A self-positioning substation equipment electrified water washing robot system and method

Abstract

The invention discloses a self-positioning substation equipment electrified water washing robot system and method. A laser sensor is used for collecting practical position information of a working site insulator string, the information is used as main servo positioning data, data collected by a vision sensors and laser data are fused to serve as an auxiliary means for servo positioning, and accurate servo positioning of a water gun joint is achieved. Meanwhile, an inclination angle sensor is used for detecting the inclination angle of a robot in real time, a servo positioning instruction is corrected according to the angle information, and a water gun is driven to move to aim at the insulator string. By the adoption of full-automatic real-time monitoring, the fact that the water washing robot can correctly conduct self-positioning according to the posture of the robot as well as the distance and angle of the robot relative to the insulator string when the insulator string is washed canbe guaranteed, then self-adjustment is conducted, and automatic and accurate washing is achieved.

Description

technical field [0001] The invention relates to a self-positioning electrified water washing robot system and method for 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, pollutio...

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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 existing substation equipment live water washing robots all work in the substation environment. For the semi-structured and outdoor environment of the substation equipment area, the driving road is not necessarily smooth. If the existing single visual positioning method is still used, It is difficult to eliminate the influence of outdoor light on image recognition. At the same time, the robot cannot adjust the washing angle according to its own posture, and cannot adjust the washing angle and flow rate of the water gun in real time and properly. thorough and imprecise

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