CN108767744B - Laser remote cleaning device and method for automatically tracking foreign matters in power grid - Google Patents
Laser remote cleaning device and method for automatically tracking foreign matters in power grid Download PDFInfo
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- CN108767744B CN108767744B CN201810966155.9A CN201810966155A CN108767744B CN 108767744 B CN108767744 B CN 108767744B CN 201810966155 A CN201810966155 A CN 201810966155A CN 108767744 B CN108767744 B CN 108767744B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- B—PERFORMING OPERATIONS; TRANSPORTING
- 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
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Abstract
The invention discloses an automatic tracking power grid foreign matter laser remote cleaning device, wherein a power supply module is connected with a laser and control system host through a power line, the laser and control system host is connected with an automatic tracking and aiming module through a composite connecting line, the automatic tracking and aiming module is arranged on a horizontal base, and the laser and control system host is used for providing a laser light source, a power supply and a control signal for the automatic tracking and aiming module; the automatic tracking and aiming module is used for feeding back the acquired image to a laser and control system host; after the image is analyzed by a control system of a laser and control system host, a control signal is sent to an automatic tracking and aiming module, and the automatic tracking and aiming module adjusts the orientation of a reflecting mirror and emits laser. The invention has high foreign matter removal accuracy, automatic tracking and aiming, convenient operation, low safety risk, short time consumption, rapid and convenient assembly and disassembly, light overall weight and easy transportation.
Description
Technical Field
The invention relates to a laser remote clearing device and a clearing method for automatically tracking foreign matters in a power grid, and belongs to the technical field of laser remote clearing devices of power grid equipment.
Background
Currently, overhead lines are an important carrier for power transmission. According to the statistics of annual report data of the national network, foreign matter short-circuiting times are in an ascending trend year by year since 2013. Only 2016, the short circuit of 500kV and above is tripped 32 times, accounting for 61.5% of the total external damage. Foreign object short circuits have become one of the major hazards affecting the safe operation of the line. Aiming at foreign object hanging, the traditional mode is carried out through power-off operation and live working, so that the safety risk is high and the working efficiency is low; with the technical development, the mode of robot operation and unmanned aerial vehicle flaming appears, but receive the operation complicated, the security risk is big, like unmanned aerial vehicle flaming to the requirement of flight control high, the security risk is high, control improper still causes the secondary accident easily.
In recent years, the remote power grid laser cleaning technology has been developed rapidly, and the laser cleaner for foreign matters in the power grid can perform live-line cleaning operation, and has the advantages of wide application range, long acting distance, low acting risk, multiple foreign matters cleaning and the like. The method can solve the defects of high cost, long time consumption and high risk of the traditional tool and method, improves the cleaning efficiency, reduces the operation difficulty, risk and cost, greatly reduces the power failure time of the line and effectively ensures the power supply level.
Disclosure of Invention
The purpose is as follows: in order to overcome the defects in the prior art, the invention provides a laser remote cleaning device and a cleaning method for automatically tracking foreign matters in a power grid.
The technical scheme is as follows: in order to solve the technical problems, the invention adopts the following technical scheme:
An automatic tracking power grid foreign matter laser remote cleaning device, comprising: the laser and control system comprises a laser and control system host, a power supply module, a composite connecting wire, a mounting horizontal base and an automatic tracking and aiming module, wherein the power supply module is connected with the laser and control system host through a power supply wire, the laser and control system host is connected with the automatic tracking and aiming module through the composite connecting wire, the automatic tracking and aiming module is arranged on the mounting horizontal base, and the laser and control system host is used for providing a laser light source, a power supply and control signals for the automatic tracking and aiming module; the automatic tracking and aiming module is used for feeding back the acquired image to a laser and control system host; after the image is analyzed by a control system of a laser and control system host, a control signal is sent to an automatic tracking and aiming module, and the automatic tracking and aiming module adjusts the orientation of a reflecting mirror and emits laser.
