CN107649436A - A kind of insulator cleaning method and system - Google Patents
A kind of insulator cleaning method and system Download PDFInfo
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- CN107649436A CN107649436A CN201710880792.XA CN201710880792A CN107649436A CN 107649436 A CN107649436 A CN 107649436A CN 201710880792 A CN201710880792 A CN 201710880792A CN 107649436 A CN107649436 A CN 107649436A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 295
- 239000012212 insulator Substances 0.000 title claims abstract description 253
- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000007246 mechanism Effects 0.000 claims description 105
- 230000033001 locomotion Effects 0.000 claims description 65
- 238000011010 flushing procedure Methods 0.000 claims description 23
- 238000005406 washing Methods 0.000 claims description 19
- 238000006073 displacement reaction Methods 0.000 claims description 10
- 230000003028 elevating effect Effects 0.000 claims description 6
- 239000003921 oil Substances 0.000 description 18
- 238000007596 consolidation process Methods 0.000 description 16
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 15
- 230000001276 controlling effect Effects 0.000 description 10
- 239000011159 matrix material Substances 0.000 description 10
- 238000010586 diagram Methods 0.000 description 7
- 238000004364 calculation method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000009466 transformation Effects 0.000 description 4
- 238000003466 welding Methods 0.000 description 4
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000003912 environmental pollution Methods 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 230000000875 corresponding effect Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
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
-
- 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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Abstract
The invention discloses a kind of insulator cleaning method and system, applied to electrification cleaner device people, when the distance between electrification cleaner device people and target insulator are more than safe distance threshold value, obtain the data of electrification cleaner device people and the cleaning data of target insulator, according to the data of the cleaning data point reuse robot of target insulator, according to the data cleansing of the robot after the adjustment target insulator.This programme passes through the data relationship between electrification cleaner device people and target insulator, target insulator is cleaned by electrification cleaner device people, robot cleaning Substation Insulator is realized, avoids the problem of labor intensity is big, efficiency is low caused by manually cleaning.
Description
Technical Field
The invention relates to the field of control, in particular to an insulator cleaning method and system.
Background
Due to the problem of environmental pollution, accidents that haze weather pollutes transformer substation insulator equipment tend to increase year by year, so that the transformer substation insulator is necessary to be cleaned in autumn and winter or before the environmental pollution is serious.
However, at present, the transformer substation insulator is mainly cleaned manually in a power failure state, and the working mode is high in labor intensity and low in efficiency.
Disclosure of Invention
In view of the above, the present invention provides an insulator cleaning method and system, to solve the problems of large labor intensity and low efficiency in the prior art, in which the insulator of a transformer substation is mainly cleaned manually in a power failure state, and the specific scheme is as follows:
an insulator cleaning method is applied to a charged cleaning robot and comprises the following steps:
determining whether the distance between the electrified cleaning robot and the target insulator is greater than a safe distance threshold value;
if yes, acquiring the data of the electrified cleaning robot, wherein the data of the electrified cleaning robot comprises: attitude information of the electrified cleaning robot, distance information between the electrified cleaning robot and the target insulator and cleaning height information of the electrified cleaning robot;
acquiring cleaning data of the target insulator, wherein the cleaning data comprises: height information and a cleaning mode of the target insulator;
and adjusting the data of the electrified cleaning robot according to the cleaning data of the target insulator, and cleaning the target insulator according to the adjusted electrified cleaning robot.
Further, the electrified cleaning robot includes: elevating system and actuating mechanism, according to the washing data adjustment of target insulator the data of electrified cleaning robot, according to the electrified cleaning robot washing after the adjustment target insulator, include:
and adjusting the data of the electrified cleaning robot according to the cleaning data of the target insulator, adjusting the height of the lifting mechanism according to the adjusted data, and controlling the movement of a flushing device at the tail end of the executing mechanism according to the adjusted data to clean the target insulator.
Further, the controlling the movement of the flushing device at the tail end of the executing mechanism according to the adjusted data to realize the cleaning of the target insulator includes:
controlling the opening of a proportional valve in the actuating mechanism according to the adjusted data;
controlling the speed of a swing oil cylinder in the executing mechanism according to the opening degree of the proportional valve;
and controlling the speed and displacement of the actuating mechanism according to the speed of the swing oil cylinder to realize the control of the movement of the flushing device at the tail end of the actuating mechanism.
Further, the electrified cleaning robot further includes: a crawler chassis that acquires data of the electrified cleaning robot, comprising:
acquiring deflection angles of the electrified cleaning robot in all directions relative to a geodetic coordinate system, wherein the deflection angles in all directions comprise: the rotation angle, the pitch angle and the deflection angle of the crawler chassis relative to the ground;
acquiring data between the live cleaning robot and the target insulator, a distance between the live cleaning robot and the adjacent insulator, and a distance between the target insulator and the adjacent insulator, wherein the adjacent insulator is an insulator adjacent to the target insulator;
and acquiring the lifting height of the lifting mechanism.
