Control method and device of insulator string cleaning equipment and electronic equipment

Abstract

The application discloses a control method and device of insulator string cleaning equipment and electronic equipment. The method comprises the following steps: in response to receiving an instruction of cleaning an insulator string, obtaining a relative position relationship between a cleaning equipment and the insulator string, wherein the insulator string is composed of a plurality of sequentially connected insulators, and the relative position relationship is used for representing the position relationship between the cleaning equipment and the insulator string; determining a cleaning control parameter of the cleaning equipment based on the relative position relationship, wherein the cleaning control parameter comprises at least one of the following: a running state control parameter and a water pressure adjusting parameter, the running state control parameter is used for representing a parameter of controlling the running state of the cleaning equipment in the running process, and the water pressure adjusting parameter is used for representing a parameter of adjusting the spray water pressure gear of the cleaning equipment; and controlling the cleaning equipment to clean the insulator string based on the cleaning control parameter. The application solves the technical problem of poor cleaning effect of a power transformation device.

Description

Technical Field

[0001] This invention relates to the field of power grids, and more specifically, to a control method, apparatus, and electronic equipment for an insulator string cleaning device. Background Technology

[0002] Currently, substation equipment is cleaned using manual live-line water cleaning systems. However, live-line water cleaning technology is highly demanding and is affected by various factors such as environment, level of contamination, equipment creepage distance, and equipment layout. This poses a risk of flashover during cleaning. Considering the influence of factors like cleaning angle and water pressure on live-line water cleaning operations, manual systems may not completely remove contaminants from the external insulation surfaces of the equipment. Furthermore, the cleaning process can easily lead to wastewater forming water lines, damaging insulation, reducing flashover voltage, and potentially causing serious accidents such as equipment tripping. Therefore, the cleaning effect on substation equipment is relatively poor.

[0003] There is currently no effective solution to the above problems. Summary of the Invention

[0004] This invention provides a control method, apparatus, and electronic equipment for insulator string cleaning, to at least solve the technical problem of poor cleaning effect of power equipment.

[0005] According to one aspect of the present invention, a control method for an insulator string cleaning device is provided, comprising: in response to receiving an instruction to clean the insulator string, acquiring a relative positional relationship between the cleaning device and the insulator string, wherein the insulator string is composed of a plurality of insulators connected in sequence, and the relative positional relationship is used to represent the positional relationship between the cleaning device and the insulator string; determining cleaning control parameters of the cleaning device based on the relative positional relationship, wherein the cleaning control parameters include at least one of the following: operating state control parameters and water pressure adjustment parameters, wherein the operating state control parameters are used to represent parameters for controlling the operating state of the cleaning device during operation, and the water pressure adjustment parameters are used to represent parameters for adjusting the spray water pressure level of the cleaning device; and controlling the cleaning device to clean the insulator string based on the cleaning control parameters.

[0006] Optionally, the operating status control parameters include direction transformation parameters. The cleaning control parameters of the cleaning equipment are determined based on the relative position relationship, including: when the relative position relationship is that the cleaning equipment is located at the top of the insulator string, the direction transformation parameters are determined based on the current operating direction of the cleaning equipment, wherein the direction transformation parameters are used to represent parameters that control the cleaning equipment to run in the opposite direction of the current operating direction.

[0007] Optionally, the operating status control parameters include cleaning duration parameters. The cleaning control parameters of the cleaning equipment are determined based on the relative position relationship, including: generating a first cleaning duration in the cleaning duration parameters when the relative position relationship is that the cleaning equipment is located at the insulator cover of the insulator string; generating a second cleaning duration in the cleaning duration parameters when the relative position relationship is that the cleaning equipment is located at the insulator gap of the insulator string, wherein the insulator gap is used to indicate the connection position of two adjacent insulators in the insulator string, and the second cleaning duration is longer than the first cleaning duration.

[0008] Optionally, the operating status control parameters include distance control parameters and angle control parameters. The cleaning control parameters of the cleaning equipment are determined based on the relative position relationship, including: generating distance control parameters based on the straight-line distance between the current position of the cleaning equipment and the insulator gap when the relative position relationship is such that the cleaning equipment is located at the insulator gap of the insulator string; generating angle control parameters based on the target distance-angle correspondence and the distance control parameters, where the target distance-angle correspondence represents the correspondence between the distance control parameters and the angle control parameters, and the angle control parameters represent the cleaning angle at which the cleaning equipment cleans the insulator string, with the cleaning angle representing the angle between the cleaning spray direction of the cleaning equipment and the perpendicular line of the insulator string.

[0009] Optionally, the method further includes: generating a first mapping relationship based on a first straight-line distance in the distance control parameters and a first cleaning angle in the angle control parameters; generating a second mapping relationship based on a second straight-line distance in the distance control parameters and a second cleaning angle in the angle control parameters, wherein the second straight-line distance is less than the first straight-line distance and the second cleaning angle is greater than the first cleaning angle; and generating a target distance-angle correspondence based on the first mapping relationship and the second mapping relationship.

[0010] Optionally, the cleaning equipment is controlled to clean the insulator string based on the cleaning control parameters, including: controlling at least one spray gun on the cleaning equipment to use insulating liquid to clean the insulator string based on the cleaning control parameters.

