Comprehensive electrified cleaning and maintenance method suitable for power equipment

Abstract

The invention relates to the technical field of transformer substation cleaning, in particular to a comprehensive live-line cleaning and maintenance method suitable for electrical equipment, which is mainly completed through cooperation of a comprehensive live-line cleaning and maintenance system, and the comprehensive live-line cleaning and maintenance system comprises a cleaning module and an unmanned aerial vehicle module. The comprehensive electrified cleaning and maintenance method comprises the following steps: acquiring a first image parameter of an insulator to be cleaned; determining the type of the to-be-cleaned insulator according to the first image parameter of the to-be-cleaned insulator; and if the to-be-cleaned insulator belongs to the first target type, the cleaning module and the unmanned aerial vehicle module are controlled in a first control mode, and if the to-be-cleaned insulator belongs to the second target type, the cleaning module and the unmanned aerial vehicle module are controlled in a second control mode. According to the comprehensive electrified cleaning and maintenance method suitable for the power equipment, the control mode can be reasonably selected according to the physical parameters of the insulator, and the cleaning efficiency and the cleaning effect can be improved while dirt can be cleaned in a targeted mode.

Description

Technical Field

[0001] The invention relates to the technical field of substation cleaning, and in particular to a comprehensive live-power cleaning and maintenance method suitable for power equipment. Background Art

[0002] Insulators operating outdoors in power systems are exposed to nature for a long time, especially in industrial, coastal and saline-alkali areas. They are affected by industrial waste gas, seawater or natural salt, alkali, dust, etc., which usually form a certain degree of dirt accumulation on the surface of insulators. In dry climates, the dirt layer resistance of contaminated insulators is very large, which is not very dangerous to the operation of power systems. However, when encountering humid climate conditions such as fog and rain, the dirt layer on the surface of the insulator is moistened, the conductivity increases, the insulation performance decreases, the leakage current increases sharply, and the flashover voltage is greatly reduced. At this time, dirt flashover may occur; especially when the creepage distance of the insulator design is not enough or the insulator used cannot meet the dirt requirements, dirt flashover is bound to occur; due to the low success rate of reclosing after the dirt flash trip, the insulator dirt flashover is easy to develop into a large-scale, long-term vicious power outage accident, so the harm of dirt flashover is extremely great, which is the main hidden danger affecting the safe operation of power grid equipment; therefore, it is very important to regularly remove dirt from insulators in outdoor substations.

[0003] At present, the main method for cleaning insulators is to regularly wash the insulators manually with a handheld water gun. This method has low safety and high work intensity. In order to improve this situation, related technologies, such as Chinese patent CN104834293B, disclose a substation water washing robot visual aiming system. When the substation water washing robot visual aiming system is in use, a rangefinder installed above the rear of the water gun is used to mark a red spot at the position to be washed, and a color recognition algorithm is used to automatically identify the position of the red spot in the on-site image, and the water gun washing position and distance information are fed back to the washing robot controller, so as to control the robot movement and the water gun to be located at the specified position, thereby realizing the visual aiming control of the substation water washing robot.

[0004] The existing substation insulator cleaning system only uses a single position indicator as a reference when cleaning insulators, which is of low rigor and does not comprehensively consider the type of insulator, the location of the dirt, the similarity between the dirt color and the background color, and the similarity between the insulator color and the dirt color. As a result, the same cleaning method is used for different insulators, which makes it impossible to clean the dirt in a targeted manner or to clean the dirt thoroughly, affecting the cleaning efficiency and cleaning effect. Summary of the invention

[0005] Based on this, it is necessary to provide a comprehensive live cleaning and maintenance method suitable for power equipment to address the problems of low cleaning efficiency and poor cleaning effect in the current substation insulator cleaning process.

[0006] The above purpose is achieved through the following technical solutions: A comprehensive live cleaning and maintenance method applicable to electric equipment is mainly completed by a comprehensive live cleaning and maintenance system applicable to electric equipment, wherein the comprehensive live cleaning and maintenance system applicable to electric equipment comprises a cleaning module and a drone module; the comprehensive live cleaning and maintenance method applicable to electric equipment comprises the following steps: Acquiring first image parameters of the insulator to be cleaned; determining the type of the insulator to be cleaned according to the first image parameter of the insulator to be cleaned; If the insulator to be cleaned belongs to the first target type, the cleaning module and the drone module are controlled in a first control mode to clean the insulator to be cleaned; If the insulator to be cleaned belongs to the second target type, the cleaning module and the drone module are controlled in a second control mode to clean the insulator to be cleaned.

