High-altitude laser derusting device and method for substation equipment

Abstract

The invention provides a high-altitude laser derusting device and method for substation equipment, and relates to the technical field of laser derusting. The high-altitude laser derusting device for the substation equipment comprises a base; the supporting and adjusting mechanism is connected with the base, a laser emitting mechanism is arranged on the supporting and adjusting mechanism, and the laser emitting mechanism is used for emitting laser to conduct rust removal work on a rust removal object; wherein the supporting adjusting mechanism at least comprises a rotating adjusting mechanism, and the rotating adjusting mechanism can drive the laser emitting mechanism to rotate, so that the working posture of the laser emitting mechanism is adjusted. By applying the technical scheme of the invention, the efficiency and safety of rust removal work can be greatly improved, the aloft work time of operators is shortened, the labor cost is reduced, meanwhile, potential safety hazards possibly caused by manual rust removal are avoided, and the combination of a laser technology and automatic control is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of laser rust removal, and in particular to a high-altitude laser rust removal device and method for substation equipment. Background Art

[0002] High-altitude equipment often faces serious rust problems, which not only affects the appearance of the equipment, but also poses a potential threat to its normal operation. Traditional rust removal methods, such as manual polishing or the use of chemical cleaners, are not only inefficient, but may also cause secondary damage to the equipment, and the safety of operators cannot be fully guaranteed.

[0003] In the prior art, a first area to be derusted is determined by visual laser and a second area to be derusted is predicted, the first area to be derusted is derusted by a derusting laser, and then the second area to be derusted is operated according to the predicted position and a third area to be derusted is predicted, and this process is repeated until the derusting is completed. This solution acts on steel pipes, and the device is large in size and heavy in weight, making it difficult to move. It takes a lot of time and effort to carry and install. For some situations where rust removal operations need to be performed in different locations, the lack of mobility of the equipment will cause great inconvenience, and the existing devices have many defects in identifying rust removal areas and planning rust removal routes.

[0004] Currently, no effective solution has been proposed for the above-mentioned technical problems. Summary of the invention

[0005] The main purpose of the present invention is to provide a high-altitude laser rust removal device and method for substation equipment to solve the problems of poor rust removal effect and large size of the rust removal device in the prior art.

[0006] In order to achieve the above-mentioned purpose, according to one aspect of the present invention, there is provided a high-altitude laser rust removal device for substation equipment, comprising: a base; a support adjustment mechanism, the support adjustment mechanism is connected to the base, a laser emitting mechanism is arranged on the support adjustment mechanism, the laser emitting mechanism is used to emit laser to perform rust removal work on the rust removal object; wherein, the support adjustment mechanism at least includes a rotation adjustment mechanism, the rotation adjustment mechanism can drive the laser emitting mechanism to rotate, thereby adjusting the working posture of the laser emitting mechanism.

[0007] Furthermore, the high-altitude laser rust removal device for substation equipment also includes: a posture detection mechanism, which is arranged on at least one of the supporting and adjusting mechanism, the laser emitting mechanism, and the base, and is used to detect the working posture of the laser emitting mechanism.

[0008] Furthermore, the posture detection mechanism includes: a posture sensor, there is at least one posture sensor, and the posture sensor is arranged on the rotation adjustment mechanism; and a gyroscope, and the gyroscope is arranged on the base.

[0009] Furthermore, the high-altitude laser rust removal device for substation equipment also includes: a laser adjustment mechanism, which is electrically connected to the laser emitting mechanism and the posture detection mechanism, and the laser adjustment mechanism is used to adjust the working state of the laser emitting mechanism, and the working state at least includes the laser emitting power.

[0010] Furthermore, the high-altitude laser rust removal device for substation equipment also includes: a power supply mechanism, which is arranged on any one of the supporting and adjusting mechanism and the base, and is used to supply power to the laser emitting mechanism. The power supply mechanism includes at least a battery and an external plug-in connector, and the external plug-in connector is used to connect to an external power supply device.

[0011] Furthermore, the high-altitude laser rust removal device for substation equipment also includes: an image detection mechanism, which is arranged close to the laser emitting mechanism, and is used to detect the surface image of the rust removal object; wherein the image detection mechanism is electrically connected to the laser adjustment mechanism and the rotation adjustment mechanism.

[0012] Furthermore, the support adjustment mechanism also includes: a support rod, the support rod is arranged on the base, and the length of the support rod is adjustable, and a rotation adjustment mechanism is arranged at one end of the support rod.

