Laser-based long-range non-contact obstacle removal system and method

Abstract

This invention discloses a long-range, non-contact obstacle removal system and method based on laser, including a portable laser obstacle removal case, a laser support, and a laser obstacle removal device. The portable case is connected to the laser obstacle removal device via a cable. A servo motor gimbal is mounted on the top of the laser support, and the laser obstacle removal device is mounted on the servo motor gimbal. The laser obstacle removal device includes: a fiber laser for generating obstacle removal laser; an optical path guiding mirror group for transmitting the generated obstacle removal laser; a focusing and directional mirror group for orienting, zooming, and focusing the generated obstacle removal laser so that it acts on the obstacle removal target; and a laser stabilization component for protecting the focusing and directional mirror group and maintaining laser stability. This invention improves the position of the laser obstacle removal device's emission port to avoid thermal lensing effects, ensuring laser concentration and accuracy, allowing the laser to act more precisely on the obstacle removal target, thereby efficiently completing the obstacle removal work.

Description

Technical Field

[0001] This invention relates to the field of laser obstacle removal, and more specifically, to a laser-based long-range non-contact obstacle removal system and method. Background Technology

[0002] A laser obstacle clearing device is a machine that uses a high-energy laser beam for remote, non-contact cutting and removal. Its principle is similar to a magnifying glass focusing sunlight; the laser is aimed and emitted from a ground-based device, instantly generating high temperatures to quickly cut away obstacles. It is primarily used for power grid obstacle clearing and railway overhead contact line maintenance. Traditional obstacle clearing methods rely mainly on manual climbing and mechanical operations, which are not only inefficient but also require workers to be in close contact with high-voltage lines, posing significant safety risks. Furthermore, terrain limitations make line clearing difficult in many remote areas. In addition, the portability and flexibility of the laser obstacle clearing device allow for rapid deployment to various work sites, making it particularly suitable for clearing obstacles in complex terrain environments within smart grids, thus improving the efficiency of smart grid operation and maintenance.

[0003] The use of laser obstacle clearing devices is highly susceptible to environmental factors such as temperature and humidity. When the laser passes through the air, aerosols and tiny particles in the air absorb a minute amount of energy, causing the air in the optical path to be slightly heated and its density to decrease, forming a medium similar to a concave lens. This leads to laser divergence, a larger spot size, and a decrease in energy density. This phenomenon is called the thermal lensing effect. When using a laser obstacle clearing device, the emission port is not completely open, so the airflow at the emission port is relatively poor compared to the outside. The thermal lensing effect at the emission port cannot be eliminated in time. Furthermore, the accumulation of heat at the emission port may cause thermal deformation of the outermost lens of the focusing and directional lens group, resulting in a change in refractive index. Conventional accelerated airflow methods can easily cause contamination of the laser obstacle clearing device's lenses, which also affects the laser's operation. Summary of the Invention

[0004] To address the problems existing in the prior art, the present invention aims to provide a long-distance non-contact obstacle removal system and method based on laser, which solves the technical problems of the laser obstacle removal device being prone to thermal lensing effect at the emission port, resulting in laser divergence, beam enlargement, and energy density reduction, as well as the problem of external air dust easily contaminating the lens and affecting laser operation.

