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
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- 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
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- 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
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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
Abstract
The invention discloses a robot and a method for washing electrified water of substation equipment in an automatic whole-process washing manner, wherein the pollution degree of an insulator string is pre-checked according to an acquired image before operation, when the insulator string is judged to be washed, the actual position information of the insulator string on the operation site is acquired, the information is used as main servo positioning data, visual image data and laser data are fused, the visual image data and the laser data are used as auxiliary means of servo positioning, the accurate servo positioning of a joint of a water gun is realized, the washing is carried out, the working state of the water gun is detected in real time in the washing process, the safe washing is maintained, then the pollution degree of the insulator string is monitored, and whether the washing is required to be continued or not is judged until the insulator string.
Description
Technical Field
The invention relates to a robot and a method for washing transformer substation equipment with charged water in an automatic whole-process washing manner.
Background
Insulators in an electric power system running outdoors are exposed to the nature for a long time, particularly in industrial, coastal and saline-alkali soil areas, and generally form certain pollution accumulation on the surfaces of the insulators under the actions of industrial waste gas, seawater, natural saline alkali, dust and the like. The polluted insulator has large resistance of a pollution layer under the condition of dry weather, and has little danger to the operation of a power system. However, when the insulator is subjected to humid climatic conditions such as fog, overcast and rainy, a dirt layer on the surface of the insulator is wetted, the conductivity is increased, the insulating property is reduced, the leakage current is increased rapidly, the flashover voltage is greatly reduced, and at the moment, dirt flashover is likely to occur. Especially, when the creepage specific distance designed by the insulator is not enough or the adopted insulator can not meet the pollution requirement, pollution flashover inevitably occurs. Because the reclosing success rate after the pollution flashover tripping is very low, the pollution flashover of the insulator is easily developed into a large-area and long-time vicious power failure accident, so the harmfulness of the pollution flashover is very high, and the pollution flashover is a main hidden danger influencing the safe operation of power grid equipment.
However, the current flushing process cannot correctly judge whether flushing is needed, only depending on experience or regular flushing, so that flushing is performed when flushing is not needed, manpower and material resources are wasted, cost is consumed, or flushing is not performed in time when flushing is needed, pollution flashover is caused, even a large-area and long-time malignant power failure accident is developed, and normal use of power supply is influenced.
Disclosure of Invention
The invention provides a robot and a method for washing electrified water of substation equipment in a full-process automatic washing manner, aiming at solving the problems.
In order to achieve the purpose, the invention adopts the following technical scheme:
an electrified water washing robot for automatic washing of substation equipment in the whole process comprises a water washing robot body, wherein an image acquisition module, a laser sensor, a visual sensor and a controller are arranged on the water washing robot body, the image acquisition module and the laser sensor are arranged at the front end of the water washing robot body, the visual sensor is arranged behind a water gun, the controller performs pre-detection on the pollution degree of an insulator string according to the image acquired by the image acquisition module, when the insulator string needs to be washed, the laser sensor is used for acquiring the actual position information of the insulator string on the operation site, the controller takes the information as main servo positioning data, the data acquired by the visual sensor is fused with laser data to serve as an auxiliary means of servo positioning, the accurate servo positioning of a joint of the water gun is realized, the washing is performed, and then the image acquisition module is used for monitoring the pollution degree of the insulator string again, and judging whether to continue flushing.
The water washing robot body is further provided with an inclination angle sensor, the inclination angle of the robot is detected in real time, the servo positioning instruction is corrected according to the angle information, the water gun is driven to move, and the insulator string is aimed.
The laser sensor and the water gun are installed in parallel.
The water gun is a double-joint water gun.
And angle sensors are arranged on a horizontal shaft and a pitching shaft of the water gun.
The installation angle of the water gun is fixed, the area where the insulator string is located and the washing area of the water gun are determined at the scanning angle of the water gun, and the controller controls the water gun to move in the horizontal direction to enable the washing area to coincide with the area where the insulator string is located.