[0013] Furthermore, the rotation adjustment mechanism includes: a first adjustment rod, one end of which is connected to the support rod, and the first adjustment rod is rotatably arranged relative to the support rod; a second adjustment rod, which is connected to the other end of the first adjustment rod, and the second adjustment rod is rotatably arranged relative to the first adjustment rod.

[0014] According to another aspect of the present invention, a method for high-altitude laser rust removal of substation equipment is provided, and the method is performed based on the above-mentioned high-altitude laser rust removal device for substation equipment, and the method includes the following steps: detecting a surface image of the rust removal object; determining rust removal work information based on the surface image, the rust removal work information at least including a rust removal path of a laser emitting mechanism and a rust removal laser frequency of the laser emitting mechanism; generating a control instruction set based on the rust removal path, the control instruction set being at least used to control the rotation of a rotation adjustment mechanism to drive the laser emitting mechanism to move along the rust removal path, and the control instruction set being at least used to control the laser emitting mechanism to work at the rust removal laser frequency.

[0015] Furthermore, the method includes the following steps: detecting the working posture of the laser emitting mechanism; when determining that the working posture is a preset posture, generating a first control instruction in a control instruction set, the first control instruction is at least used to control the laser emitting mechanism to stop emitting laser.

[0016] By applying the technical solution of the present invention, by arranging the rotation adjustment mechanism on the support adjustment mechanism, the rotation adjustment mechanism can drive the laser emitting mechanism to rotate, and then the working posture of the laser emitting mechanism can be adjusted, and the direction of laser emission can be flexibly adjusted to ensure that the laser is accurately emitted to the part that needs rust removal. It is particularly suitable for high-altitude parts that are difficult to reach in substation equipment, greatly improving the efficiency and safety of rust removal work, reducing the time of high-altitude operations for operators, reducing labor costs, and avoiding the potential safety hazards caused by manual rust removal, thereby realizing the combination of laser technology and automatic control. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0018] Figure 1 It shows a structural schematic diagram of a first embodiment of a high-altitude laser rust removal device for substation equipment according to the present invention;

[0019] Figure 2 It shows a structural schematic diagram of a second embodiment of a high-altitude laser rust removal device for substation equipment according to the present invention;

[0020] Figure 3 A structural schematic diagram showing an embodiment of a support adjustment mechanism according to the present invention is shown;

[0021] Figure 4 A schematic structural diagram of an embodiment of an image detection mechanism according to the present invention is shown;

[0022] Figure 5 A schematic structural diagram of an embodiment of a laser adjustment mechanism according to the present invention is shown;

[0023] Figure 6 A schematic structural diagram of an embodiment of an optical lens according to the present invention is shown;

[0024] Figure 7 A schematic structural diagram of an embodiment of a display mechanism according to the present invention is shown;

[0025] Figure 8 A flow chart showing an embodiment of a method for high-altitude laser rust removal of substation equipment according to the present invention is shown;

[0026] Fig. 9 A schematic structural diagram of an embodiment of a main control module according to the present invention is shown;

[0027] Fig.10 A schematic structural diagram of an embodiment of a motion control module according to the present invention is shown;

[0028] Fig.11 A schematic structural diagram of an embodiment of an image feedback module according to the present invention is shown;

[0029] Fig.12 A structural schematic diagram showing a first embodiment of an operating system for a rust removal device according to the present invention is shown;

[0030] Fig.13 A structural schematic diagram showing a second embodiment of an operating system for a rust removal device according to the present invention is shown;

[0031] Fig.14 A flowchart of an embodiment of a high-altitude laser rust removal method for substation equipment according to the present invention is shown.

[0032] The above drawings include the following reference numerals:

[0033] 1. Base; 2. Support rod; 3. Support column; 4. First adjustment rod; 5. First attitude sensor; 6. Second adjustment rod; 7. First position sensor; 8. Second attitude sensor; 9. Support plate; 10. Laser driver; 11. External shell; 12. Relay; 13. Fan; 14. Camera; 15. Fill light; 16. Ultrasonic sensor; 17. Second position sensor; 18. Capture card; 19. Wireless transceiver; 20. Central processing unit; 21. Power regulator; 22. Optical lens; 23. Sleeve; 24. Ring adjustment frame; 25. Optical lens group; 26. Motor; 27. Wireless controller; 28. Display screen; 29. ​​Joystick; 30. Gyroscope. DETAILED DESCRIPTION

[0034] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0035] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0036] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein, for example. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0037] Now, exemplary embodiments according to the present application will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in a variety of different forms and should not be construed as being limited to the embodiments described herein. It should be understood that these embodiments are provided to make the disclosure of the present application thorough and complete, and to fully convey the concepts of these exemplary embodiments to those of ordinary skill in the art. In the accompanying drawings, for the sake of clarity, the thickness of the layers and regions may be enlarged, and the same reference numerals are used to represent the same devices, and thus their descriptions will be omitted.

