CN104858167A - Safety protection system and method for electrified water washing robot for substation - Google Patents

Abstract

The invention discloses a safety protection system and method for a substation charged water washing robot. The system includes a walking control system and a safety control system. The walking control system includes a remote control module, a vehicle-mounted controller and an information collection module; the remote control module and the vehicle-mounted control Wireless devices are used between the controllers and between the on-board controller and the information acquisition module to build a WIFI network to realize data interaction between the three modules; the safety control system uses the ultrasonic sensor, magnetic field ranging sensor, water resistivity Sensors and water pressure sensors realize real-time monitoring of the robot's running process. The invention realizes the real-time on-line monitoring of the water resistivity, water pressure and water column length, ensures the insulation performance of the robot body and the live equipment of the substation during the water flushing process, and effectively improves the safety of the water flushing operation.

Description

A safety protection system and method for a substation live water washing robot

technical field

The invention relates to a safety protection system and method for a substation charged water washing robot.

Background technique

With the increasing pollution of the air environment, pollution flashover accidents of power grid equipment have increased, seriously affecting the safe operation of power grid equipment. Substation insulators are exposed to the external environment for a long time, and dirt is easy to deposit on the surface. These dirt are prone to pollution flashover accidents when they are damaged by bad weather. According to statistics, insulation flashover accidents caused by pollution have now taken the second place in the total number of power grid accidents. From 1971 to 1994, there were 1,768 pollution flashovers in 35-500kV power generation and substations nationwide. The washing operation of insulators with live water can improve the reliability of power supply, reduce power failure losses, and ensure the safety of substations and transmission lines. At the present stage, the washing operation of substation insulators mainly has the following shortcomings:

1. Most of the cleaning methods are carried out by cleaning technicians who enter the site with hand-held cleaning equipment. Manual cleaning not only depends on the weather conditions, but also requires cleaning personnel to have a high technical level and skilled operation procedures. Standardized safety protection to avoid safety accidents caused by short-circuit current, causing casualties. This type of operation method has potential safety hazards;

2. Manual operations are faced with many problems such as high labor intensity, low efficiency, and low level of automation;

3. It is impossible to monitor the water resistance rate, water pressure, and water column length in real time, to modify the operating status of the robot in real time, and to guarantee the insulation performance of the robot body and live equipment in the substation during the water flushing process;

4. There is no automatic control system to maintain the continuity of power supply and the water washing robot to keep a safe distance from the insulator;

Therefore, it is very necessary to develop a safety protection system that can be used for water washing robots, and it is in line with the development requirements of the times.

Contents of the invention

In order to solve the above problems, the present invention proposes a safety protection system and method for a substation charged water washing robot. The heavy physical labor of manual cleaning work ensures the personal safety of operators and the safe operation of the power grid.

In order to achieve the above object, the present invention adopts the following technical solutions:

A safety protection system for a substation charged water washing robot, including a walking control system and a safety control system. The walking control system includes a remote control module, a vehicle-mounted controller, and an information collection module. The remote control module and the vehicle-mounted controller are connected wirelessly , used to control the vertical lifting mechanism and the walking mechanism of the water washing robot; the information collection module collects the signals measured by each sensor installed on the water washing robot, and the safety control system controls the robot and the The distance between the insulator strings is kept within a safe distance. The safety control system includes ultrasonic sensors, laser rangefinders, water resistivity sensors, water pressure sensors and magnetic field distance sensors. The ultrasonic sensors and magnetic field distance sensors are installed on the mechanical arm. The four surfaces of the end are used to detect the distance between the end of the mechanical arm and the live equipment. The laser range finder is installed in parallel with the water gun to detect the length of the water column in real time during the water flushing process. The water resistivity sensor and the water pressure sensor are installed on the high pressure On pure water preparation equipment, it is used to detect the pressure of water and the conductivity of water in the flushing process in real time.

