CN210937691U - Structure of laser remote foreign matter removing instrument - Google Patents
Structure of laser remote foreign matter removing instrument Download PDFInfo
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- CN210937691U CN210937691U CN201921227102.1U CN201921227102U CN210937691U CN 210937691 U CN210937691 U CN 210937691U CN 201921227102 U CN201921227102 U CN 201921227102U CN 210937691 U CN210937691 U CN 210937691U
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Abstract
The utility model relates to a structure of a laser remote foreign matter remover, which comprises a laser emitting head, a processor, a holder, a laser emitting head comprising an imaging module and four buttons, wherein the imaging module comprises an imaging detector and a display screen; the display screen is used for displaying the image acquired by the imaging detector and marking a laser aiming point in the displayed image, and the four buttons are respectively used for setting a cutting end point, a cutting start point, the number of cutting times and the time for cutting once; the processor is used for calculating the adjusting speed of the pitch angle and the adjusting speed of the direction angle of the holder and enabling the laser emitting head to cut back and forth along the cutting path until the set back and forth cutting times are reached; the utility model discloses a compact structure not only can realize the high accuracy cutting to complicated cutting route, can realize moreover that automatic making a round trip to relapse the cutting, and the cutting route uniformity is good, and cutting efficiency is high, is particularly useful for the occasion that need make a round trip to cut or cut the space and be restricted or foreign matter thickness uneven distribution.
Description
Technical Field
The utility model relates to a power transmission and transformation technical field, concretely relates to structure of appearance is clear away to long-range foreign matter of laser.
Background
The laser remote foreign matter removing instrument is used for remotely and non-contactingly removing foreign matters such as plastic, dust screens, advertising cloth, balloons, kites and the like which are hung or wound on the exposed high-voltage power transmission line or foreign matters such as super-high tree barriers and the like which grow below the exposed high-voltage power transmission line, has the advantages of accuracy, safety, high efficiency and the like, and is a sharp tool for removing the foreign matters on the high-voltage power transmission line.
The laser remote foreign matter removing instrument is generally composed of a laser, a laser emission head, a sighting telescope, a tripod head, a power supply, a tripod and a related control component, wherein the laser is connected with the laser emission head; the holder is used for adjusting the pitch angle and the azimuth angle of the laser emitting head, so that the sighting telescope can be aligned with the foreign matters to be removed; the laser is used for generating laser and is emitted from the laser emitting head, so that laser spots irradiate on the foreign matters, and the foreign matters are removed.
The laser remote foreign matter removing instrument can remove various types of foreign matters, and the forms of the foreign matters are different in actual use scenes; some foreign matters need to be aimed at with high precision and then removed at fixed points; some foreign matters have large areas, cannot be removed in a fixed-point manner, and need to be cut and removed, namely, laser spots move on the foreign matters along a certain direction, so that the foreign matters are cut off; some foreign matters are thick, and the foreign matters can not be cut off by single cutting, so that the cutting needs to be repeatedly carried out.
However, in the laser remote foreign matter removing instrument commonly used in the prior art, a handle is usually adopted as a controller, and a two-dimensional turntable is controlled to move in one dimension by continuously knocking or constantly pressing a key on the handle through a finger, so that an optical axis of emitted laser is controlled to move in one dimension, and the cutting of foreign matters is realized; not only troublesome poeration, moreover, the quality of cutting is relevant with operator's experience, and especially when the route that needs the cutting is more complicated, the precision of cutting is hardly guaranteed to manual operation, when needs make a round trip to cut repeatedly, and manual operation hardly guarantees that the cutting route that makes a round trip is unanimous to lead to cutting inefficiency.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to improve the not enough that exists among the prior art, provide a method and structure of the automatic cutting of making a round trip of long-range foreign matter clearance appearance of laser, not only can realize the high accuracy cutting to complicated route, can realize moreover that automatic making a round trip is repeatedly cut, the cutting route uniformity is good, cuts efficiently.