The water washing robot is characterized in that a leakage current sensor, a water resistance rate sensor, a water pressure sensor and a flow sensor are further arranged on the water washing robot body and used for detecting leakage current, water resistance rate, water pressure and flow of the water gun.
The utility model provides an automatic electrified water washing method of washing substation equipment of whole process, the filthy degree of insulator chain is carried out the preliminary examination according to the image pair of gathering before the operation, when judging need wash, gather the actual position information of operation on-the-spot insulator chain, regard this information as main servo positioning data, fuse visual image data and laser data, as servo positioning's auxiliary means, realize the accurate servo positioning of squirt joint, wash the operating condition of in-process real-time detection squirt, maintain safe washing, then monitor the filthy degree of insulator chain, judge whether need continue to wash, until washing totally.
And detecting the inclination angle of the robot in real time, and correcting the servo positioning data according to the angle information.
Before the servo positioning data is obtained, the top height of the insulator is determined, the height of the laser sensor from the ground is determined, the distance between the laser sensor and the insulating support column is determined, and the minimum flushing angle and the maximum flushing angle of the water gun are determined.
When the water washing robot body is inclined, the minimum washing angle and the maximum washing angle of the water gun are corrected by using the inclination angle of the robot.
And for the inclined insulator, detecting displacement values in two directions of an X-axis direction and a Y-axis direction, and correcting to obtain a detection range of the water gun in the Y-axis direction and a flushing range of the water gun in the X-axis direction.
The effective angle area of the water gun striking is related to the installation angle of the laser sensor.
The horizontal servo control quantity of the water gun is the deviation between the direction angle of the insulator and the effective striking angle of the water gun under a laser measurement coordinate system.
When in washing, the robot is controlled by adopting a double closed-loop control method, the inner loop is a working distance and pressure loop, and the outer loop is a water resistivity and leakage current loop;
when the water resistivity of high-purity water changes or the leakage current of the robot body changes due to some reason, the ideal operation distance and the water spraying pressure information are determined, and therefore the high-purity water enters the inner ring system, the closed-loop control of the operation distance and the control of output pressure and flow are achieved, the insulating property of the water washing robot body is guaranteed, and the safety protection effect is achieved.
The method comprises the following steps of pre-detecting the pollution degree of the transformer substation equipment to be washed according to the collected image before operation, detecting the pollution and the hydrophobicity of the outer insulating surface of the transformer substation equipment based on image characteristics to determine whether the transformer substation equipment needs to be washed, and specifically comprising the following steps:
firstly, graying an image, eliminating the influence of illumination on image segmentation by utilizing a histogram equalization algorithm, carrying out binarization processing on the image by utilizing an automatic segmentation threshold value, realizing automatic extraction of a water drop region by utilizing a boundary tracking algorithm, filtering the extraction region by utilizing parameters such as region area, perimeter and the like, realizing accurate extraction of a target water drop region, finally calculating the area A, the circularity C, the circumscribed circle radius R and the nearest distance D between each water drop region and an adjacent water drop to form a characteristic sequence, and training a neural network classifier by utilizing the characteristic sequence to realize automatic judgment of the hydrophobicity of the insulator.
Compared with the prior art, the invention has the beneficial effects that:
the invention can realize the control of the whole process, and the timeliness, reliability and accuracy of the washing of the insulator string can be ensured by pre-inspection and judgment before washing, real-time monitoring during washing and inspection after washing;
by adopting full-automatic real-time monitoring, the water washing robot can be ensured to correctly perform self-aiming according to the self posture, the distance from the water washing robot to the insulator string and the relative angle when the water washing robot washes the insulator string, so that self-adjustment is realized, and automatic and accurate washing is realized;
the robot is controlled by adopting a double closed-loop control method, so that the safety of the water washing robot is ensured, and the safe operation of a power grid is maintained.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a schematic view of the process for determining the flushing range of the water gun for the vertical insulator according to the present invention;
FIG. 2 is a schematic diagram of a correction to the determination of the gun wash range when the water wash robot of the present invention is tilted at any angle;
FIG. 3 is a schematic view of the process for determining the flushing range of the water gun when the inclined insulator is adopted;
FIG. 4 is a schematic view of the detection principle of the laser sensor of the present invention;
FIG. 5 is a control schematic of the present invention;
FIG. 6 is a safety module control flow diagram of the present invention;
fig. 7 is a schematic view of a calculation flow when the robot body is tilted according to the present invention.