As a preferable scheme, the automatic tracking and aiming module has the following specific structure:
The turntable fixing base is provided with a horizontal rotating base, and the center of the turntable fixing base is provided with a horizontal motor for driving the horizontal rotating base to horizontally rotate; a laser emission head is arranged below the turntable fixed base; the horizontal direction reflector fixing cylinder is arranged on the horizontal rotating base, the horizontal direction reflector is fixed in the horizontal direction reflector fixing cylinder, and the horizontal direction reflector can rotate along with the horizontal rotating base in the horizontal direction; the laser emitted by the laser emission head passes through the turntable fixed base and the horizontal rotating base to be emitted from the bottom of the horizontal direction reflector fixed cylinder and is emitted from the light through hole at one side of the fixed cylinder through the horizontal direction reflector;
The left rotating arm and the right rotating arm are fixedly connected through a fixing plate, and the vertical motor drives the left rotating arm, the right rotating arm and the fixing plate to rotate simultaneously;
The vertical direction reflector is fixed on the top fixing plate, can rotate along with the fixing plate in the vertical direction, and the laser emitted from the light passing hole of the horizontal direction reflector fixing cylinder is incident on the vertical direction reflector, and is emitted out to irradiate on the foreign matter after changing the direction;
The image acquisition module is arranged on the top fixing plate through an image acquisition module fixing structure, and is used for acquiring image information of foreign matters and wires of the power grid and sending the image information to the laser and control system host.
Preferably, the control system of the laser and control system host comprises: the system comprises an image analysis module, a motor control module and a laser light source control module;
The image analysis module is used for analyzing the power grid foreign matter and wire image information, and performing binarization processing on the color image according to a preset threshold value to obtain a black-white image; filtering and morphological processing are carried out on the black-white image; edge detection is carried out by utilizing a searching method; starting from the origin of the image, searching along a certain direction, and marking the point with the largest change by calculating the gradient of the brightness of the adjacent image area to obtain a plurality of edge information; comparing the morphological characteristics of the extracted plurality of edge information based on the characteristics of the rectangular area as the outline characteristics of the circuit, and if the line characteristics are met, considering the area as the circuit;
Selecting one cable in the detected line area, and calculating the direction vector of the cable, namely marking the slope of the line in the image; virtualizing a series of lines with the same slope as the lines in the image, and searching the image space by using the group of virtual lines; if the detected communication areas in the image space have intersection points with the virtual circuit, calculating characteristic data of the intersection point areas; if the characteristic data of the intersection point area is the same as the line, the communication area is also indicated to be a line; if the communication area presents other characteristics, the intersection point is considered to be the intersection point of the line and the foreign matter; marking the intersection point area;
marking coordinates of the position information of the intersection point of the line and the foreign matter, converting the coordinates into motor control signals and sending the motor control signals to a motor control module;
the motor control module is used for controlling the start and stop of the horizontal motor and the vertical motor according to the motor control signal;
the laser light source control module is used for turning on the laser light source after the image analysis module sends out the laser emission signal, and laser is transmitted into the laser emission head through the composite connecting wire.
A laser remote cleaning method for automatically tracking foreign matters in a power grid comprises the following steps:
The method comprises the steps that firstly, a control system analyzes images of positions of foreign matters obtained by an image acquisition module, identifies bonding points of the foreign matters and wires, and simultaneously controls a horizontal motor and a vertical motor of an automatic tracking and aiming module to track and aim bonding winding points in real time;
Step two, after confirming tracking of the target aiming at the foreign matter, the control system controls the laser and a host computer of the control system to emit a laser source;
Step three, after the laser beam enters the laser fiber and the laser emission joint in the composite connecting line and is reflected twice by the horizontal reflecting mirror and the vertical reflecting mirror, the control system controls the automatic tracking and aiming module to accurately apply the laser beam to the joint of the foreign matter and the lead, and burn and damage the target;
Preferably, the step 1 includes:
Step 1.1: binarizing the color image according to a preset threshold value to obtain a black-and-white image;
Step 1.2: filtering and morphological processing are carried out on the black-white image;
Step 1.3: edge detection is carried out by utilizing a searching method; starting from the origin of the image, searching along a certain direction, and marking the point with the largest change by calculating the gradient of the brightness of the adjacent image area to obtain a plurality of edge information; comparing the morphological characteristics of the extracted plurality of edge information based on the characteristics of the rectangular area as the outline characteristics of the circuit, and if the line characteristics are met, considering the area as the circuit;
Step 1.4: selecting one cable in the detected line area, and calculating the direction vector of the cable, namely marking the slope of the line in the image;
Step 1.5: virtualizing a series of lines with the same slope as the lines in the image, and searching the image space by using the group of virtual lines; if the detected communication areas in the image space have intersection points with the virtual circuit, calculating characteristic data of the intersection point areas;
Step 1.6: if the characteristic data of the intersection point area is the same as the line, the communication area is also indicated to be a line; if the communication area presents other characteristics, the intersection point is considered to be the intersection point of the line and the foreign matter; marking the intersection point area;
step 1.7: and marking coordinates of the position information of the intersection point of the line and the foreign matter, converting the coordinates into motor control signals, and sending the motor control signals to a motor control module, wherein the motor control module controls the start and stop of the horizontal motor and the vertical motor, so that the real-time tracking and aiming of the reflecting mirror on the combined winding point are realized.
