CN113134484A - High-voltage electrified water washing method and system based on dual-machine cooperation - Google Patents
High-voltage electrified water washing method and system based on dual-machine cooperation Download PDFInfo
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- CN113134484A CN113134484A CN202110321404.0A CN202110321404A CN113134484A CN 113134484 A CN113134484 A CN 113134484A CN 202110321404 A CN202110321404 A CN 202110321404A CN 113134484 A CN113134484 A CN 113134484A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 34
- 238000005406 washing Methods 0.000 title claims abstract description 31
- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000004140 cleaning Methods 0.000 claims abstract description 45
- 239000012212 insulator Substances 0.000 claims abstract description 45
- 238000002360 preparation method Methods 0.000 claims description 24
- 238000013459 approach Methods 0.000 claims description 3
- 238000011010 flushing procedure Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 230000006378 damage Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 239000004020 conductor Substances 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 208000033999 Device damage Diseases 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005108 dry cleaning Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 239000003792 electrolyte Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Insulators (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
The invention discloses a high-voltage electrified water washing method and system based on double-machine cooperation, belonging to the technical field of unmanned aerial vehicle washing, wherein a double-unmanned aerial vehicle comprises a long machine and a slave machine, wherein the long machine receives an operation instruction sent by a remote controller and carries out insulator washing operation according to the operation instruction; the long machine synchronizes an operation instruction sent by the remote controller to the slave machine so that the slave machine and the long machine cooperate to perform insulator cleaning operation. The insulator cleaning device provided by the invention uses the cooperation of the two machines to clean the insulator, and has the advantages of low manufacturing cost, flexible operation, low accident rate, high industrial efficiency and high safety.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle cleaning, in particular to a high-voltage electrified water washing method and system based on double-machine cooperation.
Background
The power industry is the fundamental industry of national economy, and the transmission line is an indispensable part of the power system. Insulators are special insulating controls that increase creepage distance, and are often used in power transmission lines to secure electrical conductors, ensuring adequate distance and insulation between the conductors and the ground. As one of the most important components of a power supply system, the insulator is in an exposed environment for a long time, and dust particles in the atmosphere are easily attached to the insulator in the working process to form a dirty layer. When the insulator meets special weather such as fog, rain and the like, electrolyte contained in the dirt is dissolved in water, so that the surface conductance of the insulator is increased, the partial discharge phenomenon is caused, and the dirt flashover is easy to occur. The pollution flashover of the insulator is one of the core factors causing the tripping fault of a contact network power supply system, so that the guarantee of clean surface of the insulator is a key link for guaranteeing the stable operation of a power system.
In the most common method for insulating maintenance of electric power facilities, dirt can be removed by cleaning, including power failure cleaning and live cleaning. The charged cleaning includes mainly charged water rinsing, charged air blowing cleaning, charged mechanical dry cleaning, and charged chemical cleaning developed in recent years. The method is simple and easy to operate, needs power failure operation, and is large in workload and high in danger coefficient. The unmanned aerial vehicle carrying water tank is used for carrying out electrified water washing, and the unmanned aerial vehicle carrying water tank has the advantages of being strong in processing burst capacity, not requiring power failure operation, small in influence on production and operation, low in cost and the like.
An unmanned plane, i.e. an aircraft without a pilot, whose flight may be remotely controlled by ground operators or by pilots on other aircraft, may also be autonomously controlled by a computer. In recent years, unmanned aerial vehicles are mainly used for dangerous tasks which cannot be executed by human and machine, such as real-time transmission and shooting of images in disaster areas, delivery of rescue tools and food, and the like. Use unmanned aerial vehicle to carry on the water tank and carry out electrified water washing to the insulator, compare artifical washing or the manned washing of helicopter have the operation flexibility, the security is high, advantage such as the cost is lower.
At present, the vast majority in the insulator water washing field adopts single unmanned aerial vehicle to carry out the operation, and the defect that it exists lies in: firstly, to the operation of single unmanned aerial vehicle live-line water washing, the operation in-process can only be followed an angle and washed the insulator, leads to insulator one side to wash totally, and the opposite side still is in under the filthy state, so leads to the pollution flashover to take place more easily, and the injury device damages unmanned aerial vehicle. Secondly, for the live-line water washing operation of a single unmanned aerial vehicle, the unmanned aerial vehicle needs to carry enough washing liquid, which puts high requirements on the load capacity and the performance of the unmanned aerial vehicle, and further leads to high price; in case the accident takes place when single big load unmanned aerial vehicle uses, big load unmanned aerial vehicle causes the damage to power equipment more easily, also causes the injury to ground staff more easily. Thirdly, single big load unmanned aerial vehicle, it is bulky, single transport difficulty, the transportation is inconvenient, has very big restriction to the field operation of developing.