[0011] According to another aspect of the present invention, a control device for an insulator string cleaning device is also provided, comprising: an acquisition module, configured to acquire a relative positional relationship between the cleaning device and the insulator string in response to receiving an instruction to clean the insulator string, wherein the insulator string is composed of a plurality of insulators connected in sequence, and the relative positional relationship is used to represent the positional relationship between the cleaning device and the insulator string; a determination module, configured to determine cleaning control parameters of the cleaning device based on the relative positional relationship, wherein the cleaning control parameters include at least one of the following: operating state control parameters and water pressure adjustment parameters, wherein the operating state control parameters are used to represent parameters for controlling the operating state of the cleaning device during operation, and the water pressure adjustment parameters are used to represent parameters for adjusting the spray water pressure level of the cleaning device; and a cleaning module, configured to control the cleaning device to clean the insulator string based on the cleaning control parameters.

[0012] According to another aspect of the present invention, an electronic device is also provided, comprising: a memory storing an executable program; and a processor for running the program, wherein the program executes the control method of the insulator string cleaning device described above when it runs.

[0013] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored executable program, wherein, when the executable program is executed, it controls the device where the storage medium is located to perform the control method of the above-described insulator string cleaning device.

[0014] According to another aspect of the present invention, a computer program product is also provided, including a computer program that, when executed by a processor, implements the control method of the insulator string cleaning device described above.

[0015] In this embodiment of the invention, in response to receiving an instruction to clean the insulator string, the relative positional relationship between the cleaning equipment and the insulator string is obtained. The insulator string consists of multiple insulators connected sequentially, and the relative positional relationship represents the positional relationship between the cleaning equipment and the insulator string. Based on the relative positional relationship, cleaning control parameters for the cleaning equipment are determined. These cleaning control parameters include at least one of the following: operating status control parameters and water pressure adjustment parameters. The operating status control parameters represent parameters for controlling the operating status of the cleaning equipment during operation, and the water pressure adjustment parameters represent parameters for adjusting the spray water pressure level of the cleaning equipment. The cleaning method of the cleaning equipment on the insulator string is controlled based on these cleaning control parameters. By configuring different cleaning control parameters according to the relative positional relationship between the cleaning equipment and the insulator string, and then controlling the cleaning equipment to clean the insulator string according to these cleaning control parameters, the cleaning method of the insulator string is flexibly adjusted according to the relative positional relationship between the cleaning equipment and the insulator string, thereby improving the cleaning effect of the insulator string and solving the technical problem of poor cleaning effect of substation equipment. Attached Figure Description

[0016] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0017] Figure 1 This is a schematic diagram of a control method for an insulator string cleaning device according to an embodiment of the present invention;

[0018] Figure 2 This is a route diagram of an optional four-gun cleaning method for insulator strings according to an embodiment of the present invention;

[0019] Figure 3 This is an optional control flowchart of the water valve of the cleaning equipment based on cleaning control parameters according to an embodiment of the present invention;

[0020] Figure 4 This is a schematic diagram of a control device for an optional insulator string cleaning device according to an embodiment of the present invention. Detailed Implementation

[0021] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0022] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0023] Example 1

[0024] According to an embodiment of the present invention, an embodiment of a control method for an insulator string cleaning device is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0025] Figure 1 This is a schematic diagram of a control method for an insulator string cleaning device according to an embodiment of the present invention, as shown below. Figure 1 As shown, the method includes the following steps:

[0026] Step S102: In response to receiving an instruction to clean the insulator string, the relative positional relationship between the cleaning equipment and the insulator string is obtained. The insulator string is composed of multiple insulators connected in sequence, and the relative positional relationship is used to represent the positional relationship between the cleaning equipment and the insulator string.

[0027] The insulator string mentioned above is a series of insulating elements composed of multiple insulators. Located on the transformer equipment in a substation, it supports and secures the transmission lines while also providing insulation to prevent current leakage. The main purpose of cleaning the insulator string is to prevent the accumulation of dust, dirt, and other debris on its surface, which can affect its insulation and conductivity. Cleaning the insulator string effectively extends its service life, reduces the insulator failure rate, maintains good insulation performance, and improves the reliability of the transformer equipment in the substation.

[0028] The cleaning equipment mentioned above is used to clean insulator strings. It can be a high-voltage cleaner, a pneumatic cleaner, or a specially designed insulator string cleaning equipment, but is not limited to these.

[0029] The relative positional relationship in the above steps can be that the cleaning equipment is located at the top of the insulator string, the cleaning equipment is located at the outer cover of the insulator string, or the cleaning equipment is located at the gap of the insulator string, but the relative positional relationship between the cleaning equipment and the insulator string is not limited to these.

[0030] In one optional embodiment, the substation insulator live-line water flushing system comprises a water gun, a vehicle-mounted platform, a robotic arm, a photogrammetric device, a water jet control device, and a human-machine interface, and can clean insulator strings. Users can issue commands to the substation insulator live-line water flushing system to clean the insulator strings. Commands can be issued via voice, by pressing a cleaning button on the system, or by remotely controlling the system using a remote control; however, the method of issuing commands is not limited to these methods.

[0031] After receiving a command to clean the insulator strings, the live-line water flushing system for substation insulators obtains the relative positional relationship between the cleaning equipment and the insulator strings. This live-line water flushing system is a type of cleaning equipment. The cleaning equipment can use a rangefinder or measuring tools to measure the horizontal and vertical distances, angles, and directions between the cleaning equipment and the insulator strings, thereby obtaining their relative positional relationship. Alternatively, a position detection device can be equipped on the cleaning equipment to obtain the relative positional relationship between the cleaning equipment and the insulator strings. However, the method of obtaining the relative positional relationship between the cleaning equipment and the insulator strings is not limited to these methods.

