WO2022061560A1 - Equipment safety protection method applied to laser obstacle remover - Google Patents

Equipment safety protection method applied to laser obstacle remover Download PDF

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Publication number
WO2022061560A1
WO2022061560A1 PCT/CN2020/116996 CN2020116996W WO2022061560A1 WO 2022061560 A1 WO2022061560 A1 WO 2022061560A1 CN 2020116996 W CN2020116996 W CN 2020116996W WO 2022061560 A1 WO2022061560 A1 WO 2022061560A1
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laser
real
time image
control center
camera
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PCT/CN2020/116996
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French (fr)
Chinese (zh)
Inventor
文程
王淳
杨浩明
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上海西邦电气有限公司
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Priority to PCT/CN2020/116996 priority Critical patent/WO2022061560A1/en
Priority to JP2022550677A priority patent/JP7476329B2/en
Priority to CN202011005369.3A priority patent/CN112153284B/en
Publication of WO2022061560A1 publication Critical patent/WO2022061560A1/en

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/04—Synchronising

Definitions

  • the invention relates to the fields of foreign matter removal of overhead transmission lines, high-voltage transmission channel cleaning, power transmission and transformation technology, etc., in particular to an equipment safety protection method applied to a laser obstacle clearance device.
  • laser obstacle clearing instruments are widely used in the removal of foreign objects and tree barriers in overhead lines of power systems.
  • the laser barrier remover uses the characteristics of strong laser directionality, high energy and high directional energy transmission efficiency to accurately launch the laser beam to the surface of foreign objects in overhead lines.
  • the foreign object is heated to the vaporization or melting temperature by the photothermal action of the laser on the foreign object. With the movement of the light beam, a continuous slit is formed on the body of the foreign body, which cuts the foreign body and realizes the removal of the foreign body.
  • the thermal effect of the laser may also damage other equipment on overhead lines, such as composite insulators.
  • Existing laser obstacle clearing equipment basically has no active safety protection measures for overhead line equipment. Generally, manual observation is used to avoid laser irradiation of equipment for a long time. There are many uncontrollable factors in this method (such as personnel misoperation and uneven personnel quality. Qi), there is no real avoidance of equipment damage.
  • the purpose of the present invention is to provide a device safety protection method applied to a laser obstacle clearing device, which mainly solves the problems existing in the above-mentioned prior art, which can ensure the safety of the production environment and improve the obstacle clearing efficiency.
  • the technical solution adopted in the present invention is to provide a device safety protection method applied to a laser obstacle clearing device, characterized in that the laser obstacle clearing device includes a pan/tilt, a camera, and a laser; the camera and the The laser is coaxial, and the pan/tilt rotates independently along the horizontal or vertical direction, including steps:
  • Step S101 the laser obstacle clearer is powered on, communicates with the control center, and completes the initial state information correction
  • Step S102 the user uses the mobile control platform to obtain the real-time image of the camera through the control center, and delineates the protection area of the laser obstacle clearance device on the real-time image; the mobile control platform is on the real-time image. display the protection frame corresponding to the protection area;
  • Step S103 the user uses the mobile control platform to operate the pan/tilt, change the azimuth or elevation of the laser and the camera, and perform an obstacle clearance operation; when the pan/tilt moves, the laser obstacle clearer moves toward the camera.
  • the control center synchronizes the status information, and sends it to the mobile control platform after being processed by the control center; the mobile control platform obtains the magnification from the camera and combines the data received from the control center Status information, move the position of the protection frame presented to the user, so that the protection frame moves synchronously with the real-time image obtained from the camera;
  • Step S104 when the direction of the laser touches any edge of the protection frame, or enters the inner area of the protection frame, the laser automatically stops outputting; if the clearing operation does not end, then jump to step S104 S103.
  • the mobile control platform is a tablet computer.
  • pan-tilt and the laser are electrically connected to the control center through a data cable, and the control center is used to realize power supply and data communication;
  • the camera uses a router to communicate with the control center through wired Ethernet;
  • the mobile control platform uses a router to communicate with the control center through a wireless local area network, and further connects and controls the laser obstacle clearance device through the control center.
  • the pan/tilt includes an encoder; and the state information is horizontal position information and vertical position information from the encoder.
  • step S101 it specifically includes:
  • Step S1011 the laser obstacle clearer is powered on, reads the horizontal position information and the vertical position information, and sends them to the control center;
  • Step S1012 the control center records the horizontal position information and the vertical position information reported by the laser obstacle clearer.
  • step S103 it specifically includes:
  • Step S1031 when the pan/tilt moves, the laser barrier remover reads the vertical position information and the horizontal position information every N milliseconds, and sends them to the control center;
  • Step S1032 the mobile control platform obtains the real-time image collected by the camera and the magnification of the camera from the laser obstacle clearance device;
  • Step S1033 the control center will calculate the difference between the current horizontal position information and the last historical horizontal position information to obtain the encoder horizontal difference; the control center will calculate the current vertical position information and the last time.
  • the difference value of the history of the vertical position information is obtained to obtain the encoder vertical difference value; then, the encoder horizontal difference value and the encoder vertical difference value are sent to the mobile control platform;
  • Step S1034 the mobile control platform follows the real-time image according to the horizontal encoder difference, the vertical encoder difference and the magnification, and updates the position of the protection frame on the real-time image, displayed to the user.