[0005] To solve the above problems, the present invention adopts the following technical solution; A laser-based long-range non-contact obstacle removal system includes a portable laser obstacle removal case, a laser bracket, and a laser obstacle removal device. The portable case is connected to the laser obstacle removal device via a cable. A servo motor gimbal is mounted on the top of the laser bracket, and the laser obstacle removal device is snapped onto the servo motor gimbal. The laser obstacle removal device includes: Fiber lasers are used to generate obstacle-clearing lasers. The optical path transmission mirror assembly is used to transmit the generated obstacle-clearing laser; The focusing and directional lens group is used to orient, zoom and focus the generated obstacle-clearing laser so that the laser acts on the obstacle-clearing target; Laser stabilization components are used to protect the focusing and directional lens assembly and maintain laser stability; The laser stabilization component includes a sleeve threaded onto the housing of the laser obstacle clearing device, and the sleeve, the optical path transmission mirror group, and the focusing orientation mirror group are located on the same axis. An annular interlayer is provided between the sleeve and the housing of the laser obstacle clearing device, and the annular interlayer is connected to the inside of the laser outlet of the laser obstacle clearing device. A wind box is provided inside the housing of the laser obstacle clearing device, and a circulating fan and a filter plate are fixedly installed inside the wind box. One end of a gas guide pipe connected to the wind box is fixedly installed on the wind box, and the other end of the gas guide pipe is fixedly connected to the sleeve and connected to the inside of the annular interlayer. High-definition positioning cameras are used to capture images of the target points for obstacle removal, in order to perform fixed-point obstacle removal. The portable laser obstacle removal case contains a control box and a tablet computer. The tablet computer is equipped with a human-machine interface. The control box receives images captured by the high-definition positioning camera and is electrically connected to the laser obstacle clearing device and the servo gimbal. The control box is also electrically connected to the circulating fan. The control box and the tablet computer are connected remotely via WIFI. The control box is equipped with a safety control module, which is used to determine whether to terminate the operation of the fiber laser based on changes in the real-time images captured by the high-definition positioning camera.

[0006] As a further description of the above technical solution: An annular slit with a width of 0.8mm-3mm is provided between the inner wall of the sleeve and the housing of the laser obstacle clearing device. The annular interlayer is connected to the inside of the laser outlet of the laser obstacle clearing device through the annular slit. A limiting ring is integrally formed on the housing of the laser obstacle clearing device, and the limiting ring is located on the right side of the sleeve.

[0007] As a further description of the above technical solution: The gas in the annular interlayer enters the laser obstacle clearing device through the annular slit and tilts towards the focusing and directional lens group.

[0008] As a further description of the above technical solution: A rubber cap is inserted into the sleeve, and the rubber cap is located at the end of the sleeve away from the limiting ring.

[0009] As a further description of the above technical solution: The safety control module includes an image synthesis unit, an image comparison unit, and a termination command sending unit. The image synthesis unit is used to synthesize images from the starting point of the target obstacle clearance to the ending point of the target obstacle clearance into a single wide-area image. The image comparison unit is used to compare the real-time image captured by the current high-definition positioning camera with the wide-area image. When the difference between the wide-area image and the real-time image captured by the high-definition positioning camera exceeds a preset threshold, an abnormal report is sent to the termination command sending unit. The termination command sending unit sends a termination command to the control box based on the abnormal report sent by the image comparison unit.

[0010] As a further description of the above technical solution: The laser obstacle clearing device is equipped with an indicator laser. The direction of the indicator laser is parallel to the laser of the laser obstacle clearing device, and the light emitted by the indicator laser is visible red light.

[0011] As a further description of the above technical solution: The safety control module includes a ranging unit, which is used to calculate the distance between the indicator light spot of the monitoring indicator laser and the main laser working point of the laser obstacle clearing device in the image captured in real time by the high-definition positioning camera, and upload the distance data to the control box in real time. The control box controls the power of the circulating fan and terminates the operation of the laser obstacle clearing device based on the monitoring data of the ranging unit.

[0012] This invention also employs: The obstacle removal method based on a laser-based long-range non-contact obstacle removal system includes the following obstacle removal steps: S1. Set up and install the portable laser obstacle removal box, laser bracket and laser obstacle removal device, and connect the portable obstacle removal box, laser bracket and laser obstacle removal device through wires; S2. Open the rubber cover on the sleeve and start the circulating fan. The outside air is filtered by the filter plate and then drawn into the air box. It is then introduced into the annular jacket through the air guide pipe and finally sprayed out through the annular slit to form an air curtain to isolate the outside air. S3. Pre-start the high-definition positioning camera, select the obstacle clearing target through the human-computer interaction interface of the tablet computer, and control the servo gimbal to adjust the laser direction of the laser obstacle clearing device through the control box; S4. Start the fiber laser and direct the laser beam to the obstacle clearing target through the optical path transmission mirror group and the focusing and directional mirror group.

[0013] As a further description of the above technical solution: During the clearing process of the fiber laser, the safety control module controls the termination of the fiber laser during operation.