The utility model provides a technical scheme that its technical problem adopted is:
the automatic back-and-forth cutting method of the laser remote foreign matter remover comprises the following steps:
step 1, setting a cutting end point, aligning an aiming point of a laser emission head to the cutting end point by adjusting a holder, and recording a pitch angle and a direction angle of the laser emission head at the moment as a final pitch angle and a final direction angle respectively;
step 2, setting n cutting intermediate points, respectively recording the cutting intermediate points as nth cutting intermediate points, wherein n is a natural number, respectively aligning the aiming point of the laser emission head to each cutting intermediate point by adjusting the holder, and respectively recording the pitch angle and the direction angle of the laser emission head as nth pitch angle and nth direction angle;
step 3, setting a cutting starting point, aligning an aiming point of the laser emitting head to the cutting starting point by adjusting a holder, and recording a pitch angle and a direction angle of the laser emitting head at the moment as an initial pitch angle and an initial direction angle respectively;
step 4, respectively calculating the variation of the pitch angle and the variation of the direction angle between two adjacent points according to the sequence from the cutting starting point, the nth cutting intermediate point, the nth-1 cutting intermediate point, …, the 1 st cutting intermediate point and the cutting end point, calculating the total variation of the pitch angle and the total variation of the direction angle from the cutting starting point to the cutting end point, and calculating the regulation speed of the pitch angle and the regulation speed of the direction angle of the laser emitting head through the set cutting time;
step 5, setting the number of times of back-and-forth cutting, adjusting the position of the laser emitting head according to the adjusting speed of the pitch angle and the adjusting speed of the direction angle, and finishing 1-time back-and-forth cutting when the position of the laser emitting head is monitored to be the same as the cutting end point; then reversely adjusting the orientation of the laser emitting head according to the adjusting speed of the pitch angle and the adjusting speed of the direction angle, and finishing the back-and-forth cutting for 2 times when the monitored orientation of the laser emitting head is the same as the cutting starting point; and the above steps are repeated until the number of the back-and-forth cutting times reaches the set back-and-forth cutting times.
Preferably, in the step 4, the total variation of the pitch angle is equal to the sum of the variations of the pitch angle between each two adjacent points, and the total variation of the direction angle is equal to the sum of the variations of the direction angle between each two adjacent points; the adjusting speed of the pitch angle of the laser emitting head is equal to the total variation of the pitch angle divided by the set cutting time, and the adjusting speed of the azimuth angle of the laser emitting head is equal to the total variation of the azimuth angle divided by the set cutting time.
The structure of the laser remote foreign matter removing instrument comprises a laser emitting head, a processor, a tripod head and a tripod, wherein the tripod head is an electric tripod head, the tripod head is fixed on the tripod head and connected with the processor, the laser emitting head is arranged on the tripod head, the laser emitting head comprises a laser emitting port, an imaging module, a first button, a second button, a third button and a fourth button, the imaging module comprises an imaging detector and a display screen, wherein,
the laser emitting port is used for emitting laser, the imaging detector and the display screen are respectively connected with the processor, and the display screen is used for displaying an image acquired by the imaging detector and marking a aiming point of the laser in the displayed image;
the first button, the second button, the third button and the fourth button are respectively connected with the processor, the first button is used for setting a cutting end point, and recording a pitch angle and a direction angle of the laser emitting head at the moment as a final pitch angle and a final direction angle; the second button is used for setting a cutting starting point, recording the pitch angle and the direction angle of the laser emitting head at the moment, and respectively taking the pitch angle and the direction angle as an initial pitch angle and an initial direction angle; the third button and the fourth button are respectively used for setting the number of times of back-and-forth cutting and the time of cutting once;
the processor is used for calculating the variable quantity of the pitch angle and the variable quantity of the direction angle according to the cutting end point and the cutting starting point, calculating the adjusting speed of the pitch angle and the adjusting speed of the direction angle according to the time of cutting once, and controlling the holder to adjust back and forth between the cutting end point and the cutting starting point according to the adjusting speed until the back and forth cutting times are reached.
Preferably, the processor is a single chip microcomputer or an ARM chip.
Preferably, the display screen is a touch screen.
The laser cutting device further comprises a fifth button, wherein the fifth button is connected with the processor and is used for setting n cutting intermediate points, n is a positive integer, and recording a pitch angle and a direction angle of the laser emitting head respectively as an nth pitch angle and an nth direction angle;
the processor is used for respectively calculating the variation of the pitch angle and the variation of the direction angle between two adjacent points according to the sequence from the cutting starting point, the nth cutting intermediate point, the nth-1 cutting intermediate point, …, the 1 st cutting intermediate point and the cutting end point, calculating the total variation of the pitch angle and the total variation of the direction angle from the cutting starting point to the cutting end point, calculating the adjusting speed of the pitch angle and the adjusting speed of the direction angle of the laser emitting head according to the time of one cutting, and controlling the cradle head to adjust back and forth among the cutting end point, the cutting intermediate point and the cutting starting point according to the adjusting speed until the back and forth cutting times are reached.
