CN209881226U - Overhead line laser system of removing obstacles - Google Patents

Abstract

The utility model discloses an overhead line laser system of removing obstacles, the system includes: power, control cabinet, control cloud platform, revolving stage and laser instrument, wherein: the power supply is used for supplying power to the control console, the rotary table and the laser, and is electrically connected with equipment needing power supply; the control holder is connected with the laser device and used for aiming at an obstacle clearing object, emitting laser generated by the laser device and forming an alarm area; the control holder is fixed on the rotary table so as to rotate in the direction by means of the rotation of the rotary table; the control console is connected with the laser, the rotary table and the control holder and is used for controlling the operation of the laser, the rotary table and the control holder.

Description

Overhead line laser system of removing obstacles

Technical Field

The utility model relates to a power equipment overhauls and maintains the field, especially an overhead line laser system of removing obstacles.

Background

The overhead line is an important component of a power grid, and the periodic inspection of the overhead line is a basic work for effectively ensuring the safe operation of a power transmission line and equipment thereof. In recent years, with economic development, regional construction and other reasons, the change in the corridor of the transmission line is frequent, and the line trip caused by the channel problem becomes a main reason of the transmission line fault. Especially, foreign bodies such as plastic cloth, plastic bags, kites, kite lines, advertisement banners, fishing lines, Kongming lamps, sunshade nets, balloons, dustproof cloth, sunshade cloth and the like are blown down onto overhead lines to form foreign bodies, namely the double rectangular bags, which become main causes. Even plants planted below the power transmission line threaten the power transmission line due to the upward growth of treetops, and if the treetops grow to directly contact the power transmission line, faults such as interphase short circuit or single-phase grounding of metal wires can be caused. This will have great potential safety hazard to people and livestock, has reduced the reliability of electric wire netting power supply, leads to electric power system to be unable to operate safely, and then causes huge economic loss to electric power system. Therefore, timely cleaning of foreign matters on the power transmission line is of great significance to the power system.

The method is a safe, convenient and quick clearing mode, and solves the problems of high operation cost, low efficiency, high operation risk and the like in the overhead line clearing in the prior art. However, since the foreign matter is blown down onto the overhead line under the condition of large wind, most of the obstacle clearing work is performed under the environment of large wind, the foreign matter swings with the wind in the laser obstacle clearing operation process, and the dynamic foreign matter target is difficult to continuously track and aim, which brings great challenge to the laser obstacle clearing work.

In the prior art, the aiming device of the laser obstacle removing equipment can only realize the aiming of a static floating object. For example, patent CN107552949A discloses a sighting device for a remote laser obstacle clearing system and a using method thereof, and the adopted structure is shown in fig. 1. The parts shown in the figures are respectively: the device comprises a foreign matter 101, a laser emission light path light axis 102, a semi-reflecting and semi-transmitting mirror 103, a collimating mirror 104, a laser emission head 105, an optical fiber 106, a laser 107, a sighting device 108, a control holder 109 and a controller 110. In this known technique, there are three disadvantages: firstly, the system does not set corresponding safety measures for emergency situations (for example, people and animals enter the optical path in the process of laser obstacle clearing operation); secondly, the electric power head office cannot master the current maintenance condition in real time and flexibly schedule maintenance personnel; and thirdly, only static floating objects can be aimed at, and if the floating objects continuously swing along with wind, the laser obstacle clearing work cannot be carried out.

SUMMERY OF THE UTILITY MODEL

In order to solve the problems existing in the prior art, the present disclosure provides an overhead line laser obstacle clearing system.

The utility model provides an overhead line laser system of removing obstacles, the system includes: power, control cabinet, control cloud platform, revolving stage and laser instrument, wherein:

the power supply is used for supplying power to the control console, the rotary table and the laser, and is electrically connected with equipment needing power supply;

the control holder is connected with the laser device and used for aiming at an obstacle clearing object, emitting laser generated by the laser device and forming an alarm area;

the control holder is fixed on the rotary table so as to rotate in the direction by means of the rotation of the rotary table;

the control console is connected with the laser, the rotary table and the control holder and is used for controlling the operation of the laser, the rotary table and the control holder.