Further, the adjusting the data of the charged cleaning robot according to the cleaning data of the target insulator, and cleaning the target insulator according to the adjusted charged cleaning robot includes:
determining a motion angle of the execution mechanism according to the deflection angle of the charged cleaning robot in each direction, data between the charged cleaning robot and the target insulator and between the charged cleaning robot and the adjacent insulators and the lifting height of the lifting mechanism;
controlling the movement of the actuating mechanism according to the cleaning mode and the movement angle of the actuating mechanism, wherein the movement of the actuating mechanism comprises the following steps: angle and speed.
An insulator cleaning system is applied to a charged cleaning robot, and comprises: safe distance determining unit, data acquisition unit, data adjustment unit, wherein:
the safe distance determining unit is used for determining whether the distance between the electrified cleaning robot and the target insulator is larger than a safe distance threshold value;
the data acquisition unit is configured to acquire data of the charged cleaning robot when the safe distance determination unit determines that the distance between the charged cleaning robot and the target insulator is greater than a safe distance threshold, where the data of the charged cleaning robot includes: attitude information of the charged cleaning robot, distance information between the charged cleaning robot and the target insulator and cleaning height information of the charged cleaning robot, and simultaneously, acquiring cleaning data of the target insulator, wherein the cleaning data comprises: height information and a cleaning mode of the target insulator;
the data adjusting unit is used for adjusting the data of the electrified cleaning robot according to the cleaning data of the target insulator and cleaning the target insulator according to the adjusted electrified cleaning robot.
Further, the electrified cleaning robot includes: elevating system and actuating mechanism, the data adjustment unit is used for:
and adjusting the data of the electrified cleaning robot according to the cleaning data of the target insulator, adjusting the height of the lifting mechanism according to the adjusted data, and controlling the movement of a flushing device at the tail end of the executing mechanism according to the adjusted data to clean the target insulator.
Further, the data adjusting unit controls the movement of the flushing device at the tail end of the executing mechanism according to the adjusted data, so as to clean the target insulator, and the data adjusting unit includes:
the data adjusting unit controls the opening of a proportional valve in the executing mechanism according to the adjusted data, controls the speed of a swing oil cylinder in the executing mechanism according to the opening of the proportional valve, and controls the speed and displacement of the executing mechanism according to the speed of the swing oil cylinder, so that the motion of the flushing device at the tail end of the executing mechanism is controlled.
Further, the electrified cleaning robot further includes: the crawler chassis, the data acquisition unit obtains electrified cleaning machines people's data includes:
the data acquisition unit acquires deflection angles of the electrified cleaning robot in various directions relative to a geodetic coordinate system, wherein the deflection angles in the various directions comprise: the rotation angle, the pitch angle and the deflection angle of the crawler chassis relative to the ground; acquiring data between the live cleaning robot and the target insulator, a distance between the live cleaning robot and the adjacent insulator, and a distance between the target insulator and the adjacent insulator, wherein the adjacent insulator is an insulator adjacent to the target insulator; and acquiring the lifting height of the lifting mechanism.
Further, the data adjusting unit is configured to:
determining a motion angle of the execution mechanism according to the deflection angle of the charged cleaning robot in each direction, data between the charged cleaning robot and the target insulator and between the charged cleaning robot and the adjacent insulators and the lifting height of the lifting mechanism; controlling the movement of the actuating mechanism according to the cleaning mode and the movement angle of the actuating mechanism, wherein the movement of the actuating mechanism comprises the following steps: angle and speed.
According to the technical scheme, the insulator cleaning method and the insulator cleaning system are applied to the electrified cleaning robot, when the distance between the electrified cleaning robot and the target insulator is larger than the safety distance threshold value, the data of the electrified cleaning robot and the cleaning data of the target insulator are obtained, the data of the robot are adjusted according to the cleaning data of the target insulator, and the target insulator is cleaned according to the adjusted data of the robot. According to the scheme, the target insulator is cleaned through the electrified cleaning robot through the data relation between the electrified cleaning robot and the target insulator, so that the insulator of the transformer substation is cleaned through the robot, and the problems of high labor intensity and low efficiency caused by manual cleaning are solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an electrified cleaning robot according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an actuator according to an embodiment of the present invention;
fig. 3 is a flowchart of an insulator cleaning method according to an embodiment of the present invention;
fig. 4 is a flowchart of an insulator cleaning method according to an embodiment of the present invention;
FIG. 5 is a coordinate system of a motion system fixed relative to a tracked motion platform according to an embodiment of the present invention;
FIG. 6 is a graph showing the variation of the water column length, the pan tilt angle and the pan tilt deflection angle according to the embodiment of the present invention;
fig. 7 is a schematic structural diagram of an insulator cleaning system according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention discloses an insulator cleaning method, which is applied to a charged cleaning robot, wherein the structure schematic diagram of the charged cleaning robot is shown in figure 1, and the method comprises the following steps:
the robot comprises a driving wheel 101, a bearing wheel 102, a shock absorption buffer device 103, a supporting wheel 104, a guide wheel 105, a crawler belt 106, a welding vehicle body 107, a shell assembly 108, a lifting mechanism 109, a lower swing oil cylinder 110, an upper swing oil cylinder 111, a washing device 112, a fixed seat 113, a hydraulic station 114, a robot body electric control assembly 115, a right driving motor 116 and a left driving motor 117.