Preferably, the cradle head comprises a first driving motor and a second driving motor, the first driving motor is used for adjusting the pitch angle of the cradle head under the control of the processor, and the second driving motor is used for adjusting the direction angle of the cradle head under the control of the processor.
Preferably, the first driving motor and the second driving motor are servo motors or stepping motors provided with encoders.
Preferably, the aiming point is located at a central position of an image displayed on the display screen.
Preferably, the emitting light path of the laser in the laser emitting head is coaxial with the imaging light path of the imaging detector.
In a preferred scheme, the laser imaging device further comprises a spectroscope, wherein the spectroscope is arranged in the laser emission port, the imaging detector is arranged on one side of the spectroscope, laser exits the laser emission port through the spectroscope, and imaging light enters from the laser emission port and enters the imaging detector through the spectroscope.
The laser emitting head further comprises an optical fiber connector, an optical collimator and a plane reflecting mirror, the laser is used for generating laser, the laser is connected with the optical fiber connector through an optical fiber, the optical collimator and the plane reflecting mirror are respectively arranged in the laser emitting head and are respectively located on a light path of the laser, the optical collimator is used for collimating the laser, and the plane reflecting mirror is used for enabling the laser to emit to the spectroscope.
Further, still include the distancer, the distancer installation or integrated in the laser emission head, the distancer is used for surveying the distance between laser emission head and the foreign matter.
Compared with the prior art, use the utility model provides a pair of automatic method and the structure of making a round trip to cut of long-range foreign matter elimination equipment of laser, simple method, compact structure not only can realize the high accuracy cutting to complicated route, can realize making a round trip to relapse the cutting automatically moreover, and the cutting route uniformity is good, cuts efficiently, is particularly useful for the occasion that needs make a round trip to cut, the limited occasion in cutting space and foreign matter thickness uneven distribution, and the great occasion of difference.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 shows the automatic cutting method of the laser remote foreign matter remover provided by the present invention.
Fig. 2 is a cutting path provided by the present invention.
Fig. 3 is another cutting path provided by the present invention.
Fig. 4 is a system block diagram of a laser remote foreign matter removing apparatus provided by the present invention.
Fig. 5 is a schematic structural view of the laser remote foreign matter removing apparatus provided by the present invention.
Fig. 6 is a cutting path provided by the present invention.
Description of the drawings
A foreign material 101, a cutting end point 102, a 1 st cutting intermediate point 103, a 2 nd cutting intermediate point 104, a cutting start point 105, a cutting path 106,
a laser emitting head 201, a tripod 202, a tripod head 203,
the device comprises a laser emission port 301, an imaging detector 302, a display screen 303, a processor 304, a spectroscope 305, an optical fiber joint 306, an optical collimator 307, a plane mirror 308 and an optical fiber 309.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiment of the present invention, all other embodiments obtained by the person skilled in the art without creative work belong to the protection scope of the present invention.
Example 1
Referring to fig. 1, the present embodiment provides an automatic back-and-forth cutting method for a laser remote foreign matter 101 remover, which includes the following steps:
step 1, setting a cutting end point 102, aligning an aiming point of a laser emitting head 201 to the cutting end point 102 by adjusting a holder 203, and recording a pitch angle and a direction angle of the laser emitting head 201 at the moment as a final pitch angle and a final direction angle respectively.
That is, the laser emitting head 201 is disposed on the cradle head 203, the cradle head 203 is usually a motorized cradle head 203, the foreign object 101 to be cut is observed through an imaging display screen or a sighting telescope of the laser emitting head 201, and then the cradle head 203 is adjusted so that the aiming point of the laser emitting head 201 is located on the side of the foreign object 101 to be cut and is taken as a cutting end point 102, as shown in fig. 2, and the pitch angle and the azimuth angle of the laser emitting head 201 (i.e., the cradle head 203, because the cradle head 203 is integrally connected to the laser emitting head 201) at this time are recorded and taken as a final pitch angle and a final azimuth angle, respectively.
It is understood that in this embodiment, the pitch angle refers to a rotation angle of the pan/tilt head 203 in a vertical plane, and the direction angle refers to a rotation angle of the pan/tilt head 203 in a horizontal plane, which will not be described in detail below.