Disclosure of Invention
The invention aims to overcome the defects in the background technology and improve the safety and the cleaning effect of the electrified washing.
In order to achieve the above object, in one aspect, a dual-unmanned aerial vehicle-based high-voltage electrified water washing method is adopted, and the dual-unmanned aerial vehicle comprises a long machine and a slave machine, and comprises the following steps:
the long machine receives an operation instruction sent by the remote controller and carries out insulator cleaning operation according to the operation instruction;
the long machine synchronizes an operation instruction sent by the remote controller to the slave machine so that the slave machine and the long machine cooperate to perform insulator cleaning operation.
Further, the operation instructions comprise a takeoff instruction, a cruise instruction, an operation preparation instruction, an operation cleaning instruction and a return flight instruction.
Further, in a take-off stage, the long airplane receives the take-off instruction sent by the remote controller and finishes take-off operation according to the take-off instruction;
and the long machine synchronizes the takeoff instruction to the slave machine so that the slave machine completes takeoff operation according to the takeoff instruction.
Further, in the cruising stage, the long machine receives the cruising command sent by the remote controller and gradually approaches to the insulator according to the cruising command;
and the long machine sends the position and speed information of the long machine and the cruise instruction to the slave machine in real time so that the slave machine follows the track of the long machine to perform a cruise state according to the position and speed of the long machine.
Further, in a cleaning operation preparation stage, the long machine receives the operation preparation instruction sent by the remote controller, and enters a hovering state after receiving the operation preparation instruction;
and the long machine sends the operation preparation instruction, the position and the heading information of the long machine to the slave machine so as to enable the slave machine to enter a hovering state according to the operation preparation instruction, wherein the hovering position of the slave machine is the opposite side position to the hovering position of the long machine, the hovering height of the slave machine is consistent with the hovering height of the long machine, and the hovering heading of the slave machine is different from the hovering heading of the long machine by 180 degrees.
Further, in a cleaning operation stage, the long machine receives the operation cleaning instruction sent by the remote controller, and starts an onboard water pump of the long machine to clean one side of the insulator according to the operation cleaning instruction;
and the long machine sends the operation cleaning instruction, the position and the course information of the long machine to the slave machine so that the slave machine starts an airborne water pump of the slave machine to clean the other side of the insulator according to the cleaning operation instruction, and the slave machine is adjusted to be at the same height as the long machine and at a position with a 180-degree difference in course according to the position and the course of the long machine.
Further, in a return flight stage, the long machine receives the return flight instruction sent by the remote controller and starts automatic return flight according to the return flight instruction;
and the long machine synchronously sends the return flight instruction to the slave machine so that the slave machine starts automatic return flight according to the return flight instruction.
On the other hand, adopt a high-voltage electric water washing system based on double-machine cooperation, including long machine and host computer, long machine includes first instruction receiving module, information synchronization module and first execution module, wherein:
the first instruction receiving module is used for receiving an operation instruction sent by the remote controller;
the first execution module is used for performing insulator cleaning operation according to the operation instruction;
the information synchronization module is used for synchronizing the operation instruction to the slave machine so that the slave machine and the long machine can cooperatively perform insulator cleaning operation.
Further, the operation instructions comprise a takeoff instruction, a cruise instruction, an operation preparation instruction, an operation cleaning instruction and a return flight instruction.
Compared with the prior art, the invention has the following technical effects: according to the invention, the insulator cleaning operation is carried out by using the cooperation of the two machines, under the same condition, the load requirement can be reduced to half of the original load requirement, the manufacturing cost of the low-load unmanned aerial vehicle is low, and the manufacturing cost of the two low-load unmanned aerial vehicles is lower than that of a large-load unmanned aerial vehicle under the common condition; the unmanned aerial vehicle with small load has small self weight, flexible operation, low accident rate and small damage even if collision occurs; meanwhile, the two small-load unmanned aerial vehicles are small in size, light in weight and convenient to transport, and field operation is greatly facilitated; and many unmanned aerial vehicle operating efficiency is high, and the security is high.
Drawings
The following detailed description of embodiments of the invention refers to the accompanying drawings in which:
FIG. 1 is a flow chart of a high-voltage electrified water washing method based on dual-machine cooperation;
fig. 2 is a schematic diagram of insulator cleaning operation based on dual-machine cooperation.