  • step S1034 when the mobile control platform updates the position of the protection frame on the real-time image, the distance L1 moved by the protection frame in the horizontal direction and the distance L2 moved in the vertical direction are calculated as:
  • SUM_X The total encoder value of the 360-degree horizontal movement of the gimbal
  • PIX1 The horizontal pixel value of the real-time image
  • SUM_Y The total encoder value of the 360-degree vertical movement of the gimbal
  • PIX2 The vertical direction pixel value of the real-time image
  • step S104 it specifically includes: the mobile control platform combines the real-time image and the protection frame, taking the center point of the real-time image as the direction of the laser, when the center point of the real-time image is When touching any edge of the protection frame, or entering the inner area of the protection frame, the mobile control platform sends a control command to the laser barrier clearer through the control center to stop the output of the laser.
  • the present invention has the following advantages:
  • the invention adopts a regional protection method, does not require the characteristics of the protected object, and can reliably protect the objects in the protection area.
  • Fig. 1 is the flow chart of a preferred embodiment of the present invention applied to the equipment safety protection method of laser obstacle clearing instrument;
  • FIG. 2 is a schematic diagram of the system structure of a preferred embodiment of the present invention.
  • 100-laser obstacle clearing device 200-control center, 300-mobile control platform, 400-router; 101-header, 102-laser, 103-camera.
  • the used laser obstacle clearing device 100 includes a pan/tilt 101 , a laser 102 and a camera 103 ;
  • the laser 102 and the camera 103 are coaxial.
  • the pan/tilt head 101 can be rotated independently of each other in the horizontal direction or the vertical direction, and also includes an encoder.
  • the encoder is used to provide the pan/tilt 101 horizontal position information (azimuth angle) and vertical position information (elevation angle).
  • the pan-tilt 101 and the laser 102 are electrically connected to the control center 200 through data lines, and the control center 200 is used to realize power supply and data communication.
  • the camera 103 uses the router 400 to communicate with the control center 200 through wired Ethernet.
  • the mobile control platform 300 uses the router 400 to communicate with the control center 200 through the wireless local area network, and further connects and controls the various modules on the laser obstacle clearance device 100 through the control center 200 , including the pan/tilt 101 , the laser 102 and the camera 103 .
  • the mobile control platform 300 is a tablet computer.
  • step S101 the laser obstacle remover 100 is powered on, communicates with the control center 200, and completes the initial state information correction.
  • the status information includes the provided horizontal position information (azimuth angle) and vertical position information (elevation angle) of the encoder of the pan/tilt head 101 .
  • the laser obstacle clearer 100 After the laser obstacle clearer 100 is turned on, it completes the initialization of its own device, and then reads the horizontal position information (azimuth angle) and vertical position information (elevation angle) provided by the encoder of the pan/tilt 101 , and sends it to the control center 200 .
  • the control center 200 records the initial horizontal position information (initial azimuth angle) and initial vertical position information (initial elevation angle) of the laser obstacle clearing device 100 to complete the initial state information correction.
  • step S102 the user uses the mobile control platform 300 to obtain the real-time image collected by the camera 103 through the control center 200, and delineates the protection area of the laser obstacle clearance device 100 on the real-time image. After the user completes the setting of the protection area, the mobile control platform 300 displays the protection frame corresponding to the protection area on the real-time image.
  • Step S103 the user operates the pan/tilt 101 by using the mobile control platform 300, changes the azimuth and elevation angles of the laser 102 and the camera 103, and performs an obstacle clearance operation.
  • the laser obstacle clearer 100 and the control center 200 synchronize state information (horizontal position information and vertical position information), and the control center 200 processes the state information and sends it to the mobile control platform 300 .
  • the mobile control platform 300 obtains the magnification directly from the camera 103 , and moves the position of the protection frame presented to the user in combination with the status information received from the control center 200 , so that the protection frame moves synchronously with the real-time image obtained from the camera 103 .
  • the laser barrier 100 periodically reads the vertical position information and the horizontal position information at a time interval between 0 and 500 milliseconds.
  • the laser obstacle remover 100 reads the vertical position information and the horizontal position information every 200 milliseconds, and sends them to the control center 200 .
  • the mobile control platform 200 directly acquires the real-time image collected by the camera 103 and the magnification of the camera 103 from the laser obstacle clearance device 100 .
  • control center 200 Each time the control center 200 receives new horizontal position information, it calculates the difference with the historical horizontal position information received last time to obtain the encoder horizontal difference. Each time the control center 200 receives new vertical position information, it calculates the difference with the historical vertical position information received last time to obtain the encoder vertical difference. Then, the encoder horizontal difference value and the encoder vertical difference value are sent to the mobile control platform 300 .
  • the mobile control platform 300 calculates the distance L1 that the protective frame moves in the horizontal direction and the distance L2 that moves in the vertical direction:
  • SUM_X The total encoder value of the 360-degree horizontal movement of the gimbal
  • PIX1 The horizontal pixel value of the real-time image
  • SUM_Y The total encoder value of the 360-degree vertical movement of the gimbal
  • PIX2 The vertical direction pixel value of the real-time image
  • the mobile control platform 300 uses the horizontal moving distance L1 and the vertical moving distance L2 to update the position of the protection frame on the real-time image and display it to the user, so that the protection frame moves synchronously with the real-time image.