Step 2, setting n cutting intermediate points, respectively recording the n cutting intermediate points as nth cutting intermediate points, wherein n is a natural number, enabling the aiming point of the laser emission head 201 to respectively align at each cutting intermediate point by adjusting the holder 203, and respectively recording the pitch angle and the direction angle of the laser emission head 201 as the nth pitch angle and the nth direction angle;
the arrangement of the cutting intermediate point is beneficial to the laser remote foreign matter 101 remover to be more suitable for occasions with more complex cutting paths 106, more rigorous cutting conditions and higher cutting precision; in a preferred embodiment provided by this embodiment, the number of cutting intermediate points may be 0, 1, or 2, for example, as shown in fig. 2, in an embodiment, the width of the foreign object 101 is narrow, the shape is regular, and the cutting of the foreign object 101 can be completed by a straight cutting line, at this time, the number of cutting intermediate points may be 0; for another example, as shown in fig. 3, in another scheme, the shape of the foreign object 101 is irregular, or the cutting space has additional constraints (e.g., preventing cutting to an electric wire, etc.), and a set of bent cutting path 106 needs to be provided, in this case, for example, 2 cutting intermediate points may be provided, which are the 1 st cutting intermediate point 103 and the 2 nd cutting intermediate point 104, respectively, so that the cutting path 106 can be bent at the cutting intermediate points to meet the cutting requirements.
In this embodiment, the cutting path 106 is formed by a connection line between the cutting points, which will not be described in detail later.
In practical operation, after the position of the cutting end point 102 is determined, a plurality of cutting intermediate points may be sequentially set, and the pitch angle and the azimuth angle of the laser emitting head 201 at each cutting intermediate point may be sequentially recorded as the nth pitch angle and the nth azimuth angle, respectively, for use in calculating the speed later.
Step 3, setting a cutting starting point 105, aligning an aiming point of the laser emitting head 201 to the cutting starting point 105 by adjusting the holder 203, and recording a pitch angle and a direction angle of the laser emitting head 201 at the moment as an initial pitch angle and an initial direction angle respectively;
after the position of the cutting end point 102 is determined, or after the position of each cutting intermediate point is determined, under the driving of the cradle head 203, the aiming point of the laser emitting head 201 at this time is already located on the other side of the foreign object 101 to be cut, as shown in fig. 2, an appropriate position is selected as the cutting start point 105, and the pitch angle and the direction angle of the laser emitting head 201 (i.e., the cradle head 203, because the cradle head 203 and the laser emitting head 201 are integrally connected) at this time are recorded as the initial pitch angle and the initial direction angle, respectively.
At this time, the positions of the cutting points are already determined, so that the cutting path 106 is completely determined, and the effect of cutting the foreign object 101 along the determined cutting path 106 by the laser can be achieved only by controlling the aiming point of the laser emitting head 201 to move from the cutting starting point 105 to the cutting end point 102 via the cutting intermediate point.
Further, after the position of the cutting start point 105 is determined, the position of the holder 203 is kept unchanged, so that the laser remote foreign matter 101 remover can directly start cutting from the cutting start point 105 along the cutting path 106.
Step 4, calculating the variation of the pitch angle and the variation of the direction angle between two adjacent points respectively according to the sequence from the cutting starting point 105, the nth cutting intermediate point, the nth-1 cutting intermediate point, …, the 1 st cutting intermediate point 103 and the cutting end point 102, calculating the total variation of the pitch angle and the total variation of the direction angle from the cutting starting point 105 to the cutting end point 102, and calculating the regulation speed of the pitch angle and the regulation speed of the direction angle of the laser emitting head 201 according to the set cutting time; so as to automatically control the movement of the pan/tilt head 203 at the calculated speed by the processor 304.
In this embodiment, the angular velocity may be preferentially adopted as the adjusting velocity of the pitch angle and the adjusting velocity of the direction angle; in the present embodiment, the set cutting time is a time required to move from the cutting start point 105 to the cutting end point 102 or from the cutting end point 102 to the cutting start point 105.
In a preferred scheme, the total variation of the pitch angle is equal to the sum of the variations of the pitch angle between every two adjacent points, and the total variation of the direction angle is equal to the sum of the variations of the direction angle between every two adjacent points; the adjusting speed of the pitch angle of the laser emitting head 201 is equal to the total variation of the pitch angle divided by the set cutting time, and the adjusting speed of the azimuth angle of the laser emitting head 201 is equal to the total variation of the azimuth angle divided by the set cutting time; therefore, the adjusting speed of the pitch angle is the same and the adjusting speed of the direction angle is the same in the whole cutting process.
Step 5, setting the number of times of back-and-forth cutting, adjusting the position of the laser emitting head 201 according to the adjusting speed of the pitch angle and the adjusting speed of the direction angle, and finishing 1 time of back-and-forth cutting when the position of the laser emitting head 201 is monitored to be the same as the cutting end point 102; then reversely adjusting the orientation of the laser emitting head 201 according to the adjusting speed of the pitch angle and the adjusting speed of the direction angle, and finishing 2 times of back-and-forth cutting when the orientation of the laser emitting head 201 is monitored to be the same as the cutting starting point 105; and the above steps are repeated until the number of the back-and-forth cutting times reaches the set back-and-forth cutting times.
