Method and device for removing rust and obstacles of electrical equipment, computer device and program product

Abstract

This application relates to a method, apparatus, computer equipment, computer-readable storage medium, and computer program product for rust removal and obstacle clearing of electrical equipment. The method includes: acquiring image data of a rusted area of ​​the electrical equipment; extracting candidate laser action points from the image data; and determining the azimuth angle of the candidate laser action points relative to a high-voltage conductor; based on the azimuth angle, eliminating candidate laser action points located on the conductor side to obtain a set of feasible laser action points; determining the circumferential interval distance between each point in the set of feasible laser action points, and generating a point composition scheme based on the circumferential interval distance; selecting the point composition scheme with the largest minimum circumferential angular distance between adjacent points as the final point composition scheme; and performing laser obstacle clearing operation based on a preset circumferential traversal direction and the final point composition scheme. This method can improve the accuracy and efficiency of obstacle clearing for power equipment.

Description

Technical Field

[0001] This application relates to the field of electrical equipment maintenance technology, and in particular to a method, apparatus, computer equipment, computer-readable storage medium, and computer program product for removing rust and clearing obstacles from electrical equipment. Background Technology

[0002] Live-line laser rust removal and obstacle clearing technology has gradually gained attention in the power system in recent years. As an important means of non-power-off maintenance, it can remove rust from key parts such as insulator steel feet while the high-voltage transmission line is in operation, avoiding power supply losses and dispatch pressure caused by power outages.

[0003] In related technologies, full-coverage scanning or fixed-path irradiation are commonly used, without considering the asymmetric distribution characteristics of the high-voltage electric field in the circumference of the insulator. This results in the metal vapor generated by the vaporization of the rust layer when the laser acts on the high field strength area on the conductor side, which can easily induce partial discharge or even flashover. At the same time, the lack of safety constraints in the site planning and the excessively close distance between sites can cause the vapor cloud to overlap, further aggravating the electric field disturbance.

[0004] Furthermore, clearing paths are often set by operators based on experience or by directly mapping image contours, failing to utilize prior structural information about insulator hardware or optimize the distribution of clearing points within a limited work time. This easily leads to safety risks or incomplete clearing. These problems make it difficult to apply current methods stably at higher voltage levels or under complex weather conditions. Summary of the Invention

[0005] Therefore, it is necessary to provide a method, apparatus, computer equipment, computer-readable storage medium, and computer program product for removing rust and obstructing electrical equipment, which can improve the accuracy and efficiency of rust removal and obstruction removal of electrical equipment, in response to the above-mentioned technical problems.

[0006] In a first aspect, this application provides a method for removing rust and clearing obstructions from electrical equipment, comprising:

[0007] Acquire image data of the corroded area of ​​electrical equipment, extract candidate laser impact points from the image data, and determine the azimuth angle of the candidate laser impact points relative to the high-voltage conductor;

[0008] Based on the azimuth angle, candidate laser impact points located on the conductor side are eliminated to obtain a set of feasible laser impact points;

[0009] Determine the circumferential interval between each point in the set of feasible laser action points, and generate a point composition scheme based on the circumferential interval.

[0010] The point composition scheme with the largest minimum circumferential angular distance between adjacent points in the above point composition scheme shall be taken as the final point composition scheme;

[0011] Laser obstacle removal is performed based on the preset circumferential traversal direction and the final point composition scheme.

[0012] In one embodiment, acquiring image data of the corroded area of ​​the electrical equipment, extracting candidate laser impact points from the image data, and determining the azimuth angle of the candidate laser impact points relative to the high-voltage conductor includes:

[0013] Connectivity analysis was performed on the image data to identify the continuous corrosion area at the interface between the insulator steel foot and the cement adhesive of the electrical equipment.

[0014] Within the continuous corrosion area, sampling is performed at fixed arc lengths along the circumferential direction of the insulator steel foot to generate multiple discrete sampling points as candidate laser action points;

[0015] Based on the installation reference direction of the insulator steel foot, the image coordinate system is transformed into a polar coordinate system with the axis of the insulator steel foot as the origin, and the azimuth angle of each candidate laser action point in the polar coordinate system is calculated.

[0016] In one embodiment, the step of eliminating candidate laser impact points located on the conductor side based on the azimuth angle to obtain a set of feasible laser impact points includes:

[0017] Identify the structural reference features on the steel foot fittings of the insulator, and determine the starting and ending azimuth angles of the conductor side in the polar coordinate system based on the structural reference features.

[0018] Determine whether the azimuth angle of each candidate laser action point is within the interval defined by the starting azimuth angle and the ending azimuth angle;

[0019] Candidate laser impact points within the azimuth angle ingress interval are removed, and the remaining candidate laser impact points are taken as the set of feasible laser impact points.

[0020] In one embodiment, determining the circumferential interval between points in the feasible laser action point set, and generating a point composition scheme based on the circumferential interval, includes:

[0021] Arrange the candidate laser action points in the feasible laser action point set in ascending order of azimuth angle to form an ordered point sequence;

[0022] Based on the ordered point sequence, the circumferential interval distance between two adjacent points is calculated to obtain the angular distance sequence;

[0023] Using a sliding window approach, all continuous subsequences of a preset length are extracted from the ordered point sequence as candidate point combinations; the preset value is the maximum number of action points that can be executed in a single obstacle clearing operation.

[0024] All candidate location combinations are summarized to generate a location combination scheme.

[0025] In one embodiment, the step of selecting the point composition scheme with the largest minimum circumferential angular distance between adjacent points as the final point composition scheme includes:

[0026] For each combination of points, calculate the circumferential angular distance between adjacent points and determine the minimum circumferential angular distance for each combination of points.

[0027] Compare the minimum circumferential angular distance of all point combination schemes, and take the point combination scheme with the largest minimum circumferential angular distance as the final point composition scheme.

[0028] In one embodiment, the step of calculating the circumferential angular distance between adjacent points for each point combination scheme and determining the minimum circumferential angular distance for each point combination scheme includes:

[0029] Arrange the candidate laser action points in the point combination scheme in ascending order of azimuth angle to obtain a linear sequence;

[0030] The first point of the linear sequence is appended to the end to form a closed circular sequence;

[0031] Calculate the circumferential angular distance between each pair of adjacent points in the closed circular sequence, and select the minimum value from the circumferential angular distances as the minimum circumferential angular distance of the point combination scheme.

[0032] Secondly, this application also provides a rust removal and obstacle clearing device for electrical equipment, comprising:

[0033] The acquisition module is used to acquire image data of the corroded area of ​​electrical equipment, extract candidate laser action points from the image data, and determine the azimuth angle of the candidate laser action points relative to the high-voltage conductor.