  • step S104 when the pointing of the laser touches any edge of the protection frame or enters the inner area of the protection frame, the laser automatically stops outputting; if the obstacle clearance operation is not over, then jump to step S103.
  • the mobile control platform 300 takes the center point of the real-time image as the direction of the laser 102, combined with the real-time image and the protection frame, when the center point of the real-time image touches any edge of the protection frame, or enters the inner area of the protection frame , the mobile control platform 300 sends a control command to the laser obstacle clearance device 100 through the control center 200 to stop the output of the laser 102 .

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Cleaning In General (AREA)
  • Lasers (AREA)
  • Electric Cable Installation (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

An equipment safety protection method applied to a laser obstacle remover, belonging to the fields of overhead power transmission line foreign matter removal, high-voltage power transmission corridor clearing, and power transmission and transformation technology. A laser obstacle remover (100) used comprises a gimbal (101), a camera (103), and a laser (102), the camera (103) and the laser (102) being coaxial. The equipment safety protection method comprises: after powered on, the laser obstacle remover (100) performing an initial state information correction with a control center (200); a user using a mobile control platform (300) to delineate a protection area of the laser obstacle remover (100) on a real-time image acquired by the camera (103), and the mobile control platform displaying a protection frame corresponding to the protection area; when the user performs an obstacle removal operation, the laser obstacle remover (100) synchronizing the state information to the mobile control platform (300), and the mobile control platform (300) controlling, according to the state information, the protection frame to synchronously move along with the real-time image; and when the laser (102) points to an edge of the protection frame or the laser enters the inner area of the protection frame, the laser (102) automatically stopping output, thereby ensuring the safety of the equipment and environment inside the protection frame, and increasing the efficiency of obstacle removal.

Description

一种应用于激光清障仪的设备安全防护方法A kind of equipment safety protection method applied to laser obstacle clearing device 技术领域technical field
本发明涉及架空输电线路异物清除、高压输电通道清理、输变电技术等领域，特别是一种应用于激光清障仪的设备安全防护方法。The invention relates to the fields of foreign matter removal of overhead transmission lines, high-voltage transmission channel cleaning, power transmission and transformation technology, etc., in particular to an equipment safety protection method applied to a laser obstacle clearance device.
背景技术Background technique
目前激光清障仪广泛应用于电力系统架空线路的异物清除、树障清除等场合。激光清障仪利用激光方向性强、能量高、定向能量传输效率高的特点，将激光束精确发射到架空线路异物表面。通过激光对异物的光热作用，将异物加热至汽化或融化温度。随着光束的移动，在异物本体造成连续的切缝，将异物切断，实现对异物的清除。但是在实际应用中，激光的热效应除了能清除异物之外，也有可能损伤架空线路上的其他设备，例如复合绝缘子。现有的激光清障仪设备基本没有针对架空线路设备的主动安全防护措施，一般通过人工观察的方式避免激光长时间照射设备，此方法不可控因素较多(如人员误操作、人员素质参差不齐)，无法真正避免设备受损情况。At present, laser obstacle clearing instruments are widely used in the removal of foreign objects and tree barriers in overhead lines of power systems. The laser barrier remover uses the characteristics of strong laser directionality, high energy and high directional energy transmission efficiency to accurately launch the laser beam to the surface of foreign objects in overhead lines. The foreign object is heated to the vaporization or melting temperature by the photothermal action of the laser on the foreign object. With the movement of the light beam, a continuous slit is formed on the body of the foreign body, which cuts the foreign body and realizes the removal of the foreign body. However, in practical applications, in addition to removing foreign matter, the thermal effect of the laser may also damage other equipment on overhead lines, such as composite insulators. Existing laser obstacle clearing equipment basically has no active safety protection measures for overhead line equipment. Generally, manual observation is used to avoid laser irradiation of equipment for a long time. There are many uncontrollable factors in this method (such as personnel misoperation and uneven personnel quality. Qi), there is no real avoidance of equipment damage.
发明内容SUMMARY OF THE INVENTION
本发明的目的在于提供一种应用于激光清障仪的设备安全防护方法，主要解决上述现有技术存在的问题，它可以确保生产环境的安全，提高清障效率。The purpose of the present invention is to provide a device safety protection method applied to a laser obstacle clearing device, which mainly solves the problems existing in the above-mentioned prior art, which can ensure the safety of the production environment and improve the obstacle clearing efficiency.