The specific implementation mode is as follows:
the invention is further described with reference to the following figures and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
Just as the background art introduces, exist among the prior art and can't correctly judge whether need wash, can only rely on experience or regularly wash, cause and wash when need not washing, extravagant manpower and materials, consumption cost, or do not wash in time when should washing, can influence the not enough of normal power supply, in order to solve above technical problem, this application has proposed a full-process automatic washing transformer substation equipment electrified water washing robot.
In a typical embodiment of the application, as shown in fig. 1, a full-process automatic washing transformer substation equipment live-line water washing robot comprises a water washing robot body, wherein an image acquisition module, a laser sensor, a vision sensor and a controller are arranged on the water washing robot body, the image acquisition module and the laser sensor are arranged at the front end of the water washing robot body, the vision sensor is arranged behind a water gun, the controller performs pre-inspection on the pollution degree of an insulator string according to the image acquired by the image acquisition module, when the insulator string needs to be washed, the laser sensor is used for acquiring the actual position information of the insulator string on the operation site, the controller takes the information as main servo positioning data, the data acquired by the vision sensor is fused with laser data, and as an auxiliary means of servo positioning, the accurate servo positioning of a joint of the water gun is realized for washing, and then monitoring the pollution degree of the insulator string by using the image acquisition module again, and judging whether the insulator string needs to be continuously washed.
The excellent anti-pollution flashover performance of the post insulator is derived from the good hydrophobicity of the external insulating material of the post insulator. The live-line water washing robot for the transformer substation detects hydrophobicity of the post insulator before and after washing, can evaluate the washing effect more effectively, and has important significance in popularization and application of the water washing robot.
The charged detector for hydrophobic property of the edge is a water spraying classification method based on a hydrophobic property detection technology recommended by IEC and proposed by the Swedish institute of Electrical and Power Transmission and distribution (STRI), and comprises an electric water spraying device, a miniature digital video camera, hydrophobic property analysis software and the like. The electric water spraying device sprays water mist to the insulator shed accurately and quantitatively through infrared remote control according to the regulation of a water spraying classification method in the electric power industry standard (DL/T864-2004); acquiring a high-definition hydrophobicity picture on the surface of the umbrella skirt by using a digital camera, and analyzing by hydrophobicity analysis software; based on an advanced digital image processing technology, the hydrophobicity analysis software extracts various classification information of a hydrophobicity picture, utilizes a neural network classifier to objectively judge the hydrophobicity state of the insulator, and finally determines the hydrophobicity grade of the insulator according to the grade characteristic description of hydrophobicity in DL/T810-2012.
The dirty degree of treating the transformer substation equipment that washes according to the image of gathering before the operation carries out the preliminary examination, and whether transformer substation equipment need wash is confirmed to the dirty and hydrophobic detection in transformer substation equipment external insulation surface based on image characteristic, simultaneously, also detects once more the dirty degree of transformer substation equipment after washing, judges whether wash totally, and concrete step includes:
firstly, graying an image, eliminating the influence of illumination on image segmentation by utilizing a histogram equalization algorithm, carrying out binarization processing on the image by utilizing an automatic segmentation threshold value, realizing automatic extraction of a water drop region by utilizing a boundary tracking algorithm, filtering the extraction region by utilizing parameters such as region area, perimeter and the like, realizing accurate extraction of a target water drop region, finally calculating the area A, the circularity C, the circumscribed circle radius R and the nearest distance D between each water drop region and an adjacent water drop to form a characteristic sequence (A, C, R and D), and training a neural network classifier by utilizing the characteristic sequence to realize automatic judgment of the hydrophobicity of the insulator.
