Method and system for automatically adjusting laser power in remote foreign matter removing process of power transmission line

Abstract

The invention discloses a laser power automatic adjusting method and system in a remote foreign matter removing process of a power transmission line, and the method comprises the steps: recognizing and positioning a foreign matter through an inspection image, analyzing the spatial position relation between the foreign matter and a power transmission line, preliminarily judging the contact state of the foreign matter, and outputting a contact risk level; analyzing the foreign matter, and constructing an initial thermal coupling risk parameter based on the contact risk level; controlling the laser to perform short-time irradiation on the foreign matter for a preset time length at the tentative power, and synchronously collecting thermal response characteristic information generated by the surface of the foreign matter in the irradiation process; based on the thermal response feature information, comparing with a preset thermal response reference model, dynamically judging the actual thermal coupling state between the foreign matter and the power transmission conductor, and correcting the initial thermal coupling risk parameter in real time according to a judgment result to obtain a corrected thermal coupling risk parameter; and according to the corrected thermal coupling risk parameter, gradually increasing the laser power of the laser to an effective clearing power interval so as to complete foreign matter clearing.

Description

Technical Field

[0001] This application relates to the field of power transmission line maintenance technology, and more specifically, to a method and system for automatically adjusting laser power during the remote foreign object removal process of power transmission lines. Background Technology

[0002] With the expansion of the power system, the safe operation of high-voltage and ultra-high-voltage transmission lines has become crucial to ensuring a stable power supply. However, these lines often traverse complex natural environments and are susceptible to interference from foreign objects such as tree branches, plastic sheets, kite strings, and bird nests. These objects can cause line discharges, short circuits, and even fires, seriously threatening the safety of the power grid.

[0003] Traditional foreign object removal methods primarily rely on manual inspection and removal, or mechanical crawling robots. However, operators must climb towers or ride in vehicles, posing risks of working at height, resulting in low efficiency and an inability to respond promptly. While using line-following robots for foreign object removal involves complex operations, stringent requirements on the conductor structure, and slow crawling speeds, this method has become a research hotspot in recent years due to its non-contact, precise, and remotely operable advantages. This technology removes foreign objects by focusing a high-energy laser beam onto them, causing them to rapidly heat up, melt, or vaporize. However, existing laser removal methods often use fixed or manually set laser power, which cannot be dynamically adjusted based on the material, thickness, and environmental changes of the foreign object. This results in either insufficient power for removal or excessive power damaging the conductor. Furthermore, foreign object type identification relies on manual judgment or simple sensor assessments, failing to achieve precise and efficient removal. Additionally, the lack of optimized control methods based on the physical characteristics of the foreign object (such as melting point and absorptivity) and matching the laser wavelength reduces energy efficiency.

[0004] Therefore, there is an urgent need for a method that can detect and assess the risk of thermal coupling between foreign objects and the wire system in real time during the removal process, and intelligently and adaptively adjust the laser power output strategy accordingly, so as to achieve the optimal balance between "efficient removal" and "wire protection". Summary of the Invention

[0005] This application provides a method and system for automatic laser power adjustment during remote foreign object removal in power transmission lines. Addressing the problem that existing laser removal technologies fail to effectively consider the uncertainty of thermal coupling between foreign objects and power transmission lines, this method analyzes the thermal response characteristics of foreign objects to low-power laser action, dynamically assesses the risk of thermal coupling between foreign objects and the transmission line, and adaptively controls the laser power ramp-up rate and output limit accordingly. This ensures efficient foreign object removal while significantly reducing the risk of localized overheating, annealing, or performance degradation of the power transmission line.

[0006] The specific technical solution is as follows: In a first aspect, embodiments of this application provide a method for automatically adjusting laser power during the remote foreign object removal process of a power transmission line, the method comprising: Acquire inspection images of transmission lines, identify and locate foreign objects, analyze the spatial relationship between the foreign objects and the transmission lines, preliminarily determine the contact status of the foreign objects, and output the contact risk level. The material type, thickness range, and laser absorption characteristics of the foreign object are obtained, and an initial thermal coupling risk parameter is constructed based on the contact risk level. The initial thermal coupling risk parameter is used to characterize the potential risk trend of the foreign object conducting heat to the power transmission line during laser heating. The laser is controlled to irradiate the foreign object for a predetermined duration with a test power lower than the theoretical power limit required for foreign object removal, and the thermal response characteristics of the surface of the foreign object generated during the irradiation process are collected simultaneously. Based on the thermal response characteristic information, the actual thermal coupling state between the foreign object and the power transmission line is dynamically determined by comparing it with the preset thermal response reference model. The initial thermal coupling risk parameter is then corrected in real time according to the determination result to obtain the corrected thermal coupling risk parameter. Within the controllable range indicated by the thermal coupling risk parameters, the laser power of the laser is gradually increased to the effective removal power range according to the corrected thermal coupling risk parameters to complete the removal of foreign objects. At the same time, the rate of increase of laser power, the duration of each power stage, and the maximum allowable output power are dynamically constrained during this process.

