CN112295976A - Porcelain insulator zero-value-measuring cleaning robot and control system - Google Patents
Porcelain insulator zero-value-measuring cleaning robot and control system Download PDFInfo
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- CN112295976A CN112295976A CN202011047409.0A CN202011047409A CN112295976A CN 112295976 A CN112295976 A CN 112295976A CN 202011047409 A CN202011047409 A CN 202011047409A CN 112295976 A CN112295976 A CN 112295976A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 135
- 239000012212 insulator Substances 0.000 title claims abstract description 56
- 229910052573 porcelain Inorganic materials 0.000 title claims abstract description 32
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 claims abstract description 30
- 235000011089 carbon dioxide Nutrition 0.000 claims abstract description 30
- 230000009194 climbing Effects 0.000 claims description 54
- 238000000034 method Methods 0.000 abstract description 7
- 230000005611 electricity Effects 0.000 abstract description 2
- 230000008878 coupling Effects 0.000 abstract 1
- 238000010168 coupling process Methods 0.000 abstract 1
- 238000005859 coupling reaction Methods 0.000 abstract 1
- 239000000919 ceramic Substances 0.000 description 8
- 230000009286 beneficial effect Effects 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 5
- 229910052751 metal Inorganic materials 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 229910052744 lithium Inorganic materials 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011086 high cleaning Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
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Classifications
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- B08B1/32—
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- B08B1/12—
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- B08B1/30—
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- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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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 relates to a cleaning robot for measuring zero value of a porcelain insulator and a control system, in particular to the field of cleaning devices. The method comprises the following steps: casing, main body frame, running gear, cleaning device, controller and power, the casing is cylindrical hollow structure, the casing includes first casing and second casing, the one end of first casing with the second casing is articulated, the other end of first casing with the second casing passes through fixed pin and spring coupling, the casing cup joints outside the main body frame, running gear evenly distributed is in inside the main body frame, cleaning device is including surveying zero value device, a plurality of brush head and a plurality of dry ice device that clean, clean the brush head and evenly set up the inside of main body frame, the dry ice device sets up on cleaning brush head. The technical problem of how to wash the insulator with electricity is solved to this scheme, is applicable to electrified insulator that washs.
Description
Technical Field
The invention relates to the field of cleaning devices, in particular to a porcelain insulator zero-value-measuring cleaning robot and a control system.
Background
The traditional manual power failure cleaning has the defects of long power failure time, high labor intensity, high danger, low cleaning efficiency and the like. The robot for cleaning the insulator has the characteristics of no need of power failure, high cleaning efficiency, good cleaning effect and high safety.
Disclosure of Invention
The invention aims to solve the technical problem of how to clean the insulator in a charged manner.
The technical scheme for solving the technical problems is as follows: a porcelain insulator zero-value-measuring cleaning robot comprises: the cleaning device comprises a zero value measuring device, a plurality of cleaning brush heads and a plurality of dry ice devices, the cleaning brush heads are uniformly arranged in the main body frame, the dry ice devices are arranged on the cleaning brush heads and are also independently arranged in the main body frame, the zero value measuring device is arranged in the main body frame, and the traveling device and the cleaning device are both connected with the controller, the walking device, the cleaning device and the controller are all connected with the power supply.
The invention has the beneficial effects that: when the cleaning robot is used, the shell is opened, the cleaning robot is sleeved on the insulator to be cleaned, then the shell is closed again, the cleaning robot moves along the insulator automatically through the traveling device arranged in the cleaning robot, and then the cleaning robot is matched with the cleaning device to clean the insulator, so that the insulator is cleaned in a charged mode; and meanwhile, the zero value measurement work is completed when the robot carries out insulator cleaning work.
On the basis of the technical scheme, the invention can be further improved as follows.
Further, an exhaust fan is arranged on the shell.
Further, running gear includes 1 at least climbing group, climbing group includes motor, hall sensor, position encoder and 2 climbing arms, the motor with the climbing arm is connected, the motor hall sensor with position encoder all with the controller is connected, the motor hall sensor with position encoder all with the power is connected, the climbing arm with main body frame connects.