[0038] Combination Figures 1 to 7 As shown, according to a specific embodiment of the present application, a high-altitude laser rust removal device for substation equipment is provided.

[0039] Specifically, Figure 1 , Figure 2 As shown, the high-altitude laser rust removal device for substation equipment includes a base 1 and a support adjustment mechanism; the support adjustment mechanism is connected to the base 1, and a laser emitting mechanism is arranged on the support adjustment mechanism, and the laser emitting mechanism is used to emit laser to perform rust removal work on the rust removal object; wherein, the support adjustment mechanism at least includes a rotation adjustment mechanism, and the rotation adjustment mechanism can drive the laser emitting mechanism to rotate, thereby adjusting the working posture of the laser emitting mechanism.

[0040] By applying the technical solution of this embodiment, a rotation adjustment mechanism is arranged on the supporting adjustment mechanism. The rotation adjustment mechanism can drive the laser emitting mechanism to rotate, and then the working posture of the laser emitting mechanism can be adjusted. The direction of laser emission can be flexibly adjusted to ensure that the laser is accurately emitted to the part that needs rust removal. It is especially suitable for high-altitude parts that are difficult to reach in substation equipment, greatly improving the efficiency and safety of rust removal work, reducing the time of operators working at high altitudes, reducing labor costs, and avoiding the potential safety hazards caused by manual rust removal, thereby realizing the combination of laser technology and automatic control.

[0041] Preferably, in this embodiment, the laser emitting mechanism adopts a 100W low-power laser to ensure the rust removal effect while avoiding personal injury.

[0042] Specifically, the high-altitude laser rust removal device for substation equipment also includes a posture detection mechanism, which is arranged on at least one of the support adjustment mechanism, the laser emitting mechanism, and the base 1, and the posture detection mechanism is used to detect the working posture of the laser emitting mechanism. By setting up the posture detection mechanism, the posture of the laser emitting mechanism can be monitored in real time, and the posture of the laser emitting mechanism can be adjusted in time to ensure that the laser beam is stably shot at the target area, ensure its stability during the working process, and avoid unstable posture due to equipment shaking or wind influence, poor rust removal effect or laser deviation from the working area, causing damage to other parts.

[0043] Furthermore, if Figure 1 , Figure 2 As shown, the posture detection mechanism includes a posture sensor and a gyroscope 30, and there is at least one posture sensor, which is arranged on the rotation adjustment mechanism; the gyroscope 30 is arranged on the base 1. The posture sensor provides data feedback by detecting the posture of the device and the laser gun head, so that the control system can make adaptive adjustments, which can ensure that the device can operate safely and efficiently, and prevent operation failures or safety accidents caused by unstable devices or inaccurate laser beam pointing; the gyroscope 30 can measure the angular velocity of the device, that is, the speed at which the device rotates around each axis in three-dimensional space, and can monitor the tilt state and rotation state of the device in real time, and provide data information feedback. According to the data information fed back by the gyroscope 30, the support structure of the device can be controlled and adjusted to maintain dynamic balance to ensure the precise alignment of the laser beam.

[0044] It should be noted that the gyroscope 30 and the attitude sensor are used in combination with each other. Once it is detected that the angle between the device as a whole and the ground exceeds a preset safety threshold, a safety mechanism can be triggered, such as cutting off the power supply of the device to prevent the device from falling due to instability, thereby ensuring personal safety and the safety of the surrounding environment.

[0045] In one embodiment of the present application, Figure 2 As shown, the posture sensor includes a first posture sensor 5 and a second posture sensor 8, both of which are arranged on the rotation adjustment mechanism, and the gyroscope 30 is arranged on the base 1. The first posture sensor 5 and the second posture sensor 8 respectively monitor the angles of the rotation adjustment mechanism and the laser head, and the gyroscope 30 monitors the angle of the entire device in three-dimensional space. Through the coordinated use of the first posture sensor 5, the second posture sensor 8 and the gyroscope 30, complete posture information of the device can be provided, and the angle and position of the laser head can be accurately controlled and adjusted through the posture information, so as to realize compensation after the device is subjected to external interference and enhance the stability and safety of the device during operation.