[0007] In some embodiments of this application, the foreign object contact state includes suspended, point contact, line contact, and surface contact states; the criteria for determining the contact risk level include one or more of the following: the degree of overlap between the outline of the foreign object and the transmission line in the inspection image, the continuity of the shadow formed by the foreign object near the transmission line, and the change in the swing amplitude of the foreign object relative to the transmission line under the action of natural wind.

[0008] In some embodiments of this application, the thermal response characteristic information includes: the temperature rise rate of the foreign object surface, the change in surface brightness, the change in infrared radiation intensity, and state markers indicating signs of melting, carbonization, or vaporization.

[0009] In some embodiments of this application, the dynamic determination of the actual thermal coupling state specifically includes: Analyze the curves showing the change of the thermal response characteristics over time; If the rate of temperature rise or the change in surface brightness of the foreign object is greater than a preset change threshold in the early stage of the test irradiation, and then decays to a preset stable value over time, the judgment result is a high-risk level. If the rate of temperature rise of the foreign object surface or the change in surface brightness continues to exceed the preset change threshold during the initial stage of the test irradiation, the judgment result is a low-risk level.

[0010] In some embodiments of this application, the modified thermal coupling risk parameter The calculation formula is: in, , , The weighting coefficients are preset based on the material of the foreign object and the contact state. , , These are the rates of temperature rise, respectively. Surface brightness change and status flags The normalization function.

[0011] In some embodiments of this application, dynamically constraining the rise rate of laser power and the maximum permissible output power specifically includes: based on the modified thermal coupling risk parameter. Set the upper limit of laser power ramp rate and maximum allowable output power ,in, and All It is a monotonically decreasing function.

[0012] In some embodiments of this application, the automatic laser power adjustment method further includes: The morphological changes and removal progress of the foreign object are continuously monitored by a thermal imager or high-speed camera, and a closed-loop feedback is formed. When it is detected that the foreign object has been effectively cut, melted or removed from the wire, the laser power of the laser is immediately controlled to gradually return to a safe standby state.

[0013] Secondly, embodiments of this application provide an automatic laser power adjustment system for remote foreign object removal in power transmission lines, the automatic laser power adjustment system comprising: The identification and preliminary judgment module is used to acquire inspection images of transmission lines, identify and locate foreign objects, analyze the spatial relationship between the foreign objects and the transmission lines, preliminarily determine the contact status of the foreign objects, and output the contact risk level. The material analysis and parameter construction module is used to obtain the material type, thickness range and laser absorption characteristics of the foreign object, and to construct an initial thermal coupling risk parameter based on the contact risk level. The initial thermal coupling risk parameter is used to characterize the potential risk trend of the foreign object conducting heat to the power transmission line during laser heating. The test irradiation module is used to control the laser to irradiate the foreign object for a predetermined duration with a test power lower than the theoretical power limit required for foreign object removal, and simultaneously collect the thermal response characteristic information of the surface of the foreign object during the irradiation process. The parameter correction module is used to compare the thermal response feature information with the preset thermal response reference model, dynamically determine the actual thermal coupling state between the foreign object and the power transmission line, and correct the initial thermal coupling risk parameter in real time according to the determination result to obtain the corrected thermal coupling risk parameter. The automatic adjustment and foreign object removal module is used to gradually increase the laser power of the laser to the effective removal power range according to the corrected thermal coupling risk parameters within the controllable risk range indicated by the thermal coupling risk parameters, so as to complete the removal of foreign objects. At the same time, the laser power rise rate, the duration of each power stage and the maximum allowable output power are dynamically constrained during this process.

[0014] In some embodiments of this application, the parameter correction module dynamically determines the actual thermal coupling state between the foreign object and the power transmission line, specifically for: Analyze the curves showing the change of the thermal response characteristics over time; If the rate of temperature rise or the change in surface brightness of the foreign object is greater than a preset change threshold in the early stage of the test irradiation, and then decays to a preset stable value over time, the judgment result is a high-risk level. If the rate of temperature rise of the foreign object surface or the change in surface brightness continues to exceed the preset change threshold during the initial stage of the test irradiation, the judgment result is a low-risk level.

[0015] In some embodiments of this application, the automatic adjustment and foreign object removal module is also used to continuously monitor the morphological changes and removal progress of the foreign object through a thermal imager or a high-speed camera, and form a closed-loop feedback; when it is detected that the foreign object has been effectively cut, melted or removed from the wire, the laser power of the laser is immediately controlled to gradually return to a safe standby state.