[0034] The elimination module is used to eliminate candidate laser action points located on the side of the conductor based on the azimuth angle, so as to obtain a set of feasible laser action points;

[0035] The generation module is used to determine the circumferential interval distance between each point in the set of feasible laser action points, and generate a point composition scheme based on the circumferential interval distance.

[0036] The generation module is also used to take the point composition scheme with the largest minimum circumferential angular distance between adjacent points as the final point composition scheme.

[0037] The obstacle clearing module is used to perform laser obstacle clearing operations based on a preset circumferential traversal direction and the final point composition scheme.

[0038] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0039] Acquire image data of the corroded area of ​​electrical equipment, extract candidate laser impact points from the image data, and determine the azimuth angle of the candidate laser impact points relative to the high-voltage conductor;

[0040] Based on the azimuth angle, candidate laser impact points located on the conductor side are eliminated to obtain a set of feasible laser impact points;

[0041] Determine the circumferential interval between each point in the set of feasible laser action points, and generate a point composition scheme based on the circumferential interval.

[0042] The point composition scheme with the largest minimum circumferential angular distance between adjacent points in the above point composition scheme shall be taken as the final point composition scheme;

[0043] Laser obstacle removal is performed based on the preset circumferential traversal direction and the final point composition scheme.

[0044] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0045] Acquire image data of the corroded area of ​​electrical equipment, extract candidate laser impact points from the image data, and determine the azimuth angle of the candidate laser impact points relative to the high-voltage conductor;

[0046] Based on the azimuth angle, candidate laser impact points located on the conductor side are eliminated to obtain a set of feasible laser impact points;

[0047] Determine the circumferential interval between each point in the set of feasible laser action points, and generate a point composition scheme based on the circumferential interval.

[0048] The point composition scheme with the largest minimum circumferential angular distance between adjacent points in the above point composition scheme shall be taken as the final point composition scheme;

[0049] Laser obstacle removal is performed based on the preset circumferential traversal direction and the final point composition scheme.

[0050] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, performs the following steps:

[0051] Acquire image data of the corroded area of ​​electrical equipment, extract candidate laser impact points from the image data, and determine the azimuth angle of the candidate laser impact points relative to the high-voltage conductor;

[0052] Based on the azimuth angle, candidate laser impact points located on the conductor side are eliminated to obtain a set of feasible laser impact points;

[0053] Determine the circumferential interval between each point in the set of feasible laser action points, and generate a point composition scheme based on the circumferential interval.

[0054] The point composition scheme with the largest minimum circumferential angular distance between adjacent points in the above point composition scheme shall be taken as the final point composition scheme;

[0055] Laser obstacle removal is performed based on the preset circumferential traversal direction and the final point composition scheme.

[0056] The aforementioned method, apparatus, computer equipment, computer-readable storage medium, and computer program product for rust removal and obstacle clearing of electrical equipment first acquire image data of the rusted area of ​​the electrical equipment, extract candidate laser action points from the image data, and determine the azimuth angle of the candidate laser action points relative to the high-voltage conductor; based on the azimuth angle, candidate laser action points located on the conductor side are eliminated to obtain a set of feasible laser action points; the circumferential interval distance between each point in the set of feasible laser action points is determined, and a point composition scheme is generated based on the circumferential interval distance; the point composition scheme with the largest minimum circumferential angular distance between adjacent points is taken as the final point composition scheme; and laser obstacle clearing operation is performed based on the preset circumferential traversal direction and the final point composition scheme. In this way, the obstacle clearing points are transformed from continuous scanning to discrete optimization. A structured combination is generated by combining the constraint of the maximum number of effective points in a single stroke. Then, the optimal distribution scheme is automatically selected through the minimum angular distance maximization logic. This satisfies the time and disturbance restrictions for live-line work and avoids the problem of point clustering caused by manual designation or random selection. During execution, continuous operation in a fixed circumferential direction reduces the mechanical disturbance and positioning error caused by the reciprocating motion of the laser head, thereby improving the obstacle clearing accuracy and work efficiency. Attached Figure Description

[0057] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0058] Figure 1 This is a diagram illustrating the application environment of a rust removal and obstacle clearing method for electrical equipment in one embodiment.

[0059] Figure 2 This is a flowchart illustrating a method for removing rust and clearing obstructions from electrical equipment in one embodiment.

[0060] Figure 3 This is a structural block diagram of a rust removal and obstacle clearing device for electrical equipment in one embodiment;

[0061] Figure 4 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0062] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0063] It should be noted that the terms "first," "second," etc., used in this application can be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from the second element. The terms "comprising" and "having," and any variations thereof, used in this application, are intended to cover non-exclusive inclusion. The term "multiple" used in this application refers to two or more. The term "and / or" used in this application refers to one of the embodiments, or any combination of multiple embodiments.

[0064] The rust removal and obstacle clearing method for electrical equipment provided in this application embodiment can be applied to, for example... Figure 1 In the application environment shown, terminal 102 communicates with server 104 via a network. A data storage system can store the data that server 104 needs to process. The data storage system can be integrated onto server 104 or located on the cloud or other network servers. Terminal 102 can be, but is not limited to, various personal computers, laptops, smartphones, tablets, drones, low-altitude aircraft, IoT devices, and portable wearable devices. IoT devices can include smart speakers, smart TVs, smart air conditioners, smart in-vehicle devices, projection devices, etc. Portable wearable devices can include smartwatches, smart bracelets, head-mounted devices, etc. Head-mounted devices can be virtual reality (VR) devices, augmented reality (AR) devices, smart glasses, etc. Server 104 can be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud computing services.

[0065] In one exemplary embodiment, such as Figure 2 As shown, a method for removing rust and clearing obstructions from electrical equipment is provided, which can be applied to... Figure 1 Taking terminal 102 as an example, the explanation includes the following steps 202 to 210. Wherein:

[0066] Step 202: Obtain image data of the corroded area of ​​the electrical equipment, extract candidate laser action points from the image data, and determine the azimuth angle of the candidate laser action points relative to the high-voltage conductor.

[0067] For example, image data of the corroded area of ​​electrical equipment is acquired, candidate laser action points are extracted from the image data, and the azimuth angle of the candidate laser action points relative to the high-voltage conductor is determined.

[0068] The candidate laser action points are not randomly selected, but are obtained by sampling within the annular corrosion zone according to a fixed arc length interval or corrosion density weighting based on the geometric distribution of the corrosion area of ​​the electrical equipment, ensuring coverage of key corrosion areas; the azimuth angle is calculated by aligning the image coordinate system with the insulator steel foot installation reference, reflecting the absolute spatial position of each action point on the circumference of the steel foot.

