CN109412073B - Laser emission device and device for cleaning high-voltage line hanging objects - Google Patents
Laser emission device and device for cleaning high-voltage line hanging objects Download PDFInfo
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- CN109412073B CN109412073B CN201810923821.0A CN201810923821A CN109412073B CN 109412073 B CN109412073 B CN 109412073B CN 201810923821 A CN201810923821 A CN 201810923821A CN 109412073 B CN109412073 B CN 109412073B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 17
- 239000004065 semiconductor Substances 0.000 claims abstract description 30
- 238000004804 winding Methods 0.000 claims abstract description 22
- 238000003384 imaging method Methods 0.000 claims description 24
- 238000004891 communication Methods 0.000 claims description 16
- 230000033001 locomotion Effects 0.000 claims description 5
- 230000009471 action Effects 0.000 abstract description 5
- 230000005484 gravity Effects 0.000 abstract description 4
- 238000002485 combustion reaction Methods 0.000 abstract description 3
- 239000000446 fuel Substances 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 6
- 238000002347 injection Methods 0.000 description 5
- 239000007924 injection Substances 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 238000005265 energy consumption Methods 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000005672 electromagnetic field Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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Abstract
The invention provides a laser emission device and a device for cleaning high-voltage line hanging objects, wherein the laser emission device is arranged on an unmanned plane and comprises a direct semiconductor laser, a three-dimensional galvanometer system and an image pickup device, and the image pickup device is mutually matched with the three-dimensional galvanometer system, so that the image pickup device can acquire scanning fields in an equal range when the three-dimensional galvanometer system is used for performing laser scanning, thereby realizing rapid and accurate focusing of a laser focus on a winding node of the hanging objects and the high-voltage line to enable the winding node to be melted or gasified by a laser beam, enabling the hanging objects to be separated from the high-voltage line under the action of gravity or natural force of wind power, realizing no need of power-off and combustion treatment, and rapidly cleaning the high-voltage line hanging objects.
Description
Technical Field
The invention relates to the technical field of cable equipment, in particular to a laser emission device and a device for cleaning high-voltage line hanging objects.
Background
The high-voltage wire is often wrapped with impurities such as nylon films, plastic bags, kites and the like, which are called as hanging objects. Under the action of rainwater, line short-circuit faults are easy to occur, potential safety hazards are generated, and even large-area power failure accidents are caused. The removal of floating objects is always a 'big and difficult' problem for the operation and maintenance of the transmission line. The traditional treatment method is tower climbing and removing, generally requires more manpower and workload, and often requires power failure treatment.
The application No. 201610638085.5 'a flight system for removing suspended matters from a power transmission line' and a working method thereof disclose a technical scheme for removing suspended matters from the power transmission line, wherein the technical scheme comprises the following steps: the device comprises a control device, a flight platform and an ignition system, wherein the flight platform and the ignition system are in communication connection with the control device, the ignition system is arranged on the flight platform, the ignition system comprises a fuel injection device and an ignition device, the fuel injection device comprises a material injection part used for injecting fuel to a hanging object, the ignition device comprises an igniter, the material injection part can be opposite to the hanging object, and the igniter can be opposite to the hanging object. When the suspended matter on the overhead transmission line is cleared, the flying platform flies to the high position and approaches the suspended matter, then fuel is sprayed onto the suspended matter, then laser rays are emitted to the suspended matter through an igniter, and the suspended matter is self-burned through high temperature, so that the clearing purpose is achieved. Because the technical scheme needs to inject fuel to the suspended matters firstly, then the suspended matters are ignited to burn the suspended matters, the suspended matters on the power transmission line are removed through burning, and the flying platform is required to carry the fuel and the fuel injection device, so that the flying platform has huge power consumption due to overlarge load and overlarge volume, the cost is increased, the resources are wasted, and the requirements on operators are higher.
Disclosure of Invention
In view of the foregoing, embodiments of the present invention provide a laser emitting apparatus and an apparatus for cleaning high voltage line hanging articles, which can quickly clean the high voltage line hanging articles without power-off and burning processes.