The robot comprises a driving wheel 101, bearing wheels 102, a shock absorption buffer device 103, a supporting wheel 104, a guide wheel 105 and a crawler 106, wherein the crawler driving unit and a welding vehicle body 107 are inserted together, a right driving motor 116 and a left driving motor 117 are fastened with the driving wheel 101 of each group of crawler driving units through bolts, a lifting mechanism 109 is fixed with the welding vehicle body 107 through bolts, a robot body control system 115 is installed inside the welding vehicle body 107, a lower swing oil cylinder 110 and an upper swing oil cylinder 111 are perpendicularly crossed to form a multi-degree-of-freedom execution mechanism, and the multi-degree-of-freedom execution mechanism has two degrees of freedom of pitching and yawing. The lower swing cylinder 110 is mounted on the top end of the lifting mechanism 109 and fastened by bolts, the flushing device 112 is mounted together with a fixed seat 113 by bolts, and the fixed seat 113 is mounted on the upper swing cylinder 111.
The hydraulic station consists of a direct current motor and a hydraulic power unit and provides power for the actuating mechanism. Furthermore, in the data transmission process, hydraulic power transmission is realized through a hydraulic insulation pipeline, and the upper part and the lower part are ensured to be insulated.
The schematic structural diagram of the actuator is shown in fig. 2, and includes:
the hydraulic station 114, two proportional valves 118, a lower swing cylinder 110 and an upper swing cylinder 111.
The hydraulic oil is pressurized by the hydraulic station and enters the proportional valve, and then enters the two swing oil cylinders to complete corresponding actions. The return oil returns to the oil tank through the return oil filter after passing through the proportional valve.
The flowchart of the insulator cleaning method disclosed in this embodiment is shown in fig. 3, and includes:
step S31, determining whether the distance between the charged cleaning robot and the target insulator is greater than a safe distance threshold value;
when the distance between the charged cleaning robot and the target insulator is too close, such as: when the distance is smaller than the safety distance threshold, water sprayed by the electrified cleaning robot may splash back onto the electrified cleaning robot during the cleaning process, so that the electrified cleaning robot is short-circuited or otherwise fails, and the target insulator cannot be cleaned continuously. Therefore, only when the distance between the electrified cleaning robot and the target insulator is larger than the safety distance threshold value, the subsequent operation can be continued.
Further, when the distance between the live cleaning robot and the target insulator is too far, such as: when the distance is greater than a certain preset distance threshold, water sprayed by the electrified cleaning robot may not reach the target insulator in the cleaning process, so that the target insulator cannot be cleaned. Therefore, it is necessary to keep the distance between the live cleaning robot and the target insulator within a predetermined distance range to ensure that the target insulator can be cleaned and that the sprayed water is not splashed back onto the live cleaning robot.
Step S32, if yes, acquiring data of the charged cleaning robot, the data of the charged cleaning robot including: attitude information of the charged cleaning robot, distance information between the charged cleaning robot and a target insulator and cleaning height information of the charged cleaning robot;
attitude information of the charged cleaning robot, namely deflection angles of the charged cleaning robot relative to a geodetic coordinate system in all directions, such as a rotation angle β of the crawler chassis relative to the ground, a pitch angle beta of the crawler chassis relative to the ground and a deflection angle gamma of the crawler chassis relative to the ground.
The distance information between the charged cleaning robot and the target insulator may include: distance l between charged cleaning robot and target insulator aaDistance l between the charged cleaning robot and the adjacent insulator bbAnd the distance l between the target insulator a and the adjacent insulator bab. The adjacent insulator b is an insulator adjacent to the target insulator a.
Further, in the distance information between the charged cleaning robot and the target insulator, the charged cleaning robot may specifically be: the center of the consolidation position of the lifting mechanism and the crawler moving platform is namely laThe distance between the target insulator a and the center of the consolidation position of the lifting mechanism and the crawler movement platform is lbThe distance between the adjacent insulator b and the center of the consolidation position of the lifting mechanism and the crawler movement platform is shown.
The cleaning height of the charged cleaning robot can be specifically as follows: the elevation height of the elevating mechanism.
In addition, the movement angle of the actuator can be acquired.
Step S33, acquiring cleaning data of the target insulator, wherein the cleaning data comprises: height information and a cleaning mode of the target insulator;
the cleaning mode can be as follows: the cleaning is carried out in what order, such as: from top to bottom, from left to right, cleaning at constant speed, cleaning at accelerated speed, and the like.
And step S34, adjusting the data of the charged cleaning robot according to the cleaning data of the target insulator, and cleaning the target insulator according to the adjusted charged cleaning robot.
After the position of the target insulator relative to the charged cleaning robot is determined, the data of the charged cleaning robot are adjusted so that the charged cleaning robot can clean the target insulator.
