Laser obstacle removing instrument control system

Abstract

The invention provides a laser obstacle clearing instrument control system, and relates to the technical field of laser obstacle clearing. The system comprises a lens assembly, a holder, a host and a control device, wherein the lens assembly comprises a first camera module; the first camera module is used for shooting and sending a picture including the obstacle object to the host, so that the host forwards the picture to the control equipment; the control equipment is used for receiving and displaying a picture, and generating and sending a picture including a delimited operation area to the host after obtaining an operation area selection signal; and the host is used for determining the safe rotation range of the holder according to the operation area and limiting the rotation of the holder according to the safe rotation range, so that the falling point of the laser is located in the operation area in the operation process of the laser obstacle clearing instrument. In this way, it can be guaranteed that the falling point of the laser emitted by the laser obstacle removing instrument is located in the operation area, and therefore damage to electric power lines, trees and the like is avoided.

Description

Technical Field

[0001] The present application relates to the technical field of laser obstacle removal, and in particular to a laser obstacle removal device control system. Background Art

[0002] With the development of laser obstacle removal technology, the energy of the laser beam emitted by the laser obstacle remover for clearing obstacles is getting higher and higher, and the focusing effect is getting better and better. However, laser obstacle removers are usually used to clear obstacles in scenes such as high-altitude power lines and trees. High-energy laser beams can also cause damage to power lines and trees that hang obstacles. Therefore, while increasing the energy intensity of the laser beam to improve the obstacle removal efficiency, new requirements are also put forward for the safe use of laser obstacle removers.

[0003] How to prevent the laser obstacle remover from causing damage to hanging obstacles such as power lines and trees when working is an urgent problem to be solved in the field of laser obstacle removal.

[0004] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present application, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0005] The present application provides a laser obstacle remover control system, which at least to a certain extent provides a solution that can prevent the laser obstacle remover from causing damage to power lines, trees, etc. where obstacles are suspended when working.

[0006] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by the practice of the present application.

[0007] According to one aspect of the present application, a laser obstacle clearer control system is provided, comprising: a lens assembly, a pan-tilt head, a host and a control device, wherein the lens assembly comprises a first camera module; the first camera module is used to shoot and send a picture including an obstacle object to the host, so that the host forwards the picture to the control device; the control device is used to receive and display the picture, and generate and send a picture including a demarcated working area to the host after obtaining a working area selection signal; the host is used to determine a safe rotation range of the pan-tilt head according to the working area, and limit the rotation of the pan-tilt head according to the safe rotation range, so that the landing point of the laser is located in the working area during the operation of the laser obstacle clearer.

[0008] By using a control device to delineate an operating area from a screen including an obstacle object and limiting the rotation range of the pan / tilt head according to the operating area, it can be ensured that the landing point of the laser emitted by the laser obstacle remover is within the operating area, thereby avoiding irradiation of power lines, trees, etc. where obstacle objects are suspended, thereby avoiding damage to the power lines, trees, etc.

[0009] In one embodiment of the present application, the control device is also used to display a first control corresponding to each of a plurality of shapes, and in response to the first control corresponding to any shape being selected, determine a shape for drawing a working area in the screen; the control device is also used to display a second control, and in response to the second control being selected, start detecting a drawing trajectory on the screen of the control device, and generate a working area selection signal based on the drawing trajectory.

[0010] By setting a variety of graphics for drawing the working area, it is convenient to select a suitable shape to draw the working area according to the specific situation of the obstacle object, thereby improving the flexibility of drawing the working area in the screen.

[0011] In one embodiment of the present application, the control device is further used to display a third control corresponding to each of multiple drawing modes, and in response to the third control corresponding to any drawing mode being selected, determine a method for drawing the working area in the screen.

[0012] By setting a variety of drawing methods for drawing the working area, it is convenient to select a suitable drawing method to draw the working area according to the specific situation of the obstacle object, thereby improving the flexibility of drawing the working area in the screen.

[0013] In one embodiment of the present application, the lens assembly also includes a laser focusing lens, and the first camera module and the laser focusing lens are arranged sideways; the host includes a laser generator; the functional mode of the host includes a visual restriction mode, and when the visual restriction mode is in the activated state, the host is also used to detect whether the landing point of the laser emitted from the laser focusing lens is within the working area based on the picture uploaded by the first camera module, and control the laser generator to stop generating laser when it is detected that the landing point is outside the working area; the control device is also used to display a fourth control, and send a visual restriction control signal to the host after the fourth control is selected; the host is also used to turn on or off the visual restriction mode after receiving the visual restriction control signal.

[0014] By further visually limiting the laser's landing point outside the working area and controlling the laser generator to stop generating laser light, the possibility of the laser obstacle clearer causing damage to power lines, trees, etc. where obstacles are suspended during operation can be further reduced, thereby improving the safety of the laser obstacle clearer during use.

[0015] Furthermore, by setting the switching of the vision restriction mode in the control device, the host can be controlled to turn on or off the vision restriction mode according to actual usage, thereby improving the flexibility of the laser obstacle remover during use.

[0016] Furthermore, by setting the laser focusing lens and the first camera module paraxially in the lens assembly, the focusing effect of the laser focusing lens can be improved compared to the coaxial setting, thereby improving the efficiency of the laser obstacle removal. In addition, the first distance between the obstacle object and the laser focusing lens is calculated using the image captured by the first camera module, and the laser lens focal length adjustment module is controlled according to the first distance to adjust the focal length of the laser focusing lens. Compared with manually adjusting the focus of the laser focusing lens according to the laser spot on the obstacle object, the focusing before the laser obstacle removal device works can be completed more quickly and accurately.

[0017] In one embodiment of the present application, a gyroscope is configured in the gimbal, and the gyroscope is communicatively connected to the host, and the host is configured with a laser generator; the gyroscope is used to send posture data to the host; the functional mode of the host includes a first anti-fall mode, and when the first anti-fall mode is turned on, the host is also used to determine whether the posture of the laser obstacle remover has changed according to the posture data, and when the posture of the laser obstacle remover changes, control the laser generator to stop generating laser; the control device is also used to display a fifth control, and send a first anti-fall mode control signal to the host after the fifth control is selected; the host is also used to turn on or off the first anti-fall mode after receiving the first anti-fall mode control signal.

