Deicing method and device for post insulator of transformer substation

Abstract

The invention relates to a deicing method and device for a post insulator of a transformer substation, and the method comprises the steps: obtaining a global image of an insulator region to be deiced, inputting the global image into a target detection model, and obtaining the position of an insulator in the image; the target detection model is obtained by training an R-CNN neural network by using a mask training set; determining the position of the insulator in a world coordinate system according to the position of the insulator in the image, and controlling a mechanical arm of the deicing robot to move to the corresponding position of the insulator based on the position of the insulator in the world coordinate system; and the surface temperature of the insulator is obtained, matching calculation is conducted on the direction of a reversing valve of a spray gun in the deicing robot and the air volume of a pneumatic valve through a PID control algorithm based on the surface temperature of the insulator and the appropriate temperature interval of the current working condition, and the reversing valve and the pneumatic valve of the spray gun in the deicing robot are controlled to conduct deicing. The system can work autonomously, plan paths automatically, adjust the wind direction and wind power of the nozzle intelligently and adaptively, and sense the environment.

Description

Technical Field

[0001] The present invention relates to the technical field of insulator deicing, and in particular to a deicing method and a deicing device for a transformer substation support insulator. Background Art

[0002] In recent years, the icing of power equipment caused by rain, snow and freezing weather has brought great disasters to the power grid. The pillar insulators in many substations have been completely frozen and bridged. There have also been many cases of coupling capacitors, CTs, busbar pillar porcelain bottles, knife switch pillar porcelain bottles and other equipment in substations flashing or even bursting due to icing. In addition, the icing of the substation structure is likely to cause the deformation and collapse of the tower, causing the substation to stop operating and causing large-scale power outages in the surrounding areas. Therefore, after the substation is covered with ice, safe and effective methods should be adopted to remove the ice to prevent serious icing failures in the substation. So far, more than 30 anti-icing and de-icing technologies have been reported at home and abroad, mainly used for anti-icing of transmission lines, and there is no anti-icing technology for substation equipment in large-scale rain, snow and freezing weather.

[0003] In my country, due to the lack of effective means and methods for deicing substations, in order to avoid accidents after ice covering the substation equipment, the main method used is manual cleaning and knocking to de-ice. This method has limited deicing effect, high labor intensity for workers, and is easy to cause damage to equipment such as support insulators. Therefore, based on an in-depth analysis of existing research results, it is necessary to develop an insulator cleaning and de-icing robot that can operate autonomously, with mechanized and automated equipment with functions such as autonomous walking, automatic lifting, intelligent spraying, environmental perception, effect evaluation and adaptive adjustment, to replace traditional manual operations and better meet the requirements of unmanned and digital operation and maintenance of substations.

[0004] As a branch of special power robots, insulator cleaning robots are used to replace manual cleaning, ensuring operational safety while achieving better cleaning results. Many research institutions at home and abroad have conducted extensive research on insulator cleaning robots and achieved a series of research results. Among them, Spain, Japan and other countries proposed the design of pediatric insulator cleaning robots as early as the 1990s. At present, relevant research results have been achieved at home and abroad.

[0005] The anti-icing and deicing technologies for power transmission lines that have been studied and reported at home and abroad can be roughly divided into four categories: thermal deicing, mechanical deicing, natural passive force and other methods. Among them, thermal deicing is one of the most important and effective deicing measures so far. For the deicing method of substations, the domestic method mainly relies on manual power outages and knocking to de-ice, which is easy to cause equipment damage and has low work efficiency. The deicing effect is also limited when the ice is severely covered. In addition, the ice on the moving contact parts of the disconnector cannot be cleaned by using wooden hammers, wooden sticks, etc. If a high-pressure water pump is used, it will take longer. In order to ensure the safe operation of the substation equipment itself in long-term rain, snow and freezing weather, thermal deicing is a feasible deicing technology for substation equipment. Thermal deicing methods for substation equipment include hot air deicing, hot water deicing, radiation heating deicing, etc.

[0006] Thermal deicing methods include electric heater deicing, hot air deicing, and hot water deicing. When using this method, care must be taken to prevent the insulation surface from cracking due to uneven heating of the equipment.

[0007] The electric heater deicing method is to install an electric heat source near important equipment or key parts of the equipment to prevent or remove ice from the equipment. Since this method requires a high-power power supply, consumes a lot of energy, and requires the modification of existing equipment, this method is not very practical.

