Foreign matter detection and removal equipment and foreign matter removal method for extra-high voltage combined electrical apparatus

Abstract

The invention belongs to the field of laser cleaning, and provides foreign matter detecting and removing equipment and method for an ultra-high voltage combined electric appliance. The chassis fixing mechanism is fixedly connected with the foreign matter detecting mechanism, the foreign matter removing mechanism, the auxiliary positioning mechanism, the lighting mechanism, the walking mechanism and the communication mechanism. The foreign matter removing mechanism comprises an electric holder and a laser resonator, and the laser resonator is arranged on the electric holder; the auxiliary positioning mechanism is arranged on the periphery of the chassis fixing mechanism; the communication mechanism can transmit the working condition of the device foreign matter detection and removal equipment back to the external control mechanism, and can receive an instruction of the external control mechanism and transmit the instruction to a corresponding mechanism for response; and the external control mechanism can display the information returned by the communication mechanism and can give an instruction. Compared with the prior art, the foreign matter detection and removal equipment for the combined electric appliance has the advantages that the automation technology is improved, and foreign matter removal and cleaning are thorough.

Description

Technical Field

[0001] The present invention belongs to the field of laser cleaning, and more specifically, relates to a foreign body detection and removal device for an ultra-high voltage combined electrical appliance. The present invention also relates to a foreign body removal method for a combined electrical appliance. Background Art

[0002] Gas insulated switchgear or enclosed combination electrical appliances (referred to as combination electrical appliances), combination electrical appliances are generally composed of units that realize various functions. They enclose circuit breakers, disconnectors, grounding switches, current and voltage transformers, lightning arresters and connecting busbars in metal shells, and are filled with SF6 gas with excellent arc extinguishing and insulation properties as insulation between phases and to the ground, so they are also called SF6 fully enclosed combination electrical appliances. Combination electrical appliances are one of the key equipment in the construction of high-voltage and ultra-high voltage power grids. Compared with traditional open-type distribution devices, combination electrical appliances have the advantages of compact structure, small footprint, large capacity, reliable operation, easy maintenance, and strong adaptability. They highly integrate the primary equipment of substations and have been widely used in power grids of 110kV and above. All Chinese ultra-high voltage AC transmission systems use combination electrical appliances.

[0003] With the expansion of the scale of new smart grids, the increase of grid voltage levels, the number and models of combined electrical equipment are increasing, and various problems have occurred in operation, affecting the safe and reliable operation of the grid and the efficiency of power transmission. Among the operating mechanism failures, internal discharge is the main type of failure of combined electrical appliances. During the manufacturing, transportation and installation of combined electrical appliances, due to the manufacturing process, collision, installation and inadequate inspection, components may be damaged or foreign matter may remain inside, which may easily cause discharge during the operation of the equipment. The existing methods for cleaning foreign matter in combined electrical appliances are mostly to manually wipe the surface and interface of the combined electrical appliances with non-woven fabric soaked in ethanol or acetone, and then use industrial-grade vacuum cleaners for dust removal. Due to space limitations, there are often dead corners for cleaning. Because the internal hidden dangers of combined electrical appliances are not easy to detect, the location and cause of the fault are difficult to determine after a fault occurs; the power outage range during fault inspection and maintenance is larger than that of conventional open electrical equipment, and the disassembly inspection and maintenance take a long time. Therefore, by using technical means to comprehensively remove foreign matter from combined electrical appliances and prevent and resolve safety hazards outside the operation stage of electrical equipment, the failure rate can be effectively reduced and operation and maintenance costs can be saved. Therefore, there is an urgent need to remove foreign matter from combination electrical appliances at the source to prevent them from entering the grid with defects. Summary of the invention

[0004] The purpose of the present invention is to provide an ultra-high voltage combined electrical appliance foreign body detection and removal device to solve the problem of lack of automated means for combined electrical appliance foreign body detection and removal and incomplete cleaning of existing combined electrical appliance foreign body removal methods.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: an ultra-high voltage combined electrical appliance foreign body detection and removal device, comprising a chassis fixing mechanism, a foreign body detection mechanism, a foreign body removal mechanism, an auxiliary positioning mechanism, a lighting mechanism, a traveling mechanism, a communication mechanism and an external control mechanism; the chassis fixing mechanism is in the shape of a bamboo tube and is arranged along the axis direction of the long busbar of the combined electrical appliance; the chassis fixing mechanism is fixedly connected with the foreign body detection mechanism, the foreign body removal mechanism, the auxiliary positioning mechanism, the lighting mechanism, the traveling mechanism and the communication mechanism; the foreign body detection mechanism comprises an auxiliary camera and a main camera, the auxiliary camera is arranged around the chassis fixing mechanism, and the main camera is arranged on an electric pan-tilt platform and is arranged in parallel with the laser resonator. The foreign body removal mechanism includes an electric pan-tilt platform and a laser resonator, and the laser resonator is arranged on the electric pan-tilt platform; the auxiliary positioning mechanism is arranged around the chassis fixing mechanism; the lighting mechanism is arranged around the chassis fixing mechanism and is arranged in parallel with the auxiliary camera and the auxiliary positioning mechanism; the walking mechanism is arranged at both ends of the chassis fixing mechanism, and a walking mechanical arm is arranged around it. A pair of parallel rubber wheels are provided at the end of the walking mechanical arm, which moves along the surface of the long busbar; the communication mechanism can transmit the working status of the foreign body detection and removal equipment of the group electrical appliance to the external control mechanism, and can receive the command of the external control mechanism and transmit it to the corresponding mechanism for response; the external control mechanism can display the information returned by the communication mechanism and can issue commands.

