Method and device for controlling laser foreign body removal equipment using intelligent terminal

Abstract

The present invention discloses a method and device for controlling laser foreign body removal equipment using an intelligent terminal, wherein the device includes: an actuator control device, a communication device and an intelligent terminal; wherein the intelligent terminal is used to: set corresponding control instructions for the pan-tilt head, laser and focus slide based on the foreign body image or foreign body video signal fed back by the camera, and send the corresponding control instructions to the actuator control device through the communication device; the actuator control device is used to: control the pan-tilt head, laser and focus slide according to the corresponding control instructions to achieve foreign body removal. The present invention separates the control interface and computing tasks of the laser foreign body removal equipment and transfers them to a portable intelligent terminal, and uses a wireless connection to control the equipment, which can reduce the volume / cost of the control system and improve the flexibility of use while achieving the function.

Description

Technical Field

[0001] The present invention relates to the technical field of foreign body removal of high-voltage power transmission network lines, and in particular to a method and device for controlling laser foreign body removal equipment by using an intelligent terminal. Background Art

[0002] This section is intended to provide a background or context to the embodiments of the invention recited in the claims. No admission is made that the description herein is prior art by inclusion in this section.

[0003] Foreign matter entangled on high-voltage wires is one of the main causes of line failures in high-voltage transmission networks, and the short-circuit accidents caused by them account for more than half of the accidents caused by external force damage. Therefore, the timely removal of foreign matter on transmission lines is an issue that the power industry attaches great importance to. The traditional method of manual removal is inefficient and high-risk; while the method of using drones, hanging line robots, etc. for removal is difficult to operate, has a high self-damage rate, and is prone to secondary hazards. In recent years, the method of using lasers to remove foreign matter from wires from the ground at a long distance has gradually become a mainstream method of cleaning due to its advantages such as easy transportation, easy operation, rapid removal, and safety of transmission cables.

[0004] Currently, there are laser devices for foreign body removal on the market. The control of laser pointing, focus, power, etc. determines the accuracy and efficiency of the work, so the hardware and algorithm of the control part are crucial. Many researchers have conducted in-depth research on the algorithms involved in the removal task, such as video recognition, focus, and removal method. However, from the published research results, most of these devices integrate power supply, drive, control, calculation, display, and operation interface. They use a dedicated industrial computer as the core of the control hardware system to process the control algorithm and operate each subsystem. This has the following two main disadvantages: (1) The complexity of the system brings about high cost, inconvenience in use, and insufficient reliability; (2) It is inconvenient to maintain system components and upgrade algorithms and control methods. Summary of the invention

[0005] The embodiment of the present invention provides a device for controlling a laser foreign body removal device using an intelligent terminal, so as to reduce the volume / cost of the control system and improve the flexibility of use under the premise of realizing the function. The device includes: an actuator control device, a communication device and an intelligent terminal;

[0006] The intelligent terminal is used to: set corresponding control instructions for the pan / tilt, laser and focus slide based on the foreign body image or foreign body video signal fed back by the camera, and send the corresponding control instructions to the actuator control device through the communication device;

[0007] The actuator control device is used to control the actions of the pan / tilt platform, laser and focusing slide according to the corresponding control instructions to achieve foreign matter removal.

[0008] The embodiment of the present invention also provides a method for controlling a laser foreign body removal device using an intelligent terminal, so as to reduce the volume / cost of the control system and improve the flexibility of use while achieving the function. The method includes:

[0009] The intelligent terminal receives the foreign object image or foreign object video signal fed back by the camera, sets corresponding control instructions for the pan / tilt, laser and focus slide based on the foreign object image or foreign object video signal fed back by the camera, and sends the corresponding control instructions to the actuator control device through the communication device;

[0010] The actuator control device controls the movement of the pan / tilt head, laser and focusing slide according to the corresponding control instructions to achieve foreign matter removal.

[0011] An embodiment of the present invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned method of controlling the laser foreign matter removal device using an intelligent terminal when executing the computer program.

[0012] An embodiment of the present invention further provides a computer-readable storage medium, which stores a computer program for executing the above-mentioned method of controlling the laser foreign matter removal device by using an intelligent terminal.