为了实现上述目的，本发明所采用的技术方案是提供一种应用于激光清障仪的设备安全防护方法，其特征在于,激光清障仪包含云台、摄像机、激光器；所述摄像机和所述激光器同轴，所述云台沿水平方向或者垂直方向独立 转动，包含步骤：In order to achieve the above object, the technical solution adopted in the present invention is to provide a device safety protection method applied to a laser obstacle clearing device, characterized in that the laser obstacle clearing device includes a pan/tilt, a camera, and a laser; the camera and the The laser is coaxial, and the pan/tilt rotates independently along the horizontal or vertical direction, including steps:
步骤S101，所述激光清障仪开机，与控制中心通信，完成初始的状态信息校正；Step S101, the laser obstacle clearer is powered on, communicates with the control center, and completes the initial state information correction;
步骤S102，用户利用移动控制平台，通过所述控制中心，获得所述摄像机的实时图像，并在所述实时图像上圈定所述激光清障仪的保护区域；移动控制平台在所述实时图像上显示对应所述保护区域的保护框；Step S102, the user uses the mobile control platform to obtain the real-time image of the camera through the control center, and delineates the protection area of the laser obstacle clearance device on the real-time image; the mobile control platform is on the real-time image. display the protection frame corresponding to the protection area;
步骤S103，用户利用所述移动控制平台操作所述云台，改变所述激光器和所述摄像机的方位角或仰角，进行清障操作；当所述云台动作时，所述激光清障仪向所述控制中心同步所述状态信息，并由所述控制中心处理后发送到所述移动控制平台；所述移动控制平台根据从所述摄像机获取放大倍数，结合从所述控制中心接收的所述状态信息，移动呈现给用户的所述保护框的位置，使所述保护框跟随从所述摄像机获取的所述实时图像同步移动；Step S103, the user uses the mobile control platform to operate the pan/tilt, change the azimuth or elevation of the laser and the camera, and perform an obstacle clearance operation; when the pan/tilt moves, the laser obstacle clearer moves toward the camera. The control center synchronizes the status information, and sends it to the mobile control platform after being processed by the control center; the mobile control platform obtains the magnification from the camera and combines the data received from the control center Status information, move the position of the protection frame presented to the user, so that the protection frame moves synchronously with the real-time image obtained from the camera;
步骤S104，当所述激光器的指向触碰到所述保护框的任意边缘，或者进入所述保护框的内部区域时，所述激光器自动停止输出；如果清障操作没有结束，那么跳转到步骤S103。Step S104, when the direction of the laser touches any edge of the protection frame, or enters the inner area of the protection frame, the laser automatically stops outputting; if the clearing operation does not end, then jump to step S104 S103.
进一步地，所述移动控制平台是平板电脑。Further, the mobile control platform is a tablet computer.
进一步地，所述云台和所述激光器通过数据线与所述控制中心电连接，利用所述控制中心实现供电和数据通讯；所述摄像机利用路由器，通过有线以太网与所述控制中心通讯；所述移动控制平台利用路由器，通过无线局域网与所述控制中心通讯，并通过所述控制中心进一步连接并控制所述激光清障仪。Further, the pan-tilt and the laser are electrically connected to the control center through a data cable, and the control center is used to realize power supply and data communication; the camera uses a router to communicate with the control center through wired Ethernet; The mobile control platform uses a router to communicate with the control center through a wireless local area network, and further connects and controls the laser obstacle clearance device through the control center.
进一步地，所述云台包含编码器；所述状态信息是来自所述编码器的水 平位置信息和垂直位置信息。Further, the pan/tilt includes an encoder; and the state information is horizontal position information and vertical position information from the encoder.
进一步地，在步骤S101中，具体包含：Further, in step S101, it specifically includes:
步骤S1011,所述激光清障仪开机，读取所述水平位置信息和所述垂直位置信息，发送给所述控制中心；Step S1011, the laser obstacle clearer is powered on, reads the horizontal position information and the vertical position information, and sends them to the control center;
步骤S1012，所述控制中心记录所述激光清障仪上报的所述水平位置信息和所述垂直位置信息。Step S1012, the control center records the horizontal position information and the vertical position information reported by the laser obstacle clearer.
进一步地，在步骤S103中，具体包含：Further, in step S103, it specifically includes:
步骤S1031,当所述云台动作时，所述激光清障仪每隔N毫秒读取一次所述垂直位置信息和所述水平位置信息，发送给所述控制中心；Step S1031, when the pan/tilt moves, the laser barrier remover reads the vertical position information and the horizontal position information every N milliseconds, and sends them to the control center;
步骤S1032,所述移动控制平台从所述激光清障仪获取所述摄像机采集的所述实时图像和所述摄像机的所述放大倍数；Step S1032, the mobile control platform obtains the real-time image collected by the camera and the magnification of the camera from the laser obstacle clearance device;
步骤S1033，所述控制中心将计算当前所述水平位置信息和上一次历史所述水平位置信息的差值，得到编码器水平差值；所述控制中心将计算当前所述垂直位置信息和上一次历史所述垂直位置信息的差值，得到编码器垂直差值；然后，将所述编码器水平差值、所述编码器垂直差值发送给所述移动控制平台；Step S1033, the control center will calculate the difference between the current horizontal position information and the last historical horizontal position information to obtain the encoder horizontal difference; the control center will calculate the current vertical position information and the last time. The difference value of the history of the vertical position information is obtained to obtain the encoder vertical difference value; then, the encoder horizontal difference value and the encoder vertical difference value are sent to the mobile control platform;
步骤S1034，所述移动控制平台根据所述水平编码器差值、所述垂直编码器差值和所述放大倍数，跟随所述实时图像，更新所述保护框在所述实时图像上的位置，显示给用户。Step S1034, the mobile control platform follows the real-time image according to the horizontal encoder difference, the vertical encoder difference and the magnification, and updates the position of the protection frame on the real-time image, displayed to the user.
