CN109524918A - A kind of full landform domain distribution line screen of trees laser removing System and method for - Google Patents
A kind of full landform domain distribution line screen of trees laser removing System and method for Download PDFInfo
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- CN109524918A CN109524918A CN201811431903.XA CN201811431903A CN109524918A CN 109524918 A CN109524918 A CN 109524918A CN 201811431903 A CN201811431903 A CN 201811431903A CN 109524918 A CN109524918 A CN 109524918A
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- China
- Prior art keywords
- trees
- liquid crystal
- crystal display
- remote control
- laser
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Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
- B08B7/0035—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by radiant energy, e.g. UV, laser, light beam or the like
- B08B7/0042—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by radiant energy, e.g. UV, laser, light beam or the like by laser
Abstract
The invention discloses a kind of full landform domain distribution line screen of trees laser to remove system and method, the system includes electric variable to holder, the mobile crawler belt domain of screen of trees laser emitter, high-definition camera sighting device, full landform, one visualization liquid crystal display remote control is wirelessly connected with electric variable to holder, screen of trees laser emitter, high-definition camera sighting device, the mobile crawler belt domain of full landform.The system is moved to any operating area using visualization liquid crystal display remote control, avoids operation blind area.Video camera passes target image back to visualization liquid crystal display remote control display screen, form the visual field comprising target, wherein laser removes screen of trees point and is constantly in field of view center, the region on periphery is set as safety zone, pass through the picture recognition module in visualization liquid crystal display remote control, it realizes to work as and detects that barrier of people, animal or other influences Laser emission etc. enters emission security region, automatically cut off Laser emission, to ensure the safety such as surrounding people.
Description
Technical field
The present invention relates to electric distribution network overhead wire screen of trees clearance technique fields, specially based on remote control it is a kind of entirely
Shape domain distribution line screen of trees laser removes System and method for.
Background technique
Currently, electric distribution network overhead wire is mostly the bare metal line protected by naked layer, fixed by insulator
Onto shaft tower, electric energy transmission is realized.But since electric distribution network overhead wire distribution is wide, some remote mountain areas Distribution Network Frame ceases to be busys
Road is distributed on Yushan Hill more, and trees, which are easy to grow tall, due to seasonal touches overhead transmission line, is easy to be wound into exposed metal
On conducting wire, once screen of trees occurs, the failures such as plain conductor phase fault or single-phase earthing is easily caused, are made so as to cause tripping
It is damaged at power failure, distribution line, can contact the trees of position in people and animals, it is likely that cause people and animals' injures and deaths.Screen of trees is made
At instantaneity accident be difficult carry out locating and tracking processing, so power supply department all can periodically carry out trees removing under normal circumstances
Processing, prevents trees from growing tall and injures electric distribution network overhead wire.Therefore, in time cleaning electric distribution network overhead wire on trees for
Power supply safety has a very important significance.
The main method for removing screen of trees at present is this method not only inefficiency by way of manually chopping at a tree, power grid
The checkout time of screen of trees takes long time, and the human and material resources consumed, and there are one this operation modes of important aspect to exist
Operation safety hidden danger can not be remotely operated.Infrared laser remotely removes overhead transmission line foreign matter one is also made good use of at present
Kind sweep-out method, this method in ground launch beam of laser by photothermy by that, to aerial foreign matter target, will be maked somebody a mere figurehead
The fusing of float type foreign matter, calcination damage on route are fallen, be it is a kind of conveniently, safely, efficiently reset mode.However due to
This equipment is very heavy, can not flexibly be carried, and in mountainous region, the landform of this complexity is difficult its normal use.
Summary of the invention
A kind of the purpose of the present invention is to provide a kind of full landform domain distribution line screen of trees laser based on remote control
The System and method for of removing, to solve the problems mentioned in the above background technology.
In order to solve the above technical problem, the present invention provides following technical solutions: a kind of full landform domain distribution line tree
Hinder laser and removes system, including electric variable to holder, which is characterized in that screen of trees laser emitter, high-definition camera sighting device,
Electric variable is installed on on holder；The complete mobile crawler belt domain of landform, is installed on electric variable to holder lower section；One visualization liquid
Brilliant display remote controller moves crawler belt to holder, screen of trees laser emitter, high-definition camera sighting device, full landform with electric variable
Domain is wirelessly connected.
Further, visualization liquid crystal display remote control is equipped with picture recognition module, and described image identification module is based on calculating
Machine vision library OpenCV.
Further, the high-definition camera sighting device is equipped with high-definition camera and half-reflecting half mirror.