[0013] In the embodiment of the present invention, compared with the technical solution in the prior art of using an industrial control all-in-one computer to complete power supply, drive, control, calculation, display, and operation interface, by separating the control interface and calculation tasks of the laser foreign matter removal device and transferring them to the intelligent terminal, and using a wireless connection to control the laser foreign matter removal device through a communication device and an actuator control device, the volume / cost of the control system can be reduced and the flexibility of use can be improved while achieving the function. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0015] Figure 1 This is a structural block diagram of a device for controlling a laser foreign body removal device using an intelligent terminal in an embodiment of the present invention;

[0016] Figure 2 It is a schematic diagram of the overall form of the physical device in an embodiment of the present invention;

[0017] Figure 3 A schematic diagram of the structure and communication mode of the actuator control device and the communication device in an embodiment of the present invention;

[0018] Figure 4 A schematic flow chart of a method for controlling a laser foreign body removal device by using an intelligent terminal in an embodiment of the present invention;

[0019] Figure 5 It is a schematic diagram of the actual cleaning operation effect in an embodiment of the present invention. DETAILED DESCRIPTION

[0020] To make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings. Here, the exemplary embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.

[0021] Laser foreign body removal equipment is mainly used to remove foreign bodies such as kites, sunshade nets, and plastic greenhouses wrapped around high-voltage wires. The removal equipment is placed on the ground and focuses a high-power laser on the target object, causing it to burn / melt and fall off. In the removal task, the target object is usually more than 100 meters away from the removal equipment. Using laser to burn foreign bodies at this distance requires accurate control of the laser pointing and focus. To this end, in addition to the laser, a pan / tilt that can rotate horizontally / vertically and a high-precision focusing slide for adjusting the focusing lens are required. In order to facilitate operation and accurate positioning, a camera with higher clarity and a long-distance optical zoom function is required to achieve visual capture of the target object.

[0022] The main process of foreign body removal is to first control the horizontal and vertical angles of the pan-tilt through the control interface based on the feedback of the camera image, so that the laser output by the laser is facing the target; output the laser at low power, and adjust the position of the focusing lens through the feedback of the size of the focus on the foreign body, so that the laser can focus on the foreign body and increase the power density; then, select a reasonable removal method, such as spot burning, scanning, etc., to determine the movement trajectory of the pan-tilt and the output power of the laser during the removal operation. After starting the operation, the control system will automatically control the rotation of the pan-tilt and the output of the laser according to the previously selected removal method and coordinate position, so as to achieve the removal of foreign bodies.

[0023] From the above task and process descriptions, it can be seen that the control system of the laser foreign body removal equipment needs to accurately control the direction of the two-dimensional pan-tilt head, the position of the focusing lens (i.e., lens), the switching and power capabilities of the laser, and control the camera parameters (focal length, exposure, etc.), the image / video feedback on the display, and provide a corresponding operation interface.

[0024] In actual use, most of the control in the task of laser foreign body removal does not involve the communication of large amounts of complex calculations, and does not require a high-performance computing platform to complete. For example, target search and laser focus adjustment are all one-time tasks; and once the removal method is determined, the control trajectory of the pan / tilt and the power control of the laser are also completely determined. In the complete operation process, the demand for data link traffic and calculation is mainly concentrated on video encoding and decoding and possible processing work. Since most cameras support direct exchange of video and control data with smart terminals (mobile phones, tablets, etc.) through wired or wireless interfaces, this part can be separated, and the display feedback, human-machine interface, computing power and network functions of smart electronic devices such as smart phones and tablets can be used to control the laser foreign body removal equipment. The remaining control of the actuator can be achieved in a small volume at a very low cost and power consumption. Such a design is equivalent to splitting the traditional integrated control system into two parts: a low-cost module for controlling and driving equipment, and a controller with a smart terminal as the core. The former controls the movement of each actuator, and the latter is responsible for image display, parameter calculation and provides a human-computer interaction interface. The two exchange data through a wireless network.