The technical scheme has the advantages that when the climbing arms advance to a certain position, signals are transmitted to the terminal, so that the advancing speed and the advancing position of the whole insulator robot can be clearly observed, the two climbing arms are arranged at two ends of the motor in parallel, and the overall structure of the driving part is reduced; the climbing arm driving mechanisms are four groups and are respectively and symmetrically arranged on two sides of the insulator string, and the four groups of driving mechanisms are driven by the stepping motor to rotate simultaneously so as to finish the forward and backward movement of the robot on the insulator string.
Further, the climbing arm with the motor is for dismantling the connection, the climbing arm includes climbing upper arm, climbing underarm and 2 pairs of ceramic wheelsets, the free end of climbing upper arm with the climbing underarm is equipped with 1 respectively and is the ceramic wheelset, 2 to the central line of ceramic wheelset is on same straight line, every pair the center of climbing arm is equipped with the lightening hole, climbing arm in this embodiment includes multiple specification, specifically can be (please the specific dimensional data of the climbing arm of several specifications for example).
The beneficial effect who adopts above-mentioned further scheme is that, after setting up like this, the user can make the insulator that cleans the robot adaptation multiple specification through changing the climbing arm to enlarge the application scope that this scheme required the protection cleaned the robot.
Further, still include the camera, the camera is inlayed inside the casing, the camera respectively with the controller with the power is connected.
Further, the cleaning device further comprises a driver, the driver is respectively connected with the cleaning brush head, the controller and the power supply, a bearing is connected between the driver and the cleaning brush head, and the cleaning brush head is rotatably connected with the bearing.
Adopt above-mentioned further scheme's beneficial effect be, when needing to use cleaning device to clean, give the signal of a start-up work of driver through the controller, the driver passes through the bearing and drives the brush head rotation that cleans.
A ceramic insulator zero-value-measuring cleaning control system comprises the following steps:
s1: starting a controller;
s2: detecting whether the starting of each functional module is finished, wherein the functional modules comprise a walking module and a cleaning module, if so, entering the next step, and otherwise, reporting an error;
s3: waiting for a user command, executing the step S4 and then returning to the step S3 after receiving a brush head starting command, executing the step S5 and then returning to the step S3 after receiving a walking command, executing the step S6 and then returning to the step S3 after receiving a cleaning command, and circularly executing the steps S4 to S6 after receiving a circular starting command until executing the step S7 after receiving a stopping command;
s4: the cleaning module comprises a zero-value measuring sub-module and a dry ice sub-module, and the zero-value measuring sub-module is started;
s5: starting the walking module;
s6: starting the dry ice submodule;
s7: and closing the cleaning brush head submodule, the walking module and the dry ice submodule.
The beneficial effect of adopting the further proposal is that.
Further, the functional modules further include an exhaust module, and step S6 specifically includes: the dry ice sub-module and the vent module are activated.
Further, the walking module includes hall sensor, position encoder and is connected with the motor of climbing arm, and step S2 specifically is: detecting whether the starting of each functional module is finished, initializing the motor and detecting whether the motor is in place, wherein the functional modules comprise a walking module and a cleaning module, if so, entering the next step, and otherwise, reporting an error;
step S5 specifically includes:
s51: starting the motor and detecting whether the starting is successful, if so, entering the next step, otherwise, reporting an error;
s52: and starting the Hall sensor and the position encoder and detecting whether the starting is successful, if so, entering the next step, and otherwise, reporting an error.
Further, the functional modules further include a camera module, and step S3 specifically includes:
s31: waiting for a user command, executing the step S4 and then returning to the step S3 after receiving a brush head starting command, executing the step S5 and then returning to the step S3 after receiving a walking command, executing the step S6 and then returning to the step S3 after receiving a cleaning command, circularly starting the camera module and circularly executing the steps S4 to S6 after receiving a circular starting command;
s32: step S7 is executed upon receiving the stop command.
Further, step S4 specifically includes: the cleaning module comprises a cleaning brush head submodule, a zero-measuring value submodule and a dry ice submodule, and the cleaning brush head submodule and the zero-measuring value submodule are started.
Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
Fig. 1 is a schematic perspective view of a porcelain insulator zero-value-measuring cleaning robot and a control system according to an embodiment of the invention;
fig. 2 is a schematic perspective view of a cleaning robot and a control system for measuring zero value of a porcelain insulator according to an embodiment of the present invention;
FIG. 3 is a flowchart of a method of an embodiment of the porcelain insulator zero-value-measuring cleaning robot and control system of the present invention;
FIG. 4 is a schematic perspective view of a cleaning robot for measuring zero value of porcelain insulator and a control system according to another embodiment of the present invention, with the housing closed;
FIG. 5 is a schematic perspective view of a cleaning robot for measuring zero value of porcelain insulator and a control system according to another embodiment of the present invention, with the housing opened;
FIG. 6 is a schematic position diagram of a zero value measuring device of the cleaning robot for measuring zero value of porcelain insulator and the control system according to another embodiment of the present invention;
FIG. 7 is a schematic view of the positions of a camera and an exhaust fan of the cleaning robot for measuring zero value of the porcelain insulator and the control system according to another embodiment of the present invention;
FIG. 8 is a schematic view of the position of a cleaning brush head of the cleaning robot for measuring zero value of porcelain insulator and the control system according to another embodiment of the present invention;
FIG. 9 is a schematic view of the connection relationship between the cleaning device and the motor of the cleaning robot and the cleaning device of the other embodiment of the control system for measuring zero value of the porcelain insulator according to the present invention;
fig. 10 is a schematic perspective view of a zero value measuring device of the porcelain insulator zero value measuring cleaning robot and other embodiments of the control system according to the present invention;
FIG. 11 is a left side view of a climbing arm of another embodiment of the porcelain insulator zero crossing detection cleaning robot and control system of the present invention;
figure 12 is a front view of a climbing arm of another embodiment of the porcelain insulator zero-test cleaning robot and control system of the present invention;
figure 13 is a right side view of a climbing arm of another embodiment of the porcelain insulator zero crossing detection cleaning robot and control system of the present invention;
FIG. 14 is a perspective view of the mounting position of a climbing arm in a robot according to another embodiment of the cleaning robot and the control system for measuring zero value of porcelain insulator of the present invention;
fig. 15 is a schematic view of the installation position of a climbing arm in the robot according to another embodiment of the porcelain insulator zero-value-measuring cleaning robot and the control system.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
The embodiment is substantially as shown in figures 1 and 2:
this embodiment of porcelain insulator surveys zero value and cleans machine people includes: the cleaning robot comprises a shell, a main body frame 8, a traveling device, a cleaning device, a controller 13 and a power supply 12, wherein the shell is of a cylindrical hollow structure and comprises a first shell 4 and a second shell 5, one end of the first shell 4 is hinged with the second shell 5, the other end of the first shell 4 is connected with the second shell 5 through a fixing pin and a spring, the fixing pin can be prevented from being separated from the second shell 5 due to vibration when the cleaning robot cleans after the spring is arranged in the embodiment, the first shell 4 is hinged with the second shell 5 through a hinge 17, the main body frame 8 is connected with the shell through a main body frame connecting block 20, the connecting part of the fixing pin and the spring is called as a locking mechanism 7, the shells are sleeved outside the main body frame 8, the traveling device is uniformly distributed inside the main body frame 8, the cleaning device comprises a zero value measuring device 21, a plurality of cleaning brush heads 3 and a plurality of dry ice devices 9, the cleaning brush, the cleaning brush head 3 in this embodiment includes 8 cleaning brush heads, which are respectively fixed at the front end, the rear end, the top and the bottom of the main body frame 8, each of which is provided with 2 cleaning brush heads 3, and the cleaning motor 23 in this embodiment, wherein the connection relationship between the cleaning device and the cleaning motor 23 is shown in fig. 9, which includes a guide bracket 24, a brush set connecting arm 25, a cleaning brush head 3, a bearing 26, a main body frame