[0014] Compared with the prior art, the advantages of this invention are: (1) This solution improves the position of the laser obstacle clearing device to avoid the thermal lensing effect, thereby ensuring the concentration and accuracy of the laser, allowing the laser to act more accurately on the obstacle clearing target, thus efficiently completing the obstacle clearing work, and preventing external air dust from contaminating the lens.

[0015] (2) In this solution, in response to the deviation of the laser obstacle clearing device's emission position caused by human factors and ground vibration in the obstacle clearing environment, the laser obstacle clearing device's irradiation direction is determined by the difference in the edge of the image and the laser obstacle clearing device's termination of operation command is controlled by taking real-time pictures and comparing them with the wide-area pictures synthesized before operation. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the obstacle clearing system of the present invention; Figure 2 This is a schematic diagram of the assembly structure of the laser bracket and the laser obstacle removal device of the present invention; Figure 3 This is a frontal sectional view of the laser obstacle removal device of the present invention; Figure 4 For the present invention Figure 3 Enlarged structural diagram of section A in the middle; Figure 5 This is a schematic diagram of the safety control module of the present invention; Figure 6 This is a schematic diagram illustrating the principle of the non-contact obstacle removal system of the present invention; Figure 7 This is a schematic diagram illustrating the working principle of the ranging unit of the present invention; Figure 8 This is a schematic diagram of the obstacle removal process of the obstacle removal system of the present invention.

[0017] Explanation of the labels in the diagram: 1. Portable laser obstacle removal case; 11. Control box; 111. Safety control module; 1111. Image synthesis unit; 1112. Image comparison unit; 1113. Termination command sending unit; 1114. Ranging unit; 12. Tablet PC; 2. Laser bracket; 3. Laser obstacle removal device; 31. Fiber laser; 32. Optical path transmission mirror group; 33. Focusing and directional mirror group; 34. Laser stabilization component; 341. Sleeve; 342. Annular interlayer; 343. Air duct; 344. Air box; 345. Circulating fan; 346. Filter plate; 347. Annular slit; 348. Rubber cover; 35. High-definition positioning camera; 36. Limiting ring; 4. Servo gimbal; 5. Indicator laser. Detailed Implementation

[0018] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0019] Please see Figure 1-8 The present invention provides Embodiment 1: The laser-based long-range non-contact obstacle removal system includes a portable laser obstacle removal case 1, a laser bracket 2, and a laser obstacle removal device 3. The portable laser obstacle removal case 1 is connected to the laser obstacle removal device 3 via a cable. A servo gimbal 4 is mounted on the top of the laser bracket 2, and the laser obstacle removal device 3 is attached to the servo gimbal 4. The laser obstacle removal device 3 includes: a fiber laser 31 for generating obstacle removal laser; an optical path transmission mirror group 32 for transmitting the generated obstacle removal laser; a focusing and directional mirror group 33 for orienting, zooming, and focusing the generated obstacle removal laser so that the laser acts on the obstacle removal target; a laser stabilization component 34 for protecting the focusing and directional mirror group 33 and maintaining laser stability; and a high-definition positioning camera 35 for capturing images of the obstacle removal target point to assist in point-to-point obstacle removal.

[0020] The laser stabilization component 34 includes a sleeve 341 threaded onto the housing of the laser obstacle clearing device 3. The sleeve 341, the optical path transmission mirror assembly 32, and the focusing and orientation mirror assembly 33 are located on the same axis. An annular interlayer 342 is provided between the sleeve 341 and the housing of the laser obstacle clearing device 3. The annular interlayer 342 is connected to the inside of the laser outlet of the laser obstacle clearing device 3. A bellows 344 is provided inside the housing of the laser obstacle clearing device 3. A circulation fan 345 and a filter plate 346 are fixedly installed inside the bellows 344. One end of a duct 343 connected to the bellows 344 is fixedly installed on the bellows 344. The other end of the duct 343 is fixedly connected to the sleeve 341 and connected to the inside of the annular interlayer 342.