[0016] The beneficial effects of the embodiments of this application are as follows: First, this application improves the success rate of foreign object removal and adapts to various materials and complex environments: By introducing a foreign object material identification and status assessment mechanism, it comprehensively analyzes the type of foreign object, its attachment status, and environmental interference factors on the transmission line surface before laser removal, dynamically determining the optimal removal strategy. Specifically, the system can distinguish the reflection characteristics, thermal response characteristics, and adhesion tightness of common foreign objects (such as plastic film, kite strings, bird nests, plant fibers, and composite insulation materials), avoiding the use of a single fixed power or a single removal mode. Furthermore, under complex environmental conditions (such as high humidity, strong winds, numerous background debris, or aging coatings on the line), this application adaptively adjusts the laser path and removal parameters through multi-source information fusion and real-time feedback mechanisms, ensuring that the laser energy effectively targets the foreign object rather than the transmission conductor itself, thereby significantly improving the success rate of a single removal operation and reducing the number of repetitive operations.

[0017] Secondly, the automatic laser power matching ensures high energy efficiency and reduces energy waste: Unlike existing technologies that commonly use experience-based or manually preset laser power settings, this application establishes an automatic laser power matching mechanism based on the characteristics of foreign matter and feedback from the removal process. During the removal process, the system dynamically adjusts the laser output power, pulse frequency, or action time according to the ablation rate, morphological changes, and residual status of the foreign matter, ensuring that the laser energy is always within the operating range that "just meets the removal requirements." This method avoids the problems of incomplete removal due to insufficient power, requiring multiple repeated irradiations, and also avoids the ineffective energy release and unnecessary energy consumption caused by excessive power. Overall, this application significantly improves the utilization efficiency of unit energy and reduces the overall power consumption of the system while ensuring the removal effect, making it particularly suitable for long-term, large-scale line inspection and removal tasks.

[0018] Third, this application avoids thermal damage to transmission lines and extends their lifespan: It incorporates line safety constraints and thermal impact control strategies during laser removal, effectively limiting the spatial distribution and temporal effect of laser energy. By precisely controlling the laser focus position, angle of action, and duration, the system ensures that the laser primarily targets the foreign object itself, rather than directly or continuously irradiating the transmission conductor and its surface protective layer. Simultaneously, upon detecting that the foreign object has been cut, carbonized, or detached, the system can promptly terminate or reduce the laser output, preventing excessive localized temperature rise in the conductor due to "over-irradiation." This control mechanism effectively prevents potential risks such as conductor annealing, surface damage, or decreased insulation performance, thereby maximizing the protection of the structural integrity and long-term operational reliability of the transmission line while achieving efficient foreign object removal.

[0019] Fourth, it enables remote, unmanned operation, reducing human risks and maintenance costs: This application supports remote control and automatic execution modes based on communication networks, allowing the removal operation to be completed without direct on-site human intervention. Through remote monitoring terminals, maintenance personnel can obtain real-time information on the status of foreign objects on transmission lines, laser removal progress, and system operating parameters, and can start, pause, or adjust the removal task. In scenarios where traditional manual removal operations are high-risk, such as high-altitude, high-voltage, and complex terrain, this application effectively avoids safety hazards such as personnel climbing towers and working close to live equipment, significantly reducing personal risks. At the same time, it reduces the frequency of manual inspections and emergency response costs, enabling line maintenance to shift from "manually driven" to "intelligent and unmanned," thus improving overall maintenance efficiency and economy. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 A schematic flowchart illustrating an automatic laser power adjustment method for remote foreign object removal in power transmission lines, provided in an embodiment of this application; Figure 2 This is a schematic diagram of laser removal of foreign objects provided in an embodiment of this application; Figure 3 This is a block diagram illustrating the components of an automatic laser power adjustment system for remote foreign object removal in power transmission lines, as provided in an embodiment of this application. Detailed Implementation

[0022] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0023] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The terms "comprising" and "having," and any variations thereof, in the embodiments and drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0024] The core challenge of existing laser removal technology in practice is how to efficiently remove foreign objects without damaging power transmission lines. Power lines are typically made of aluminum or aluminum alloy stranded wire, which has limited heat capacity. Prolonged or localized overheating can lead to annealing and reduced mechanical strength, severely impacting line lifespan and safety. Existing solutions often focus on identifying the foreign object and matching power, but generally neglect the uncertainty of the thermal coupling state between the foreign object and the power line. This uncertainty stems primarily from: the foreign object may be suspended (weak coupling), or it may be tightly wrapped or even embedded in the gaps between the wires (strong coupling), making the contact state unknown; different materials (such as dry branches and wet cloths) have different thermal conductivity, affecting the rate of heat transfer to the wires; and environmental factors such as wind speed and sunlight can interfere with the heat dissipation conditions of the foreign object. Current solutions typically conservatively set a lower power based on the worst-case scenario (strong coupling), resulting in low removal efficiency, or rely on manual adjustments based on operator experience, lacking objective and real-time data and posing a risk of misjudgment.