[0006] Furthermore, the chassis fixing mechanism includes a walking end connecting chassis mechanism, an auxiliary equipment connecting section mechanism and a foreign object removal mechanism connecting section mechanism. The walking end connecting chassis mechanism is connected to the auxiliary equipment connecting section mechanism, and the two remain relatively stationary regardless of how other mechanisms move; the auxiliary equipment connecting section mechanism is connected to the lighting mechanism, the auxiliary positioning mechanism, the auxiliary camera and the sensor group in the foreign object detection mechanism, and is connected to the foreign object removal mechanism connecting section mechanism through an electric slip ring; the foreign object removal mechanism connecting section mechanism can independently rotate at all angles under the premise that the auxiliary equipment connecting section mechanism is stationary.

[0007] Furthermore, the foreign object detection mechanism includes an auxiliary camera that follows the movement of the auxiliary equipment connecting section mechanism, and its field of view covers the inner surface of the combination electrical appliance casing within the movement limit; the foreign object detection mechanism includes a main camera that follows the laser resonator and moves synchronously, and its field of view covers the surface of the long busbar of the combination electrical appliance and the inner surface of the combination electrical appliance casing within the movement limit.

[0008] Furthermore, the image taken by the foreign object detection mechanism uses a machine vision algorithm to automatically identify the foreign object parameters in the image without manual intervention. The identified foreign object parameters include the surface type where the foreign object is located, the material of the foreign object, the size of the foreign object, the shape of the foreign object, the connection method between the foreign object and the surface, the position of the foreign object relative to the combination electrical appliance, and the distance between the foreign object and the laser resonator.

[0009] Furthermore, the electric pan / tilt stage in the foreign matter removal mechanism has a first rotating mechanism and a second rotating mechanism. The first rotating mechanism can drive the frame to rotate at full angles and can control the heading angle of the laser resonator; the second rotating mechanism controls the pitch movement of the laser resonator housing and can control the pitch angle of the laser resonator.

[0010] Furthermore, the laser resonator in the foreign matter removal mechanism adjusts the parameters of the emitted laser, including the diffraction limit factor, the beam parameter product, the divergence angle, single mode and multi-mode.

[0011] Furthermore, the auxiliary positioning mechanism can project a visible grid around the inner surface of the combination electrical appliance housing within the field of view of the auxiliary camera, and can detect the position of the laser resonator relative to the combination electrical appliance through a machine vision algorithm.

[0012] Furthermore, the lighting mechanism is located on two auxiliary equipment connecting section mechanisms on both sides of the foreign object removal mechanism connecting section mechanism. The lighting device can asynchronously control the brightness and brightness of each light source provided on the auxiliary equipment connecting section mechanism, and can illuminate the entire field of view of the auxiliary camera and the main camera within the motion limit, so as to meet the working conditions of the machine vision algorithm.

[0013] Furthermore, the auxiliary equipment integration box is arranged on the auxiliary equipment connection section mechanism, and the auxiliary equipment integration box includes an auxiliary camera, an auxiliary positioning mechanism, a lighting mechanism and a sensor group.

[0014] Furthermore, the walking mechanism is located on the walking end connected to the chassis mechanism, and the walking mechanism is provided with two groups of walking mechanical arms, each group includes three independent walking mechanical arms.

[0015] Furthermore, the walking robot arm includes a transmission joint and a guide joint. The elbow transmission joint can control the angle between the upper arm and the lower arm; the guide joint can control the distance and direction between the two parallel rubber wheels at the end of the walking robot arm, which can meet the movement of the ultra-high voltage combined electrical foreign body detection and removal equipment on long busbars of different diameters.

[0016] Furthermore, the sensor group includes a temperature sensor, an air pressure sensor, and a humidity sensor, which can collect temperature, air pressure and humidity data in the combined electrical appliance in real time.

[0017] Furthermore, the communication mechanism can transmit image information of the main camera, auxiliary camera, position of the laser resonator relative to the combination electrical appliance, roll angle, heading angle, pitch angle, temperature, air pressure and humidity data back to the external control mechanism.

[0018] Furthermore, the external control mechanism can issue commands through the communication mechanism to control the position of the laser resonator relative to the combined electrical appliance, including the roll angle, heading angle, and pitch angle; and can control the movement of the ultra-high voltage combined electrical appliance foreign body detection and removal equipment along the busbar.

[0019] Furthermore, the auxiliary positioning mechanism can identify area information during the operation of the equipment, the area information including the cleaned area and the area to be cleaned in the combination appliance, and transmit the area information back to the external control mechanism, which can issue reasonable motion commands to the walking mechanism based on the area information.

[0020] A method for removing foreign matter from a combined electrical appliance is implemented based on a foreign matter detection and removal device for an ultra-high voltage combined electrical appliance. The method for removing foreign matter from a combined electrical appliance comprises the following steps:

[0021] S1: The lighting mechanism and the auxiliary positioning mechanism work, the auxiliary camera and the main camera record the visible grid around the inner surface of the combination electrical appliance housing, and adjust the brightness of the lighting device based on the image transmitted back to the external control mechanism, obtain the position information of the laser resonator relative to the combination electrical appliance, and determine the area to be cleaned;

[0022] S2: The laser resonator emits a calibration beam, the main camera records the beam irradiation spot, adjusts the relative position of the laser resonator and the combination electrical appliance according to the size of the spot, and calibrates the laser resonator according to the adjusted position;

[0023] S3: The auxiliary camera works, recording the inner surface of the combination electrical appliance housing and detecting foreign objects through the machine vision algorithm; the main camera works, the connecting section of the foreign object removal mechanism rotates, recording the surface of the combination electrical appliance long busbar and detecting foreign objects through the machine vision algorithm;

[0024] S4: If foreign matter is found, the auxiliary positioning mechanism works to highlight the area to be cleaned containing foreign matter with a laser grid and record the position. The auxiliary camera transmits the image back to the external control mechanism, which performs preliminary calculations and transmits back the roll angle, heading angle, and pitch angle, and controls the main camera's field of view to align with the area to be cleaned containing foreign matter.