Optionally, the control console includes a first infrared safety detector, a laser emitting portion, an aiming device and a second infrared safety detector, wherein:

the laser emitting part is connected with the laser through an optical fiber and is used for emitting laser generated by the laser;

the sighting device and the laser emission part are arranged in the middle of the control holder and used for sighting the obstacle clearing object;

the first infrared safety detector and the second infrared safety detector are respectively arranged on the left side and the right side of the control holder and used for forming an alarm area.

Optionally, the laser emitting unit includes a laser emitting head, a beam shaping device, and a beam combining mirror, which are connected in sequence, and the laser emitted by the laser is coupled by an optical fiber and emitted by the laser emitting head, and then the beam shaping device shapes the beam, and finally the beam combining mirror combines the visible light and the shaped laser into a coaxial and equidirectional beam to emit the beam.

Optionally, an optical axis of an internal optical path of the collimator and an optical axis of an internal optical path of the laser emitting portion form an angle and are in the same direction.

Optionally, the system further comprises a housing for housing the turntable and the laser.

Optionally, the inner accommodating space of the housing is divided into an upper space and a lower space, a connecting plate is arranged between the upper space and the lower space, a laser is placed in the space below the connecting plate, a turntable is placed in the space above the connecting plate, and the turntable is connected with the connecting plate through a movable connecting piece.

Optionally, the console comprises a first joystick, a first button, an image capture device, an output device, a second button, a second joystick, a third button, a fourth button, an emergency stop button, a positioning device, an adaptive control device, and a processor, wherein:

the image acquisition equipment is used for acquiring a biological characteristic image of a system operator so as to send the biological characteristic image to the processor for identity recognition;

the output equipment is used for outputting the image of the obstacle clearing object and the monitoring image of the obstacle clearing process;

the positioning device is embedded in the console and used for positioning the system;

the first operating rod can swing in multiple directions and is used for adjusting the rotating direction of the rotary table and controlling the rotating direction of the holder;

the fourth button and the third button are used for adjusting the rotating speed of the rotary table;

the second operating rod can swing in multiple directions and is used for adjusting the laser power emitted by the laser and the size of the image of the obstacle clearing object;

the first button and the second button can control the emission or stop of the laser;

the emergency stop button is used for controlling the emergency stop of the laser;

the self-adaptive control device is connected with the image acquisition equipment and the rotary table and used for generating a rotary table control instruction according to the state of the obstacle clearing object so as to adjust the position of the control holder and enable the obstacle clearing object to be continuously aimed.

The utility model provides an overhead line laser system of removing obstacles, this system can be on a branch of high power laser of ground launch within a definite range to the overhead line object of hanging that wafts, through the light and heat effect, fuses the foreign matter and breaks away from transmission line to realize that remote fixed point clears away the foreign matter and do not harm transmission line, have non-contact, can live working, high-efficient advantage of cleaing away the overhead line and wafing the foreign matter. Moreover, the utility model discloses a modular design, equipment quality is light and portable, does not receive the region restriction in the use, but wide application clears away wet hollow ground, the foreign matter on the overhead line of farmland or lake. Particularly, only in windy weather, the foreign matters can be blown down to the overhead line, so that the obstacle clearing work is mostly carried out in the environment with large wind, the hanging objects swing along with the wind, and the system is provided with a self-adaptive control system, so that the problem that the laser obstacle clearing system cannot aim at a dynamic foreign matter target can be effectively solved. In addition, the system is also provided with a positioning system, a head office can position the position of the equipment in real time, the management and the scheduling of the power grid head office to the equipment are facilitated, and the management difficulty of the company to the equipment and the risk of illegal use of the equipment are reduced.

Drawings

FIG. 1 is a schematic diagram of a sighting device for a remote laser obstacle clearance system in the prior art;

fig. 2 is a schematic structural diagram of an overhead line laser obstacle clearance system according to an embodiment of the present invention;

fig. 3 is a rear view of console 8 according to an embodiment of the present invention;

fig. 4 is a right side view of console 8 according to an embodiment of the present invention.

Detailed Description

Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement them. Also, for the sake of clarity, parts not relevant to the description of the exemplary embodiments are omitted in the drawings.

In the present disclosure, it is to be understood that terms such as "including" or "having," etc., are intended to indicate the presence of the disclosed features, numbers, steps, behaviors, components, parts, or combinations thereof, and are not intended to preclude the possibility that one or more other features, numbers, steps, behaviors, components, parts, or combinations thereof may be present or added.