[0032] The water guns in the live-line water flushing system for transformer insulators can be moved. When the relative position between the water guns and the insulator strings changes, the cleaning method will also change accordingly to adapt to the cleaning needs of different parts of the insulator strings, thereby improving the overall cleaning effect of the insulator strings.

[0033] Step S104: Determine the cleaning control parameters of the cleaning equipment based on the relative position relationship. The cleaning control parameters include at least one of the following: operating status control parameters and water pressure adjustment parameters. The operating status control parameters are used to represent parameters for controlling the operating status of the cleaning equipment during operation, and the water pressure adjustment parameters are used to represent parameters for adjusting the spray water pressure level of the cleaning equipment.

[0034] The cleaning control parameters in the above steps are used to control the cleaning method of the insulator string by the cleaning equipment. The cleaning method includes, but is not limited to, the cleaning path, water volume, water spray angle, and water spray duration of the cleaning equipment.

[0035] The operating status control parameters in the above steps are cleaning control parameters that can control the operating status of the cleaning equipment. The operating status includes the water gun movement mode, water gun spray angle, etc., but is not limited to these.

[0036] The water pressure adjustment parameter in the above steps is a cleaning control parameter that can adjust the spray water pressure level of the cleaning equipment, thereby controlling the spray volume and spray force of the cleaning equipment.

[0037] In one optional embodiment, the cleaning control parameters of the cleaning equipment are determined based on the relative positional relationship. For example, a mapping table between the relative positional relationship and the cleaning control parameters of the cleaning equipment can be preset, and then the cleaning control parameters of the cleaning equipment can be found from the mapping table according to the relative positional relationship.

[0038] When setting the mapping table between relative positional relationships and cleaning control parameters of the cleaning equipment, if the relative positional relationship between the cleaning equipment and the insulator string is such that the cleaning equipment is located at the top of the insulator string, it means that the cleaning equipment is currently performing a routine overall reciprocating cleaning of the insulator string, and the water spray gun of the cleaning equipment has moved to the top of the insulator string. At this time, the water spray gun of the cleaning equipment should be moved downward to perform reciprocating cleaning, so as to achieve a uniform and complete cleaning effect on the insulator. Since this is a routine overall reciprocating cleaning, the water volume and spray force of the insulator can be used to clean the insulator. Therefore, the operating status control parameter can be set to move in the opposite direction, and the water pressure adjustment parameter can be set to the normal setting.

[0039] If the relative position between the cleaning equipment and the insulator string is such that the cleaning equipment is located at the insulator gaps, it indicates that the cleaning equipment is currently cleaning the insulator gaps where dust and dirt easily accumulate. Therefore, a longer cleaning duration, a more precise spray angle, and a stronger spray volume and force should be set. Thus, the operating status control parameters can be set to long-duration cleaning, angle-changing cleaning, and the water pressure adjustment parameter to the high-power setting.

[0040] By determining the cleaning control parameters of the cleaning equipment based on the relative positional relationship, different cleaning methods can be flexibly carried out according to the characteristics of different positions of the insulator string, which can improve the cleaning effect of the insulator string while saving water.

[0041] Step S106: Control the cleaning equipment to clean the insulator string based on the cleaning control parameters.

[0042] In one optional embodiment, the cleaning equipment is controlled to clean the insulator strings based on cleaning control parameters. The insulators are divided into three parts: lower, middle, and upper, named Region 1, Region 2, and Region 3, respectively. When the relative position between the cleaning equipment and the insulator strings is such that the cleaning equipment is located at the top of the insulator strings in Region 1 and Region 2, the operating status control parameters are set to move in opposite directions, the water jet angle is 90 degrees, and the water pressure adjustment parameter is set to the normal setting. Based on these cleaning control parameters, when cleaning the insulator strings, the four water jets of the cleaning equipment spray at the same water pressure and distance, named Gun 1, Gun 2, Gun 3, and Gun 4. They spray simultaneously in Region 1 and Region 2, with the four positions maintaining a 90° clockwise rotation, and the water jet also maintaining a 90° angle, spraying at the same height, rising and falling at the same height, thus cleaning the insulator strings.

[0043] In another optional embodiment, the cleaning equipment is controlled to clean the insulator strings based on cleaning control parameters. The insulators are divided into three parts: lower, middle, and upper, named Region 1, Region 2, and Region 3, respectively. When the relative position between the cleaning equipment and the insulator strings is such that the cleaning equipment is located at the top of the insulator strings in Region 3, the operating status control parameters are set to move in the opposite direction to prevent sewage from connecting, and the water pressure adjustment parameter is set to the normal setting. Based on these cleaning control parameters, when the cleaning equipment is cleaning the insulator strings, two guns in the cleaning equipment are the main guns, which can move up and down within Region 3 for cleaning, while the other two guns are auxiliary guns, which remain stationary at a fixed angle at the boundary between Regions 2 and 3, impacting the boundary. The fixed angle can be selected as 180 degrees to achieve full coverage, but the above 180 degrees is only an example, and other angles can be selected according to the actual application. There are conductors at the bottom of Zone 1 and the top of Zone 3. When the sewage from the main gun is vertically flowing down, it encounters the insulating water sprayed at an angle by the auxiliary gun. At this time, some sewage is impacted into the air, and some sewage mixes with the insulating liquid and flows vertically down. This can prevent the insulator from becoming conductive due to the connection of sewage flowing down from Zone 3.