[0046] Furthermore, if Figure 4 As shown, the high-altitude laser rust removal device for substation equipment also includes a laser adjustment mechanism, which is electrically connected to the laser emitting mechanism and the attitude detection mechanism. The laser adjustment mechanism is used to adjust the working state of the laser emitting mechanism, and the working state at least includes the laser emitting power. The setting of the laser adjustment mechanism can automatically adjust the laser power according to the degree of rust on the object to be rusted. Different laser powers can perform corresponding rust removal operations for positions with different degrees of rust, which can ensure the rust removal effect and avoid damage to the surface of the equipment due to excessive rust removal. It can be applied to rust removal operations with different degrees of rust. The laser detection mechanism is electrically connected to the laser emitting mechanism and the attitude detection mechanism. The attitude detection mechanism can detect the rust position and adjust the laser emitting mechanism to align with the rust position. At the same time, the laser detection mechanism detects the degree of rust at the target position, and then adjusts the corresponding laser power. The laser emitting mechanism emits a laser of corresponding power to perform rust removal operations at the target position.

[0047] It should be noted that, in addition to being electrically connected to the laser emitting mechanism and the attitude detection mechanism, the laser adjustment mechanism is also electrically connected to the image acquisition mechanism, that is, the high-altitude laser rust removal device for substation equipment also includes an image acquisition mechanism. Through image acquisition, the degree of rust at the target position is analyzed, and then the laser power is adjusted to perform the corresponding rust removal operation. The principle of identifying and locating the rust removal area after image acquisition is: color analysis of rust, metals of different materials have their specific rust colors, such as iron rust is reddish brown, copper rust is green, and by identifying the area in the image that meets the color characteristics of rust, the distribution and approximate area of ​​rust can be preliminarily determined, and the color depth can represent the degree of rust. The color of more serious rust is darker and richer, while the color of mild rust is relatively lighter. The laser power control unit can judge the severity of rust according to the color depth. For the dark color of severe rust area, a higher laser power is required to remove it, and vice versa, only a lower power is required. In addition, according to the different rust areas and degrees of rust, the preset motion path of the laser head can be adjusted through the posture detection mechanism or the support adjustment mechanism, and the corresponding rust removal trajectory can be selected. The overall-first-local-then method is adopted to first determine the overall range of all rust, and then calculate the shortest rust removal path through the algorithm to save the energy consumed by the equipment to constantly switch working modes and adjust the working status and position multiple times, thereby improving endurance.

[0048] In this embodiment, if Figures 4 to 6As shown, the laser adjustment mechanism includes a laser driver 10, a power regulator 21, an optical lens 22, a sleeve 23 and a ring-shaped adjustment frame 24. The laser driver 10 can control the power output of the laser to ensure that the laser beam can be adjusted to a suitable intensity according to the severity of the rust, thereby achieving an efficient and safe rust removal effect; the power regulator 21 cooperates with the laser driver 10 to control the intensity of the laser beam by adjusting the power of the laser, and can automatically or manually adjust the laser power according to the color depth of the rust analyzed by the image processing unit, thereby ensuring the efficiency and accuracy of the rust removal process; the optical lens 22 is used to focus the laser beam , ensuring that the laser energy can be concentrated on the target rust area and improving the rust removal efficiency, multiple optical lenses 22 can form an optical lens group 25, and the optical lens group 25 is arranged on the laser head. The focusing and divergence states of the laser beam can be accurately controlled by the multiple optical lenses 22 in the optical lens group 25; the sleeve 23 and the annular adjustment frame 24 are used to support the optical lens group 25 and the laser head. At the same time, the sleeve 23 and the annular adjustment frame 24 are provided with a motor 26, which can be driven by the motor 26 to realize the function of adjusting the angle and position of the laser head, ensuring that the laser beam can be accurately irradiated to the rusted area of ​​the high-altitude equipment as needed.

[0049] In one embodiment of the present application, the laser adjustment mechanism also includes an external shell 11, a relay 12 and a fan 13. The external shell 11 is arranged outside the electronic equipment and mechanical components such as the laser driver 10 and the power regulator 21, so as to avoid the influence of the external environment on the electronic equipment and mechanical components in the external shell 11; the relay 12 controls the on and off of the power of the laser driver 10, and controls the opening and light ratio of the laser through the signal of the main control module, so as to realize precise control of the laser rust removal operation; the fan 13 is arranged in the external shell 11 or on the external shell 11, and is arranged near the laser driver 10, the central processing unit 20 and other electronic components that generate high heat. Due to the high energy density of the laser, the laser driver 10 and the central processing unit 20 will generate a lot of heat. The fan 13 can dissipate the heat from the inside of the external shell 11 in time to prevent the device from overheating, protect the internal circuit from damage, and ensure the long-term stable operation of the equipment.