[0025] S5: The main camera and the auxiliary camera record the area to be cleaned containing foreign matter, and transmit the foreign matter parameters to the external control mechanism. The laser resonator is calibrated again, and the external control mechanism performs accurate calculations and obtains the optimal laser parameters based on the foreign matter parameters and the data transmitted back by the sensor group.

[0026] S6: The communication mechanism transmits back the precise roll angle, heading angle, pitch angle and laser parameters to control the operation of the laser resonator;

[0027] S7: The main camera and the auxiliary camera record the cleaning area containing foreign matter, monitor and adjust the laser parameters in real time according to the image, the foreign matter is ablated and gasified, and the surface of the area to be cleaned containing foreign matter becomes flat and smooth;

[0028] S8: After all the areas to be cleaned are completed, the external controller controls the walking device to drive the ultra-high voltage switchgear foreign body detection and removal equipment to move along the long busbar, and determines the next area to be cleaned according to the information sent back by the auxiliary positioning mechanism until the interior of the switchgear is completely cleaned.

[0029] Furthermore, the step S8 further includes the following sub-steps:

[0030] S801: Based on the program pre-stored by the external control mechanism, the UHV switchgear foreign body detection and removal equipment can automatically complete the cleaning of the inside of the switchgear without manual intervention after being installed, including the surface of the switchgear long busbar and the inner surface of the switchgear shell;

[0031] S802: Based on machine vision algorithms, the UHV switchgear foreign object detection and removal equipment can record the location of foreign objects or other potential hazards that cannot be removed by laser during operation, and alert human intervention.

[0032] Compared with the prior art, the present invention can visually detect and remove foreign matter inside the combination electrical appliance through a camera, and automate the cleaning process through a machine vision algorithm. It can monitor and feedback in real time during the cleaning process to obtain the best cleaning effect. Compared with the existing methods of preventing foreign matter from invading combination electrical appliances, which mainly rely on production and installation standardization and additional device suppression, this method starts from the perspective of removing foreign matter. It is more intelligent and efficient than artificial non-woven fabric soaked in organic solvent cleaning, and can completely remove foreign matter from the combination electrical appliance, eliminating the safety hazards of the combination electrical appliance during use from the root. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or the prior art description. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0034] Figure 1 This is a front view of the ultra-high voltage combined electrical appliance foreign body detection and removal device provided by the present invention;

[0035] Figure 2 It is a schematic diagram of the chassis fixing mechanism and the rolling angle in the present invention;

[0036] Figure 3It is a schematic diagram of the foreign matter removal mechanism and the heading angle and pitch angle of the present invention;

[0037] Figure 4 It is a cross-sectional view of the walking mechanism of the present invention;

[0038] Figure 5 It is a cross-sectional view of the auxiliary equipment connecting section mechanism and its connecting mechanism of the present invention.

[0039] In the figure:

[0040] Figure 1 :0 long busbar; 1 chassis fixing mechanism; 11 foreign body removal mechanism connecting section mechanism; 111 electric pan-tilt lower base; 112 electric pan-tilt upper base; 113 first rotating mechanism; 114 frame; 115 second rotating mechanism; 116 laser resonator housing; 1161 laser resonator; 1162 main camera; 21 auxiliary equipment connecting section mechanism; 22 auxiliary equipment integration box; 31 walking end connecting chassis mechanism; 3 foreign body detection mechanism; 311 walking robot arm bottom groove; 32 walking robot arm; 321 shoulder transmission joint; 322 upper arm; 323 elbow transmission joint; 324 lower arm; 325 guide joint; 3251 rubber wheel; 4 communication mechanism; 5 external control mechanism;

[0041] Figure 2 , 3 、4 Repeat the same number Figure 1 , 117 electric pan / tilt; 2 foreign body removal mechanism;

[0042] Figure 2 The axis of the long busbar 0 is taken as the X-axis to establish a geodetic coordinate system, which does not change with the movement of the ultra-high voltage combined electrical foreign body detection and removal equipment; the chassis coordinate system is established with the base 111 under the electric pan / tilt as the origin, and the X′ axis is parallel to the X-axis of the geodetic coordinate system. The chassis coordinate system rotates around its X′ axis as the foreign body removal mechanism connecting section mechanism 11 rotates; the Z′ axis of the chassis coordinate system and the Z axis of the geodetic coordinate system are defined as the rolling angle;

[0043] Figure 3 The PTZ coordinate system is established with the emission direction of the laser resonator as the X″ axis, and the PTZ coordinate system changes with the movement of the laser resonator; in the XY plane projection or when the first rotating mechanism 113 rotates, the angle between the X″ axis of the PTZ coordinate system and the X axis of the earth coordinate system is the heading angle; in the XZ plane projection or when the second rotating mechanism 115 rotates, the angle between the X″ axis of the PTZ coordinate system and the X axis of the earth coordinate system is the pitch angle;

[0044] Figure 5 :00 combined electrical housing; 221 auxiliary camera; 222 auxiliary positioning mechanism; 223 lighting mechanism; 224 sensor group. DETAILED DESCRIPTION

[0045] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0046] In the description of the present invention, it should be noted that if terms indicating orientation or positional relationship such as "upper", "lower", "inside", "back", "all around" etc. appear, they are based on the orientation or positional relationship 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 understood as a limitation on the present invention.

[0047] In addition, in the description of the present invention, unless otherwise clearly defined, the terms "installed", "connected", "connection", and "connector" should be understood in a broad sense. For example, the connection can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, an indirect connection through an intermediate medium, or a connection between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in combination with specific circumstances.