Preferably, the filtering algorithm in the step 1.2 adopts a median filtering algorithm with minimum operand.
Preferably, the morphological method in step 1.2 is corrosion and expansion.
The beneficial effects are that: the laser remote clearing device and the clearing method for automatically tracking the foreign matters in the power grid can realize the accurate tracking and aiming of the moving foreign matters with small irregular disturbance under the background of a long-distance and complex sky, and further improve the application range and the operation efficiency of the laser remote clearing equipment for the foreign matters in the power grid; the invention has higher foreign matter removal accuracy, automatic tracking and aiming, convenient operation, low safety risk, short time consumption, rapid and convenient assembly and disassembly, light overall weight, easy transportation and good application prospect.
Drawings
FIG. 1 is a schematic diagram of a cleaning apparatus according to the present invention;
FIG. 2 is a schematic diagram of an auto-tracking aiming module;
FIG. 3 is a schematic diagram of a control system;
FIG. 4 is a schematic diagram of a line identification process;
Fig. 5 is a flow chart of a combined part of the acquisition line and the foreign matter.
Detailed Description
The invention will be further described with reference to the accompanying drawings.
As shown in fig. 1, a laser remote cleaning device for automatically tracking foreign matters in a power grid comprises: the laser and control system comprises a laser and control system host 1, a power supply module 2, a composite connecting wire 3, a horizontal installation base 4 and an automatic tracking and aiming module 5, wherein the power supply module 2 is connected with the laser and control system host 1 through a power line to supply power for the whole set of equipment; the laser and control system host 1 is connected with the automatic tracking and aiming module 5 through a composite connecting wire 3, the composite connecting wire 3 comprises a laser fiber, a power wire and a control circuit, the laser fiber in the composite connecting wire 3 is respectively connected with a laser light source in the laser and control system host 1 and a laser emission head 501 in the automatic tracking and aiming module 5, one end of the power wire in the composite connecting wire 3 is respectively connected with the control system, a horizontal motor 502, a vertical motor 506 and an image acquisition module 5014 in the automatic tracking and aiming module 5, and the other end of the power wire obtains a power supply from the control system and provides the power supply for the motor and the image acquisition module. The control lines in the composite connecting line 3 are respectively connected with a control system in the laser and control system host 1, a horizontal motor 502, a vertical motor 506 and an image acquisition module 5014 in the automatic tracking and aiming module 5.
The automatic tracking and aiming module 5 is fixedly connected with the installation horizontal base 4, the installation horizontal base 4 has the functions of keeping the automatic tracking and aiming module 5 horizontal, adjusting the height of the turntable, guaranteeing the position of the turntable to be stable, avoiding vibration and the like, and the base structure can be a triangular bracket structure, a multi-leg bracket structure or a vertical structure.
As shown in fig. 2, the auto-tracking aiming module 5 includes: a turntable fixed base 503, a horizontal rotating base 504 positioned on the turntable fixed base 503, a horizontal motor 502 positioned at the center of the turntable fixed base 503, a laser emitting head 501 positioned at the center of the automatic tracking sighting module 5, a left fixed arm 505, a right fixed arm 507, a vertical motor 506 fixed on the left fixed arm, a left rotating arm 508, a right rotating arm 509, a top fixed plate 5012, a horizontal mirror 5011, a vertical mirror 5010, an image acquisition module 5014, an image acquisition module fixing structure 5013, and a horizontal mirror fixing cylinder 5015;
The laser emission head 501 is located at the center of the automatic tracking and aiming module 5, so that the accuracy of laser light path direction adjustment can be maintained, and the influence of the connection damping force on laser light path adjustment when the composite connecting wire 3 is horizontally distributed can be avoided.