[0018] By configuring a gyroscope in the gimbal and using the gyroscope to detect changes in the posture of the laser obstacle remover, the laser generator can be stopped from generating lasers in a timely manner. When the laser obstacle remover falls over, tilts, or changes the emission direction of the original laser beam, the laser beam can be shut down and stopped in a timely manner to avoid causing harm to surrounding personnel and other safe objects, thereby improving the safety of the laser obstacle remover.

[0019] Furthermore, by configuring a switch control for turning on the first anti-fall mode in the control device, it is possible to choose whether to turn on the first anti-fall mode according to the actual use environment when using the laser obstacle remover, so that when it is needed, the first anti-fall mode can be turned on to improve the safety of the laser obstacle remover when in use, and when it is not needed, the first anti-fall mode can be turned off to reduce the energy consumption of the host and extend the use time of the laser obstacle remover.

[0020] In one embodiment of the present application, a speed sensor is also configured in the gimbal, and the speed sensor is communicatively connected to the host; the speed sensor is used to send speed data to the host; the functional mode of the host includes a second anti-fall mode, and when the second anti-fall mode is turned on, the host is also used to determine whether the posture of the laser obstacle remover has changed according to the posture data and the speed data, and when the posture of the laser obstacle remover changes, control the laser generator to stop generating laser; the control device is also used to display a sixth control, and send a second anti-fall mode control signal to the host after the sixth control is selected; the host is also used to turn on or off the second anti-fall mode after receiving the second anti-fall mode control signal, and the first anti-fall mode and the second anti-fall mode cannot be in the on state at the same time.

[0021] At the same time, a gyroscope and a speed sensor are configured in the gimbal, and the speed data detected by the speed sensor and the attitude data monitored by the gyroscope are used to determine whether the attitude of the laser obstacle remover has changed. This can more accurately identify whether the attitude of the laser obstacle remover has changed, and reduce the misjudgment of whether the attitude of the laser obstacle remover has changed.

[0022] Furthermore, by configuring a sixth control for turning on the second anti-fall mode in the control device, it is possible to select whether to turn on the second anti-fall mode according to the actual use environment when using the laser obstacle remover, so that when it is needed, the second anti-fall mode can be turned on to improve the safety of the laser obstacle remover when in use, and when it is not needed, the second anti-fall mode can be turned off to reduce the energy consumption of the host and extend the use time of the laser obstacle remover.

[0023] In one embodiment of the present application, the lens assembly also includes a laser focusing lens, a laser lens focal length adjustment module and a laser rangefinder; the first camera module and the laser focusing lens are arranged sideways; the host is also used to calculate the first distance between the obstacle object and the laser focusing lens based on the picture taken by the first camera module; the laser rangefinder is used to measure and send the second distance between the obstacle object and the laser focusing lens to the host; the control device is also used to display a seventh control, and send a focus mode switching signal to the host when the seventh control is selected; the host is also used to control the laser lens focal length adjustment module according to the first distance or the second distance after receiving the focus mode switching signal.

[0024] The distance between the obstacle object and the laser focusing lens is measured by a laser rangefinder, and the distance between the obstacle object and the laser focusing lens is calculated by the picture taken by the first camera module. The first distance or the second distance is flexibly selected through the seventh control to control the laser lens focal length adjustment module. The laser rangefinder can use a distance measurement method that is more suitable for the current environment in different environments, which is beneficial for the laser rangefinder to accurately measure the distance between the obstacle object and the laser focusing lens in more different environments, thereby improving the focusing effect of the laser beam and improving the efficiency of laser obstacle removal.

[0025] In one embodiment of the present application, the lens assembly also includes a laser focusing lens, a laser lens focal length adjustment module and a laser rangefinder; the first camera module and the laser focusing lens are arranged sideways; the host is further used to calculate a first distance between the obstacle object and the laser focusing lens based on a picture taken by the first camera module; the laser rangefinder is used to measure and send a second distance between the obstacle object and the laser focusing lens to the host; the host is further used to control the laser lens focal length adjustment module according to the first distance when the first distance is less than a threshold distance, and to control the laser lens focal length adjustment module according to the second distance when the second distance is not less than the threshold distance, and to control the laser lens focal length adjustment module according to the first distance or the second distance when the first distance is less than the threshold distance and the second distance is not less than the threshold distance.

[0026] The visual distance measurement of the picture taken by the first camera module is more accurate within a certain distance. The laser rangefinder measures the distance between the obstacle object and the laser focusing lens, which is more accurate at a long distance. When the measured first distance is less than the threshold distance, the first distance is used as the actual distance between the obstacle object and the laser focusing lens, and when the second distance is not less than the threshold distance, the second distance is used as the actual distance between the obstacle object and the laser focusing lens. This makes it possible to make the distance between the obstacle object and the laser focusing lens measured more accurate at both long and short distances, which is conducive to improving the focusing effect of the laser beam and the efficiency of laser obstacle removal.

[0027] In one embodiment of the present application, the lens assembly also includes at least one second camera module and a laser focusing lens, and each second camera module is communicatively connected to the host; the host also includes a laser generator; the at least one second camera module is used to shoot a picture with a preset angle range centered on the light emitting direction of the laser focusing lens, and send the shot picture to the host; the functional mode of the host includes an anti-injury mode, and when the anti-injury mode is turned on, the host is also used to perform target detection on the picture sent by each second camera module, and when the target object is detected, control the laser generator to stop generating laser; the control device is also used to display an eighth control, and when the eighth control is selected, send an anti-injury mode control signal to the host; the host is also used to turn on or off the anti-injury mode after receiving the anti-injury mode control signal.

