CN107962015A - A kind of overall process auto-flushing substation equipment living water washing robot and method - Google Patents
A kind of overall process auto-flushing substation equipment living water washing robot and method Download PDFInfo
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- CN107962015A CN107962015A CN201710432737.4A CN201710432737A CN107962015A CN 107962015 A CN107962015 A CN 107962015A CN 201710432737 A CN201710432737 A CN 201710432737A CN 107962015 A CN107962015 A CN 107962015A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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Abstract
The invention discloses a kind of overall process auto-flushing substation equipment living water washing robot and method, preliminary examination is carried out to the pollution level of insulator chain according to the image of collection before operation, when judging to need to be rinsed, the actual position information of Collecting operation scene insulator chain, using the information as main servo position data, visual image data is merged with laser data, supplementary means as servo-positioning, realize the accurate servo-positioning in hydraulic giant joint, it is rinsed, the working status of examinations hydraulic giant in flushing process, maintain quiet washout, then the pollution level of insulator chain is monitored, judge whether that needs continue to rinse, until rinsing well.
Description
Technical field
The present invention relates to a kind of overall process auto-flushing substation equipment living water washing robot and method.
Background technology
The insulator run outdoors in electric system is chronically exposed in the Nature, particularly in industrial, coastal and salt
Alkali ground region, is subject to industrial waste gas, seawater or the saline and alkaline, dust of nature etc. to act on, it will usually to be formed necessarily in insulator surface
The filthy accumulation of degree.Contaminated insulator, in dry situation, pollution layer resistance is very big, to Operation of Electric Systems
It is dangerous little.But when running into mist and wet weather when humid conditions, the pollution layer of insulator surface is wet, conductance increases
Greatly, insulation performance reduces, and leakage current sharply increases, and flashover voltage substantially reduces, and pollution flashover may occur at this time.Especially
It is that pollution flashover just necessarily occurs when the insulator that the retting-flax wastewater of insulator design is inadequate or uses cannot meet that filth requires.
Reclosing success rate after being tripped due to pollution flashover is very low, and insulator contamination easily develops into large area, prolonged pernicious power failure
Accident, therefore the harmfulness of pollution flashover is very big, is the main hidden danger for influencing grid equipment safe operation.
But present flushing flow can not correctly judge whether to need to rinse, can only by experience or periodic flushing,
Cause to be rinsed when that need not rinse, wasting manpower and material resources, consuming cost, or should not rinse in time when rinsing,
Pollution flashover is caused, or even develops into large area, prolonged pernicious power outage, influences the normal use of power supply.
The content of the invention
The present invention is to solve the above-mentioned problems, it is proposed that a kind of overall process auto-flushing substation equipment living water washing machine
Device people and method, the present invention judge that when flushing monitors in real time, is checked after flushing, ensures insulator chain by preliminary examination before flushing
The promptness and reliability and accuracy of flushing.
To achieve these goals, the present invention adopts the following technical scheme that：
A kind of overall process auto-flushing substation equipment living water washing robot, including water flushing device human body, its
On be provided with image capture module, laser sensor, visual sensor and controller, described image acquisition module, laser sensing
Device is arranged at water flushing device human body front end, and visual sensor is installed on hydraulic giant rear, and controller is according to image capture module
The image of collection carries out preliminary examination, it is necessary to when being rinsed to the pollution level of insulator chain, utilizes laser sensor Collecting operation
The actual position information of live insulator chain, controller utilize visual sensor using the information as main servo position data
The data of collection, are merged with laser data, as the supplementary means of servo-positioning, realize that the accurate servo in hydraulic giant joint is determined
Position, is rinsed, then reuses image capture module and the pollution level of insulator chain is monitored, judge whether to need
Continue to rinse.
Slant angle sensor is further included on water flushing device human body, detects the angle of inclination of robot in real time, according to this angle
Information is spent, servo-positioning instruction is modified, driving hydraulic giant movement, aims at insulator chain.
Laser sensor installation parallel with hydraulic giant.
The hydraulic giant is having a double meaning water-saving spray pistol.
Angular transducer is mounted on the trunnion axis and pitch axis of hydraulic giant.