The data for adjusting the electrified cleaning robot may specifically be: adjusting the height of the electrified cleaning robot to match the height of the target insulator; adjusting the distance between the charged cleaning robot and the target insulator to enable the adjusted distance to meet the requirement that the charged cleaning robot cleans the target insulator; and adjusting the washing mode of the washing device so as to be consistent with the washing mode of the target insulator.
Specifically, the data of the electrified cleaning robot is adjusted according to the cleaning data of the target insulator, the height of the lifting mechanism is adjusted according to the adjusted data, and the movement of a flushing device at the tail end of the executing mechanism is controlled according to the adjusted data, so that the target insulator is cleaned.
Specifically, the opening of the proportional valve is controlled according to the adjusted data, the speed of the up-and-down swing oil cylinder is controlled according to the opening of the proportional valve, and the speed and displacement of the actuating mechanism are controlled according to the speed of the up-and-down swing oil cylinder, so that the motion of the washing device is controlled.
Furthermore, the angular displacement information of the up-down swing oil cylinder can be measured through an absolute value encoder, and after the angular displacement information is analyzed, the opening degree of the proportional valve is controlled, so that the closed-loop control of the motion of the actuating mechanism is realized.
The insulator cleaning method disclosed by the embodiment is applied to a live cleaning robot, when the distance between the live cleaning robot and a target insulator is greater than a safe distance threshold value, data of the live cleaning robot and cleaning data of the target insulator are acquired, the data of the robot are adjusted according to the cleaning data of the target insulator, and the target insulator is cleaned according to the adjusted data of the robot. According to the scheme, the target insulator is cleaned through the electrified cleaning robot through the data relation between the electrified cleaning robot and the target insulator, so that the insulator of the transformer substation is cleaned through the robot, and the problems of high labor intensity and low efficiency caused by manual cleaning are solved.
The embodiment discloses an insulator cleaning method, a flowchart of which is shown in fig. 4, and the method comprises the following steps:
step S41, determining whether the distance between the charged cleaning robot and the target insulator is greater than a safe distance threshold value;
step S42, if yes, acquiring data of the charged cleaning robot, the data of the charged cleaning robot including: attitude information of the charged cleaning robot, distance information between the charged cleaning robot and a target insulator and cleaning height information of the charged cleaning robot;
step S43, acquiring cleaning data of the target insulator, wherein the cleaning data comprises: height information and a cleaning mode of the target insulator;
step S44, determining the movement angle of the actuating mechanism according to the data of the charged cleaning robot;
wherein, the data of the electrified cleaning robot comprises: the deflection angle of the charged cleaning robot in all directions, data between the charged cleaning robot and the target insulator and between adjacent insulators and the lifting height of the lifting mechanism.
When determining the motion angle of the actuating mechanism, firstly, a coordinate system O of a motion system formed by the lifting mechanism and the actuating mechanism, which is fixedly connected with the crawler-type motion platform, needs to be determined3A schematic diagram of which is shown in fig. 5.
Wherein, O3A coordinate system is fixed on the crawler-type moving platform, and the origin of the coordinate system is the projection of the center of the fixed part of the lifting mechanism and the crawler-type moving platform on a geodetic coordinate system; o is4The sum of the absolute heights of the d4 travel of the lifting mechanism relative to the ground, O, is the motion coordinate system of the lifting mechanism5A moving coordinate system is deflected for the actuating mechanism, theta 5 is a deflection angle, O6Is a pitching motion coordinate system of an actuating mechanism, theta 6 pitching angle and OnIs a target insulator upper rinsing point coordinate system, and OtThe origin of the flushing water coincides with the original point, the position of the origin is a flushing point, and the directions of all coordinate axes are equal to O6The same is true. The geodetic coordinate system and the target insulator coordinate system are not shown in the figure, wherein the geodetic coordinate system O0Origin and O of3Coincide with the origin of (a), target insulator coordinate system OtOrigin and O ofnThe coordinate axes are coincident with the earth coordinate system.
The kinematic matrix of the target insulator relative to the crawler-type moving platform consolidation coordinate system is obtained through calculation and is as follows:
wherein,a transformation matrix of a target insulator washing point in a coordinate system of the crawler-type motion platform is obtained;is a transformation matrix of the geodetic coordinate system in the coordinate system of the crawler-type motion platform,s is an abbreviation for sin, s α is an abbreviation for sin (α), c is an abbreviation for cos, and c α is an abbreviation for cos (α).
taIs the x value of a target insulator relative to a fixed coordinate system of the crawler-type moving platform, and the value is la·lb/lab，tbIs the y value of the target insulator relative to the consolidation coordinate system of the crawler-type moving platform, and the value istcThe height of the target insulator from the washed point to the ground is shown.