[0008] Hot air deicing method can be divided into low-pressure high-temperature hot air method and high-pressure low-temperature hot air method. The low-pressure high-temperature hot air method can completely evaporate the supercooled water droplets captured by the equipment to prevent the water droplets from freezing. The high-pressure low-temperature hot air method sprays an airflow of a certain temperature and pressure onto the external insulation surface of the substation equipment, and removes the ice from the equipment through impact force and hot air flow. When used in combination with the low-pressure high-temperature hot air method, it can effectively improve the deicing efficiency. The hot air deicing system is simple, reliable, and has obvious deicing effect. It is more likely to be used for live deicing, but the energy consumption is large, and effective insulation design is required to prevent heat loss.

[0009] Hot water deicing method sprays hot water of a certain temperature and pressure onto the external insulation surface of the substation equipment, and removes the ice from the equipment through the impact force and water temperature. The hot water deicing method has obvious deicing effect and low energy consumption, but it is highly dangerous to deicing with electricity.

[0010] In general, the research on deicing technology for transmission lines started early and the methods and technologies are relatively mature, while there are no relevant research reports on substation deicing technology at home and abroad. At present, the deicing of substations in China mainly relies on manual power outages and knocking to remove ice. This method belongs to the mechanical ice-breaking method, but it is inefficient and easily causes damage to the support insulators. Therefore, it is necessary to study safe and effective substation live deicing technology based on the actual situation of substation equipment and ice coating in my country, to prevent failures of substations after ice coating, and to improve the safe operation level of substations under rain, snow and freezing conditions. Summary of the invention

[0011] In order to solve the problems existing in the above-mentioned prior art, the purpose of the present invention is to provide a deicing method and device for substation support insulators, which can protect the safety of insulators and improve the efficiency of cleaning and deicing.

[0012] To achieve the above object, the present invention provides the following solutions:

[0013] A deicing method for a transformer substation support insulator, comprising:

[0014] Obtain a global image of the insulator area to be de-iced, input the global image into a target detection model, and obtain the position of the insulator in the image; the target detection model is obtained by training an R-CNN neural network using a mask training set;

[0015] Determine the position of the insulator in the world coordinate system according to the position of the insulator in the image, and control the mechanical arm of the deicing robot to move to the corresponding position of the insulator based on the position of the insulator in the world coordinate system;

[0016] The surface temperature of the insulator is obtained, and based on the surface temperature of the insulator and the appropriate temperature range of the current working conditions, a PID control algorithm is used to match and calculate the direction of the reversing valve of the spray gun and the air volume of the pneumatic valve in the deicing robot, so as to control the reversing valve and the pneumatic valve of the spray gun in the deicing robot to perform deicing.

[0017] Optionally, obtaining a global image of the insulator area to be de-iced includes:

[0018] The global image of the insulator area to be de-iced is processed:

[0019] All objects in the global image of the insulator area to be de-iced are photographed, and the global image is filtered using a threshold mean filtering algorithm.

[0020] Optionally, determining the position of the insulator in the world coordinate system includes:

[0021] The surface information of the insulator is obtained, and four feature points are marked on the surface of the insulator using the surface information to obtain the pixel coordinates of the feature points. The world coordinates of each feature point are obtained according to the intrinsic parameter matrix of the global camera and the rotation transformation matrix from the global camera to the world coordinate system. Based on the world coordinates of each feature point, the position of the insulator in the actual world coordinate system is determined.

[0022] Optionally, controlling the mechanical arm of the deicing robot to move to a corresponding position of the insulator includes:

[0023] The initial pixel coordinates in the hand-eye camera are set for the insulator. Based on the position of the insulator in the world coordinate system, the current pixel coordinates of the insulator in the hand-eye camera are obtained by using the hand-eye camera intrinsic parameter matrix and the rotation transformation matrix from the world coordinates to the hand-eye camera. Then, an offline open-loop MPC algorithm is used to control the movement of the robotic arm. Meanwhile, the new pixel coordinates of the hand-eye camera of the insulator in the new position of the robotic arm are continuously calculated until the current pixel coordinates reach the vicinity of the set initial pixel coordinates.