The hydraulic giant setting angle is fixed, and determines that insulator chain region and hydraulic giant rinse region in its scanning angle,
Controller control hydraulic giant moves in the horizontal direction makes its flushing region be overlapped with insulator chain region.
Leakage Current sensor, water resistance rate sensor, hydraulic pressure sensor are additionally provided with the water flushing device human body
And flow sensor, for detecting Leakage Current, water resistance rate, hydraulic pressure and the flow of hydraulic giant.
A kind of overall process auto-flushing substation equipment living water washing method, according to the image of collection to insulation before operation
The pollution level of substring carries out preliminary examination, when judging to need to be rinsed, the actual bit confidence of Collecting operation scene insulator chain
Breath, using the information as main servo position data, visual image data is merged with laser data, as servo-positioning
Supplementary means, realize the accurate servo-positioning in hydraulic giant joint, be rinsed, the work shape of examinations hydraulic giant in flushing process
State, maintains quiet washout, then the pollution level of insulator chain is monitored, judges whether that needs continue to rinse, Zhi Daochong
Wash clean.
The angle of inclination of the robot of detection in real time, angle information, is modified servo-positioning instruction according to this.
Obtain before servo-positioning instruction first definite insulator overhead height, laser sensor installation site away from ground level,
Distance between laser sensor and insulation column, hydraulic giant is minimum to rinse angle and its maximum flushing angle.
When angle tilt occurs for water flushing device human body itself, rushed using the angle of inclination of robot is minimum to hydraulic giant
Wash angle and its maximum is rinsed angle and is modified.
For tilting insulator, the shift value of the both direction of X-direction and Y direction is detected, corrects to obtain with this
Detection range of the hydraulic giant in Y direction and the flushing scope in X-direction.
The effective angle region of hydraulic giant strike is related in the setting angle of laser sensor.
Horizontal direction SERVO CONTROL amount for hydraulic giant is insulator orientation angle and hydraulic giant under laser measurement coordinate system
Hit the deviation between effective angle.
When rinsing using double-closed-loop control method control robot, inner ring is operation distance and pressure rings, and outer shroud is water
Resistance rate, Leakage Current ring；
When high purity water, water resistance rate changes or when robot body Leakage Current changes for some reason, really
Theorem, thus into inner ring system, realizes the closed-loop control and output to operation distance thought of as industry distance and irrigation pressure information
The control of pressure and flow, and then ensure the insulation performance of water flushing device human body, play the role of security protection.
Preliminary examination is carried out to the pollution level of substation equipment to be rinsed according to the image of collection before operation, it is special based on image
The substation equipment external insulation surface filth and hydrophobicity of sign are detected to confirm whether substation equipment needs to rinse, specific steps
Including：
Gray processing is carried out to image first, the influence split using algorithm of histogram equalization elimination illumination to image, is adopted
Binary conversion treatment is carried out to image with automatic segmentation threshold, automatically extracting for droplet region is realized using edge following algorithm, and
Extraction region is filtered using parameters such as region area, girths, the accurate extraction in target droplet region is realized, finally calculates
Area A, circularity C, the minimum distance D between circumradius R, with adjacent droplet in each droplet region, form feature sequence
Row, train neural network classifier using this feature sequence, realize the automatic discrimination of insulator hydrophobicity.
Compared with prior art, beneficial effects of the present invention are：
The present invention can realize Whole Process Control, be judged by preliminary examination before flushing, and when flushing monitors in real time, is examined after flushing
Look into, ensure the promptness and reliability and accuracy of the flushing of insulator chain；
Using full-automatic monitoring in real time, it can ensure that water flushing device people can be correctly according to certainly when cleaning insulator chain
Figure state and carried out with the distance of insulator chain and relative angle from aiming at, and then self-adjusting, realize that automatic and accurate is rinsed；
Robot is controlled using double-closed-loop control method, ensures water flushing device people equipment safety in itself and maintains electricity
The safe operation of net.
Brief description of the drawings
The accompanying drawings which form a part of this application are used for providing further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation are used to explain the application, do not form the improper restriction to the application.