[0028] Since the first camera module is used to photograph obstacles, usually when the obstacles are clearly photographed, the range of the picture shooting will be small, and it is difficult to predict in advance whether the target object will enter the area in front of the laser obstacle remover. By setting at least one second camera module and shooting the picture with a preset angle range centered on the light emitting direction of the laser focusing lens, it is convenient to shoot a larger area in front of the laser obstacle remover, so that it can be better discovered in advance whether the target object passes in front of the laser obstacle remover, and then the laser obstacle remover can be turned off in advance to avoid damage to the target object, thereby improving the safety of the laser obstacle remover when in use.

[0029] Furthermore, by configuring an eighth control for turning on the anti-injury mode in the control device, it can be made possible to select whether to turn on the anti-injury mode according to the actual use environment when using the laser obstacle remover, so that when it is needed, the anti-injury mode can be turned on to improve the safety of the laser obstacle remover during use; and when it is not needed, the anti-injury mode can be turned off to reduce the energy consumption of the host and extend the use time of the laser obstacle remover.

[0030] In one embodiment of the present application, the host includes a laser generator; the control device is also used to display at least one of a gimbal control, a camera control and a sliding control, and to send a gimbal control signal to the host when the gimbal control is selected, to send a camera control signal to the host when the camera control is selected, and to send a laser intensity control signal corresponding to the dragging distance to the host when the sliding control is dragged; the host is also used to send a control instruction to the gimbal according to the gimbal control signal to control the rotation of the gimbal, and to send a control instruction to the first camera module according to the camera control signal to control the first camera module to zoom in or out the captured picture, and to control the intensity of the laser generated by the laser generator according to the laser intensity control signal.

[0031] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0033] Figure 1 A schematic diagram showing a laser obstacle remover control system in one embodiment of the present application is shown;

[0034] Figure 2 A schematic diagram showing a screen with a defined working area in one embodiment of the present application;

[0035] Figure 3 A schematic diagram showing a screen interface of a control device in one embodiment of the present application;

[0036] Figure 4 A schematic diagram showing a laser obstacle remover control system in another embodiment of the present application is shown;

[0037] Figure 5 A schematic diagram showing a laser obstacle remover control system in another embodiment of the present application is shown;

[0038] Figure 6 A schematic diagram showing a laser obstacle remover control system in another embodiment of the present application is shown;

[0039] Figure 7 A schematic diagram showing a laser obstacle remover control system in another embodiment of the present application is shown;

[0040] Figure 8 A schematic diagram of a laser obstacle remover control system in another embodiment of the present application is shown. DETAILED DESCRIPTION

[0041] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this application will be more comprehensive and complete and fully convey the concepts of the example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0042] In addition, the accompanying drawings are only schematic illustrations of the present application and are not necessarily drawn to scale. The same reference numerals in the drawings represent the same or similar parts, and thus their repeated descriptions will be omitted. It should be noted that the concepts of "first", "second", etc. mentioned in the present application are only used to distinguish different camera modules, controls, etc.

[0043] like Figure 1 As shown, a laser obstacle clearer control system in one embodiment of the present application may include: a lens assembly 1, a gimbal 2, a host 3 and a control device 4, wherein the lens assembly 1 includes a first camera module 11.

[0044] The first camera module 11 is used to capture and send a picture including an obstacle object to the host 3 , so that the host 3 can forward the picture to the control device 4 .

[0045] The control device 4 is used to receive and display pictures, and generate and send a picture including the demarcated working area to the host 3 after obtaining the working area selection signal.

[0046] The host 3 is used to determine the safe rotation range of the pan / tilt platform 2 according to the operation area, and limit the rotation of the pan / tilt platform 2 according to the safe rotation range, so that the landing point of the laser is located within the operation area during the operation of the laser obstacle remover.

[0047] The embodiments of the present application do not limit how to achieve network connection between the host 3 and the control device 4. For example, the communication connection can be achieved through a wired network, or through a wireless network, and the wireless network can be implemented based on Wi-Fi (Wireless Fidelity).

[0048] After receiving the picture, the control device 4 can display the picture through the screen 41.

[0049] The embodiments of the present application do not limit how the control device 4 obtains the operation area selection signal.

[0050] For example, the control device 4 can detect the trajectory of the work area drawn by the user on the screen 41, and determine the work area in the picture according to the position of the trajectory in the screen, and generate a picture including the work area demarcated. For example, the picture including the work area generated by the control device can be as follows Figure 2 shown.

[0051] The embodiments of the present application do not limit how the host 3 determines the safe rotation range of the pan-tilt head 2 according to the operating area and limits the rotation of the pan-tilt head 2 according to the safe rotation range.

[0052] For example, when the pan-tilt head 2 rotates, there is a minimum rotation angle, that is, the pan-tilt head 2 rotates at least this minimum rotation angle each time (pan-tilt heads of different precision have different minimum rotation angles, for example, the minimum rotation angle is 0.05°). Taking this minimum rotation angle as a unit, the host 3 can calculate the maximum rotation angle of the pan-tilt head 2 in each direction so that the laser landing point is located in the working area according to the landing point position of the laser (needs to be pre-adjusted to the working area) and the distance (the host 3 can obtain the distance from the laser focusing lens (a component in the lens assembly) to the obstacle object) (at the maximum rotation angle, continue to move the minimum rotation angle in the direction corresponding to the maximum rotation angle, so that the laser landing point is located on the contour of the working area, or outside the working area). The set of maximum rotation angles in each direction that make the laser landing point located in the working area is the safe rotation range.

[0053] When the user sends a signal to control the rotation of the pan-tilt head 2 to the host 3 through the control device 4, the host 3 sends a control instruction to the pan-tilt head 2 according to the signal to control the rotation of the pan-tilt head 2. However, when the signal sent by the user to the host 3 through the control device 4 causes the rotation angle of the pan-tilt head 2 to exceed the safe rotation range, the host 3 may not send a control instruction to the pan-tilt head 2 to limit the rotation of the pan-tilt head 2, so that the laser emitted by the laser obstacle remover for obstacle removal lands within the working area. In one embodiment, when the signal sent by the control device 4 to the host 3 causes the rotation angle of the pan-tilt head 2 to exceed the safe rotation range, the host 3 may also send a prompt signal to the control device 4 that the safe rotation range is exceeded.