[0025] Based on the above design, the present invention proposes a device for controlling a laser foreign body removal device using an intelligent terminal, such as Figure 1 As shown, it includes: an actuator control device, a communication device and an intelligent terminal;

[0026] The intelligent terminal is used to: set corresponding control instructions for the pan / tilt, laser and focus slide based on the foreign body image or foreign body video signal fed back by the camera, and send the corresponding control instructions to the actuator control device through the communication device;

[0027] The actuator control device is used to control the actions of the pan / tilt platform, laser and focusing slide according to the corresponding control instructions to achieve foreign matter removal.

[0028] Specifically, in the traditional laser foreign body removal system, some steps, such as using the camera's telephoto to lock the target, laser focus adjustment and other functions, are time-consuming and laborious to operate manually. Taking the target locking function as an example, the accuracy of the camera's position control based on the image is insufficient in the wide-angle state; and in the telephoto state, the field of view is very narrow, making it difficult to capture the target object in the field of view, and repeated switching is often required in actual operation. The present invention utilizes algorithms such as image recognition deployed in the smart terminal. After selecting the target object in the wide-angle state, the pan / tilt can be adjusted synchronously during the process of adjusting the focal length to ensure that the target object is always in the center of the field of view, thereby improving the efficiency of control.

[0029] When it is a foreign body image, the intelligent terminal is used to: perform image processing on the foreign body image fed back by the camera, and set corresponding control instructions for the pan / tilt, laser and focus slide based on the image processing result;

[0030] When it is a foreign object video signal, the intelligent terminal is used to: extract the foreign object image from the foreign object video signal, perform image processing on the extracted foreign object image, and set corresponding control instructions for the pan / tilt head, laser and focus slide based on the image processing results.

[0031] In the embodiment of the present invention, Figure 1 As shown, the camera can feed back the foreign object image to the smart terminal through the communication device.

[0032] In an embodiment of the present invention, Figure 2 It is a schematic diagram of the overall form of the physical device. Figure 2 The hardware of the control and drive part (i.e., actuator control device and communication device) in the structure shown mainly includes two functions: control of actuators (pan-tilt head, focus slide (i.e., translation stage), laser), and wireless communication with the control tablet (i.e., smart terminal). For the sake of versatility and easy maintenance, they are developed as two independent modules.

[0033] In the control of the actuator, adjusting the pan / tilt angle and the position of the lens can be attributed to the control of the stepper motor, and the control circuit is required to output the direction and step pulse. The laser switch is realized by the switch signal, and its power is adjusted by the analog voltage signal output. In order to realize the requirements of multi-channel switch quantity, pulse signal and analog voltage output included in this application, a low-cost general-purpose microcontroller STM32F103ZET6 with multi-channel PWM (pulse width modulation) signal output and DAC (digital-to-analog conversion) is used as the main processor of the actuator control board.

[0034] like Figure 3 As shown, the actuator control device (i.e., the actuator control board) includes a microprocessor (MCU), a first signal output interface, a second signal output interface, a third signal output interface, a fourth signal output interface, and a fifth signal output interface;

[0035] The microprocessor is used to distinguish the corresponding control instructions of the pan / tilt, laser and focus slide, and obtain the pan / tilt motor horizontal control signal, pan / tilt motor vertical control signal, focus slide motor control signal, laser switch control signal and laser power control signal;

[0036] The first signal output interface is used to: output a pan / tilt motor horizontal control signal to the pan / tilt to control the pan / tilt horizontal adjustment;

[0037] The second signal output interface is used to: output a vertical control signal of the gimbal motor to the gimbal to control the vertical adjustment of the gimbal;

[0038] The third signal output interface is used to: output a focus slide motor control signal to the focus slide, so as to control the pan / tilt focus slide to adjust the position of the focus lens;

[0039] The fourth signal output interface is used to: output a laser switch control signal to the laser to control the laser switch to turn on or off;

[0040] The fifth signal output interface is used to output a laser power control signal to the laser to control the adjustment of the laser power.

