A comprehensive live cleaning and maintenance method applicable to power equipment

Abstract

The present invention relates to the technical field of substation cleaning, and specifically relates to a comprehensive live cleaning and maintenance method applicable to power equipment, which is mainly completed by a comprehensive live cleaning and maintenance system. The comprehensive live cleaning and maintenance system includes a cleaning module and a drone module. The comprehensive live cleaning and maintenance method includes the following steps: obtaining the first image parameters of the insulator to be cleaned; determining the type of the insulator to be cleaned according to the first image parameters of the insulator to be cleaned; if it is obtained that the insulator to be cleaned belongs to the first target type, controlling the cleaning module and the drone module in the first control mode, and if it is obtained that the insulator to be cleaned belongs to the second target type, controlling the cleaning module and the drone module in the second control mode. The comprehensive live cleaning and maintenance method applicable to power equipment provided by the present invention can reasonably select the control mode according to the physical parameters of the insulator, and while being able to clean the dirt targeted, improve the cleaning efficiency and cleaning effect.

Description

Technical Field

[0001] The present invention relates to the technical field of substation cleaning, and particularly to a comprehensive live cleaning and maintenance method applicable to power equipment. Background Art

[0002] Insulators operating outdoors in the power system are exposed to nature for a long time. Especially in industrial, coastal and saline-alkali areas, affected by industrial waste gas, seawater or natural salts and alkalis, dust, etc., a certain degree of dirt accumulation usually forms on the surface of the insulators; for contaminated insulators, in dry climate conditions, the resistance of the dirt layer is very large, and it poses little danger to the operation of the power system. However, when encountering humid climate conditions such as fog and rain, the dirt layer on the surface of the insulator is wetted, 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 ratio designed for the insulator is insufficient or the insulators used do not meet the dirt requirements, dirt flashover will surely occur; because the reclosing success rate after dirt flashover tripping is very low, dirt flashover of insulators is likely to develop into a large-scale and long-term malignant power outage accident. Therefore, the harm of dirt flashover is extremely great and it 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] Currently, the main method for removing dirt from insulators is to regularly manually hold a water gun to wash the insulators. This method has low safety and high operation intensity; to improve this situation, in related technologies, such as Chinese Patent CN104834293B, a visual aiming system for a substation water flushing robot is disclosed. When the visual aiming system for the substation water flushing robot is in use, a red light spot is projected at the position to be flushed through a rangefinder installed above the rear of the water gun, and the position of the red spot in the on-site image is automatically identified using a color recognition algorithm. The flushing position and distance information of the water gun are fed back to the flushing robot controller to control the movement of the robot and the water gun to be located at the specified position, thereby realizing the visual aiming control of the substation water flushing robot.

[0004] When the existing substation insulator cleaning system cleans insulators, it only uses a single position index as a reference, and the rigor is relatively low. It does not comprehensively consider the type of insulator, the position of the dirt, the similarity between the dirt color and the background color, and the similarity between the insulator color and the dirt color, resulting in the same cleaning method being adopted for different insulators. As a result, it is neither possible to clean the dirt targeted nor 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 applicable to power equipment for the problems of low cleaning efficiency and poor cleaning effect existing in the current cleaning process of substation insulators.

[0006] The above object is achieved by the following technical solutions:

[0007] A comprehensive live cleaning and maintenance method applicable to power equipment is mainly completed in cooperation with a comprehensive live cleaning and maintenance system applicable to power equipment. The comprehensive live cleaning and maintenance system applicable to power equipment includes a cleaning module and a drone module; the comprehensive live cleaning and maintenance method applicable to power equipment includes the following steps:

[0008] Obtain the first image parameters of the insulator to be cleaned;

[0009] Determine the type of the insulator to be cleaned according to the first image parameters of the insulator to be cleaned;

[0010] If the insulator to be cleaned belongs to the first target type, control the cleaning module and the drone module in the first control mode to clean the insulator to be cleaned;

[0011] If the insulator to be cleaned belongs to the second target type, control the cleaning module and the drone module in the second control mode to clean the insulator to be cleaned.