Utilize a kind of full landform domain distribution line screen of trees laser sweep-out method of above system, which is characterized in that including
Following steps:
A, being moved to operating personnel using the mobile crawler belt domain of the full landform of visualization liquid crystal display remote control manipulation can not arrive
The position reached；
B, the electric variable is adjusted using visualization liquid crystal display remote control to take aim to holder and the high-definition camera
Quasi- device is oriented aiming, and the trees that will be cut carry out aiming positioning；
C, according to the positioning result of step B, operation is set on the display picture of the visualization liquid crystal display remote control
Safety zone；
D, safety zone is first enabled, the laser for restarting screen of trees laser emitter removes the trees to be cut, as people, animal
Or other influences cutting trees carry out barrier invade laser cutting trees safety zone when, the visualization liquid crystal
Show that the picture recognition module of remote controler carries out automatic identification judgement, then exports recognition result, further take corresponding safety
Measure.
Further, step B includes:
B1, first detect by an unaided eye the trees to be cut, and the screen of trees laser emitter is made to be substantially aligned with the big of trees to be cut
Cause position；
B2, by the visualization liquid crystal display remote control adjusting electric variable to holder four direction up and down
It is mobile, so that the high-definition camera sighting device alignment is cut the precise location of trees, the real-time image signal of the precise location is logical
Cross and be wirelessly transmitted to the visualization liquid crystal display remote control, and it is described visualization liquid crystal display remote control display screen at
Picture automatically generates ESD protection area；
B3, the electric variable is further adjusted to holder and the high definition by the visualization liquid crystal display remote control
The focal length of camera sighting device makes the realtime graphic of the trees to be cut be imaged on the visualization liquid crystal display remote control and shows
The orientation of the quasi- heart of aiming at screen center；
B4, trees state is cut according to what is presented on visualization 3 display screen of liquid crystal display remote control, by described
Liquid crystal display remote control setting operation mode is visualized, manual operation either is programmed to be automatically brought into operation, according to trees difference
Branch diameter setting cleaning module either remove duration.
Further, step D further comprises: being automatically controlled by the visualization liquid crystal display remote control and stops Laser emission
Or weaken lasing intensity.
Further, step D further comprises or touch warning device sounds an alarm buzzer.
Compared with prior art, the beneficial effects obtained by the present invention are as follows being:
1. the system is moved to any work by visualization liquid crystal display remote control when laser removes screen of trees work
Industry region avoids operation blind area.Video camera passes target image back to visualization liquid crystal display remote control display screen, forms one
Visual field comprising target, wherein laser removes screen of trees point and is constantly in field of view center, and the region on periphery is set as safety zone, passes through
The picture recognition module in liquid crystal display remote control is visualized, is realized when the barrier for detecting people, animal or other influences Laser emission
Hinder object etc. to enter emission security region, automatically cut off Laser emission, to ensure the safety such as surrounding people.This safety zone can be with
Situations such as flexibly setting, Lai Shiying target flutters with the wind.Compared to conventional safety zone detector, image recognition safety device,
Protection scope is wide, extends to target from screen of trees laser emitter one kind；Comprehensively, laser work region is always situated in protection zone for protection
Domain center is protected without dead zone；Strong applicability can flexibly set protection zone, exclude target swing and cause to malfunction.
2. stating picture recognition module mainly to be completed by computer vision library OpenCV, using based on BSD license (open source) hair
Capable cross-platform computer vision library OpenCV may operate in Linux, Windows, Android and Mac OS operating system
On, light weight and also efficiently, execute speed it is fast.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
It applies example to be used to explain the present invention together, not be construed as limiting the invention.In the accompanying drawings:
Fig. 1 is a kind of schematic diagram of full landform domain distribution line screen of trees laser removing system in the present invention；
Fig. 2 is a kind of working principle diagram of full landform domain distribution line screen of trees laser removing system in the present invention.
Wherein, the mobile crawler belt domain of the full landform of 1- screen of trees, 2- distribution line, 3- viewization liquid crystal display remote control, 4-, 5- electricity
Move reversible holder, 6- screen of trees laser emitter, 7- high-definition camera sighting device.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1 and Fig. 2, it is clear to provide a kind of full landform domain distribution line screen of trees laser based on remote control by the present invention
The System and method for removed.The system include visualization liquid crystal display remote control 3, the mobile crawler belt domain 4 of full landform, electric variable to
Holder 5, screen of trees laser emitter 6, high-definition camera sighting device 7.
Wherein, the visualization liquid crystal display remote control 3 and the electric variable are logical to holder 5, clear camera sighting device 7
It crosses and is wirelessly connected；The screen of trees laser emitter 6, high-definition camera sighting device 7 are mounted on the electric variable to holder 5
On；The high-definition camera sighting device 7 is made of video camera and half-reflecting half mirror.