The flushing device on the actuating mechanism can be: the nozzle is characterized in that a kinematic matrix of the nozzle relative to a crawler-type moving platform consolidation coordinate system is as follows:
the theoretical basis that the target insulator can be washed is as follows:
after operation, the arithmetic formula (1) is obtained
Wherein,
a＝tacαcβ+tbsαcβ-tcsβ；
b＝ta[cαsβsγ-sαcγ]+tb[sαsβsγ+cαcγ]+tccβsγ；
c＝d4-ta[cαsβcγ+sαsγ]-tb[sαsβcγ-cαsγ]-tccβcγ；
specifically, from the coordinate system in fig. 5, the following parameter relationships can be clarified:
| i | ai-1 | αi-1 | di | θi | variables of |
| 4 | 0 | 0° | d4 | 0° | d4 |
| 5 | 0 | 0° | 0 | θ5(-90°) | θ5 |
| 6 | 0 | -90° | 0 | θ6(0°) | θ6 |
| n | a6 | 0° | 0 | 0° | Is free of |
From the above-mentioned table, it can be obtained,
wherein, c θ5＝cos(θ5)；sθ5＝sin(θ5)；cθ6＝cos(θ6)；sθ6＝sin(θ6) After calculation, it can be obtained that the kinematic matrix of the spray head relative to the crawler chassis is transformed into:
the coincidence point of the water column and the target insulator, namely the position of the flushing point in the coordinate system of the crawler chassis is as follows:
xn＝a6cθ5cθ6；
yn＝a6sθ5cθ6；
zn＝-a6sθ6+d4； (2)
the geodetic coordinate system, relative to the track chassis fixed coordinate system O3, is represented by the RPY angle, and has:
wherein alpha is a rotation angle of the crawler chassis relative to the ground;
β is the pitch angle of the crawler chassis relative to the ground;
gamma is the deflection angle of the crawler chassis relative to the ground;
any point on the post insulator is relative to the earth coordinate system, and the method comprises the following steps:
wherein: ta is an x value of the post insulator relative to a central consolidation coordinate system of the lifting rod, and is a fixed value;
tb is a y value of the pillar insulator relative to a center fixed coordinate system of the lifting rod, and is a fixed value;
tc is a z value of the pillar insulator relative to a central consolidation coordinate system of the lifting rod, and is the height of a washed point on the pillar insulator relative to the ground;
then:
namely, the position of any point on the post insulator in the coordinate system of the crawler chassis is as follows:
to ensure that the water column can reach any point on the washed insulator, there are:
order:
finishing (4) to obtain:
θ 5>0, θ 6<0, shown by the connecting rod coordinate system in fig. 1, then:
the above formula is numerically calculated by matlab, and the change curves of the water column length a6, the pan head pitch angle θ 6, and the pan head yaw angle θ 5 are obtained by making ta 1.4, tb 1.6, tc 4:0.1:6, α 10 °, β 5 °, and γ 7.5 °, as shown in fig. 6.
Step S45, controlling the movement of the actuating mechanism according to the cleaning mode and the movement angle of the actuating mechanism, wherein the movement of the actuating mechanism comprises the following steps: angle and speed.
By calculating the above equation (1), the movement angles θ 5 and θ 6 of the actuator are obtained.
The insulator cleaning method disclosed by the embodiment is applied to a live cleaning robot, when the distance between the live cleaning robot and a target insulator is greater than a safe distance threshold value, data of the live cleaning robot and cleaning data of the target insulator are acquired, the data of the robot are adjusted according to the cleaning data of the target insulator, and the target insulator is cleaned according to the adjusted data of the robot. According to the scheme, the target insulator is cleaned through the electrified cleaning robot through the data relation between the electrified cleaning robot and the target insulator, so that the insulator of the transformer substation is cleaned through the robot, and the problems of high labor intensity and low efficiency caused by manual cleaning are solved.
The embodiment discloses an insulator cleaning system, is applied to electrified cleaning robot, and its schematic structure is shown in fig. 7, includes:
a safe distance determination unit 71, a data acquisition unit 72, and a data adjustment unit 73.
The safe distance determining unit 71 is configured to determine whether a distance between the live cleaning robot and the target insulator is greater than a safe distance threshold;
when the distance between the charged cleaning robot and the target insulator is too close, such as: when the distance is smaller than the safety distance threshold, water sprayed by the electrified cleaning robot may splash back onto the electrified cleaning robot during the cleaning process, so that the electrified cleaning robot is short-circuited or otherwise fails, and the target insulator cannot be cleaned continuously. Therefore, only when the distance between the electrified cleaning robot and the target insulator is larger than the safety distance threshold value, the subsequent operation can be continued.
Further, when the distance between the live cleaning robot and the target insulator is too far, such as: when the distance is greater than a certain preset distance threshold, water sprayed by the electrified cleaning robot may not reach the target insulator in the cleaning process, so that the target insulator cannot be cleaned. Therefore, it is necessary to keep the distance between the live cleaning robot and the target insulator within a predetermined distance range to ensure that the target insulator can be cleaned and that the sprayed water is not splashed back onto the live cleaning robot.
The data obtaining unit 72 is configured to obtain data of the charged cleaning robot when the safe distance determining unit determines that the distance between the charged cleaning robot and the target insulator is greater than the safe distance threshold, where the data of the charged cleaning robot includes: attitude information of the charged cleaning robot, distance information between the attitude information and the target insulator and cleaning height information of the charged cleaning robot, and simultaneously, acquiring cleaning data of the target insulator, wherein the cleaning data comprises: height information and a cleaning mode of the target insulator;
attitude information of the charged cleaning robot, namely deflection angles of the charged cleaning robot relative to a geodetic coordinate system in all directions, such as a rotation angle β of the crawler chassis relative to the ground, a pitch angle beta of the crawler chassis relative to the ground and a deflection angle gamma of the crawler chassis relative to the ground.