[0050] Furthermore, the high-altitude laser rust removal device for substation equipment also includes a power supply mechanism, which is arranged on any one of the supporting adjustment mechanism and the base 1. The power supply mechanism is used to supply power to the laser emitting mechanism, and the power supply mechanism includes at least a battery and an external plug connector, and the external plug connector is used to connect to an external power supply device. The power supply mechanism is provided with two power supply modes, namely, a battery and an external plug connector. The external power supply can be connected through the external plug connector, and the device can also be provided with power through a built-in battery. The dual-mode power supply mode allows the device to work independently without an external power supply, and can work continuously for a long time in an environment with an external power supply. At the same time, the battery in the device can also be charged in an environment with an external power supply. The dual-mode power supply can improve the flexibility and reliability of the device.

[0051] Furthermore, the high-altitude laser rust removal device for substation equipment also includes an image detection mechanism, which is arranged close to the laser emitting mechanism, and is used to detect the surface image of the rust removal object; wherein the image detection mechanism is electrically connected to the laser adjustment mechanism and the rotation adjustment mechanism. Through the image detection mechanism, using high-precision image recognition technology, the surface condition of the target rust removal object can be monitored in real time, and the rust degree and distribution of the rust removal object can be analyzed. The image detection mechanism is electrically connected to the laser adjustment mechanism and the rotation adjustment mechanism, and the collected image information of the target rusted object can be transmitted to the laser adjustment mechanism and the rotation adjustment mechanism. The rotation adjustment mechanism automatically and intelligently optimizes the rust removal path according to the rust distribution, and the laser adjustment mechanism automatically adjusts the laser power according to the image information to ensure the efficiency and thoroughness of the rust removal work, thereby realizing the intelligent rust removal function of the device.

[0052] In one embodiment of the present application, Figures 3 to 5As shown, the image detection mechanism is arranged on the support plate 9, and the image detection mechanism includes a camera 14, a fill light 15, an ultrasonic sensor 16, a capture card 18, a central processing unit 20 and an image processing unit. The camera 14 is responsible for capturing the image of the surface of the target device in real time; the fill light 15 can provide additional lighting in the case of insufficient light to ensure that the camera 14 captures a clear image, thereby improving the recognition accuracy of the rust; the ultrasonic sensor 16 can measure the distance between the laser gun head and the rust, which is used to optimize the laser focus and power adjustment; the capture card 18 can receive signals from the camera 14 and each sensor, and each sensor includes a first attitude sensor 5, a first position sensor 7, a second attitude sensor 8, and a second position sensor 9. The acquisition card 18 receives the angle and position of the target object measured by the sensor, as well as the angle and position of the device itself and the position and angle of the laser gun head, and converts these signals into digital information and transmits them to the central processing unit 20; the central processing unit 20 receives the image and sensor data from the acquisition card 18, and identifies the distribution, severity and specific location of the rust through the image processing algorithm. The central processing unit 20 can also analyze the data of the ultrasonic sensor to determine the relative distance between the laser gun head and the rusted area, so as to adjust the power and focus of the laser; the image processing unit is used to process the image data, identify the color range of the rust, judge the severity of the rust, and provide a basis for adjusting the laser power and planning the rust removal path.

[0053] Furthermore, if Figure 1 As shown, the support adjustment mechanism also includes a support rod 2, which is arranged on the base 1, and the length of the support rod 2 is adjustable, and a rotation adjustment mechanism is arranged at one end of the support rod 2. The support rod 2 is arranged to be adjustable in length, so that the device can be adjusted to a corresponding height according to different needs for rust removal operations, without manual adjustment, which can reduce the safety risk of the operation and improve the safety of the operation. A rotation adjustment mechanism is arranged at one end of the support rod 2, and the rotation adjustment mechanism can rotate and adjust the direction and angle of the laser gun head to ensure that the laser beam can accurately and flexibly irradiate the rusted area, thereby improving the rust removal effect and the safety of the operation.

[0054] Specifically, Figure 1 , Figure 2As shown, the rotation adjustment mechanism includes a first adjustment rod 4 and a second adjustment rod 6. One end of the first adjustment rod 4 is connected to the support rod 2, and the first adjustment rod 4 is rotatably arranged relative to the support rod 2; the second adjustment rod 6 is connected to the other end of the first adjustment rod 4, and the second adjustment rod 6 is rotatably arranged relative to the first adjustment rod 4. A support column 3 is arranged on the support plate 9, one end of the first adjustment rod 4 is arranged on the support column 3, and the second adjustment rod 6 is arranged at the other end of the first adjustment rod 4, and both ends of the first adjustment rod 4 and the second adjustment rod 6 can rotate with each other. The combination of the first adjustment rod 4 and the second adjustment rod 6 can drive the laser gun head to have a certain degree of freedom of movement space through the rotation of the first adjustment rod 4 and the second adjustment rod 6, so as to realize the position and angle adjustment of the laser gun head, so that the laser gun head can flexibly reach every corner of the rusted area.