[0041] The actuator control device also includes: an optocoupler isolation module and a digital-to-analog conversion module; the optocoupler isolation module is connected to the first signal output interface, the second signal output interface and the third signal output interface; the digital-to-analog conversion module is connected to the fifth signal output interface. Optocoupler isolation is isolation using an optocoupler. The structure of the optocoupler is equivalent to encapsulating a light-emitting diode and a phototransistor together. The optocoupler isolation circuit eliminates direct electrical connection between the two isolated circuits, mainly to prevent interference caused by electrical connection, especially between a low-voltage control circuit and an external high-voltage circuit.

[0042] The actuator control device also includes: a focus slide limit signal input interface for receiving a focus slide limit signal, thereby obtaining information that the lens has physically reached a specific position. When the slide triggers the limit switch, the control system obtains information that the slide has reached the start or end of the slide rail, and can use this as a basis to stop further adjustment actions or calibrate the absolute position of the focus slide.

[0043] In the embodiment of the present invention, in order to take into account the versatility of display and human-machine interface, WLAN supported by all portable intelligent terminals is selected as the main wireless communication mode of the control system. Although some high-end single-chip microcomputers / ARM chips can directly or in conjunction with Ethernet PHY chips and LwIP and other protocol stacks to implement IP network functions, considering that network communication occupies a separate thread and may have an adverse effect on the time of the control task, another independent low-cost processor is used as a communication device (i.e., a communication board), that is, a Raspberry Pi Compute Module 3 (Rpi-CM) is used to issue commands to the control circuit of the laser foreign body removal device, and through its USB interface, using a USB-WLAN wireless network card, or using USB-ETH PHY plus a wireless router / switch to realize wireless IP communication between the device itself and the outside world (HD camera / intelligent terminal), such as Figure 3As shown in the figure. Rpi-CM is an industrial-grade module with a CPU, memory and on-chip storage in the size of a DDR2 memory bar. Its complete operating system Raspbian provides full support for IP network protocols. Rpi-CM cannot be used independently, and an expansion board needs to be developed for it to bring out various interfaces for connection with other devices. In the design of the control system, SPI (Serial Peripheral Interface) and several GPIOs are selected as the interface for data exchange between the communication board and the actuator control board to ensure the communication speed and real-time performance.

[0044] In the design of the device that uses the smart terminal to control the laser foreign body removal equipment, the decoupling of the control of the actuator and the control software makes the two CPUs inside the device basically have no computing pressure. The communication board only needs to "translate" the control commands sent by the smart terminal to the actuator control device, and query the various states of the laser foreign body removal equipment according to specific needs, and feedback to the smart terminal; the actuator control device only needs to perform the corresponding driving action according to the command transmitted by the communication device through SPI. As long as the design ensures that various control instructions and actions can cover all operations on each actuator, the functions of these two parts are completely determined and almost no maintenance and upgrades are required.

[0045] On the other hand, the software that controls the overall process is written and run on the smart terminal. Writing programs in high-performance smart terminals with Windows / Linux / Android / iOS operating systems to obtain the camera's image data for calculation and output corresponding control actions has a lower technical threshold and is easier to transplant and maintain than developing in an embedded system. Combined with the above process, the main software processes of the three processors and their mutual coordination are as follows: Figure 4 As shown in the figure: After the laser foreign body removal device is powered on normally, the communication device will start a TCP server and wait for the portable intelligent terminal for control to connect. When the APP in the intelligent terminal is started, it will actively connect to this server and perform identity verification and other tasks. After the connection is successful, the intelligent terminal will initiate the initialization of the entire system, and then continue to pass parameters to the server in the communication device to control the coordinated actions of various devices.

[0046] It can be seen that the calculations in all processes almost entirely occur on the smart terminal. In the aiming and clearing stages, manual identification and processing can be performed, or the corresponding algorithms can be deployed for adjustment based on the image processing capabilities of the control terminal. For tasks that require high computing power, if the computing power of the smart terminal itself is insufficient, it can also use its own network connection capabilities (such as 4G, 5G, etc.) to transmit images and video signals to cloud / edge computing servers, and rely on the algorithms deployed on them for calculations.

[0047] During the test, the intelligent terminal used a general Windows tablet and was directly controlled by a touch screen. In the manual mode of the software, the operation of the actuator can be controlled by various buttons, and operations such as point selection and aiming can be performed directly on the image captured by the camera.