[0007] Furthermore, the first target type is that the insulator to be cleaned is a transparent insulator; the drone module is equipped with a background board, and the background board has a preset color; the first control mode includes: judging whether there is dirt on the insulator to be cleaned according to the first image parameter of the insulator to be cleaned; If there is dirt on the insulator to be cleaned, obtaining the distribution position of the dirt on the insulator to be cleaned; Controlling the cleaning module to clean the dirt on the insulator to be cleaned; Controlling the drone module to move to a first preset position, and acquiring a second image parameter of the insulator to be cleaned with the background plate as the background; judging whether there is residual dirt on the insulator to be cleaned according to the second image parameter of the insulator to be cleaned; If there is residual dirt on the insulator to be cleaned, the residual dirt on the insulator to be cleaned is cleaned according to the first cleaning procedure or the second cleaning procedure.

[0008] Furthermore, the first cleaning procedure includes: Controlling the cleaning module to clean the dirt on the insulator to be cleaned; Acquire a third image parameter of the insulator to be cleaned with the background plate as the background; judging whether there is any residual dirt on the insulator to be cleaned according to the third image parameter of the insulator to be cleaned; If there is still residual dirt on the insulator to be cleaned, the cleaning module is controlled to move to the other side of the insulator to be cleaned and the dirt on the insulator to be cleaned is cleaned.

[0009] Furthermore, the second cleaning procedure includes: Obtaining a distance L1 between the cleaning module and the cable where the insulator to be cleaned is located; Obtaining a distance L2 between the cleaning module and the dirt; If the distance L2 between the cleaning module and the dirt is smaller than the distance L1 between the cleaning module and the cable where the insulator to be cleaned is located, the cleaning module is controlled to clean the dirt on the insulator to be cleaned; If the distance L2 between the cleaning module and the dirt is greater than the distance L1 between the cleaning module and the cable where the insulator to be cleaned is located, the cleaning module is controlled to move to the other side of the insulator to be cleaned and the dirt on the insulator to be cleaned is cleaned.

[0010] Furthermore, the comprehensive live cleaning and maintenance applicable to electric power equipment also includes a second acquisition module, which is used to obtain the distance L1 between the cleaning module and the cable where the insulator to be cleaned is located and the distance L2 between the cleaning module and the dirt.

[0011] Furthermore, the second target type is that the insulator to be cleaned is an opaque insulator; and the second control mode includes: Obtaining the color of the insulator to be cleaned; If the color of the insulator to be cleaned is black, controlling the cleaning module to clean the insulator to be cleaned; If the color of the insulator to be cleaned is other colors, judging whether there is dirt of other colors other than the color of the insulator to be cleaned on the insulator to be cleaned according to the first image parameter of the insulator to be cleaned; If there is dirt of other colors than the color of the insulator to be cleaned on the insulator to be cleaned, the cleaning module is controlled to clean the dirt on the insulator to be cleaned.

[0012] Furthermore, the second control mode also includes: Acquiring infrared image parameters of the insulator to be cleaned; According to the infrared image parameters of the insulator to be cleaned, determining whether there is an infrared abnormal area on the insulator to be cleaned; If there is an abnormal infrared area on the insulator to be cleaned, obtaining the temperature corresponding to the abnormal infrared area; If the temperature corresponding to the infrared abnormal area is greater than or equal to the preset temperature, the insulator to be cleaned in the infrared abnormal area is marked as a damaged part and processed through an emergency procedure; If the temperature corresponding to the infrared abnormal area is lower than the preset temperature, the cleaning module is controlled to flush the infrared abnormal area on the insulator to be cleaned.

[0013] Furthermore, the drone module is equipped with a sun visor, and the second control mode further includes: The drone module is controlled to move to a second preset position so as to shade the insulator to be cleaned through the sun visor, and then infrared image parameters of the insulator to be cleaned are obtained.

[0014] Furthermore, the emergency procedure includes: The maintenance personnel are informed of the location information of the damaged part.

[0015] Furthermore, the comprehensive live cleaning and maintenance applicable to electric power equipment also includes a third acquisition module, and the third acquisition module is used to acquire infrared image parameters of the insulator to be cleaned.