The horizontal motor 502 is fixed in the center of the turntable fixing base 503, and the rotation shaft portion of the horizontal motor 502 is fixedly connected with the horizontal rotation base 504, so that the horizontal rotation base 504 and the components above it can be horizontally rotated.
The horizontal direction mirror fixing cylinder 5015 is located at the center of the horizontal rotating base 504, a light passing hole is formed in one side of the vertical direction mirror 5010, laser in the horizontal direction is incident to the vertical direction mirror 5010 through the light passing hole, the horizontal direction mirror 5011 is fixed inside the horizontal direction mirror fixing cylinder 5015 and forms 45 degrees with the incident angle of the laser, and the horizontal direction mirror 5011 can rotate in the horizontal direction under the driving of the horizontal motor 502 along with the horizontal rotating base 504, so that the laser direction is changed into the horizontal direction from the vertical upward direction, and the laser can move randomly in the horizontal direction along with the rotation of the motor.
The left fixed arm 505 and the right fixed arm 507 are symmetrically fixed on the two sides of the horizontal rotating base 504;
The vertical motor 506 is fixed on the left fixed arm 505, and the rotating shaft part of the vertical motor 506 is fixed with the left rotating arm 508, so that the left rotating arm 508 and the parts fixed with the left rotating arm 508 rotate in the vertical direction;
The left rotating arm 508 and the right rotating arm 509 are fixedly connected through a top fixing plate 5012, so that the left rotating arm 508 and the right rotating arm 509 maintain the same rotation angle and rotation speed.
The vertical direction mirror 5010 is fixed on the top fixing plate 5012 and can rotate in the vertical direction along with the left rotating arm 508, so that the angle between the vertical direction mirror 5010 and the horizontal direction mirror 5011 can be adjusted to change the horizontal laser beam reflected by the horizontal direction mirror 5011 into the vertical laser beam, and the random movement of the laser in the vertical direction can be realized.
The image acquisition module 5014 is mounted on the top fixing plate 5012 by an image acquisition module fixing structure 5013. The image acquisition module fixing structure 5013 has an adjusting knob, and the direction and angle of the image acquisition module 5014 can be adjusted. The optical axis of the internal optical path of the image acquisition module 5014 is parallel to the laser optical axis reflected by the vertical reflecting mirror 5010, and can acquire the image information of the foreign matters and wires of the power grid in real time, wherein the image information comprises the identification and the capture of the circuit image and the identification and the capture of the foreign matters image.
The laser and control system host 1 comprises a laser light source and a control system, wherein the laser light source is used for providing high-power laser required by foreign matter removal, the control system is a control center of the whole equipment, the control of the horizontal motor 502 and the vertical motor 506 can be completed, the control of the image acquisition module 5014 can be realized, and the functions of selecting a removal target, setting foreign matter removal parameters, controlling laser power and the like can be realized. The functions can be realized by adopting VC++ language and MFC object-oriented programming technology based on an X86 industrial personal computer. As shown in fig. 3, the control system of the laser and control system host includes: the system comprises an image analysis module, a motor control module and a laser light source control module.