[0054] Exceeding the safe rotation range means that if the gimbal continues to rotate in the direction indicated by the signal under the current rotation posture, it will exceed the maximum rotation angle in that direction. For example, the maximum rotation angle in a direction is 53.75°, and the minimum rotation angle of the gimbal is 0.1°. When the gimbal has reached 53.7° in that direction, continuing to control the gimbal to rotate in that direction will cause the gimbal to rotate beyond the maximum rotation angle in that direction.

[0055] For another example, the rotation direction of the pan / tilt 2 can be divided into two mutually perpendicular directions, x and y. The host 3 can calculate the first angle range of the pan / tilt 2 rotation in the x direction according to the minimum rotation angle of the pan / tilt 2, the landing point of the laser (located in the working area), the distance between the obstacle and the laser focusing lens, and the two ends of the working area in the x direction, calculate the multiple x coordinates of the pan / tilt 2 in the first angle range, which are spaced by the minimum rotation angle, calculate the two ends of the working area in the y direction under each x coordinate, and then determine the second angle range of the pan / tilt 2 rotation in the y direction under each x coordinate, and use the first angle range and the second angle range corresponding to each x coordinate as the safe rotation range. Further, the host 3 can limit the rotation of the pan / tilt 2 according to the safe rotation range, so as to ensure that the landing point of the laser is located in the working area.

[0056] By using a control device to delineate an operating area from a screen including an obstacle object and limiting the rotation range of the pan / tilt head according to the operating area, it can be ensured that the landing point of the laser emitted by the laser obstacle remover is within the operating area, thereby avoiding irradiation of power lines, trees, etc. where obstacle objects are suspended, thereby avoiding damage to the power lines, trees, etc.

[0057] In one embodiment of the present application, Figure 3 As shown, the control device 4 is further used to display a first control 51 corresponding to each of the multiple shapes, and in response to the first control 51 corresponding to any shape being selected, determine the shape used to draw the working area in the screen.

[0058] The control device 4 is also used to display the second control 52, and in response to the second control 52 being selected, start detecting a drawing track on the screen 41 of the control device 4, and generate a work area selection signal according to the drawing track.

[0059] Figure 3 The drawings are drawn with multiple shapes including rectangles, circles and regular hexagons as examples for illustrative purposes only, and the embodiments of the present application do not limit which shapes the multiple shapes specifically include. For example, the multiple shapes may also include triangles, ellipses, other regular polygons, and the like.

[0060] By setting a variety of graphics for drawing the working area, it is convenient to select a suitable shape to draw the working area according to the specific situation of the obstacle object, thereby improving the flexibility of drawing the working area in the screen.

[0061] In one embodiment, the control device 4 is further used to display a third control corresponding to each of the multiple drawing modes, and in response to the third control corresponding to any drawing mode being selected, determine a mode for drawing the working area in the screen.

[0062] The embodiments of the present application do not limit what drawing methods are specifically included. For example, the drawing methods may include multi-point drawing and center point drawing. Among them, multi-point drawing refers to using multiple points to limit the position and size of the shape used for drawing. For example, a rectangle can use the two endpoints of the diagonal line to limit the position and size of the rectangle. Center point drawing refers to using the center point and the distance from the center point to the edge or vertex to limit the position and size of the shape. For example, a circle can use the dot and radius to limit the position and size of the circle.

[0063] By setting a variety of drawing methods for drawing the working area, it is convenient to select a suitable drawing method to draw the working area according to the specific situation of the obstacle object, thereby improving the flexibility of drawing the working area in the screen.

[0064] In one embodiment of the present application, Figure 4 As shown, in Figure 1 On the basis of the laser obstacle clearer control system shown, the lens assembly 1 also includes a laser focusing lens 12, and the first camera module 11 and the laser focusing lens 12 are arranged sideways; the host 3 includes a laser generator 31; the functional mode of the host 3 includes a visual restriction mode. When the visual restriction mode is started, the host 3 is also used to detect whether the landing point of the laser emitted from the laser focusing lens 12 is located within the working area according to the picture uploaded by the first camera module 11, and control the laser generator 31 to stop generating laser when it is detected that the landing point is outside the working area; the control device 4 is also used to display the fourth control, and send a visual restriction control signal to the host 3 after the fourth control is selected; the host 3 is also used to turn on or off the visual restriction mode after receiving the visual restriction control signal.

[0065] The embodiments of the present application do not limit how the host 3 detects whether the landing point of the laser emitted from the laser focusing lens 12 is located within the working area.

[0066] For example, the host 3 may pre-process the image to make the laser spot more prominent. The embodiments of the present application do not limit the specific method of the pre-processing.

[0067] In one embodiment, the host 3 may perform preprocessing of the image including: denoising the image, enhancing contrast, and other operations to improve image quality for subsequent processing; using image filtering techniques (such as Gaussian filtering, median filtering, etc.) to remove image noise; and then enhancing the image contrast through methods such as histogram equalization to make the laser spot more prominent.

[0068] Afterwards, the host 3 can identify the laser spot from the image. The embodiment of the present application does not limit how to identify the laser spot.

[0069] In one embodiment, image processing techniques such as threshold segmentation and edge detection are used to identify the laser spot from the image; or, since the laser spot usually appears as a highlight area in the image, the spot area can be extracted by setting a suitable threshold.

[0070] After identifying the laser spot, the host 3 further determines the precise position of the spot. The precise position of the spot can be determined by calculating the center coordinates of the spot using methods such as centroid method and Gaussian fitting method.