[0055] In one embodiment of the present application, Figure 7 As shown, the high-altitude laser rust removal device for substation equipment also includes a display mechanism, which is arranged on the base 1. The display mechanism can facilitate the staff to directly detect the rust removal operation status through the camera 14 on the base 1, and can manually operate the laser gun head to adjust the rust removal of the rust removal object. The display mechanism has a wireless controller 27, a display screen 28 and an operating lever 29. The wireless controller 27 is essentially an input device. The operator can remotely adjust the position and angle of the laser gun head through the wireless controller 27, thereby improving the safety and convenience of the rust removal operation; the display screen 28 can intuitively display the image collected by the camera 14, so that the operator can understand the situation of the rust removal area; the operating lever 29 is connected to the wireless controller 27, and the staff can adjust the rust removal operation through the operating lever 29.

[0056] The present application also provides a preferred embodiment of a high-altitude laser rust removal device for substation equipment, such as Figures 9 to 13 shown.

[0057] Specifically, the high-altitude laser rust removal device for substation equipment includes a main control module, a motion control module, an image feedback module and a rust removal device operating system. The main control module is electrically connected to the motion control module and the image feedback module. The main control module, the motion control module and the image feedback module can be operated through the rust removal device operating system to perform corresponding rust removal operations; the main control module includes a laser power control unit, a beam adjustment unit and a protection unit. The main control module can control the power and frequency of the laser rust removal, and the protection unit can ensure the power-off protection of the laser rust removal device under the corresponding state; the motion control module includes a real-time position feedback unit, a motion planning unit and a drive control unit. The motion control module can realize the position and angle adjustment of the laser rust removal device so that the laser gun head is accurately aligned with the rust removal area; the image feedback module includes an image acquisition unit, an image processing unit and an image display unit. The image feedback module can monitor the rust removal area and the rust removal operation process in real time, can automatically select and plan the rust removal path, and feed back the information to the staff for real-time monitoring.

[0058] From the above description, it can be seen that the high-altitude laser rust removal device for substation equipment in this embodiment has the following beneficial effects:

[0059] 1) Combined operation mode: The laser rust removal device is combined with insulating support rods, remote control devices, cameras 14 and other components to form a complete solution suitable for high-altitude operations in substations.

[0060] 2) Insulated support rod with adjustable angle: The support rod 2 is made of insulating material to ensure the safety of operation, and through angle adjustment, it solves the problem of dead corners that traditional rust removal equipment cannot reach.

[0061] 3) Integrated camera monitoring: Real-time rust removal monitoring is achieved through camera 14, which greatly improves the accuracy and efficiency of the operation.

[0062] 4) Device structure: The use of 100W low-power laser not only ensures the rust removal effect, but also reduces energy consumption and potential personal harm compared to the traditional 200W power.

[0063] 5) Compact and lightweight design: Compared with traditional desktop computers, the volume is reduced by half and the weight is reduced to about 18kg. Both are significantly reduced and can be flexibly applied to the high-altitude working environment of substations.

[0064] 6) Dual power supply mode: The device has a built-in battery that can support 2 hours of continuous operation and also supports plug-in use to ensure work continuity and efficiency.

[0065] According to another specific embodiment of the present application, a high-altitude laser rust removal method for substation equipment is also provided. The method is based on the high-altitude laser rust removal device for substation equipment in the above embodiment, combined with Figure 8As shown, the method comprises the following steps:

[0066] Step S10: Detecting the surface image of the rust removal object;

[0067] Specifically, the surface of the rust removal object is imaged by an image detection mechanism, and the surface image includes at least the proportion of the color area of ​​the rust removal object to the rust removal object, the degree of rust in terms of color depth, the specific structural shape, position and curved surface angle of the rust removal object in three-dimensional space, etc.

[0068] Step S12: based on the surface image, determining rust removal work information, the rust removal work information at least including the rust removal path of the laser emitting mechanism and the rust removal laser frequency of the laser emitting mechanism;

[0069] Specifically, based on the rust color, rust depth, rust area and rust distribution location in the image information, the image processing unit and the central processor process the image information and then use an algorithm to calculate the shortest path for rust removal by the laser emitting mechanism and the laser power required for rust removal in different areas.