The operator can set for the number of times of cutting back and forth as required, it is particularly useful for foreign matter 101 to be thicker, need make a round trip to relapse the occasion of cutting, in this embodiment, laser emission head 201 can be followed cutting route 106 and cut cutting end point 102 from cutting start point 105, or cut cutting start point 105 from cutting end point 102, because cutting route 106 is the same, it is unanimous not only to make a round trip to cut the route to difficult assurance, make cutting efficiency show the improvement, moreover, the operation is simple, can realize automatic cutting back and forth, thereby effectively avoid the manual drawback of making a round trip to cut of manual work.
Example 2
According to the method for automatically cutting the laser remote foreign matter 101 removing instrument back and forth provided in embodiment 1, embodiment 2 provides a structure of the laser remote foreign matter 101 removing instrument, which includes a laser emitting head 201, a processor 304, a cradle 203 and a tripod 202, wherein the cradle 203 is an electric cradle 203, which is convenient for realizing automatic adjustment, the cradle 203 is fixed on the tripod 202 and connected with the processor 304, the laser emitting head 201 is installed on the cradle 203, that is, the laser emitting head 201 and the cradle 203 are connected into a whole, and adjusting the orientation of the cradle 203 is equal to adjusting the orientation of the laser emitting head 201;
the laser emitting head 201 comprises a laser emitting port 301, an imaging module comprising an imaging detector 302 and a display screen 303, a first button, a second button, a third button and a fourth button, as shown in fig. 4, wherein,
the laser emitting port 301 is used for emitting laser, the imaging detector 302 and the display screen are respectively connected with the processor 304, and the display screen is used for displaying the image acquired by the imaging detector 302 and marking the aiming point of the laser in the displayed image; before the laser remote foreign matter 101 remover leaves a factory or is used, the laser remote foreign matter 101 remover is generally calibrated, so that the corresponding relation between a laser emergent optical axis and a target imaging optical axis is established, and a laser aiming point position can be marked in an image collected by a display screen, so that a user can clearly know the real-time position of an aiming point in the using process, and a common calibration means or method in the prior art can be adopted for calibrating the laser remote foreign matter 101 remover, and the detailed description is omitted;
the first button, the second button, the third button and the fourth button are respectively connected with the processor 304, the first button is used for setting a cutting end point 102, and recording a pitch angle and a direction angle of the laser emitting head 201 at the moment as a final pitch angle and a final direction angle; the second button is used for setting the cutting starting point 105, and recording the pitch angle and the direction angle of the laser emitting head 201 at the moment as an initial pitch angle and an initial direction angle respectively; the third button and the fourth button are respectively used for setting the number of times of back-and-forth cutting and the time of cutting once; the time of one cut refers to the time of one cut along the cutting path 106.
The processor 304 is configured to calculate a pitch angle variation and a direction angle variation according to the cutting end point 102 and the cutting start point 105, calculate an adjustment speed of the pitch angle and an adjustment speed of the direction angle according to the time of one cutting, and control the cradle head 203 to adjust back and forth between the cutting end point 102 and the cutting start point 105 according to the adjustment speed, so that the laser emitted from the laser emitting head 201 can move back and forth between the cutting end point 102 and the cutting start point 105 along the cutting optical path until the back and forth cutting times are reached, thereby implementing an automatic back and forth cutting function on the foreign object 101.
In a preferred embodiment, the device further comprises a memory, the memory is connected to the processor 304, and the memory is used for storing data such as final pitch angle, final direction angle, initial pitch angle, initial direction angle, number of cutting back and forth, and time of cutting once, so that the processor 304 can call up at any time when performing calculation.
In a preferred embodiment, the processor 304 may preferably employ a single chip or an ARM chip.
In a preferred embodiment, the display screen 303 may be a touch screen, so that a user can input data more conveniently, such as the number of times of cutting back and forth, the time for cutting once, and the like.
The electric pan-tilt 203 is a mature existing product, and the structure and the function of the electric pan-tilt are not described again; in a preferred aspect provided by this embodiment, the pan/tilt head 203 comprises a first driving motor for adjusting the pitch angle of the pan/tilt head 203 under the control of the processor 304, and a second driving motor for adjusting the azimuth angle of the pan/tilt head 203 under the control of the processor 304.