It should be further noted that the embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

In order to solve the problem that exists among the above-mentioned prior art, the utility model provides an overhead line laser system of removing obstacles, this system can be on a branch of high power laser of certain extent of ground transmission floats to overhead line and hangs the thing, through the light and heat effect, fuses the foreign matter and breaks away from transmission line to realize remote fixed point and clear away from the foreign matter and do not harm transmission line. In the operation process, if the overhead line floating foreign matter continuously swings with the wind, the self-adaptive control system in the control console can establish a database for a real-time image of the foreign matter projected by the sight through the display screen, and establish a mathematical model by using the acquired data so as to deduce the position of the floating foreign matter at the next moment; if the overhead line floats and hangs the foreign matter and does not swing in windless weather, an operator needs to control a handle on a console to enable a laser emitting part to be approximately aligned with the floating and hanging object, the image of the foreign matter can be seen on a display screen, then a self-adaptive control system in the console can send an instruction to a rotary table, the rotary table can automatically adjust the horizontal or pitching position of the rotary table, the image of the static floating and hanging object formed on the display screen is coincided with a sight of the display screen, and the purpose of accurately aiming at the static target is achieved. Meanwhile, a positioning system is installed in the console, and a head office can position the equipment in real time, so that the management difficulty of the company on the equipment and the risk of illegal use of the equipment are reduced.

According to the utility model discloses an aspect provides an overhead line laser system of removing obstacles, as shown in fig. 2, the system includes: power supply 1, control cabinet 8, control cloud platform 10, revolving stage 16 and laser instrument 18, wherein:

the power supply 1 is used for supplying power to the control console 8, the control holder 10, the rotary table 16 and the laser 18, and is electrically connected with equipment needing power supply; in an embodiment of the present invention, the power source 1 may be a generator, a battery pack, an energy source or a mains power source, wherein the energy source includes a power source from energy sources such as solar energy, wind energy, and the like.

The control cloud deck 10 is connected with the laser 18 and used for aiming at an obstacle clearing object 11, emitting laser generated by the laser 18 and forming an alarm area;

the control head 10 is fixed on the rotary table 16 so as to rotate by means of the rotation of the rotary table 16;

the console 8 is connected with the laser 18, the turntable 16 and the control console 10 in a wired or wireless manner, and is used for controlling the operations of the laser 18, the turntable 16 and the control console 10.

The obstacle clearing object refers to a floating object on an overhead line and other foreign matters needing to be cleared.

The utility model discloses an embodiment, control cloud platform 10 includes first infrared safety detector 12, laser emission portion 13, sighting device 14 and second infrared safety detector 15, wherein:

the laser emitting part 13 is connected with a laser 18 through an optical fiber 9 and is used for emitting laser generated by the laser 18;

the laser emitting part 13 comprises a laser emitting head, a beam shaping device and a beam combining mirror which are sequentially connected, laser emitted by the laser 18 is coupled by an optical fiber 9 and emitted by the laser emitting head, then the beam shaping device shapes the beam, the beam shaping device adjusts the phase distribution of the incident laser beam by changing the intensity distribution of the incident laser beam to control the propagation characteristic of the incident laser beam, the beam shaping device shapes the divergent beam into a quasi-parallel beam, a beam with a smaller divergence angle or a focused beam and outputs the quasi-parallel beam, finally the beam combining mirror combines visible light and the shaped laser into a beam which is coaxial and homodromous to emit, and the visible light is used for indicating the emitting direction of the final combined beam laser so as to aim at an obstacle clearing object;

the sighting device 14 and the laser emission part 13 are arranged in the middle of the control holder 10, specifically, the sighting device 14 is arranged on the side or above the laser emission part 13, and the optical axis of the optical path inside the sighting device 14 and the optical axis of the optical path inside the laser emission part 13 form a certain angle and are in the same direction, so that the sighting device is used for remotely observing and sighting an obstacle clearing object. In an embodiment of the present invention, the sighting device 14 can be an industrial camera or a telephoto camera;

the first infrared safety detector 12 and the second infrared safety detector 15 are respectively arranged at the left side and the right side of the control console 10. When the overhead line laser obstacle clearance system works, the two infrared photoelectric detectors form an alarm area in front of the laser obstacle clearance system through infrared rays, when people or livestock suddenly break into the alarm area, the obstacle clearance system automatically takes corresponding safety measures, for example, an alarm signal is fed back to the console 8 by the control cradle head 10, so that the console 8 directly controls the laser 18 to stop emitting laser; or the operator presses the emergency stop button 21 to stop the obstacle clearing system from emitting laser, wherein the emergency stop action time can be microsecond, so that accidents can be avoided to the maximum extent. In an embodiment of the present invention, the infrared safety detector may be an ultrasonic detector or a photoelectric detector.