[0069] Step 204: Based on the azimuth angle, candidate laser action points located on the side of the conductor are eliminated to obtain a set of feasible laser action points.

[0070] Optionally, based on the azimuth angle, candidate laser impact points located on the side of the conductor are eliminated to obtain a set of feasible laser impact points.

[0071] Among them, the azimuth angle reflects the absolute spatial position of each candidate laser action point on the circumference of the insulator steel foot; the conductor side refers to the half-circumference area of ​​the insulator steel foot corresponding to the high-voltage conductor in the normal installation state, and its azimuth range is determined a priori by the line structure.

[0072] The feasible laser application point set includes only points that are safe to use, providing an input basis that complies with the safety constraints of live-line work for subsequent point combination generation and optimization. The azimuth angle refers to the angle value of the candidate laser application point in a polar coordinate system with the insulator steel foot axis as the origin; the feasible laser application point set refers to the subset of points that, after safety screening, can be used for laser obstacle removal.

[0073] It should be noted that the orientation reference on the conductor side is fixed by structural calibration or design drawings before the insulator steel feet are put into operation, and does not need to be remeasured for each operation. A single obstacle clearing stroke refers to the longest operating cycle that the laser obstacle clearing device is allowed to perform in a single live approach operation, limited by safety regulations or the equipment's endurance.

[0074] Step 206: Determine the circumferential interval between each point in the feasible laser action point set, and generate a point composition scheme based on the circumferential interval.

[0075] For example, the circumferential interval distance between each point in the feasible set of laser action points is determined, and a point composition scheme is generated based on the circumferential interval distance.

[0076] Based on the set of feasible laser action points, the remaining points are organized in a circular sequence, and multiple locally continuous point combinations are generated with a fixed number of points as a constraint, so that each combination satisfies the operational resource constraints while maintaining spatial proximity.

[0077] In one embodiment, by limiting the number of points within a combination to equal the maximum number of active points, all solutions are ensured to be under the same resource constraints. By generating combinations based on circumferential intervals, geometric distribution information is preserved, allowing for subsequent optimization based on angular distance characteristics. The obstacle clearing task is decomposed into a two-level control logic of "local continuity and global optimization," which aligns with the comprehensive requirements of efficiency, accuracy, and safety for live-line work.

[0078] The circumferential interval distance refers to the central angle corresponding to adjacent feasible laser action points around the insulator's steel foot. The maximum number of action points that can be executed in a single obstacle clearing stroke refers to the maximum number of laser pulses that the laser obstacle clearing device is allowed to trigger in a single live approach operation, determined by the equipment's battery capacity, the safety regulations' allowed exposure time, or the electric field disturbance accumulation threshold. It should be noted that the maximum number of action points is fixed according to the task configuration before the operation and does not require real-time adjustment.

[0079] Step 208: The point composition scheme with the largest minimum circumferential angular distance between adjacent points is taken as the final point composition scheme.

[0080] Optionally, the point composition scheme with the largest minimum circumferential angular distance between adjacent points is selected as the final point composition scheme.

[0081] Among them, the minimum circumferential angular distance between adjacent points reflects the most compact distance between two points in a point composition scheme. The larger the value, the more dispersed the point distribution within the combination. The maximum minimum value means selecting the scheme with the largest compact distance among all point composition schemes to ensure that there is a sufficient angular interval between any two points.

[0082] Among them, the circumferential angular distance between adjacent points refers to the central angle of two adjacent points on the circumference of the insulator steel foot in the traversal order within the combination; the point combination scheme with the largest minimum value refers to the scheme with the largest minimum adjacent angular distance among all candidate schemes.

[0083] Step 210: Perform laser obstacle removal operation based on the preset circumferential traversal direction and final point composition scheme.

[0084] The preset circular traversal direction is set during the task initialization phase based on the laser device's installation location or operating habits, and remains fixed throughout the process once determined. The preset circular traversal direction is set to clockwise or counter-clockwise during task initialization and remains fixed after selection. Points in the optimal obstacle clearing point combination are sequentially arranged according to this direction to form an obstacle clearing execution sequence. The laser obstacle clearing device triggers laser pulses point by point in sequence to complete the obstacle clearing.

[0085] The starting point of the obstacle removal execution sequence is the point with the smallest azimuth angle in the combination, ensuring a consistent starting point for each operation and facilitating operation reproduction. Furthermore, the laser pulse trigger interval is fixed to avoid fluctuations in energy injection rate due to different point spacing, thus maintaining the uniformity of obstacle removal.

[0086] Specifically, during the execution process, the reflectivity data is monitored in real time. If the reflectivity of a certain point does not meet the expectations after clearing the obstruction, it will not be processed again before the end of the current trip and will be supplemented in the next trip to prevent local over-clearing.

[0087] For example, laser obstacle removal is performed sequentially according to the final point composition scheme of the preset circumferential traversal direction (clockwise or counterclockwise).

[0088] In the above-mentioned method for removing rust and clearing obstacles from electrical equipment, image data of the rusted area of ​​the electrical equipment is acquired, candidate laser action points are extracted from the image data, and the azimuth angle of the candidate laser action points relative to the high-voltage conductor is determined; based on the azimuth angle, candidate laser action points located on the conductor side are eliminated to obtain a set of feasible laser action points; the circumferential interval distance between each point in the set of feasible laser action points is determined, and a point composition scheme is generated based on the circumferential interval distance; the point composition scheme with the largest minimum circumferential angular distance between adjacent points is taken as the final point composition scheme; and laser obstacle clearing operation is performed based on the preset circumferential traversal direction and the final point composition scheme. In this way, the obstacle clearing points are transformed from continuous scanning to discrete optimization. A structured combination is generated by combining the constraint of the maximum number of effective points in a single stroke. Then, the optimal distribution scheme is automatically selected through the minimum angular distance maximization logic. This satisfies the time and disturbance restrictions for live-line work and avoids the problem of point clustering caused by manual designation or random selection. During execution, continuous operation in a fixed circumferential direction reduces the mechanical disturbance and positioning error caused by the reciprocating motion of the laser head, thereby improving the obstacle clearing accuracy and work efficiency.

[0089] In an exemplary embodiment, acquiring image data of the corroded area of ​​electrical equipment, extracting candidate laser impact points from the image data, and determining the azimuth angle of the candidate laser impact points relative to the high-voltage conductor includes: performing connected component analysis on the image data to identify the continuous corroded area at the interface between the insulator steel foot and the cement adhesive of the electrical equipment; within the continuous corroded area, sampling is performed at fixed arc lengths along the circumference of the insulator steel foot to generate multiple discrete sampling points as candidate laser impact points; based on the installation reference direction of the insulator steel foot, the image coordinate system is converted into a polar coordinate system with the axis of the insulator steel foot as the origin, and the azimuth angle of each candidate laser impact point in the polar coordinate system is calculated.