[0048] In the test experiments that have been conducted, the laser foreign body removal equipment can be accurately controlled by the intelligent terminal to remove foreign bodies entangled on the target object simulating the wire within 100 meters. Figure 5 . Figure 5 From left to right in the figure, the experiments of removing ground film, branches and nylon ropes from cables are shown. For ground film and kites, the linear scanning mode is used, that is, the laser focus reciprocates and cuts near two working points; for branches, the spot burning mode is used, that is, the laser focus is concentrated at a fixed position until the target is removed. The experiment shows that the control speed and accuracy of the control system can meet the needs of practical applications.

[0049] The embodiment of the present invention also provides a device for controlling the laser foreign body removal device using an intelligent terminal, as described in the following embodiment. Since the principle of solving the problem by the device is similar to the method for controlling the laser foreign body removal device using an intelligent terminal, the implementation of the device can refer to the implementation of the method for controlling the laser foreign body removal device using an intelligent terminal, and the repeated parts will not be repeated.

[0050] The method for controlling the laser foreign body removal device by using the intelligent terminal comprises:

[0051] The intelligent terminal receives the foreign object image or foreign object video signal fed back by the camera, sets corresponding control instructions for the pan / tilt, laser and focus slide based on the foreign object image or foreign object video signal fed back by the camera, and sends the corresponding control instructions to the actuator control device through the communication device;

[0052] The actuator control device controls the movement of the pan / tilt head, laser and focusing slide according to the corresponding control instructions to achieve foreign matter removal.

[0053] The detailed process is as follows Figure 4 shown.

[0054] An embodiment of the present invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned method of controlling the laser foreign matter removal device using an intelligent terminal when executing the computer program.

[0055] An embodiment of the present invention further provides a computer-readable storage medium, which stores a computer program for executing the above-mentioned method of controlling the laser foreign matter removal device by using an intelligent terminal.

[0056] In the embodiment of the present invention, the method and device for controlling the laser foreign matter removal device by using the intelligent terminal can provide the following conveniences compared with the existing integrated control system:

[0057] (1) Use modular structure to separate control / display and mechanical / electronic control, which is convenient for hardware system maintenance;

[0058] (2) Use general-purpose devices (intelligent terminals) to realize system control and display, improve system adaptability, and reduce system costs;

[0059] (3) Transferring computing pressure to general-purpose devices (smart terminals) greatly reduces the hardware requirements of the mechanical / electronic parts and reduces the cost of the front end;

[0060] (4) By utilizing the network functions of smart terminals, complex computing and control can be further transferred to the network cloud / edge, greatly improving the flexibility of the system;

[0061] (5) Changes to the control method / algorithm only require software upgrades, which can be performed online.