Hydraulic giant rinses the definite flow diagram of scope when Fig. 1 is the rectilinear insulator of the present invention；
The definite amendment that scope is rinsed for hydraulic giant when Fig. 2 is water flushing device people's skewed at any angle of the present invention is shown
It is intended to；
Hydraulic giant rinses the definite flow diagram of scope when Fig. 3 is the tilting insulator of the present invention；
Fig. 4 is the laser sensor testing principle schematic diagram of the present invention；
Fig. 5 is the control principle drawing of the present invention；
Fig. 6 is the safety protection module control flow chart of the present invention；
Fig. 7 is the calculation process schematic diagram when robot body of the present invention tilts.
Embodiment：
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
It is noted that described further below is all illustrative, it is intended to provides further instruction to the application.It is unless another
Indicate, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " bag
Include " when, it indicates existing characteristics, step, operation, device, component and/or combinations thereof.
As background technology is introduced, existing in the prior art can not correctly judge whether to need to rinse, can only be by
Experience or periodic flushing, cause to be rinsed when that need not rinse, wasting manpower and material resources, consuming cost, or should rush
Do not rinsed in time when washing, the deficiency of normal power supply can be influenced, in order to solve technical problem as above, present applicant proposes one kind
Overall process auto-flushing substation equipment living water washing robot.
In a kind of typical embodiment of the application, as shown in Figure 1, a kind of overall process auto-flushing substation equipment band
Electric water flushing device people, including water flushing device human body, are provided with image capture module, laser sensor, vision and pass
Sensor and controller, described image acquisition module, laser sensor are arranged at water flushing device human body front end, visual sensor
Installed in hydraulic giant rear, controller carries out preliminary examination according to the image that image capture module gathers to the pollution level of insulator chain,
When needing to be rinsed, using the actual position information of laser sensor Collecting operation scene insulator chain, controller believes this
Breath is used as main servo position data, and the data gathered using visual sensor, are merged with laser data, determined as servo
The supplementary means of position, realizes the accurate servo-positioning in hydraulic giant joint, is rinsed, then reuse image capture module to exhausted
The pollution level of edge substring is monitored, and judges whether that needs continue to rinse.
The excellent anti-fouling flashover performance of support insulator is from the good hydrophobicity of its outer insulating material.The powered water of substation
Robot is rinsed before flushing with after flushing, support insulator hydrophobicity is detected, flushing effect can be carried out more
Effectively evaluating, the popularization and application to water flushing device people have great importance.
Edge hydrophobicity measuring device with electricity is to be proposed based on what IEC recommended by power transmission and distribution research institute of Sweden (STRI)
Hydrophobicity detection technique water spray staging, it is by groups such as electrical water jetting device, Miniature digital camera machine and hydrophobicity analysis softwares
Into.Electrical water jetting device by infrared remote control control according in power industry standard (DL/T 864-2004) to spray water staging
Regulation to insulator umbrella carry out accurate quantification sprinkling water mist；Full skirt surface high definition hydrophobicity figure is obtained using DV
Piece, and analyzed by hydrophobicity analysis software；Hydrophobicity analysis software is based on advanced digital image processing techniques, by carrying
The various classification informations of hydrophobicity picture are taken, using neural network classifier, realizes and objective to the hydrophobicity state of insulator sentences
It is disconnected, finally insulator hydrophobicity rank is determined according to the levels characteristic description in DL/T810-2012 to hydrophobicity.
Preliminary examination is carried out to the pollution level of substation equipment to be rinsed according to the image of collection before operation, it is special based on image
The substation equipment external insulation surface filth and hydrophobicity of sign are detected to confirm whether substation equipment needs to rinse, meanwhile, punching
Also the pollution level of substation equipment is detected again after washing, judges whether to rinse well, specific steps include：
Gray processing is carried out to image first, the influence split using algorithm of histogram equalization elimination illumination to image, is adopted
Binary conversion treatment is carried out to image with automatic segmentation threshold, automatically extracting for droplet region is realized using edge following algorithm, and
Extraction region is filtered using parameters such as region area, girths, the accurate extraction in target droplet region is realized, finally calculates
Area A, circularity C, the minimum distance D between circumradius R, with adjacent droplet in each droplet region, form feature sequence
Arrange (A, C, R, D), train neural network classifier using this feature sequence, realize the automatic discrimination of insulator hydrophobicity.