[0090] In practice, after the image data is binarized, all connected pixel sets are marked using the four-neighbor or eight-neighbor connectivity criterion. From these, the connected regions located within the junction ring between the insulator steel foot and the cement are selected as the continuous corrosion regions.

[0091] The continuously corroded area is mapped onto a reference circle centered on the steel foot axis, and equidistant sampling is performed along the circumference with a fixed arc length as the step size. When the sampling position falls within the continuously corroded area, the position is recorded as a candidate laser action point; when the sampling position is located in a non-corroded area, the position is skipped.

[0092] The installation reference direction of the insulator steel foot is determined by the structural reference features of the insulator steel foot hardware, such as the orientation of the pin control center line or crimp mark, which serves as the 0-degree reference direction in the image. The rectangular coordinates of each candidate laser action point are converted to polar coordinates accordingly, and the resulting angle value is the azimuth angle. The azimuth angle reflects the absolute spatial orientation of the candidate laser action point on the circumference of the insulator steel foot, providing a geometric basis for distinguishing between the conductor side and the non-conductor side.

[0093] In the above embodiments, continuous corrosion areas are extracted by connected component analysis, candidate laser action points are generated by circumferential equal arc length sampling, and azimuth calibration is completed based on structural reference. This avoids redundancy or omission of points caused by directly mapping image pixels to laser paths, and improves the correspondence accuracy between action points and actual corrosion distribution.

[0094] In an exemplary embodiment, based on the azimuth angle, candidate laser impact points located on the conductor side are eliminated to obtain a set of feasible laser impact points. This includes: identifying structural reference features on the insulator steel foot fittings; determining the starting and ending azimuth angles on the conductor side in a polar coordinate system based on the structural reference features; determining whether the azimuth angle of each candidate laser impact point is within the interval defined by the starting and ending azimuth angles; eliminating candidate laser impact points whose azimuth angles fall into the interval; and using the remaining candidate laser impact points as the set of feasible laser impact points.

[0095] In practice, the steel foot fittings of the insulator are equipped with pin holes, indentations or symmetrical notches. The structural reference features are aligned with the installation direction of the conductor at the factory. Under the operating state, the spatial orientation uniquely corresponds to the high-voltage conductor position, providing a physical basis for orientation calibration.

[0096] Furthermore, the structural reference feature is the circular through-hole on the insulator's steel foot fitting used for installing pins. The axis of this circular through-hole must be aligned with the direction of force on the suspension clamp when the insulator is assembled to the crossarm, thus ensuring that the direction of the circular through-hole is consistent with the direction of the high-voltage conductor. The centerline of the circular through-hole is represented in the image as a pair of symmetrical edge points. After detecting the position of the circular through-hole using Hough circle transform, the direction of the line connecting the center of the circular through-hole and the axis of the steel foot is extracted; this is the direction of the structural reference feature. The direction of the structural reference feature does not change after the equipment is put into operation and can serve as a permanent orientation reference.

[0097] In one embodiment, with the insulator steel foot axis as the origin, the angle pointing to the structural reference feature is set to 0 degrees. The conductor side is defined as a continuous half-cycle interval from 270 degrees to 90 degrees, which is the conductor side range defined by the starting azimuth angle and the ending azimuth angle. The starting azimuth angle is set to 270 degrees, and the ending azimuth angle is set to 90 degrees, forming a 180-degree half-cycle region extending 90 degrees to the left and right of 0 degrees, covering the high electric field region directly opposite the high-voltage conductor and its adjacent area. The interval from 270 degrees to 90 degrees crosses the 0-degree boundary in the polar coordinate system. The controller uses modulo 360 calculation to process angle comparisons to ensure the closed-loop interval judgment logic. The conductor side range is calibrated based on the electric field simulation results of typical 10kV to 35kV lines, which highly coincides with the actual high-corona incidence area. It is easy to understand that the width of the half-cycle range can also be adjusted according to the line voltage level. For example, for 35kV lines, it can be extended to 260 degrees to 100 degrees to accommodate higher electric field distortion regions, but the symmetrical definition centered on the structural reference feature is always maintained.

[0098] Determine the azimuth angle of each candidate laser point of action. If the azimuth angle is greater than or equal to the starting azimuth angle and less than or equal to the ending azimuth angle, the corresponding candidate laser point of action is determined to be on the conductor side; otherwise, it is determined to be on the non-conductor side.

[0099] In one embodiment, when the starting azimuth is 270 degrees and the ending azimuth is 90 degrees, the azimuth determination uses segmented logic: if the azimuth is greater than or equal to 270 degrees or less than or equal to 90 degrees, it is determined to be on the conductor side; otherwise, it is on the non-conductor side. Furthermore, the segmented logic is implemented through angle normalization, mapping all azimuths uniformly to the [0, 360) interval before performing Boolean judgments to avoid misjudgments due to negative angle values ​​or out-of-bounds values; the judgment process is implemented in the controller using conditional statements.

[0100] In another embodiment, a directional label can be attached to each candidate laser action point, and the label value can be directly read during the path planning stage to avoid repeated interval judgments and improve computational efficiency.

[0101] Specifically, candidate laser impact points determined to be on the conductor side are removed from the candidate set, and only candidate laser impact points on the non-conductor side are retained. The final set of points is the set of feasible laser impact points.

[0102] Furthermore, the elimination operation is implemented in memory using set difference operations, which removes the list of conductor side point indices from the original candidate point list and generates a new list as the set of feasible laser action points.

[0103] Furthermore, after the feasible set of laser action points is generated, the number of points and the distribution span are automatically recorded. If the number is lower than the minimum requirement for obstacle removal, an operation stop signal is triggered to prevent ineffective obstacle removal; if the distribution is too concentrated, the range of combination generation is limited.

[0104] It is easy to understand that the set of feasible laser action points can also be bound to the kinematic parameters of the laser head, and the feasibility of the path can be pre-tested after generation to ensure that all reserved points can be reached within the workspace of the robotic arm and avoid execution failures in the later stages.

[0105] In the above embodiments, the absolute azimuth range of the conductor side was established by structural reference features, and the candidate point azimuth angle was combined to complete the programmed screening, avoiding reliance on real-time electric field measurement or subjective experience judgment, and ensuring that the obstacle clearing operation in high-risk areas was systematically excluded; the set of feasible laser action points was strictly limited to the non-conductor side, so that the laser energy injection avoided the area with the most severe electric field distortion, effectively suppressing the coupling effect of metal vapor and strong electric field from the spatial distribution, and improving the safety margin of live obstacle clearing.