connecting block 20, a motor shaft adapter 27, a motor bracket 28 and the cleaning motor 23, the outer end of the cleaning brush head 3 is provided with a guide arm 1, a brush set connecting arm 2 is connected between the cleaning brush head 3 and the main body frame 8, a dry ice device 9 is arranged on the cleaning brush head 3, the dry ice device 9 is also separately arranged inside the main body frame 8, the dry ice device 9 in this embodiment is fixed at the front end and the front face of the housing, The nozzle, the transmission arm, the dry ice tank, the 12V reciprocating telescopic motor, the knob and the shell, the knob is arranged at the bottom of the shell, the dry ice tank is fixed in the shell through the knob, the top of the dry ice tank is contacted with the nozzle pressing block, the dry ice tank sprays dry ice outwards through the nozzle when the pressing block is pressed, the 12V reciprocating telescopic motor is connected with the pressing block and is used for controlling the pressing block to be pressed or reset, as shown in figure 6, a zero value measuring device 21 is arranged inside a main body frame 8, a walking device and a cleaning device are both connected with a controller 13, the walking device, the cleaning device and the controller 13 are all connected with a power supply 12, the power supply 12 in the embodiment is arranged outside the shell and is detachably connected with the shell, the power supply 12 is 4 groups of 26650 lithium batteries, in other embodiments, 4 groups of lithium batteries and shell components are assembled into a whole, and a user can conveniently take out and replace all, as shown in fig. 10, the zero value measuring device includes an insulating rod 29, an insulator contact rod 30, a limit clamp spring 31, an insulating rod support metal plate 32, an insulating rod adapter 33, a position sensor 34, a PCB35, a motor support metal plate 36 and an action metal plate 37.
The invention has the beneficial effects that: as shown in fig. 4 and fig. 5, when the cleaning robot of the present scheme is used, the housing is opened to cover the cleaning robot on the insulator 22 to be cleaned, and then the housing is closed again, the cleaning robot moves along the insulator 22 by itself through the traveling device arranged inside the cleaning robot, and then the cleaning robot is matched with the cleaning device to clean the insulator 22, so as to complete the work of cleaning the insulator 22 with electricity; and meanwhile, the zero value measurement is completed when the robot performs the cleaning work of the insulator 22.
On the basis of the technical scheme, the invention can be further improved as follows.
Optionally, as shown in fig. 7, in some other embodiments, an exhaust fan 6 is provided on the housing.
Optionally, in some other embodiments, the walking device comprises at least 1 climbing group, and in other embodiments, as shown in fig. 14 and 15, the cleaning robot comprises 4 pairs of climbing groups; the climbing group includes motor 16, hall sensor 10, position encoder and 2 climbing arms 15, motor 16 is connected with climbing arm 15, motor 16, hall sensor 10 and position encoder all are connected with controller 13, motor 16, hall sensor 10 and position encoder all are connected with power 12, climbing arm 15 is connected with main body frame 8, running gear in this embodiment includes 4 climbing groups, motor 16 is step motor 16, be connected through climbing bearing 19 between climbing arm 15 and the motor 16, climbing arm's both ends respectively are equipped with a ceramic wheelset 14.
Every time the climbing arm 15 advances to a certain position, a signal is transmitted to the terminal, so that the advancing speed and the advancing position of the whole insulator robot can be clearly observed, the two climbing arms 15 are arranged at two ends of the motor 16 in parallel, and the overall structure of a driving part is reduced; the climbing arm 15 has four driving mechanisms, which are symmetrically arranged on two sides of the insulator 22, and the four driving mechanisms are driven by the stepping motor 16 to rotate simultaneously, so as to complete the forward and backward movement of the robot on the insulator 22.
Alternatively, as shown in fig. 11-13, in some other embodiments, the climbing arm 15 is detachably connected to the motor 16, the climbing arm 15 includes an upper climbing arm 38, a lower climbing arm 39, and 2 pairs of ceramic wheel sets 14, free ends of the upper climbing arm 38 and the lower climbing arm 39 are respectively provided with 1 pair of ceramic wheel sets 14, centerlines of the 2 pairs of ceramic wheel sets 14 are on the same straight line, a weight-reducing hole is provided at a center of each pair of climbing arms 15, and the climbing arm 15 in this embodiment includes multiple specifications, which may specifically be (please refer to specific size data of several specifications of climbing arms).