The embodiment of the invention provides a laser emission device, which comprises a direct semiconductor laser, a spectroscope and a three-dimensional galvanometer system which are sequentially arranged, wherein the front surface of the spectroscope faces the direct semiconductor laser, a laser beam emitted by the direct semiconductor laser can pass through the spectroscope and enter the three-dimensional galvanometer system, the three-dimensional galvanometer system is used for adjusting the scanning range of the laser beam so as to adjust the position of a laser beam focus passing through the three-dimensional galvanometer system, an image pickup device is arranged on the three-dimensional galvanometer system, an imaging screen of the image pickup device faces the back surface of the spectroscope, external natural light is transmitted to the back surface of the spectroscope through the three-dimensional galvanometer system and reflected into the imaging screen by the spectroscope to be imaged, and the laser beam positioned in the three-dimensional galvanometer system is opposite to the transmission direction of the natural light, so that the scanning range of the laser beam is identical to the visual field of the image pickup device.
Further, the three-dimensional galvanometer system comprises a shielding shell, a Z-axis movable lens, an X-axis galvanometer and a Y-axis galvanometer, wherein the Z-axis movable lens is arranged in the shielding shell and can move along a Z axis, the X-axis galvanometer can rotate relative to an X axis, the Y-axis galvanometer can rotate relative to a Y axis, the Z axis coincides with the central axis of the direct semiconductor laser, the Z axis, the X axis and the Y axis are mutually perpendicular to each other, a laser beam injected into the shielding shell passes through the Z-axis movable lens and then is reflected by the X-axis galvanometer and the Y-axis galvanometer in sequence, and the Z-axis movable lens is used for adjusting the focal length of the laser beam.
Further, the Z-axis moving lens, the X-axis vibrating mirror and the Y-axis vibrating mirror are respectively arranged on three numerical control moving shafts, the three numerical control moving shafts are positioned in the shielding shell and are all connected with the numerical control machine, a sight glass is arranged in the imaging screen, and the alignment position of the sight glass is the same as the alignment position of the focus of the laser beam.
Further, a zoom beam-expanding collimating lens capable of collimating the laser beam and focusing the laser beam is arranged between the direct semiconductor laser and the spectroscope, and the direct semiconductor laser, the zoom beam-expanding collimating lens, the spectroscope and the three-dimensional vibrating mirror system are arranged in a straight line along the Z-axis direction.
Further, the image pickup device comprises a CCD camera with the imaging screen and a picture signal transmitter in communication connection with the CCD camera, a through hole is formed in the upper end of the shielding shell, the CCD camera is located outside the shielding shell and covers the through hole, and the imaging screen is aligned to the back face of the spectroscope through the through hole.
The embodiment of the invention also provides a device for cleaning high-voltage line hanging objects, which comprises an unmanned aerial vehicle and a laser emission device arranged on the unmanned aerial vehicle, and further comprises a main control machine, wherein the laser emission device comprises a direct semiconductor laser, a spectroscope and a three-dimensional vibrating mirror system which are sequentially arranged, the front surface of the spectroscope faces the direct semiconductor laser, a laser beam emitted by the direct semiconductor laser can pass through the spectroscope and enter the three-dimensional vibrating mirror system, the three-dimensional vibrating mirror system is used for adjusting the scanning range of the laser beam to enable the laser beam which passes through the three-dimensional vibrating mirror system to focus on a winding node of the hanging objects and the high-voltage line to melt or gasify the winding node, the three-dimensional vibrating mirror system is provided with an image pickup device, the imaging screen of the image pickup device faces the back surface of the spectroscope, and the three-dimensional vibrating mirror system faces the winding node, and is transmitted to the back surface of the three-dimensional vibrating mirror system to be reflected to the imaging screen, so that the scanning range of the laser beam can be aligned with the winding node of the laser beam of the three-dimensional vibrating mirror system, the laser beam is enabled to pick up the image pickup device and the laser beam with the laser beam, the main control device is connected with the unmanned aerial vehicle through wireless communication, and the wireless communication device is connected with the three-dimensional vibrating mirror system to the image pickup device, and the wireless communication device is controlled.