进一步地，在步骤S1034中，所述移动控制平台更新所述保护框在所述实时图像上的位置时，所述保护框在水平方向移动的距离L1和竖直方向移动的距离L2计算为：Further, in step S1034, when the mobile control platform updates the position of the protection frame on the real-time image, the distance L1 moved by the protection frame in the horizontal direction and the distance L2 moved in the vertical direction are calculated as:
L1＝DX/(SUM_X/PIX1×M)L1=DX/(SUM_X/PIX1×M)
L2＝DX/(SUM_Y/PIX2×M)L2=DX/(SUM_Y/PIX2×M)
DX：编码器水平差值，DX: encoder level difference,
SUM_X：云台水平运动一圈360度的总编码器值，SUM_X: The total encoder value of the 360-degree horizontal movement of the gimbal,
PIX1：实时图像的水平方向像素值,PIX1: The horizontal pixel value of the real-time image,
DY：编码器垂直差值，DY: encoder vertical difference,
SUM_Y：云台垂直运动一圈360度的总编码器值，SUM_Y: The total encoder value of the 360-degree vertical movement of the gimbal,
PIX2：实时图像的竖直方向像素值，PIX2: The vertical direction pixel value of the real-time image,
M：摄像机当前的放大倍数。M: The current magnification of the camera.
进一步地，在步骤S104中，具体包含：所述移动控制平台结合所述实时图像和所述保护框，以所述实时图像的中心点为所述激光器的指向，当所述实时图像的中心点触碰到所述保护框的任意边缘，或者进入所述保护框的内部区域时，所述移动控制平台通过所述控制中心向所述激光清障仪发送控制命令，停止所述激光器的输出。Further, in step S104, it specifically includes: the mobile control platform combines the real-time image and the protection frame, taking the center point of the real-time image as the direction of the laser, when the center point of the real-time image is When touching any edge of the protection frame, or entering the inner area of the protection frame, the mobile control platform sends a control command to the laser barrier clearer through the control center to stop the output of the laser.
鉴于上述技术特征，本发明具有如下优点：In view of the above technical features, the present invention has the following advantages:
1、填补了市场上现有的激光清障仪设备基本没有针对架空线路设备的安全防护措施的空白。1. It fills the gap that the existing laser obstacle clearance equipment on the market basically has no safety protection measures for overhead line equipment.
2、在用户进行激光清障实际作业中，需要保护的物体种类复杂繁多，并且很多物体并不具备明显的特征性。本发明采用区域性保护方法，对被保护物体的特征没有要求，能可靠保护保护区域内的物体。2. In the actual operation of laser obstacle removal by users, there are many kinds of objects that need to be protected, and many objects do not have obvious characteristics. The invention adopts a regional protection method, does not require the characteristics of the protected object, and can reliably protect the objects in the protection area.
附图说明Description of drawings
图1是本发明应用于激光清障仪的设备安全防护方法的一个较佳实施例的流程图；Fig. 1 is the flow chart of a preferred embodiment of the present invention applied to the equipment safety protection method of laser obstacle clearing instrument;
图2是本发明中的一个较佳实施例的系统结构示意图。FIG. 2 is a schematic diagram of the system structure of a preferred embodiment of the present invention.
图中：100-激光清障仪，200-控制中心，300-移动控制平台，400-路由器；101-云台，102-激光器，103-摄像机。In the picture: 100-laser obstacle clearing device, 200-control center, 300-mobile control platform, 400-router; 101-header, 102-laser, 103-camera.
具体实施方式detailed description
下面结合具体实施方式，进一步阐述本发明。应理解，这些实施例仅用于说明本发明而不用于限制本发明的范围。此外应理解，在阅读了本发明讲授的内容之后，本领域技术人员可以对本发明作各种改动或修改，这些等价形式同样落于本申请所附权利要求书所限定的范围。The present invention will be further described below in conjunction with specific embodiments. It should be understood that these examples are only used to illustrate the present invention and not to limit the scope of the present invention. In addition, it should be understood that after reading the content taught by the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined by the appended claims of the present application.
实施例Example
请参阅图1和图2，在本发明一种应用于激光清障仪的设备安全防护方法的一个较佳实施例中，使用的激光清障仪100包含云台101、激光器102和摄像机103；激光器102和摄像机103同轴。云台101可以在水平方向或者垂直方向上相互独立转动，还包含编码器。编码器用于提供云台101水平位置信息(方位角)和垂直位置信息(仰角)。Please refer to FIG. 1 and FIG. 2 , in a preferred embodiment of a device safety protection method applied to a laser obstacle clearing device of the present invention, the used laser obstacle clearing device 100 includes a pan/tilt 101 , a laser 102 and a camera 103 ; The laser 102 and the camera 103 are coaxial. The pan/tilt head 101 can be rotated independently of each other in the horizontal direction or the vertical direction, and also includes an encoder. The encoder is used to provide the pan/tilt 101 horizontal position information (azimuth angle) and vertical position information (elevation angle).
云台101和激光器102通过数据线与控制中心200电连接，利用控制中心200实现供电和数据通讯。摄像机103利用路由器400，通过有线以太网与控制中心200通讯。移动控制平台300利用路由器400，通过无线局域网与控制中心通讯200，并通过控制中心200进一步连接并控制激光清障仪100上的各个模块，包括云台101、激光器102和摄像机103。移动控制平台300是平板电脑。The pan-tilt 101 and the laser 102 are electrically connected to the control center 200 through data lines, and the control center 200 is used to realize power supply and data communication. The camera 103 uses the router 400 to communicate with the control center 200 through wired Ethernet. The mobile control platform 300 uses the router 400 to communicate with the control center 200 through the wireless local area network, and further connects and controls the various modules on the laser obstacle clearance device 100 through the control center 200 , including the pan/tilt 101 , the laser 102 and the camera 103 . The mobile control platform 300 is a tablet computer.