[0106] In an exemplary embodiment, determining the circumferential interval distance between points in the feasible laser action point set and generating a point composition scheme based on the circumferential interval distance includes: arranging the candidate laser action points in the feasible laser action point set in ascending order by azimuth angle to form an ordered point sequence; calculating the circumferential interval distance between adjacent points based on the ordered point sequence to obtain an angular distance sequence; extracting all continuous subsequences of a preset value from the ordered point sequence using a sliding window method as candidate point combinations; the preset value is the maximum number of action points that can be executed in a single obstacle clearing trip; and summarizing all candidate point combinations to generate a point combination scheme.

[0107] In practice, the candidate laser action points in the feasible laser action point set are arranged in ascending order of azimuth angle from smallest to largest to form an ordered point sequence.

[0108] The sorting is implemented using quicksort or mergesort algorithms, and the sorting result is stored in the form of an array. The array index order corresponds to the clockwise or counterclockwise traversal order on the circumference.

[0109] In one embodiment, for points with equal azimuth angles, if the sampling accuracy overlaps, the arc length position in the rusted area is re-sorted to ensure the uniqueness of the sequence.

[0110] For any two adjacent points in an ordered sequence, the absolute value of the difference in their azimuth angles is taken as the circumferential angular distance. For the end point and the beginning point of the sequence, the circumferential angular distance is calculated by subtracting the sum of all other adjacent angular distances from 360 degrees, ensuring that the entire circle is closed.

[0111] Furthermore, the angular distance calculation is performed in the controller using floating-point operations, with the result rounded to one decimal place and in degrees, forming an angular distance array of the same length as the point sequence. The angular distance sequence is used to characterize the density of points on the circumference; dense areas have smaller angular distances, while sparse areas have larger angular distances, providing a geometric basis for subsequent combination and selection.

[0112] It is easy to understand that the angular distance sequence participates in the minimum angular distance pre-detection immediately after generation. If the overall minimum angular distance is less than the safety interval, the starting position of the sliding window is restricted to avoid generating overly dense combinations.

[0113] Determine the maximum number of action points N that can be executed in a single obstacle clearing operation. N is a positive integer and is determined by the maximum number of laser triggers allowed in a single energized approach operation of the laser obstacle clearing device. The maximum number of laser triggers is constrained by the device's battery capacity, laser thermal accumulation limit, and safety regulations.

[0114] Furthermore, N is manually set by the operator during the task initialization phase based on the line voltage level and the severity of corrosion, or read from a pre-stored task configuration file.

[0115] In one embodiment, the value of N is limited to between 3 and 6, with 3 points applicable to light corrosion and 6 points applicable to continuous annular corrosion, ensuring that the time of a single trip is controlled within a safe window.

[0116] Specifically, if the total number of feasible laser action points is less than N, then N is automatically adjusted to the total number of feasible points to avoid combination generation failure.

[0117] The sliding window starts from the 0th point of the ordered sequence and selects N consecutive points in sequence, incrementing by 1 point each time, until the starting position covers the entire sequence. Each step generates a candidate point combination. Furthermore, when the starting position i satisfies i+N>sequence length M, the window iterates through the sequence from the beginning, meaning the combination includes points i, i+1,…,M−1,0,1,…, until N points are collected. Even further, the sliding window traversal process ensures that all possible consecutive N-point combinations are covered, with the total number of combinations equal to the number of feasible points M. Each combination corresponds to a starting angle of the circle.

[0118] It is easy to understand that the sliding window records the azimuth of the starting point of the combination while extracting the combination, which is used to sort and execute according to the preset circumferential traversal direction.

[0119] All candidate point combinations generated by the sliding window are stored in a unified list structure, forming a point combination scheme set, where each element is a sublist containing N points. Furthermore, the point combination scheme set is immediately appended with metadata after generation, including the minimum adjacent angular distance, average angular distance, and starting azimuth angle for each combination.

[0120] Furthermore, the minimum adjacent angular distance in the metadata is used as the selection criterion, that is, the combination with the largest minimum adjacent angular distance is selected to ensure that the point distribution is as dispersed as possible. Among them, the set of point combination schemes is deduplicated before output. If two combinations contain the exact same points, only differing in order, the one with the smaller starting azimuth angle is retained to avoid redundancy.

[0121] In the above embodiment, it receives a "set of feasible points" that has avoided the highest-risk area (traverse side), ensuring that the starting point for optimization is safe. The "set of point combination schemes" it produces forms the basis for final safety-enhanced optimization (maximizing minimum angular distance) and execution. The final selected scheme ensures that each point is in a safe position, that these points are distributed as dispersedly as possible within the safe area (maximum minimum angular distance), and that the continuity of operations is met. This collaboratively improves operational efficiency and accuracy at the system level.

[0122] In an exemplary embodiment, the point combination scheme with the largest minimum circumferential angular distance between adjacent points is selected as the final point combination scheme. This includes: for each point combination scheme, calculating the circumferential angular distance between adjacent points and determining the minimum circumferential angular distance of each point combination scheme; comparing the minimum circumferential angular distances of all point combination schemes, and selecting the point combination scheme with the largest minimum circumferential angular distance as the final point combination scheme.

[0123] In practice, all point combination schemes are traversed, and the minimum value of the circular manifold for each scheme, i.e., the minimum adjacent angle distance, is recorded. Each scheme is sequentially retrieved from the set of point combination schemes, and the minimum adjacent angle distance generated by each scheme is read. The scheme identifier and the corresponding angle distance value are stored in a temporary list, completing the traversal of the entire set. Furthermore, the temporary list is implemented as an array, with the index corresponding to the scheme number and the value corresponding to the minimum adjacent angle distance, facilitating rapid comparison later.

[0124] Furthermore, the traversal process is implemented in the controller using loop statements, without relying on external databases or dynamic loading, ensuring deterministic execution. Specifically, if the set of point combination schemes is empty, a job abort signal is triggered to prevent invalid optimization.

[0125] The scheme with the largest minimum adjacent angular distance is selected as the optimal combination of obstacle removal points.

[0126] It should be noted that the maximum angular distance value is found in the temporary list, and the corresponding scheme is the optimal combination of obstacle removal points; this scheme has the largest minimum point spacing among all candidates and the lowest risk of electric field disturbance.

[0127] Furthermore, if multiple schemes have the same maximum and minimum angular distance values, the scheme with the smallest starting azimuth angle is selected first to ensure consistency in the execution order.

[0128] Furthermore, once the optimal combination of obstacle removal points is determined, the set of points is immediately locked, and modification or replacement is prohibited during the execution phase to ensure a closed-loop control process.