[0016] The beneficial effects of the present invention are: The present invention relates to a comprehensive live-line cleaning and maintenance method applicable to electric power equipment, which is mainly completed by a comprehensive live-line cleaning and maintenance system applicable to electric power equipment, and the comprehensive live-line cleaning and maintenance system applicable to electric power equipment includes a cleaning module and a drone module; when in use, firstly obtain the first image parameter of the insulator to be cleaned, and then determine the type of the insulator to be cleaned according to the first image parameter of the insulator to be cleaned, if the insulator to be cleaned belongs to the first target type, then control the cleaning module and the drone module in a first control mode to clean the insulator to be cleaned; if the insulator to be cleaned belongs to the second target type, then control the cleaning module and the drone module in a second control mode to clean the insulator to be cleaned. Thus, the control mode can be reasonably selected according to the physical parameters of the insulator, and the cleaning efficiency and cleaning effect can be improved while the dirt can be cleaned in a targeted manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic flow chart of a comprehensive live cleaning and maintenance method for electric power equipment provided in one embodiment of the present invention. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below through embodiments and in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0019] The serial numbers assigned to the components herein, such as "first", "second", etc., are only used to distinguish the objects described and do not have any order or technical meaning. The "connection" and "coupling" mentioned herein, unless otherwise specified, include direct and indirect connections (couplings). In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.

[0020] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0021] A comprehensive live cleaning and maintenance method applicable to electric power equipment is mainly completed by a comprehensive live cleaning and maintenance system applicable to electric power equipment. The comprehensive live cleaning and maintenance system applicable to electric power equipment is configured to include a cleaning module and a drone module.

[0022] Specifically in this embodiment, the cleaning module is configured to include a crawler-type hydraulically driven mobile platform and a liquid spraying mechanism, a movable arm and a controller are provided on the crawler-type hydraulically driven mobile platform, and a working platform is provided at the end of one suspended end of the movable arm; the liquid spraying mechanism is configured to include a nozzle, a liquid storage tank and a water pump, wherein the liquid storage tank and the water pump are both installed on the crawler-type hydraulically driven mobile platform, and the liquid storage tank is filled with insulating cleaning liquid of a preset liquid level, the liquid suction end of the water pump is connected to the liquid storage tank, the nozzle is installed on the working platform, and the nozzle is connected to the liquid outlet end of the water pump; in order to facilitate the control of the crawler-type hydraulically driven mobile platform, the movable arm and the water pump, the controller is configured to be connected to the crawler-type hydraulically driven mobile platform, the movable arm and the water pump by wired means, so as to send signals to the crawler-type hydraulically driven mobile platform, the movable arm and the water pump to make them perform corresponding actions; the drone module is configured to include a first drone and a second drone.

[0023] More specifically, the controller refers to a device that can generate operation control signals according to instruction operation codes and timing signals; illustratively, the controller can be set to a central processing unit (CPU), a general-purpose processor network processor (NP), a digital signal processor (DSP), a microprocessor, a microcontroller, a programmable logic device (PLD) or any combination thereof; the controller can also be other devices with processing functions, such as circuits, devices or software modules.

[0024] More specifically, in order to facilitate the control of the moving path of the crawler-type hydraulically driven mobile platform, it can be set manually after a field survey of the environment to be cleaned and input into the controller; wherein the environment to be cleaned can be set as a substation.

[0025] like Figure 1 As shown, Figure 1 A schematic flow chart of a comprehensive live cleaning and maintenance method for electric power equipment provided in one embodiment of the present invention is provided. The comprehensive live cleaning and maintenance method for electric power equipment is configured to include the following steps: Acquiring first image parameters of the insulator to be cleaned; determining the type of the insulator to be cleaned according to the first image parameter of the insulator to be cleaned; If the insulator to be cleaned belongs to the first target type, the cleaning module and the drone module are controlled in a first control mode to clean the insulator to be cleaned; If the insulator to be cleaned belongs to the second target type, the cleaning module and the drone module are controlled in the second control mode to clean the insulator to be cleaned.

[0026] Specifically in this embodiment, in order to facilitate the acquisition of the first image parameters of the insulator to be cleaned, the comprehensive live cleaning and maintenance system suitable for power equipment is configured to also include a first acquisition module, and the first acquisition module can be configured to be a photo-taking and video recording device; exemplarily, the first acquisition module can be configured to be a camera, which is set on the working platform during installation and is connected to the controller by wire or wirelessly.