Furthermore, the first driving motor and the second driving motor adopt servo motors or stepping motors provided with encoders; for example, when the first driving motor is a stepping motor provided with an encoder, and the pitch angle of the pan/tilt head 203 needs to be adjusted, the processor 304 may control the stepping motor to rotate, so as to adjust the pitch angle, and in the rotating process, the encoder feeds back the position of the stepping motor (i.e., feeds back the adjustment condition of the pitch angle) to the processor 304 in real time, so that the processor 304 may control the stepping motor to stop rotating in time when the required position is reached.
In a preferred scheme, the aiming point is positioned at the center of the image displayed on the display screen, so that the use by a user is facilitated, and meanwhile, the user can set each cutting point more conveniently.
In a preferred scheme, the emitting light path of the laser in the laser emitting head 201 is coaxial with the imaging light path of the imaging detector 302, so that the position of the aiming point can be determined more conveniently through the image acquired by the imaging detector 302. For example, in a preferred embodiment provided in this embodiment, the optical imaging system further includes a beam splitter 305, the beam splitter 305 is disposed in the laser emission port 301, the imaging detector 302 is disposed at one side of the beam splitter 305, the laser exits the laser emission port 301 through the beam splitter 305, and the imaging light enters from the laser emission port 301 and enters the imaging detector 302 through the beam splitter 305, as shown in fig. 5, so that the laser and the imaging light share a common optical path.
As shown in fig. 5, the optical fiber laser device further includes a laser, the laser emitting head 201 further includes an optical fiber connector 306, an optical collimator 307, and a plane mirror 308, the laser is configured to generate laser light, the laser is connected to the optical fiber connector 306 through an optical fiber 309, the optical collimator 307 and the plane mirror 308 are respectively disposed in the laser emitting head 201 and respectively located on an optical path of the laser light, the optical collimator 307 is configured to collimate the laser light, and the plane mirror 308 is configured to emit the laser light to the beam splitter 305. The laser light finally exits through the laser emitting port 301 of the laser emitting head 201.
In a further aspect, the device further comprises a distance meter, wherein the distance meter is mounted on or integrated with the laser emitting head 201, and the distance meter is used for detecting the distance between the laser emitting head 201 and the foreign object 101 so as to determine that the foreign object 101 to be removed is located within the effective working range of the laser.
By way of example, the steps of cutting the foreign object 101 back and forth as shown in fig. 2 by using the laser remote foreign object 101 remover provided by the embodiment are as follows:
1. the laser remote foreign matter 101 removal instrument is erected so that the foreign matter 101 is within the effective range of the laser.
2. The pitch angle and the azimuth angle of the pan/tilt head 203 are adjusted so that the foreign object 101 is in the effective field of view of the imaging detector 302.
3. The position of the foreign matter 101 and the position of the aiming point are checked through the display screen 303, the pitch angle and the direction angle of the holder 203 are continuously adjusted, the aiming point is located on one side of the foreign matter 101 and is relatively close to the position of the foreign matter 101, the first button is pressed to determine that the position of the aiming point at the moment is the cutting end point 102, the pitch angle and the direction angle of the laser emitting head 201 at the moment are recorded, and the pitch angle and the direction angle are respectively used as the final pitch angle and the final direction angle.
4. The position of the foreign matter 101 and the position of the aiming point are checked through the display screen 303, the pitch angle and the direction angle of the holder 203 are continuously adjusted, the aiming point is located on the other side of the foreign matter 101 and is relatively close to the position of the foreign matter 101, the second button is pressed to determine that the position of the aiming point at the moment is the cutting starting point 105, the pitch angle and the direction angle of the laser emitting head 201 at the moment are recorded and are respectively used as an initial pitch angle and an initial direction angle. (during the actual data processing process, the processor 304 may also record the variation of the pitch angle and the variation of the direction angle of the holder 203 during the adjustment from the cutting end point 102 to the cutting start point 105 by taking the cutting end point 102 as a reference, that is, the azimuth data of the cutting start point 105 can be obtained, and after the cutting starts, the cutting can be performed back and forth according to the variation, which is not described herein again)
5. The third button is pressed to set the number of cuts back and forth, for example, 2.
6. The fourth button is pressed to set the time for one cut, which is 1 minute as an example.
7. The processor 304 calculates the pitch angle adjusting speed and the direction angle adjusting speed according to the data, and controls the holder 203 to adjust according to the adjusting speeds, so that the laser can move from the cutting starting point 105 to the cutting end point 102 along the cutting path 106 shown in fig. 2 to complete 1 cutting, then move from the cutting end point 102 to the cutting starting point 105 to complete 2 cutting, and then stop; thereby realizing the function of back-and-forth cutting; the cutting precision is high, and the cutting route uniformity is good, and cutting efficiency is high.