Further, the three-dimensional galvanometer system comprises a shielding shell, a Z-axis movable lens, an X-axis galvanometer and a Y-axis galvanometer, wherein the Z-axis movable lens is arranged in the shielding shell and can move along a Z axis, the X-axis galvanometer can rotate relative to an X axis, the Y-axis galvanometer can rotate relative to a Y axis, the Z axis coincides with the central axis of the direct semiconductor laser, the Z axis, the X axis and the Y axis are mutually perpendicular to each other, a laser beam injected into the shielding shell passes through the Z-axis movable lens and then is reflected by the X-axis galvanometer and the Y-axis galvanometer in sequence, and the Z-axis movable lens is used for adjusting the focal length of the laser beam.
Further, the Z-axis moving lens, the X-axis vibrating mirror and the Y-axis vibrating mirror are respectively arranged on three numerical control moving shafts, the three numerical control moving shafts are positioned in the shielding shell and are all connected with a numerical control machine, the main control machine is in wireless communication connection with the numerical control machine so as to control the movement of the three numerical control moving shafts through the numerical control machine, a sight is arranged in an imaging screen, and the aligned position of the sight coincides with the aligned position of a laser beam.
Further, the image pickup device comprises a CCD camera with the imaging screen and a picture signal transmitter which is in communication connection with the main control computer and the CCD camera, a through hole is formed in the upper end of the shielding shell, the CCD camera is located outside the shielding shell and covers the through hole, the imaging screen is aligned to the back surface of the spectroscope through the through hole, and the picture signal transmitter is hung on the unmanned aerial vehicle.
Further, the unmanned aerial vehicle is provided with a negative feedback automatic control system which enables the unmanned aerial vehicle to hover in the air, and the unmanned aerial vehicle is further provided with a GPS (global positioning system) locator and a barometer which are matched with each other to realize coordinate positioning of the unmanned aerial vehicle in a three-dimensional space.
The technical scheme provided by the embodiment of the invention has the beneficial effects that: according to the laser emission device and the device for cleaning the high-voltage line hanging objects, the image shooting device is matched with the three-dimensional galvanometer system, so that the image shooting device can acquire scanning visual fields in an equal range when the three-dimensional galvanometer system is used for carrying out laser scanning, the laser focus can be rapidly and accurately focused on the winding nodes, finally the winding nodes are instantaneously melted or gasified by laser beams, the hanging objects are separated from the high-voltage line under the action of gravity or natural force of wind force, the power-off and combustion treatment are not needed, the high-voltage line hanging objects are rapidly cleaned, the efficiency is high, the economy and the energy consumption are low, and the operation is convenient.
Drawings
FIG. 1 is an internal schematic view of a laser emitting device of the present invention;
fig. 2 is a schematic view of an apparatus for cleaning high voltage line drift of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be further described with reference to the accompanying drawings.
Referring to fig. 1 and 2, an embodiment of the present invention provides a laser emitting device and a device for cleaning high voltage line hanging objects, the laser emitting device includes a direct semiconductor laser 2, a beam splitter 9, and a three-dimensional galvanometer system 3 sequentially disposed, the direct semiconductor laser 2 is used for emitting a laser beam 7, the three-dimensional galvanometer system 3 is used for adjusting a scanning range of the laser beam 7 so as to adjust a position of a focal point of the laser beam 7 passing through the three-dimensional galvanometer system 3, and a back surface of the beam splitter 9 is coated or coated with a film so that the laser beam 7 passing from a front surface thereof can pass through a mirror surface, and natural light passing from a back surface thereof can be reflected by the back surface. The device for cleaning the high-voltage line hanging objects comprises the laser emitting device and the unmanned aerial vehicle 1, wherein the laser emitting device is arranged at the upper end of the unmanned aerial vehicle 1, the unmanned aerial vehicle 1 is used for carrying the laser emitting device to a designated high altitude, and then the laser emitting device emits laser to directly melt or gasify the hanging objects 6 and the winding nodes 61 of the high-voltage line 5 by utilizing the high temperature of the laser, so that the hanging objects 6 are separated from the high-voltage line 5.