[0021] To address the thermal lensing effect at the emission port of the laser obstacle clearing device 3 during laser obstacle clearing, a relatively clean gas is formed by filtering external air through a filter plate 346 via a circulating fan 345 and then introducing it into the annular interlayer 342 between the sleeve 341 and the housing of the laser obstacle clearing device 3. The gas is then blown into the interior of the laser obstacle clearing device 3 through the connection at the same pressure, accelerating the gas flow at the emission port of the laser obstacle clearing device 3. This prevents the air at the emission port of the laser obstacle clearing device 3 from being continuously heated, thus avoiding the thermal lensing effect and significantly reducing or even eliminating the thermal divergence and spot drift of the laser caused by the thermal lensing effect.

[0022] The portable laser obstacle removal case 1 contains a control box 11 and a tablet computer 12. The tablet computer 12 has a human-machine interface. The control box 11 receives the images captured by the high-definition positioning camera 35 and is electrically connected to the laser obstacle removal device 3 and the servo gimbal. The control box 11 is also electrically connected to the circulating fan 345. The control box 11 and the tablet computer 12 are connected remotely via Wi-Fi. The control box 11 contains a safety control module 111, which is used to determine whether to terminate the operation of the fiber laser 31 based on the changes in the real-time images captured by the high-definition positioning camera 35.

[0023] An annular slit 347 with a width of 0.8mm-3mm is provided between the inner wall of the sleeve 341 and the housing of the laser obstacle clearing device 3. The annular interlayer 342 is connected to the inside of the laser outlet of the laser obstacle clearing device 3 through the annular slit 347. A limiting ring 36 is integrally formed on the housing of the laser obstacle clearing device 3, and the limiting ring 36 is located on the right side of the sleeve 341.

[0024] The annular slit 347 allows clean gas to be discharged from the annular interlayer 342, which can easily form an annular air curtain to isolate external gas. The clean gas inside the sleeve 341 always maintains a positive pressure, preventing unfiltered external gas from entering the emission port of the laser obstacle clearing device 3 and contaminating the focusing and directional lens group 33, thus improving the working effect of the laser. At the same time, it prevents excessive dust from adhering to the lens and absorbing laser heat, which would cause the lens to overheat.

[0025] The limiting ring 36 can limit the position of the sleeve 341 threadedly connected to the housing of the laser obstacle clearing device 3, causing the annular slit 347 to close or become too small, resulting in poor airflow. The gas in the annular interlayer 342 enters the laser obstacle clearing device 3 through the annular slit 347 and tilts towards the focusing and directional lens group 33.

[0026] The air curtain formed blows towards the outer lens of the focusing and directional lens group 33, which can play a role in air cooling, assisting the lens in heat dissipation, and preventing the lens from overheating and expanding, which would lead to laser power loss. At the same time, it can also clean the lens. Compared with other internal lenses, the outermost lens is extremely susceptible to dust contamination. The cleaning ability can ensure the cleanliness of the outer lens and maintain its light transmission.

[0027] A rubber cap 348 is inserted into the sleeve 341, and the rubber cap 348 is located at the end of the sleeve 341 away from the limiting ring 36. When the laser obstacle clearer 3 is not in use, the opening of the sleeve 341 is sealed by the rubber cover 348 to protect the internal lens.

[0028] The laser obstacle clearing device 3 is equipped with an indicator laser 5. The direction of illumination of the indicator laser 5 is parallel to the laser of the laser obstacle clearing device 3. The light emitted by the indicator laser 5 is red light visible to the naked eye. A red visible light parallel to the main laser is emitted through a lower power indicator laser 5 to assist the operator in accurate aiming.

[0029] Please see Figure 1 , 2 Based on Embodiment 1, Embodiment 2 of the present invention is also provided: 5, 6, and 7. The safety control module 111 includes an image synthesis unit 1111, an image comparison unit 1112, and a termination command sending unit 1113. The image synthesis unit 1111 is used to synthesize the images from the starting point of the target obstacle clearing to the ending point of the target obstacle clearing into a single wide-area image. The image comparison unit 1112 is used to compare the real-time captured image of the current high-definition positioning camera 35 with the wide-area image. When the difference between the wide-area image and the real-time captured image of the high-definition positioning camera 35 exceeds a preset threshold, an abnormal report is sent to the termination command sending unit 1113. The termination command sending unit 1113 sends a termination command to the control box 11 based on the abnormal report sent by the image comparison unit 1112. The preset threshold for the difference in image differences can be reasonably limited based on experience.