The on-board controller is arranged on the mobile chassis of the water washing robot, and the electric control switch is the terminal actuator of the on-board controller. When the electric control switch is in the middle position, the electric control switch controls the motor to stop moving; when the input voltage is greater than the middle When the input voltage is lower than the median voltage, the motor is controlled to rotate in the forward direction. When the input voltage is lower than the median voltage, the motor is controlled to rotate in the opposite direction. The switch input port is connected, and by controlling the output voltage of the TRIO controller output port, the control of the motion direction and motion speed of the robot's electrical actuator is realized.

The remote control module includes an industrial computer, a touch screen, a remote control handle and buttons. In the control system, on the one hand, the remote control handle, touch screen and buttons are all connected to the industrial computer, and the control of the vertical lifting mechanism is issued to the TRIO controller through wireless WIFI. On the other hand, the industrial computer, TRIO controller, electric control switch and the angle sensor of the pan/tilt form a closed-loop control system to realize the closed-loop servo control of the secondary mechanical arm of the vertical lifting mechanism.

The angle sensor of the information collection module and the on-board controller collects the lifting height of the vertical lifting mechanism and the angle information of the cloud platform, converts the RS485 protocol data into TCP protocol data through the serial port server, and sends the data to the wireless AP module through the HUB, And then realize the real-time communication with the industrial computer at the remote control end.

The information collection module is arranged on the water washing robot water gun platform, the information collection module establishes a WIFI communication connection with the wireless AP module in the main control module through the wireless CLIENT, and the information collection module collects the absolute value angle encoder through the serial port server. The gimbal pitch and gimbal inclination data are uploaded to the industrial computer of the remote control module through the WIFI network to realize real-time collection of sensor information on the water gun gimbal.

The information collection module collects the pan-tilt pitch and pan-tilt inclination data obtained by the absolute value angle encoder through the serial port server, and uploads to the industrial computer of the remote control module through the WIFI network;

The remote control module includes an industrial computer, and the industrial computer collects the sensor information collected by the information acquisition module, and realizes the control of the vertical lifting mechanism and the car body through the TRIO controller.

The wireless way is to use wireless AP module and wireless CLIENT equipment.

The ultrasonic sensor, the magnetic field ranging sensor and the laser rangefinder all upload data to the industrial computer through the HUB and the wireless AP module.

The distance between the vertical lifting mechanism and the live equipment is greater than the safe working distance specified by the substation.

The laser range finder adopts red laser, the light source spot is 1mm*1mm, the measurement distance is 1.5m to 8m, and the measurement time is 1 to 5 milliseconds.

A working method based on the above-mentioned safety protection system, specifically:

The remote control system controls the industrial computer to make the powertrain drive the movement of the car body walking mechanism. The safety control system controls the distance between the robot and the insulator string to keep within a safe distance based on the factors that affect the insulation safety. The laser rangefinder detects that the horizontal distance between the water gun and the insulator that needs to be flushed meets the safety distance, and the on-board controller controls the vertical lifting mechanism to perform vertical telescopic movement so that the distance between the water gun and the insulator meets the flushing distance. Rinse; track the camera to observe the state of the water gun in real time, and the remote control system controls the rotation of the pan/tilt to make the water gun perform horizontal and pitch movements, and constantly adjust the spray angle of the water gun to achieve the best flushing effect; install water resistivity and water pressure sensors On top of high-pressure pure water preparation equipment, it is used to detect the pressure of water and the conductivity of water in the flushing process in real time; the insulation performance of the insulating water column can be changed by changing the length of the water column.

The factors that affect the insulation safety include the resistivity of water, the length of the water column and the distance between the mechanical arm and the live equipment, wherein the resistivity of the water should be greater than 500 kohms per centimeter; The distance from live equipment should be greater than the safe working distance specified by the substation.

The resistance of the water column is inversely proportional to the cross-sectional area of the water column and proportional to the length of the water column. The formula for calculating the resistance of the insulating water column is as follows:

R=r×L/A

Wherein r is the resistivity of water, and its implication is that the cross-sectional area is one square centimeter, the resistance value of the water column that is one centimeter in length, L is the length of the water column, A is the cross-sectional area of the water column, and R is the resistance value of the water column;

When the nozzle diameter of the spray gun is constant, the cross-sectional area of the water column is a constant. When the resistivity r of the water changes, the length L of the insulating water column can be changed by changing the distance between the nozzle of the water washing robot and the equipment, so as to realize the insulation of the water column. performance tuning.