The distance information between the charged cleaning robot and the target insulator may include: distance l between charged cleaning robot and target insulator aaDistance l between the charged cleaning robot and the adjacent insulator bbAnd the distance l between the target insulator a and the adjacent insulator bab. The adjacent insulator b is an insulator adjacent to the target insulator a.
Further, in the distance information between the charged cleaning robot and the target insulator, the charged cleaning robot may specifically be: the center of the consolidation position of the lifting mechanism and the crawler moving platform is namely laThe distance between the target insulator a and the center of the consolidation position of the lifting mechanism and the crawler movement platform is lbThe distance between the adjacent insulator b and the center of the consolidation position of the lifting mechanism and the crawler movement platform is shown.
The cleaning height of the charged cleaning robot can be specifically as follows: the elevation height of the elevating mechanism.
In addition, the movement angle of the actuator can be acquired.
The data adjusting unit 73 is configured to adjust data of the live cleaning robot according to cleaning data of a target insulator, and clean the target insulator according to the adjusted live cleaning robot.
The cleaning mode can be as follows: the cleaning is carried out in what order, such as: from top to bottom, from left to right, cleaning at constant speed, cleaning at accelerated speed, and the like.
After the position of the target insulator relative to the charged cleaning robot is determined, the data of the charged cleaning robot are adjusted so that the charged cleaning robot can clean the target insulator.
The data for adjusting the electrified cleaning robot may specifically be: adjusting the height of the electrified cleaning robot to match the height of the target insulator; adjusting the distance between the charged cleaning robot and the target insulator to enable the adjusted distance to meet the requirement that the charged cleaning robot cleans the target insulator; and adjusting the washing mode of the washing device so as to be consistent with the washing mode of the target insulator.
Specifically, the data of the electrified cleaning robot is adjusted according to the cleaning data of the target insulator, the height of the lifting mechanism is adjusted according to the adjusted data, and the movement of a flushing device at the tail end of the executing mechanism is controlled according to the adjusted data, so that the target insulator is cleaned.
Specifically, the opening of the proportional valve is controlled according to the adjusted data, the speed of the up-and-down swing oil cylinder is controlled according to the opening of the proportional valve, and the speed and displacement of the actuating mechanism are controlled according to the speed of the up-and-down swing oil cylinder, so that the motion of the washing device is controlled.
Furthermore, the angular displacement information of the up-down swing oil cylinder can be measured through an absolute value encoder, and after the angular displacement information is analyzed, the opening degree of the proportional valve is controlled, so that the closed-loop control of the motion of the actuating mechanism is realized.
The data adjusting unit is used for: determining the motion angle of an actuating mechanism according to the deflection angle of the charged cleaning robot in each direction, data between the charged cleaning robot and a target insulator and between the charged cleaning robot and adjacent insulators and the lifting height of the lifting mechanism; controlling the movement of the actuating mechanism according to the cleaning mode and the movement angle of the actuating mechanism, wherein the movement of the actuating mechanism comprises the following steps: angle and speed.
Wherein, the data of the electrified cleaning robot comprises: the deflection angle of the charged cleaning robot in all directions, data between the charged cleaning robot and the target insulator and between adjacent insulators and the lifting height of the lifting mechanism.
When determining the motion angle of the actuating mechanism, firstly, a coordinate system O of a motion system formed by the lifting mechanism and the actuating mechanism, which is fixedly connected with the crawler-type motion platform, needs to be determined3A schematic diagram of which is shown in fig. 5.
Wherein, O3A coordinate system is fixed on the crawler-type moving platform, and the origin of the coordinate system is the projection of the center of the fixed part of the lifting mechanism and the crawler-type moving platform on a geodetic coordinate system; o is4The sum of the absolute heights of the d4 travel of the lifting mechanism relative to the ground, O, is the motion coordinate system of the lifting mechanism5A moving coordinate system is deflected for the actuating mechanism, theta 5 is a deflection angle, O6Is a pitching motion coordinate system of an actuating mechanism, theta 6 pitching angle and OnIs a target insulator upper rinsing point coordinate system, and OtThe origin of the flushing water coincides with the original point, the position of the origin is a flushing point, and the directions of all coordinate axes are equal to O6The same is true. The geodetic coordinate system and the target insulator coordinate system are not shown in the figure, wherein the geodetic coordinate system O0Origin and O of3Coincide with the origin of (a), target insulator coordinate system OtOrigin and O ofnThe coordinate axes are coincident with the earth coordinate system.