[0025] To address the problems in existing technologies, this application discloses an automatic laser power adjustment method for remote foreign object removal in transmission lines. A low-power laser probe is used as a "thermal probe." By analyzing the thermal response characteristics of the foreign object to this probe laser, the thermal coupling strength between the foreign object and the underlying conductor is inferred. This inference result is quantified as a "thermal coupling risk parameter," serving as a dynamic constraint on the laser power ramp-up rate and upper limit during the subsequent main removal phase. Detailed explanations follow.

[0026] Figure 1 This paper illustrates an automatic laser power adjustment method for remote foreign object removal in power transmission lines, according to an embodiment of this application. For example... Figure 1 As shown, the automatic laser power adjustment method includes the following steps: Step S110: Obtain inspection images of the transmission line, identify and locate foreign objects, analyze the spatial relationship between the foreign objects and the transmission lines, preliminarily determine the contact status of the foreign objects, and output the contact risk level.

[0027] In some embodiments, the foreign object contact state includes suspended, point contact, line contact, and surface contact states; the criteria for determining the contact risk level include one or more of the following: the degree of overlap between the outline of the foreign object and the transmission line in the inspection image, the continuity characteristics of the shadow formed by the foreign object near the transmission line, and the change in the swing amplitude of the foreign object relative to the transmission line under the action of natural wind.

[0028] In step S110 of this application, the automatic laser power adjustment method performs foreign object identification and preliminary contact status assessment. Images of the transmission line are acquired through inspection equipment. Foreign objects are detected and identified based on these images, specifically identifying the type, outline, and location of the foreign object in the image. The relative positional relationship between the foreign object and the transmission line is analyzed, including at least one or a combination of the following criteria: the degree of overlap between the foreign object and the transmission line outline; the continuity of the shadow cast by the foreign object near the transmission line; and the change in the sway amplitude of the foreign object under natural wind disturbance. Furthermore, the contact status between the foreign object and the transmission line is categorized into suspended, point, line, or surface contact states, and a preliminary assessment is made, outputting the contact risk level.

[0029] Step S120: Obtain the material type, thickness range and laser absorption characteristics of the foreign object, and construct the initial thermal coupling risk parameters based on the contact risk level. The initial thermal coupling risk parameters are used to characterize the potential risk trend of the foreign object conducting heat to the power transmission line during the laser heating process.

[0030] In step S120 of this application, the automatic laser power adjustment method performs foreign object material analysis and constructs thermal coupling risk parameters. Based on the foreign object identification results, the material type, thickness range, and laser absorption characteristics of the foreign object are obtained, and combined with the contact risk level, thermal coupling risk parameters are constructed to characterize the trend of heat transfer from the foreign object to the power transmission line.

[0031] Based on the information obtained about the foreign object's material type, thickness range, and laser absorption characteristics, a thermal coupling risk parameter is further introduced to characterize the potential risk of the foreign object transferring heat to the power transmission line under laser irradiation. Specifically, based on the foreign object's thermal conductivity, morphological characteristics, and contact risk level, a thermal coupling risk parameter is constructed. This parameter reflects the strength of the tendency for heat to be conducted to the power transmission line via the foreign object during laser heating. It is important to note that this thermal coupling risk parameter is not used to directly calculate the conductor temperature, but rather to constrain the laser power output strategy and ramp-up rate.

[0032] Step S130: Control the laser to irradiate the foreign object for a predetermined duration with a test power lower than the theoretical power limit required for foreign object removal, and simultaneously collect the thermal response characteristics of the foreign object's surface during the irradiation process.

[0033] In some embodiments, thermal response characteristics include: the rate of temperature rise of the foreign object surface, the amount of change in surface brightness, the amount of change in infrared radiation intensity, and state markers indicating signs of melting, carbonization, or vaporization.

[0034] In step S130 of this application, the automatic laser power adjustment method performs low-power trial irradiation and initial thermal response acquisition. Before performing formal foreign object removal, the laser is controlled to irradiate the foreign object for a short time with a trial power lower than the theoretical removal power, and initial thermal response information such as temperature changes, brightness changes, infrared radiation changes, or signs of melting, carbonization, or vaporization on the surface of the foreign object is acquired simultaneously.