[0071] Since the image captured by the first camera module 11 may be different from the image used to demarcate the working area after the pan-tilt head 2 rotates, the host 3 needs to first determine the position range corresponding to the working area in the current image. The host 3 can determine the moving direction and pixel distance of the center position of the working area on the image based on the rotation angle of the pan-tilt head 2 and the distance between the laser focusing lens and the obstacle object, and then determine the center position of the working area in the current image. Then, based on the reduction or magnification of the shooting range of the first camera module 11 on the front and back images, determine the magnification or reduction of the working area, and then determine the position range of the working area in the current image based on the position range of the original working area, the reduction or magnification, and the center position of the current working area.

[0072] In another embodiment, the host 3 may also track the working area through an area of ​​interest tracking algorithm, so as to determine the position range of the working area in the current picture.

[0073] The host 3 can determine whether the precise position of the laser spot is within the position range of the working area in the current image, and further determine whether the landing point of the laser is within the working area.

[0074] After receiving the visual restriction control signal, the host 3 turns on or off the visual restriction mode. Specifically, when the visual restriction mode is on, after receiving the visual restriction control signal, the host 3 turns off the visual restriction mode; when the visual restriction mode is off, after receiving the visual restriction control signal, the host 3 turns on the visual restriction mode.

[0075] By further visually limiting the laser's landing point outside the working area and controlling the laser generator to stop generating laser light, the possibility of the laser obstacle clearer causing damage to power lines, trees, etc. where obstacles are suspended during operation can be further reduced, thereby improving the safety of the laser obstacle clearer during use.

[0076] Furthermore, by setting the switching of the vision restriction mode in the control device, the host can be controlled to turn on or off the vision restriction mode according to actual usage, thereby improving the flexibility of the laser obstacle remover during use.

[0077] Furthermore, by setting the laser focusing lens and the first camera module paraxially in the lens assembly, the focusing effect of the laser focusing lens can be improved compared to the coaxial setting, thereby improving the efficiency of the laser obstacle removal. In addition, the first distance between the obstacle object and the laser focusing lens is calculated using the image captured by the first camera module, and the laser lens focal length adjustment module is controlled according to the first distance to adjust the focal length of the laser focusing lens. Compared with manually adjusting the focus of the laser focusing lens according to the laser spot on the obstacle object, the focusing before the laser obstacle removal device works can be completed more quickly and accurately.

[0078] In one embodiment, Figure 5 As shown, in Figure 1 On the basis of the laser obstacle remover control system shown, a gyroscope 21 is configured in the pan / tilt 2, and the gyroscope 21 is communicatively connected to the host 3, and the host 3 is configured with a laser generator 31; the gyroscope 21 is used to send posture data to the host 3; the functional mode of the host 3 includes a first anti-fall mode, and when the first anti-fall mode is turned on, the host 3 is also used to determine whether the posture of the laser obstacle remover has changed according to the posture data, and when the posture of the laser obstacle remover changes, control the laser generator 31 to stop generating laser; the control device 4 is also used to display the fifth control, and send the first anti-fall mode control signal to the host after the fifth control is selected; the host 3 is also used to turn on or off the first anti-fall mode after receiving the first anti-fall mode control signal.

[0079] The gyroscope 21 can monitor the attitude of the laser obstacle remover in real time, generate attitude data, and then send the attitude data to the host. The embodiment of the present application does not limit the specific type of data of the attitude data. For example, the attitude data may include one or more of angular velocity, angle, and angular acceleration.

[0080] The embodiments of the present application do not limit how the host 3 determines whether the posture of the laser obstacle remover has changed based on the posture data.

[0081] In one embodiment, the posture data includes angular velocity. The host 3 determines whether the posture of the laser obstacle remover has changed according to the posture data, which may include: the host 3 determines the relationship between the angular velocity and the angular velocity threshold, and when the angular velocity is greater than the angular velocity threshold, determines that the posture of the laser obstacle remover has changed.

[0082] The embodiments of the present application do not limit the specific value of the angular velocity threshold.

[0083] The posture of the laser obstacle remover changes, which may be caused by the laser obstacle remover tipping over, tilting, etc., resulting in a significant change in the direction of the laser beam emitted by the laser obstacle remover.

[0084] By configuring a gyroscope in the gimbal and using the gyroscope to detect changes in the posture of the laser obstacle remover, the laser generator can be stopped from generating lasers in a timely manner. When the laser obstacle remover falls over, tilts, or changes the emission direction of the original laser beam, the laser beam can be shut down and stopped in a timely manner to avoid causing harm to surrounding personnel and other safe objects, thereby improving the safety of the laser obstacle remover.

[0085] Furthermore, by configuring a switch control for turning on the first anti-fall mode in the control device, it is possible to choose whether to turn on the first anti-fall mode according to the actual use environment when using the laser obstacle remover, so that when it is needed, the first anti-fall mode can be turned on to improve the safety of the laser obstacle remover when in use, and when it is not needed, the first anti-fall mode can be turned off to reduce the energy consumption of the host and extend the use time of the laser obstacle remover.

[0086] In one embodiment, Figure 6 As shown, in Figure 5 On the basis of the laser obstacle remover control system shown, a speed sensor 22 is also configured in the pan / tilt 2, and the speed sensor 22 is communicatively connected to the host 3; the speed sensor 22 is used to send speed data to the host 3; the functional mode of the host 3 includes a second anti-fall mode, and when the second anti-fall mode is turned on, the host 3 is also used to determine whether the posture of the laser obstacle remover has changed according to the posture data and the speed data, and when the posture of the laser obstacle remover changes, control the laser generator to stop generating laser; the control device 4 is also used to display the sixth control, and send a second anti-fall mode control signal to the host 3 after the sixth control is selected; the host 3 is also used to turn on or off the second anti-fall mode after receiving the second anti-fall mode control signal, and the first anti-fall mode and the second anti-fall mode cannot be in the on state at the same time.

[0087] The speed sensor 22 can monitor the speed and speed change of the laser obstacle remover, and send the monitored speed data to the host 3.

