CN107962015B - Full-process automatic-flushing electrified water flushing robot and method for transformer substation equipment - Google Patents
Full-process automatic-flushing electrified water flushing robot and method for transformer substation equipment Download PDFInfo
- Publication number
- CN107962015B CN107962015B CN201710432737.4A CN201710432737A CN107962015B CN 107962015 B CN107962015 B CN 107962015B CN 201710432737 A CN201710432737 A CN 201710432737A CN 107962015 B CN107962015 B CN 107962015B
- Authority
- CN
- China
- Prior art keywords
- water
- washing
- robot
- angle
- insulator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 162
- 238000000034 method Methods 0.000 title claims abstract description 53
- 238000011010 flushing procedure Methods 0.000 title claims description 27
- 238000005406 washing Methods 0.000 claims abstract description 102
- 239000012212 insulator Substances 0.000 claims abstract description 72
- 230000000007 visual effect Effects 0.000 claims abstract description 8
- 230000008569 process Effects 0.000 claims description 11
- 238000000605 extraction Methods 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 8
- 238000005507 spraying Methods 0.000 claims description 6
- 239000012498 ultrapure water Substances 0.000 claims description 5
- 238000013528 artificial neural network Methods 0.000 claims description 4
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 4
- 238000001914 filtration Methods 0.000 claims description 3
- 238000005286 illumination Methods 0.000 claims description 3
- 238000003709 image segmentation Methods 0.000 claims description 3
- 230000011218 segmentation Effects 0.000 claims description 3
- 238000012549 training Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 2
- 238000011897 real-time detection Methods 0.000 claims description 2
- 239000007921 spray Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000002209 hydrophobic effect Effects 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 238000007689 inspection Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 239000003513 alkali Substances 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- FAPWRFPIFSIZLT-UHFFFAOYSA-M Sodium chloride Chemical compound [Na+].[Cl-] FAPWRFPIFSIZLT-UHFFFAOYSA-M 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000009422 external insulation Methods 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000002440 industrial waste Substances 0.000 description 1
- 239000011810 insulating material Substances 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 230000003211 malignant effect Effects 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
- 239000011780 sodium chloride Substances 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
Images
Classifications
-
- 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
-
- 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
Landscapes
- Manipulator (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
Description
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710432737.4A CN107962015B (en) | 2017-06-09 | 2017-06-09 | Full-process automatic-flushing electrified water flushing robot and method for transformer substation equipment |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710432737.4A CN107962015B (en) | 2017-06-09 | 2017-06-09 | Full-process automatic-flushing electrified water flushing robot and method for transformer substation equipment |
Publications (2)
Publication Number | Publication Date |
---|---|
CN107962015A CN107962015A (en) | 2018-04-27 |
CN107962015B true CN107962015B (en) | 2020-02-11 |
Family
ID=61997524
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201710432737.4A Active CN107962015B (en) | 2017-06-09 | 2017-06-09 | Full-process automatic-flushing electrified water flushing robot and method for transformer substation equipment |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN107962015B (en) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113145538B (en) * | 2021-03-25 | 2024-05-14 | 中国科学技术大学 | Insulator cleaning control method and system |
CN113529851B (en) * | 2021-07-12 | 2022-09-30 | 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 |
CN113798244A (en) * | 2021-09-07 | 2021-12-17 | 山东建筑大学 | Water spraying effect detection device, transformer substation water washing robot and method |
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 |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9477922B2 (en) * | 2010-09-01 | 2016-10-25 | Quake Global, Inc. | UHF RFID wristband with a long read range |
CN104998850B (en) * | 2014-09-10 | 2017-02-15 | 山东鲁能智能技术有限公司 | Electrification water washing robot system of transformer substation and method |
CN204944984U (en) * | 2015-07-22 | 2016-01-06 | 国网河南省电力公司濮阳供电公司 | Based on the hydrophobicity of composite insulator of power transmission line live testing device of unmanned plane |
KR101736032B1 (en) * | 2016-07-11 | 2017-05-30 | 조기택 | The particulate of soil for removing of blue_green algae or red tide phenomenon |
-
2017
- 2017-06-09 CN CN201710432737.4A patent/CN107962015B/en active Active
Also Published As
Publication number | Publication date |
---|---|
CN107962015A (en) | 2018-04-27 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN107962015B (en) | Full-process automatic-flushing electrified water flushing robot and method for transformer substation equipment | |
CN107972038B (en) | System and method for washing robot with charged water for autonomous substation equipment | |
CN107962589B (en) | Insulating protection system of electrified water washing robot of substation equipment based on multisensor fuses | |
CN105718964B (en) | A kind of visible detection method of power transmission line damper | |
CN106873587B (en) | Navigation system for solar panel cleaning robot and navigation method thereof | |
WO2023035196A1 (en) | Water-spraying effect test apparatus, transformer substation water-washing robot, and water-spraying effect test method | |
CN111038721B (en) | Unmanned aerial vehicle for inspecting wind turbine blade based on image recognition and inspection method | |
CN105516685A (en) | Patrol inspection method for power transmission line of power grid | |
CN110676753B (en) | Intelligent inspection robot for power transmission line | |
CN112859840A (en) | Substation foot type inspection robot path planning method and system | |
CN107962016B (en) | Self-positioning live water washing robot system and method for substation equipment | |
CN101502707B (en) | Automatic fire-extinguishing system based on NiosII video image recognition | |
CN111696060A (en) | Method and system for online monitoring hydrophobicity of composite insulator | |
CN117676094B (en) | Video image on-line monitoring device for power transmission line | |
CN105516683A (en) | Power transmission line patrolling method | |
CN105633853A (en) | Power transmission line inspection system | |
CN104889092A (en) | Water washing robot sighting system based on ultrasonic distance measurement and image identification, and method thereof | |
CN114577325A (en) | Online monitoring and early warning system and method for contact suspension running state in strong wind area | |
CN107962014B (en) | Transformer substation equipment live water washing robot capable of automatically identifying insulator and method | |
CN104834293A (en) | Substation water flushing robot visual targeting system and method | |
CN116743069A (en) | Cleaning control method of photovoltaic module, cleaning robot and photovoltaic cleaning system | |
CN116718125A (en) | Line induction electricity-taking icing and external-breakage-preventing image online monitoring method and device | |
CN104858168A (en) | Water washing robot aiming system and method based on laser ranging and image recognition | |
CN203932833U (en) | A kind of aerial high-voltage power transmission line robot inspection system | |
CN113077610B (en) | Safety monitoring system and method for side slope |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
CB02 | Change of applicant information |
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 |
|
CB02 | Change of applicant information | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right |
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 |
|
TR01 | Transfer of patent right |