[0035] Step S140: Based on the thermal response characteristic information, compare it with the preset thermal response reference model to dynamically determine the actual thermal coupling state between the foreign object and the transmission line, and correct the initial thermal coupling risk parameters in real time according to the judgment results to obtain the corrected thermal coupling risk parameters.

[0036] In some embodiments, the dynamic determination of the actual thermal coupling state specifically includes: analyzing the change curve of thermal response characteristic information over time; if the temperature rise rate or surface brightness change of the foreign object surface is greater than a preset change threshold in the initial stage of the test irradiation, and decays to a preset stable value over time, the determination result is a high-risk level; if the temperature rise rate or surface brightness change of the foreign object surface continues to be greater than the preset change threshold in the initial stage of the test irradiation, the determination result is a low-risk level.

[0037] In other embodiments, the modified thermal coupling risk parameters The calculation formula is: in, , , The weighting coefficients are preset based on the material of the foreign object and the contact state. , , These are the rates of temperature rise, respectively. Surface brightness change and status flags The normalization function.

[0038] In step S140 of this application, the automatic laser power adjustment method performs thermal coupling state discrimination based on the initial thermal response. Based on the collected initial thermal response characteristic information, it compares it with a preset thermal response reference model to determine the heat accumulation mode of the foreign object under the current operating conditions, thereby deducing the thermal coupling state between the foreign object and the power transmission line, and correcting the thermal coupling risk parameters.

[0039] Step S150: Within the controllable range indicated by the thermal coupling risk parameters, the laser power of the laser is gradually increased to the effective removal power range according to the corrected thermal coupling risk parameters to complete the removal of foreign objects. At the same time, the rate of increase of the laser power, the duration of each power stage, and the maximum allowable output power are dynamically constrained during this process.

[0040] In some embodiments, dynamically constraining the rise rate of laser power and the maximum permissible output power specifically includes: based on the modified thermal coupling risk parameter. Set the upper limit of laser power ramp rate and maximum allowable output power ,in, and All It is a monotonically decreasing function.

[0041] In other embodiments, the automatic laser power adjustment method further includes: continuously monitoring the morphological changes and removal progress of foreign objects using a thermal imager or a high-speed camera, and forming a closed-loop feedback; when it is detected that the foreign object has been effectively cut, melted, or detached from the wire, the laser power of the laser is immediately controlled to gradually decrease to a safe standby state.

[0042] In step S150 of this application, as Figure 2 As shown, this automatic laser power adjustment method performs laser removal under power ramp-up control. During the foreign object removal process, while ensuring removal efficiency, it suppresses the risk of localized overheating of the transmission line caused by uncertainties in thermal coupling between the foreign object and the transmission line. Based on the corrected thermal coupling risk parameters, the laser power ramp-up rate, stage duration, and maximum output value are constrained. While keeping the thermal coupling risk within a controllable range, the laser power is gradually increased to the effective power range required for melting or cutting the foreign object, thus completing the foreign object removal.

[0043] In addition, after determining that the foreign object has been removed, the automatic laser power adjustment method controls the laser power to gradually return to a safe state and records the thermal response and power adjustment data during the removal process for subsequent parameter optimization or model updates.

[0044] In a specific embodiment of this application, based on the material type, thickness range, and laser absorption characteristics of the foreign object, a theoretical power range required for foreign object removal is calculated. This power range serves as an upper limit reference value for subsequent power adjustment, rather than a direct output value. In the initial stage of foreign object removal, the foreign object is briefly irradiated with a trial power lower than the theoretical power limit required for removal. Thermal response characteristics such as temperature changes, brightness changes, infrared radiation changes, and signs of melting, carbonization, or vaporization on the foreign object surface are collected to determine the thermal coupling state between the foreign object and the power transmission line, and the thermal coupling risk parameters are corrected accordingly. Subsequently, based on the corrected thermal coupling risk parameters, the laser power rise rate, stage duration, and maximum output power are dynamically constrained. When the thermal coupling risk is determined to be high, the rapid increase of laser power is limited to avoid instantaneous overheating of the power transmission line. During this period, while the thermal coupling risk remains within a controllable range, the laser power is gradually increased to the effective power range required for melting or cutting the foreign object, and the power output is fine-tuned during the removal process based on real-time feedback information.

[0045] The above describes the steps of the automatic laser power adjustment method for remote foreign object removal in transmission lines provided in this embodiment. The following describes two embodiments of the automatic laser power adjustment method for remote foreign object removal in transmission lines in detail.

[0046] Example 1: Removing damp cloth strips wrapped around power transmission lines Step S310, Initial Identification and Assessment: During a drone inspection, a strip of cloth was found wrapped around the middle section of a power transmission line. The image was identified as "fabric," and the initial contact analysis determined it to be "line contact." The material database showed that the thermal conductivity of the fabric was average, but considering the meteorological information (recent rain), it was determined that it might be damp (water has strong thermal conductivity). Therefore, the initial thermal coupling risk parameter was set to medium to high.