[0088] After the host 3 receives the speed data, how to judge whether the posture of the laser obstacle remover has changed based on the speed data and the posture data is not limited in the embodiments of the present application. In one embodiment, the speed data includes the speed of the laser obstacle remover, and the posture data includes the angular velocity. The host 3 judges whether the posture of the laser obstacle remover has changed based on the posture data, which may include: the host 3 determines the relationship between the speed of the laser obstacle remover and the speed threshold, and the relationship between the angular velocity and the angular velocity threshold, and when the speed of the laser obstacle remover is greater than the speed threshold and / or the angular velocity is greater than the angular velocity threshold, it is determined that the posture of the obstacle remover has changed.

[0089] The embodiments of the present application do not limit the specific value of the speed threshold, and it can be set based on experience.

[0090] Among them, the first anti-fall mode and the second anti-fall mode cannot be in the on state at the same time, and can include: the first anti-fall mode is on and the second anti-fall mode is off, the first anti-fall mode is off and the second anti-fall mode is on, the first anti-fall mode is off and the second anti-fall mode is off.

[0091] When the first anti-fall mode is in the on state and the second anti-fall mode is in the off state, the second anti-fall mode can be turned on through the sixth control, and the host 3 can turn off the first anti-fall mode at the same time; the first anti-fall mode can be turned off through the fifth control. When the second anti-fall mode is in the on state and the first anti-fall mode is in the off state, the first anti-fall mode can be turned on through the fifth control, and the host 3 can turn off the second anti-fall mode at the same time; the second anti-fall mode can be turned off through the sixth control.

[0092] At the same time, a gyroscope and a speed sensor are configured in the gimbal, and the speed data detected by the speed sensor and the attitude data monitored by the gyroscope are used to determine whether the attitude of the laser obstacle remover has changed. This can more accurately identify whether the attitude of the laser obstacle remover has changed, and reduce the misjudgment of whether the attitude of the laser obstacle remover has changed.

[0093] Furthermore, by configuring a sixth control for turning on the second anti-fall mode in the control device, it is possible to select whether to turn on the second anti-fall mode according to the actual use environment when using the laser obstacle remover, so that when it is needed, the second anti-fall mode can be turned on to improve the safety of the laser obstacle remover when in use, and when it is not needed, the second anti-fall mode can be turned off to reduce the energy consumption of the host and extend the use time of the laser obstacle remover.

[0094] In one embodiment, Figure 7 As shown, in Figure 1 On the basis of the laser obstacle clearer control system shown, the lens assembly 1 also includes a laser focusing lens 12, a laser lens focal length adjustment module 13 and a laser rangefinder 14; the first camera module 11 and the laser focusing lens 12 are arranged sideways; the host 3 is also used to calculate the first distance between the obstacle object and the laser focusing lens 12 based on the picture taken by the first camera module 11; the laser rangefinder 14 is used to measure and send the second distance between the obstacle object and the laser focusing lens 12 to the host 3; the control device 4 is also used to display the seventh control, and send a focus mode switching signal to the host 3 when the seventh control is selected; the host 3 is also used to control the laser lens focal length adjustment module 13 according to the first distance or the second distance after receiving the focus mode switching signal.

[0095] The embodiment of the present application does not limit how the host calculates the first distance between the obstacle object and the laser focusing lens 12 according to the picture captured by the first camera module 11. For example, the first distance between the obstacle object and the laser focusing lens 12 can be calculated based on any visual method.

[0096] For example, the host may pre-process the image to extract the edge contour of the obstacle object. Then, based on the edge contour, the pixel width P of the obstacle object in the image is determined. According to the similar triangle method, the calculation of the first distance can be shown in the following formula 1.

[0097] D=(W×f) / P (1)

[0098] Among them, D is the distance between the obstacle object and the first camera module 11 (which can be used as the first distance between the obstacle object and the laser focusing lens 12), W is the actual width of the obstacle object, f is the focal length of the first camera module 11, and P is the pixel width P of the obstacle object in the picture.

[0099] The host can detect and obtain the focal length f of the first camera module 11 in real time, and can determine the actual width W of the obstacle object corresponding to the pixel width P based on the relationship between the focal length of the first camera 11 and the actual width corresponding to a single pixel. Thereafter, the distance between the obstacle object and the first camera module 11 is calculated according to Formula 1, and the distance is used as the first distance.

[0100] In one embodiment, the obstacle object can also perform empirical correction on the distance between the obstacle object and the first camera module 11 (for example, by calibrating the correspondence between the distance between the obstacle object and the first camera module 11 and the first distance, and using the correspondence to perform empirical correction on the distance between the obstacle object and the first camera module 11), and use the corrected distance as the first distance.

[0101] For another example, the host 3 stores the internal parameters of the first camera module 11, and then can directly use the internal parameters and the coordinate information of the obstacle object in the picture to calculate the distance between the obstacle object and the first camera module 11 through methods such as projection matrix, and then determine the first distance.

[0102] The embodiments of the present application do not limit how to pre-process the image. For example, the pre-processing includes: gray-scaling, filtering, edge detection and contour detection.

[0103] By setting the laser focusing lens and the first camera module paraxially in the lens assembly, the focusing effect of the laser focusing lens can be improved compared to the coaxial setting, thereby improving the efficiency of laser obstacle removal. In addition, the first distance between the obstacle object and the laser focusing lens is calculated using the image captured by the first camera module, and the laser lens focal length adjustment module is controlled according to the first distance to adjust the focal length of the laser focusing lens. Compared with manually adjusting the focus of the laser focusing lens according to the laser spot on the obstacle object, the focusing of the laser obstacle remover before working can be completed more quickly and accurately.

[0104] The distance between the obstacle object and the laser focusing lens is measured by a laser rangefinder, and the distance between the obstacle object and the laser focusing lens is calculated by the picture taken by the first camera module. The first distance or the second distance is flexibly selected through the seventh control to control the laser lens focal length adjustment module. The laser rangefinder can use a distance measurement method that is more suitable for the current environment in different environments, which is beneficial for the laser rangefinder to accurately measure the distance between the obstacle object and the laser focusing lens in more different environments, thereby improving the focusing effect of the laser beam and improving the efficiency of laser obstacle removal.