Specifically, the front surface of the beam splitter 9 faces the direct semiconductor laser 2, and the laser beam 7 emitted by the direct semiconductor laser 2 can pass through the beam splitter 9 and enter the three-dimensional galvanometer system 3. The three-dimensional galvanometer system 3 comprises a shielding shell, a Z-axis movable lens 32 which is arranged in the shielding shell and can move along a Z-axis, an X-axis galvanometer 33 which can rotate relative to an X-axis and a Y-axis galvanometer 34 which can rotate relative to a Y-axis, wherein the Z-axis coincides with the central axis of the direct semiconductor laser 2, the Z-axis, the X-axis and the Y-axis are perpendicular to each other, and a laser beam 7 which is injected into the shielding shell passes through the Z-axis movable lens 32 and then is reflected by the X-axis galvanometer 33 and the Y-axis galvanometer 34 in sequence.
The three-dimensional galvanometer system 3 further comprises three numerical control movable shafts 35, 36 and 37, wherein the three numerical control movable shafts 35, 36 and 37 are all positioned in the shielding shell and are all connected with a numerical control machine. The Z-axis moving lens 32, the X-axis vibrating mirror 33 and the Y-axis vibrating mirror 34 are in one-to-one correspondence with the three numerical control moving shafts 37, 35 and 36 and are respectively connected with the corresponding numerical control moving shafts 37, 35 and 36, the numerical control machine can control the numerical control moving shaft 37 connected with the Z-axis moving lens 32 to drive the Z-axis moving lens 32 to translate along the Z-axis, the numerical control machine can control the numerical control moving shaft 35 connected with the X-axis vibrating mirror 33 to drive the X-axis vibrating mirror 33 to rotate relatively to the X-axis, and the numerical control machine can control the numerical control moving shaft 36 connected with the Y-axis vibrating mirror 34 to drive the Y-axis vibrating mirror 34 to rotate relatively to the Y-axis. When the Z-axis moving lens 32 is moved along the Z-axis, the focal length of the laser beam 7 is changed, so that the focal length of the laser beam 7 can be adjusted by the Z-axis moving lens 32. The X-axis galvanometer 33 and the Y-axis galvanometer 34 change the reflection angle of light (laser beam and natural light) by respective rotations, thereby enabling both the laser beam 7 and the natural light to scan on a two-dimensional plane, that is, a plane parallel to both the X-axis and the Y-axis.
A zoom beam-expanding collimator 21 capable of collimating and focusing the laser beam is arranged between the direct semiconductor laser 2 and the spectroscope 9, and the direct semiconductor laser 2, the zoom beam-expanding collimator 21, the spectroscope 9 and the three-dimensional galvanometer system 3 are linearly arranged along the Z-axis direction.
The beam splitter 9 is also located in the shielding shell, one or more laser beams emitted from the direct semiconductor laser 2 are firstly emitted into the zooming and beam-expanding collimator lens 21, in the zooming and beam-expanding collimator lens 21, one or more laser beams are focused and collimated, then emitted from the center of the zooming and beam-expanding collimator lens 21 in the form of one laser beam, then enter the shielding shell, directly penetrate through the beam splitter 9 from the front and enter the Z-axis movable lens 32, are subjected to focal length adjustment by the Z-axis movable lens 32, then are emitted onto the X-axis galvanometer 33 and reflected by the X-axis galvanometer 33 to the Y-axis galvanometer 34, and then are reflected out of the shielding shell by the Y-axis galvanometer 34, and the reflection angles of the X-axis galvanometer 33 and the Y-axis galvanometer 34 determine the focal position of the laser beam 7 after exiting the shielding shell.