After setting up like this, the user can make cleaning robot adapt to the insulator 22 of multiple specification through changing climbing arm 15 to enlarge the application scope of the cleaning robot that this scheme required protected.
Optionally, in some other embodiments, the device further includes a camera 11, the camera 11 is embedded inside the housing, the camera 11 is connected to the controller 13 and the power supply 12, respectively, and in this embodiment, the camera 11 is a 1080p high-definition camera 11.
Optionally, as shown in fig. 8, in some other embodiments, the cleaning device further includes a driver 18, the driver 18 is respectively connected to the brush head of the cleaning brush head 3, the controller 13 and the power source 12, a bearing is connected between the driver 18 and the cleaning brush head 3, the cleaning brush head 3 is rotatably connected to the bearing, and the driver 18 in this embodiment is a servo motor.
When the cleaning device is needed for cleaning, a signal for starting the operation is sent to the driver 18 through the controller 13, and the driver 18 drives the cleaning brush head 3 to rotate through the bearing.
As shown in the attached figure 3, the cleaning control system for measuring the zero value of the porcelain insulator comprises the following steps:
s1: starting a controller;
s2: detecting whether the starting of each functional module is finished, wherein the functional modules comprise a walking module and a cleaning module, if so, entering the next step, and otherwise, reporting an error;
s3: waiting for a user command, executing the step S4 and then returning to the step S3 after receiving a brush head starting command, executing the step S5 and then returning to the step S3 after receiving a walking command, executing the step S6 and then returning to the step S3 after receiving a cleaning command, and circularly executing the steps S4 to S6 after receiving a circular starting command until executing the step S7 after receiving a stopping command;
s4: the cleaning module comprises a zero-value measuring sub-module and a dry ice sub-module, and the zero-value measuring sub-module is started;
s5: starting a walking module;
s6: starting a dry ice submodule;
s7: and closing the cleaning brush head submodule, the walking module and the dry ice submodule.
Optionally, in some other embodiments, the function module further includes an exhaust module, and step S6 is specifically: the dry ice sub-module and the vent module are activated.
Optionally, in some other embodiments, the walking module includes a hall sensor, a position encoder, and a motor connected with a climbing arm, and step S2 specifically includes: detecting whether the starting of each functional module is finished, initializing the motor and detecting whether the motor is in place, wherein the functional modules comprise a walking module and a cleaning module, if so, entering the next step, and otherwise, reporting an error;
step S5 specifically includes:
s51: starting the motor and detecting whether the starting is successful, if so, entering the next step, otherwise, reporting an error;
s52: and starting the Hall sensor and the position encoder and detecting whether the starting is successful, if so, entering the next step, and otherwise, reporting an error.
Optionally, in some other embodiments, the function module further includes a camera module, and step S3 specifically includes:
s31: waiting for a user command, executing the step S4 and then returning to the step S3 after receiving a brush head starting command, executing the step S5 and then returning to the step S3 after receiving a walking command, executing the step S6 and then returning to the step S3 after receiving a cleaning command, circularly starting the camera module and circularly executing the steps S4 to S6 after receiving a circular starting command;
s32: step S7 is executed upon receiving the stop command.
Optionally, in some other embodiments, step S4 specifically includes: the cleaning module comprises a cleaning brush head submodule, a zero value measuring submodule and a dry ice submodule, and the cleaning brush head submodule and the zero value measuring submodule are started.
It should be noted that the above embodiments are product embodiments corresponding to the above method embodiments, and for the description of each structural device and the optional implementation in this embodiment, reference may be made to the corresponding description in the above method embodiments, and details are not repeated herein.