Substation equipment living water washing robot is operated in substation, for this half hitch in substation equipment area
Under structure, outdoor environment, using single vision positioning method, it is difficult to which influence of the decontamination chamber UV light to image recognition, is this
A kind of positioning servo method based on laser sensor of system design, this method is based on laser sensor data, visual sensing
Supplemented by device data, laser sensor installation is installed on hydraulic giant rear, utilizes laser sensor with robot middle part, visual sensor
The actual position information at Collecting operation scene, uses this information as main servo position data, two joints of driving hydraulic giant
Movement, the data gathered using visual sensor, can not only be used for the video display of remote control, can also be melted with laser data
Close, as the supplementary means of servo-positioning, realize the accurate servo-positioning in hydraulic giant joint.
Solve the problems, such as the auto-flushing of substation equipment living water washing robot, it is important to which solution is rinsed insulation
Hydraulic giant in the scope (and being rinsed angular range of the flushing region of insulator in hydraulic giant coordinate system) and flushing process of son
SERVO CONTROL.Wherein, laser sensor installation parallel with hydraulic giant is primarily due to, hydraulic giant rinses scope primarily vertically model
That encloses determines that the adjustment amount of horizontal direction can be solved by the SERVO CONTROL in flushing process.
Hydraulic giant rinses determining for scope, as shown in Fig. 2, for rectilinear insulator, assumes initially that in substation equipment area
Environment is ideal conditions, Land leveling, in different interval same category of device setting height(from bottom) it is consistent and it is known that and when assuming operation,
It is approximately straight line, robot hydraulic giant stage+module abswolute level, and calm influence to rinse water column.
Insulator overhead height is H1, and laser sensor installation site is H3, laser sensor and insulation away from ground level
Branch intercolumnar distance is D, and the minimum angle of rinsing of hydraulic giant is θ 1, and it is θ 2 that maximum, which rinses angle,.
It is that (horizontal level is the encoder 0 in hydraulic giant joint to horizontal level, might not that system, which defines hydraulic giant initial bit,
It is real horizontal level, subsequently can changes horizontal level with obliquity sensor to correct again, when at this moment can measure hydraulic giant level,
Laser to insulator horizontal distance, in H1, H2The boundary angles of flushing can be calculated in the case of known).
Wherein H1, H2, H3For known variables, L is distance of the muzzle apart from insulator, and α is the angle that obliquity sensor measures
Degree, D can be obtained by laser range finder and obliquity sensor, θ1, θ2For the flushing angle known variables of required hydraulic giant, by
Fig. 2 can be obtained：
θ1=arctan ((H2-H3)/D)
θ2=arctan ((H1-H3)/D)
Wherein：D=L* α
Scope when robot skewed at any angle determines：
Since substation equipment internal road situation is complicated, ideal situation is difficult to reach, and as road is uneven, causes to swash
The installation site of ray machine hydraulic giant platform is not abswolute level state, and system introduces slant angle sensor for this, its main function is
The angle of inclination of the robot of detection in real time, angle information, the various parameters of robot system are corrected by calculating, are realized real according to this
Water under the environment of border rinses operation.
As shown in fig. 7, setting robot body tilts β angles, then laser sensor can tilt β angles.Work as laser sensor
After run-off the straight, inclination also occurs in its reference coordinate origin, and angle of inclination is β angles as shown in the figure.When benchmark coordinate tilts β
After angle, reference coordinate origin can produce displacement in X-axis and Y direction, and shift value is respectively：
SX=H3*sin β
SY=H3*cos β
As shown in Fig. 2, known according to above-mentioned analysis：
As shown in figure 3, for tilting insulator, it is necessary to detect the displacement of the both direction of X-direction and Y direction
Value.
