Substation live water flushing auxiliary flushing robot control system

Abstract

The invention discloses a control system and method of an auxiliary washing robot for live washing of a transformer substation. The system comprises a master control system and a safety protection control system. The master control system comprises a remote control module, a vehicle-mounted controller and an information acquisition module. Wireless devices are arranged between the remote control module and the vehicle-mounted controller and between the vehicle-mounted controller and the information acquisition module to establish a WIFI network, and therefore data interaction among the three modules is achieved. An ultrasonic sensor, a magnetic field distance measuring sensor, a water resistance sensor and a water pressure sensor which are installed on a cradle head are used in the safety protection control system, so that the operation process of the robot is monitored in real time. By the adoption of the system and method, the heavy physical labor of manual washing work can be effectively reduced, the personal safety of operators is guaranteed, and meanwhile due to the fact that dirt of the devices is washed away, dirt lightning accidents of the devices are prevented, and the safe operation of a power grid is guaranteed.

Description

technical field [0001] The invention relates to a control system of an auxiliary flushing robot for electrified water flushing in a substation. 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 saf...

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. Standardized safety protection to avoid safety accidents caused by short-circuit current, causing casualties. This type of operation method 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;

[0005] 3. It is impossible to monitor the water resistance rate, water pressure, and water column length in real time, to modify the operating status of the robot in real time, and to guarantee the insulation performance of the robot body and live equipment in the substation during the water flushing process;

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