A cleaning method based on the power grid foreign matter laser remote cleaning device comprises the following steps:
firstly, observing the field operation environment, selecting an operation position, erecting a horizontal base 4, checking the fixation condition of an automatic tracking and aiming module 5 and the horizontal base 4, and ensuring the horizontal and stable of the automatic tracking and aiming module 5;
Step two, the laser and control system host 1 and the automatic tracking and aiming module 5 are quickly connected through a composite connecting wire 3, and the power supply module 2 is connected to the laser and control system host 1 to supply power for the whole set of device, so that the deployment of the whole set of device is completed;
Step three, a power supply is started, whether the laser and control system host 1 and the automatic tracking and aiming module 5 work normally is checked and confirmed, the control system is used for analyzing the image of the position of the foreign matters obtained by the image acquisition module, identifying the bonding points of the foreign matters and wires, and simultaneously controlling the horizontal motor 502 and the vertical motor 506 of the automatic tracking and aiming module 5 to track and aim the bonding winding points in real time;
Step four, after confirming tracking and aiming at the foreign object target, selecting a laser light emitting mode, comprising the following steps: a manual control mode or a self-adaptive mode, and after safety confirmation, emitting light;
Step five, a laser beam is emitted by a laser light source in a laser and control system host 1, the laser beam enters a laser fiber and a laser emission joint 501 in a composite connecting line 3, and then is reflected twice through a horizontal direction reflecting mirror 5011 and a vertical direction reflecting mirror 5010, the laser beam is accurately applied to the joint point of the foreign matter and the lead, and the target is burnt and damaged;
Step six, if an operator finds personnel or other equipment to enter the test operation range by mistake in the operation process, the emergency stop function can be triggered, and a stop signal is sent to the laser and control system host 1 through a control circuit in the composite connecting wire 3, so that the laser light source is automatically stopped from emitting light, and the safety of the operator in the operation process is ensured.
And seventhly, burning or dropping the foreign matters, closing the power supply of each part of the device, disassembling each part, placing each part back into the packaging and transporting box, and completing the task.
The specific steps of the circuit identification in the third step are as follows:
considering that the background of the working scene is mostly sky, the capturing of the line adopts a background difference method, the difference between the current image and the background image is utilized to detect the target, the realization is simple, the complete target characteristic data can be provided, and the specific flow is shown in fig. 4.
3.1.1: Taking the difference between sky color information and a target line and foreign matters into consideration, in order to reduce the calculated amount and the complexity of processing, binarizing the color image according to a preset threshold value to obtain a black-white image.
3.1.2: The binarized images have a lot of noise in the background and foreground images, and the image noise is different in morphology and inevitably affects the recognition and detection results of the target features; therefore, filtering and morphological processing are required to be carried out on the binarized image, so that the signal to noise ratio is improved; the filtering algorithm adopts a median filtering algorithm with minimum operand.
3.1.3: Although the signal-to-noise ratio of the filtered binary image is improved, many orphans and singular points still exist, and the existence of the points still brings difficulty to target detection; thus, morphological processing of the image is required, including erosion and swelling.
3.1.4: Performing edge detection on the morphologically processed image by using a searching method; starting from the origin of the image, searching along a certain direction, and marking the point with the largest change by calculating the gradient of the brightness of the adjacent image area, thereby obtaining a plurality of edge information.
3.1.5: Because the characteristic data of the circuit is quite clear, in the image, if the width of the circuit is not one pixel, the appearance characteristic of the circuit is approximate to a rectangular area, and the length and the width have obvious differences; based on the above features, morphological features of several pieces of edge information extracted in the previous step can be calculated. If the line characteristics are satisfied, the region is considered to be a line.
The specific steps of the identification of the combination part of the foreign matters and the lines in the step three are as follows:
The foreign matter detection aims to acquire the joint of the foreign matter and the line, not the foreign matter itself. Therefore, the present design uses the already known line information and adopts the searching method to obtain the combination part of the line and the foreign matter. The specific flow is shown in fig. 5.
3.2.1: In the detected line area, one cable is selected, and the direction vector of the cable is calculated, namely the slope of the line in the image is marked.
3.2.2: Virtualizing a series of lines with the same slope as the lines in the image, and searching the image space by using the group of virtual lines; if the detected connected areas in the image space have intersection points with the virtual circuit, calculating characteristic data of the intersection point areas.
3.2.3: If the characteristic data of the intersection point area is similar to the line, the communication area is also indicated to be a line; if the communication area presents other characteristics, the intersection point is considered to be the intersection point of the line and the foreign matter; and marks the intersection area.
It should be noted that the searching path of the design automatically selects the optimal searching path for searching along with the calculated line slope; in addition, the searching direction can be manually adjusted, so that the requirements of different cutting modes and foreign matters are met.