[0012] Further, the first target type is that the insulator to be cleaned is a transparent insulator; a background board is carried on the drone module, and the background board has a preset color; the first control mode includes:

[0013] Judge whether there is dirt on the insulator to be cleaned according to the first image parameters of the insulator to be cleaned;

[0014] If there is dirt on the insulator to be cleaned, obtain the distribution position of the dirt on the insulator to be cleaned;

[0015] Control the cleaning module to clean the dirt on the insulator to be cleaned;

[0016] Control the drone module to move to the first preset position, and obtain the second image parameters of the insulator to be cleaned with the background board as the background;

[0017] Judge whether there is remaining dirt on the insulator to be cleaned according to the second image parameters of the insulator to be cleaned;

[0018] If there is remaining dirt on the insulator to be cleaned, clean the remaining dirt on the insulator to be cleaned according to the first cleaning procedure or the second cleaning procedure.

[0019] Further, the first cleaning procedure includes:

[0020] Controlling the cleaning module to clean the dirt on the insulator to be cleaned;

[0021] Obtaining third image parameters of the insulator to be cleaned with the background board as the background;

[0022] Judging whether there is still remaining dirt on the insulator to be cleaned according to the third image parameters of the insulator to be cleaned;

[0023] If there is still remaining dirt on the insulator to be cleaned, controlling the cleaning module to move to the other side of the insulator to be cleaned and cleaning the dirt on the insulator to be cleaned.

[0024] Further, the second cleaning procedure includes:

[0025] Obtaining the distance L1 between the cleaning module and the cable where the insulator to be cleaned is located;

[0026] Obtaining the distance L2 between the cleaning module and the dirt;

[0027] 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, controlling the cleaning module to clean the dirt on the insulator to be cleaned;

[0028] 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, controlling the cleaning module to move to the other side of the insulator to be cleaned and cleaning the dirt on the insulator to be cleaned.

[0029] Further, the comprehensive live cleaning and maintenance for applicable power equipment further includes a second acquisition module, and the second acquisition module is used to acquire 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.

[0030] Further, the second target type is that the insulator to be cleaned is an opaque insulator; the second control mode includes:

[0031] Obtaining the color of the insulator to be cleaned;

[0032] If the color of the insulator to be cleaned is black, controlling the cleaning module to clean the insulator to be cleaned;

[0033] If the color of the insulator to be cleaned is other colors, determine whether there is dirt of other colors on the insulator to be cleaned except the color of the insulator to be cleaned according to the first image parameter of the insulator to be cleaned;

[0034] If there is dirt of other colors on the insulator to be cleaned except the color of the insulator to be cleaned, control the cleaning module to clean the dirt on the insulator to be cleaned.

[0035] Further, the second control mode further includes:

[0036] Obtain the infrared image parameter of the insulator to be cleaned;

[0037] Judge whether there is an infrared abnormal area on the insulator to be cleaned according to the infrared image parameter of the insulator to be cleaned;

[0038] If there is an infrared abnormal area on the insulator to be cleaned, obtain the temperature corresponding to the infrared abnormal area;

[0039] If the temperature corresponding to the infrared abnormal area is greater than or equal to the preset temperature, mark the insulator to be cleaned where the infrared abnormal area is located as a damaged part and process it through an emergency procedure;

[0040] If the temperature corresponding to the infrared abnormal area is less than the preset temperature, control the cleaning module to flush the infrared abnormal area on the insulator to be cleaned.

[0041] Further, a sunshade is carried on the drone module, and the second control mode further includes:

[0042] Control the drone module to move to a second preset position to shade the insulator to be cleaned through the sunshade, and then obtain the infrared image parameter of the insulator to be cleaned.

[0043] Further, the emergency procedure includes:

[0044] Notify the maintenance personnel of the location information of the damaged part.

[0045] Further, the comprehensive live cleaning and maintenance of the applicable power equipment further includes a third acquisition module, and the third acquisition module is used to acquire the infrared image parameter of the insulator to be cleaned.