本发明一种应用于激光清障仪的设备安全防护方法的一个较佳实施例，包含步骤：A preferred embodiment of a device safety protection method applied to a laser obstacle clearer according to the present invention includes the steps:
步骤S101，激光清障仪100开机，与控制中心200通信，完成初始的状 态信息校正。状态信息包含云台101的编码器的提供水平位置信息(方位角)和垂直位置信息(仰角)。In step S101, the laser obstacle remover 100 is powered on, communicates with the control center 200, and completes the initial state information correction. The status information includes the provided horizontal position information (azimuth angle) and vertical position information (elevation angle) of the encoder of the pan/tilt head 101 .
激光清障仪100开机后，完成自身器件的初始化，然后读取云台101的编码器的提供水平位置信息(方位角)和垂直位置信息(仰角)，并发送给控制中心200。控制中心200记录激光清障仪100的初始水平位置信息(初始方位角)和初始垂直位置信息(初始仰角)，完成初始的状态信息校正。After the laser obstacle clearer 100 is turned on, it completes the initialization of its own device, and then reads the horizontal position information (azimuth angle) and vertical position information (elevation angle) provided by the encoder of the pan/tilt 101 , and sends it to the control center 200 . The control center 200 records the initial horizontal position information (initial azimuth angle) and initial vertical position information (initial elevation angle) of the laser obstacle clearing device 100 to complete the initial state information correction.
步骤S102，用户利用移动控制平台300，通过控制中心200，获得摄像机103采集的实时图像，并在实时图像上圈定激光清障仪100的保护区域。当用户完成保护区域的设置之后，移动控制平台300在实时图像上显示对应保护区域的保护框。In step S102, the user uses the mobile control platform 300 to obtain the real-time image collected by the camera 103 through the control center 200, and delineates the protection area of the laser obstacle clearance device 100 on the real-time image. After the user completes the setting of the protection area, the mobile control platform 300 displays the protection frame corresponding to the protection area on the real-time image.
步骤S103，用户利用移动控制平台300操作云台101，改变激光器102和摄像机103的方位角和仰角，进行清障操作。当云台101动作时，激光清障仪100和控制中心200同步状态信息(水平位置信息和垂直位置信息)，控制中心200将状态信息进行处理，然后发送至移动控制平台300。移动控制平300台直接从摄像机103获取放大倍数，结合从控制中心200接收的状态信息，移动呈现给用户的保护框的位置，使保护框跟随从摄像机103获取的实时图像同步移动。当云台101动作时，激光清障仪100定时读取垂直位置信息和水平位置信息的时间间隔，在0至500毫秒之间。Step S103, the user operates the pan/tilt 101 by using the mobile control platform 300, changes the azimuth and elevation angles of the laser 102 and the camera 103, and performs an obstacle clearance operation. When the pan/tilt 101 moves, the laser obstacle clearer 100 and the control center 200 synchronize state information (horizontal position information and vertical position information), and the control center 200 processes the state information and sends it to the mobile control platform 300 . The mobile control platform 300 obtains the magnification directly from the camera 103 , and moves the position of the protection frame presented to the user in combination with the status information received from the control center 200 , so that the protection frame moves synchronously with the real-time image obtained from the camera 103 . When the pan/tilt 101 moves, the laser barrier 100 periodically reads the vertical position information and the horizontal position information at a time interval between 0 and 500 milliseconds.
具体而言，本实施例中，激光清障仪100每隔200毫秒读取一次垂直位置信息和水平位置信息，发送给控制中心200。移动控制平台200从激光清障仪100直接获取摄像机103采集的实时图像和摄像机103的放大倍数。Specifically, in this embodiment, the laser obstacle remover 100 reads the vertical position information and the horizontal position information every 200 milliseconds, and sends them to the control center 200 . The mobile control platform 200 directly acquires the real-time image collected by the camera 103 and the magnification of the camera 103 from the laser obstacle clearance device 100 .
控制中心200每次接收到新的水平位置信息，就和上一次接收到的历史 水平位置信息求差值，得到编码器水平差值。控制中心200每次接收到新的垂直位置信息，就和上一次接收到的历史垂直位置信息求差值，得到编码器垂直差值。然后，将编码器水平差值、编码器垂直差值发送给移动控制平台300。Each time the control center 200 receives new horizontal position information, it calculates the difference with the historical horizontal position information received last time to obtain the encoder horizontal difference. Each time the control center 200 receives new vertical position information, it calculates the difference with the historical vertical position information received last time to obtain the encoder vertical difference. Then, the encoder horizontal difference value and the encoder vertical difference value are sent to the mobile control platform 300 .
移动控制平台300计算保护框在水平方向移动的距离L1和竖直方向移动的距离L2：The mobile control platform 300 calculates the distance L1 that the protective frame moves in the horizontal direction and the distance L2 that moves in the vertical direction:
L1＝DX/(SUM_X/PIX1×M)L1=DX/(SUM_X/PIX1×M)
L2＝DX/(SUM_Y/PIX2×M)L2=DX/(SUM_Y/PIX2×M)
DX：编码器水平差值，DX: encoder level difference,
SUM_X：云台水平运动一圈360度的总编码器值，SUM_X: The total encoder value of the 360-degree horizontal movement of the gimbal,
PIX1：实时图像的水平方向像素值,PIX1: The horizontal pixel value of the real-time image,
DY：编码器垂直差值，DY: encoder vertical difference,
SUM_Y：云台垂直运动一圈360度的总编码器值，SUM_Y: The total encoder value of the 360-degree vertical movement of the gimbal,
PIX2：实时图像的竖直方向像素值，PIX2: The vertical direction pixel value of the real-time image,
M：摄像机当前的放大倍数。M: The current magnification of the camera.