[0047] Step S320, Low-Power Probing and Dynamic Sensing: The laser irradiates the fabric strip with a power of 100W (far lower than the approximately 300W required for drying the fabric) for 2 seconds. The thermal imager shows that the surface temperature of the fabric strip rises slowly and stabilizes after 1 second, with minimal changes in brightness. This "rapid saturation" thermal response pattern indicates that the applied heat is rapidly conducted, verifying the hypothesis of strong thermal coupling caused by moisture. Based on this, the system adjusts the risk parameter to "high".

[0048] Step S330, Clearing under Safety Constraints: Based on high-risk parameters, the system limits the power ramp-up rate to a low level (e.g., 50W / second), with the maximum allowable power set at 400W. The laser power is slowly increased from 100W while the thermal imager continuously monitors it. When the power reaches 280W, the fabric strip begins to dry and emits moisture, and the thermal imager shows that the slope of the temperature rise curve begins to increase (indicating reduced moisture and weakened thermal coupling). The system dynamically adjusts its strategy, appropriately accelerating the power ramp-up. Finally, after continuous irradiation at 350W power for 3 seconds, the fabric strip is carbonized and cut. Throughout the process, the conductor temperature rise is controlled within the safe threshold.

[0049] Furthermore, the complete data chain of this operation, from "wet fabric – rapid saturation response – high risk – slow climb success," was recorded to enrich the system's knowledge base.

[0050] Example 2: Removing plastic kites hanging under power transmission lines Step S410, Initial Identification and Assessment: The target is identified as a plastic kite. Based on binocular vision, it is determined that there is approximately a 10cm gap between it and the power transmission line (suspended state). Plastic has a high laser absorption rate, and the heat conduction path is poor in the suspended state, so the initial thermal coupling risk parameter is set to "low".

[0051] Step S420, Low-Power Probe and Dynamic Sensing: Irradiate the kite string with a probe power of 150W for 1 second. The high frame rate camera shows the irradiated point rapidly brightening and melting. This "continuously rapid response" mode confirms highly localized heat accumulation and extremely low thermal coupling risk. The system corrects the risk parameters and confirms them as "extremely low".

[0052] Step S430, High-Efficiency Removal: The system employs a rapid power ramp-up rate. The laser power quickly increases to 500W, melting the kite string within 1 second, causing the kite to fall. Throughout the process, almost all the laser energy acts on the foreign object, with no thermal impact on the conductor.

[0053] As can be seen from Examples 1 and 2, this application can intelligently select different removal strategies from "cautious and slow" to "decisive and fast" according to the actual thermal coupling state.

[0054] Corresponding to the above method embodiments, another embodiment of this application provides an automatic laser power adjustment system for remote foreign object removal in power transmission lines. For example... Figure 3 As shown, the automatic laser power adjustment system 200 mainly includes: an identification and preliminary judgment module 210, a material analysis and parameter construction module 220, a trial irradiation module 230, a parameter correction module 240, and an automatic adjustment and foreign object removal module 250.

[0055] Specifically, the identification and preliminary judgment module 210 is used to acquire inspection images of the transmission line, identify and locate foreign objects, analyze the spatial relationship between the foreign object and the transmission line, preliminarily determine the contact state of the foreign object, and output the contact risk level; the material analysis and parameter construction module 220 is used to acquire the material type, thickness range, and laser absorption characteristics of the foreign object, and construct initial thermal coupling risk parameters based on the contact risk level. The initial thermal coupling risk parameters are used to characterize the potential risk trend of the foreign object conducting heat to the transmission line during laser heating; the test irradiation module 230 is used to control the laser to irradiate the foreign object for a predetermined duration with a test power lower than the theoretical power limit required to remove the foreign object, and simultaneously collect data on the foreign object. The thermal response characteristics of the surface during irradiation; the parameter correction module 240 is used to compare the thermal response characteristics with the preset thermal response reference model, dynamically determine the actual thermal coupling state between the foreign object and the transmission line, and correct the initial thermal coupling risk parameter in real time according to the determination result to obtain the corrected thermal coupling risk parameter; the automatic adjustment and foreign object removal module 250 is used to gradually increase the laser power of the laser to the effective removal power range according to the corrected thermal coupling risk parameter within the controllable risk range indicated by the thermal coupling risk parameter to complete the foreign object removal, while dynamically constraining the laser power rise rate, the duration of each power stage and the maximum allowable output power during this process.