[0027] Taking the communication connection as a Wi-Fi connection as an example, the controller scans the wireless signal of the Wi-Fi hotspot (also known as a wireless router) through the communicator, and then establishes a communication connection with the Wi-Fi hotspot; after establishing a communication connection with the Wi-Fi hotspot, the controller of the display device can query other devices that have established a communication connection with the Wi-Fi hotspot; if the other devices that have established a communication connection with the Wi-Fi hotspot include a camera, a communication connection can be established between the controller and the camera through the Wi-Fi hotspot.

[0028] It is understandable that before processing the first image parameters, the features in the image can be enhanced by using signal processing techniques, such as filtering, gain adjustment, etc., and the image can also be denoised using image processing technology to improve image quality, thereby further improving the accuracy of determining the presence of dirt and the location of dirt distribution.

[0029] More specifically, the types of insulators to be cleaned include transparent insulators and opaque insulators. Transparent insulators are usually made of glass, polycarbonate (PC) or acrylic resin (Acrylic) materials, which are used to support and insulate cables; opaque insulators are usually made of porcelain or composite materials, which have high mechanical strength and can withstand greater mechanical stress. Porcelain insulators and certain composite insulators have good weather resistance and can maintain stable performance under severe weather conditions.

[0030] More specifically, since both transparent insulators and opaque insulators are used outdoors, they are affected by industrial waste gas, seawater or natural salt, dust, bird droppings, etc., and usually a certain degree of dirt accumulation will form on the surface of the insulator. The existing cleaning method is to clean the insulator as a whole, which is not only time-consuming, but also easy to cause waste of insulation cleaning fluid, thereby increasing the cleaning cost; and the colors of these dirts are different. On the one hand, when judging the dirt on the transparent insulator, due to the influence of the background color, it is easy to make a misjudgment, making it impossible to distinguish the specific location and shape of the dirt, so that the dirt cannot be cleaned in a targeted manner; for example, when bird droppings adhere to the transparent insulator, and the color of the bird droppings is generally White, when the sky is used as the background, bird droppings may blend into the white clouds or the white sky, resulting in the judgment that there is no dirt, affecting the cleaning process; on the other hand, when judging the dirt on the opaque insulator, due to the influence of the color of the opaque insulator, misjudgment is prone to occur, making it impossible to distinguish the specific location and shape of the dirt, and thus the dirt cannot be cleaned in a targeted manner; for example, when plant pollen adheres to the opaque insulator, the color of the plant pollen is generally yellow, orange or light green. When the opaque insulator is yellow, orange or light green, the plant pollen will blend into the opaque insulator, resulting in the judgment that there is no dirt, affecting the cleaning process.

[0031] Therefore, in order to avoid the waste of insulation cleaning fluid and ensure the normal progress of the cleaning process, it is necessary to adopt different cleaning methods for different types of insulators.

[0032] During use, a preset path is first set after a manual on-site inspection of the environment to be cleaned, and the path is input into the controller. Then, the crawler-type hydraulic-driven mobile platform is controlled by the controller to move along the preset path. During the movement of the crawler-type hydraulic-driven mobile platform, when the crawler-type hydraulic-driven mobile platform moves to the vicinity of the insulator (the cleaning point can be determined through preliminary inspection), the first image parameters of the insulator to be cleaned are first acquired through the camera. Then, according to the first image parameters of the insulator to be cleaned, the type of the insulator to be cleaned is determined. If the insulator to be cleaned belongs to the first target type, the cleaning module and the drone module are controlled in the first control mode to clean the insulator to be cleaned. If the insulator to be cleaned belongs to the first target type, the cleaning module and the drone module are controlled in the first control mode to clean the insulator to be cleaned. If the insulator belongs to the second target type, the cleaning module and the drone module are controlled in the second control mode to clean the insulator to be cleaned; during cleaning, the controller sends a signal to the moving arm and the water pump, wherein the moving arm drives the nozzle to move along a preset trajectory (when the insulator is horizontally placed, the moving arm drives the nozzle to move horizontally; when the insulator is vertically placed, the moving arm drives the nozzle to move vertically; when the insulator is tilted, the moving arm drives the nozzle to move obliquely), and at the same time, the water pump draws the insulating cleaning liquid in the liquid storage tank to the nozzle, and sprays it through the nozzle to clean the surface of the insulator; thereby, the control mode can be reasonably selected according to the physical parameters of the insulator, and the cleaning efficiency and cleaning effect can be improved while the dirt can be cleaned in a targeted manner.