The live-line water washing robot for the transformer substation equipment works in a transformer substation environment, and for the semi-structured and outdoor environment of a transformer substation equipment area, a single visual positioning method is adopted, so that the influence of outdoor light on image recognition is difficult to eliminate, and a positioning servo method based on a laser sensor is designed for the system, the method is mainly based on laser sensor data, assisted by vision sensor data, installed in the middle of a robot, and installed behind a water gun, and utilizes the laser sensor to collect actual position information of a working site, and utilizes the information as main servo positioning data to drive the motion of two joints of the water gun.
The automatic washing method of the electrified water washing robot of the transformer substation equipment mainly comprises the steps of solving the problem of automatic washing of the electrified water washing robot of the transformer substation equipment, and mainly solving the problem of the range of washed insulators (and the angle range of a washing area of the washed insulators in a water gun coordinate system) and the servo control of a water gun in the washing process. Firstly, the laser sensor and the water gun are installed in parallel, the washing range of the water gun is mainly determined by the range in the vertical direction, and the adjustment amount in the horizontal direction can be solved through servo control in the washing process.
The water gun washing range is determined, as shown in fig. 2, for a vertical insulator, the environment in a substation equipment area is assumed to be an ideal condition, the ground is flat, the installation heights of similar equipment in different intervals are consistent and known, and in the process of operation, a washing water column is approximately a straight line, and a robot water gun platform is absolutely horizontal in installation and free of wind influence.
The height of the top of the insulator is H1, the height of the laser sensor mounting position from the ground is H3, the distance between the laser sensor and the insulating support is D, the minimum flushing angle of the water gun is theta 1, and the maximum flushing angle is theta 2.
The system defines the initial position of the water gun as a horizontal position (the horizontal position is the encoder 0 position of the joint of the water gun and is not necessarily a real horizontal position, the horizontal position can be corrected by using an inclination angle sensor subsequently, and the horizontal distance from the laser to the insulator can be measured when the water gun level is measured at the moment
1，H
2The angle of the boundary of the flush can be calculated in the known case).
Wherein H
1，H
2，H
3For known variables, L is the distance from the muzzle to the insulator, α is the angle measured by the tilt sensor, D can be obtained by the laser range finder and tilt sensor, θ
1，θ
2For the unknown variables of the desired rinsing angle of the water gun, it can be derived from fig. 2:
θ
1＝arctan((H
2-H
3)/D)
θ
2＝arctan((H
1-H
3)/D)
wherein D-L α
The range when the robot is tilted at any angle is determined:
because the road condition in the transformer substation equipment area is complicated, the ideal condition is difficult to reach, if the road is rugged, the installation position of the laser machine water gun platform is not in an absolute horizontal state, an inclination angle sensor is introduced into the system, the main effect of the inclination angle sensor is to detect the inclination angle of the robot in real time, and according to the angle information, various parameters of the robot system are corrected through calculation, so that the water washing operation under the actual environment is realized.
As shown in fig. 7, when the robot body is tilted by β degrees, the laser sensor is tilted by β degrees, and when the laser sensor is tilted, the reference coordinate origin is also tilted by β degrees as shown in the figure, and when the reference coordinate is tilted by β degrees, the reference coordinate origin is displaced in the X-axis and Y-axis directions by the following displacement values:
S
X＝H3*sinβ
S
Y＝H3*cosβ
as shown in fig. 2, from the above analysis:
as shown in fig. 3, it is necessary to detect displacement values in both the X-axis direction and the Y-axis direction for the tilt insulator.
The detection range of the laser sensor in the Y-axis direction is (theta)
1，θ
2) The detection range in the X-axis direction is (β)
1，β
2)。
The height of the top of the insulator is H1, the height of the bottom of the insulator is H2, the height of the installation position of the laser sensor from the ground is H3, the distance between the laser sensor and the insulating support is D, the minimum flushing angle of the water gun in the vertical direction is theta water, the maximum flushing angle is theta maximum, the minimum flushing angle of the water gun in the horizontal direction is β water, and the maximum flushing angle is β maximum.