[0129] Specifically, the minimum adjacent angular distance value of the optimal combination of obstacle removal points can also be recorded in the operation log for post-event safety assessment.

[0130] In the above embodiments, the abstract operational safety objective is ingeniously transformed into a quantifiable, optimizable, and executable geometric distribution criterion. This criterion not only proactively constructs the strongest safety defense (maximizing the weakest link), but also simultaneously improves operational quality (promoting uniform distribution), and ensures the objectivity and reproducibility of the solution through automated decision-making. Ultimately, it coordinates with the execution process to achieve systematic optimization of live laser obstacle removal in terms of safety, effectiveness, and reliability.

[0131] In an exemplary embodiment, for each point combination scheme, the circumferential angular distance between adjacent points is calculated, and the minimum circumferential angular distance of each point combination scheme is determined, including: arranging the candidate laser action points in the point combination scheme in ascending order of azimuth angle to obtain a linear sequence; appending the first point of the linear sequence to the end to form a closed loop sequence; calculating the circumferential angular distance of each pair of adjacent points in the closed loop sequence, and selecting the minimum value from the circumferential angular distances as the minimum circumferential angular distance of the point combination scheme.

[0132] In actual implementation, all candidate laser action points in each point combination scheme are traversed, the azimuth angles calculated for each point are obtained, and the points are arranged in ascending order of azimuth angles from smallest to largest to obtain a linear point sequence. In order to accurately calculate the angular distance between the first and last points on the circumference, the first point of the linear sequence is copied and appended to the end of the sequence to form a closed circular sequence.

[0133] The sorting process preserves the original identifiers of each point to ensure a one-to-one correspondence between subsequent angular distance calculations and the points. After adding the first point, the length of the circular sequence is N+1, where N is the maximum number of action points that can be executed in a single obstacle clearing trip. Furthermore, for points with equal azimuth angles, a secondary sorting is performed according to their original sampling order in the rusted area to ensure the uniqueness of the sequence and avoid errors in angular distance calculation due to sorting ambiguity.

[0134] In one embodiment, the first point identifier can be explicitly stored at the end of the linear sequence instead of copying the entire point data to save memory usage, while the closure is achieved through index loop during angular distance calculation.

[0135] In this process, the points in the point combination scheme are arranged in ascending order of azimuth angle to obtain a linear sequence.

[0136] It should be noted that the process iterates through all candidate laser impact points in the point combination scheme, obtains the calculated azimuth angle of each point, and sorts them according to the azimuth angle values ​​from smallest to largest, generating a linear point sequence. The order of the points in the linear sequence corresponds to the clockwise or counterclockwise arrangement direction on the circumference. Furthermore, the original index and spatial coordinates of each point are preserved during the sorting process to ensure that the original position in the image can still be traced back after sorting.

[0137] Furthermore, when multiple points have the same azimuth angle, they are stably sorted according to the order in which they were sampled, avoiding non-uniqueness of the sequence due to floating-point precision.

[0138] It is easy to understand that the linear sequence is stored in the form of an array, and the array length is equal to the maximum number of action points N that can be executed in a single obstacle clearing trip.

[0139] In this method, the first point of the linear sequence is appended to the end to form a closed circular sequence.

[0140] It should be noted that copying the data of the first point from the linear sequence and adding it to the end of the sequence makes the new sequence length N+1; this operation makes the last pair of adjacent points (the Nth point and the N+1th point) the first and last point pairs on the circumference, thus supporting the calculation of the angular distance of a complete circle.

[0141] Furthermore, the append operation only copies the azimuth and identifier of the point, without repeatedly storing the image coordinates, in order to save memory resources.

[0142] Furthermore, the closed circular sequence ensures that the angular distance between any two adjacent points is the shortest arc length along the circumference, avoiding the omission of the first and last intervals or miscalculation as a 360-degree difference.

[0143] It is easy to understand that circular sequences are implemented in memory using circular buffers. Logically, they are connected end to end, but physically, they do not require explicit copying. Index wrapping is achieved through modular arithmetic.

[0144] Specifically, the circumferential angular distance between each pair of adjacent points in the circular sequence is calculated to obtain an angular distance list.

[0145] It should be noted that, for the circular sequence from the 1st point to the Nth point, the azimuth difference between the current point and the next adjacent point is calculated sequentially, and its absolute value is taken as the circumferential angular distance; since the sequence is closed, the angular distance between the Nth point and the (N+1)th point (i.e. the first point) is the circumferential start-end interval.

[0146] Furthermore, all circumferential angular distances are expressed in degrees, rounded to one decimal place, and stored in an angular distance list that corresponds one-to-one with each point, with a list length of N.

[0147] Furthermore, the angular distance calculation process automatically handles cases that cross the 0-degree boundary. For example, if the azimuth angle changes from 350 degrees to 20 degrees, the angular distance is 30 degrees instead of 330 degrees, ensuring the correct geometric distance.

[0148] Iterate through all elements in the angular distance list, compare the angular distances of each circle, and record the smallest value as the minimum adjacent angular distance for the point combination scheme. This value reflects the closest distance between the two points in the combination and is used to measure the risk of point clustering. Furthermore, a smaller minimum adjacent angular distance indicates the existence of areas where points are too close together within the combination, making it easier for metal vapors to accumulate and increasing the risk of corona discharge; conversely, a larger minimum adjacent angular distance indicates a more dispersed distribution and higher safety. Moreover, the minimum adjacent angular distance serves as the sole quantitative indicator for scheme optimization, without introducing auxiliary parameters such as average angular distance or variance, ensuring that the optimization logic is simple, definite, and reproducible. A minimum adjacent angular distance label can also be attached to each point combination scheme.

[0149] In the above embodiments, each complex combination of spatial points is mapped to a scalar value representing its weakest security level in a computationally efficient, geometrically accurate, and logically rigorous manner, thereby achieving automated and intelligent optimization.

[0150] To illustrate the rust removal and obstacle clearing method for electrical equipment in this application in detail, an embodiment is described below. For example, this application describes a rust removal and obstacle clearing method for electrical equipment in a specific scenario.

[0151] First, image data of the corroded area of ​​the electrical equipment is acquired, candidate laser action points are extracted from the image data, and the azimuth angle of the candidate laser action points relative to the high-voltage conductor is determined.

[0152] The candidate laser action points are not randomly selected, but are obtained by sampling within the annular corrosion zone according to a fixed arc length interval or corrosion density weighting based on the geometric distribution of the corrosion area of ​​the electrical equipment, ensuring coverage of key corrosion areas; the azimuth angle is calculated by aligning the image coordinate system with the insulator steel foot installation reference, reflecting the absolute spatial position of each action point on the circumference of the steel foot.