In an embodiment of the present invention, the control console 10 is fixed on the turntable 16 by means of fixing members such as damping bolts.

In an embodiment of the invention, the system further comprises a housing 17 for accommodating the turntable 16 and the laser 18, wherein: the inner containing space of the shell 17 is divided into an upper space and a lower space, a connecting plate is arranged between the upper space and the lower space, a laser 18 is placed in the space below the connecting plate, and the rotary table 16 of the connection control holder 10 is placed in the space above the connecting plate and is connected with the connecting plate through movable connecting pieces such as hinges. When the obstacle clearing system works, the upper half part of the shell is opened, the rotary table 16 connected with the control holder 10 is placed in the vertical direction, after the obstacle clearing work is finished, the rotary table 16 connected with the control holder 10 is horizontally placed on the connecting plate, meanwhile, the upper half part of the shell can be combined together, and the obstacle clearing system with the structure can prevent dust and rain and is more portable.

In an embodiment of the present invention, the console 8 includes a first operating rod 2, a first button 3, an image capturing device 4, an output device 5, a second button 6, a second operating rod 7, a third button 19, a fourth button 20, an emergency stop button 21, a positioning device, and a processor. Wherein:

the image acquisition equipment 4 is used for acquiring a biological characteristic image of a system operator, such as a human face image, and sending the biological characteristic image to the processor for identity recognition;

the output device 5 is used for outputting the image of the obstacle clearing object and the monitoring image of the obstacle clearing process;

the positioning device is embedded in the console 8, can not be detached and changed, and sends out positioning information through a processor. Therefore, the position of the equipment or the system can be positioned in real time, the management and the scheduling of the equipment or the system are facilitated, and the management difficulty of the equipment or the system and the risk of illegal use of the equipment or the system are reduced. Wherein, positioner can be big dipper satellite positioning device, GPS positioner and so on the utility model relates to an embodiment, positioner is big dipper satellite positioning device, because the utility model discloses the system mainly used overhead transmission line foreign matter clears away, fields such as power transmission and transformation technique, so the owner of system is country and local electric wire netting more, chooses big dipper positioner rather than GPS positioner for use, the security of assurance technique and communication that can furthest.

The first operating rod 2 can be manually swung forwards, backwards, leftwards and rightwards, the swing in four directions can adjust the rotary table 16 to horizontally and vertically rotate, so that the horizontal direction and the vertical angle of the laser emitting part 13 and the sighting device 14 fixed on the rotary table 16 can be freely adjusted, and different parts of an obstacle clearing object can be aligned. Meanwhile, the rotating speed of the rotary table 16 is provided with multiple gears, for example, the rotating speed can be set to 1-9 gears, and the fourth button 20 on the first operating rod 2 and the third button 19 on the second operating rod 7 can adjust the horizontal and pitching rotating speed of the rotary table 16, so that the position of the obstacle clearing object can be more accurately aimed;

the second operating rod 7 can swing back and forth, left and right, the left and right swing of the second operating rod 7 can adjust the size of the laser power emitted by the laser 18, the tunable range is 50W-500W, and the front and back swing can enlarge or reduce the image of the obstacle clearing object projected by the sighting telescope 14 through the output device 5;

the first button 3 on the first operating rod 2 and the second button 6 on the second operating rod 7 can control the emission or stop of the laser, for example, the laser can be controlled to emit the laser by pressing the first button 3 on the first operating rod 2 and the second button 6 on the second operating rod 7 simultaneously for 5 seconds, and then the laser can be stopped to emit the laser by pressing any one of the first button 3 and the second button 6;

the emergency stop button is used for controlling emergency stop of the laser.

The utility model relates to an in the embodiment, all action bars and button all adopt wear-resisting non-slip material to improve security and the comfort level that the operation personnel used equipment.

The devices or apparatuses which can be controlled by the console 8 are provided with control boards for receiving wired or wireless signals, the control boards on the controlled devices or apparatuses are sent adjusting signals through operating levers and buttons on the console 8, and then stepping motors, gear drives and the like in the controlled devices or apparatuses can perform corresponding actions, so that the control function of the console 8 is realized.