计算完成后，移动控制平台300利用水平方向移动的距离L1和竖直方向移动的距离L2，更新保护框在实时图像上的位置，显示给用户，从而实现保护框跟随实时图像同步移动。After the calculation is completed, the mobile control platform 300 uses the horizontal moving distance L1 and the vertical moving distance L2 to update the position of the protection frame on the real-time image and display it to the user, so that the protection frame moves synchronously with the real-time image.
步骤S104，当激光器的指向触碰到所述保护框的任意边缘，或者进入保护框的内部区域时，激光器自动停止输出；如果清障操作没有结束，那么跳转到步骤S103。In step S104, when the pointing of the laser touches any edge of the protection frame or enters the inner area of the protection frame, the laser automatically stops outputting; if the obstacle clearance operation is not over, then jump to step S103.
具体而言，移动控制平台300以实时图像的中心点为激光器102的指向，结合实时图像和保护框，当实时图像的中心点触碰到保护框的任意边缘，或者进入保护框的内部区域时，移动控制平台300通过控制中心200向激光清 障仪100发送控制命令，停止激光器102的输出。Specifically, the mobile control platform 300 takes the center point of the real-time image as the direction of the laser 102, combined with the real-time image and the protection frame, when the center point of the real-time image touches any edge of the protection frame, or enters the inner area of the protection frame , the mobile control platform 300 sends a control command to the laser obstacle clearance device 100 through the control center 200 to stop the output of the laser 102 .
以上所述仅为本发明的优选实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of the present invention, or directly or indirectly applied to other related All technical fields are similarly included in the scope of patent protection of the present invention.

Claims (8)

  1. 一种应用于激光清障仪的设备安全防护方法，其特征在于,激光清障仪包含云台、摄像机、激光器；所述摄像机和所述激光器同轴，所述云台沿水平方向或者垂直方向独立转动，包含步骤：An equipment safety protection method applied to a laser obstacle clearing device, characterized in that the laser obstacle clearing device includes a pan/tilt, a camera, and a laser; the camera and the laser are coaxial, and the pan/tilt is along a horizontal direction or a vertical direction Independent rotation, including steps:
    步骤S101，所述激光清障仪开机，与控制中心通信，完成初始的状态信息校正；Step S101, the laser obstacle clearer is powered on, communicates with the control center, and completes the initial state information correction;
    步骤S102，用户利用移动控制平台，通过所述控制中心，获得所述摄像机的实时图像，并在所述实时图像上圈定所述激光清障仪的保护区域；移动控制平台在所述实时图像上显示对应所述保护区域的保护框；Step S102, the user uses the mobile control platform to obtain the real-time image of the camera through the control center, and delineates the protection area of the laser obstacle clearance device on the real-time image; the mobile control platform is on the real-time image. display the protection frame corresponding to the protection area;
    步骤S103，用户利用所述移动控制平台操作所述云台，改变所述激光器和所述摄像机的方位角或仰角，进行清障操作；当所述云台动作时，所述激光清障仪向所述控制中心同步所述状态信息，并由所述控制中心处理后发送到所述移动控制平台；所述移动控制平台根据从所述摄像机获取放大倍数，结合从所述控制中心接收的所述状态信息，移动呈现给用户的所述保护框的位置，使所述保护框跟随从所述摄像机获取的所述实时图像同步移动；Step S103, the user uses the mobile control platform to operate the pan/tilt, change the azimuth or elevation of the laser and the camera, and perform an obstacle clearance operation; when the pan/tilt moves, the laser obstacle clearer moves toward the camera. The control center synchronizes the status information, and sends it to the mobile control platform after being processed by the control center; the mobile control platform obtains the magnification from the camera and combines the data received from the control center Status information, move the position of the protection frame presented to the user, so that the protection frame moves synchronously with the real-time image obtained from the camera;
    步骤S104，当所述激光器的指向触碰到所述保护框的任意边缘，或者进入所述保护框的内部区域时，所述激光器自动停止输出；如果清障操作没有结束，那么跳转到步骤S103。Step S104, when the direction of the laser touches any edge of the protection frame, or enters the inner area of the protection frame, the laser automatically stops outputting; if the clearing operation does not end, then jump to step S104 S103.
  2. 根据权利要求1所述的设备安全防护方法，其特征在于，所述移动控制平台是平板电脑。The device security protection method according to claim 1, wherein the mobile control platform is a tablet computer.
  3. 根据权利要求1所述的设备安全防护方法，其特征在于，所述云台和所述激光器通过数据线与所述控制中心电连接，利用所述控制中心实现供电 和数据通讯；所述摄像机利用路由器，通过有线以太网与所述控制中心通讯；所述移动控制平台利用路由器，通过无线局域网与所述控制中心通讯，并通过所述控制中心进一步连接并控制所述激光清障仪。The device safety protection method according to claim 1, wherein the pan/tilt and the laser are electrically connected to the control center through a data cable, and the control center is used to realize power supply and data communication; The router communicates with the control center through wired Ethernet; the mobile control platform uses the router to communicate with the control center through a wireless local area network, and further connects and controls the laser obstacle clearance device through the control center.