[0030] Image comparison unit 1112 uses the Edge Similarity Simulation (ESIM) algorithm. The specific ESIM comparison process is as follows: Edge features are extracted from real-time captured images and wide-area images to obtain edge contrast maps, edge width maps, and edge orientation maps; The edge contrast maps of real-time captured images and wide-area images are compared pixel by pixel to generate an edge contrast similarity map. Similarly, an edge width similarity map and an edge direction similarity map are generated. An edge width pooling strategy is used to fuse the edge contrast similarity map, edge width similarity map, and edge direction similarity map into a single comprehensive measurement map, and output an ESIM score in the range of 0-1, where 0 means completely different and 1 means completely the same. When the ESIM score exceeds a preset threshold, an anomaly report is sent.

[0031] To address the attitude deviation of the laser obstacle clearing device 3 caused by human interference and ground vibration in the obstacle clearing environment, real-time images are captured and compared with a wide-area image synthesized before operation. The difference in the edge of the images is used to determine whether the position and attitude of the laser obstacle clearing device 3 have changed, thereby determining whether the main laser irradiation direction emitted by the laser obstacle clearing device 3 has deflected. When a deflection occurs, a command to stop the operation of the laser obstacle clearing device 3 is promptly sent through the termination command sending unit 1113.

[0032] The safety control module 111 includes a ranging unit 1114, which is used to calculate the distance between the indicator light spot of the monitoring indicator laser 5 and the main laser working point of the laser obstacle clearing device 3 in the image captured in real time by the high-definition positioning camera 35, and upload the distance data to the control box 11 in real time. The control box 11 controls the power of the circulating fan 345 and terminates the operation of the laser obstacle clearing device 3 based on the monitoring data of the ranging unit 1114.

[0033] By capturing images in real time by the high-definition positioning camera 35, the ranging unit 1114 monitors the distance between the indicator light point and the burning working point of the main laser in the image. Since the indicator red light is extremely close to and parallel to the main laser, the distance between the indicator light point and the burning working point of the main laser is almost constant except for the influence of the working environment. When the change in the distance between the indicator light point and the burning working point of the main laser exceeds the threshold, it serves as the basis for the change in the refractive index of the outermost lens of the focusing and directional lens group 33 due to thermal expansion. At this time, the control box 11 controls the circulating fan 345 to increase its power and increase the air volume ejected from the annular slit 347. At this time, the working mode of the laser stabilization component 34 changes from forming a stable air curtain to increasing the air force to improve heat dissipation and cleaning capabilities to dissipate heat and clean the lens. The duration is 1-2 seconds or other intervals can be set by the user. If the difference in the distance between the indicator light point and the burning working point of the main laser is not resolved, it indicates that it is not a lens problem. The control box 11 controls the laser obstacle clearing device 3 to stop working, which is convenient for the staff to troubleshoot and maintain. This monitoring function can also be turned off by the staff to allow the laser obstacle clearing device 3 to work.

[0034] Based on the above, the working logic of the ranging unit 1114 is to acquire images captured by the high-definition positioning camera 35 in real time and detect whether the indicator light spot of the indicator laser 5 and the main laser working point (burning point) exist in the image. If both exist in the image, the pixel distance between them is calculated and compared with a preset threshold (which can be manually set according to actual conditions). The comparison with the preset threshold is based on the following scenarios: 1. If the spacing is stable within the threshold, the system judges that it is working normally and maintains the current circulating fan power of 345.

[0035] 2. If the distance gradually increases beyond the threshold, it is determined that the outer lens of the focusing and directional lens group 33 is contaminated or the refractive index changes due to thermal expansion. The system will increase the power of the circulating fan 345 to enhance heat dissipation and cleaning. If the distance does not return to the preset threshold range after 1-2 seconds, the laser obstacle clearing device will be terminated.