Example 1:
When the system is used, the image acquisition module transmits an image to the control system through a control circuit in the composite connecting wire, the control system identifies the position information of the bonding point of the foreign matter and the wire in the image through identifying the wire, and after marking the coordinates of the bonding area of the foreign matter and the wire, the system automatically takes the overlapping point of the left edge of the bonding area and the coordinates of the wire as a starting point and outputs the coordinates of the point. The motor is controlled to rotate the turntable, so that the laser beam direction is rotated, the laser is directed to the position where the wires are combined with the foreign matters and moves along with the position, and after the position where the foreign matters are combined with the wires by the laser to be broken down remotely, the control system continuously identifies and processes the next combined part of the foreign matters and the wires until the foreign matters are completely separated from the wires, so that foreign matter removal is realized.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The foregoing is illustrative of the present invention and is not to be construed as limiting thereof, but rather as providing for the use of additional embodiments and advantages of all such modifications, equivalents, improvements and similar to the present invention are intended to be included within the scope of the present invention as defined by the appended claims.
Claims (6)
1. Automatic track electric wire netting foreign matter laser remote cleaning device, its characterized in that: comprising the following steps: the laser and control system comprises a laser and control system host, a power supply module, a composite connecting wire, a mounting horizontal base and an automatic tracking and aiming module, wherein the power supply module is connected with the laser and control system host through a power supply wire, the laser and control system host is connected with the automatic tracking and aiming module through the composite connecting wire, the automatic tracking and aiming module is arranged on the mounting horizontal base, and the laser and control system host is used for providing a laser light source, a power supply and control signals for the automatic tracking and aiming module; the automatic tracking and aiming module is used for feeding back the acquired image to a laser and control system host; the image is analyzed by a control system of a laser and control system host to obtain a control signal, the image is sent to an automatic tracking and aiming module by the laser and control system host, the automatic tracking and aiming module adjusts the orientation of a reflecting mirror according to the control signal, and the image is emitted by a laser light source emitted by the laser and control system host through the reflecting mirror;
The automatic tracking and aiming module has the following specific structure:
The turntable fixing base is provided with a horizontal rotating base, and the center of the turntable fixing base is provided with a horizontal motor for driving the horizontal rotating base to horizontally rotate; a laser emission head is arranged below the turntable fixed base; the horizontal direction reflector fixing cylinder is arranged on the horizontal rotating base, the horizontal direction reflector is fixed in the horizontal direction reflector fixing cylinder, and the horizontal direction reflector rotates along with the horizontal rotating base in the horizontal direction; the laser emitted by the laser emission head passes through the turntable fixed base and the horizontal rotating base to be emitted from the bottom of the horizontal direction reflector fixed cylinder and is emitted from a light through hole at one side of the horizontal direction reflector fixed cylinder through the horizontal direction reflector;
The laser emission head is positioned at the center of the automatic tracking and aiming module;
The horizontal direction reflector fixing cylinder is positioned at the center of the horizontal rotating base, one side of the vertical direction reflector is provided with a light through hole, laser in the horizontal direction is incident to the vertical direction reflector through the light through hole, the horizontal direction reflector is fixed in the horizontal direction reflector fixing cylinder and forms 45 degrees with the incident angle of the laser, and the horizontal direction reflector can rotate in the horizontal direction along with the horizontal rotating base under the drive of the horizontal motor;
The left rotating arm and the right rotating arm are fixedly connected through a fixing plate, and the vertical motor drives the left rotating arm, the right rotating arm and the fixing plate to rotate simultaneously;
the vertical direction reflector is fixed on the top fixing plate, rotates along with the fixing plate in the vertical direction, and emits laser through the light passing hole of the horizontal direction reflector fixing cylinder to enter the vertical direction reflector, and the laser changes direction to emit and irradiate on the foreign matter;
The image acquisition module is arranged on the top fixing plate through an image acquisition module fixing structure, and is used for acquiring image information of foreign matters and wires of the power grid and sending the image information to the laser and control system host.
