CN108400555A - Laser deicing system and method - Google Patents
Laser deicing system and method Download PDFInfo
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- CN108400555A CN108400555A CN201810354834.0A CN201810354834A CN108400555A CN 108400555 A CN108400555 A CN 108400555A CN 201810354834 A CN201810354834 A CN 201810354834A CN 108400555 A CN108400555 A CN 108400555A
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- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000001514 detection method Methods 0.000 claims abstract description 28
- 230000005611 electricity Effects 0.000 claims description 22
- 230000005540 biological transmission Effects 0.000 claims description 18
- 238000009434 installation Methods 0.000 claims description 6
- 238000004146 energy storage Methods 0.000 claims description 3
- 238000003909 pattern recognition Methods 0.000 claims description 3
- 238000010248 power generation Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 12
- 230000006870 function Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 7
- 238000012545 processing Methods 0.000 description 7
- 238000002844 melting Methods 0.000 description 3
- 239000005413 snowmelt Substances 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 2
- 238000013135 deep learning Methods 0.000 description 2
- 210000002615 epidermis Anatomy 0.000 description 2
- 238000000605 extraction Methods 0.000 description 2
- 239000003574 free electron Substances 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000010295 mobile communication Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000033228 biological regulation Effects 0.000 description 1
- 238000009841 combustion method Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007717 exclusion Effects 0.000 description 1
- 230000008014 freezing Effects 0.000 description 1
- 238000007710 freezing Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000008018 melting Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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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
- H02G7/00—Overhead installations of electric lines or cables
- H02G7/16—Devices for removing snow or ice from lines or cables
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- Length Measuring Devices By Optical Means (AREA)
Abstract
An embodiment of the present invention provides a kind of laser deicing system and methods, which is characterized in that the system comprises laser beam emitting devices, for emitting laser；Removable bogey, for loading the laser beam emitting device；Cable follow-up mechanism is captured, aimed at and is tracked for the position to cable, and the real-time position information of the cable is fed back to control device；Detection device feeds back to the control device for being detected to the ice-snow thickness being covered on the cable, and by the ice-snow thickness value that detection obtains；Control device, for according to the real-time position information, adjusting the Laser emission direction of the laser beam emitting device；And for according to the ice-snow thickness value, adjusting the laser emitting power of the laser beam emitting device.By this laser deicing system and method, staff easily can carry out local anti-ice operation to the high voltage cable in complicated landform, and when removable bogey is the equipment such as unmanned plane, unmanned vehicle, this convenience becomes apparent.
Description
Technical field
The present embodiments relate to field of application of photoelectric technology more particularly to it is a kind of using laser carry out deicing system and
Method.
Background technology
Since 2008, a wide range of freezing rain and snow disaster in south is to the provinces electric system such as Hunan, Guizhou, Jiangxi, Zhejiang
Heavy losses are caused, transmission line of electricity is widely distributed, and many places take place frequently, directly affect in mima type microrelief microclimate region, the line-outage contingency of falling tower
The reliable power supply of user is arrived.Transmission line de-icing scheme is studied, is to ensure that the key of ice damage period customer power supply reliability.Closely
The mainstream ice-melting mode that deicing has been increasingly becoming power grid is heated over year.This heating processing mode, is exactly by power transmission line
The conducting wire and ground wire on road apply big flow alternating current or big flow direct current carries out the mode of ice-melt.But heat the scheme of deicing
It is suitble to carry out ice-melt to whole transmission line of electricity, targetedly ice-melt can not be carried out to circuit regional area and handled, it is possible to caused
Transmission line of electricity is without ice, few ice subregion dry combustion method, to damage transmission line of electricity.Using big alternating current or big flow direct current simultaneously
When the mode of electricity, it cannot achieve overhead transmission line ground wire and carry out ice-melt.So a kind of melting for transmission line of electricity part heavy ice region
Ice method becomes urgent problem to be solved.
Invention content
In view of this, the embodiment of the present invention provides a kind of system and method carrying out deicing using laser, solve existing
Have in technology to the problem of high voltage cable deicing difficulty.