[0056] In some embodiments, the parameter correction module 240 dynamically determines the actual thermal coupling state between the foreign object and the transmission line, specifically for: analyzing the change curve of thermal response characteristic information over time; if the temperature rise rate or surface brightness change of the foreign object surface is greater than a preset change threshold in the initial stage of the test irradiation, and decays to a preset stable value over time, the determination result is a high-risk level; if the temperature rise rate or surface brightness change of the foreign object surface continues to be greater than the preset change threshold in the initial stage of the test irradiation, the determination result is a low-risk level.

[0057] In other embodiments, the automatic adjustment and foreign object removal module 250 is also used to continuously monitor the morphological changes and removal progress of foreign objects through a thermal imager or a high-speed camera, and form a closed-loop feedback; when it is detected that the foreign object has been effectively cut, melted or removed from the wire, the laser power of the laser is immediately controlled to gradually return to a safe standby state.

[0058] The above system embodiments correspond to the method embodiments and have the same technical effects. For details, please refer to the method embodiments. The system embodiments are derived from the method embodiments, and for detailed explanations, please refer to the method embodiments section, which will not be repeated here.

[0059] In summary, this application discloses a method and system for automatic laser power adjustment during remote foreign object removal in transmission lines. It overcomes the limitations of relying solely on visual prior information to assess risk. Through low-power laser probing and thermal response analysis, it achieves an indirect, dynamic, and quantitative assessment of the thermal characteristics of the "foreign object-conductor" interface, which cannot be directly observed, providing unprecedented objective evidence for power control. This application directly transforms dynamically perceived thermal coupling risks into rigid constraints (such as rate and upper limit) on the power ramp-up process, prioritizing conductor safety from a control logic perspective and avoiding overheating risks caused by pursuing removal speed, thus achieving an organic balance between safety and efficiency. For different contact tightness, different thermal conductivity materials, and environmental interference such as air cooling, the system can automatically identify and adjust strategies based on differences in thermal response, significantly improving the one-time removal success rate in variable and complex field environments, reducing repetitive operations, and enhancing adaptability to complex operating conditions. Meanwhile, this application constructs a closed-loop intelligent control system, integrating image recognition, tentative thermal detection, dynamic risk modeling, constrained power control, and process monitoring into a complete perception-decision-execution-feedback closed loop, thus driving substantial progress in laser obstacle removal technology for power transmission lines towards full automation and intelligence. Furthermore, the system records thermal response data and the final control effect during each removal process, which can be used to train subsequent machine learning models, continuously optimizing the mapping relationship between thermal response characteristics and risk parameters and control parameters, achieving continuous self-evolution of the system.

[0060] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of one embodiment, and the modules or processes shown in the drawings are not necessarily essential for implementing this application. Furthermore, the modules in the apparatus of the embodiments may be distributed throughout the apparatus of the embodiment as described in the embodiments, or they may be located in one or more apparatuses different from this embodiment, with corresponding changes. The modules of the above embodiments may be combined into one module, or they may be further divided into multiple sub-modules.

[0061] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the above embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method for automatically adjusting laser power during remote foreign object removal from power transmission lines, characterized in that, The automatic laser power adjustment method includes: Acquire inspection images of transmission lines, identify and locate foreign objects, analyze the spatial relationship between the foreign objects and the transmission lines, preliminarily determine the contact status of the foreign objects, and output the contact risk level; The material type, thickness range, and laser absorption characteristics of the foreign object are obtained, and an initial thermal coupling risk parameter is constructed based on the contact risk level. The initial thermal coupling risk parameter is used to characterize the potential risk trend of the foreign object conducting heat to the power transmission line during laser heating. The laser is controlled to irradiate the foreign object for a predetermined duration with a test power lower than the theoretical power limit required for foreign object removal, and the thermal response characteristics of the surface of the foreign object generated during the irradiation process are collected simultaneously. Based on the thermal response characteristic information, the actual thermal coupling state between the foreign object and the power transmission line is dynamically determined by comparing it with the preset thermal response reference model. The initial thermal coupling risk parameter is then corrected in real time according to the determination result to obtain the corrected thermal coupling risk parameter. Within the controllable range indicated by the thermal coupling risk parameters, the laser power of the laser is gradually increased to the effective removal power range according to the corrected thermal coupling risk parameters to complete the removal of foreign objects. At the same time, the rate of increase of laser power, the duration of each power stage, and the maximum allowable output power are dynamically constrained during this process.

2. The method for automatic laser power adjustment during remote foreign object removal from transmission lines according to claim 1, characterized in that, The foreign object contact states include suspended, point contact, line contact, and surface contact states; The criteria for determining the contact risk level include one or more of the following: the degree of overlap between the outline of the foreign object and the power transmission line in the inspection image, the continuity of the shadow formed by the foreign object near the power transmission line, and the change in the amplitude of the swing of the foreign object relative to the power transmission line under the action of natural wind.