[0070] Step S14: Based on the rust removal path, a control instruction set is generated, the control instruction set is at least used to control the rotation of the rotation adjustment mechanism to drive the laser emitting mechanism to move along the rust removal path, and the control instruction set is at least used to control the laser emitting mechanism to work at the rust removal laser frequency.

[0071] Specifically, after the central processing unit completes the calculation, it generates a control instruction and transmits the control instruction to the laser emitting mechanism and the rotation adjustment mechanism respectively. The laser emitting mechanism and the rotation adjustment mechanism respectively execute and perform rust removal operations on the rust removal object according to the control instruction.

[0072] The technical solution of this embodiment is applied to detect the surface image of the rust removal object, and based on the surface image, determine the rust removal work information, which at least includes the rust removal path of the laser emitting mechanism and the rust removal laser frequency of the laser emitting mechanism. Based on the rust removal path, generate a control instruction set, the control instruction set is at least used to control the rotation of the rotation adjustment mechanism to drive the laser emitting mechanism to move along the rust removal path, and the control instruction set is at least used to control the laser emitting mechanism to work at the rust removal laser frequency. By collecting images of the rust removal object and generating corresponding rust removal instructions based on the image collection to perform rust removal operations, an automated and precise rust removal effect can be achieved. According to the specific conditions of the rust removal object, the optimal rust removal path is automatically planned, and the frequency and power of the laser are automatically adjusted, thereby realizing intelligent and precise rust removal operations. At the same time, the above method can be used to maintain substation equipment, ensure that the equipment can maintain a good operating state, and extend the service life of the equipment.

[0073] Optionally, in step S14, the method further includes the following steps:

[0074] Step S141: Detecting the working posture of the laser emitting mechanism;

[0075] Specifically, the working posture of the laser emitting mechanism is detected by a plurality of posture sensors, and when the working posture of the laser emitting mechanism is at a correct or incorrect position and angle, the laser emitting mechanism is controlled to start or stop working.

[0076] Step S142: when it is determined that the working posture is a preset posture, a first control instruction in a control instruction set is generated, and the first control instruction is at least used to control the laser emitting mechanism to stop emitting laser.

[0077] Specifically, the working posture of the laser emitting mechanism is preset at some positions and angles. When the laser emitting mechanism is in the preset working posture, a first control instruction is generated to control the laser emitting mechanism to stop emitting laser light, so as to prevent the laser emitting mechanism from being in working state when it is in an abnormal working posture and causing damage to personnel or the environment. The above steps can ensure that the laser emission can be stopped immediately when the posture of the laser emitting mechanism is abnormal, which can effectively prevent the laser from causing damage such as overheating and over-corrosion on the surface of the equipment, and also avoid the harm of laser misfire to personnel and the surrounding environment, providing technical guarantee for the efficient and safe operation of the power industry.

[0078] Preferably, combined Fig.14 As shown, the specific operation steps and rust removal steps of the high-altitude laser rust removal method for substation equipment are as follows:

[0079] Step 1: Select a fixed area, manually confirm the area of ​​the rust removal object, and place the substation equipment high-altitude laser rust removal equipment in the corresponding area;

[0080] Step 2: Lift the laser head to a suitable height, extend it to the height of the substation through the support rod, adjust the laser head to a position adjacent to the rust removal target area, and make preliminary angle adjustments;

[0081] Step 3: Turn on the camera and various sensors, and monitor the calibration and adjustment of the rust removal object through the camera and various sensors;

[0082] Step 4: The collected data is displayed on the display, and the display can display the real-time monitoring image of the rust removal operation by the camera;

[0083] Step 5: Adjust the angle of the laser head. The angle and position of the laser head can be adjusted automatically by the central processor or manually through the operating lever;

[0084] Step 6: The camera photographs the rust area, and the camera transmits the photographed rust area to the central processing unit (CPU) and the display;

[0085] Step 7: The CPU analyzes the image to determine the rust area, and the CPU calculates and determines the rust area;

[0086] Step 8: The CPU calculates the rust removal route. The CPU calculates the appropriate rust removal route based on the determined rust area;

[0087] Step 9: Whether the operator changes the rust removal route manually, the operator can manually plan the rust removal route through the operating lever;

[0088] Step 10: Start rust removal, start the device, and perform rust removal on the rust removal object according to the preset instructions;

[0089] Step 11: Finish rust removal.