In a first aspect, an embodiment of the present invention provides a kind of laser deicing systems, including：
Laser beam emitting device, for emitting laser；
Removable bogey, for loading the laser beam emitting device；
Cable follow-up mechanism is captured, aimed at and is tracked for the position to cable, and by the real-time position of the cable
Confidence breath feeds back to control device；
Detection device, for being detected to the ice-snow thickness being covered on the cable, and the ice and snow that detection is obtained
Thickness value feeds back to the control device；
Control device, for according to the real-time position information, adjusting the Laser emission direction of the laser beam emitting device；
And for according to the ice-snow thickness value, adjusting the laser emitting power of the laser beam emitting device.
Optionally, the control device can be additionally used according to the real-time position information, the control removable carrying dress
The moving direction and/or movement speed set.
Optionally, the control device can also be used to, according to the ice-snow thickness value, control the removable bogey
Moving direction and/or movement speed.
Optionally, the detection device can be used for being detected specific packet to the ice-snow thickness being covered on the cable
It includes：The real-time position information that control device is fed back according to the cable tracks of device, adjusts the laser beam emitting device
Laser emission direction, the laser beam emitting device sends out the laser of the first power level, is detected to the ice-snow thickness.
Correspondingly, the removable bogey may include engineering truck, unmanned vehicle or unmanned plane.
Optionally, it the system also includes for electric installation, is used to provide electric power to the system.It is described to include for electric installation
Electric energy storage device, independent power generation equipment take electric equipment, described to take electric equipment that take electricity from cable or neighbouring power supply and be converted into
The available power supply of laser beam emitting device, way to take power can be it is direct insertion take electricity, contact take electricity or in a manner of magnetic induction
Electricity is wirelessly taken from cable.
Optionally, the cable follow-up mechanism specifically includes：
Photographic device, for obtaining image data；
Pattern recognition device, for according to acquired image data, identifying the cable for being covered with ice and snow；
Positioning and tracking device, for according to the cable for being covered with ice and snow identified, being captured, being taken aim to the cable
Accurate and tracking, and the real-time position information of the cable is fed back into the control device.
Optionally, the control device is additionally operable to control the duration of laser irradiation, the movement to illuminated laser spot
Speed is controlled.
By this laser deicing device, staff easily can carry out part to the high voltage cable in complicated landform
Anti-ice operation, when removable bogey is unmanned plane, this convenience becomes apparent.
Second aspect, the embodiment of the present invention additionally provide a kind of laser deicing method, including：
S1 is captured, aimed at and is tracked to the position of cable, and the real-time position information of the cable is fed back to control
Device processed；
S2 is detected the ice-snow thickness being covered on the cable, and the ice-snow thickness value that detection is obtained is fed back
To the control device；
S3 adjusts the Laser emission direction of the laser beam emitting device according to the real-time position information；And it is used for
According to the ice-snow thickness value, the laser emitting power of the laser beam emitting device is adjusted；
S4, according to the Laser emission direction adjusted and the laser emitting power adjusted, to the cable
Emit laser, anti-ice operation is carried out to the cable.
Optionally, step S1 may particularly include：
S11 obtains image data；
S12 identifies the cable for being covered with ice and snow according to acquired image data；
S13 is captured, aimed at and is tracked to the cable according to the cable for being covered with ice and snow identified, and will
The real-time position information of the cable feeds back to the control device.
Optionally, the laser beam emitting device is set on removable bogey；The method may also include：According to institute
Real-time position information is stated, the moving direction and/or movement speed of the removable bogey are controlled.
Optionally, the laser beam emitting device is set on removable bogey；The method may also include：For root
According to the ice-snow thickness value, the moving direction and/or movement speed of the removable bogey are controlled.
Optionally, step S2 is specifically included：According to the real-time position information fed back, the Laser emission dress is adjusted
The Laser emission direction set, the laser beam emitting device send out the laser of the first power level, are examined to the ice-snow thickness
It surveys, and the ice-snow thickness value that detection obtains is fed back into the control device.
Correspondingly, the removable bogey includes engineering truck, unmanned vehicle or unmanned plane.
Optionally, the method further includes：The duration of laser irradiation is controlled, to the movement speed of illuminated laser spot
It is controlled.