[0044] In this embodiment of the invention, in response to receiving an instruction to clean the insulator string, the relative positional relationship between the cleaning equipment and the insulator string is obtained. The insulator string consists of multiple insulators connected sequentially, and the relative positional relationship represents the positional relationship between the cleaning equipment and the insulator string. Based on the relative positional relationship, cleaning control parameters for the cleaning equipment are determined. These cleaning control parameters include at least one of the following: operating status control parameters and water pressure adjustment parameters. The operating status control parameters represent parameters for controlling the operating status of the cleaning equipment during operation, and the water pressure adjustment parameters represent parameters for adjusting the spray water pressure level of the cleaning equipment. The cleaning method of the cleaning equipment on the insulator string is controlled based on these cleaning control parameters. By configuring different cleaning control parameters according to the relative positional relationship between the cleaning equipment and the insulator string, and then controlling the cleaning equipment to clean the insulator string according to these cleaning control parameters, the cleaning method of the insulator string is flexibly adjusted according to the relative positional relationship between the cleaning equipment and the insulator string, thereby improving the cleaning effect of the insulator string and solving the technical problem of poor cleaning effect of substation equipment.

[0045] Optionally, the operating status control parameters include direction transformation parameters. The cleaning control parameters of the cleaning equipment are determined based on the relative position relationship, including: when the relative position relationship is that the cleaning equipment is located at the top of the insulator string, the direction transformation parameters are determined based on the current operating direction of the cleaning equipment, wherein the direction transformation parameters are used to represent parameters that control the cleaning equipment to run in the opposite direction of the current operating direction.

[0046] The direction change parameter in the above steps is one of the operating status control parameters, which is used to control the cleaning equipment to change the current operating direction, so as to realize the reciprocating cleaning of the insulator string.

[0047] In one optional embodiment, the position of the insulator string can be detected by a position detection device installed on the cleaning equipment, and then the relative positional relationship between the cleaning equipment and the insulator string can be determined from aspects such as distance, angle, and height. If the relative positional relationship between the cleaning equipment and the insulator string is that the cleaning equipment is located at the top of the insulator string, then the direction transformation parameter is determined as the transformation direction based on the current running direction of the cleaning equipment, so that the cleaning equipment moves in the opposite direction, allowing the cleaning equipment to clean the insulator string again from the opposite cleaning direction, achieving a reciprocating cleaning effect.

[0048] Optionally, the operating status control parameters include cleaning duration parameters. The cleaning control parameters of the cleaning equipment are determined based on the relative position relationship, including: generating a first cleaning duration in the cleaning duration parameters when the relative position relationship is that the cleaning equipment is located at the insulator cover of the insulator string; generating a second cleaning duration in the cleaning duration parameters when the relative position relationship is that the cleaning equipment is located at the insulator gap of the insulator string, wherein the insulator gap is used to indicate the connection position of two adjacent insulators in the insulator string, and the second cleaning duration is longer than the first cleaning duration.

[0049] The cleaning control parameter in the above steps is one of the operating status control parameters, used to control the cleaning time of the insulator string by the cleaning equipment.

[0050] The insulator cover mentioned above is an external protective layer on the insulator. It is usually used to protect the insulating material of the insulator from the influence of the external environment and to prevent the insulator from being damaged and contaminated. The insulator cover is relatively smooth and easy to clean.

[0051] The insulator gap mentioned in the above steps refers to the position between two adjacent insulators. The insulator gap has an uneven structure and is easily affected by contaminants such as dust, dirt, and oil, making it difficult to clean.

[0052] The first and second cleaning durations in the above steps are preset durations and can be preset according to the actual application. However, the second cleaning duration should be longer than the first cleaning duration. No other restrictions are placed on the specific values ​​of the first and second cleaning durations.

[0053] In one optional embodiment, a control program can generate cleaning duration parameters based on the relative positional relationship between the cleaning equipment and the insulator string. The typical cleaning time for the insulator cover can be obtained from industry experience or relevant data and stored in a database. When the relative positional relationship is such that the cleaning equipment is located at the insulator cover of the insulator string, the control program retrieves the typical cleaning time of the insulator cover from the database as the first cleaning duration. However, the method for determining the first cleaning duration is not limited to this; a suitable first cleaning duration can be determined based on the specific application. When the relative positional relationship is such that the cleaning equipment is located at the insulator gap of the insulator string, the control program takes a second cleaning duration that is twice the first cleaning duration. However, this is not limited to this; any value greater than the first cleaning duration can be selected as the second cleaning duration.

[0054] Because the gaps between insulators in an insulator string are irregularly shaped, dust easily accumulates, and the space is small, making cleaning difficult; while the outer cover of the insulator string is smooth, easy to prevent dust, and easier to clean, the second cleaning time needs to be longer than the first cleaning time.

[0055] Optionally, the operating status control parameters include distance control parameters and angle control parameters. The cleaning control parameters of the cleaning equipment are determined based on the relative position relationship, including: generating distance control parameters based on the straight-line distance between the current position of the cleaning equipment and the insulator gap when the relative position relationship is such that the cleaning equipment is located at the insulator gap of the insulator string; generating angle control parameters based on the target distance-angle correspondence and the distance control parameters, where the target distance-angle correspondence represents the correspondence between the distance control parameters and the angle control parameters, and the angle control parameters represent the cleaning angle at which the cleaning equipment cleans the insulator string, with the cleaning angle representing the angle between the cleaning spray direction of the cleaning equipment and the perpendicular line of the insulator string.