The automatic control algorithm of the length of the water column is a double closed-loop control algorithm, the inner ring is the working distance and pressure ring, and the outer ring is the water resistivity ring. When the water resistivity of high-purity water changes, the online water resistivity sensor detects the Change, through the expert system of water resistivity, working distance and water spray pressure established through experiments in advance, the corresponding ideal working distance and water spray pressure information is obtained, and then enter the inner ring system, on the one hand, through the laser rangefinder The real-time feedback information realizes the closed-loop control of the working distance. On the other hand, the pressure information returned by the pressure sensor realizes the control of the output pressure of the pressure device, and then realizes the automatic control of the insulation performance of the water washing robot insulation water column.

The beneficial effects of the present invention are:

(1) The present invention replaces the operator, and performs the charged water flushing operation on the substation equipment without power failure, which can effectively reduce the heavy physical labor of manual cleaning work, ensure the personal safety of the operator, and at the same time clean the dirty equipment , to prevent equipment pollution flashover accidents and ensure the safe operation of the power grid;

(2) The present invention adopts multi-sensor fusion technology to realize the automatic realization of the water flushing process and improve the automation and intelligence level of the water flushing operation;

(3) The present invention can realize real-time on-line monitoring of water resistivity, water pressure, and water column length, ensure the insulation performance of the robot body and the live equipment of the substation during the water flushing process, and effectively improve the safety of the water flushing operation.

Description of drawings

Fig. 1 is an overall block diagram of the present invention;

Fig. 2 is a block diagram of a robot control system vehicle-mounted controller and a remote control module of the present invention;

Fig. 3 is a control system block diagram of the present invention;

Fig. 4 is a schematic diagram of the safety control system of the present invention;

Fig. 5 is a flowchart of the automatic control algorithm of the present invention.

Detailed ways:

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

As shown in Figure 1-3, a substation live water washing robot includes a robot body and a robot control system.

A substation electrified water washing robot includes: a car body traveling mechanism, a power assembly, a vertical lifting mechanism, a water gun washing mechanism, an electrical control system, etc.; wherein, the car body traveling mechanism is a crawler-type mobile chassis structure, and the power assembly adopts a diesel engine It provides power and is installed on the mobile chassis. The vertical lifting mechanism is connected to the front end of the moving mechanism of the car body. The vertical lifting mechanism is equipped with two-stage telescopic arms. The control system includes a vehicle-mounted subsystem and a remote control subsystem. The remote control subsystem cooperates with the vehicle-mounted subsystem to remotely complete the control of the robot's vertical lifting mechanism and water gun flushing mechanism through wireless means.

The traveling mechanism of the car body is mainly composed of a crawler chassis, a left traveling motor, a right traveling motor, a driving wheel, a driven wheel, a load-bearing wheel, a crawler belt, and a tension buffer device. The left traveling motor and the right traveling motor are connected to the crawler chassis bracket by bolts. The driving wheel is connected with the travel motor through the drive shaft, and the driven wheel, load-bearing wheel and tension buffer device are respectively connected with the track chassis bracket through the rotating shaft. The hydraulic oil tank is on the left and the diesel tank is on the right.

A safety protection system for a substation charged water washing robot, including a walking control system and a safety control system. The walking control system includes a remote control module, a vehicle-mounted controller, and an information collection module. The remote control module and the vehicle-mounted controller are connected wirelessly , used to control the vertical lifting mechanism and the walking mechanism of the water washing robot; the information collection module collects the signals measured by each sensor installed on the water washing robot, and the safety control system controls the robot and the The distance between the insulator strings is kept within a safe distance. The safety control system includes ultrasonic sensors, laser rangefinders, water resistivity sensors, water pressure sensors and magnetic field distance sensors. The ultrasonic sensors and magnetic field distance sensors are installed on the mechanical arm. The four surfaces of the end are used to detect the distance between the end of the mechanical arm and the live equipment. The laser range finder is installed in parallel with the water gun to detect the length of the water column in real time during the water flushing process. The water resistivity sensor and the water pressure sensor are installed on the high pressure On pure water preparation equipment, it is used to detect the pressure of water and the conductivity of water in the flushing process in real time.