[0033] In some embodiments, the first target type is set to be a transparent insulator to be cleaned; the drone module is equipped with a background plate, and the background plate has a preset color; the first control mode is set to include: judging whether there is dirt on the insulator to be cleaned according to the first image parameter of the insulator to be cleaned; If there is dirt on the insulator to be cleaned, the distribution position of the dirt on the insulator to be cleaned is obtained; Control the cleaning module to clean the dirt on the insulator to be cleaned; Control the drone module to move to a first preset position, and obtain second image parameters of the insulator to be cleaned with the background plate as the background; judging whether there is residual dirt on the insulator to be cleaned according to the second image parameter of the insulator to be cleaned; If there is residual dirt on the insulator to be cleaned, the residual dirt on the insulator to be cleaned is cleaned according to the first cleaning procedure or the second cleaning procedure.

[0034] Specifically in this embodiment, the preset color is set to a color other than white (sky / white clouds / sea salt mist / ) mineral deposits, black (particles such as soot and carbon black), gray (particles such as soot and carbon black / mineral deposits / grease and oil / sea salt mist), brown (dust and dirt), brown (dust and dirt), yellow (plant pollen / sulfur smoke), green (plant pollen), and orange (plant pollen); illustratively, the preset color can be set to purple or red.

[0035] During use, based on the first image parameters of the insulator to be cleaned, it is determined whether there is dirt on the insulator to be cleaned. If there is dirt on the insulator to be cleaned, the distribution position of the dirt on the insulator to be cleaned is obtained, and then the cleaning module is controlled to clean the dirt on the insulator to be cleaned; after the cleaning is completed, the first drone is controlled to move to the first preset position, and the first preset position is set to the side of the insulator away from the nozzle, and then the second image parameters of the insulator to be cleaned are obtained through the camera with the background board as the background, and then based on the second image parameters of the insulator to be cleaned, it is determined whether there is residual dirt on the insulator to be cleaned. If there is residual dirt on the insulator to be cleaned, it means that there is dirt on the insulator that is consistent with the background color, and the remaining dirt on the insulator to be cleaned is cleaned according to the first cleaning procedure or the second cleaning procedure.

[0036] It is understandable that before processing the second image parameters, the features in the image can be enhanced by using signal processing techniques, such as filtering, gain adjustment, etc., and the image can also be denoised using image processing technology to improve image quality, thereby further improving the accuracy of determining the presence of dirt and the location of dirt distribution.

[0037] In a further embodiment, the first cleaning procedure is configured to include: Control the cleaning module to clean the dirt on the insulator to be cleaned; Acquire the third image parameters of the insulator to be cleaned with the background plate as the background; judging whether there is any residual dirt on the insulator to be cleaned according to the third image parameter of the insulator to be cleaned; If there is still residual dirt on the insulator to be cleaned, the cleaning module is controlled to move to the other side of the insulator to be cleaned and the dirt on the insulator to be cleaned is cleaned.

[0038] Specifically in this embodiment, since the insulator to be cleaned is a transparent insulator, dirt may exist on the side of the insulator close to the nozzle or on the side of the insulator away from the nozzle, and the insulating cleaning liquid sprayed by the nozzle can only clean the side of the insulator close to the nozzle. In order to ensure that the dirt is thoroughly cleaned, the cleaning module is configured to first clean the dirt on the insulator to be cleaned, and then obtain the third image parameter of the insulator to be cleaned through the camera with the background board as the background, and then determine whether there is any residual dirt on the insulator to be cleaned based on the third image parameter of the insulator to be cleaned. If there is still residual dirt on the insulator to be cleaned, it means that the dirt exists on the side of the insulator away from the nozzle, and then the cleaning module is controlled to move to the other side of the insulator to be cleaned and clean the dirt on the insulator to be cleaned.

[0039] It is understandable that before processing the third image parameters, the features in the image can be enhanced by using signal processing techniques, such as filtering, gain adjustment, etc., and the image can also be denoised using image processing technology to improve image quality, thereby further improving the accuracy of determining the presence of dirt and the location of dirt distribution.

[0040] In other embodiments, the second cleaning procedure is configured to include: Obtain the distance L1 between the cleaning module and the cable where the insulator to be cleaned is located; Get the distance L2 between the cleaning module and the dirt; If the distance L2 between the cleaning module and the dirt is smaller than the distance L1 between the cleaning module and the cable where the insulator to be cleaned is located, the cleaning module is controlled to clean the dirt on the insulator to be cleaned; If the distance L2 between the cleaning module and the dirt is greater than the distance L1 between the cleaning module and the cable where the insulator to be cleaned is located, the cleaning module is controlled to move to the other side of the insulator to be cleaned and the dirt on the insulator to be cleaned is cleaned.