The three-dimensional galvanometer system 3 is provided with an image pickup device 4, the image pickup device 4 comprises a CCD camera 41 with an imaging screen and a picture signal transmitter in communication connection with the CCD camera 41, a through hole is formed in the upper end of the shielding shell, the CCD camera 41 is positioned outside the shielding shell and covers the through hole, and the imaging screen is aligned to the back face of the spectroscope 9 through the through hole. The external natural light opposite to the laser beam 7 enters the shielding shell, then firstly irradiates the Y-axis vibrating mirror 34, then is reflected 34 to the X-axis vibrating mirror 33 by the Y-axis vibrating mirror, is reflected by the X-axis vibrating mirror 33 to the Z-axis moving lens 32, and is irradiated to the back of the spectroscope 9 through the Z-axis moving lens 32, the back of the spectroscope 9 has the function of reflecting light, the natural light can be reflected into the imaging screen, after the imaging screen receives the natural light, the imaging screen images in the CCD camera 41, imaging information containing bands in the natural light is mapped, and then an image (acquired image) formed by the imaging information is transmitted to the image signal transmitter and transmitted out through the image signal transmitter.
Since the laser beam 7 after the self-beam splitter 9 is overlapped with the optical path of the natural light incident on the imaging screen in a substantially reverse direction, the scanning range of the laser beam 7 is the same as the field of view of the image acquired by the image pickup device 4, and the focal position of the laser beam 7 and the environmental condition around the focal position can be known by observing the image acquired by the image pickup device 4. The imaging screen is provided with a sight which is aligned at the same position as the focal point of the laser beam, and by adjusting the three-dimensional galvanometer system 3, the focal point of the laser beam 7 is located on the target when the sight is aimed at the target, so that the target can be processed with the high temperature generated by the focal point of the laser beam 7.
The device for cleaning the high-voltage line hanging objects comprises an unmanned aerial vehicle 1 and the laser emission device, and further comprises a main control computer, wherein the laser emission device is arranged at the upper end of the unmanned aerial vehicle 1, and the upper end of the unmanned aerial vehicle 1 is in a line arrangement. The main control computer is in wireless communication connection with the unmanned aerial vehicle 1 to control the unmanned aerial vehicle 1 to fly, so that the unmanned aerial vehicle 1 flies to the vicinity of the high-voltage line 5 with the hanging object 6, and is about 2M away from the high-voltage line 5, and then hovers in the air. The main control machine is in wireless communication connection with the three-dimensional galvanometer system 3 and the image pickup device 4, the image pickup device 4 transmits the acquired image information to the main control machine, and the main control machine controls the three-dimensional galvanometer system 3 according to the position relation between the target (the hanging object 6 and the winding node 61 of the high-voltage wire 5) in the image information and the sight until the sight is aimed at the winding node 61. The main control computer is also connected with the direct semiconductor laser 2, and can control the on and off of the direct semiconductor laser 2. When the sight is aimed at the winding node 61, the main control computer controls the direct semiconductor laser 2 to emit laser, the winding node 61 is heated by the high temperature of the focus of the laser beam 7, and the winding node 61 can be melted or gasified at the high temperature, so that the hanging object 6 is separated from the high-voltage line 5 under the action of gravity or natural force of wind power.
The main control machine is in wireless communication connection with the numerical control machine to control the movements of the three numerical control movable shafts 37, 35 and 36 through the numerical control machine, so that the main control machine controls the three-dimensional galvanometer system 3 through controlling the movements of the three numerical control movable shafts 37, 35 and 36. The image signal transmitter is hung on the unmanned aerial vehicle and is connected with the main control computer in a wireless communication mode, the main control computer comprises a ground receiving system and display equipment, the image information acquired by the image capturing device is transmitted to the ground receiving system (such as a receiving antenna) through the image signal transmitter, the ground receiving system is transmitted to the display equipment (such as a display screen) through the HDMI, so that the sight and the image information can be displayed on the display equipment, and the visual field of the image capturing device can be basically kept synchronous by observing the display equipment.
