Whole-process automatic flushing electrified water flushing robot and method for substation equipment

Abstract

The invention discloses a whole-process automatic flushing electrified water flushing robot and method for substation equipment. Before operation, the dirt degree of an insulator string is pre-examined according to an acquired image. When judgment shows that flushing needs to be carried out, the actual position information of the insulator string in an operation site is acquired. The information is used as main servo positioning data, visual image data and laser data are combined and used as an auxiliary servo positioning means, the accurate servo positioning of a water gun joint is realized,flushing is carried out, the working state of the water gun is detected in the flushing process, and safe flushing is maintained. Then, the dirt degree of the insulator string is monitored so as to judge whether flushing needs to be continuously carried out until the insulator string is flushed clean.

Description

technical field [0001] The invention relates to a whole-process automatic flushing robot and method for live water flushing of substation equipment. Background technique [0002] The insulators operating outdoors in the power system are exposed to nature for a long time, especially in industrial, coastal and saline-alkali areas, and are affected by industrial waste gas, sea water or natural saline-alkali, dust, etc., usually forming a certain degree of pollution accumulation on the surface of the insulator . Contaminated insulators, in the case of dry climate, the resistance of the pollution layer is very large, which is not very dangerous to the operation of the power system. However, when encountering humid weather conditions such as fog and rain, the pollution layer on the surface of the insulator is wetted, the conductance increases, the insulation performance decreases, the leakage current increases sharply, and the flashover voltage decreases greatly. At this time, po...

AI Technical Summary

Problems solved by technology

Since the success rate of reclosing after pollution flashover is very low, insulator pollution flashover is easy to develop into large-scale and long-term vicious power outage accidents. Therefore, pollution flashover is extremely harmful and is the main hidden danger affecting the safe operation of power grid equipment.

[0003] However, the current flushing process cannot correctly judge whether flushing is necessary, and can only rely on experience or regular flushing, resulting in flushing when flushing is not required, wasting manpower and material resources, costing costs, or not flushing in time when flushing should be done, resulting in pollution flashover, It even develops into a large-scale and long-term vicious blackout accident, which affects the normal use of power supply

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