[0046] The beneficial effects of the present invention are:

[0047] The present invention relates to a comprehensive live cleaning and maintenance method applicable to power equipment, which is mainly completed in cooperation with a comprehensive live cleaning and maintenance system applicable to power equipment. The comprehensive live cleaning and maintenance system applicable to power equipment includes a cleaning module and a drone module; during use, first, the first image parameters of the insulator to be cleaned are obtained, and 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 second target type, the cleaning module and the drone module are controlled in the 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 while the dirt can be cleaned targeted, the cleaning efficiency and cleaning effect can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 FIG. is a schematic flow chart of a comprehensive live cleaning and maintenance method applicable to power equipment provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0049] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be 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.

[0050] The serial numbers assigned to the components herein, such as "first", "second", etc., are only used to distinguish the described objects and do not have any sequential or technical meanings. The terms "connection" and "coupling" mentioned herein, unless otherwise specified, both include direct and indirect connections (couplings). In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. are based on the orientation or positional relationships shown in the drawings, and are 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 construed as a limitation to the present invention.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] As Figure 1 shown Figure 1 This is a schematic flowchart of a comprehensive live cleaning and maintenance method for applicable power equipment provided by an embodiment of the present invention. The comprehensive live cleaning and maintenance method for applicable power equipment is set to include the following steps:

[0057] Obtain the first image parameters of the insulator to be cleaned;

[0058] Determine the type of the insulator to be cleaned according to the first image parameters of the insulator to be cleaned;

[0059] If the insulator to be cleaned belongs to the first target type, control the cleaning module and the drone module in the first control mode to clean the insulator to be cleaned;

[0060] If the insulator to be cleaned belongs to the second target type, control the cleaning module and the drone module in the second control mode to clean the insulator to be cleaned.

[0061] Specifically in this embodiment, for the convenience of obtaining the first image parameters of the insulator to be cleaned, the comprehensive live cleaning and maintenance system for applicable power equipment is also set to include a first acquisition module. The first acquisition module can be set as a photographing and video recording device; exemplarily, the first acquisition module can be set as a camera. The camera is installed on the working platform during installation and is connected to the controller by a wired or wireless method.

[0062] Taking the connection method of the communication connection as a Wi-Fi connection as an example, the controller scans the wireless signal of the Wi-Fi hotspot (which can also be called 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 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.

[0063] It can be understood that before processing the first image parameters, signal processing techniques such as filtering and gain adjustment can also be used to enhance the features in the image, and image processing techniques can also be used to denoise the image to improve the image quality, so as to further improve the accuracy of determining the presence of dirt and the location of dirt distribution.

[0064] More specifically, the types of insulators to be cleaned include transparent insulators and opaque insulators. Among them, transparent insulators are usually made of glass, polycarbonate (PC), or acrylic materials, which are used to support cables and insulate them; opaque insulators are usually made of porcelain or composite materials. These materials have high mechanical strength, can withstand large mechanical stresses, and porcelain insulators and some composite insulators have good weather resistance and can maintain stable performance under harsh weather conditions.

[0065] More specifically, since both transparent insulators and opaque insulators are used outdoors and are affected by industrial waste gases, seawater, or natural salts, alkalis, dust, bird droppings, etc., a certain degree of dirt accumulation usually forms on the surface of the insulators. The existing cleaning method is to clean the insulators as a whole, which not only takes a long time but also easily causes waste of insulating cleaning liquid, thus increasing the cleaning cost; moreover, the colors of these dirt are diverse. On the one hand, when judging the dirt on transparent insulators, due to the influence of the background color, misjudgment is likely to occur, making it impossible to distinguish the specific location and shape of the dirt, and thus unable to clean the dirt targeted; demonstratively, when bird droppings adhere to a transparent insulator, and the color of bird droppings is generally white, when the sky is used as the background, the bird droppings may blend in with white clouds or the white sky, resulting in a situation where it is judged that there is no dirt, affecting the cleaning process; on the other hand, when judging the dirt on opaque insulators, due to the influence of the color of the opaque insulators, misjudgment is likely to occur, making it impossible to distinguish the specific location and shape of the dirt, and thus unable to clean the dirt targeted; demonstratively, when plant pollen adheres to an opaque insulator, the color of plant pollen is generally yellow, orange, or light green. When the opaque insulator is yellow, orange, or light green, the plant pollen will blend in with the opaque insulator, resulting in a situation where it is judged that there is no dirt, affecting the cleaning process.