The unmanned aerial vehicle 1 is provided with a negative feedback automatic control system which can enable the unmanned aerial vehicle 1 to hover in the air, and when the unmanned aerial vehicle 1 is influenced by the outside and has a trend of rising or falling in height, the negative feedback automatic control system adjusts the power of a motor of the unmanned aerial vehicle to perform reverse motion compensation; when the unmanned aerial vehicle 1 has a tendency to be blown away from a hovering position by wind, the negative feedback automatic control system starts a side flight mode to offset the side flight mode. Therefore, the unmanned aerial vehicle 1 can stably fly according to the route controlled by the main control machine and stably hover in the air.
The unmanned aerial vehicle 1 is also provided with a GPS (global positioning system) locator and a barometer which are matched with each other to realize coordinate positioning of the unmanned aerial vehicle in a three-dimensional space. Thereby enabling the unmanned aerial vehicle 1 to hover at a specified position, and enabling the hovering position of the unmanned aerial vehicle 1 to keep a distance of about 2M from the high-voltage line 5, wherein the purpose of keeping the distance of about 2M is to eliminate the interference effect of electromagnetic fields around the high-voltage line 5 on the internal circuit of the unmanned aerial vehicle 1.
The direct semiconductor laser 2 adopted by the invention emits 980nm wavelength laser, so that the volume and weight of the laser can be effectively reduced; the direct semiconductor laser 2 emits a laser beam of 20W, which can instantaneously melt or gasify the fly 6 and the high voltage wire 5 to wind around the junction 61, thereby removing the fly 6 while preventing damage to the high voltage wire 5.
When the device for cleaning the hanging objects on the high-voltage line 5 is used for cleaning the hanging objects 6 on the high-voltage line, the flow is as follows:
s1: the laser emission device is arranged on the unmanned aerial vehicle 1, so that the unmanned aerial vehicle 1, the image pickup device 4 and the three-dimensional galvanometer system 3 are communicated with the main control computer, and the main control computer controls the unmanned aerial vehicle 1 to fly to a position about two meters away from a hanging object 6 on the high-voltage line 5;
s2: the image pickup device 4 transmits the picked-up image to the main control machine, and the main control machine controls the flying gesture of the unmanned aerial vehicle 1 according to the image to enable the hanging object 6 to fall into the field of view of the image pickup device 4, and then hovers the unmanned aerial vehicle 1;
s3: the image shot by the image shooting device 4 is controlled by the main control computer to scan the three-dimensional galvanometer system 3 so that the focus of the laser beam 7 emitted by the direct semiconductor laser 2 is aligned with the winding node 61 of the hanging object 6 and the high-voltage line 5, then the direct semiconductor laser 2 is controlled to emit the laser beam, the winding node 61 melts or gasifies at the high temperature of the laser beam 7, and then the hanging object 6 is separated from the high-voltage line 5.
According to the laser emission device and the device for cleaning the high-voltage line hanging objects, the image pickup device 4 is matched with the three-dimensional galvanometer system 3, so that the image pickup device 4 can acquire scanning fields in an equal range while the three-dimensional galvanometer system 3 is used for performing laser scanning, the laser focus can be rapidly and accurately focused on the winding nodes 61, finally the winding nodes are instantaneously melted or gasified by the laser beam 7, the hanging objects 6 are separated from the high-voltage lines 5 under the action of gravity or natural force of wind, the high-voltage line hanging objects 6 are quickly cleaned without power-off and combustion treatment, the efficiency is high, the economy is low, the energy consumption is low, and the operation is convenient.
In this document, terms such as front, rear, upper, lower, etc. are defined with respect to the positions of the components in the drawings and with respect to each other, for clarity and convenience in expressing the technical solution. It should be understood that the use of such orientation terms should not limit the scope of the protection sought herein.