[0153] Based on the azimuth angle, candidate laser impact points located on the side of the conductor are eliminated to obtain a set of feasible laser impact points.

[0154] Among them, the azimuth angle reflects the absolute spatial position of each candidate laser action point on the circumference of the insulator steel foot; the conductor side refers to the half-circumference area of ​​the insulator steel foot corresponding to the high-voltage conductor in the normal installation state, and its azimuth range is determined a priori by the line structure.

[0155] The feasible laser application point set includes only points that are safe to use, providing an input basis that complies with the safety constraints of live-line work for subsequent point combination generation and optimization. The azimuth angle refers to the angle value of the candidate laser application point in a polar coordinate system with the insulator steel foot axis as the origin; the feasible laser application point set refers to the subset of points that, after safety screening, can be used for laser obstacle removal.

[0156] It should be noted that the orientation reference on the conductor side is fixed by structural calibration or design drawings before the insulator steel feet are put into operation, and does not need to be remeasured for each operation. A single obstacle clearing stroke refers to the longest operating cycle that the laser obstacle clearing device is allowed to perform in a single live approach operation, limited by safety regulations or the equipment's endurance.

[0157] Determine the circumferential interval between each point in the feasible laser action point set, and generate a point composition scheme based on the circumferential interval.

[0158] Based on the set of feasible laser action points, the remaining points are organized in a circular sequence, and multiple locally continuous point combinations are generated with a fixed number of points as a constraint, so that each combination satisfies the operational resource constraints while maintaining spatial proximity.

[0159] The point composition scheme with the largest minimum circumferential angular distance between adjacent points is taken as the final point composition scheme.

[0160] Among them, the minimum circumferential angular distance between adjacent points reflects the most compact distance between two points in a point composition scheme. The larger the value, the more dispersed the point distribution within the combination. The maximum minimum value means selecting the scheme with the largest compact distance among all point composition schemes to ensure that there is a sufficient angular interval between any two points.

[0161] Laser obstacle removal is performed sequentially according to the preset circular traversal direction and the final point composition scheme (clockwise or counterclockwise).

[0162] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps. It is understood that the steps in different embodiments can be freely combined as needed, and all non-contradictory solutions formed by such combinations are within the scope of protection of this application.

[0163] Based on the same inventive concept, this application also provides a rust removal and obstacle clearing device for implementing the aforementioned rust removal and obstacle clearing method for electrical equipment. The solution provided by this device is similar to the solution described in the above method. Therefore, the specific limitations of one or more embodiments of the rust removal and obstacle clearing device for electrical equipment provided below can be found in the limitations of the rust removal and obstacle clearing method for electrical equipment described above, and will not be repeated here.

[0164] In one exemplary embodiment, such as Figure 3 As shown, a rust removal and obstacle clearing device for electrical equipment is provided, comprising: an acquisition module 301, a rejection module 302, a generation module 303, and an obstacle clearing module 304, wherein:

[0165] The acquisition module is used to acquire image data of the corroded area of ​​electrical equipment, extract candidate laser action points from the image data, and determine the azimuth angle of the candidate laser action points relative to the high-voltage conductor.

[0166] The elimination module is used to eliminate candidate laser action points located on the side of the conductor based on the azimuth angle, so as to obtain a set of feasible laser action points;

[0167] The generation module is used to determine the circumferential interval distance between each point in the set of feasible laser action points, and generate a point composition scheme based on the circumferential interval distance.

[0168] The generation module is also used to take the point composition scheme with the largest minimum circumferential angular distance between adjacent points as the final point composition scheme.

[0169] The obstacle clearing module is used to perform laser obstacle clearing operations based on a preset circumferential traversal direction and the final point composition scheme.

[0170] In one exemplary embodiment, the acquisition module described above is further configured to:

[0171] By performing connected component analysis on the image data, continuous corrosion areas at the interface between the steel insulator foot and the cement adhesive of the electrical equipment were identified.

[0172] Within the continuous corrosion area, sampling is performed at fixed arc lengths along the circumference of the insulator steel foot to generate multiple discrete sampling points as candidate laser action points.

[0173] Based on the installation reference direction of the insulator steel foot, the image coordinate system is transformed into a polar coordinate system with the axis of the insulator steel foot as the origin, and the azimuth angle of each candidate laser action point in the polar coordinate system is calculated.

[0174] In one exemplary embodiment, the above-described rejection module is further configured to:

[0175] Identify the structural reference features on the steel foot fittings of the insulator, and determine the starting and ending azimuth angles of the conductor side in the polar coordinate system based on the structural reference features;

[0176] Determine whether the azimuth angle of each candidate laser action point is within the interval defined by the starting azimuth angle and the ending azimuth angle;

[0177] Candidate laser impact points within the azimuth angle ingress interval are removed, and the remaining candidate laser impact points are taken as the set of feasible laser impact points.

[0178] In one exemplary embodiment, the above-described generation module is further configured to:

[0179] Arrange the candidate laser action points in the feasible laser action point set in ascending order of azimuth angle to form an ordered point sequence;

[0180] Based on the ordered point sequence, the circumferential interval distance between two adjacent points is calculated to obtain the angular distance sequence;

[0181] Extract all continuous subsequences of a preset length from the ordered point sequence using a sliding window method as candidate point combinations; the preset value is the maximum number of action points that can be executed in a single obstacle clearing operation.

[0182] All candidate location combinations are summarized to generate a location combination scheme.

[0183] In one exemplary embodiment, the above-described generation module is further configured to:

[0184] For each combination of points, calculate the circumferential angular distance between adjacent points and determine the minimum circumferential angular distance for each combination of points.

[0185] Compare the minimum circumferential angular distance of all point combination schemes, and take the point combination scheme with the largest minimum circumferential angular distance as the final point composition scheme.

[0186] In one exemplary embodiment, the above-described apparatus further includes a determining module for:

[0187] Arrange the candidate laser action points in the point combination scheme in ascending order of azimuth angle to obtain a linear sequence;

[0188] By appending the first point of a linear sequence to the end, a closed circular sequence is formed.

[0189] Calculate the circumferential angular distance between each pair of adjacent points in the closed circular sequence, and select the minimum value from the circumferential angular distances as the minimum circumferential angular distance for the point combination scheme.

[0190] Each module in the aforementioned rust removal and obstacle clearing device for electrical equipment can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0191] In one exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 4As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When the computer program is executed by the processor, it implements a method for rust removal and obstacle clearing of electrical equipment.

[0192] The display unit of this computer device is used to form a visually visible image and can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of this computer device can be a touch layer covering the display screen, or buttons, a trackball, or a touchpad set on the casing of the computer device, or an external keyboard, touchpad, or mouse, etc.