The on-board controller is arranged on the mobile chassis of the water washing robot. The electric control switch is the terminal actuator of the on-board controller. When the electric control switch is in the middle position, the electric control switch controls the motor to stop moving; when the input voltage is greater than the middle voltage When the input voltage is lower than the median voltage, the motor is controlled to rotate in the reverse direction. The IO output port of the TRIO controller is connected to the input port of the electric control switch of the vertical lifting mechanism, and the output port of the TRIO controller is controlled. The output voltage realizes the control of the movement direction and movement speed of the electric actuator of the robot.

The remote control module includes an industrial computer, a touch screen, a remote control handle and buttons. In the control system, on the one hand, the remote control handle, touch screen and buttons are all connected to the industrial computer, and the control command of the vertical lifting mechanism is sent to the TRIO controller through wireless WIFI. Realize the open-loop control of the machine; on the other hand, the industrial computer, TRIO controller, electric control switch and the angle sensor of the pan-tilt form a closed-loop control system to realize the closed-loop servo control of the secondary mechanical arm of the vertical lifting mechanism.

The information acquisition module and the angle sensor of the on-board controller collect the lifting height of the vertical lifting mechanism and the angle information of the pan-tilt, convert the RS485 protocol data into TCP protocol data through the serial port server, and send the data to the wireless AP module through the HUB, and then realize Real-time communication with the remote industrial computer.

The information collection module is arranged on the water gun pan/tilt of the water washing robot. The information collection module establishes a WIFI communication connection with the wireless AP module in the main control module through the wireless CLIENT. The information collection module collects the pan/tilt obtained by the absolute value angle encoder through the serial port server. The pitch and tilt angle data of the gimbal are uploaded to the industrial computer of the remote control module through the WIFI network, so as to realize the real-time collection of sensor information on the gimbal of the water gun.

The information collection module collects the pan-tilt pitch and pan-tilt inclination data obtained by the absolute value angle encoder through the serial port server, and uploads them to the industrial computer of the remote control module through the WIFI network;

The remote control module includes an industrial computer, and the industrial computer collects the sensor information collected by the information acquisition module, and realizes the control of the vertical lifting mechanism and the car body through the TRIO controller.

The wireless way is to use wireless AP module and wireless CLIENT equipment.

Ultrasonic sensors, magnetic field ranging sensors and laser rangefinders all upload data to the industrial computer through the HUB and wireless AP module.

The distance between the vertical lifting mechanism and the live equipment should be greater than the safe working distance specified by the substation.

The laser rangefinder uses a red laser, its light source spot is 1mm*1mm, the measurement distance is 1.5m to 8m, and the measurement time is 1 to 5 milliseconds. The measurement results are transmitted through RS232 signals. It is installed in parallel with the water gun, which can detect the water washing process in real time. The length of the water column; the water resistivity and water pressure sensors are installed on the high-pressure pure water preparation equipment for real-time detection of water pressure and water conductivity during the flushing process.

The present invention designs a set of substation electrified water flushing auxiliary flushing robot safety control system, as shown in Figure 4. The safety control system mainly includes: ultrasonic sensor, magnetic field distance sensor, laser distance meter, water resistivity sensor, water pressure sensor, serial port server, industrial computer, wireless AP and wireless CLIENT. Among them, the wireless AP and wireless CLIENT modules are used to build a WIFI network to realize data interaction between modules.

