Live cleaning robot system and method for insulators of transformer substation

Abstract

The invention provides a live cleaning robot system and method for insulators of a transformer substation. The live cleaning robot system comprises a cleaning part and an insulator positioning part, wherein the cleaning part is used for starting live cleaning of the insulator when the center of a semicircular encircling device is superposed with the axis of each insulator; the insulator positioning part comprises at least two image acquisition devices; the image acquisition devices are uniformly arranged in the semicircular encircling device and used for acquiring images of the semicircular encircling device in the semicircular range and simultaneously transmitting the images to a processor; the processor performs image segmentation on the images based on a Cartesian space threshold segmentation algorithm, and checks in real time whether all images received simultaneously contain the insulators or not according to a multi-scale insulator sample library; if yes, whether the axes of theinsulators are located at the center of the semicircular encircling device or not is determined according to the comparison of the ratio of the insulator in each image with the corresponding whole image; and otherwise, a command for adjusting the semicircular encircling device is output until the axes of the insulators are positioned at the center of the semicircular encircling device. According to the live cleaning robot system and the method, the cleaning efficiency is improved.

Description

technical field [0001] The invention belongs to the field of robot insulator cleaning, and in particular relates to a robot system and method for live cleaning of substation insulators. Background technique [0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art. [0003] The large-scale power outage of the power grid system caused by pollution flashover accidents on transmission lines not only affects the safe operation of the power grid system, but also brings huge losses to the economy. Keeping transmission line insulators clean is an effective measure to prevent pollution flashover accidents. At present, the catenary insulators are cleaned mainly by manual operation of the electrified water washing vehicle, but manual cleaning is labor-intensive and the washing efficiency is low. Insulators can effectively solve the problems of manual cleaning. In the face of the huge in...

AI Technical Summary

Problems solved by technology

[0004] Since the cleaning effect is the best when the center of the embracing device of the insulating cleaning tool coincides with the axis of the insulator, the inventors found that the process of judging the coincidence of the center of the embracing device of the insulating cleaning tool with the axis of the insulator is still done manually. Low, and then there is the defect that the visual positioning of the insulator is inaccurate

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