[0056] The distance control parameter in the above steps is one of the operating status control parameters. It is used to represent the distance between the cleaning equipment and the insulator gap, and can also be used to determine the cleaning angle of the cleaning equipment on the insulator gap. As the distance between the cleaning equipment and the insulator gap changes, the cleaning angle needs to be adjusted accordingly to ensure that the surface of the insulator gap can be effectively cleaned. Generally speaking, when the distance between the cleaning equipment and the insulator gap is far, the cleaning angle can be smaller, while when the distance is close, the cleaning angle can be appropriately increased to focus on cleaning the dead corners of the insulator gap and ensure the cleaning effect.

[0057] The target distance-angle correspondence in the above steps represents the mapping relationship between distance control parameters and angle control parameters. If the distance control parameters have been obtained, the corresponding angle control parameters can be found from the target distance-angle correspondence. The target distance-angle correspondence can be preset based on industry experience or reference materials, or it can be set according to specific application conditions. The specific content of the target distance-angle correspondence is not limited here.

[0058] The angle control parameters in the above steps can be used to control the cleaning angle of the cleaning equipment on the insulator strings, and will change with the control distance. By changing the cleaning angle of the cleaning equipment on the insulator strings according to the angle control parameters, the limitation of the rinsing area by a fixed cleaning angle can be solved, making the cleaning of the insulator gaps more thorough, especially for the difficult-to-clean gaps formed by the superposition of large and small insulators, which has a better cleaning effect.

[0059] In one optional embodiment, when the relative positional relationship is that the cleaning equipment is located at the insulator gap of the insulator string, a rangefinder is used to measure the horizontal and vertical distances from the current position of the cleaning equipment to the insulator gap. Based on the horizontal and vertical distances, the straight-line distance between the current position of the cleaning equipment and the insulator gap is calculated, and the value of the straight-line distance is used as the distance control parameter.

[0060] A pre-set target distance-angle correspondence allows for a smaller cleaning angle when the cleaning equipment is far from the insulator gap, and a larger cleaning angle when the distance is close, enabling focused cleaning of the blind spots in the insulator gap. Therefore, the distance control parameter and the angle control parameter can be inversely proportional in the target distance-angle correspondence. The range of the distance control parameter can be mapped to a specific angle value. The specific range of the distance control parameter and the angle control parameter value can be preset according to the actual application; no specific numerical restrictions are imposed on the target distance-angle correspondence here.

[0061] Based on the target distance-angle correspondence and distance control parameters, angle control parameters are generated. Based on these angle control parameters, the water gun, i.e., the cleaning equipment, can be moved in a streamlined and modular manner. The water gun is placed on two horizontal hydraulic manipulators, perpendicular to the ground, with rollers at the bottom for movement. Both manipulators are identical; in their initial position, they retract, and when expanded to their maximum length, they can be twice their retracted length. The distance between the two manipulators is the same as the length of the water gun handle. The top of the water gun handle rests on manipulator A, and the bottom rests on manipulator B. By adjusting the lengths of water guns A and B, the spray angle at the same point on the insulator can be varied.

[0062] For example, the cleaning equipment is controlled to clean the insulator string based on the angle control parameters, ensuring that the flushing force and cleaning angle of each area of ​​the insulator gap fluctuate within the range of 15 degrees to 75 degrees. However, the above values ​​are only examples, and the angle control parameters can be adjusted according to the actual application to make the specific value of the cleaning angle more suitable for the actual application.

[0063] Angle control parameters can control the cleaning angle of the insulator string by the cleaning equipment, making the entire cleaning process more flexible and configurable, and improving the applicability of the cleaning equipment to different insulator strings.

[0064] Optionally, the method further includes: generating a first mapping relationship based on a first straight-line distance in the distance control parameters and a first cleaning angle in the angle control parameters; generating a second mapping relationship based on a second straight-line distance in the distance control parameters and a second cleaning angle in the angle control parameters, wherein the second straight-line distance is less than the first straight-line distance and the second cleaning angle is greater than the first cleaning angle; and generating a target distance-angle correspondence based on the first mapping relationship and the second mapping relationship.

[0065] The first straight-line distance in the above steps is the distance between the cleaning equipment and the gap between the insulators. The second straight-line distance is also the distance between the cleaning equipment and the gap between the insulators, but the second straight-line distance is smaller than the first straight-line distance. The conversion from the first straight-line distance to the second straight-line distance can characterize the increasingly closer distance between the cleaning equipment and the gap between the insulators.

[0066] The first cleaning angle in the above steps is the cleaning angle corresponding to the first straight-line distance, and the second cleaning angle is the cleaning angle corresponding to the second straight-line distance. The closer the distance between the cleaning equipment and the gap of the insulator, the larger the cleaning angle is. The purpose is to strengthen the cleaning of the dead corner part of the gap of the insulator. Therefore, the second cleaning angle is greater than the first cleaning angle.

[0067] The first mapping relationship in the above steps is the mapping relationship between the first straight-line distance and the first cleaning angle, and the second mapping relationship is the mapping relationship between the second straight-line distance and the second cleaning angle.