Wherein, liquid crystal display remote control 3 is visualized, the display centre and aiming point of display screen are overlapped no parallax, display screen
Center indicates that foreign matter removes point by cross hairs, while the visualization liquid crystal display remote control 3 is provided with picture recognition module.
In the present embodiment, visualization liquid crystal display remote control is a kind of mobile terminal for installing WIN10, and hardware and software resource is powerful,
It can carry out image recognition processing.
Preferably, described image identification module is mainly completed by computer vision library OpenCV, is permitted using based on BSD
The cross-platform computer vision library OpenCV of (open source) distribution, it may operate in Linux, Windows, Android and Mac
In OS operating system, light weight and efficiently executes that speed is fast, and realize in terms of image procossing and computer vision many leads to
Use algorithm.
It holds, image recognition process is as follows, and high-definition camera sighting device obtains image information, visual by being wirelessly transmitted to
Change liquid crystal display remote control, on the one hand visualization liquid crystal display remote control carries out real-time display in software interface, on the other hand right
Data are handled, and processing refers mainly to image recognition, and safety zone sets timing extraction visual field clarification of objective information and is used as reference,
Laser output remove obstacles during screen of trees, can real-time perfoming Detection and Extraction current field clarification of objective information, and ginseng
It examines information to be compared, when people occurs in visual field or other significantly need to handle object, extracts characteristic information and with reference to letter
Breath will have notable difference, and image recognition software just judges someone or other objects enter the field of view of laser work,
Software issues out code, and that closes laser goes out light, while carrying out warning reminding.
In the present embodiment, the high-definition camera sighting device 7 uses integrated camera, which is network shooting
Machine, can directly export the digital signal that computer is directly handled can also be used with said function in other embodiments
Similar product.
Referring to fig. 2, this full landform domain distribution line screen of trees laser removes the application method of system, and specifically used step is such as
Under:
A, cable is matched into the mobile crawler belt domain 4 of the full landform based on remote control using visualization liquid crystal display remote control 3
The mobile crawler belt domain of the full landform for the system that road screen of trees laser is removed is moved to the position that operating personnel can not reach；
B adjusts the electric variable to holder 5 and the height using visualization liquid crystal display remote control 3 by the band
Clear camera sighting device 7 is oriented aiming, and the trees that will be cut carry out aiming positioning；
C, according to the Foreign bodies of step B, operation is set on the display picture of the visualization liquid crystal display remote control 3
Safety zone；
D, safety zone is first enabled, the laser for restarting screen of trees laser emitter 6 removes the trees to be cut, as people, moves
When the barrier that object or other influences cutting trees carry out invades the safety zone of laser cutting trees, the visualization liquid crystal
The picture recognition module of display remote controller carries out automatic identification judgement, then exports recognition result, takes corresponding safety measure；
Further, utilizing the high-definition camera sighting device 7 to aim at the trees 1 to be cut in step B, steps are as follows:
B1, the full landform domain distribution line screen of trees laser removing system based on remote control is moved to suitable position
First detect by an unaided eye the trees to be cut afterwards, and the screen of trees laser emitter is made to be substantially aligned with the approximate location of trees to be cut；
B2, the electric variable is adjusted by the visualization liquid crystal display remote control 3 to four sides up and down of holder 5
To movement, the alignment for keeping the high-definition camera sighting device 7 more careful will cut the precise location of trees, cut trees
The real-time image signal of precise location is by being wirelessly transmitted to the visualization liquid crystal display remote control 3, and in the visualization
It is imaged on the display screen of liquid crystal display remote control 3, automatically generates ESD protection area；
B3, the electric variable is further adjusted to holder 5 and the height by the visualization liquid crystal display remote control 3
The focal length of clear camera sighting device 7, makes the realtime graphic of the trees to be cut be imaged on the visualization liquid crystal display remote control 3
The orientation of the quasi- heart of aiming at display screen center；
B4, trees state is cut according to what is presented on visualization 3 display screen of liquid crystal display remote control, by described
Liquid crystal display remote control setting operation mode is visualized, manual operation either is programmed to be automatically brought into operation, according to trees difference
Branch diameter setting cleaning module either remove duration.
In addition, corresponding safety measure described in step D includes: automatic by the visualization liquid crystal display remote control 3
Control stops Laser emission or is weakened lasing intensity by the visualization liquid crystal display remote control or touched to alarm
Device, which sounds an alarm buzzer or touches warning device, sounds an alarm buzzer simultaneously by visualization liquid crystal display remote control
Device stops Laser emission or touch warning device sounds an alarm buzzer while being subtracted by the visualization liquid crystal display remote control
Weak laser emissive porwer；Stop transmitting laser or weaken the emissive porwer of laser, can avoid swarming into scene laser hair
The personnel for penetrating safety zone cause to damage, and alarm can not only remind operator, also to swarming into Laser emission safety zone
Personnel remind.