The system defines the initial position of the water gun as a horizontal position (the horizontal position is the encoder 0 position of the joint of the water gun and is not necessarily a real horizontal position, the horizontal position can be corrected by using an inclination angle sensor subsequently, and the horizontal distance from the laser to the insulator can be measured when the water gun level is measured at the moment
1，H
2The angle of the boundary of the flush can be calculated in the known case).
Wherein H
1，H
2，H
3For known variables, L is the distance from the muzzle to the insulator, α is the angle measured by the tilt sensor, D can be obtained by the laser range finder and tilt sensor, θ
1，θ
2For the unknown variables of the desired rinsing angle of the water gun, it can be derived from fig. 3:
θ
1＝arctan((H
2-H
3)/D)
θ
2＝arctan((H
1-H
3)/D)
wherein D-L α
β can be corrected by interpolation operation of controller according to theta value to align insulator step by step without need of measuring and calculating accurate value.
And calculating the inclination angle of the robot under the complex working condition, and analyzing the process of the robot perpendicular to the insulator.
Fig. 4 is a schematic view of a measuring plane of a laser sensor in a servo process, wherein a cylindrical object is a projection of an insulator in the measuring plane, a black area is an effective angle area struck by a water gun, the area is related to a mounting angle of the laser sensor, if the mounting angle is fixed, the area can be obtained through an experimental method, and a horizontal servo control quantity theta is a deviation between the insulator direction angle and the effective angle struck by the water gun under a laser measuring coordinate system. The washing angle of the water gun can be adjusted in real time according to data returned by the laser sensor in the washing process, and the water column is guaranteed to strike on the insulating support column constantly.
In summary, the servo control quantities of the laser sensor in the horizontal direction and the vertical direction are easy to obtain, so that the water gun intelligent control system of the water flushing robot can be formed by utilizing the angle sensors arranged on the water gun horizontal shaft and the water gun pitching shaft and combining the data of the laser sensor, and the control schematic diagram is shown as 5.
In the process of washing the robot by the live water of the transformer substation, the insulation safety is very important, the equipment safety of the robot is washed by the water, and more importantly, the live equipment of the transformer substation can be influenced, so that the safe operation of a power grid can be influenced. In-process is washed to transformer substation's water, the factor that causes the influence to insulating safety mainly includes: the control system is provided with a special safety protection function module for the purpose, and the control system mainly comprises a leakage current sensor, a water resistance rate sensor, a water pressure sensor, a flow sensor, a laser sensor and the like. The control logic diagram is shown in fig. 6.
The safety protection module control subsystem is a double closed-loop control algorithm, the inner loop is an operating distance and pressure loop, and the outer loop is a water resistivity and leakage current loop. When the water resistivity of high-purity water changes or the leakage current of the robot body changes due to some reason, the online water resistivity detector and the leakage current detector detect the change, an expert system of water resistivity, operation distance and water spray pressure established in advance through experiments obtains ideal operation distance and water spray pressure information corresponding to the ideal operation distance and the water spray pressure information, and therefore the ideal operation distance and the water spray pressure information enter an inner ring system.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (10)
1. The utility model provides an automatic transformer substation equipment electrified water washing robot that washes of overall process, characterized by: including water washing robot body, be provided with image acquisition module, laser sensor, vision sensor and controller on it, image acquisition module, laser sensor set up and wash robot body front end in water, vision sensor installs at the squirt rear, the controller carries out the preliminary examination according to the filthy degree of image pair insulator chain that image acquisition module gathered, when needing to wash, utilize laser sensor to gather the actual position information of job site insulator chain, the controller regards this information as main servo positioning data, utilize the data that vision sensor gathered, fuse with laser data, as the auxiliary means of servo positioning, realize the accurate servo location of squirt joint, wash, reuse image acquisition module monitors the filthy degree of insulator chain then, judge whether need continue to wash.