In the figure:
1-lengthening machine; 2-a slave; 3-insulator string.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
In the embodiments of the present invention, unless otherwise specified, the use of directional terms such as "upper, lower, top, and bottom" is generally used with respect to the orientation shown in the drawings or the positional relationship of the components with respect to each other in the vertical, or gravitational direction.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between the various embodiments can be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not be within the protection scope of the present invention.
As shown in fig. 1, the present embodiment discloses a high-voltage electrified water flushing method based on dual-aircraft cooperation, where a dual-unmanned aircraft includes a long aircraft and a slave aircraft, and includes the following steps S1 to S2:
s1, the long machine receives an operation instruction sent by the remote controller and carries out insulator cleaning operation according to the operation instruction;
and S2, the long machine synchronizes an operation instruction sent by the remote controller to the slave machine so that the slave machine and the long machine cooperate to perform insulator cleaning operation.
As a further preferable technical solution, the operation instruction includes a takeoff instruction, a cruise instruction, an operation preparation instruction, an operation cleaning instruction, and a return instruction.
As a further preferred technical scheme, in a take-off stage, the long plane receives the take-off instruction sent by the remote controller and finishes take-off operation according to the take-off instruction;
and the long machine synchronizes the takeoff instruction to the slave machine so that the slave machine completes takeoff operation according to the takeoff instruction.
The slave machines and the long machine are arranged in parallel, after an operator operates the long machine to take off, the long machine sends an automatic take-off instruction to the slave machines, and after the take-off of the slave machines is finished, the long machine starts to enter a cruise stage
As a further preferable technical scheme, in the cruising stage, the long machine receives the cruising command sent by the remote controller and gradually approaches to the insulator according to the cruising command;
and the long machine sends the position and speed information of the long machine and the cruise instruction to the slave machine in real time so that the slave machine follows the track of the long machine to perform a cruise state according to the position and speed of the long machine.
As a further preferable technical solution, in a cleaning job preparation stage, the long machine receives the job preparation instruction sent by the remote controller, and enters a hovering state after receiving the job preparation instruction;
and the long machine sends the operation preparation instruction, the position and the heading information of the long machine to the slave machine so as to enable the slave machine to enter a hovering state according to the operation preparation instruction, wherein the hovering position of the slave machine is the opposite side position to the hovering position of the long machine, the hovering height of the slave machine is consistent with the hovering height of the long machine, and the hovering heading of the slave machine is different from the hovering heading of the long machine by 180 degrees.
It should be noted that, as shown in fig. 2, after the long machine is aligned to the insulator from one side and moves to a position 5 meters away from the insulator, the operator sends a work preparation instruction, the long machine starts to hover after receiving the instruction and synchronously sends the preparation work instruction to the slave machine, and after receiving the work preparation instruction, the slave machine automatically enters the position opposite to the long machine according to the current position and the heading of the long machine, keeps the same height as the long machine, and aligns to the insulator with the heading 180 degrees different from the long machine.
As a further preferable technical scheme, in a cleaning operation stage, the long machine receives the operation cleaning instruction sent by the remote controller, and starts an onboard water pump of the long machine to clean one side of the insulator according to the operation cleaning instruction;
and the long machine sends the operation cleaning instruction, the position and the course information of the long machine to the slave machine so that the slave machine starts an airborne water pump of the slave machine to clean the other side of the insulator according to the cleaning operation instruction, and the slave machine is adjusted to be at the same height as the long machine and at a position with a 180-degree difference in course according to the position and the course of the long machine.
It should be noted that the long machine autonomously aligns the insulator according to a one-stroke multi-pass operation method to complete the cleaning operation, or performs the position adjustment in response to the instruction of the operator. This embodiment uses duplex cooperative operation, can wash the insulator both sides simultaneously, and the guarantee insulator both sides are washed clean simultaneously, avoid the pollution flashover problem under the dirty condition of clean one side in single operation in-process one side.
As a further preferred technical scheme, in a return flight stage, the long machine receives the return flight instruction sent by the remote controller, and starts automatic return flight according to the return flight instruction;
and the long machine synchronously sends the return flight instruction to the slave machine so that the slave machine starts automatic return flight according to the return flight instruction.
The invention discloses a high-voltage electrified water washing system based on dual-machine cooperation, which comprises a long machine and a host machine, wherein the long machine comprises a first instruction receiving module, an information synchronization module and a first execution module, wherein:
the first instruction receiving module is used for receiving an operation instruction sent by the remote controller;
the first execution module is used for performing insulator cleaning operation according to the operation instruction;
the information synchronization module is used for synchronizing the operation instruction to the slave machine so that the slave machine and the long machine can cooperatively perform insulator cleaning operation.