The ultrasonic ranging sensor and the magnetic field ranging sensor are installed on the four surfaces of the end of the manipulator to detect the distance between the end of the manipulator and the charged equipment. The magnetic field ranging sensor utilizes the distribution of the magnetic field strength around the live equipment to realize the The real-time detection of the distance between the live equipment and the live equipment solves the problem of shrinking the insulation distance of the live equipment under wet weather conditions; when the system detects that the distance between the mechanical arm and the equipment is less than the safe working distance, it can promptly feed back danger information to the operator, and Stop the robot's work when necessary.

The laser rangefinder uses a red laser, its light source spot is 1mm*1mm, the measurement distance is 1.5m to 8m, and the measurement time is 1 to 5 milliseconds. The measurement results are transmitted through RS232 signals. It is installed in parallel with the water gun, which can detect the water washing process in real time. The length of the water column; the water resistivity and water pressure sensors are installed on the high-pressure pure water preparation equipment for real-time detection of water pressure and water conductivity during the flushing process.

The high-resistivity water column sprayed by the substation water washing robot is one of its insulation methods, and the insulation performance of the water column is affected by factors such as the resistivity of the water, the length of the water column, and the diameter of the nozzle. When any of these factors change, the It may lead to a decrease in the insulation performance of the system. At this time, corresponding measures must be taken to compensate for the loss of insulation performance. Experiments have proved that it is the most feasible and effective method to change the insulation performance of the insulating water column by changing the length of the water column.

In theory, the resistance of the water column is inversely proportional to the cross-sectional area of the water column and directly proportional to the length of the water column. The same is true for the calculation of the resistance of the insulating water column, the formula is as follows:

R=r×L/A

Where r is the resistivity of water, which means the resistance value of a water column with a cross-sectional area of one square centimeter and a length of one centimeter, L is the length of the water column, A is the cross-sectional area of the water column, and R is the resistance value of the water column.

When the nozzle diameter of the spray gun is constant, the cross-sectional area of the water column is a constant. From the formula of the resistance value of the insulating water column, it can be seen that when the resistivity r of the water changes, the distance between the nozzle of the water flushing robot and the equipment can be changed. , to change the length L of the insulating water column, so as to realize the adjustment of the insulating performance of the water column. The invention adopts an automatic control algorithm of the insulating water column of the substation water washing robot, realizes the intelligent adjustment of the mechanical arm and the pressure device, changes the distance between the nozzle of the water washing robot and the equipment, thereby changes the length of the insulating water column, and ensures sufficient insulation performance.

As shown in Figure 5, it is the schematic diagram of the automatic control algorithm of the insulating water column of the substation water washing robot. From the schematic diagram, it can be seen that the algorithm is a double closed-loop control algorithm, the inner loop is the working distance and pressure loop, and the outer loop is the water resistance loop. When the water resistivity of high-purity water changes due to some reason, the online water resistivity sensor detects the change. By searching the data relationship table of water resistivity, working distance and spray pressure established in the expert system in advance through a large number of experiments, Get the corresponding ideal working distance and water spray pressure information, and then enter the inner loop system. On the one hand, through the real-time feedback information of the laser rangefinder, the closed-loop control of the working distance is realized; on the other hand, the pressure returned by the pressure sensor Information, to realize the control of the output pressure of the pressure device, and then realize the automatic control of the insulation performance of the water washing robot insulation water column.

The water washing robot prototype of the present invention has been successfully developed. It has successfully passed the 220KV level high-voltage and electromagnetic environment tests in the laboratory, and has been successfully applied in the 220KV experimental substation. The experimental application shows that the control system can meet the control requirements of the auxiliary flushing robot for live water washing in the substation. And ensure the safe operation of the water washing robot and the equipment being washed.

The invention provides an intelligent control system for a substation water flushing robot. The system is based on the Internet of Things technology and multi-sensor fusion technology to build an intelligent control system for a substation water flushing robot. Using the control system, the substation inspection robot can replace humans to complete 220kV The insulator water washing task with high frequency of live work in substations can reduce the labor intensity of operators on the one hand, and provide a wireless remote control system for water washing robots in substations that guarantees the safety of operators on the other hand. In the future, machine vision technology will be introduced into the system, image processing, pattern recognition and other functions will be used to realize automatic recognition of washing equipment, and visual servo technology will be used to further improve the intelligence and autonomy of the system. With the continuous improvement of system performance, it is believed that The system will have a considerable application space.