[0041] Specifically in this embodiment, since the insulator to be cleaned is a transparent insulator, the dirt may exist on the side of the insulator close to the nozzle or on the side of the insulator far from the nozzle, and the insulating cleaning liquid sprayed by the nozzle can only clean the side of the insulator close to the nozzle. In order to ensure that the dirt is thoroughly cleaned and reduce the waste of insulating cleaning liquid, it is set to first obtain the distance L1 between the cleaning module and the cable where the insulator to be cleaned is located, and then obtain the distance L2 between the cleaning module and the dirt. If the distance L2 between the cleaning module and the dirt is less than the distance L1 between the cleaning module and the cable where the insulator to be cleaned is located, it means that the dirt exists on the side of the insulator close to the nozzle, and the cleaning module can be directly controlled by the controller to clean the dirt on the insulator to be cleaned; if the distance L2 between the cleaning module and the dirt is greater than the distance L1 between the cleaning module and the cable where the insulator to be cleaned is located, it means that the dirt exists on the side of the insulator far from the nozzle. At this time, the cleaning module can be controlled by the controller to move to the other side of the insulator to be cleaned and clean the dirt on the insulator to be cleaned.

[0042] In a further embodiment, the comprehensive live cleaning and maintenance configuration for power equipment further includes a second acquisition module for acquiring a distance L1 between the cleaning module and the cable where the insulator to be cleaned is located and a distance L2 between the cleaning module and the dirt.

[0043] Specifically in this embodiment, the second acquisition module can be set as a rangefinder, then L1 is specifically the distance between the rangefinder and the cable where the insulator to be cleaned is located, and L2 is specifically the distance between the rangefinder and the dirt; exemplarily, the second acquisition module can be set as a laser rangefinder, which is set on a working platform during installation, and is capable of emitting laser pulses and receiving reflected laser pulses, and calculating the distance by measuring the laser round-trip time.

[0044] In some other embodiments, the second target type is that the insulator to be cleaned is an opaque insulator; and the second control mode is configured to include: Get the color of the insulator to be cleaned; If the color of the insulator to be cleaned is black, the cleaning module is controlled to clean the insulator to be cleaned; If the color of the insulator to be cleaned is other colors, judging whether there is dirt of other colors other than the color of the insulator to be cleaned on the insulator to be cleaned according to the first image parameter of the insulator to be cleaned; If there is dirt of other colors than the color of the insulator to be cleaned on the insulator to be cleaned, the cleaning module is controlled to clean the dirt on the insulator to be cleaned.

[0045] Specifically in this embodiment, if the color of the insulator to be cleaned is black, considering that black has light-absorbing properties, the black insulator to be cleaned has a higher temperature under the irradiation of sunlight than the insulators to be cleaned of other colors, making it more difficult for the dirt thereon to fall off. In order to ensure thorough cleaning of the dirt, it is configured to control the cleaning module to perform a comprehensive cleaning on the black insulator to be cleaned; if the color of the insulator to be cleaned is other colors, since the dirt thereon is more easily distinguished, in order to reduce the waste of insulating cleaning fluid, it is configured to determine whether there is dirt of other colors other than the color of the insulator to be cleaned on the insulator to be cleaned based on the first image parameter of the insulator to be cleaned. If there is dirt of other colors other than the color of the insulator to be cleaned on the insulator to be cleaned, the cleaning module is controlled by the controller to clean the dirt on the insulator to be cleaned.

[0046] In a further embodiment, in order to avoid the influence on the cleaning effect when the color of the dirt is consistent with the color of the insulator to be cleaned, the second control mode is set to also include: Obtain infrared image parameters of the insulator to be cleaned; According to the infrared image parameters of the insulator to be cleaned, it is determined whether there is an infrared abnormal area on the insulator to be cleaned; If there is an abnormal infrared area on the insulator to be cleaned, the temperature corresponding to the abnormal infrared area is obtained; If the temperature corresponding to the infrared abnormal area is greater than or equal to the preset temperature, the insulator to be cleaned in the infrared abnormal area is marked as a damaged part and handled through emergency procedures; If the temperature corresponding to the infrared abnormal area is lower than the preset temperature, the cleaning module is controlled to flush the infrared abnormal area on the insulator to be cleaned.