[0048] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0049] Please also read Figures 1 to 5 The ultra-high voltage combined electrical foreign body detection and removal device provided by the present invention is now described. The ultra-high voltage combined electrical foreign body detection and removal device, an ultra-high voltage combined electrical foreign body detection and removal device, comprises a chassis fixing mechanism 1 composed of a foreign body removal mechanism connecting section mechanism 11, an auxiliary device connecting section mechanism 21 and a walking end connecting chassis mechanism 31, a foreign body detection mechanism 3 composed of a main camera 1162 and an auxiliary camera 221, Figure 3 The foreign body removal mechanism 2, the auxiliary positioning mechanism 222, the lighting mechanism 223, Figure 4 The walking mechanism, communication mechanism 4 and external control mechanism 5 shown in the figure, the chassis fixing mechanism 1 is in the shape of a bamboo tube, passes along the axis direction of the long busbar 0 of the combined electrical appliance, and is connected with the foreign matter detection mechanism 3, the foreign matter removal mechanism 2, the auxiliary positioning mechanism 222, the lighting mechanism 223, Figure 4The walking mechanism and the communication mechanism 4 are connected and fixed; the foreign body detection mechanism 3 includes an auxiliary camera 221 and a main camera 1162, the auxiliary camera 221 is arranged around the chassis fixing mechanism, and the main camera 1162 is arranged on the electric pan-tilt platform 117 and arranged in parallel with the laser resonator 1161; the foreign body removal mechanism 2 includes an electric pan-tilt platform 117 and a laser resonator 1161, and the laser resonator 1161 is arranged on the electric pan-tilt platform 117; the auxiliary positioning mechanism 222 is arranged around the chassis fixing mechanism 1; the lighting mechanism 223 is arranged on the chassis The fixing mechanism 1 is arranged around the body and in parallel with the auxiliary camera 221 and the auxiliary positioning mechanism 222; the walking mechanism is arranged at both ends of the chassis fixing mechanism 1, and a walking mechanical arm 32 is arranged around it. A pair of parallel rubber wheels 3251 are provided at the end of the walking mechanical arm 32, which moves along the surface of the long busbar 0; the communication mechanism 4 can transmit the working status of the foreign body detection and removal equipment of the component electrical equipment to the external control mechanism 5, and can receive the instructions of the external control mechanism 5 and transmit them to the corresponding mechanism for response; the external control mechanism 5 can display the information returned by the communication mechanism 4 and can issue commands.

[0050] Compared with the prior art, the beneficial effects of the ultra-high voltage combined electrical appliance foreign body detection and removal device of the present invention are: as the foreign body removal mechanism connecting section mechanism 11 rotates, the electric pan / tilt 117 rotates accordingly, and the present invention can adjust the direction of the laser resonator 1161 and the field of view of the main camera through the first rotating mechanism 113 and the second rotating mechanism 115 in the electric pan / tilt 117, and the independent movement of the three axes can make the laser cleaning range cover the inside of the combined electrical appliance, ensuring that there is no dead angle residue; in addition, the walking mechanism adopts two groups, each group of three walking mechanical arms 32, which can adjust the angles of the upper arm 322 and the lower arm 324 to meet the passing requirements of busbars of different diameters, and can apply sufficient pressure to the busbar 0 through the shoulder transmission joint 321 and the elbow transmission joint 323, ensuring the firm grip of the ultra-high voltage combined electrical appliance foreign body detection and removal device; In addition, the auxiliary positioning mechanism 222 of the present invention has the ability to distinguish regional information, and can meet the foreign matter information location recording and comprehensive laser cleaning requirements of different combination electrical appliances; not only that, the present invention also obtains the visual information and environmental information of the combination electrical appliance in real time through the foreign matter detection mechanism 2 and the sensor 224 group, and completes the cleaning through the program preset by the external control mechanism 5 without manual intervention or only when necessary, manually issuing additional commands through the external control mechanism 5. The machine vision algorithm can distinguish foreign matter information in real time and transmit it back to the external control mechanism 5 and obtain the laser pointing and laser parameters that match the current environment and working conditions, and monitor in real time during the laser cleaning process. The machine vision algorithm expands the detection scenario of the present invention for combination electrical appliances, and solves the technical problems that the existing combination electrical appliance foreign matter removal methods are incomplete and lack of automation.

[0051] In some embodiments, the walking mechanism is realized by a walking robot arm 32, and the walking robot arm 32 is connected to the chassis fixing mechanism 1 through the walking robot arm bottom groove 311, the output of the shoulder transmission joint 321 can drive the upper arm 322 to move, and the end of the upper arm 322 is connected to the elbow transmission joint 323, and the output of the elbow transmission joint 323 can drive the small arm 324 to move, thereby changing the angle between the upper arm 322 and the small arm 324, and then controlling the ends of the three robots to form a circular diameter, so as to adapt to the long busbar 0 of different diameters, and the end of the small arm 324 is connected to the guide joint 325, and the guide joint 325 controls the movement direction of the rubber wheel 3251. The shoulder transmission joint 321, elbow transmission joint 323, and guide joint 325 included in the walking robot arm 32 can ensure that the walking robot arm 32 has three-axis freedom, and the walking mechanism can firmly grasp the long busbar 0 to move, thereby meeting the movement requirements of the ultra-high voltage combined electrical foreign body detection and removal equipment inside the combined electrical appliance.