By this laser deicing device, staff easily can carry out part to the high voltage cable in complicated landform
Anti-ice operation, when removable bogey is unmanned plane, this convenience becomes apparent.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is the structural schematic diagram for the laser deicing system that one embodiment of the invention provides；
Fig. 2 is the preferred structure schematic diagram of present invention cable tracks of device shown in FIG. 1；
Fig. 3 is that the flow for the laser deicing method that one embodiment of the invention provides is intended to；
Fig. 4 is the preferred flow schematic diagram of step S1 in embodiment illustrated in fig. 3 of the present invention.
Specific implementation mode
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limitation of the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
It also should be noted that only the parts related to the present invention are shown for ease of description, in attached drawing rather than
Full content.It should be mentioned that some exemplary embodiments are described before exemplary embodiment is discussed in greater detail
At the processing or method described as flow chart.Although operations (or step) are described as the processing of sequence by flow chart,
It is that many of which operation can be implemented concurrently, concomitantly or simultaneously.In addition, the sequence of operations can be by again
It arranges.Processing can be terminated when its operations are completed, it is also possible to the additional step being not included in attached drawing.Processing
It can correspond to method, function, regulation, subroutine, subprogram etc..
Referenced herein " embodiment " is it is meant that a particular feature, structure, or characteristic described can wrap in conjunction with the embodiments
Containing at least one embodiment of the present invention.Each position in the description occur the phrase might not each mean it is identical
Embodiment, nor the independent or alternative embodiment with other embodiments mutual exclusion.Those skilled in the art explicitly and
Implicitly understand, embodiment described herein can be combined with other embodiments.
Fig. 1 shows a kind of structural schematic diagram of laser deicing system, as shown in Figure 1, the system includes following device/mould
Block：
Laser beam emitting device, for emitting laser；It may include gas laser, solid state laser, semiconductor laser, dye
Expect laser, free electron laser or combinations thereof, may also comprise pulsed high power laser；Different capacity grade can be emitted
Laser signal, when its emit low power laser when, can be used for tracking, position, ice-snow thickness detection, when its emit high power swash
Light time can be used for carrying out snow melt anti-ice operation to ice and snow.
Optionally, when needing to be detected ice-snow thickness, the laser of first laser transmission power can be used to carry out
Detection operation；When ice-snow thickness value is low crosses first threshold, second laser transmission power can be used to carry out anti-ice operation；Work as ice
When snow thickness is more than that first threshold is less than second threshold, third laser emitting power can be used to carry out anti-ice operation；Work as ice and snow
When thickness is more than second threshold, the 4th laser emitting power can be used to carry out anti-ice operation；Ice-snow thickness is thicker, Laser emission
Power is higher, and still, not influence cable secure as basic principle, highest laser emitting power cannot melt cable epidermis,
Cable itself cannot be damaged.
Removable bogey, for loading the laser beam emitting device；It may include engineering truck, offroad vehicle, unmanned vehicle, nothing
The removable load bearing equipment such as man-machine.
Cable follow-up mechanism is captured, aimed at and is tracked for the position to cable, and by the real-time position of the cable
Confidence breath feeds back to control device；Preferably, it can realize the capture of cable using the laser that laser beam emitting device is emitted, take aim at
Accurate and following function；Preferably, the coarse positioning of cable can be realized by GPS positioning system first, then carries out catching for cable location
It obtains, aim at and tracks.
Detection device, for being detected to the ice-snow thickness being covered on the cable, and the ice and snow that detection is obtained
Thickness value feeds back to the control device；Preferably, ice-snow thickness can be realized using the laser that laser beam emitting device is emitted
Detection, it is possible to use the technologies such as infrared ray, ultrasonic wave realize the measurement of ice-snow thickness, it is possible to use image recognition technology, it is real
The estimation of existing ice-snow thickness；Optionally, the location information fed back according to cable follow-up mechanism, is emitted using laser beam emitting device
Laser to realize the detection of ice-snow thickness, and the ice-snow thickness value that detection obtains is fed back into the control device.
Control device, for according to the real-time position information, adjusting the Laser emission direction of the laser beam emitting device；
And for according to the ice-snow thickness value, adjusting the laser emitting power of the laser beam emitting device.
Optionally, the control device can be additionally used according to the real-time position information, the control removable carrying dress
The moving direction and/or movement speed set.
Optionally, the control device can also be used to, according to the ice-snow thickness value, control the removable bogey
Moving direction and/or movement speed.