The kinematic matrix of the target insulator relative to the crawler-type moving platform consolidation coordinate system is obtained through calculation and is as follows:
wherein,a transformation matrix of a target insulator washing point in a coordinate system of the crawler-type motion platform is obtained;is a transformation matrix of the geodetic coordinate system in the coordinate system of the crawler-type motion platform,s is an abbreviation for sin, s α is an abbreviation for sin (α), c is an abbreviation for cos, and c α is an abbreviation for cos (α).
taIs the x value of a target insulator relative to a fixed coordinate system of the crawler-type moving platform, and the value is la·lb/lab，tbIs the y value of the target insulator relative to the consolidation coordinate system of the crawler-type moving platform, and the value istcThe height of the target insulator from the washed point to the ground is shown.
The flushing device on the actuating mechanism can be: the nozzle is characterized in that a kinematic matrix of the nozzle relative to a crawler-type moving platform consolidation coordinate system is as follows:
the theoretical basis that the target insulator can be washed is as follows:
after operation, the arithmetic formula (1) is obtained
Wherein,
a＝tacαcβ+tbsαcβ-tcsβ；
b＝ta[cαsβsγ-sαcγ]+tb[sαsβsγ+cαcγ]+tccβsγ；
c＝d4-ta[cαsβcγ+sαsγ]-tb[sαsβcγ-cαsγ]-tccβcγ；
specifically, from the coordinate system in fig. 5, the following parameter relationships can be clarified:
| i | ai-1 | αi-1 | di | θi | variables of |
| 4 | 0 | 0° | d4 | 0° | d4 |
| 5 | 0 | 0° | 0 | θ5(-90°) | θ5 |
| 6 | 0 | -90° | 0 | θ6(0°) | θ6 |
| n | a6 | 0° | 0 | 0° | Is free of |
From the above-mentioned table, it can be obtained,
wherein, c θ5＝cos(θ5)；sθ5＝sin(θ5)；cθ6＝cos(θ6)；sθ6＝sin(θ6) After calculation, it can be obtained that the kinematic matrix of the spray head relative to the crawler chassis is transformed into:
the coincidence point of the water column and the target insulator, namely the position of the flushing point in the coordinate system of the crawler chassis is as follows:
xn＝a6cθ5cθ6；
yn＝a6sθ5cθ6；
zn＝-a6sθ6+d4； (2)
the geodetic coordinate system, relative to the track chassis fixed coordinate system O3, is represented by the RPY angle, and has:
wherein alpha is a rotation angle of the crawler chassis relative to the ground;
β is the pitch angle of the crawler chassis relative to the ground;
gamma is the deflection angle of the crawler chassis relative to the ground;
any point on the post insulator is relative to the earth coordinate system, and the method comprises the following steps:
wherein: ta is an x value of the post insulator relative to a central consolidation coordinate system of the lifting rod, and is a fixed value;
tb is a y value of the pillar insulator relative to a center fixed coordinate system of the lifting rod, and is a fixed value;
tc is a z value of the pillar insulator relative to a central consolidation coordinate system of the lifting rod, and is the height of a washed point on the pillar insulator relative to the ground;
then:
namely, the position of any point on the post insulator in the coordinate system of the crawler chassis is as follows:
to ensure that the water column can reach any point on the washed insulator, there are:
order:
finishing (4) to obtain:
θ 5>0, θ 6<0, shown by the connecting rod coordinate system in fig. 1, then:
the above formula is numerically calculated by matlab, and the change curves of the water column length a6, the pan head pitch angle θ 6, and the pan head yaw angle θ 5 are obtained by making ta 1.4, tb 1.6, tc 4:0.1:6, α 10 °, β 5 °, and γ 7.5 °, as shown in fig. 6.
The insulator cleaning system disclosed in the embodiment is applied to a live cleaning robot, and when the distance between the live cleaning robot and a target insulator is greater than a safe distance threshold value, the data of the live cleaning robot and the cleaning data of the target insulator are acquired, the data of the robot is adjusted according to the cleaning data of the target insulator, and the target insulator is cleaned according to the adjusted data of the robot. According to the scheme, the target insulator is cleaned through the electrified cleaning robot through the data relation between the electrified cleaning robot and the target insulator, so that the insulator of the transformer substation is cleaned through the robot, and the problems of high labor intensity and low efficiency caused by manual cleaning are solved.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. An insulator cleaning method is applied to a charged cleaning robot and is characterized by comprising the following steps:
determining whether the distance between the electrified cleaning robot and the target insulator is greater than a safe distance threshold value;
if yes, acquiring the data of the electrified cleaning robot, wherein the data of the electrified cleaning robot comprises: attitude information of the electrified cleaning robot, distance information between the electrified cleaning robot and the target insulator and cleaning height information of the electrified cleaning robot;
acquiring cleaning data of the target insulator, wherein the cleaning data comprises: height information and a cleaning mode of the target insulator;
and adjusting the data of the electrified cleaning robot according to the cleaning data of the target insulator, and cleaning the target insulator according to the adjusted electrified cleaning robot.
2. The method of claim 1, wherein the electrified washing robot comprises: elevating system and actuating mechanism, according to the washing data adjustment of target insulator the data of electrified cleaning robot, according to the electrified cleaning robot washing after the adjustment target insulator, include:
and adjusting the data of the electrified cleaning robot according to the cleaning data of the target insulator, adjusting the height of the lifting mechanism according to the adjusted data, and controlling the movement of a flushing device at the tail end of the executing mechanism according to the adjusted data to clean the target insulator.