Although the specific implementation of the present invention has been described above in conjunction with the accompanying drawings, it does not limit the protection scope of the present invention. Those skilled in the art should understand that on the basis of the technical solution of the present invention, those skilled in the art do not need to pay creative work Various modifications or variations that can be made are still within the protection scope of the present invention.

Claims (15)

1. A safety protection system for a substation electrified water washing robot is characterized in that: it comprises a walking control system and a safety control system, and the walking control system includes a remote control module, a vehicle-mounted controller and an information collection module, and the described remote control module and the vehicle-mounted controller They are wirelessly connected to control the vertical lifting mechanism and walking mechanism of the water washing robot; the information collection module collects the signals measured by each sensor installed on the water washing robot, and the safety control system is based on the impact on the insulation safety. factors to control the distance between the robot and the insulator string within a safe distance, the safety control system includes ultrasonic sensors, laser range finders, water resistivity sensors, water pressure sensors and magnetic field ranging sensors, ultrasonic sensors and magnetic field measuring The distance sensor is installed on the four sides of the end of the manipulator to detect the distance between the end of the manipulator and the live equipment. The laser rangefinder is installed in parallel with the water gun to detect the length of the water column in the process of water flushing in real time. The water resistivity sensor and The water pressure sensor is installed on the high-pressure pure water preparation equipment for real-time detection of water pressure and water conductivity during flushing. 2. A safety protection system for a live water washing robot in a substation as claimed in claim 1, wherein the vehicle-mounted controller is arranged on the mobile chassis of the water washing robot, and the electric control switch is executed at the end of the vehicle-mounted controller. Mechanism, when the electric control switch is in the neutral position, the electric control switch controls the motor to stop moving; when the input voltage is greater than the neutral voltage, the motor is controlled to rotate forward; when the input voltage is lower than the neutral voltage, the motor is controlled to rotate reversely. The IO output port of the TRIO controller is connected with the input port of the electric control switch of the vertical lifting mechanism, and the control of the motion direction and speed of the electric actuator of the robot is realized by controlling the output voltage of the TRIO controller output port. 3. A safety protection system for a substation charged water washing robot as claimed in claim 1, wherein the remote control module includes an industrial computer, a touch screen, a remote control handle and buttons, and in the control system, on the one hand, the remote control The handle, touch screen and buttons are all connected to the industrial computer, and the control command of the vertical lifting mechanism is sent to the TRIO controller through wireless WIFI to realize the open-loop control of the machine; on the other hand, the industrial computer, TRIO controller, electric control switch and pan/tilt The angle sensor forms a closed-loop control system to realize the closed-loop servo control of the secondary mechanical arm of the vertical lifting mechanism. 4. A kind of substation electrified water flushing robot safety protection system as claimed in claim 1 is characterized in that: the angle sensor of described information collection module and vehicle-mounted controller collects the lifting height of vertical lifting mechanism and the angle information of cloud platform , Convert the RS485 protocol data into TCP protocol data through the serial port server, and send the data to the wireless AP module through the HUB, and then realize the real-time communication with the remote control terminal industrial computer. 5. A safety protection system for a substation charged water washing robot as claimed in claim 1, characterized in that: said information collection module is arranged on the water gun platform of the water washing robot, and the information collection module communicates with the main control unit through the wireless CLIENT The wireless AP module in the module establishes a WIFI communication connection, and the information collection module collects the pan-tilt pitch and pan-tilt angle data obtained by the absolute angle encoder through the serial port server, and uploads them to the industrial computer of the remote control module through the WIFI network to realize the water gun Real-time collection of sensor information on the PTZ. 6. a kind of substation charged water washing robot safety protection system as claimed in claim 5 is characterized in that: said information collection module acquires the pan-tilt pitch and pan-tilt inclination data that absolute value angle encoder obtains by serial port server, And upload to the industrial computer of the remote control module through the WIFI network. 