[0062] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0063] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0064] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0065] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0066] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A device for controlling laser foreign body removal equipment using an intelligent terminal. It is characterized in that include: Actuator control devices, communication devices and intelligent terminals; The smart terminal is used to: set corresponding control instructions for the pan / tilt, laser and focus slide based on the foreign object image or foreign object video signal fed back by the camera, and send the corresponding control instructions to the actuator control device through the communication device; wherein an image recognition algorithm is deployed in the smart terminal to achieve synchronous adjustment of the pan / tilt during the process of adjusting the focal length after selecting the target object in the wide-angle state, so as to ensure that the target object is always in the center of the field of view; the smart terminal is also used to use its own network connection capability to transmit the image and video signal to the cloud or edge computing server, and perform calculations based on the algorithm deployed thereon; The actuator control device is used to: control the movement of the pan / tilt, laser and focus slide according to the corresponding control instructions to achieve foreign matter removal; wherein, the adjustment of the pan / tilt angle and the position of the lens is attributed to the control of the stepper motor, and the requirements for the control circuit are the output of the direction and step pulse; the switch of the laser is realized by the switch signal, and the adjustment of its power is output by the analog voltage signal; The communication device uses a Raspberry Pi processor, including a serial peripheral interface SPI and a communication interface, and exchanges data with the actuator control device through the serial peripheral interface SPI; and exchanges data with the smart terminal and the camera through the communication interface; The actuator control device adopts an STM32F103ZET6 single-chip microcomputer, including a microprocessor, a first signal output interface, a second signal output interface, a third signal output interface, a fourth signal output interface and a fifth signal output interface; Wherein, the microprocessor is used to distinguish the corresponding control instructions of the pan-tilt head, laser and focusing slide, and obtain the pan-tilt head motor horizontal control signal, pan-tilt head motor vertical control signal, focusing slide motor control signal, laser switch control signal and laser power control signal; the first signal output interface is used to output the pan-tilt head motor horizontal control signal to the pan-tilt head to control the horizontal adjustment of the pan-tilt head; the second signal output interface is used to output the pan-tilt head motor vertical control signal to the pan-tilt head to control the vertical adjustment of the pan-tilt head; the third signal output interface is used to output the focusing slide motor control signal to the focusing slide to control the pan-tilt head focusing slide to adjust the position of the focus lens; the fourth signal output interface is used to output the laser switch control signal to the laser to control the laser switch to be turned on or off; the fifth signal output interface is used to output the laser power control signal to the laser to control the adjustment of the laser power; The actuator control device further comprises: an optical coupling isolation module and a digital-to-analog conversion module; the optical coupling isolation module is connected to the first signal output interface, the second signal output interface and the third signal output interface; the digital-to-analog conversion module is connected to the fifth signal output interface; The actuator control device also includes: a focus slide limit signal input interface, which is used to receive the focus slide limit signal and obtain information that the lens has physically reached a specific position.

2. The device for controlling the laser foreign body removal device by using an intelligent terminal as claimed in claim 1, It is characterized in that When it is a foreign body image, the intelligent terminal is used to: perform image processing on the foreign body image fed back by the camera, and set corresponding control instructions for the pan / tilt, laser and focus slide based on the image processing result; When it is a foreign object video signal, the intelligent terminal is used to: extract the foreign object image from the foreign object video signal, perform image processing on the extracted foreign object image, and set corresponding control instructions for the pan / tilt head, laser and focus slide based on the image processing results.

3. The device for controlling the laser foreign body removal device by using an intelligent terminal as claimed in claim 1, It is characterized in that The camera feeds back the foreign object image to the smart terminal through the communication device.

4. The device for controlling laser foreign body removal equipment by using an intelligent terminal as claimed in claim 1, It is characterized in that The intelligent terminal includes a touch screen, and corresponding control instructions of the pan / tilt, laser and focus slide are set by control buttons on the touch screen, thereby controlling the operation of the actuator; Display foreign object images or foreign object video signals by touching the screen.

5. A method for controlling laser foreign body removal equipment using an intelligent terminal, It is characterized in that The device for controlling a laser foreign body removal device using an intelligent terminal according to any one of claims 1 to 4, the method comprising: The smart terminal receives the foreign object image or foreign object video signal fed back by the camera, sets corresponding control instructions for the pan / tilt, laser and focus slide based on the foreign object image or foreign object video signal fed back by the camera, and sends the corresponding control instructions to the actuator control device through the communication device; wherein, an image recognition algorithm is deployed in the smart terminal, so that after selecting the target object in the wide-angle state, the pan / tilt is adjusted synchronously during the process of adjusting the focal length to ensure that the target object is always in the center of the field of view; the smart terminal is also used to use its own network connection capability to transmit the image and video signal to the cloud or edge computing server, and perform calculations based on the algorithm deployed thereon; The actuator control device controls the movement of the pan / tilt, laser and focus slide according to the corresponding control instructions to achieve foreign matter removal; Among them, according to the feedback of the camera image, the horizontal and vertical angles of the pan / tilt are controlled so that the laser output by the laser is directly facing the target; the laser is output at low power, and the position of the focusing lens is adjusted through the feedback of the size of the focus on the foreign object so that the laser can be focused on the foreign object and the laser power is increased; then, a reasonable cleaning method is selected to determine the movement trajectory of the pan / tilt and the output power of the laser during the cleaning operation; the cleaning methods include spot burning and scanning.

Images