Laser sensor is (θ in the detection range of Y direction1, θ2), it is (β in the detection range of X-direction1, β2)。
Insulator overhead height is H1, and insulator bottom level is H2, and laser sensor installation site is away from ground level
H3, distance is D between laser sensor and insulation column, and the minimum angle of rinsing of hydraulic giant in the vertical direction is θ water, and maximum is rinsed
Angle for θ most；The minimum angle of rinsing of hydraulic giant in the horizontal direction is β water, and it is maximum for β that maximum rinses angle.
It is that (horizontal level is the encoder 0 in hydraulic giant joint to horizontal level, might not that system, which defines hydraulic giant initial bit,
It is real horizontal level, subsequently can changes horizontal level with obliquity sensor to correct again, when at this moment can measure hydraulic giant level,
Laser to insulator horizontal distance, in H1, H2The boundary angles of flushing can be calculated in the case of known).
Wherein H1, H2, H3For known variables, L is distance of the muzzle apart from insulator, and α is the angle that obliquity sensor measures
Degree, D can be obtained by laser range finder and obliquity sensor, θ1, θ2For the flushing angle known variables of required hydraulic giant, by
Fig. 3 can be obtained：
θ1=arctan ((H2-H3)/D)
θ2=arctan ((H1-H3)/D)
Wherein：D=L* α
β value can be corrected progressively to quasi-insulator, without survey calculation by the interpolation operation of controller according to θ values
Exact value.
Calculated for angle of inclination of the robot under complex working condition, with vertical insulator analytic process.
Fig. 4 is laser sensor measurement plane schematic diagram in servo process, and cylindrical object is measuring for insulator in figure
Projection in plane, black region are the effective angle region of hydraulic giant strike, and the region is related by the setting angle of laser sensor,
As setting angle is fixed, it can be obtained by experimental method, as seen from the figure, horizontal direction SERVO CONTROL amount θ, is in laser measurement
Under coordinate system, the deviation between insulator orientation angle and hydraulic giant strike effective angle.Can be according to laser in flushing process
The data that sensor returns, adjust the flushing angle of hydraulic giant in real time, ensure the strike of water column moment on insulation column.
In conclusion, it is using laser sensor in the horizontal direction and the SERVO CONTROL amount of vertical direction is all easily asked for
This can form water flushing using the angular transducer installed on hydraulic giant trunnion axis and pitch axis with reference to the data of laser sensor
The hydraulic giant intelligence control system of robot, its control principle drawing are as shown in Figure 5.
In living water washing robot of substation flushing process, insulation safety is highly important, not only influences water
Rinse the equipment safety of robot in itself, it is often more important that substation live-line equipment may be impacted, so as to right
The safe operation of power grid brings influence.In substation's water flushing process, the factor impacted to insulation safety mainly includes：Water
Resistivity, the distance between the length of water column and robot and charging equipment, ambient humidity when rinsing, robot complete machine leakage
Electric current etc., changes control system and is equipped with special function of safety protection module, it mainly has Leakage Current sensor, water resistance for this
Rate sensor, hydraulic pressure sensor, flow sensor, laser sensor etc. form.Its control logic figure is as shown in Figure 6.
Safety protection module control subsystem is a pair of closed loop control algorithm, and inner ring is operation distance and pressure rings, outer shroud
For water resistance rate, Leakage Current ring.When high purity water, water resistance rate changes or robot body Leakage Current for some reason
When changing, online water resistance rate detector and Leakage Current detector detect the change, by being built in advance by experiment
The water resistance rate stood obtains corresponding preferable operation distance and irrigation pressure with operation distance, the expert system of irrigation pressure
Information, thus into inner ring system, on the one hand by the real-time feedback information of laser range finder, realizes the closed loop to operation distance
Control, the pressure information on the other hand returned by pressure sensor, realizes the control to the output pressure and flow of pressure apparatus
System, and then ensure the insulation performance of water flushing device people's control system, play the role of security protection.
The foregoing is merely the preferred embodiment of the application, the application is not limited to, for the skill of this area
For art personnel, the application can have various modifications and variations.It is all within spirit herein and principle, made any repair
Change, equivalent substitution, improvement etc., should be included within the protection domain of the application.
