An insulation protection system for substation equipment charged water washing robot based on multi-sensor fusion

Abstract

The invention discloses an insulation protection system based on multi-sensor fusion and used for a substation equipment electrified water washing robot. The insulation protection system comprises a control system and a sensor set. The sensor set collects the inclination angle of the substation equipment electrified water washing robot, the wind speed, and the rotating angle and pitching angle ofa water gun. The control system is used for calibrating an insulator in fusion with the working parameters collected by various sensors in the sensor set, correcting the calibration result in combination with the inclination angle of the robot, determining the position and state of the substation equipment electrified water washing robot relative to the insulator, and regulating and controlling the height and displacement of the substation equipment electrified water washing robot, so that the robot automatically completes washing operation on the basis of guaranteeing insulation protection.

Description

technical field [0001] The invention relates to an insulation protection system for a substation equipment live water washing robot based on multi-sensor fusion. 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 ...

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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] At present, live water washing robots for substation equipment are often used for cleaning work, but the current live water washing robots for live substation equipment can only detect water resistance and safety distances, and the reference working parameters are not comprehensive, and cannot integrate various collected information. The insulation safety of the robot cannot be well guaranteed

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