[0066] Therefore, to avoid waste of insulating cleaning liquid and ensure the normal progress of the cleaning process, it is necessary to adopt different cleaning methods for different types of insulators.

[0067] During the use process, first, after a field inspection of the environment to be cleaned manually, a preset path is set and input into the controller. Then, the crawler-type hydraulic drive mobile platform is controlled by the controller to move along the preset path. During the movement of the crawler-type hydraulic drive mobile platform, when the crawler-type hydraulic drive mobile platform moves near the insulator (the cleaning point can be determined through the previous inspection), first, the first image parameters of the insulator to be cleaned are obtained 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 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 signals to the moving arm and the water pump. The moving arm drives the nozzle to move along a preset trajectory (when the insulator is placed horizontally, the moving arm drives the nozzle to move horizontally; when the insulator is placed vertically, the moving arm drives the nozzle to move vertically; when the insulator is placed obliquely, the moving arm drives the nozzle to move obliquely). At the same time, the water pump sucks 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. Thus, the control mode can be reasonably selected according to the physical parameters of the insulator, improving the cleaning efficiency and cleaning effect while being able to clean the dirt targeted.

[0068] In some embodiments, the first target type is set such that the insulator to be cleaned is a transparent insulator; a background board with a preset color is carried on the drone module; the first control mode is set to include:

[0069] According to the first image parameters of the insulator to be cleaned, determine whether there is dirt on the insulator to be cleaned;

[0070] If there is dirt on the insulator to be cleaned, obtain the distribution position of the dirt on the insulator to be cleaned;

[0071] Control the cleaning module to clean the dirt on the insulator to be cleaned;

[0072] Control the drone module to move to the first preset position and obtain the second image parameters of the insulator to be cleaned with the background board as the background;

[0073] According to the second image parameters of the insulator to be cleaned, determine whether there is remaining dirt on the insulator to be cleaned;

[0074] If there is remaining dirt on the insulator to be cleaned, clean the remaining dirt on the insulator to be cleaned according to the first cleaning procedure or the second cleaning procedure.

[0075] Specifically in this embodiment, the preset color is set to a color other than white (sky / white cloud / seasalt mist / ), mineral deposits, black (particulates such as soot and carbon black), gray (particulates such as soot and carbon black / mineral deposits / oils and greases / seasalt mist), brown (dust and soil), yellow (plant pollen / sulfur soot), green (plant pollen), orange (plant pollen); exemplarily, the preset color can be set to purple or red.

[0076] 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 unmanned aerial vehicle is controlled to move to a 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. Then, based on the second image parameters of the insulator to be cleaned, it is determined whether there is remaining dirt on the insulator to be cleaned. If there is remaining dirt on the insulator to be cleaned, it means there is dirt on the insulator that is the same color as the background, and then the remaining dirt on the insulator to be cleaned is cleaned according to the first cleaning procedure or the second cleaning procedure.

[0077] It can be understood that before processing the second image parameters, signal processing techniques such as filtering and gain adjustment can also be used to enhance the features in the image, and image processing techniques can also be used to denoise the image to improve the image quality, thereby further improving the accuracy of determining the presence of dirt and the distribution position of dirt.

[0078] In a further embodiment, the first cleaning procedure is set to include:

[0079] Controlling the cleaning module to clean the dirt on the insulator to be cleaned;

[0080] Obtaining the third image parameters of the insulator to be cleaned with the background board as the background;

[0081] Based on the third image parameters of the insulator to be cleaned, it is determined whether there is still remaining dirt on the insulator to be cleaned;

[0082] If there is still remaining 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 clean the dirt on the insulator to be cleaned.

[0083] 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. However, the insulating cleaning liquid sprayed by the nozzle can only clean the side of the insulator close to the nozzle. To ensure thorough cleaning of the dirt, it is set that the cleaning module first cleans the dirt on the insulator to be cleaned, then obtains the third image parameter of the insulator to be cleaned through the camera with the background board as the background, and then judges whether there is still remaining dirt on the insulator to be cleaned according to the third image parameter of the insulator to be cleaned. If there is still remaining dirt on the insulator to be cleaned, it means that the dirt exists on the side of the insulator far from the nozzle, 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.