[0052] Based on the above embodiments, the end mechanism of the walking robot arm 32 adopts any mechanism that can apply pressure to the long busbar 0 without damaging the surface of the long busbar 0. For example, in order to increase the contact area and stability, the parallel rubber wheels 3251 in this embodiment are increased to three or four parallel wheels, or the four wheels are arranged in a rectangular distribution, or other mechanisms are used to replace the rubber wheels 3251, such as a Mecanum wheel structure or an end with negative pressure suction. The robot arm grasping method adopted in this embodiment is that three walking robot arms 32 grasp the busbar, and the grasping method can adopt any A reasonable combination of fulcrum points is intended. For example, in order to increase the recording effect of the main camera 1162 on the long busbar 0, the fulcrum points of the three walking robotic arms are set on the inner wall of the combination electrical appliance casing 00, and two groups of three walking robotic arms in each group support the ultra-high voltage combination electrical appliance foreign matter detection and removal equipment to move through; in this embodiment, the chassis fixing mechanism 1 passes through the long busbar 0 in the way of placing it in the center of the cylindrical structure, and the passing method can also be that the chassis fixing mechanism 1 is set on one side of the YZ section of the cylindrical mechanism formed between the long busbar 0 and the combination electrical appliance casing 00.

[0053] In some embodiments, the auxiliary camera 221 and the main camera 1162 included in the foreign object detection mechanism 3 can be arbitrarily reasonably arranged under the premise of covering the internal field of view of the combined electrical appliance. In this embodiment, there are two groups of auxiliary cameras 221, each group is located at one end of the ultra-high voltage combined electrical appliance foreign object detection and removal device, and is arranged around the auxiliary equipment connecting section mechanism 21, which can effectively improve the efficiency of foreign object detection on the inner wall of the combined electrical appliance housing 00 through the machine vision algorithm. Through the rotation and coordination of the foreign object removal mechanism connecting section mechanism 11 and the first rotating mechanism 113 and the second rotating mechanism 115 of the electric pan-tilt head 117, the field of view of the main camera 1162 can effectively cover the entire interior of the combined electrical appliance; the main camera 1162 and the auxiliary camera 221 record the foreign object at two different angles, effectively improving the accuracy of the machine vision algorithm in distinguishing foreign object information, and accurately deriving the position of the laser resonator 1161 relative to the combined electrical appliance.

[0054] In some embodiments, the laser resonator 1161 is arranged in parallel with the auxiliary camera 221, and a pointer is provided inside to effectively improve the efficiency of laser cleaning while ensuring the laser irradiation area. In this embodiment, the laser resonator 1161 and the main camera 1162 are arranged in parallel, which can effectively improve the pointing accuracy and calibration effect of the laser resonator. During the operation of the laser resonator, the main camera 1162 and the auxiliary camera 221 can effectively record and realize monitoring during cleaning. Based on the above embodiments, an infrared thermal imager can also be provided to jointly implement monitoring with the main camera 1162.

[0055] In some embodiments, the auxiliary positioning mechanism 222 acquires the position information of the laser resonator relative to the combination electrical appliance and performs regional judgment by constructing a three-dimensional real-time map of the combination electrical appliance. In this embodiment, the auxiliary positioning mechanism 222 forms a network line on the inner wall of the combination electrical appliance housing 00 by emitting a visible laser marking line. The main camera 1162 and the auxiliary camera 221 record the laser marking line and identify the position information and perform regional judgment through a machine vision algorithm.

[0056] Based on the above embodiments, the auxiliary positioning mechanism 222 can be placed by a laser radar on the outer edge of the foreign object removal mechanism connecting section mechanism 11 to realize the construction of a three-dimensional real-time map of the internal space of the combination electrical appliance, or a signal generator can be set at the position of the auxiliary positioning mechanism 222, and a receiver can be set on the combination electrical appliance port. The signal generator sends a signal that is reflected by the inner wall of the combination electrical appliance housing 00, and the receiver recognizes the signal and obtains the position information and performs regional judgment based on the signal characteristics.

[0057] In some embodiments, each light source of the lighting mechanism can be asynchronously controlled to turn on and off and the light intensity. In the present embodiment, there are two groups of lighting mechanisms 223, each of which is arranged around the auxiliary equipment connecting section mechanism 21. Setting the light source from two different positions can effectively meet the light source requirements of the main camera 1162 and the auxiliary camera 221. Through asynchronous light source turning on and off and light intensity control, different image effects can be displayed for the same foreign objects in the same position on the recorded image, which can effectively enhance the recognition accuracy of the machine vision algorithm. In the present embodiment, the communication mechanism 4 uses a communication line to connect to the external control mechanism 5 to realize two-way transmission of information, which can also be completed using wireless communication.

[0058] Based on the same inventive idea, another object of the present invention is to propose a method for removing foreign matter from a combined electrical appliance. The method for removing foreign matter from a combined electrical appliance in the present invention is implemented based on the above-mentioned ultra-high voltage combined electrical appliance foreign matter detection and removal device. Compared with the prior art, the present invention has all the advantages of the above-mentioned ultra-high voltage combined electrical appliance foreign matter detection and removal device, which will not be described here.

[0059] A method for removing foreign matter from a combined electrical appliance is implemented by using a foreign matter detection and removal device for an ultra-high voltage combined electrical appliance. The method for removing foreign matter from a combined electrical appliance comprises the following steps:

[0060] S1: The lighting mechanism 223 and the auxiliary positioning mechanism 222 work, the auxiliary camera 221 and the main camera 1162 record the visible grid around the inner surface of the combination electrical appliance housing, and adjust the brightness of the lighting device based on the image transmitted back to the external control mechanism, obtain the position information of the laser resonator 1161 relative to the combination electrical appliance, and determine the area to be cleaned;

[0061] S2: The laser resonator 1161 emits a calibration beam, and the main camera 1162 records the beam irradiation spot. The relative position of the laser resonator 1161 and the combination electrical appliance is adjusted according to the size of the spot, and the laser resonator 1161 is calibrated according to the adjusted position;

