Insulator detecting and positioning method based on laser sensor array

Abstract

The invention discloses an insulator detecting and positioning method based on a laser sensor array, the laser sensor array is composed of five laser sensors which are horizontally installed and face the same direction, one of the five laser sensors is located at the axis center of a cross-shaped rigid body, and the other four laser sensors are distributed on the vertical rigid body shaft and the horizontal rigid body shaft of the cross-shaped rigid body shaft in a central symmetry manner in pairs. The method comprises the following steps: preliminarily positioning the insulator based on the periodic characteristics of the umbrella skirt radius of the vertical cylindrical insulator; based on the periodicity and volatility characteristics of the umbrella skirt of the insulator, identifying the insulator and positioning the radius maximum point of the umbrella skirt of the insulator; positioning the center position of the insulator based on the characteristic that the cross section of the umbrella skirt of the insulator is circular. On the basis of laser sensor array data, detection and positioning of the spatial position of the insulator are achieved, the data processing amount is small, the influence of the complex environment on insulator cleaning work is effectively eliminated, and the method has good universality and is suitable for various columnar insulators.

Description

technical field [0001] The invention relates to an insulator detection and positioning method based on a laser sensor array, belonging to the field of power system operation and maintenance. Background technique [0002] Insulators are widely used in power systems and electrical equipment. According to different insulation and connection forms, insulators can be divided into narrow insulators, porcelain sleeves and bushings. Insulator cleaning is an important part of substation operation and maintenance. As a kind of insulator, porcelain sleeve is the outer insulating part of high-voltage electrical equipment, and it is especially important to keep it clean. There are two traditional cleaning methods for insulators: manual climbing and manual floor cleaning with brushes. Manual decontamination generally has the disadvantages of low cleaning efficiency, high difficulty, high dependence of decontamination quality on personnel, and low consistency of cleaning quality. The saf...

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Problems solved by technology

[0004] Purpose of the invention: The purpose of the invention is to provide an insulator detection and positioning method based on a laser sensor array to solve the problem that the existing insulator cleaning robot cannot realize the insulator cleaning due to the complex physical and electromagnetic environment in which the insulator is located, and the large amount of machine vision calculations. Quickly detect and locate problems

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