7. A kind of substation electrified water flushing robot safety protection system as claimed in claim 1 is characterized in that: said remote control module comprises industrial computer, and industrial computer collects the sensor information that information acquisition module gathers, realizes vertical by TRIO controller Lifting mechanism and car body control. 8. A safety protection system for a substation charged water washing robot as claimed in claim 1, characterized in that: said wireless mode adopts wireless AP module and wireless CLIENT equipment. 9. The safety protection system for a substation charged water washing robot as claimed in claim 1, characterized in that: said ultrasonic sensor, magnetic field ranging sensor and laser rangefinder all upload data to industrial computer. 10. A safety protection system for a substation charged water washing robot according to claim 1, characterized in that: the distance between the vertical lifting mechanism and the live equipment is greater than the safe working distance specified by the substation. 11. A safety protection system for a substation charged water washing robot as claimed in claim 1, characterized in that: the laser range finder uses a red laser, its light source spot is 1mm*1mm, and the measurement distance is 1.5m to 8m. The measurement time is 1 to 5 milliseconds. 12. A working method based on the safety protection system according to any one of claims 1-11, characterized in that: specifically: The remote control system controls the industrial computer to make the powertrain drive the movement of the car body walking mechanism. The safety control system controls the distance between the robot and the insulator string to keep within a safe distance based on the factors that affect the insulation safety. The laser rangefinder detects that the horizontal distance between the water gun and the insulator that needs to be flushed meets the safety distance, and the on-board controller controls the vertical lifting mechanism to perform vertical telescopic movement so that the distance between the water gun and the insulator meets the flushing distance. Rinse; track the camera to observe the state of the water gun in real time, and the remote control system controls the rotation of the pan/tilt to make the water gun perform horizontal and pitch movements, and constantly adjust the spray angle of the water gun to achieve the best flushing effect; install water resistivity and water pressure sensors On top of high-pressure pure water preparation equipment, it is used to detect the pressure of water and the conductivity of water in the flushing process in real time; the insulation performance of the insulating water column can be changed by changing the length of the water column. 13. The working method as claimed in claim 12, characterized in that: said factors affecting insulation safety include the resistivity of water, the length of the water column and the distance between the mechanical arm and the charged equipment, wherein the resistivity of the water should be greater than 500 kohms per centimeter; the length of the water column should not be less than 2 meters, and the distance between the mechanical arm and the live equipment should be greater than the safe working distance specified by the substation. 14. The working method according to claim 12, characterized in that: the resistance of the water column is inversely proportional to the cross-sectional area of the water column, and proportional to the length of the water column, and the formula for calculating the resistance of the insulating water column is as follows: R=r×L/A Wherein r is the resistivity of water, and its implication is that the cross-sectional area is one square centimeter, the resistance value of the water column that is one centimeter in length, L is the length of the water column, A is the cross-sectional area of the water column, and R is the resistance value of the water column; When the nozzle diameter of the spray gun is constant, the cross-sectional area of the water column is a constant. When the resistivity r of the water changes, the length L of the insulating water column can be changed by changing the distance between the nozzle of the water washing robot and the equipment, so as to realize the insulation of the water column. performance tuning. 15. The working method as claimed in claim 12, characterized in that: the automatic control algorithm of the length of the water column is a double closed-loop control algorithm, the inner ring is the working distance and the pressure ring, and the outer ring is the water resistivity ring, when the high-purity water When the water resistivity changes, the online water resistivity sensor detects the change, and the corresponding ideal working distance and water spray pressure are obtained through the expert system of water resistivity, working distance and water spray pressure established through experiments in advance. The information enters the inner loop system. On the one hand, the closed-loop control of the working distance is realized through the real-time feedback information of the laser rangefinder. On the other hand, the pressure information returned by the pressure sensor is used to control the output pressure of the pressure device. Then realize the automatic control of the insulation performance of the water washing robot insulation water column.