Finally, it should be noted that the foregoing is only a preferred embodiment of the present invention, it is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (7)
1. a kind of full landform domain distribution line screen of trees laser removes system, including electric variable is to holder, which is characterized in that tree
Hinder laser emitter, high-definition camera sighting device, is installed on electric variable on holder；The complete mobile crawler belt domain of landform, installation
In electric variable to below holder；One visualization liquid crystal display remote control, with electric variable to holder, screen of trees laser emitter,
The mobile crawler belt domain of high-definition camera sighting device, full landform is wirelessly connected.
2. a kind of full landform domain distribution line screen of trees laser according to claim 1 removes system, which is characterized in that can
It is equipped with picture recognition module depending on changing liquid crystal display remote control, described image identification module is based on computer vision library OpenCV.
3. a kind of full landform domain distribution line screen of trees laser according to claim 1 removes system, which is characterized in that institute
The high-definition camera sighting device stated is equipped with high-definition camera and half-reflecting half mirror.
4. using a kind of full landform domain distribution line screen of trees laser sweep-out method of system described in claim 1, feature exists
In, comprising the following steps:
A, the mobile crawler belt domain of full landform is manipulated using visualization liquid crystal display remote control be moved to what operating personnel can not reach
Position；
B, the electric variable is adjusted to holder and the high-definition camera sighting device using visualization liquid crystal display remote control
It is oriented aiming, the trees that will be cut carry out aiming positioning；
C, according to the positioning result of step B, safe operation is set on the display picture of the visualization liquid crystal display remote control
Region；
D, first enable safety zone, restart screen of trees laser emitter laser remove the trees to be cut, when people, animal or its
When the barrier that he influences cutting trees progress invades the safety zone of laser cutting trees, the visualization liquid crystal display is distant
The picture recognition module for controlling device carries out automatic identification judgement, then exports recognition result, further takes corresponding safety measure.
5. according to claim 4 kind of full landform domain distribution line screen of trees laser sweep-out method, which is characterized in that step
B includes:
B1, first detect by an unaided eye the trees to be cut, and the screen of trees laser emitter is made to be substantially aligned with the substantially position of trees to be cut
It sets；
B2, the electric variable is adjusted by the visualization liquid crystal display remote control, and to holder, four direction is moved up and down
It is dynamic, so that the high-definition camera sighting device alignment is cut the precise location of trees, the real-time image signal of the precise location passes through
Be wirelessly transmitted to the visualization liquid crystal display remote control, and on the display screen of the visualization liquid crystal display remote control at
Picture automatically generates ESD protection area；
B3, the electric variable is further adjusted to holder and the high-definition camera by the visualization liquid crystal display remote control
The focal length of head sighting device, is imaged on the realtime graphic of the trees to be cut in the visualization liquid crystal display remote control display screen
The orientation of the quasi- heart of aiming of the heart；
B4, trees state is cut according to what is presented on visualization 3 display screen of liquid crystal display remote control, by described visual
Change liquid crystal display remote control setting operation mode, manual operation either is programmed to be automatically brought into operation, according to the different tree of trees
The duration that branch diameter setting cleaning module is either removed.
6. according to claim 4 kind of full landform domain distribution line screen of trees laser sweep-out method, which is characterized in that step
D further comprises: being automatically controlled by the visualization liquid crystal display remote control and stops Laser emission or decrease lasing intensity.
7. according to claim 6 kind of full landform domain distribution line screen of trees laser sweep-out method, which is characterized in that step
D further comprises or touch warning device sounds an alarm buzzer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811431903.XA CN109524918A (en) | 2018-11-28 | 2018-11-28 | A kind of full landform domain distribution line screen of trees laser removing System and method for |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811431903.XA CN109524918A (en) | 2018-11-28 | 2018-11-28 | A kind of full landform domain distribution line screen of trees laser removing System and method for |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111266745A (en) * | 2020-03-17 | 2020-06-12 | 上海柏楚数控科技有限公司 | Wireless remote control equipment for laser cutting, wireless controlled equipment and laser cutting system |
| CN112153284A (en) * | 2020-09-23 | 2020-12-29 | 上海西邦电气有限公司 | Equipment safety protection method applied to laser obstacle clearing instrument |
| CN113950984A (en) * | 2021-10-25 | 2022-01-21 | 广东电网有限责任公司 | Tree obstacle removing system |
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Application publication date: 20190326 |