Optionally, the detection device can be used for being detected specific packet to the ice-snow thickness being covered on the cable
It includes：The real-time position information that control device is fed back according to the cable tracks of device, adjusts the laser beam emitting device
Laser emission direction, the laser beam emitting device sends out the laser of the first power level, is detected to the ice-snow thickness.
The laser of first power level is only intended to be detected ice-snow thickness, does not play the role of snow melt, so, power level
It can be smaller.Optionally, the modes such as infrared ray, ultrasonic wave can also be used to realize the detection of ice-snow thickness, can also pass through figure
As identification technology, captured image is analyzed, the reference value of ice-snow thickness is obtained.
Optionally, it the system also includes for electric installation, is used to provide electric power to the system.It is described to include for electric installation
Electric energy storage device, independent power generation equipment take electric equipment, described to take electric equipment that take electricity from cable or neighbouring power supply and be converted into
The available power supply of laser beam emitting device, way to take power can be it is direct insertion take electricity, contact take electricity or in a manner of magnetic induction
Electricity is wirelessly taken from cable, directly can also take electricity from the power interface of electric pole.
Optionally, the control device further includes：The duration of laser irradiation is controlled, the movement to illuminated laser spot
Speed is controlled.The ice-snow thickness covered on cable is monitored in real time, it is mobile when thickness is already below predetermined thickness
Illuminated laser spot is to the next position；Optionally, can within a certain section uniformly, move back and forth the point of irradiation, avoid burning
Cable.
Fig. 2 shows the optional structure diagram of cable tracks of device, the cable follow-up mechanism specifically includes：
Photographic device, for obtaining image data；It is alternatively possible to be shot in real time to ambient enviroment image, also may be used
Discontinuously to be shot to ambient enviroment image, image capture operations can be opened under the control of the user, it also can basis
GPS positioning information determines nearby with the presence of cable, then automatically starts the shooting operation of ambient image；
Pattern recognition device, for according to acquired image data, identifying the cable for being covered with ice and snow；Optionally,
By artificial intelligence technology, the cable image to being largely covered with ice and snow carries out deep learning analysis, to acquired picture number
According to being identified, it is determined whether there is the cable for being covered with ice and snow；
Positioning and tracking device, for according to the cable for being covered with ice and snow identified, being captured, being taken aim to the cable
Accurate and tracking, and the real-time position information of the cable is fed back into the control device.
Optionally, the control device can be controlled by the instruction of console, can also be itself according to being connect
Image data, location data, tracking data for receiving etc. carry out automatically controlling.
Optionally, the laser deicing system may also include wireless transmitter, by image data, cable tracks of device and
The data that detection device obtains are sent to console, and receive the control signal transmitted by remote console.The console can be with
It is remote console, can also be the report control platform on removable bogey.
By this laser deicing device, staff easily can carry out part to the high voltage cable in complicated landform
Anti-ice operation, when removable bogey is unmanned plane, this convenience becomes apparent.
Fig. 3 shows a kind of flow diagram for laser deicing method that another embodiment of the present invention provides, this method packet
Include following steps：
S1 is captured, aimed at and is tracked to the position of cable, and the real-time position information of the cable is fed back to control
Device processed；
In a kind of achievable mode, can using the laser that laser beam emitting device is emitted realize cable capture,
Aiming and following function；Preferably, the coarse positioning of cable can be realized by GPS positioning system first, then carries out cable location
Capture is aimed at and is tracked.
S2 is detected the ice-snow thickness being covered on the cable, and the ice-snow thickness value that detection is obtained is fed back
To the control device；
The detection of ice-snow thickness can be generally realized using the laser that laser beam emitting device is emitted, it is possible to use infrared
The technologies such as line, ultrasonic wave realize the measurement of ice-snow thickness, it is possible to use image recognition technology realizes the estimation of ice-snow thickness；It can
Selection of land, according to cable follow-up mechanism feed back location information, the laser emitted using laser beam emitting device come realize ice and snow thickness
The detection of degree, and the ice-snow thickness value that detection obtains is fed back into the control device.