The operation instructions comprise a take-off instruction, a cruise instruction, an operation preparation instruction, an operation cleaning instruction and a return flight instruction.
As a further preferred technical solution, the slave includes a second instruction receiving module and a second execution module, wherein:
the second instruction receiving module is used for receiving the operation instruction sent by the long machine, the position information, the speed information and the course information of the long machine;
the second execution module is used for adjusting the self course and position according to the operation instruction, the position information, the speed information and the course information of the long machine and working in cooperation with the long machine.
Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solution of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications all belong to the protection scope of the embodiments of the present invention.
Claims (9)
1. The utility model provides a high-voltage electrified water washing method based on double-machine cooperation, its characterized in that, two unmanned aerial vehicle include long machine and follow the machine, includes following step:
the long machine receives an operation instruction sent by the remote controller and carries out insulator cleaning operation according to the operation instruction;
the long machine synchronizes an operation instruction sent by the remote controller to the slave machine so that the slave machine and the long machine cooperate to perform insulator cleaning operation.
2. The dual-machine cooperation-based high-voltage electrified water washing method as claimed in claim 1, wherein the operation instructions comprise takeoff instructions, cruise instructions, operation preparation instructions, operation washing instructions and return instructions.
3. The double-machine cooperation-based high-voltage electrified water washing method as claimed in claim 2, wherein in a take-off stage, the long machine receives the take-off instruction sent by the remote controller and completes take-off operation according to the take-off instruction;
and the long machine synchronizes the takeoff instruction to the slave machine so that the slave machine completes takeoff operation according to the takeoff instruction.
4. The double-machine cooperation-based high-voltage electrified water washing method as claimed in claim 2, wherein in a cruising stage, the long machine receives the cruising command sent by the remote controller and gradually approaches the insulator according to the cruising command;
and the long machine sends the position and speed information of the long machine and the cruise instruction to the slave machine in real time so that the slave machine follows the track of the long machine to perform a cruise state according to the position and speed of the long machine.
5. The dual-machine cooperation-based high-voltage electrified water flushing method as claimed in claim 2, wherein in a cleaning operation preparation stage, the long machine receives the operation preparation instruction sent by the remote controller and enters a hovering state after receiving the operation preparation instruction;
and the long machine sends the operation preparation instruction, the position and the heading information of the long machine to the slave machine so as to enable the slave machine to enter a hovering state according to the operation preparation instruction, wherein the hovering position of the slave machine is the opposite side position to the hovering position of the long machine, the hovering height of the slave machine is consistent with the hovering height of the long machine, and the hovering heading of the slave machine is different from the hovering heading of the long machine by 180 degrees.
6. The double-machine cooperation-based high-voltage electrified water washing method as claimed in claim 2, wherein in a washing operation stage, the long machine receives the operation washing instruction sent by the remote controller and starts an onboard water pump of the long machine to carry out washing operation on one side of the insulator according to the operation washing instruction;
and the long machine sends the operation cleaning instruction, the position and the course information of the long machine to the slave machine so that the slave machine starts an airborne water pump of the slave machine to clean the other side of the insulator according to the cleaning operation instruction, and the slave machine is adjusted to be at the same height as the long machine and at a position with a 180-degree difference in course according to the position and the course of the long machine.
7. The double-machine cooperation-based high-voltage electrified water washing method as claimed in claim 2, wherein in a return flight stage, the long machine receives the return flight instruction sent by the remote controller and starts automatic return flight according to the return flight instruction;
and the long machine synchronously sends the return flight instruction to the slave machine so that the slave machine starts automatic return flight according to the return flight instruction.
8. The utility model provides a high-voltage electric water washing system based on double-machine cooperation, its characterized in that, includes long machine and host computer, and long machine includes first instruction receiving module, information synchronization module and first execution module, wherein:
the first instruction receiving module is used for receiving an operation instruction sent by the remote controller;
the first execution module is used for performing insulator cleaning operation according to the operation instruction;
the information synchronization module is used for synchronizing the operation instruction to the slave machine so that the slave machine and the long machine can cooperatively perform insulator cleaning operation.
9. The dual-machine cooperation-based high-voltage electrified water flushing system according to claim 8, wherein the operation instructions comprise takeoff instructions, cruise instructions, operation preparation instructions, operation cleaning instructions and return instructions.
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| CN202110321404.0A CN113134484A (en) | 2021-03-25 | 2021-03-25 | High-voltage electrified water washing method and system based on dual-machine cooperation |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115396060A (en) * | 2022-08-30 | 2022-11-25 | 深圳市智鼎自动化技术有限公司 | Laser-based synchronous control method and related device |
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