The reader should understand that in the description of this specification, reference to the description of the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides a porcelain insulator surveys zero value and cleans machine people which characterized in that includes: the cleaning device comprises a zero value measuring device, a plurality of cleaning brush heads and a plurality of dry ice devices, the cleaning brush heads are uniformly arranged in the main body frame, the dry ice devices are arranged on the cleaning brush heads and are also independently arranged in the main body frame, the zero value measuring device is arranged in the main body frame, and the traveling device and the cleaning device are both connected with the controller, the walking device, the cleaning device and the controller are all connected with the power supply.
2. The porcelain insulator zero-value-measuring cleaning robot as claimed in claim 1, wherein: an exhaust fan is arranged on the shell.
3. The porcelain insulator zero-value-measuring cleaning robot as claimed in claim 1, wherein: the walking device comprises at least 1 climbing group, the climbing group comprises a motor, a Hall sensor, a position encoder and 2 climbing arms, the motor is connected with the climbing arms, the motor, the Hall sensor and the position encoder are connected with the controller, the motor, the Hall sensor and the position encoder are connected with the power supply, and the climbing arms are connected with the main body frame.
4. The porcelain insulator zero-value-measuring cleaning robot as claimed in claim 1, wherein: still include the camera, the camera is inlayed inside the casing, the camera respectively with the controller with the power is connected.
5. The porcelain insulator zero-value-measuring cleaning robot as claimed in claim 1, wherein: the cleaning device further comprises a driver, the driver is respectively connected with the cleaning brush head, the controller and the power supply, a bearing is connected between the driver and the cleaning brush head, and the cleaning brush head is rotatably connected with the bearing.
6. The cleaning and control system for measuring the zero value of the porcelain insulator as claimed in claim 1, characterized by comprising the following steps:
s1: starting a controller;
s2: detecting whether the starting of each functional module is finished, wherein the functional modules comprise a walking module and a cleaning module, if so, entering the next step, and otherwise, reporting an error;
s3: waiting for a user command, executing the step S4 and then returning to the step S3 after receiving a brush head starting command, executing the step S5 and then returning to the step S3 after receiving a walking command, executing the step S6 and then returning to the step S3 after receiving a cleaning command, and circularly executing the steps S4 to S6 after receiving a circular starting command until executing the step S7 after receiving a stopping command;
s4: the cleaning module comprises a zero-value measuring sub-module and a dry ice sub-module, and the zero-value measuring sub-module is started;
s5: starting the walking module;
s6: starting the dry ice submodule;
s7: and closing the cleaning brush head submodule, the walking module and the dry ice submodule.
7. The cleaning and control system for measuring the zero value of the porcelain insulator according to claim 6, characterized in that: the functional module further comprises an exhaust module, and the step S6 specifically comprises the following steps: the dry ice sub-module and the vent module are activated.
8. The cleaning and control system for measuring the zero value of the porcelain insulator according to claim 6, characterized in that: the walking module includes hall sensor, position encoder and is connected with the motor of climbing arm, step S2 specifically is: detecting whether the starting of each functional module is finished, initializing the motor and detecting whether the motor is in place, wherein the functional modules comprise a walking module and a cleaning module, if so, entering the next step, and otherwise, reporting an error;
step S5 specifically includes:
s51: starting the motor and detecting whether the starting is successful, if so, entering the next step, otherwise, reporting an error;
s52: and starting the Hall sensor and the position encoder and detecting whether the starting is successful, if so, entering the next step, and otherwise, reporting an error.
9. The cleaning and control system for measuring the zero value of the porcelain insulator according to claim 6, characterized in that: the functional modules further include a camera module, and step S3 specifically includes:
s31: waiting for a user command, executing the step S4 and then returning to the step S3 after receiving a brush head starting command, executing the step S5 and then returning to the step S3 after receiving a walking command, executing the step S6 and then returning to the step S3 after receiving a cleaning command, circularly starting the camera module and circularly executing the steps S4 to S6 after receiving a circular starting command;
s32: step S7 is executed upon receiving the stop command.
10. The cleaning and control system for measuring the zero value of the porcelain insulator according to claim 6, characterized in that: step S4 specifically includes: the cleaning module comprises a cleaning brush head submodule, a zero-measuring value submodule and a dry ice submodule, and the cleaning brush head submodule and the zero-measuring value submodule are started.
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