[0084] It can be understood that before processing the third image parameter, signal processing techniques such as filtering and gain adjustment can also be used to enhance the features in the image, and image processing techniques can also be used to denoise the image to improve the image quality, so as to further improve the accuracy of determining the existence of dirt and the location of dirt distribution.

[0085] In other embodiments, the second cleaning program is set to include:

[0086] Obtain the distance L1 between the cleaning module and the cable where the insulator to be cleaned is located;

[0087] Obtain the distance L2 between the cleaning module and the dirt;

[0088] 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, then control the cleaning module to clean the dirt on the insulator to be cleaned;

[0089] 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, then control the cleaning module to move to the other side of the insulator to be cleaned and clean the dirt on the insulator to be cleaned.

[0090] Specifically in this embodiment, since the insulator to be cleaned is a transparent insulator, the dirt may be on the side of the insulator close to the nozzle or on the side of the insulator far from the nozzle. However, the insulating cleaning liquid sprayed by the nozzle can only clean the side of the insulator close to the nozzle. To ensure thorough cleaning of the dirt and reduce waste of the 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 the dirt is on the side of the insulator close to the nozzle, and then the controller can directly control the cleaning module 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 the dirt is on the side of the insulator far from the nozzle. At this time, the controller can control the cleaning module to move to the other side of the insulator to be cleaned and clean the dirt on the insulator to be cleaned.

[0091] In a further embodiment, the comprehensive live cleaning and maintenance applicable to electrical equipment is further provided with a second acquisition module, and the second acquisition module is used to acquire 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.

[0092] 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. The laser rangefinder is installed on the working platform and can emit laser pulses and receive the reflected laser pulses, and calculate the distance by measuring the round-trip time of the laser.

[0093] In some other embodiments, the second target type is that the insulator to be cleaned is an opaque insulator; the second control mode is set to include:

[0094] Obtain the color of the insulator to be cleaned;

[0095] If the color of the insulator to be cleaned is black, then control the cleaning module to clean the insulator to be cleaned;

[0096] If the color of the insulator to be cleaned is other colors, judge whether there is dirt of other colors except 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;

[0097] If there is dirt of other colors except the color of the insulator to be cleaned on the insulator to be cleaned, then control the cleaning module to clean the dirt on the insulator to be cleaned.

[0098] Specifically in this embodiment, if the color of the insulator to be cleaned is black, considering that black has light absorption properties, under the irradiation of sunlight, the black insulator to be cleaned has a higher temperature than the insulators to be cleaned of other colors, making the dirt on it less likely to detach. To ensure thorough cleaning of the dirt, it is set to control the cleaning module to comprehensively clean the black insulator to be cleaned; if the color of the insulator to be cleaned is other colors, since the dirt is easier to distinguish on it, to reduce the waste of the insulating cleaning liquid, it is set to judge whether there is dirt of other colors except 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 except the color of the insulator to be cleaned on the insulator to be cleaned, the controller is used to control the cleaning module to clean the dirt on the insulator to be cleaned.

[0099] In a further embodiment, to avoid the influence on the cleaning effect when the dirt color is the same as the color of the insulator to be cleaned, the second control mode is further set to include:

[0100] Obtain the infrared image parameter of the insulator to be cleaned;

[0101] According to the infrared image parameter of the insulator to be cleaned, judge whether there is an infrared abnormal area on the insulator to be cleaned;

[0102] If there is an infrared abnormal area on the insulator to be cleaned, obtain the temperature corresponding to the infrared abnormal area;

[0103] If the temperature corresponding to the infrared abnormal area is greater than or equal to the preset temperature, mark the insulator to be cleaned where the infrared abnormal area is located as a damaged part and process it through an emergency procedure;

[0104] If the temperature corresponding to the infrared abnormal area is less than the preset temperature, control the cleaning module to flush the infrared abnormal area on the insulator to be cleaned.