[0036] 3. If the spacing changes suddenly and drastically, it is determined to be mechanical vibration or gimbal displacement, and the laser operation should be terminated immediately.

[0037] 4. If the indicator light spot or the main laser burning point is missing in the image, the ranging unit cannot measure effectively, and the laser operation will be terminated immediately.

[0038] It should be noted that all commands to stop the operation of the laser obstacle clearing device 3 are of the highest priority, and no other levels are set.

[0039] Please see Figure 1-8 Based on Embodiments 1 and 2, the present invention also provides Embodiment 3: The obstacle removal method based on a laser-based long-range non-contact obstacle removal system includes the following obstacle removal steps: S1. Set up and install the portable laser obstacle removal box 1, the laser bracket 2 and the laser obstacle removal device 3, and connect the portable laser obstacle removal box 1, the laser bracket 2 and the laser obstacle removal device 3 through wires. S2. Open the rubber cover 348 on the sleeve 341 and start the circulation fan 345. After the outside air is filtered by the filter plate 346, it is drawn into the air box 344, then introduced into the annular jacket 342 through the air guide pipe 343, and finally sprayed out through the annular slit 347 to form an air curtain to isolate the outside air. S3. Pre-start the high-definition positioning camera 35, select the obstacle clearing target through the human-computer interaction interface of the tablet computer 12, and control the servo gimbal 4 through the control box 11 to adjust the laser direction of the laser obstacle clearing device 3. S4. Start the fiber laser 31 and direct the laser to the obstacle clearing target through the optical path transmission mirror group 32 and the focusing and directional mirror group 33.

[0040] During the obstacle clearing process of fiber laser 31, the safety control module 111 controls the termination of fiber laser 31 during operation.

[0041] The above description is merely a preferred embodiment of the present invention; however, the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and its improved concepts, should be covered within the scope of protection of the present invention.

Claims

1. A laser-based long-range non-contact obstacle removal system, comprising a portable laser obstacle removal case (1), a laser bracket (2), and a laser obstacle removal device (3), wherein the portable laser obstacle removal case (1) is connected to the laser obstacle removal device (3) via a cable, a servo motor gimbal (4) is mounted on the top of the laser bracket (2), and the laser obstacle removal device (3) is snapped onto the servo motor gimbal (4), characterized in that, The laser obstacle clearing device (3) includes: Fiber laser (31) is used to excite and generate obstacle clearing laser; The optical path transmission mirror assembly (32) is used to transmit the generated obstacle-clearing laser; The focusing and directional lens group (33) is used to orient, zoom and focus the generated obstacle-clearing laser so that the laser acts on the obstacle-clearing target; A laser stabilization assembly (34) is used to protect the focusing and directional lens group (33) and maintain laser stability; The laser stabilization component (34) includes a sleeve (341) threaded onto the housing of the laser obstacle clearing device (3), and the sleeve (341) is located on the same axis as the optical path transmission mirror group (32) and the focusing orientation mirror group (33). An annular interlayer (342) is provided between the sleeve (341) and the housing of the laser obstacle clearing device (3), and the annular interlayer (342) is connected to the inside of the laser outlet of the laser obstacle clearing device (3). A windbox (344) is provided inside the housing of the laser obstacle clearing device (3), and a circulating fan (345) and a filter plate (346) are fixedly installed inside the windbox (344). One end of a duct (343) connected to the windbox (344) is fixedly installed on the windbox (344), and the other end of the duct (343) is fixedly connected to the sleeve (341) and connected to the inside of the annular interlayer (342). A high-definition positioning camera (35) is used to capture images of the target point for obstacle removal, and to assist in fixed-point positioning and obstacle removal. The portable laser obstacle removal case (1) contains a control box (11) and a tablet computer (12). The tablet computer (12) is equipped with a human-machine interface. The control box (11) receives the shooting images from the high-definition positioning camera (35). The control box (11) is electrically connected to the laser obstacle clearing device (3) and the servo gimbal. The control box (11) is electrically connected to the circulating fan (345). The control box (11) and the tablet computer (12) are connected via Wi-Fi remote signal. The control box (11) is equipped with a safety control module (111). The safety control module (111) is used to determine whether to terminate the operation of the fiber laser (31) based on the changes in the real-time shooting images of the high-definition positioning camera (35).