[0062] S3: The auxiliary camera 221 works to record the inner surface of the combination electrical appliance housing and detect foreign objects through a machine vision algorithm; the main camera 1162 works, the connecting section of the foreign object removal mechanism rotates, and the surface of the long busbar of the combination electrical appliance is recorded and foreign objects are detected through a machine vision algorithm;

[0063] S4: If foreign matter is found, the auxiliary positioning mechanism works, the area to be cleaned containing foreign matter is highlighted with a laser grid, and the position is recorded, the auxiliary camera 221 transmits the image back to the external control mechanism 5, the external control mechanism 5 performs preliminary calculations and transmits back the roll angle, heading angle, and pitch angle, and controls the main camera 1162 to align the field of view with the area to be cleaned containing foreign matter;

[0064] S5: The main camera 1162 and the auxiliary camera 221 record the area to be cleaned containing foreign matter, and transmit the foreign matter parameters to the external control mechanism. The laser resonator is calibrated again, and the external control mechanism performs accurate calculations and obtains the optimal laser parameters based on the foreign matter parameters and the data transmitted back by the sensor group.

[0065] S6: The communication mechanism 4 transmits back the precise rolling angle, heading angle, pitch angle and laser parameters to control the operation of the laser resonator 1161;

[0066] S7: The main camera 1162 and the auxiliary camera 221 record the cleaning of the area containing foreign matter, monitor and adjust the laser parameters in real time according to the image, the foreign matter is ablated and gasified, and the surface of the area to be cleaned containing foreign matter becomes flat and smooth;

[0067] S8: After all the areas to be cleaned are completed, the external controller 5 controls the walking device to drive the ultra-high voltage combined electrical appliance foreign body detection and removal equipment to move along the long busbar, and determines the next area to be cleaned according to the information sent back by the auxiliary positioning mechanism until the interior of the combined electrical appliance is completely cleaned.

[0068] Furthermore, the step S8 further includes the following sub-steps:

[0069] S801: Based on the pre-stored program of the external control mechanism, the ultra-high voltage switchgear foreign body detection and removal equipment can automatically complete the cleaning of the inside of the switchgear without human intervention after installation, including the surface of the long busbar of the switchgear and the inner surface of the switchgear shell. The pre-stored program should have the following functions:

[0070] S801-1. The program can control the walking mechanism to realize the movement of the UHV combined electrical foreign body detection and removal equipment on the long busbar, control the direction of the foreign body removal mechanism, control the working parameters of the laser resonator, and control each light source of the lighting mechanism to asynchronously control the on and off and light intensity;

[0071] S801-2. The program can use the laser marking line emitted by the auxiliary positioning mechanism as a reference through the camera to determine its own position, and build a map during the operation of the ultra-high voltage combined electrical foreign body detection and removal equipment;

[0072] S801-3. The existing 3D modeling of combined electrical appliances can be imported, and the program can plan the inspection route based on the existing 3D modeling. For combined electrical appliances without 3D modeling, the inspection route can be planned manually and the equipment can be controlled to complete it. After the manual inspection is completed once, the program can record the movement trajectory of the camera and generate the inspection route.

[0073] S801-4. The program can control the auxiliary positioning mechanism to highlight the foreign matter found by the machine vision algorithm, receive the foreign matter data and calculate the optimal laser parameters, and automatically generate the laser removal irradiation path in the highlighted area;

[0074] S801-5. The program can calculate the roll angle, heading angle and pitch angle according to the laser clearing irradiation path;

[0075] S802: Based on the machine vision algorithm, the UHV switchgear foreign body detection and removal equipment can record the location of foreign bodies or other potential hazards that cannot be removed by laser during operation, and warn of manual intervention. The machine vision algorithm is based on YOLOv8 and includes the following steps:

[0076] S802-1. Use a camera to collect videos of foreign objects simulated on the surface of the long busbar of the electric appliance and the inner surface of the outer shell of the combined electric appliance during the operation of the ultra-high voltage combined electric appliance foreign object detection and removal equipment, extract key frame images of the video, establish a dataset of combined electric appliance foreign objects, convert the dataset into a YOLO training format, and divide it into a training set and a test set;

[0077] S802-2, input the pictures in the training set into the YOLOv8 network model for model training, and obtain the optimal weight data of the YOLOv8 network model, wherein the YOLOv8 network model includes an input end, a Backbone network, a Neck network, and a Head output end connected in sequence, and the method of inputting the key frame pictures of the training set into the YOLOv8 network model for model training in step S2 is:

[0078] S802-2-1, Image preprocessing: When an image enters the input end, the input end preprocesses the image. The preprocessing includes Mosaic data enhancement, adaptive anchor frame calculation, and adaptive image scaling.

[0079] S802-2-2, Feature extraction: The preprocessed image enters the Backbone network, and feature extraction is performed to obtain feature maps of different sizes;

[0080] S802-2-3, feature fusion: The feature maps of different sizes obtained in step S802-2-2 are input into the Neck network for feature fusion to obtain feature maps of corresponding scales;

[0081] S802-2-4, prediction output: Input the feature map obtained in step S803-2-3 into the Head output terminal to obtain the feature tensor, thereby obtaining the position, category and confidence of the prediction box; in the training stage, the prediction box is matched with the real box to obtain positive and negative samples, and then the weight parameters are adjusted by calculating the loss function. In the verification stage, the prediction box is screened by weighted non-maximum suppression, and the model parameters are continuously optimized by calculating the accuracy and average precision.

[0082] S802-3. Load the optimal weight data into the YOLOv8 network model, input the test set image, and output the target detection result;

[0083] S802-4. The foreign body detection results in the YOLOv8 recognition key frame image are divided into two categories: processable foreign bodies and unprocessable foreign bodies according to the upper limit of the laser removal equipment capacity. Unprocessable foreign bodies are warned of manual intervention, and processable foreign body data are transmitted to the program pre-stored by the external control organization, and then laser removal is performed.

