A live cleaning robot system and method for substation insulators

Abstract

The invention provides a live cleaning robot system and method for substation insulators. Among them, the system includes a cleaning part, which is used to start live cleaning of the insulator when the center of the semicircle embracing device coincides with the axis of the insulator; the insulator positioning part includes at least two image acquisition devices, and the image acquisition devices are evenly arranged in the semicircle embracing device , used to collect images within the semicircle of the semicircle surrounding device and transmit them to the processor at the same time; the processor performs image segmentation on the basis of the Cartesian space threshold segmentation algorithm, and judges in real time whether all road images received at the same time are based on the multi-scale insulator sample library. All contain insulators; if they all contain insulators, then according to the comparison of the ratio of the insulators in each image to the corresponding whole image, determine whether the axis of the insulator is located in the center of the semicircle encircling device; otherwise, output the command to adjust the semicircle encircling device until the insulator The axis is located at the center of the semicircle embracing device. It improves cleaning efficiency.

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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