2. The laser-based long-range non-contact obstacle removal system according to claim 1, characterized in that: An annular slit (347) with a width of 0.8mm-3mm is provided between the inner wall of the sleeve (341) and the housing of the laser obstacle clearing device (3). The annular interlayer (342) is connected to the inside of the laser outlet of the laser obstacle clearing device (3) through the annular slit (347). A limiting ring (36) is integrally formed on the housing of the laser obstacle clearing device (3). The limiting ring (36) is located on the right side of the sleeve (341).

3. The laser-based long-range non-contact obstacle removal system according to claim 2, characterized in that: The gas in the annular interlayer (342) enters the laser obstacle clearing device (3) through the annular slit (347) and tilts towards the focusing and directional lens group (33).

4. The laser-based long-range non-contact obstacle removal system according to claim 2, characterized in that: A rubber cap (348) is inserted into the sleeve (341), and the rubber cap (348) is located at the end of the sleeve (341) away from the limiting ring (36).

5. The laser-based long-range non-contact obstacle removal system according to claim 1, characterized in that: The safety control module (111) includes an image synthesis unit (1111), an image comparison unit (1112), and a termination command sending unit (1113). The image synthesis unit (1111) is used to synthesize the images from the starting point of the target obstacle clearing to the ending point of the target obstacle clearing into a single wide-area image. The image comparison unit (1112) is used to compare the real-time captured images of the current high-definition positioning camera (35) with the wide-area image. When the difference between the wide-area image and the real-time captured images of the high-definition positioning camera (35) exceeds a preset threshold, an abnormal report is sent to the termination command sending unit (1113). The termination command sending unit (1113) sends a termination command to the control box (11) based on the abnormal report sent by the image comparison unit (1112).

6. The laser-based long-range non-contact obstacle removal system according to claim 1, characterized in that: The laser obstacle clearing device (3) is equipped with an indicator laser (5). The irradiation direction of the indicator laser (5) is parallel to the laser of the laser obstacle clearing device (3). The irradiation light of the indicator laser (5) is visible red light.

7. The laser-based long-range non-contact obstacle removal system according to claim 1, characterized in that: The safety control module (111) includes a ranging unit (1114), which is used to calculate the distance between the indicator light spot of the monitoring indicator laser (5) and the main laser working point of the laser obstacle clearing device (3) in the real-time image captured by the high-definition positioning camera (35), and upload the distance data to the control box (11) in real time. The control box (11) controls the power of the circulating fan (345) and terminates the operation of the laser obstacle clearing device (3) according to the monitoring data of the ranging unit (1114).

8. A method for clearing obstacles based on the laser-based long-range non-contact obstacle clearing system according to any one of claims 1-7, characterized in that, The following clearance steps are included: S1. Set up and install the portable laser obstacle clearing box (1), laser bracket (2) and laser obstacle clearing device (3), and connect the portable obstacle clearing box (1), laser bracket (2) and laser obstacle clearing device (3) through wires; S2. Open the rubber cover (348) on the sleeve (341) and start the circulation fan (345). The outside air is filtered through the filter plate (346) and drawn into the air box (344). Then it is introduced into the annular interlayer (342) through the air guide pipe (343). Finally, it is sprayed out through the annular slit (347) to form an air curtain and isolate the outside air. S3. Pre-start the high-definition positioning camera (35), select the obstacle clearing target through the human-computer interaction interface of the tablet computer (12), and control the servo gimbal (4) through the control box (11) to adjust the laser direction of the laser obstacle clearing device (3); S4. Start the fiber laser (31) and direct the laser to the obstacle clearing target through the optical path transmission mirror group (32) and the focusing and directional mirror group (33).

9. The obstacle removal method of the laser-based long-range non-contact obstacle removal system according to claim 8, characterized in that: During the obstacle clearing process of the fiber laser (31), the safety control module (111) controls the termination of the fiber laser (31) during the operation.

Images