[0193] Those skilled in the art will understand that Figure 4 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0194] In one exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0195] Acquire image data of the corroded area of ​​electrical equipment, extract candidate laser impact points from the image data, and determine the azimuth angle of the candidate laser impact points relative to the high-voltage conductor;

[0196] Based on the azimuth angle, candidate laser impact points located on the conductor side are eliminated to obtain a set of feasible laser impact points;

[0197] Determine the circumferential interval between each point in the set of feasible laser action points, and generate a point composition scheme based on the circumferential interval.

[0198] The point composition scheme with the largest minimum circumferential angular distance between adjacent points in the above point composition scheme shall be taken as the final point composition scheme;

[0199] Laser obstacle removal is performed based on the preset circumferential traversal direction and the final point composition scheme.

[0200] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0201] Acquire image data of the corroded area of ​​electrical equipment, extract candidate laser impact points from the image data, and determine the azimuth angle of the candidate laser impact points relative to the high-voltage conductor;

[0202] Based on the azimuth angle, candidate laser impact points located on the conductor side are eliminated to obtain a set of feasible laser impact points;

[0203] Determine the circumferential interval between each point in the set of feasible laser action points, and generate a point composition scheme based on the circumferential interval.

[0204] The point composition scheme with the largest minimum circumferential angular distance between adjacent points in the above point composition scheme shall be taken as the final point composition scheme;

[0205] Laser obstacle removal is performed based on the preset circumferential traversal direction and the final point composition scheme.

[0206] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps:

[0207] Acquire image data of the corroded area of ​​electrical equipment, extract candidate laser impact points from the image data, and determine the azimuth angle of the candidate laser impact points relative to the high-voltage conductor;

[0208] Based on the azimuth angle, candidate laser impact points located on the conductor side are eliminated to obtain a set of feasible laser impact points;

[0209] Determine the circumferential interval between each point in the set of feasible laser action points, and generate a point composition scheme based on the circumferential interval.

[0210] The point composition scheme with the largest minimum circumferential angular distance between adjacent points in the above point composition scheme shall be taken as the final point composition scheme;

[0211] Laser obstacle removal is performed based on the preset circumferential traversal direction and the final point composition scheme.

[0212] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0213] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0214] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0215] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for removing rust and clearing obstructions from electrical equipment, characterized in that, The method includes: Acquire image data of the corroded area of ​​electrical equipment, extract candidate laser impact points from the image data, and determine the azimuth angle of the candidate laser impact points relative to the high-voltage conductor; Based on the azimuth angle, candidate laser impact points located on the conductor side are eliminated to obtain a set of feasible laser impact points; Determine the circumferential interval between each point in the set of feasible laser action points, and generate a point composition scheme based on the circumferential interval. The point composition scheme with the largest minimum circumferential angular distance between adjacent points in the above point composition scheme shall be taken as the final point composition scheme; Laser obstacle removal is performed based on the preset circumferential traversal direction and the final point composition scheme.

2. The method according to claim 1, characterized in that, The process of acquiring image data of the corroded area of ​​electrical equipment, extracting candidate laser impact points from the image data, and determining the azimuth angle of the candidate laser impact points relative to the high-voltage conductor includes: Connectivity analysis was performed on the image data to identify the continuous corrosion area at the interface between the insulator steel foot and the cement adhesive of the electrical equipment. Within the continuous corrosion area, sampling is performed at fixed arc lengths along the circumferential direction of the insulator steel foot to generate multiple discrete sampling points as candidate laser action points; Based on the installation reference direction of the insulator steel foot, the image coordinate system is transformed into a polar coordinate system with the axis of the insulator steel foot as the origin, and the azimuth angle of each candidate laser action point in the polar coordinate system is calculated.

3. The method according to claim 2, characterized in that, Based on the azimuth angle, candidate laser impact points located on the conductor side are eliminated to obtain a set of feasible laser impact points, including: Identify the structural reference features on the steel foot fittings of the insulator, and determine the starting and ending azimuth angles of the conductor side in the polar coordinate system based on the structural reference features. Determine whether the azimuth angle of each candidate laser action point is within the interval defined by the starting azimuth angle and the ending azimuth angle; Candidate laser impact points within the azimuth angle ingress interval are removed, and the remaining candidate laser impact points are taken as the set of feasible laser impact points.

4. The method according to claim 1, characterized in that, The step of determining the circumferential interval distance between each point in the feasible laser action point set, and generating a point composition scheme based on the circumferential interval distance, includes: Arrange the candidate laser action points in the feasible laser action point set in ascending order of azimuth angle to form an ordered point sequence; Based on the ordered point sequence, the circumferential interval distance between two adjacent points is calculated to obtain the angular distance sequence; Using a sliding window approach, all continuous subsequences of a preset length are extracted from the ordered point sequence as candidate point combinations; the preset value is the maximum number of action points that can be executed in a single obstacle clearing operation. All candidate location combinations are summarized to generate a location combination scheme.

5. The method according to claim 1, characterized in that, The step of selecting the point composition scheme with the largest minimum circumferential angular distance between adjacent points as the final point composition scheme includes: For each combination of points, calculate the circumferential angular distance between adjacent points and determine the minimum circumferential angular distance for each combination of points. Compare the minimum circumferential angular distance of all point combination schemes, and take the point combination scheme with the largest minimum circumferential angular distance as the final point composition scheme.

6. The method according to claim 5, characterized in that, For each point combination scheme, the circumferential angular distance between adjacent points is calculated, and the minimum circumferential angular distance for each point combination scheme is determined, including: Arrange the candidate laser action points in the point combination scheme in ascending order of azimuth angle to obtain a linear sequence; The first point of the linear sequence is appended to the end to form a closed circular sequence; Calculate the circumferential angular distance between each pair of adjacent points in the closed circular sequence, and select the minimum value from the circumferential angular distances as the minimum circumferential angular distance of the point combination scheme.

7. A rust removal and obstacle clearing device for electrical equipment, characterized in that, The device includes: The acquisition module is used to acquire image data of the corroded area of ​​electrical equipment, extract candidate laser action points from the image data, and determine the azimuth angle of the candidate laser action points relative to the high-voltage conductor. The elimination module is used to eliminate candidate laser action points located on the side of the conductor based on the azimuth angle, so as to obtain a set of feasible laser action points; The generation module is used to determine the circumferential interval distance between each point in the set of feasible laser action points, and generate a point composition scheme based on the circumferential interval distance. The generation module is also used to take the point composition scheme with the largest minimum circumferential angular distance between adjacent points as the final point composition scheme. The obstacle clearing module is used to perform laser obstacle clearing operations based on a preset circumferential traversal direction and the final point composition scheme.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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