Water-washing control method of assistant washing robot for live water washing of transformer substation

Abstract

The invention discloses a water-washing control method of an assistant washing robot for live water washing of a transformer substation. The method comprises: obtaining a relative distance between a present robot and an insulator according to a distance collected by a laser range finder and an image monitored by a monitoring camera, wherein the laser range finder and the monitoring camera are mounted on a pan-tilt, judging whether the relative distance is a safe distance, performing the next step if the distance is the safe distance, and otherwise adjusting the position of the robot until the distance is the safe distance; determining an initial state of route planning; automatically washing insulator chains along an up-down direction by a water-washing mechanical arm in a line interpolation manner; washing one side of insulator chains facing to the robot by a shower nozzle in a circular interpolation manner of a point-by-point comparison method; and during water washing, adjusting the diameter of a water outlet and the speed of water of a water cannon to form a vortex street and to adjust the vibration frequency of the insulator chains. According to the method, the robot can work in a safe distance, and the initial and final points of a washing track are accurately positioned, so that the quality and efficiency of washing is improved.

Description

technical field [0001] The invention relates to a water flushing control method for a substation live water flushing auxiliary flushing robot. Background technique [0002] 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. The washing operation of insulators with live water can improve the reliability of power supply, prevent pollution flashover of transmission lines, prevent large-scale power outages in the power grid, and ensure safe and stable operation of the power grid and reliable power supply. [0003] At the present stage, the substation insulator washing robot mainly has the following disadvantages: [0004] 1. The water washing robot cannot guarantee the continuous washing position and speed between the straight line section in the up and down direction and the arc section facing the nozzle side, and t...

AI Technical Summary

Problems solved by technology

[0004] 1. The water washing robot cannot guarantee the continuous washing position and speed between the straight line section in the up and down direction and the arc section facing the nozzle side, and the execution time of the robot is long and it is difficult to track;

[0005] 2. The existing water washing robot cannot monitor the position changes of the robot and the insulator in real time, and cannot guarantee the accurate positioning of the starting point and end point of the washing track, and the washing quality is poor and the efficiency is low;

[0006] 3. The existing water flushing control methods are all aimed at the main flushing robot, and the control effect is poor, the acceleration cannot be controlled, the error is large, and the smooth operation of the robot during the flushing process cannot be guaranteed.

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