[0105] In one embodiment, Figure 7 As shown, the lens assembly 1 also includes a laser focusing lens 12, a laser lens focal length adjustment module 13 and a laser rangefinder 14; the first camera module 11 and the laser focusing lens 12 are arranged sideways; the host 3 is also used to calculate the first distance between the obstacle object and the laser focusing lens 12 based on the picture taken by the first camera module 11; the laser rangefinder 14 is used to measure and send the second distance between the obstacle object and the laser focusing lens 12 to the host 3; the host 3 is also used to control the laser lens focal length adjustment module 13 according to the first distance when the first distance is less than the threshold distance, and to control the laser lens focal length adjustment module 13 according to the second distance when the second distance is not less than the threshold distance, and to control the laser lens focal length adjustment module 13 according to the first distance or the second distance when the first distance is less than the threshold distance and the second distance is not less than the threshold distance.

[0106] The embodiments of the present application do not limit the specific value of the threshold distance, and it can be set based on experience.

[0107] The visual distance measurement of the picture taken by the first camera module is more accurate within a certain distance. The laser rangefinder measures the distance between the obstacle object and the laser focusing lens, which is more accurate at a long distance (because the relative position between the laser rangefinder and the laser focusing lens is fixed and has a certain position difference, when the distance between the laser focusing lens and the obstacle object is far, the position difference between the laser rangefinder and the laser focusing lens can be ignored, and the distance measured by the laser rangefinder is closer to the actual distance between the laser focusing lens and the obstacle object). By using the first distance as the actual distance between the obstacle object and the laser focusing lens when the measured first distance is less than the threshold distance, and using the second distance as the actual distance between the obstacle object and the laser focusing lens when the second distance is not less than the threshold distance, the distance between the obstacle object and the laser focusing lens can be measured more accurately at both long and short distances, which is conducive to improving the focusing effect of the laser beam and improving the efficiency of laser obstacle removal.

[0108] In one embodiment, Figure 8 As shown, in Figure 1 On the basis of the laser obstacle clearer control system shown, the lens assembly 1 also includes at least one second camera module 15 and a laser focusing lens 12, and each second camera module 15 is communicatively connected to the host 3; the host 3 also includes a laser generator 31; at least one second camera module 15 is used to shoot a picture with a preset angle range centered on the light emitting direction of the laser focusing lens 12, and send the shot picture to the host 3; the functional mode of the host 3 includes an anti-injury mode, and when the anti-injury mode is turned on, the host 3 is also used to perform target detection on the picture sent by each second camera module 15, and when the target object is detected, the laser generator 31 is controlled to stop generating laser; the control device 4 is also used to display the eighth control, and when the eighth control is selected, send an anti-injury mode control signal to the host 3; the host 3 is also used to turn on or off the anti-injury mode after receiving the anti-injury mode control signal.

[0109] The embodiments of the present application do not limit what the target object specifically includes. For example, the target object may include preset objects such as people and birds.

[0110] The embodiment of the present application does not limit how the host 3 performs target detection on the picture taken by the second camera module 15. For example, the host 3 can detect the picture reported by each second camera module 15 in real time through the target detection model, and when it is detected that there is a target object in the picture reported by any second camera module 15, the laser generator 31 is controlled to stop generating laser, thereby avoiding the laser from causing damage to the target object, thereby improving the safety of the laser obstacle remover when in use.

[0111] The embodiments of the present application do not limit the specific module of the target detection model. For example, the target detection model can be R-CNN (Region-based Convolutional Neural Network), Fast R-CNN (Fast Regional Convolutional Neural Network), SSD (Single Shot MultiBox Detector), etc.

[0112] It should be noted that the embodiments of the present application do not limit the specific number of the at least one second camera module 15. The embodiments of the present application also do not limit how the at least one second camera module 15 is configured to capture the areas in front of the laser obstacle remover.

[0113] Since the first camera module is used to photograph obstacles, usually when the obstacles are clearly photographed, the range of the picture shooting will be small, and it is difficult to predict in advance whether the target object will enter the area in front of the laser obstacle remover. By setting at least one second camera module and shooting the picture with a preset angle range centered on the light emitting direction of the laser focusing lens, it is convenient to shoot a larger area in front of the laser obstacle remover, so that it can be better discovered in advance whether the target object passes in front of the laser obstacle remover, and then the laser obstacle remover can be turned off in advance to avoid damage to the target object, thereby improving the safety of the laser obstacle remover when in use.

[0114] Furthermore, by configuring an eighth control for turning on the anti-injury mode in the control device, it can be made possible to select whether to turn on the anti-injury mode according to the actual use environment when using the laser obstacle remover, so that when it is needed, the anti-injury mode can be turned on to improve the safety of the laser obstacle remover during use; and when it is not needed, the anti-injury mode can be turned off to reduce the energy consumption of the host and extend the use time of the laser obstacle remover.

[0115] In one embodiment, the host includes a laser generator; the control device is also used to display at least one of a gimbal control, a camera control and a sliding control, and to send a gimbal control signal to the host when the gimbal control is selected, to send a camera control signal to the host when the camera control is selected, and to send a laser intensity control signal corresponding to the dragging distance to the host when the sliding control is dragged; the host is also used to send a control instruction to the gimbal according to the gimbal control signal to control the rotation of the gimbal, and to send a control instruction to the first camera module according to the camera control signal to control the first camera module to zoom in or out the captured picture, and to control the intensity of the laser generated by the laser generator according to the laser intensity control signal.

[0116] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope of the present application is indicated by the appended claims.