Example 3
The main difference between this embodiment 3 and the above embodiment 2 is that the structure of the laser remote foreign matter 101 removing apparatus provided in this embodiment further includes a fifth button, the fifth button is connected to the processor 304, the fifth button is configured to set n cutting intermediate points, n is a positive integer, and record the pitch angle and the azimuth angle of the laser emitting head 201 as the nth pitch angle and the nth azimuth angle, respectively;
the processor 304 is configured to calculate a variation amount of a pitch angle and a variation amount of a direction angle between two adjacent points according to an order from the cutting start point 105, the nth cutting intermediate point, the nth-1 cutting intermediate point, …, the 1 st cutting intermediate point 103, and the cutting end point 102, calculate a total variation amount of a pitch angle and a total variation amount of a direction angle between the cutting start point 105 and the cutting end point 102, calculate an adjustment speed of the pitch angle and an adjustment speed of the direction angle of the laser emitting head 201 according to a time of one cutting, and control the cradle head 203 to adjust back and forth among the cutting end point 102, the cutting intermediate point, and the cutting start point 105 according to the adjustment speed until the number of back and forth cutting times is reached.
For example, when the laser remote foreign matter 101 remover provided in this embodiment is used to cut the foreign matter 101 back and forth as shown in fig. 6, the thickness of the foreign matter 101 is uneven, the area in the dotted line in the drawing is thin and easy to cut, if linear cutting is adopted, the required time is long, the efficiency is low, at this time, a cutting middle point may be set, so that a cutting curve may be arranged along the area with the thin thickness, so as to improve the cutting efficiency, for example, the number of the cutting middle points may be 1 and is denoted as the 1 st cutting middle point 103, and the specific operation steps are as follows:
1. the laser remote foreign matter 101 removal instrument is erected so that the foreign matter 101 is within the effective range of the laser.
2. The pitch angle and the azimuth angle of the pan/tilt head 203 are adjusted so that the foreign object 101 is in the effective field of view of the imaging detector 302.
3. The position of the foreign matter 101 and the position of the aiming point are checked through the display screen 303, the pitch angle and the direction angle of the holder 203 are continuously adjusted, the aiming point is located on one side of the foreign matter 101 and is relatively close to the position of the foreign matter 101, the first button is pressed to determine that the position of the aiming point at the moment is the cutting end point 102, the pitch angle and the direction angle of the laser emitting head 201 at the moment are recorded, and the pitch angle and the direction angle are respectively used as the final pitch angle and the final direction angle.
4. The position of the foreign matter 101 and the position of the aiming point are checked through the display screen 303, the pitch angle and the direction angle of the holder 203 are continuously adjusted, the aiming point is located at the middle position of the foreign matter 101, the fifth button is pressed to determine that the position of the aiming point at the moment is the 1 st cutting middle point 103, the pitch angle and the direction angle of the laser emitting head 201 at the moment are recorded and are respectively used as the 1 st pitch angle and the 1 st direction angle.
5. The position of the foreign matter 101 and the position of the aiming point are checked through the display screen 303, the pitch angle and the direction angle of the holder 203 are continuously adjusted, the aiming point is located on the other side of the foreign matter 101 and is relatively close to the position of the foreign matter 101, the second button is pressed to determine that the position of the aiming point at the moment is the cutting starting point 105, the pitch angle and the direction angle of the laser emitting head 201 at the moment are recorded and are respectively used as an initial pitch angle and an initial direction angle.
6. The third button is pressed to set the number of cuts back and forth, for example, 2.
7. The fourth button is pressed to set the time for one cut, which is 2 minutes, for example.
8. The processor 304 calculates the pitch angle adjusting speed and the direction angle adjusting speed according to the data, and controls the holder 203 to adjust according to the adjusting speeds, so that the laser can move from the cutting starting point 105 to the cutting end point 102 through the 1 st cutting intermediate point 103 along the cutting path 106 shown in fig. 6, so as to complete 1 cutting, then move from the cutting end point 102 to the cutting starting point 105 through the 1 st cutting intermediate point 103, complete 2 cutting, and then stop; thereby realizing the function of back-and-forth cutting; the cutting precision is high, and the cutting route uniformity is good, and cutting efficiency is high, especially is applicable to the occasion that the cutting space is restricted and the occasion that foreign matter 101 thickness distributes unevenly.