Although above-mentioned be described the embodiment of the present invention with reference to attached drawing, model not is protected to the present invention
The limitation enclosed, those skilled in the art should understand that, on the basis of technical scheme, those skilled in the art are not
Need to make the creative labor the various modifications that can be made or deformation still within protection scope of the present invention.
Claims (10)
1. a kind of overall process auto-flushing substation equipment living water washing robot, it is characterized in that：Including water flushing device people
Body, is provided with image capture module, laser sensor, visual sensor and controller, described image acquisition module, swash
Optical sensor is arranged at water flushing device human body front end, and visual sensor is installed on hydraulic giant rear, and controller is adopted according to image
The image for collecting module collection carries out preliminary examination, it is necessary to when being rinsed to the pollution level of insulator chain, is adopted using laser sensor
Collect the actual position information of operation field insulator chain, controller utilizes vision using the information as main servo position data
The data of sensor collection, are merged with laser data, as the supplementary means of servo-positioning, realize the accurate of hydraulic giant joint
Servo-positioning, is rinsed, and then reuses image capture module and the pollution level of insulator chain is monitored, judgement is
No needs continue to rinse.
2. a kind of overall process auto-flushing substation equipment living water washing robot as claimed in claim 1, it is characterized in that：
Slant angle sensor is further included on water flushing device human body, detects the angle of inclination of robot in real time, angle information, right according to this
Servo-positioning instruction is modified, and driving hydraulic giant movement, aims at insulator chain；
The hydraulic giant setting angle is fixed, and determines that insulator chain region and hydraulic giant rinse region, control in its scanning angle
Device control hydraulic giant moves in the horizontal direction makes its flushing region be overlapped with insulator chain region.
3. a kind of overall process auto-flushing substation equipment living water washing robot as claimed in claim 1, it is characterized in that：
Leakage Current sensor, water resistance rate sensor, hydraulic pressure sensor and flow is additionally provided with the water flushing device human body to pass
Sensor, for detecting Leakage Current, water resistance rate, hydraulic pressure and the flow of hydraulic giant.
4. a kind of overall process auto-flushing substation equipment living water washing method, it is characterized in that：According to the figure of collection before operation
As carrying out preliminary examination to the pollution level of insulator chain, when judging to need to be rinsed, the reality of Collecting operation scene insulator chain
Border positional information, using the information as main servo position data, visual image data is merged with laser data, as
The supplementary means of servo-positioning, realizes the accurate servo-positioning in hydraulic giant joint, is rinsed, examinations hydraulic giant in flushing process
Working status, maintain quiet washout, then the pollution level of insulator chain is monitored, judges whether that needs continue to rush
Wash, until rinsing well.
5. a kind of overall process auto-flushing substation equipment living water washing method as claimed in claim 4, it is characterized in that：It is real
When detect the angle of inclination of robot, angle information according to this, is modified servo-positioning instruction；
Or, first determining insulator overhead height before obtaining servo-positioning instruction, laser sensor installation site swashs away from ground level
Distance between optical sensor and insulation column, hydraulic giant is minimum to rinse angle and its maximum flushing angle.
6. a kind of overall process auto-flushing substation equipment living water washing method as claimed in claim 4, it is characterized in that：When
When angle tilt occurs for water flushing device human body itself, using the angle of inclination of robot it is minimum to hydraulic giant rinse angle and
Its maximum is rinsed angle and is modified；The effective angle region of hydraulic giant strike is related in the setting angle of laser sensor.
7. a kind of overall process auto-flushing substation equipment living water washing method as claimed in claim 4, it is characterized in that：It is right
In tilting insulator, the shift value of the both direction of X-direction and Y direction is detected, corrects to obtain hydraulic giant in Y-axis side with this
To detection range and the flushing scope in X-direction.
8. a kind of overall process auto-flushing substation equipment living water washing method as claimed in claim 4, it is characterized in that：It is right
It is under laser measurement coordinate system in the horizontal direction SERVO CONTROL amount of hydraulic giant, insulator orientation angle hits effective angle with hydraulic giant
Deviation between degree.