[0047] Specifically in this embodiment, since the materials of the insulator and the dirt are different, their thermal conductivity and heat capacity are also different. Therefore, under the same environmental conditions, the surface temperatures of the insulator and the dirt will be different. Therefore, the insulator and the dirt can be distinguished by the infrared image parameters of the insulator to be cleaned; the infrared abnormal area is set to an area whose color is greatly different from the color of the surrounding pixel blocks; when there is an infrared abnormal area on the insulator to be cleaned, it means that there is an abnormality on the insulator to be cleaned. Since the abnormality may be caused by the presence of dirt or by defects in the insulator itself, in order to ensure that the dirt can be cleaned thoroughly and the condition of the insulator can be controlled in time, it is necessary to handle it according to different situations.

[0048] More specifically, the preset temperature is a set temperature, which can be set comprehensively according to the temperature when different types of dirt, cracks, and damaged parts appear on the insulator; exemplarily, the preset temperature can be set to 65°C. If the temperature corresponding to the infrared abnormal area is greater than or equal to 65°C, it means that the situation corresponding to the infrared abnormal area is cracks or damaged parts on the insulator. At this time, in order to avoid the occurrence of greater accidents, it is set to mark the insulator to be cleaned where the infrared abnormal area is located as a damaged part and handle it through emergency procedures; if the temperature corresponding to the infrared abnormal area is less than 65°C, it means that the situation corresponding to the infrared abnormal area is dirt of the same color on the insulator. At this time, the cleaning module can be controlled by the controller to rinse the infrared abnormal area on the insulator to be cleaned.

[0049] In a further embodiment, when sunlight is strong and irradiated for a long time, the dirt on the insulator to be cleaned may have an abnormal temperature rise, which may lead to misjudgment of the dirt as a defect of the insulator itself, and then mislabel the insulator to be cleaned as a damaged part, so that the dirt cannot be cleaned and manpower and material resources are wasted. To solve this problem, a sun visor is mounted on the drone module, and the second control mode is set to also include: The drone module is controlled to move to a second preset position to shade the insulator to be cleaned through a sun visor, and then infrared image parameters of the insulator to be cleaned are obtained.

[0050] Specifically in this embodiment, the sun visor is mounted on the second UAV; the second preset position is set between the insulator to be cleaned and the sun, so that the sun visor can block direct sunlight from reaching the insulator to be cleaned, thereby reducing the abnormal temperature rise of the insulator to be cleaned.

[0051] In other embodiments, the emergency procedure is configured to include: The location information of the damaged parts is notified to the maintenance personnel.

[0052] Specifically in this embodiment, when an abnormal situation occurs in the insulator to be cleaned, the emergency procedure is set up so that maintenance personnel can promptly understand the damaged parts and their location information, so as to facilitate timely repair or replacement of the damaged parts and avoid greater accidents.

[0053] In other embodiments, the comprehensive live cleaning and maintenance configuration applicable to electric power equipment further includes a third acquisition module, and the third acquisition module is used to acquire infrared image parameters of the insulator to be cleaned.

[0054] Specifically in this embodiment, the first acquisition module can be set to a camera with an infrared mode, so as to obtain both the first image parameters and the infrared image parameters; the third acquisition module can be set to be able to directly retrieve the image taken by the camera in the infrared mode, or it can be set to an infrared camera. The infrared camera is set on the work platform during installation and is connected to the controller by wire or wirelessly.

[0055] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0056] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A comprehensive live cleaning and maintenance method applicable to power equipment, characterized in that: It is mainly completed by a comprehensive live cleaning and maintenance system applicable to electric equipment, the comprehensive live cleaning and maintenance system applicable to electric equipment includes a cleaning module and a drone module; the comprehensive live cleaning and maintenance method applicable to electric equipment includes the following steps: Acquiring first image parameters of the insulator to be cleaned; determining the type of the insulator to be cleaned according to the first image parameter of the insulator to be cleaned; If the insulator to be cleaned belongs to the first target type, the cleaning module and the drone module are controlled in a first control mode to clean the insulator to be cleaned; If the insulator to be cleaned belongs to the second target type, the cleaning module and the drone module are controlled in a second control mode to clean the insulator to be cleaned.