S3 adjusts the Laser emission direction of the laser beam emitting device according to the real-time position information；And it is used for
According to the ice-snow thickness value, the laser emitting power of the laser beam emitting device is adjusted；
In the embodiment of the present invention, when ice-snow thickness value it is low cross first threshold when, can be used second laser transmission power come into
Row anti-ice operation；When ice-snow thickness is more than that first threshold is less than second threshold, third laser emitting power can be used to carry out
Anti-ice operation；When ice-snow thickness is more than second threshold, the 4th laser emitting power can be used to carry out anti-ice operation；Ice and snow is thick
Degree is thicker, and laser emitting power is higher, and still, not influence cable secure as basic principle, highest laser emitting power can not
To melt cable epidermis, it is not possible to be damaged to cable itself.
S4, according to the Laser emission direction adjusted and the laser emitting power adjusted, to the cable
Emit laser, anti-ice operation is carried out to the cable.
Wherein, laser beam emitting device, for emitting laser；It may include gas laser, solid state laser, semiconductor laser
Device, dye laser, free electron laser or combinations thereof may also comprise pulsed high power laser；Different work(can be emitted
The laser signal of rate grade can be used for tracking, position, ice-snow thickness detection when it emits low power laser, when its transmitting is high
When power laser, it can be used for carrying out snow melt anti-ice operation to ice and snow.
Optionally, the laser beam emitting device is set on removable bogey；The method may also include：According to institute
Real-time position information is stated, the moving direction and/or movement speed of the removable bogey are controlled.
Optionally, the laser beam emitting device is set on removable bogey；The method may also include：For root
According to the ice-snow thickness value, the moving direction and/or movement speed of the removable bogey are controlled.
Removable bogey, for loading the laser beam emitting device；It may include engineering truck, offroad vehicle, unmanned vehicle, nothing
The removable load bearing equipment such as man-machine.
Optionally, the method further includes：The duration of laser irradiation is controlled, to the movement speed of illuminated laser spot
It is controlled.The ice-snow thickness covered on cable is monitored in real time, when thickness is already below predetermined thickness, mobile laser
Point of irradiation is to the next position；Optionally, can within a certain section uniformly, move back and forth the point of irradiation, avoid cable of burning.
Fig. 4 shows a kind of optional flow diagram of step S1 in Fig. 3, wherein step S1 may particularly include：
S11 obtains image data；
It is alternatively possible to be shot in real time to ambient enviroment image, discontinuously ambient enviroment image can also be carried out
Shooting, can open image capture operations under the control of the user, also can determine nearby there is cable according to GPS positioning information
In the presence of, then automatically start ambient image shooting operation；
S12 identifies the cable for being covered with ice and snow according to acquired image data；
Optionally, by artificial intelligence technology, the cable image to being largely covered with ice and snow carries out deep learning analysis, right
Acquired image data is identified, it is determined whether there is the cable for being covered with ice and snow；
S13 is captured, aimed at and is tracked to the cable according to the cable for being covered with ice and snow identified, and will
The real-time position information of the cable feeds back to the control device.
Step S2 may include：According to the real-time position information fed back, the laser of the laser beam emitting device is adjusted
The direction of the launch, the laser beam emitting device send out the laser of the first power level, are detected to the ice-snow thickness, and will inspection
The ice-snow thickness value measured feeds back to the control device.
Optionally, the control device can be controlled by the instruction of remote console, can also be itself basis
Received image data, location data, tracking data etc. carry out automatically controlling.
Optionally, the laser deicing system may also include wireless transmitter, by image data, cable tracks of device and
The data that detection device obtains are sent to remote console, and receive the control signal transmitted by remote console.
By this laser deicing method, staff easily can carry out part to the high voltage cable in complicated landform
Anti-ice operation, when removable bogey is unmanned plane, this convenience becomes apparent.