3. The method for automatic laser power adjustment during remote foreign object removal from transmission lines according to claim 1, characterized in that, The thermal response characteristics include: the rate of temperature rise of the foreign object surface, the change in surface brightness, the change in infrared radiation intensity, and state markers indicating melting, carbonization, or vaporization.

4. The automatic laser power adjustment method for remote foreign object removal in transmission lines according to claim 3, characterized in that, The dynamic determination of the actual thermal coupling state specifically includes: Analyze the curves showing the change of the thermal response characteristics over time; If the rate of temperature rise or the change in surface brightness of the foreign object is greater than a preset change threshold in the early stage of the test irradiation, and then decreases to a preset stable value over time, the judgment result is a high-risk level. If the rate of temperature rise of the foreign object surface or the change in surface brightness continues to exceed the preset change threshold during the initial stage of the test irradiation, the judgment result is a low-risk level.

5. The method for automatic laser power adjustment during remote foreign object removal from transmission lines according to claim 1, characterized in that, The corrected thermal coupling risk parameter The calculation formula is: in, , , The weighting coefficients are preset based on the material of the foreign object and the contact state. , , These are the rates of temperature rise, respectively. Surface brightness change and status flags The normalization function.

6. The method for automatic laser power adjustment during remote foreign object removal from transmission lines according to claim 1 or 5, characterized in that, The dynamic constraint laser power rise rate and maximum allowable output power specifically include: based on the modified thermal coupling risk parameters. Set the upper limit of laser power ramp rate and maximum allowable output power ,in, and All It is a monotonically decreasing function.

7. The method for automatic laser power adjustment during remote foreign object removal from transmission lines according to claim 1, characterized in that, The automatic laser power adjustment method further includes: The morphological changes and removal progress of the foreign object are continuously monitored by a thermal imager or high-speed camera, and a closed-loop feedback is formed. When it is detected that the foreign object has been effectively cut, melted or removed from the wire, the laser power of the laser is immediately controlled to gradually return to a safe standby state.

8. A laser power automatic adjustment system for remote foreign object removal in power transmission lines, characterized in that, The automatic laser power adjustment system includes: The identification and preliminary judgment module is used to acquire inspection images of transmission lines, identify and locate foreign objects, analyze the spatial relationship between the foreign objects and the transmission lines, preliminarily determine the contact status of the foreign objects, and output the contact risk level. The material analysis and parameter construction module is used to obtain the material type, thickness range and laser absorption characteristics of the foreign object, and to construct an initial thermal coupling risk parameter based on the contact risk level. The initial thermal coupling risk parameter is used to characterize the potential risk trend of the foreign object conducting heat to the power transmission line during laser heating. The test irradiation module is used to control the laser to irradiate the foreign object for a predetermined duration with a test power lower than the theoretical power limit required for foreign object removal, and simultaneously collect the thermal response characteristic information of the surface of the foreign object during the irradiation process. The parameter correction module is used to compare the thermal response feature information with the preset thermal response reference model, dynamically determine the actual thermal coupling state between the foreign object and the power transmission line, and correct the initial thermal coupling risk parameter in real time according to the determination result to obtain the corrected thermal coupling risk parameter. The automatic adjustment and foreign object removal module is used to gradually increase the laser power of the laser to the effective removal power range according to the corrected thermal coupling risk parameters within the controllable risk range indicated by the thermal coupling risk parameters, so as to complete the removal of foreign objects. At the same time, the laser power rise rate, the duration of each power stage and the maximum allowable output power are dynamically constrained during this process.

9. The automatic laser power adjustment system for remote foreign object removal in transmission lines according to claim 8, characterized in that, The parameter correction module dynamically determines the actual thermal coupling state between the foreign object and the power transmission line, specifically for: Analyze the curves showing the change of the thermal response characteristics over time; If the rate of temperature rise or the change in surface brightness of the foreign object is greater than a preset change threshold in the early stage of the test irradiation, and then decreases to a preset stable value over time, the judgment result is a high-risk level. If the rate of temperature rise of the foreign object surface or the change in surface brightness continues to exceed the preset change threshold during the initial stage of the test irradiation, the judgment result is a low-risk level.

10. The automatic laser power adjustment system for remote foreign object removal in transmission lines according to claim 8, characterized in that, The automatic adjustment and foreign object removal module is also used to continuously monitor the shape changes and removal progress of the foreign object through a thermal imager or a high-speed camera, and form a closed-loop feedback; when it is detected that the foreign object has been effectively cut, melted or removed from the wire, the laser power of the laser is immediately controlled to gradually return to a safe standby state.

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