The utility model relates to an embodiment, image acquisition equipment 4 can be equipment such as camera, output device 5 can be equipment such as display screen.

The utility model discloses an embodiment, control cabinet 8 still includes adaptive control device, adaptive control device with image acquisition equipment 4 and revolving stage 16 are connected, are used for according to the state generation revolving stage 16 control command of obstacles removing object, in order to adjust the position of control cloud platform 10 for the image that obstacles removing object formed on output device 5 coincides with output device 5 sight, namely becomes right the obstacles removing object lasts and aims.

When the system works, after the control console 8 is powered on, firstly, after the display screen 5 is started, the horizontal or pitching rotation of the rotary table 16 connected with the control console 10 is controlled by adjusting the first operating rod 2 and the second operating rod 7, meanwhile, the rotation speed of the rotary table 16 has 1-9 steps, and the horizontal and pitching rotation speed of the rotary table can be adjusted by pressing the fourth button 20 and the third button 19, so that the laser emitting part 13 is approximately aligned with an obstacle clearing object, a real-time image of the obstacle clearing object can be seen on the display screen 5, and the position of the obstacle clearing object can be roughly aimed at. Secondly, the adaptive control device in the console 8 sends an instruction to the rotary table 16 according to the state (static or swing) of the obstacle clearing object, and the rotary table 16 automatically adjusts the horizontal or pitch position of the rotary table 16 and the control cloud deck 10 connected with the rotary table, so that the image of the dynamic or static obstacle clearing object on the display screen coincides with the sight of the display screen. Finally, the operator presses the first button 3 on the first operating lever 2 and the second button 6 on the second operating lever 7 simultaneously for 5 seconds with both hands, and the laser 18 emits laser light through the laser emitting portion 13 to remove the obstacle clearing object. The visual monitoring can also be carried out to the overall process of removing obstacles through display screen 5 in the operation process, and in addition, the power of ablation object of removing obstacles still can be shown to the top of display screen 5, according to the difference of the object kind of removing obstacles, can also adjust the size of transmission laser power through controlling second action bars 7. Because in the design of the sighting device and the laser emission part 13, the optical axis of the internal light path of the sighting device 14 and the optical axis of the internal light path of the laser emission part 13 form a certain angle and are in the same direction, the system does not generate sighting parallax error on the display screen 5 at the working distance, namely the cross sight on the display screen 5 aims at which part of an obstacle clearing object, and the laser nine can be shot at which position.

According to the utility model discloses a further aspect provides an overhead line laser obstacles removing method based on overhead line laser obstacles removing system, the method includes the following step:

preparation step, system power supply

After all parts of the overhead line laser obstacle clearing system are connected by lines and the power supply is switched on, the display screen 5 on the console 8 is started.

Step S1, aiming the obstacle clearing object (dynamic or static);

after the display screen 5 is started up: (1) coarse aiming: the horizontal or pitching rotation of the rotary table 16 connected with the control holder 10 is controlled by adjusting the first operating rod 2 and the second operating rod 7, meanwhile, the rotation speed of the rotary table 16 has 1-9 steps, and the horizontal and pitching rotation speeds of the rotary table 16 can be adjusted by pressing the fourth button 20 and the third button 19, so that the laser emitting part 13 is approximately aligned with the obstacle clearing object, a real-time image of the obstacle clearing object can be seen on the display screen 5, and the position of the obstacle clearing object can be roughly aimed. (2) Fine aiming: next, the adaptive control device in the console 8 sends a command to the turntable 16 according to the state (static or swing) of the obstacle clearance object, and the turntable 16 automatically adjusts the horizontal or pitch position of itself and the control console 10 connected thereto according to the command, so that the image of the dynamic or static obstacle clearance object on the display screen coincides with the display screen sight, and finally, the obstacle clearance object is accurately aimed.

Step S3, setting the power of the laser to be emitted and emitting the laser;

according to the type of the obstacle clearing object, the power of the laser to be emitted is selected by controlling the left-right swing of the second operating rod 7, and the power can be directly read from the display screen 5. After setting for the power of waiting to launch laser, both hands press first button 3 and second button 6 simultaneously and last 5 seconds, and laser 18 passes through the laser of certain power of laser emission portion 13 transmission, fuses the clearance barrier object and breaks away from the overhead line through the light and heat effect to realize that long distance fixed point clears away the clearance barrier object and do not harm the transmission line.