[0084] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A foreign body detection and removal device for a combined electrical appliance, characterized in that: It includes a chassis fixing mechanism, a foreign matter detecting mechanism, a foreign matter removing mechanism, an auxiliary positioning mechanism, a lighting mechanism, a traveling mechanism, a communication mechanism and an external control mechanism; the chassis fixing mechanism is arranged along the axis direction of the long busbar of the combined electrical appliance, and the chassis fixing mechanism is fixedly connected with the foreign matter detecting mechanism, the foreign matter removing mechanism, the auxiliary positioning mechanism, the lighting mechanism, the traveling mechanism and the communication mechanism; The foreign matter removal mechanism comprises an electric pan-tilt platform and a laser resonator, wherein the laser resonator is arranged on the electric pan-tilt platform; The foreign body detection mechanism includes an auxiliary camera and a main camera, the auxiliary camera is arranged around the chassis fixing mechanism, and the main camera is arranged on the electric pan-tilt platform and is arranged in parallel with the laser resonator; The auxiliary camera moves along with the auxiliary equipment connection section mechanism, and its field of view covers the inner surface of the combined electrical appliance housing within the limit of movement; the main camera moves synchronously along with the laser resonator, and its field of view covers the surface of the combined electrical appliance long busbar and the inner surface of the combined electrical appliance housing within the limit of movement; The auxiliary positioning mechanism is arranged around the chassis fixing mechanism; The lighting mechanism is arranged around the chassis fixing mechanism and is arranged in parallel with the auxiliary camera and the auxiliary positioning mechanism; The auxiliary positioning mechanism identifies the area information during the operation of the equipment, the area information includes the cleaned area and the area to be cleaned in the combination appliance, and transmits the area information back to the external control mechanism, and the external control mechanism can issue a reasonable movement command to the walking mechanism according to the area information; The walking mechanism is arranged at both ends of the chassis fixing mechanism, and a walking mechanical arm is arranged around it. A pair of parallel rubber wheels are arranged at the end of the walking mechanical arm, and the walking mechanical arm moves along the surface of the long busbar; The communication mechanism can transmit image information of the main camera and the auxiliary camera, the position of the laser resonator relative to the combined electrical appliance, the rolling angle, the heading angle, the pitch angle, the temperature, the air pressure and the humidity data back to the external control mechanism; The external control mechanism can issue commands through the communication mechanism to control the position of the laser resonator relative to the switchgear, including the roll angle, heading angle, and pitch angle, and control the movement of the ultra-high voltage switchgear foreign body detection and removal equipment along the busbar.

2. The ultra-high voltage combined electrical foreign body detection and removal device according to claim 1, characterized in that ,The chassis fixing mechanism includes a walking end connecting chassis mechanism, an auxiliary equipment connecting section mechanism and a foreign matter removal mechanism connecting section mechanism; The walking end connecting chassis mechanism is connected to the auxiliary equipment connecting section mechanism, and the two remain relatively stationary; The auxiliary equipment connection section mechanism is connected to the lighting mechanism, the auxiliary positioning mechanism, the auxiliary camera and the sensor group in the foreign object detection mechanism, and is connected to the foreign object removal mechanism connection section mechanism through an electric slip ring; the foreign object removal mechanism connection section mechanism can independently rotate at all angles under the premise that the auxiliary equipment connection section mechanism is stationary.

3. The ultra-high voltage combined electrical foreign body detection and removal device according to claim 1, characterized in that: The image taken by the foreign object detection mechanism is automatically identified by a machine vision algorithm without manual intervention. The identified foreign object parameters include the surface type of the foreign object, the material of the foreign object, the size of the foreign object, the shape of the foreign object, the connection method between the foreign object and the surface, the position of the foreign object relative to the combination electrical appliance, and the distance between the foreign object and the laser resonator.

4. The ultra-high voltage combined electrical apparatus foreign body detection and removal device according to claim 1, characterized in that: The electric pan / tilt platform in the foreign matter removal mechanism has a first rotating mechanism and a second rotating mechanism, wherein the first rotating mechanism can drive the frame to rotate at all angles and can control the heading angle of the laser resonator; The second rotating mechanism controls the pitch motion of the laser resonator housing and can control the pitch angle of the laser resonator.

5. The ultra-high voltage combined electrical apparatus foreign body detection and removal device according to claim 1, characterized in that: The laser resonator in the foreign matter removal mechanism adjusts the parameters of the emitted laser, including the diffraction limit factor, the beam parameter product, the divergence angle, the single mode and the multi-mode.

6. The ultra-high voltage switchgear foreign body detection and removal device according to claim 1, characterized in that: The auxiliary positioning mechanism projects a visible grid around the inner surface of the combination electrical appliance housing within the field of view of the auxiliary camera, and can detect the position of the laser resonator relative to the combination electrical appliance through a machine vision algorithm.

7. The ultra-high voltage combined electrical foreign body detection and removal device according to claim 1, characterized in that: The lighting mechanism is located on two auxiliary equipment connecting section mechanisms on both sides of the foreign matter removal mechanism connecting section mechanism. The lighting device can asynchronously control the brightness and brightness of each light source arranged on the auxiliary equipment connecting section mechanism, and can illuminate the entire field of view of the auxiliary camera and the main camera within the movement limit, so as to meet the working conditions of the machine vision algorithm.

8. The ultra-high voltage combined electrical foreign body detection and removal device according to claim 1, characterized in that: The auxiliary equipment integration box is arranged on the auxiliary equipment connection section mechanism, and the auxiliary equipment integration box includes an auxiliary camera, an auxiliary positioning mechanism, a lighting mechanism and a sensor group.