According to another aspect of the present invention, a kind of laser deicing method is provided, the method includes：
It finds that certain transmission line of electricity has icing situation on ice covering monitoring system, a whole set of laser ice-melting device is positioned over work
On journey vehicle, and it is equipped with small generator, drives to rush for icing position；Apart from icing point preset distance (for example, 100m) with
Interior arrangement laser equipment, and supplied power for using generator；It is targeted to quasi- ice-melt starting point using laser sighting device, is tested
The whether normal light extraction of equipment；According to the practical ice covering thickness that monitoring system is shown, laser power size and aiming point are chosen
Movement speed, to control the speed of ice-melt；Laser is opened, laser can send out corresponding power according to the power of selection
Laser is radiated in the starting point for intending ice-melt on transmission line of electricity；ATP tracing systems are opened after light extraction.Illuminated laser spot can basis
The aiming point movement speed of selection, automatic tracing transmission line of electricity so that illuminated laser spot is radiated on powerline ice-covering always,
Melt the icing on transmission line of electricity using laser energy；The ice-melt situation on transmission line of electricity is observed, when illuminated laser spot is melted
After icing above transmission line of electricity (or melted us completely and intended ice-melt region), laser switch is closed, stops
Light closes ATP tracing systems；Power supply of the generator to laser is disconnected, ice-melt is completed.
It is schematical, only a kind of division of logic function to the division of module in the above embodiment of the present invention, it is practical
There may be another division manner when realization, in addition, each function module in each embodiment of the application can be integrated in one
Can also be to physically exist alone in a processor, can also two or more modules be integrated in a module.It is above-mentioned
The form that hardware had both may be used in integrated module is realized, can also be realized in the form of software function module.
The electronic equipment of the embodiment of the present invention exists in a variety of forms, including but not limited to:
(1) mobile communication equipment:The characteristics of this kind of equipment is that have mobile communication function, and to provide speech, data
Communication is main target.This Terminal Type includes:Smart mobile phone (such as iPhone), multimedia handset, functional mobile phone and low
Hold mobile phone etc..
(2) super mobile personal computer equipment:This kind of equipment belongs to the scope of personal computer, there is calculating and processing work(
Can, generally also have mobile Internet access characteristic.This Terminal Type includes:PDA, MID and UMPC equipment etc., such as iPad.
(3) portable entertainment device:This kind of equipment can show and play multimedia content.Such equipment includes:Audio,
Video player (such as iPod), handheld device, e-book and intelligent toy and portable car-mounted navigation equipment.
(4) server:The equipment for providing the service of calculating, the composition of server include processor 1010, hard disk, memory, are
Bus of uniting etc., server is similar with general computer architecture, but due to needing to provide highly reliable service, is handling
Ability, stability, reliability, safety, scalability, manageability etc. are more demanding.
(5) other electronic devices with data interaction function.
The apparatus embodiments described above are merely exemplary, wherein can be as the module that separating component illustrates
Or may not be and be physically separated, the component shown as module may or may not be physical module, i.e.,
A place can be located at, or may be distributed on multiple network modules.It can select according to the actual needs therein
Some or all of module achieves the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying creative labor
In the case of dynamic, you can to understand and implement.
Each function module in each embodiment of the present invention can be integrated in a processing unit, can also be each
Module physically exists alone, can also be during two or more modules are integrated in one unit.Above-mentioned integrated unit both may be used
It realizes, can also be realized in the form of hardware adds SFU software functional unit in the form of using hardware.
The above-mentioned integrated unit being realized in the form of SFU software functional unit can be stored in one and computer-readable deposit
In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are used so that a computer
Device (can be personal computer, server or network equipment etc.) or intelligent terminal or processor (Processor)
Execute the part steps of each embodiment method of the present invention.And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only storage
Device (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disc or light
The various media that can store program code such as disk.
In above-described embodiment provided by the present invention, it should be understood that disclosed device and method can pass through it
Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of module, only
A kind of division of logic function, formula that in actual implementation, there may be another division manner, for example, multiple module or components can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.
The module illustrated as separating component may or may not be physically separated, and be shown as module
Component may or may not be physical module, you can be located at a place, or may be distributed over multiple networks
On unit.Some or all of module therein can be selected according to the actual needs to achieve the purpose of the solution of this embodiment.
It these are only the embodiment of the present invention, the scope of the claims of the present invention be not intended to limit, although with reference to the foregoing embodiments
Invention is explained in detail, still can be to aforementioned each specific reality for those skilled in the art comes
It applies the technical solution recorded in mode to modify, or equivalence replacement is carried out to which part technical characteristic.It is every to utilize this
The equivalent structure that description of the invention and accompanying drawing content are done directly or indirectly is used in other related technical areas, similarly
Within scope of patent protection of the present invention.