The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention.
Claims (10)
1. The structure of the laser remote foreign matter removing instrument is characterized by comprising a laser emitting head, a processor, a tripod head and a tripod, wherein the tripod head is an electric tripod head, the tripod head is fixed on the tripod head and connected with the processor, the laser emitting head is arranged on the tripod head and comprises a laser emitting port, an imaging module, a first button, a second button, a third button and a fourth button, the imaging module comprises an imaging detector and a display screen, wherein,
the laser emitting port is used for emitting laser, the imaging detector and the display screen are respectively connected with the processor, and the display screen is used for displaying an image acquired by the imaging detector and marking a aiming point of the laser in the displayed image;
the first button, the second button, the third button and the fourth button are respectively connected with the processor, the first button is used for setting a cutting end point, and recording a pitch angle and a direction angle of the laser emitting head at the moment as a final pitch angle and a final direction angle; the second button is used for setting a cutting starting point, recording the pitch angle and the direction angle of the laser emitting head at the moment, and respectively taking the pitch angle and the direction angle as an initial pitch angle and an initial direction angle; the third button and the fourth button are respectively used for setting the number of times of back-and-forth cutting and the time of cutting once;
the processor is used for calculating the variable quantity of the pitch angle and the variable quantity of the direction angle according to the cutting end point and the cutting starting point, calculating the adjusting speed of the pitch angle and the adjusting speed of the direction angle according to the time of cutting once, and controlling the holder to adjust back and forth between the cutting end point and the cutting starting point according to the adjusting speed until the back and forth cutting times are reached.
2. The structure of the laser remote foreign matter removal instrument according to claim 1, further comprising a fifth button, the fifth button being connected to the processor.
3. The structure of the laser remote foreign matter remover according to claim 1, wherein the processor is a single chip microcomputer or an ARM chip.
4. The structure of the laser remote foreign matter remover according to claim 1, wherein the pan head comprises a first driving motor for adjusting a pitch angle of the pan head under the control of the processor, and a second driving motor for adjusting an azimuth angle of the pan head under the control of the processor.
5. The structure of the laser remote foreign matter removal instrument according to claim 4, wherein the first drive motor and the second drive motor are servo motors or stepping motors provided with encoders.
6. The structure of the laser remote foreign matter removing apparatus according to claim 1, wherein the aiming point is located at a central position of an image displayed on the display screen.
7. The structure of the laser remote foreign body removing instrument as claimed in any one of claims 1 to 6, wherein an exit optical path of the laser in the laser emitting head is coaxial with an imaging optical path of the imaging detector.
8. The structure of the remote laser foreign matter remover according to claim 7, further comprising a beam splitter, wherein the beam splitter is disposed in the laser emission port, the imaging detector is disposed at one side of the beam splitter, the laser exits the laser emission port through the beam splitter, and the imaging light enters from the laser emission port and enters the imaging detector through the beam splitter.
9. The structure of the remote laser foreign matter remover according to claim 8, further comprising a laser, wherein the laser emitting head further comprises an optical fiber connector, an optical collimator, and a plane mirror, the laser is used for generating laser, the laser is connected to the optical fiber connector through an optical fiber, the optical collimator and the plane mirror are respectively disposed in the laser emitting head and respectively located on the optical path of the laser, the optical collimator is used for collimating the laser, and the plane mirror is used for emitting the laser to the beam splitter.
10. The structure of the laser remote foreign matter remover as claimed in claim 7, further comprising a distance meter mounted on or integrated with the laser emitting head for detecting a distance between the laser emitting head and the foreign matter.
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| CN201921227102.1U CN210937691U (en) | 2019-07-31 | 2019-07-31 | Structure of laser remote foreign matter removing instrument |
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| CN201921227102.1U CN210937691U (en) | 2019-07-31 | 2019-07-31 | Structure of laser remote foreign matter removing instrument |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110280911A (en) * | 2019-07-31 | 2019-09-27 | 安徽南瑞继远电网技术有限公司 | The long-range foreign matter of laser removes the method and structure of instrument automatic back-and-forth cutting |
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2019
- 2019-07-31 CN CN201921227102.1U patent/CN210937691U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110280911A (en) * | 2019-07-31 | 2019-09-27 | 安徽南瑞继远电网技术有限公司 | The long-range foreign matter of laser removes the method and structure of instrument automatic back-and-forth cutting |
| CN110280911B (en) * | 2019-07-31 | 2024-06-25 | 安徽南瑞继远电网技术有限公司 | Automatic back and forth cutting method and structure of laser remote foreign matter remover |
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