When the laser is emitted to clear the obstacle clearing object, if people and animals suddenly break into the optical path, the obstacle clearing system automatically takes corresponding safety measures, or an alarm signal is fed back to the console 8 by the control console 10, so that the console 8 directly controls the laser 18 to stop emitting the laser; or the operator presses the emergency stop button 21 to stop the obstacle clearing system from emitting laser, wherein the emergency stop action time can be microsecond, so that accidents can be avoided to the maximum extent.

And (5) ending the step, shutting down the system and cutting off the power supply after the obstacle clearing operation is finished.

After the laser obstacle clearing operation is completed, any one of the first button 3 or the second button 6 is pressed down, the laser emission is stopped, and the system is sequentially powered off.

The above-mentioned embodiments are intended to illustrate the objects, aspects and advantages of the present disclosure in further detail, and it should be understood that the above-mentioned embodiments are only illustrative of the present disclosure and are not intended to limit the present disclosure, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.

Claims (7)

1. An overhead line laser clearance system, the system comprising: power, control cabinet, control cloud platform, revolving stage and laser instrument, wherein:

the power supply is used for supplying power to the control console, the rotary table and the laser, and is electrically connected with equipment needing power supply;

the control holder is connected with the laser device and used for aiming at an obstacle clearing object, emitting laser generated by the laser device and forming an alarm area;

the control holder is fixed on the rotary table so as to rotate in the direction by means of the rotation of the rotary table;

the control console is connected with the laser, the rotary table and the control holder and is used for controlling the operation of the laser, the rotary table and the control holder;

the console comprises a first operating rod, a first button, an image acquisition device, an output device, a second button, a second operating rod, a third button, a fourth button, an emergency stop button, a positioning device, a self-adaptive control device and a processor.

2. The system of claim 1, wherein the control console comprises a first infrared safety detector, a laser emitting portion, an aiming sight and a second infrared safety detector, wherein:

the laser emitting part is connected with the laser through an optical fiber and is used for emitting laser generated by the laser;

the sighting device and the laser emission part are arranged in the middle of the control holder and used for sighting the obstacle clearing object;

the first infrared safety detector and the second infrared safety detector are respectively arranged on the left side and the right side of the control holder and used for forming an alarm area.

3. The system according to claim 2, wherein the laser emitting part comprises a laser emitting head, a beam shaping device and a beam combining mirror which are connected in sequence, the laser emitted by the laser is coupled by an optical fiber and emitted by the laser emitting head, then the beam shaping device shapes the beam, and finally the beam combining mirror combines the visible light and the shaped laser into a beam of light which is coaxial and in the same direction and emits the beam.

4. The system of claim 2 or 3, wherein the optical axis of the collimator internal optical path is at an angle and co-directional with the optical axis of the laser emitting portion internal optical path.

5. A system according to any of claims 1-3, further comprising a housing for housing the turntable and the laser.

6. The system of claim 5, wherein the inner space of the housing is divided into an upper space and a lower space, a connecting plate is disposed between the upper space and the lower space, the space below the connecting plate is used for placing the laser, and the space above the connecting plate is used for placing the turntable, and the turntable is connected with the connecting plate through a movable connecting piece.

7. The system according to any one of claims 1-3, 6, wherein:

the image acquisition equipment is used for acquiring a biological characteristic image of a system operator so as to send the biological characteristic image to the processor for identity recognition;

the output equipment is used for outputting the image of the obstacle clearing object and the monitoring image of the obstacle clearing process;

the positioning device is embedded in the console and used for positioning the system;

the first operating rod can swing in multiple directions and is used for adjusting the rotating direction of the rotary table and controlling the rotating direction of the holder;

the fourth button and the third button are used for adjusting the rotating speed of the rotary table;

the second operating rod can swing in multiple directions and is used for adjusting the laser power emitted by the laser and the size of the image of the obstacle clearing object;

the first button and the second button can control the emission or stop of the laser;

the emergency stop button is used for controlling the emergency stop of the laser;

the self-adaptive control device is connected with the image acquisition equipment and the rotary table and used for generating a rotary table control instruction according to the state of the obstacle clearing object so as to adjust the position of the control holder and enable the obstacle clearing object to be continuously aimed.