[0090] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0091] In addition to the above, it should be noted that "one embodiment", "another embodiment", "embodiment", etc. mentioned in this specification refer to the specific features, structures or characteristics described in conjunction with the embodiment included in at least one embodiment generally described in this application. The same expression appearing in multiple places in the specification does not necessarily refer to the same embodiment. Further, when describing a specific feature, structure or characteristic in conjunction with any embodiment, it is claimed that the realization of such feature, structure or characteristic in conjunction with other embodiments also falls within the scope of the present invention.

[0092] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0093] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A high-altitude laser rust removal device for substation equipment, characterized in that: include: Base (1); A support adjustment mechanism, the support adjustment mechanism is connected to the base (1), the support adjustment mechanism is provided with a laser emitting mechanism, the laser emitting mechanism is used to emit laser to perform rust removal work on the rust removal object; Wherein, the support adjustment mechanism at least includes a rotation adjustment mechanism, and the rotation adjustment mechanism can drive the laser emitting mechanism to rotate, thereby adjusting the working posture of the laser emitting mechanism.

2. The high-altitude laser rust removal device for substation equipment according to claim 1 is characterized in that: Also includes: A posture detection mechanism, wherein the posture detection mechanism is arranged on at least one of the support adjustment mechanism, the laser emitting mechanism, and the base (1), and the posture detection mechanism is used to detect the working posture of the laser emitting mechanism.

3. The high-altitude laser rust removal device for substation equipment according to claim 2 is characterized in that: The posture detection mechanism comprises: A posture sensor, at least one of which is disposed on the rotation adjustment mechanism; A gyroscope (30), wherein the gyroscope (30) is arranged on the base (1).

4. The high-altitude laser rust removal device for substation equipment according to claim 2 is characterized in that: The high-altitude laser rust removal device for substation equipment also includes: A laser adjustment mechanism, wherein the laser adjustment mechanism is electrically connected to the laser emitting mechanism and the posture detection mechanism, and the laser adjustment mechanism is used to adjust the working state of the laser emitting mechanism, and the working state at least includes the laser emitting power.

5. The high-altitude laser rust removal device for substation equipment according to claim 1 is characterized in that: The high-altitude laser rust removal device for substation equipment also includes: A power supply mechanism, the power supply mechanism is arranged on any one of the support adjustment mechanism and the base (1), the power supply mechanism is used to supply power to the laser emitting mechanism, the power supply mechanism at least comprises a battery and an external plug connector, and the external plug connector is used to connect to an external power supply device.

6. The high-altitude laser rust removal device for substation equipment according to claim 4 is characterized in that: The high-altitude laser rust removal device for substation equipment also includes: An image detection mechanism, which is disposed close to the laser emitting mechanism and is used to detect a surface image of the rust removal object; Wherein, the image detection mechanism is electrically connected to the laser adjustment mechanism and the rotation adjustment mechanism.

7. The high-altitude laser rust removal device for substation equipment according to claim 1 is characterized in that: The support adjustment mechanism also includes: A support rod (2), the support rod (2) is arranged on the base (1), and the length of the support rod (2) is adjustable, and one end of the support rod (2) is provided with the rotation adjustment mechanism.

8. The high-altitude laser rust removal device for substation equipment according to claim 7 is characterized in that: The rotation adjustment mechanism comprises: A first adjusting rod (4), one end of which is connected to the support rod (2), and the first adjusting rod (4) is rotatably arranged relative to the support rod (2); A second adjusting rod (6), the second adjusting rod (6) is connected to the other end of the first adjusting rod (4), and the second adjusting rod (6) is rotatably arranged relative to the first adjusting rod (4).

9. A high-altitude laser rust removal method for substation equipment, characterized in that: The method is carried out based on the high-altitude laser rust removal device for substation equipment described in any one of claims 1 to 8, and the method comprises the following steps: Detecting the surface image of the rust removal object; Based on the surface image, determining rust removal work information, the rust removal work information at least including a rust removal path of the laser emitting mechanism and a rust removal laser frequency of the laser emitting mechanism; Based on the rust removal path, a control instruction set is generated, and the control instruction set is at least used to control the rotation of the rotation adjustment mechanism to drive the laser emitting mechanism to move along the rust removal path, and the control instruction set is at least used to control the laser emitting mechanism to work at the rust removal laser frequency.

10. The high-altitude laser rust removal method for substation equipment according to claim 9 is characterized in that: The method comprises the following steps: Detecting the working posture of the laser emitting mechanism; When it is determined that the working posture is a preset posture, a first control instruction in the control instruction set is generated, and the first control instruction is at least used to control the laser emitting mechanism to stop emitting laser.

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