Emergency control system and method for substation charged water flushing robot

Abstract

The invention discloses an emergency control system and method for a substation charged water flushing robot. A master control system comprises a remote control module, a vehicle-mounted controller and an information collection module, the remote control module is in wireless connection with the vehicle-mounted controller, the information collection module collects signals sensed by sensors installed on the water flushing robot, a distance measuring control system controls the distance between the robot and an insulator chain to be kept within the safety distance by means of an ultrasonic sensor, a magnetic field distance measuring sensor and a laser distance meter installed on a pan-tilt, an emergency switch is connected with the master control system, and a manual operation rod is connected with the vehicle-mounted controller. The emergency control system and method have the advantages that operators are replaced, charged water flushing operation is carried out on substation equipment without power outage, it is ensured that the robot can stop working immediately in an emergency, and internal devices and external flushing equipment are effectively protected.

Description

technical field [0001] The invention relates to an emergency control system and method for a substation charged water washing robot. Background technique [0002] With the increasing pollution of the air environment, pollution flashover accidents of power grid equipment have increased, seriously affecting the safe operation of power grid equipment. Substation insulators are exposed to the external environment for a long time, and dirt is easy to deposit on the surface. These dirt are prone to pollution flashover accidents when they are damaged by bad weather. According to statistics, insulation flashover accidents caused by pollution have now taken the second place in the total number of power grid accidents. From 1971 to 1994, there were 1,768 pollution flashovers in 35-500kV power generation and substations nationwide. The washing operation of insulators with live water can improve the reliability of power supply, reduce power failure losses, and ensure the safety of subs...

AI Technical Summary

Problems solved by technology

[0003] 1. Most of the cleaning methods are carried out by cleaning technicians who enter the site with hand-held cleaning equipment. Manual cleaning not only depends on the weather conditions, but also requires cleaning personnel to have a high technical level and skilled operation procedures. Standard safety protection to avoid safety accidents caused by short-circuit current, causing casualties. This type of operation has potential safety hazards

[0004] 2. Manual operations are faced with many problems such as high labor intensity, low efficiency, and low level of automation; the technical requirements for electrified water flushing are relatively high, and are affected by various factors such as the environment, pollution, equipment creepage, and equipment layout. Equipment flashover prone to occur during flushing

[0005] 3. Considering that the flushing operation of live water is affected by various aspects such as flushing angle and water pressure, manual operation sometimes cannot completely flush away the dirt on the outer insulating surface of the equipment

[0006] 4. The existing water washing equipment has low automation, low efficiency, high energy consumption, and great potential safety hazards

Moreover, the existing water washing equipment does not have the function of pure water preparation, and needs to be equipped with a special pure water preparation device. The equipment occupies a large area, and it cannot achieve flexible control in an environment with small space; or the pure water preparation capacity is poor. , resulting in potential safety hazards during flushing operations

[0007] 5. During the working process of the robot, if there is an emergency, it cannot be guaranteed that the water washing robot will make corresponding adjustments in time, which will easily lead to damage to internal components and washing equipment.

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