The embodiments described above and features of the embodiments herein may be combined with each other without conflict.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (3)
1. A device for clearing up high-voltage line string thing that floats, its characterized in that: the laser emission device comprises an unmanned plane and a laser emission device arranged on the unmanned plane, and further comprises a main control machine, wherein the laser emission device comprises a direct semiconductor laser, a spectroscope and a three-dimensional galvanometer system which are sequentially arranged, the front surface of the spectroscope faces the direct semiconductor laser, a laser beam emitted by the direct semiconductor laser can pass through the spectroscope and enter the three-dimensional galvanometer system, the three-dimensional galvanometer system is used for adjusting the scanning range of the laser beam, the laser beam which passes through the three-dimensional galvanometer system can be aligned with a winding node of a hanging object and a high-voltage line to enable the winding node to melt or gasify, an image pickup device is arranged on the three-dimensional galvanometer system, an imaging screen of the image pickup device faces the back surface of the spectroscope, when the three-dimensional galvanometer system faces the winding node, the winding node is mapped into the three-dimensional galvanometer system and is transmitted to the back surface of the spectroscope to be reflected by the spectroscope to the imaging screen, so that the scanning range of the laser beam is identical with the field of view of the image pickup device, the main control machine is connected with the laser beam pickup device through wireless communication, and the wireless communication is controlled by the unmanned plane;
the three-dimensional galvanometer system comprises a shielding shell, a Z-axis movable lens, an X-axis galvanometer and a Y-axis galvanometer, wherein the Z-axis movable lens is positioned in the shielding shell and can move along a Z axis, the X-axis galvanometer can rotate relative to an X axis, the Y-axis galvanometer can rotate relative to a Y axis, the Z axis coincides with the central axis of the direct semiconductor laser, the Z axis, the X axis and the Y axis are mutually perpendicular to each other, a laser beam injected into the shielding shell passes through the Z-axis movable lens and then is reflected by the X-axis galvanometer and the Y-axis galvanometer in sequence, and the Z-axis movable lens is used for adjusting the focal length of the laser beam;
the Z-axis movable lens, the X-axis vibrating mirror and the Y-axis vibrating mirror are respectively arranged on three numerical control movable shafts, the three numerical control movable shafts are arranged in the shielding shell and are connected with the numerical control machine, the main control machine is in wireless communication connection with the numerical control machine so as to control the movement of the three numerical control movable shafts through the numerical control machine, a sight is arranged in the imaging screen, and the aligned position of the sight coincides with the aligned position of the focus of the laser beam.
2. The apparatus for cleaning high voltage line fly as claimed in claim 1, wherein: the image shooting device comprises a CCD camera with an imaging screen and a picture signal transmitter which is in communication connection with the main control computer and the CCD camera, a through hole is formed in the upper end of the shielding shell, the CCD camera is located outside the shielding shell and covers the through hole, the imaging screen is aligned to the back face of the spectroscope through the through hole, and the picture signal transmitter is hung on the unmanned aerial vehicle.
3. The apparatus for cleaning high voltage line fly as claimed in claim 1, wherein: the unmanned aerial vehicle is provided with a negative feedback automatic control system which enables the unmanned aerial vehicle to hover in the air, and the unmanned aerial vehicle is also provided with a GPS (global positioning system) locator and a barometer which are matched with each other to realize coordinate positioning of the unmanned aerial vehicle in a three-dimensional space.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810923821.0A CN109412073B (en) | 2018-08-14 | 2018-08-14 | Laser emission device and device for cleaning high-voltage line hanging objects |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810923821.0A CN109412073B (en) | 2018-08-14 | 2018-08-14 | Laser emission device and device for cleaning high-voltage line hanging objects |
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| Publication Number | Publication Date |
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| CN109412073A CN109412073A (en) | 2019-03-01 |
| CN109412073B true CN109412073B (en) | 2023-12-22 |
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| DE102020134868B3 (en) | 2020-12-23 | 2022-04-07 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Drone laser cleaning device and method of operating the same |
| DE102022117041A1 (en) | 2022-07-08 | 2024-01-11 | Universität Stuttgart, Körperschaft Des Öffentlichen Rechts | Laser arrangement and method for processing objects using a laser beam |
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| CN109412073A (en) | 2019-03-01 |
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