Washing control method for transformer substation washing robot based on ultrasonic distance measurement

Abstract

The invention discloses a washing control method for a transformer substation washing robot based on ultrasonic distance measurement. According to the distance acquired through an ultrasonic distance measurement instrument and an image monitored through a monitoring camera, the relative distance between the current robot and insulators is acquired, whether the relative distance is a safe distance or not is judged, if yes, the next step is executed, and if not, the position is adjusted till the relative distance is the safe distance, wherein the ultrasonic distance measurement instrument and the monitoring camera are installed on a washing platform; the path planning initial state is determined; a linear interpolation manner is adopted for automatically washing an insulator string vertically through a washing mechanical arm; a circular interpolation manner of a point-to-point comparison method is adopted so that the insulator string facing the side of the robot can be washed through a nozzle; in the washing process, the water outflow caliber and the water outflow speed of a water gun are adjusted, so that a Karman vortex street is formed, and the vibration frequency of the insulator string is adjusted. The robot works in the safe distance, the start point and the stop point of a washing track are accurately located, and washing quality and efficiency are improved.

Description

technical field [0001] The invention relates to the field of robots, in particular to a water washing method for a substation water washing robot based on laser ranging. Background technique [0002] With the rapid development of industrial economy and urban construction, higher and higher requirements are put forward for the continuity and quality of substation power supply. However, due to the long-term exposure of transmission line equipment to nature, especially in industrial areas, coastal areas and saline-alkali areas, affected by industrial waste gas, sea water, natural saline-alkali, and dust, a certain degree of pollution is usually formed on the surface of its insulators. These pollutants containing salt, acid, and alkaline components are generally soluble in water, and the pollutants become electrolytes after being dissolved in water, which has strong electrical conductivity. Contaminated insulators have increased conductance, reduced insulation performance, shar...

AI Technical Summary

Problems solved by technology

Manual cleaning in power outages is of low quality, equipment cleaning is in a passive state, and cannot be cleaned in a timely manner. These will cause certain hidden dangers to the safe and stable operation of the transmission line of the substation.

[0005] 2. The cleaning of some substation insulators is carried out by machines, but the automation level is low and the control is not precise enough, which leads to insufficient cleaning of substation insulators and cannot meet the safety requirements

Now, the research and development of water washing robots is in full swing, but the path planning of water washing robots for water washing operations is still not perfect

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