  4. 根据权利要求1所述的设备安全防护方法，其特征在于，所述云台包含编码器；所述状态信息是来自所述编码器的水平位置信息和垂直位置信息。The device security protection method according to claim 1, wherein the pan/tilt includes an encoder; and the state information is horizontal position information and vertical position information from the encoder.
  5. 根据权利要求4所述的设备安全防护方法，其特征在于，在步骤S101中，具体包含：The device security protection method according to claim 4, wherein, in step S101, it specifically includes:
    步骤S1011,所述激光清障仪开机，读取所述水平位置信息和所述垂直位置信息，发送给所述控制中心；Step S1011, the laser obstacle clearer is powered on, reads the horizontal position information and the vertical position information, and sends them to the control center;
    步骤S1012，所述控制中心记录所述激光清障仪上报的所述水平位置信息和所述垂直位置信息。Step S1012, the control center records the horizontal position information and the vertical position information reported by the laser obstacle clearer.
  6. 根据权利要求4所述的设备安全防护方法，其特征在于，在步骤S103中，具体包含：The device security protection method according to claim 4, wherein, in step S103, it specifically includes:
    步骤S1031,当所述云台动作时，所述激光清障仪每隔N毫秒读取一次所述垂直位置信息和所述水平位置信息，发送给所述控制中心；Step S1031, when the pan/tilt moves, the laser barrier remover reads the vertical position information and the horizontal position information every N milliseconds, and sends them to the control center;
    步骤S1032,所述移动控制平台从所述激光清障仪获取所述摄像机采集的所述实时图像和所述摄像机的所述放大倍数；Step S1032, the mobile control platform obtains the real-time image collected by the camera and the magnification of the camera from the laser obstacle clearance device;
    步骤S1033，所述控制中心将计算当前所述水平位置信息和上一次历史所述水平位置信息的差值，得到编码器水平差值；所述控制中心将计算当前所述垂直位置信息和上一次历史所述垂直位置信息的差值，得到编码器垂直差值；然后，将所述编码器水平差值、所述编码器垂直差值发送给所述移动控制平台；Step S1033, the control center will calculate the difference between the current horizontal position information and the last historical horizontal position information to obtain the encoder horizontal difference; the control center will calculate the current vertical position information and the last time. The difference value of the history of the vertical position information is obtained to obtain the encoder vertical difference value; then, the encoder horizontal difference value and the encoder vertical difference value are sent to the mobile control platform;
    步骤S1034，所述移动控制平台根据所述水平编码器差值、所述垂直编码器差值和所述放大倍数，跟随所述实时图像，更新所述保护框在所述实时图像上的位置，显示给用户。Step S1034, the mobile control platform follows the real-time image according to the horizontal encoder difference, the vertical encoder difference and the magnification, and updates the position of the protection frame on the real-time image, displayed to the user.
  7. 根据权利要求4所述的设备安全防护方法，其特征在于，在步骤S1034中，所述移动控制平台更新所述保护框在所述实时图像上的位置时，所述保护框在水平方向移动的距离L1和竖直方向移动的距离L2计算为：The device security protection method according to claim 4, wherein in step S1034, when the mobile control platform updates the position of the protection frame on the real-time image, the protection frame moves in the horizontal direction. The distance L1 and the distance L2 moved in the vertical direction are calculated as:
    L1＝DX/(SUM_X/PIX1×M)L1=DX/(SUM_X/PIX1×M)
    L2＝DX/(SUM_Y/PIX2×M)L2=DX/(SUM_Y/PIX2×M)
    DX：编码器水平差值，DX: encoder level difference,
    SUM_X：云台水平运动一圈360度的总编码器值，SUM_X: The total encoder value of the 360-degree horizontal movement of the gimbal,
    PIX1：实时图像的水平方向像素值,PIX1: The horizontal pixel value of the real-time image,
    DY：编码器垂直差值，DY: encoder vertical difference,
    SUM_Y：云台垂直运动一圈360度的总编码器值，SUM_Y: The total encoder value of the 360-degree vertical movement of the gimbal,
    PIX2：实时图像的竖直方向像素值，PIX2: The vertical direction pixel value of the real-time image,
    M：摄像机当前的放大倍数。M: The current magnification of the camera.
  8. 根据权利要求4所述的设备安全防护方法，其特征在于，在步骤S104中，具体包含：所述移动控制平台结合所述实时图像和所述保护框，以所述实时图像的中心点为所述激光器的指向，当所述实时图像的中心点触碰到所述保护框的任意边缘，或者进入所述保护框的内部区域时，所述移动控制平台通过所述控制中心向所述激光清障仪发送控制命令，停止所述激光器的输出。The device security protection method according to claim 4, characterized in that, in step S104, it specifically comprises: the mobile control platform combines the real-time image and the protection frame, and takes the center point of the real-time image as the center point. The direction of the laser, when the center point of the real-time image touches any edge of the protection frame, or enters the inner area of the protection frame, the mobile control platform clears the laser to the laser through the control center. The obstacle detector sends a control command to stop the output of the laser.
PCT/CN2020/116996 2020-09-23 2020-09-23 Equipment safety protection method applied to laser obstacle remover WO2022061560A1 (en)

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