[0068] In one optional embodiment, the coordinate position of the cleaning device relative to the insulator gap is denoted as S1. When the cleaning device moves towards the insulator gap, the distance between the cleaning device and the insulator gap shortens, and the coordinate position of the cleaning device relative to the insulator gap at this time is denoted as S2. Using a water spray gun as the cleaning device, the spray angle range of the water spray gun at the fixed position S1 is obtained as 15 degrees to 25 degrees, which is taken as the first cleaning angle. At this time, the length from the water spray gun to the insulator gap is measured as L1, which is taken as the first straight-line distance. The mapping relationship between the first cleaning angle and the first straight-line distance is recorded and taken as the first mapping relationship. When the water spray gun is at S2, the control program calculates the length from the water spray gun to the insulator as L2, with a spray angle range of 25 degrees to 35 degrees, and takes these as the second straight-line distance and the second cleaning angle, respectively. The mapping relationship between the second straight-line distance and the second cleaning angle is recorded and taken as the second mapping relationship. Then, a target distance-angle correspondence is generated based on the first and second mapping relationships.

[0069] As the cleaning equipment continues to move forward from position S2, the straight-line distance, cleaning angle, and mapping relationship are obtained again using the method described above, thereby further refining the target distance-angle correspondence.

[0070] Optionally, the cleaning equipment is controlled to clean the insulator string based on the cleaning control parameters, including: controlling at least one spray gun on the cleaning equipment to use insulating liquid to clean the insulator string based on the cleaning control parameters.

[0071] The spray gun mentioned in the above steps is used to clean the insulator strings. It can be a high-pressure water gun or a spray gun, but is not limited to these. When using a spray gun to clean the insulator strings, the cleaning solution or clean water needs to be injected into the container of the spray gun. Then, the intensity and direction of the water jet are controlled by a trigger. During the cleaning process, it is important to ensure that the distance and angle between the spray gun and the insulator strings are appropriate to ensure that each insulator is thoroughly cleaned.

[0072] The insulating fluid mentioned in the above steps is a chemical solution used to clean the surface of insulator strings. It is generally composed of water and some special cleaning agents or additives, which can effectively remove dirt, dust, and other impurities from the surface of the insulators, maintaining the insulation performance and service life of the insulator strings. Common components of insulating fluids include deionized water and alkaline cleaning agents.

[0073] In one optional embodiment, the water pressure and spray angle of the water spray gun are adjusted according to cleaning control parameters to ensure the uniformity and coverage of the sprayed insulating liquid, thereby achieving a comprehensive and thorough cleaning of the insulator strings. Simultaneously, the moving speed and cleaning time of the cleaning equipment are adjusted as needed to ensure the cleaning effect meets standard requirements.

[0074] The following description uses a preferred embodiment. Figure 2 This is a route diagram of an optional four-gun cleaning method for insulator strings according to an embodiment of the present invention, such as... Figure 2As shown, the insulator strings are divided into three zones from bottom to top, named Zone 1, Zone 2, and Zone 3. Four cleaning guns from the cleaning equipment are used to clean the insulator strings. The cleaning process consists of 12 routes: Route 1, all four guns simultaneously rise from the bottom of Zone 1 to the top; Route 2, all four guns simultaneously descend from the top of Zone 1 to the bottom; Route 3, all four guns simultaneously rise from the bottom of Zone 1 to the top of Zone 2; Route 4, all four guns simultaneously descend from the top of Zone 2 to the bottom of Zone 1; Route 5, all four guns simultaneously rise from the bottom of Zone 1 to the top of Zone 2, with guns 2 and 4 acting as auxiliary guns, their spray positions remaining unchanged, while guns 1 and 3 are the main guns, continuing to rise simultaneously to the top of Zone 3; Route 6, guns 1 and 3 are the main guns, simultaneously descending to the top of Zone 2. At the top, all four guns simultaneously descend to the bottom of area 1; Route 7 repeats the actions of Route 5; Route 8, guns 1 and 3 simultaneously descend to the top of area 2; Route 9, guns 1 and 3 simultaneously rise to the top of area 3; Route 10, guns 1 and 3 simultaneously descend to the bottom of area 3, at which point all four guns simultaneously descend to the bottom of area 2; Route 11, all four guns simultaneously rise to the top of area 2, at which point guns 2 and 4 maintain their spray positions, while guns 1 and 3 continue to rise to the top of area 3; Route 12, guns 1 and 3 simultaneously descend to the top of area 2, at which point all four guns simultaneously descend to the bottom of area 1. This achieves modular, dead-angle-free cleaning, cleaning each of the three areas of the insulator string eight times, avoiding uneven rinsing and achieving segmented, uniform backsweeping.

[0075] Figure 3 This is an optional control flowchart of a cleaning equipment water valve based on cleaning control parameters according to an embodiment of the present invention. Upon receiving the cleaning control parameters, when the cleaning equipment water valve is opened, the following steps are executed: Figure 3 The process is as follows: After initialization, the foot switch is checked for closure. If closed, a water valve control status scan is performed, followed by an electric regulating valve control voltage adjustment scan. If not closed, the electric regulating valve control voltage adjustment scan is performed directly. Then, the electric regulating valve voltage adjustment button is checked for closure. If closed, the electric regulating valve control voltage adjustment scan is performed first, followed by the electric regulating valve control voltage conversion output. If not closed, the electric regulating valve control voltage conversion output is performed directly. After the electric regulating valve control voltage conversion output is performed, the electric regulating valve control voltage is tracked and displayed, and the process ends. In other words, a closed foot switch indicates that the water valve control status is energized and open; an open foot switch directly adjusts the regulating valve control voltage. After adjustment, the regulating valve voltage is adjusted, and then AC / DC conversion is performed, tracking the voltage level, amplitude, and AC / DC conversion.