9. The ultra-high voltage combined electrical apparatus foreign body detection and removal device according to claim 1, characterized in that: The walking mechanism is located on the walking end connected to the chassis mechanism, and the walking mechanism is provided with two groups of walking mechanical arms, each group including three independent walking mechanical arms; The walking robot arm includes an elbow transmission joint and a guide joint. The elbow transmission joint controls the angle between the upper arm and the lower arm; the guide joint controls the distance and direction between the two parallel rubber wheels at the end of the walking robot arm to meet the movement of the ultra-high voltage combined electrical foreign body detection and removal equipment on long busbars of different diameters.

10. A method for removing foreign matter from a combined electrical appliance, characterized in that: Based on the implementation of the ultra-high voltage combined electrical appliance foreign body detection and removal device as described in claims 1 to 9, the combined electrical appliance foreign body removal method comprises the steps of: S1: The lighting mechanism and the auxiliary positioning mechanism work, the auxiliary camera and the main camera record the visible grid around the inner surface of the combination electrical appliance housing, and adjust the brightness of the lighting device based on the image transmitted back to the external control mechanism, obtain the position information of the laser resonator relative to the combination electrical appliance, and determine the area to be cleaned; S2: The laser resonator emits a calibration beam, the main camera records the beam irradiation spot, adjusts the relative position of the laser resonator and the combination electrical appliance according to the size of the spot, and calibrates the laser resonator according to the adjusted position; S3: The auxiliary camera works, recording the inner surface of the combination electrical appliance housing and detecting foreign objects through the machine vision algorithm; the main camera works, the connecting section of the foreign object removal mechanism rotates, recording the surface of the combination electrical appliance long busbar and detecting foreign objects through the machine vision algorithm; S4: If foreign matter is found, the auxiliary positioning mechanism works to highlight the area to be cleaned containing foreign matter with a laser grid and record the position. The auxiliary camera transmits the image back to the external control mechanism, which performs preliminary calculations and transmits back the roll angle, heading angle, and pitch angle, and controls the main camera's field of view to align with the area to be cleaned containing foreign matter. S5: The main camera and the auxiliary camera record the area to be cleaned containing foreign matter, and transmit the foreign matter parameters to the external control mechanism. The laser resonator is calibrated again, and the external control mechanism performs accurate calculations and obtains the optimal laser parameters based on the foreign matter parameters and the data transmitted back by the sensor group. S6: The communication mechanism transmits back the precise roll angle, heading angle, pitch angle and laser parameters to control the operation of the laser resonator; S7: The main camera and the auxiliary camera record the cleaning area containing foreign matter, monitor and adjust the laser parameters in real time according to the image, the foreign matter is ablated and gasified, and the surface of the area to be cleaned containing foreign matter becomes flat and smooth; S8: After all the areas to be cleaned are completed, the external controller controls the walking device to drive the UHV switchgear foreign body detection and removal equipment to move along the long busbar, and determines the next area to be cleaned according to the information sent back by the auxiliary positioning mechanism until the interior of the switchgear is completely cleaned; The step S8 also includes the following sub-steps: S801: Based on the program pre-stored by the external control mechanism, the UHV switchgear foreign body detection and removal equipment can automatically complete the cleaning of the inside of the switchgear without manual intervention after being installed, including the surface of the switchgear long busbar and the inner surface of the switchgear shell; S802: Based on machine vision algorithms, the UHV switchgear foreign body detection and removal equipment can record the location of foreign bodies or other potential hazards that cannot be removed by laser during operation, and warn of manual intervention; The machine vision algorithm is based on YOLOv8 and includes the following steps: S802-1 uses a camera to collect videos of foreign objects on the surface of the long busbar of the electric appliance and the inner surface of the combined electrical appliance casing during the operation of the UHV combined electrical appliance foreign object detection and removal equipment, extracts key frame images of the video, establishes a dataset of combined electrical appliance foreign objects, converts the dataset into the YOLO training format, and divides it into a training set and a test set; S802-2 inputs the images in the training set into the YOLOv8 network model for model training to obtain the optimal weight data of the YOLOv8 network model, wherein the YOLOv8 network model includes an input end, a Backbone network, a Neck network, and a Head output end connected in sequence. The method of inputting the key frame images of the training set into the YOLOv8 network model for model training in step S2 is: S802-2-1 Image preprocessing: When an image enters the input end, the input end preprocesses the image. The preprocessing includes Mosaic data enhancement, adaptive anchor frame calculation, and adaptive image scaling. S802-2-2 Feature extraction: The preprocessed image enters the Backbone network, and feature extraction is performed to obtain feature maps of different sizes; S802-2-3 Feature fusion: The feature maps of different sizes obtained in step S802-2-2 are input into the Neck network for feature fusion to obtain feature maps of corresponding scales; S802-2-4 Prediction output: Input the feature map obtained in step S803-2-3 into the Head output terminal to obtain the feature tensor, thereby obtaining the position, category and confidence of the prediction box; in the training stage, the prediction box is matched with the real box to obtain positive and negative samples, and then the weight parameters are adjusted by calculating the loss function. In the verification stage, the prediction box is screened by weighted non-maximum suppression, and the model parameters are continuously optimized by calculating the accuracy and average precision; S802-3 loads the optimal weight data into the YOLOv8 network model, inputs the test set image, and outputs the target detection result; S802-4 divides the foreign body detection results in the YOLOv8 recognition key frame image into two categories: processable foreign bodies and unprocessable foreign bodies according to the upper limit of the laser removal equipment capacity. Unprocessable foreign bodies warn of manual intervention, and the processed foreign body data is transmitted to the program pre-stored by the external control organization, and then laser removal is performed.

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