Claims (16)
1. a kind of laser deicing system, which is characterized in that the system comprises：
Laser beam emitting device, for emitting laser；
Removable bogey, for loading the laser beam emitting device；
Cable follow-up mechanism is captured, aimed at and is tracked for the position to cable, and the real time position of the cable is believed
Breath feeds back to control device；
Detection device, for being detected to the ice-snow thickness being covered on the cable, and the ice-snow thickness that detection is obtained
Value feeds back to the control device；
Control device, for according to the real-time position information, adjusting the Laser emission direction of the laser beam emitting device；With
And for according to the ice-snow thickness value, adjusting the laser emitting power of the laser beam emitting device.
2. laser deicing system according to claim 1, wherein the control device is additionally operable to according to the real time position
Information controls the moving direction and/or movement speed of the removable bogey.
3. laser deicing system according to claim 1, wherein the control device is additionally operable to according to the ice-snow thickness
Value controls the moving direction and/or movement speed of the removable bogey.
4. laser deicing system according to claim 1, wherein the detection device, for being covered in the cable
On ice-snow thickness be detected and specifically include：The real time position that control device is fed back according to the cable tracks of device
Information, adjusts the Laser emission direction of the laser beam emitting device, and the laser beam emitting device sends out swashing for the first power level
Light is detected the ice-snow thickness.
5. laser deicing system according to claim 1, wherein the removable bogey include engineering truck, nobody
Vehicle or unmanned plane.
6. laser deicing system according to claim 1, wherein the system also includes for electric installation, be used for described
System provides electric power.
7. laser deicing system according to claim 1, wherein the cable follow-up mechanism specifically includes：
Photographic device, for obtaining image data；
Pattern recognition device, for according to acquired image data, identifying the cable for being covered with ice and snow；
Positioning and tracking device, for according to the cable for being covered with ice and snow identified, being captured, aimed to the cable and
Tracking, and the real-time position information of the cable is fed back into the control device.
8. laser deicing system according to claim 6, wherein described for electric installation includes electric energy storage device, independent power generation
Equipment takes electric equipment, described to take that electric equipment take electricity from cable or neighbouring power supply and to be converted into laser beam emitting device available
Power supply.
9. laser deicing system according to claim 1, wherein the control device is additionally operable to the duration to laser irradiation
It is controlled, the movement speed of illuminated laser spot is controlled.
10. a kind of laser deicing method, which is characterized in that the method includes：
S1 is captured, aimed at and is tracked to the position of cable, and the real-time position information of the cable is fed back to control dress
It sets；
S2 is detected the ice-snow thickness being covered on the cable, and the ice-snow thickness value that detection obtains is fed back to institute
State control device；
S3 adjusts the Laser emission direction of laser beam emitting device according to the real-time position information；And for according to
Ice-snow thickness value adjusts the laser emitting power of the laser beam emitting device；
S4, according to the Laser emission direction adjusted and the laser emitting power adjusted, to the cable transmission
Laser carries out anti-ice operation to the cable.
11. laser deicing method according to claim 10, wherein step S1 is specifically included：
S11 obtains image data；
S12 identifies the cable for being covered with ice and snow according to acquired image data；
S13 is captured, aimed at and is tracked to the cable according to the cable for being covered with ice and snow identified, and will be described
The real-time position information of cable feeds back to the control device.
12. laser deicing method according to claim 10, wherein the laser beam emitting device is set to removable carrying
On device；The method further includes：According to the real-time position information, the moving direction of the removable bogey is controlled
And/or movement speed.
13. laser deicing method according to claim 10, wherein the laser beam emitting device is set to removable carrying
On device；The method further includes：For according to the ice-snow thickness value, controlling the moving direction of the removable bogey
And/or movement speed.
14. laser deicing method according to claim 10, wherein step S2 is specifically included：According to being fed back
Real-time position information, adjusts the Laser emission direction of the laser beam emitting device, and the laser beam emitting device sends out the first power
The laser of intensity is detected the ice-snow thickness, and the ice-snow thickness value that detection obtains is fed back to the control device.
15. laser deicing method according to claim 12 or 13, wherein the removable bogey includes engineering
Vehicle, unmanned vehicle or unmanned plane.
16. laser deicing method according to claim 10, wherein the method further includes：To the duration of laser irradiation
It is controlled, the movement speed of illuminated laser spot is controlled.
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