[0105] Specifically in this embodiment, since the materials of the insulator and the dirt are different, their thermal conductivities and heat capacities are also different. Therefore, under the same environmental conditions, the temperatures on the surfaces of the insulator and the dirt will be different. Therefore, the insulator and the dirt can be distinguished by the infrared image parameter of the insulator to be cleaned; the infrared abnormal area is set as an area where the color difference from the surrounding pixel blocks is relatively large; when there is an infrared abnormal area on the insulator to be cleaned, it indicates that there is an abnormal situation on the insulator to be cleaned. Since this abnormal situation may be caused by the presence of dirt or by the defects of the insulator itself, in order to ensure thorough cleaning of the dirt and timely control the situation of the insulator, it is necessary to handle it in different cases.

[0106] More specifically, the preset temperature is the set temperature, which can be comprehensively set according to the temperatures when different types of dirt appear on the insulator, when cracks appear, and when damaged parts appear; 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 indicates that the situation corresponding to the infrared abnormal area is that there are cracks or damaged parts on the insulator. At this time, to avoid the occurrence of a greater accident, the to-be-cleaned insulator where the infrared abnormal area is located is marked as a damaged part and processed through an emergency procedure; if the temperature corresponding to the infrared abnormal area is less than 65 °C, it indicates that the situation corresponding to the infrared abnormal area is that there is dirt of the same color on the insulator. At this time, the controller can control the cleaning module to flush the infrared abnormal area on the to-be-cleaned insulator.

[0107] In a further embodiment, in the case of strong sunlight and long-term irradiation, the dirt on the to-be-cleaned insulator may have abnormal temperature rise, resulting in misjudging it as a defect in the insulator itself, and then mislabeling the to-be-cleaned insulator as a damaged part, thus neither being able to clean the dirt thoroughly nor causing waste of manpower and material resources; to solve this problem, a sunshade is carried on the drone module, and the second control mode is further set to include:

[0108] Controlling the drone module to move to a second preset position to shade the to-be-cleaned insulator through the sunshade, and then obtaining the infrared image parameters of the to-be-cleaned insulator.

[0109] Specifically in this embodiment, the sunshade is carried on the second drone; the second preset position is set between the to-be-cleaned insulator and the sun, so that the sunshade can block the direct sunlight from shining on the to-be-cleaned insulator and reduce the abnormal temperature rise of the to-be-cleaned insulator.

[0110] In other embodiments, the emergency procedure is set to include:

[0111] Notifying the maintenance personnel of the location information of the damaged part.

[0112] Specifically in this embodiment, when an abnormal situation occurs in the to-be-cleaned insulator, through the setting of the emergency procedure, the maintenance personnel can timely understand the damaged part and its location information, which is convenient for timely repairing or replacing the damaged part and avoiding the occurrence of a greater accident.

[0113] In other embodiments, the comprehensive live cleaning and maintenance applicable to power equipment is further set to include a third acquisition module, and the third acquisition module is used to acquire the infrared image parameters of the to-be-cleaned insulator.

[0114] Specifically in this embodiment, the first acquisition module can be set as a camera with an infrared mode, so as to be able to acquire both the first image parameters and the infrared image parameters; the third acquisition module can be set to directly retrieve the image taken by the camera in the infrared mode, or can be set as an infrared camera. The infrared camera is installed on the working platform and is connected to the controller by a wired or wireless method.

[0115] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, 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, it should be considered as the scope recorded in this specification.

[0116] The above-described embodiments only represent several implementation manners of the present invention. The description is relatively specific and detailed, but it cannot be understood as a limitation on the scope of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these 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; 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; 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; 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.

2. The comprehensive live cleaning and maintenance method for electric power equipment according to claim 1 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.

3. The comprehensive live cleaning and maintenance method for electric power equipment according to claim 1 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.

4. The comprehensive live cleaning and maintenance method for electric power equipment according to claim 3 is characterized in that: The comprehensive live cleaning and maintenance system 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.

5. The comprehensive live cleaning and maintenance method for electric power equipment according to claim 1 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.

6. The comprehensive live cleaning and maintenance method for electric power equipment according to claim 5 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.

7. The comprehensive live cleaning and maintenance method for electric power equipment according to claim 5 is characterized in that: The emergency procedures include: The maintenance personnel are informed of the location information of the damaged part.

8. The comprehensive live cleaning and maintenance method for electric power equipment according to claim 5 is characterized in that: The comprehensive live cleaning and maintenance system applicable to electric power equipment further comprises 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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