Claims

1. A laser obstacle remover control system, characterized in that: It includes: a lens assembly, a gimbal, a host and a control device, wherein the lens assembly includes a first camera module; The first camera module is used to capture and send a picture including an obstacle object to the host, so that the host forwards the picture to the control device; The control device is used to receive and display the picture, and generate and send the picture including the demarcated working area to the host after obtaining the working area selection signal; The host is used to determine the safe rotation range of the pan / tilt platform according to the operating area, and limit the rotation of the pan / tilt platform according to the safe rotation range, so that the landing point of the laser is located within the operating area during the operation of the laser obstacle remover.

2. The laser obstacle remover control system according to claim 1, characterized in that: The control device is further used to display a first control corresponding to each of the multiple shapes, and in response to the first control corresponding to any shape being selected, determine a shape for drawing the working area in the screen; The control device is further used to display a second control, and in response to the second control being selected, start detecting a drawing track on the screen of the control device, and generate a work area selection signal according to the drawing track.

3. The laser obstacle remover control system according to claim 2, characterized in that: The control device is further used to display a third control corresponding to each of the multiple drawing modes, and in response to the third control corresponding to any drawing mode being selected, determine a mode for drawing the working area in the screen.

4. The laser obstacle remover control system according to any one of claims 1 to 3, characterized in that: The lens assembly further includes a laser focusing lens, and the first camera module and the laser focusing lens are arranged sideways; the host includes a laser generator; The functional mode of the host includes a visual restriction mode. When the visual restriction mode is activated, the host is further used to detect whether the landing point of the laser emitted from the laser focusing lens is within the working area according to the picture uploaded by the first camera module, and control the laser generator to stop generating laser when the landing point is detected to be outside the working area; The control device is further used to display a fourth control, and send a visual restriction control signal to the host after the fourth control is selected; The host is further configured to turn on or off the vision restriction mode after receiving the vision restriction control signal.

5. The laser obstacle remover control system according to any one of claims 1 to 3, characterized in that: The gimbal is provided with a gyroscope, the gyroscope is in communication connection with the host, and the host is provided with a laser generator; The gyroscope is used to send attitude data to the host; The functional mode of the host includes a first anti-fall mode. When the first anti-fall mode is turned on, the host is further used to determine whether the posture of the laser obstacle remover changes according to the posture data, and when the posture of the laser obstacle remover changes, control the laser generator to stop generating laser; The control device is further used to display a fifth control, and send a first anti-fall mode control signal to the host after the fifth control is selected; The host is further configured to turn on or off the first anti-fall mode after receiving the first anti-fall mode control signal.

6. The laser obstacle remover control system according to claim 5, characterized in that: The pan / tilt is also provided with a speed sensor, which is communicatively connected with the host; The speed sensor is used to send speed data to the host; The functional mode of the host includes a second anti-fall mode. When the second anti-fall mode is turned on, the host is further used to determine whether the posture of the laser obstacle remover changes according to the posture data and the speed data, and control the laser generator to stop generating laser when the posture of the laser obstacle remover changes; The control device is further used to display a sixth control, and send a second anti-fall mode control signal to the host after the sixth control is selected; The host is further used to turn on or off the second anti-fall mode after receiving the second anti-fall mode control signal, and the first anti-fall mode and the second anti-fall mode cannot be in the on state at the same time.

7. The laser obstacle remover control system according to any one of claims 1 to 3, characterized in that: The lens assembly further comprises a laser focusing lens, a laser lens focal length adjustment module and a laser rangefinder; the first camera module is arranged paraxially with the laser focusing lens; The host is further used to calculate a first distance between the obstacle object and the laser focusing lens based on the picture taken by the first camera module; The laser rangefinder is used to measure and send to the host a second distance between the obstacle object and the laser focusing lens; The control device is further used to display a seventh control, and send a focus mode switching signal to the host when the seventh control is selected; The host is also used to control the laser lens focal length adjustment module according to the first distance or the second distance after receiving the focus mode switching signal.

8. The laser obstacle remover control system according to any one of claims 1 to 3, characterized in that: The lens assembly further comprises a laser focusing lens, a laser lens focal length adjustment module and a laser rangefinder; the first camera module is arranged paraxially with the laser focusing lens; The host is further used to calculate a first distance between the obstacle object and the laser focusing lens based on the picture taken by the first camera module; The laser rangefinder is used to measure and send to the host a second distance between the obstacle object and the laser focusing lens; The host is also used to control the laser lens focus adjustment module according to the first distance when the first distance is less than a threshold distance, and to control the laser lens focus adjustment module according to the second distance when the second distance is not less than the threshold distance, and to control the laser lens focus adjustment module according to the first distance or the second distance when the first distance is less than the threshold distance and the second distance is not less than the threshold distance.

9. The laser obstacle remover control system according to any one of claims 1 to 3, characterized in that: The lens assembly further includes at least one second camera module and a laser focusing lens, each second camera module being communicatively connected to the host; the host further includes a laser generator; The at least one second camera module is used to capture a picture with a preset angle range centered on the light emitting direction of the laser focusing lens, and send the captured picture to the host; The functional mode of the host includes an anti-injury mode. When the anti-injury mode is turned on, the host is further used to perform target detection on the picture sent by each second camera module, and when the target object is detected, control the laser generator to stop generating laser; The control device is further used to display an eighth control and send an anti-injury mode control signal to the host when the eighth control is selected; The host is further used to turn on or off the anti-injury mode after receiving the anti-injury mode control signal.

10. The laser obstacle remover control system according to any one of claims 1 to 3, characterized in that: The host comprises a laser generator; The control device is further used to display at least one of a pan / tilt control, a camera control and a slide control, and to send a pan / tilt control signal to the host when the pan / tilt control is selected, to send a camera control signal to the host when the camera control is selected, and to send a laser intensity control signal corresponding to a dragging distance to the host when the slide control is dragged; The host is also used to send control instructions to the gimbal according to the gimbal control signal to control the rotation of the gimbal, and to send control instructions to the first camera module according to the camera control signal to control the first camera module to zoom in or out the captured picture, and to control the intensity of the laser generated by the laser generator according to the laser intensity control signal.

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