2. The full-process automatic washing live-line water washing robot for substation equipment according to claim 1, characterized in that: the water washing robot body also comprises an inclination angle sensor which detects the inclination angle of the robot in real time, corrects the servo positioning instruction according to the angle information, drives the water gun to move and aims at the insulator string;
the installation angle of the water gun is fixed, the area where the insulator string is located and the washing area of the water gun are determined at the scanning angle of the water gun, and the controller controls the water gun to move in the horizontal direction to enable the washing area to coincide with the area where the insulator string is located.
3. The full-process automatic washing live-line water washing robot for substation equipment according to claim 1, characterized in that: the water washing robot is characterized in that a leakage current sensor, a water resistance rate sensor, a water pressure sensor and a flow sensor are further arranged on the water washing robot body and used for detecting leakage current, water resistance rate, water pressure and flow of the water gun.
4. The full-process automatic washing live-line water washing method for the substation equipment is characterized by comprising the following steps of: the filthy degree of image according to the collection before the operation insulator chain carries out the preliminary examination, when judging need wash, gather operation scene insulator chain's actual position information, regard this information as main servo positioning data, fuse visual image data and laser data, as servo positioning's auxiliary means, realize the accurate servo positioning of squirt joint, wash the operating condition of in-process real-time detection squirt, maintain safe washing, then monitor the filthy degree of insulator chain, judge whether need continue to wash, until washing totally.
5. The full-process automatic washing live-line water washing method for substation equipment according to claim 4, characterized in that: detecting the inclination angle of the robot in real time in the washing process, and correcting the servo positioning data according to the angle information;
or, before the servo positioning data is obtained, the top height of the insulator is determined, the height of the laser sensor mounting position from the ground, the distance between the laser sensor and the insulating support, the minimum flushing angle of the water gun and the maximum flushing angle of the water gun are determined.
6. The full-process automatic washing live-line water washing method for substation equipment according to claim 4, characterized in that: when the self of the water washing robot is inclined, correcting the minimum washing angle and the maximum washing angle of the water gun by using the inclination angle of the robot; the effective angle area of the water gun striking is related to the installation angle of the laser sensor.
7. The full-process automatic washing live-line water washing method for substation equipment according to claim 4, characterized in that: and for the inclined insulator, detecting displacement values in two directions of an X-axis direction and a Y-axis direction, and correcting to obtain a detection range of the water gun in the Y-axis direction and a flushing range of the water gun in the X-axis direction.
8. The full-process automatic washing live-line water washing method for substation equipment according to claim 4, characterized in that: the horizontal servo control quantity of the water gun is the deviation between the direction angle of the insulator and the effective striking angle of the water gun under a laser measurement coordinate system.
9. The full-process automatic washing live-line water washing method for substation equipment according to claim 4, characterized in that: when in washing, the robot is controlled by adopting a double closed-loop control method, the inner loop is a working distance and pressure loop, and the outer loop is a water resistivity and leakage current loop;
when the water resistivity of high-purity water changes or the leakage current of the robot body changes due to some reason, the ideal operation distance and the water spraying pressure information are determined, and therefore the high-purity water enters the inner ring system, the closed-loop control of the operation distance and the control of output pressure and flow are achieved, the insulating property of the water washing robot body is guaranteed, and the safety protection effect is achieved.
10. The full-process automatic washing live-line water washing method for substation equipment according to claim 4, characterized in that: the specific steps for detecting the pollution degree comprise:
firstly, graying an image, eliminating the influence of illumination on image segmentation by utilizing a histogram equalization algorithm, carrying out binarization processing on the image by utilizing an automatic segmentation threshold value, realizing automatic extraction of a water drop region by utilizing a boundary tracking algorithm, filtering the extraction region by utilizing parameters such as region area, perimeter and the like, realizing accurate extraction of a target water drop region, finally calculating the area A, the circularity C, the circumscribed circle radius R and the nearest distance D between each water drop region and an adjacent water drop to form a characteristic sequence, and training a neural network classifier by utilizing the characteristic sequence to realize automatic judgment of the hydrophobicity of the insulator.
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| 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)
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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 |
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