3. The method according to claim 2, wherein the controlling the movement of the flushing device at the tail end of the actuating mechanism according to the adjusted data to clean the target insulator comprises:
controlling the opening of a proportional valve in the actuating mechanism according to the adjusted data;
controlling the speed of a swing oil cylinder in the executing mechanism according to the opening degree of the proportional valve;
and controlling the speed and displacement of the actuating mechanism according to the speed of the swing oil cylinder to realize the control of the movement of the flushing device at the tail end of the actuating mechanism.
4. The method of claim 2, wherein the electrified washing robot further comprises: a crawler chassis that acquires data of the electrified cleaning robot, comprising:
acquiring deflection angles of the electrified cleaning robot in all directions relative to a geodetic coordinate system, wherein the deflection angles in all directions comprise: the rotation angle, the pitch angle and the deflection angle of the crawler chassis relative to the ground;
acquiring data between the live cleaning robot and the target insulator, a distance between the live cleaning robot and the adjacent insulator, and a distance between the target insulator and the adjacent insulator, wherein the adjacent insulator is an insulator adjacent to the target insulator;
and acquiring the lifting height of the lifting mechanism.
5. The method of claim 4, wherein the adjusting the data of the live cleaning robot according to the cleaning data of the target insulator and the cleaning the target insulator according to the adjusted live cleaning robot comprises:
determining a motion angle of the execution mechanism according to the deflection angle of the charged cleaning robot in each direction, data between the charged cleaning robot and the target insulator and between the charged cleaning robot and the adjacent insulators and the lifting height of the lifting mechanism;
controlling the movement of the actuating mechanism according to the cleaning mode and the movement angle of the actuating mechanism, wherein the movement of the actuating mechanism comprises the following steps: angle and speed.
6. The utility model provides an insulator cleaning system, is applied to electrified cleaning robot, its characterized in that includes: safe distance determining unit, data acquisition unit, data adjustment unit, wherein:
the safe distance determining unit is used for determining whether the distance between the electrified cleaning robot and the target insulator is larger than a safe distance threshold value;
the data acquisition unit is configured to acquire data of the charged cleaning robot when the safe distance determination unit determines that the distance between the charged cleaning robot and the target insulator is greater than a safe distance threshold, where the data of the charged cleaning robot includes: attitude information of the charged cleaning robot, distance information between the charged cleaning robot and the target insulator and cleaning height information of the charged cleaning robot, and simultaneously, acquiring cleaning data of the target insulator, wherein the cleaning data comprises: height information and a cleaning mode of the target insulator;
the data adjusting unit is used for adjusting the data of the electrified cleaning robot according to the cleaning data of the target insulator and cleaning the target insulator according to the adjusted electrified cleaning robot.
7. The system of claim 6, wherein the electrified washing robot comprises: elevating system and actuating mechanism, the data adjustment unit is used for:
and adjusting the data of the electrified cleaning robot according to the cleaning data of the target insulator, adjusting the height of the lifting mechanism according to the adjusted data, and controlling the movement of a flushing device at the tail end of the executing mechanism according to the adjusted data to clean the target insulator.
8. The system of claim 7, wherein the data adjusting unit controls the movement of a flushing device at the tail end of the actuating mechanism according to the adjusted data, so as to clean the target insulator, and the data adjusting unit comprises:
the data adjusting unit controls the opening of a proportional valve in the executing mechanism according to the adjusted data, controls the speed of a swing oil cylinder in the executing mechanism according to the opening of the proportional valve, and controls the speed and displacement of the executing mechanism according to the speed of the swing oil cylinder, so that the motion of the flushing device at the tail end of the executing mechanism is controlled.
9. The system of claim 7, wherein the electrified washing robot further comprises: the crawler chassis, the data acquisition unit obtains electrified cleaning machines people's data includes:
the data acquisition unit acquires deflection angles of the electrified cleaning robot in various directions relative to a geodetic coordinate system, wherein the deflection angles in the various directions comprise: the rotation angle, the pitch angle and the deflection angle of the crawler chassis relative to the ground; acquiring data between the live cleaning robot and the target insulator, a distance between the live cleaning robot and the adjacent insulator, and a distance between the target insulator and the adjacent insulator, wherein the adjacent insulator is an insulator adjacent to the target insulator; and acquiring the lifting height of the lifting mechanism.
10. The system of claim 9, wherein the data adjustment unit is configured to:
determining a motion angle of the execution mechanism according to the deflection angle of the charged cleaning robot in each direction, data between the charged cleaning robot and the target insulator and between the charged cleaning robot and the adjacent insulators and the lifting height of the lifting mechanism; controlling the movement of the actuating mechanism according to the cleaning mode and the movement angle of the actuating mechanism, wherein the movement of the actuating mechanism comprises the following steps: angle and speed.
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| CN109499959A (en) * | 2018-10-22 | 2019-03-22 | 广东电网有限责任公司 | A kind of Electrified water washing system |
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Application publication date: 20180202 |