[0076] Example 2

[0077] According to an embodiment of the present invention, an embodiment of a control device for an insulator string cleaning equipment is provided. This device can execute the control method for the insulator string cleaning equipment provided in Embodiment 1 above. The specific implementation and preferred application scenarios are the same as those in Embodiment 1 above, and will not be repeated here.

[0078] Figure 4 This is a schematic diagram of a control device for an optional insulator string cleaning apparatus according to an embodiment of the present invention, such as... Figure 4 As shown, it includes:

[0079] The acquisition module 40 is used to acquire the relative positional relationship between the cleaning equipment and the insulator string in response to receiving an instruction to clean the insulator string. The insulator string is composed of multiple insulators connected in sequence, and the relative positional relationship is used to represent the positional relationship between the cleaning equipment and the insulator string.

[0080] The determining module 42 is used to determine the cleaning control parameters of the cleaning equipment based on the relative position relationship. The cleaning control parameters include at least one of the following: operating status control parameters and water pressure adjustment parameters. The operating status control parameters are used to represent parameters for controlling the operating status of the cleaning equipment during operation, and the water pressure adjustment parameters are used to represent parameters for adjusting the spray water pressure level of the cleaning equipment.

[0081] The cleaning module 44 is used to control the cleaning equipment to clean the insulator string based on the cleaning control parameters.

[0082] Optionally, the determining module includes: a first determining unit, configured to determine a direction transformation parameter based on the current operating direction of the cleaning equipment when the relative positional relationship is such that the cleaning equipment is located at the top of the insulator string, wherein the direction transformation parameter is used to represent a parameter for controlling the cleaning equipment to operate in the opposite direction to the current operating direction.

[0083] Optionally, the determining module includes: a first generating unit, used to generate a first cleaning duration in the cleaning duration parameters when the relative positional relationship is that the cleaning equipment is located at the insulator cover of the insulator string; and a second generating unit, used to generate a second cleaning duration in the cleaning duration parameters when the relative positional relationship is that the cleaning equipment is located at the insulator gap of the insulator string, wherein the insulator gap is used to indicate the connection position of two adjacent insulators in the insulator string, and the second cleaning duration is longer than the first cleaning duration.

[0084] Optionally, the determining module includes: a third generation unit, used to generate distance control parameters based on the straight-line distance between the current position of the cleaning equipment and the insulator gap when the relative positional relationship is that the cleaning equipment is located at the insulator gap of the insulator string, wherein the distance control parameters are used to represent parameters for controlling the straight-line distance between the cleaning equipment and the insulator gap; and a fourth generation unit, used to generate angle control parameters based on the target distance-angle correspondence and the distance control parameters, wherein the target distance-angle correspondence is used to represent the correspondence between the distance control parameters and the angle control parameters, and the angle control parameters are used to represent parameters for controlling the cleaning angle of the cleaning equipment to clean the insulator string, wherein the cleaning angle is used to represent the angle between the cleaning spray direction of the cleaning equipment and the perpendicular line of the insulator string.

[0085] Optionally, the fourth generation unit is further configured to generate a first mapping relationship based on the first straight-line distance in the distance control parameters and the first cleaning angle in the angle control parameters; generate a second mapping relationship based on the second straight-line distance in the distance control parameters and the second cleaning angle in the angle control parameters, wherein the second straight-line distance is less than the first straight-line distance and the second cleaning angle is greater than the first cleaning angle; and generate a target distance-angle correspondence based on the first mapping relationship and the second mapping relationship.

[0086] Optionally, the cleaning module is also used to control at least one spray gun on the cleaning equipment to clean the insulator string with insulating liquid based on cleaning control parameters.

[0087] Example 3

[0088] According to an embodiment of the present invention, an electronic device is also provided, comprising: a memory storing an executable program; and a processor for running the program, wherein the program executes the control method of the insulator string cleaning device in Embodiment 1 during runtime.

[0089] Example 4

[0090] Embodiments of this application also provide a computer-readable storage medium, which includes a stored executable program, wherein, when the executable program is executed, it controls the device where the computer-readable storage medium is located to perform the control method of the insulator string cleaning device in various embodiments of the present invention.

[0091] Example 5

[0092] Embodiments of this application also provide a computer program product, including a computer program that, when executed by a processor, implements the control method for the insulator string cleaning equipment in various embodiments of the present invention.

[0093] Example 6

[0094] Embodiments of this application also provide a computer program product, including a non-volatile computer-readable storage medium for storing a computer program. When the computer program is executed by a processor, it implements the control method of the insulator string cleaning device in various embodiments of the present invention.

[0095] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0096] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0097] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0098] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0099] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0100] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0101] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A control method for an insulator string cleaning device, characterized in that, include: In response to receiving an instruction to clean an insulator string, the relative positional relationship between the cleaning device and the insulator string is obtained. The insulator string is composed of multiple insulators connected in sequence. The relative positional relationship is used to represent the positional relationship between the cleaning device and the insulator string. There are gaps between insulators in the insulator string. The gaps between insulators are the connection positions of two adjacent insulators in the insulator string. The cleaning control parameters of the cleaning equipment are determined based on the relative positional relationship, wherein the cleaning control parameters include at least one of the following: operating status control parameters and water pressure adjustment parameters, wherein the operating status control parameters are used to represent parameters for controlling the operating status of the cleaning equipment during operation, and the water pressure adjustment parameters are used to represent parameters for adjusting the spray water pressure level of the cleaning equipment. The cleaning equipment is controlled to clean the insulator string based on the cleaning control parameters. The insulator string is divided into three parts: lower, middle, and upper, named Region 1, Region 2, and Region 3 respectively. When the relative position of the cleaning equipment and the insulator string is such that the cleaning equipment is located at the top of the insulator string in Region 3, the operating status control parameters are set to move in the opposite direction to prevent sewage from connecting, and the water pressure adjustment parameter is set to the normal setting. Based on the cleaning control parameters, when the cleaning equipment cleans the insulator string, two guns in the cleaning equipment are the main guns, which move up and down within Region 3 for cleaning, while the other two guns are the auxiliary guns, which remain stationary at a fixed angle at the junction of Region 2 and Region 3 to impact the junction.