2. The comprehensive live cleaning and maintenance method for electric power equipment according to claim 1 is characterized in that: The first target type is that the insulator to be cleaned is a transparent insulator; the drone module is equipped with a background board, and the background board has a preset color; the first control mode includes: judging whether there is dirt on the insulator to be cleaned according to the first image parameter of the insulator to be cleaned; If there is dirt on the insulator to be cleaned, obtaining the distribution position of the dirt on the insulator to be cleaned; Controlling the cleaning module to clean the dirt on the insulator to be cleaned; Controlling the drone module to move to a first preset position, and acquiring a second image parameter of the insulator to be cleaned with the background plate as the background; judging whether there is residual dirt on the insulator to be cleaned according to the second image parameter of the insulator to be cleaned; If there is residual dirt on the insulator to be cleaned, the residual dirt on the insulator to be cleaned is cleaned according to the first cleaning procedure or the second cleaning procedure.

3. The comprehensive live cleaning and maintenance method for electric power equipment according to claim 2 is characterized in that: The first cleaning procedure includes: Controlling the cleaning module to clean the dirt on the insulator to be cleaned; Acquire a third image parameter of the insulator to be cleaned with the background plate as the background; judging whether there is any residual dirt on the insulator to be cleaned according to the third image parameter of the insulator to be cleaned; If there is still residual dirt on the insulator to be cleaned, the cleaning module is controlled to move to the other side of the insulator to be cleaned and the dirt on the insulator to be cleaned is cleaned.

4. The comprehensive live cleaning and maintenance method for electric power equipment according to claim 2 is characterized in that: The second cleaning procedure includes: Obtaining a distance L1 between the cleaning module and the cable where the insulator to be cleaned is located; Obtaining a distance L2 between the cleaning module and the dirt; If the distance L2 between the cleaning module and the dirt is smaller than the distance L1 between the cleaning module and the cable where the insulator to be cleaned is located, the cleaning module is controlled to clean the dirt on the insulator to be cleaned; If the distance L2 between the cleaning module and the dirt is greater than the distance L1 between the cleaning module and the cable where the insulator to be cleaned is located, the cleaning module is controlled to move to the other side of the insulator to be cleaned and the dirt on the insulator to be cleaned is cleaned.

5. The comprehensive live cleaning and maintenance method for electric power equipment according to claim 4 is characterized in that: The comprehensive live cleaning and maintenance applicable to electric power equipment also includes a second acquisition module, which is used to obtain the distance L1 between the cleaning module and the cable where the insulator to be cleaned is located and the distance L2 between the cleaning module and the dirt.

6. The comprehensive live cleaning and maintenance method for electric power equipment according to claim 1 is characterized in that: The second target type is that the insulator to be cleaned is an opaque insulator; and the second control mode includes: Obtaining the color of the insulator to be cleaned; If the color of the insulator to be cleaned is black, controlling the cleaning module to clean the insulator to be cleaned; If the color of the insulator to be cleaned is other colors, judging whether there is dirt of other colors other than the color of the insulator to be cleaned on the insulator to be cleaned according to the first image parameter of the insulator to be cleaned; If there is dirt of other colors than the color of the insulator to be cleaned on the insulator to be cleaned, the cleaning module is controlled to clean the dirt on the insulator to be cleaned.

7. The comprehensive live cleaning and maintenance method for electric power equipment according to claim 6 is characterized in that: The second control mode also includes: Acquiring infrared image parameters of the insulator to be cleaned; According to the infrared image parameters of the insulator to be cleaned, determining whether there is an infrared abnormal area on the insulator to be cleaned; If there is an abnormal infrared area on the insulator to be cleaned, obtaining the temperature corresponding to the abnormal infrared area; If the temperature corresponding to the infrared abnormal area is greater than or equal to the preset temperature, the insulator to be cleaned in the infrared abnormal area is marked as a damaged part and processed through an emergency procedure; If the temperature corresponding to the infrared abnormal area is lower than the preset temperature, the cleaning module is controlled to flush the infrared abnormal area on the insulator to be cleaned.

8. The comprehensive live cleaning and maintenance method for electric power equipment according to claim 7 is characterized in that: The drone module is equipped with a sun visor, and the second control mode further includes: The drone module is controlled to move to a second preset position so as to shade the insulator to be cleaned through the sun visor, and then infrared image parameters of the insulator to be cleaned are obtained.

9. The comprehensive live cleaning and maintenance method for electric power equipment according to claim 7, characterized in that: The emergency procedures include: The maintenance personnel are informed of the location information of the damaged part.

10. The comprehensive live cleaning and maintenance method for electric power equipment according to claim 7, characterized in that: The comprehensive live cleaning and maintenance applicable to electric power equipment also includes a third acquisition module, and the third acquisition module is used to acquire infrared image parameters of the insulator to be cleaned.

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