2. The automatic tracking power grid foreign matter laser remote cleaning device according to claim 1, wherein: the control system of the laser and control system host comprises: the system comprises an image analysis module, a motor control module and a laser light source control module;
The image analysis module is used for analyzing the power grid foreign matter and wire image information, and performing binarization processing on the color image according to a preset threshold value to obtain a black-white image; filtering and morphological processing are carried out on the black-white image; edge detection is carried out by utilizing a searching method; starting from the origin of the image, searching along a certain direction, and marking the point with the largest change by calculating the gradient of the brightness of the adjacent image area to obtain a plurality of edge information; comparing the morphological characteristics of the extracted plurality of edge information based on the characteristics of the rectangular area as the outline characteristics of the circuit, and if the line characteristics are met, considering the area as the circuit;
Selecting a cable in the detected line area, and calculating and marking the slope of the line in the image; virtualizing a series of lines with the same slope as the lines in the image, and searching the image space by using the group of virtual lines; if the detected communication areas in the image space have intersection points with the virtual circuit, calculating characteristic data of the intersection point areas; if the characteristic data of the intersection point area is the same as the line, the communication area is also a line; if the communication area presents other characteristics, the intersection point is the intersection point of the line and the foreign matter; marking the intersection point area;
marking coordinates of the position information of the intersection point of the line and the foreign matter, converting the coordinates into motor control signals and sending the motor control signals to a motor control module;
the motor control module is used for controlling the start and stop of the horizontal motor and the vertical motor according to the motor control signal;
The laser light source control module is used for turning on the laser light source, and laser is transmitted into the laser emission head through the composite connecting wire.
3. An automatic tracking power grid foreign matter laser remote cleaning method of an automatic tracking power grid foreign matter laser remote cleaning device according to claim 1 or 2, characterized in that: the method comprises the following steps:
The method comprises the steps that firstly, a control system analyzes images of positions of foreign matters obtained by an image acquisition module, identifies bonding points of the foreign matters and wires, and simultaneously controls a horizontal motor and a vertical motor of an automatic tracking and aiming module to track and aim bonding winding points in real time;
Step two, after confirming tracking of the target aiming at the foreign matter, the control system controls the laser and a host computer of the control system to emit a laser source;
And thirdly, after the laser beam enters the laser fiber and the laser emission joint in the composite connecting line and is reflected twice through the horizontal reflecting mirror and the vertical reflecting mirror, the control system controls the automatic tracking and aiming module to accurately apply the laser beam to the joint of the foreign matter and the lead, and burn and damage the target.
4. The method for remotely removing foreign matters from an automatically-tracked power grid according to claim 3, wherein the method comprises the following steps: the first step comprises the following steps:
Step 1.1: binarizing the image according to a preset threshold value to obtain a black-and-white image;
Step 1.2: performing filtering processing and morphological processing on the black-white image;
Step 1.3: edge detection is carried out by utilizing a searching method; starting from the origin of the image, searching along a certain direction, and marking the point with the largest change by calculating the gradient of the brightness of the adjacent image area to obtain a plurality of edge information; comparing the morphological characteristics of the extracted plurality of edge information based on the characteristics of the rectangular area as the outline characteristics of the circuit, and if the line characteristics are met, considering the area as the circuit;
Step 1.4: selecting a cable in the detected line area, and calculating and marking the slope of the line in the image;
Step 1.5: virtualizing a series of lines with the same slope as the lines in the image, and searching the image space by using the group of virtual lines; if the detected communication areas in the image space have intersection points with the virtual circuit, calculating characteristic data of the intersection point areas;
Step 1.6: if the characteristic data of the intersection point area is the same as the line, the communication area is also a line; if the communication area presents other characteristics, the intersection point is the intersection point of the line and the foreign matter; marking the intersection point area;
step 1.7: and marking coordinates of the position information of the intersection point of the line and the foreign matter, converting the coordinates into motor control signals, and sending the motor control signals to a motor control module, wherein the motor control module controls the start and stop of the horizontal motor and the vertical motor, so that the real-time tracking and aiming of the reflecting mirror on the combined winding point are realized.
5. The method for automatically tracking the laser remote removal of the foreign matters from the power grid according to claim 4, which is characterized in that: the filtering processing in the step 1.2 adopts a median filtering algorithm with minimum operand.
6. The method for automatically tracking the laser remote removal of the foreign matters from the power grid according to claim 4, which is characterized in that: the morphological treatments in step 1.2 are corrosion and swelling.
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