9. a kind of overall process auto-flushing substation equipment living water washing method as claimed in claim 4, it is characterized in that：
Using double-closed-loop control method control robot during flushing, inner ring is operation distance and pressure rings, and outer shroud is water resistance rate, leakage electricity
Flow ring；
When high purity water, water resistance rate changes or when robot body Leakage Current changes for some reason, determines reason
Thought of as industry distance and irrigation pressure information, thus into inner ring system, the closed-loop control to operation distance and output pressure are realized
And the control of flow, and then ensure the insulation performance of water flushing device human body, play the role of security protection.
10. a kind of overall process auto-flushing substation equipment living water washing method as claimed in claim 1, it is characterized in that：
The specific steps that pollution level is detected are included：
Gray processing is carried out to image first, the influence split using algorithm of histogram equalization elimination illumination to image, using certainly
Dynamic segmentation threshold carries out binary conversion treatment to image, realizes automatically extracting for droplet region using edge following algorithm, and utilize
The parameters such as region area, girth filter extraction region, realize the accurate extraction in target droplet region, finally calculate each
Area A, circularity C, the minimum distance D between circumradius R, with adjacent droplet in droplet region, form characteristic sequence, profit
Neural network classifier is trained with this feature sequence, realizes the automatic discrimination of insulator hydrophobicity.
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| CN201710432737.4A CN107962015B (en) | 2017-06-09 | 2017-06-09 | Full-process automatic-flushing electrified water flushing robot and method for transformer substation equipment |
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| CN201710432737.4A CN107962015B (en) | 2017-06-09 | 2017-06-09 | Full-process automatic-flushing electrified water flushing robot and method for transformer substation equipment |
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| CN107962015B CN107962015B (en) | 2020-02-11 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113145538A (en) * | 2021-03-25 | 2021-07-23 | 中国科学技术大学 | Insulator cleaning control method and system |
| CN113529851A (en) * | 2021-07-12 | 2021-10-22 | 九峰海洋生态建设集团有限公司 | Rainwater collection method and system for building, storage medium and intelligent terminal |
| CN115338183A (en) * | 2022-10-18 | 2022-11-15 | 深圳中科超远科技有限公司 | Electrified cleaning method for shock absorber |
| WO2023035196A1 (en) * | 2021-09-07 | 2023-03-16 | 山东建筑大学 | Water-spraying effect test apparatus, transformer substation water-washing robot, and water-spraying effect test method |
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| CN113145538A (en) * | 2021-03-25 | 2021-07-23 | 中国科学技术大学 | Insulator cleaning control method and system |
| CN113145538B (en) * | 2021-03-25 | 2024-05-14 | 中国科学技术大学 | Insulator cleaning control method and system |
| CN113529851A (en) * | 2021-07-12 | 2021-10-22 | 九峰海洋生态建设集团有限公司 | Rainwater collection method and system for building, storage medium and intelligent terminal |
| WO2023035196A1 (en) * | 2021-09-07 | 2023-03-16 | 山东建筑大学 | Water-spraying effect test apparatus, transformer substation water-washing robot, and water-spraying effect test method |
| CN115338183A (en) * | 2022-10-18 | 2022-11-15 | 深圳中科超远科技有限公司 | Electrified cleaning method for shock absorber |
| CN115338183B (en) * | 2022-10-18 | 2023-11-17 | 安阳彩顺新材料科技有限公司 | Live cleaning method for shock absorber |
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Address after: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Applicant after: Electric Power Research Institute of State Grid Shandong Electric Power Company Applicant after: National Network Intelligent Technology Co., Ltd. Applicant after: Jinan Power Supply Company, State Grid Shandong Electric Power Company Applicant after: State Grid Corporation of China Address before: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Applicant before: Electric Power Research Institute of State Grid Shandong Electric Power Company Applicant before: Shandong Luneng Intelligent Technology Co., Ltd. Applicant before: Jinan Power Supply Company, State Grid Shandong Electric Power Company Applicant before: State Grid Corporation of China |
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Effective date of registration: 20201030 Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee before: National Network Intelligent Technology Co.,Ltd. Patentee before: JINAN POWER SUPPLY COMPANY OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee before: STATE GRID CORPORATION OF CHINA |