. according to claim 3 based on infrared round-the-clock laser deicing method, which is characterized in that step 43 is specific
For：
Resolve laser point relative angle coordinate (θx0,θy0)：
Resolve icing cable y-axis relative angle coordinate θy1：
y1-yc=Zc*tanθy1。
6. according to claim 1 based on infrared round-the-clock laser deicing method described in -5 any one, which is characterized in that institute
Stating orientation component (5) includes orientation torque motor (7), orientation angles measuring device (8), orientation limiting lock components (18), side
Position limiting lock components (14), azimuth base (15) and orientation bracket (16)；The azimuth base (15) connect with pedestal (3),
Orientation bracket (16) and pitch components (6) connection；The orientation angles measuring device (8) is placed in pedestal (3) inside, and being used for will be real
The angle of border orientation rotation is sent to control driving part by electric signal；The orientation torque motor (7) is located at orientation angles
Above measuring device (8), rotation of the vehicle-mounted laser deicer in orientation is realized；Orientation limiting lock components (14) position
It in orientation bracket (16) edge, is connect with azimuth base (15), the order by controlling driving part makes it fall into azimuth base
When in (15) circular holes, orientation, constant bearing bracket (16) are locked；The orientation bracket (16) is located at entire orientation component
(5) surface 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 makes
Lock pillar is sent into bearing block two (10) circular hole, by fixed connecting part (13) come mechanical retention pitching moment motor (11)
Pitch angle；
The pedestal (3) is located at the bottommost of device, provides support to whole device.
7. according to claim 6 based on infrared round-the-clock laser deicing method, which is characterized in that the orientation angles
Measuring device (8) and pitch angle measuring device (12) are that rotation becomes transmitter or Lineside encoding unit.
8. according to claim 6 based on infrared round-the-clock laser deicing method, which is characterized in that the laser part
It (2) include laser beam emitting head (17) and laser controlling case (21)；The laser beam emitting head (17) passes through optical fiber and the laser control
Case (21) connection processed, follows connection parts (13) to rotate with visual sensor module (4)；
The visual sensor module (4) is communicated by Ethernet with control system.
9. according to claim 6 based on infrared round-the-clock laser deicing method, which is characterized in that the power-supply system
Including laser battery (19) and DC power supply (20)；The DC power supply (20) is used for entire motor load, input and output
Device and visual sensor module (4) power supply, the laser battery (19) are used for laser controlling in the laser part (2)
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. according to claim 6 based on infrared round-the-clock laser deicing method, which is characterized in that the industrial personal computer
(22) it is sent commands to visual sensor module (4) by Ethernet serial ports, realizes that image parameter changes；The industrial personal computer (22)
Visual sensor module (4) are connected by Ethernet, image acquisition and identification, positioning line fault and icing is realized, obtains icing
Position, shape information feed back to control driving part；The industrial personal computer (22) passes through RS422 serial ports and the control driving part
Turntable (1) rotation cutting is realized in connection；The industrial personal computer (22) connect with the input/output unit realizes human-computer interaction；Institute
It states control driving part to be located in pedestal (3), respectively by orientation angles measuring device (8), pitch angle measuring device (12)
The angle information of orientation component (5) and pitch components (6) is received, and industrial personal computer (22) are transmitted to by RS422 serial ports, is received simultaneously
Industrial personal computer (22) information control azimuth component (5) and pitch components (6) carry out two-freedom movement.
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