2. The control method for the insulator string cleaning equipment according to claim 1, characterized in that, The operating status control parameters include direction transformation parameters. The cleaning control parameters of the cleaning equipment are determined based on the relative positional relationship, including: With the relative positional relationship such that the cleaning device is located at the top of the insulator string, the direction transformation parameter is determined based on the current operating direction of the cleaning device, wherein the direction transformation parameter is used to represent the parameter for controlling the cleaning device to operate in the opposite direction to the current operating direction.

3. The control method for the insulator string cleaning equipment according to claim 1, characterized in that, The operating status control parameters include cleaning duration parameters. The cleaning control parameters of the cleaning equipment are determined based on the relative positional relationship, including: With the relative positional relationship being such that the cleaning equipment is located at the insulator cover of the insulator string, the first cleaning duration in the cleaning duration parameter is generated; When the relative positional relationship is such that the cleaning device is located at the insulator gap of the insulator string, a second cleaning duration is generated in the cleaning duration parameter, wherein the insulator gap is used to indicate the connection position of two adjacent insulators in the insulator string, and the second cleaning duration is longer than the first cleaning duration.

4. The control method for the insulator string cleaning equipment according to claim 1, characterized in that, The operating status control parameters include distance control parameters and angle control parameters. The cleaning control parameters of the cleaning equipment are determined based on the relative positional relationship, including: In the relative positional relationship where the cleaning device is located at the insulator gap of the insulator string, a distance control parameter is generated based on the straight-line distance between the current position of the cleaning device and the insulator gap. The distance control parameter is used to represent a parameter for controlling the straight-line distance between the cleaning device and the insulator gap. Based on the target distance-angle correspondence and the distance control parameters, the angle control parameters are generated. The target distance-angle correspondence is used to represent the correspondence between the distance control parameters and the angle control parameters. The angle control parameters are used to represent the parameters for controlling the cleaning angle of the cleaning equipment to clean the insulator string. The cleaning angle is used to represent the angle between the cleaning spray direction of the cleaning equipment and the perpendicular line of the insulator string.

5. The control method for the insulator string cleaning equipment according to claim 4, characterized in that, The method further includes: A first mapping relationship is generated based on the first straight-line distance in the distance control parameters and the first cleaning angle in the angle control parameters; A second mapping relationship is generated based on the second straight-line distance in the distance control parameters and the second cleaning angle in the angle control parameters, wherein the second straight-line distance is less than the first straight-line distance and the second cleaning angle is greater than the first cleaning angle; The target distance-angle correspondence is generated based on the first mapping relationship and the second mapping relationship.

6. The control method for the insulator string cleaning equipment according to claim 1, characterized in that, Based on the cleaning control parameters, the cleaning equipment is controlled to clean the insulator string, including: Based on the cleaning control parameters, at least one spray gun on the cleaning equipment is controlled to clean the insulator string with insulating liquid.

7. A control device for an insulator string cleaning equipment, characterized in that, include: The acquisition module is used to acquire the relative positional relationship between the cleaning device and the insulator string in response to receiving an instruction to clean the insulator string. The insulator string is composed of multiple insulators connected in sequence. The relative positional relationship is used to represent the positional relationship between the cleaning device and the insulator string. There are gaps between insulators in the insulator string. The gaps between insulators are the connection positions of two adjacent insulators in the insulator string. A determining module is used to determine the cleaning control parameters of the cleaning equipment based on the relative positional relationship, wherein the cleaning control parameters include at least one of the following: operating status control parameters and water pressure adjustment parameters, wherein the operating status control parameters are used to represent parameters for controlling the operating status of the cleaning equipment during operation, and the water pressure adjustment parameters are used to represent parameters for adjusting the spray water pressure level of the cleaning equipment; A cleaning module is used to control the cleaning equipment to clean the insulator string based on the cleaning control parameters; The insulator string is divided into three parts: lower, middle, and upper, named Region 1, Region 2, and Region 3 respectively. When the relative position of the cleaning equipment and the insulator string is such that the cleaning equipment is located at the top of the insulator string in Region 3, the operating status control parameters are set to move in the opposite direction to prevent sewage from connecting, and the water pressure adjustment parameter is set to the normal setting. Based on the cleaning control parameters, when the cleaning equipment cleans the insulator string, two guns in the cleaning equipment are the main guns, which move up and down within Region 3 for cleaning, while the other two guns are the auxiliary guns, which remain stationary at a fixed angle at the junction of Region 2 and Region 3 to impact the junction.

8. An electronic device, characterized in that, include: Memory, which stores executable programs; A processor for running the program, wherein the program executes the control method of the insulator string cleaning device according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored executable program, wherein, when the executable program is executed, it controls the device on which the storage medium is located to perform the control method of the insulator string cleaning device according to any one of claims 1 to 6.

10. A computer program product, characterized in that, The device includes a computer program that, when executed by a processor, implements the control method for the insulator string cleaning device according to any one of claims 1 to 6.

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