[0024] Optionally, the method for obtaining the hand-eye camera intrinsic parameter matrix is:

[0025]

[0026] Among them, u, v are the coordinates of the pixel coordinate system point, dx, dy are the dimensions of each pixel in the x and y axis directions, f is the focal length, u 0 ,v 0 is the initial coordinate, x, y, z are the positions of the points in the camera coordinate system.

[0027] Optionally, the deicing robot comprises:

[0028] Dolly, robotic arm and spray gun;

[0029] The mobile vehicle is used to move on the ground;

[0030] The mechanical arm is used to move the spray gun to a corresponding position of the insulator;

[0031] The spray gun is used for deicing insulators.

[0032] Optionally, the dynamic model of the deicing robot is:

[0033]

[0034] in, is the joint velocity vector, is the desired joint velocity vector, is the desired external torque vector, u is the control input vector, KP is the control gain matrix, q d is the desired joint position vector, q is the current joint position vector, J(q) is the Jacobian matrix, T is the transposition symbol, Γ ext is the external torque vector, is the gain matrix related to dynamics.

[0035] Optionally, the spray gun includes: a shell, a high-pressure fan is provided at the rear of the shell, the high-pressure fan is provided with a power switch, an air flow chamber is provided at the front end of the high-pressure fan, a pneumatic valve is provided at the front end of the air flow chamber, and a reversing valve is provided at the front end of the pneumatic valve.

[0036] Optionally, the method further comprises:

[0037] Evaluation of de-icing effect:

[0038]

[0039] Among them, Q N is the de-icing effect evaluation result, m 0 is the mass of melted ice, c ice is the specific heat of ice, T ice is the initial temperature of the ice layer, γ is the latent heat of ice-water phase change, m fall The mass of ice that falls off without melting into water.

[0040] To achieve the above object, the present invention also provides a deicing device for a transformer substation support insulator, comprising:

[0041] Image acquisition module: used to acquire a global image of the insulator area to be de-iced;

[0042] Target detection module: input the global image into the target detection model to obtain the position of the insulator in the image; the target detection model is obtained by training the R-CNN neural network using the mask training set;

[0043] Position determination module: determining the position of the insulator in the world coordinate system according to the position of the insulator in the image;

[0044] A mechanical arm control module controls the mechanical arm of the deicing robot to move to a corresponding position of the insulator based on the position of the insulator in the world coordinate system;

[0045] Temperature detection module: used to obtain the surface temperature of the insulator;

[0046] Control algorithm module: Based on the surface temperature of the insulator and the suitable temperature range of the current working condition, the PID control algorithm is used to match and calculate the direction of the reversing valve of the spray gun and the air volume of the pneumatic valve in the deicing robot;

[0047] De-icing execution module: controls the reversing valve and pneumatic valve of the spray gun in the de-icing robot to perform de-icing.

[0048] The beneficial effects of the present invention are:

[0049] The present invention uses a deicing robot to perform cleaning and deicing operations, which can effectively reduce the risks to operators, reduce damage to equipment such as support insulators, reduce the risks of high-altitude operations in substations, and also reduce the labor intensity of operators and personal risks.

[0050] The present invention has a fully automated operation function, can meet the requirements of autonomous operation and automatic evaluation of operation results under unattended conditions, and can complete tasks such as cleaning and deicing of substation support insulators without the need for personnel on site, thereby improving the efficiency of cleaning and deicing.

[0051] The present invention can operate autonomously, automatically plan paths, and intelligently adapt to and adjust nozzle wind direction, wind parameters, and environmental perception, which is of great significance to unmanned and digital operation and maintenance of power stations. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. 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 paying creative labor.

[0053] Figure 1 A flow chart of a deicing method for a substation post insulator according to an embodiment of the present invention;

[0054] Figure 2 A schematic diagram of a deicing robot according to an embodiment of the present invention;

[0055] Figure 3 A schematic diagram of a robot autonomous walking system in a complex substation environment according to an embodiment of the present invention;

[0056] Figure 4 A schematic diagram of a chassis according to an embodiment of the present invention;

[0057] Figure 5 A flowchart of power consumption of a robot according to an embodiment of the present invention;

[0058] Figure 6 A schematic diagram of a robot base setting device according to an embodiment of the present invention;

[0059] Figure 7 This is a schematic diagram of the internal structure of a robot base according to an embodiment of the present invention;

[0060] Figure 8 Schematic diagram of a robot nozzle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0061] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0062] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0063] like Figure 1 As shown, this embodiment discloses a deicing method for substation support insulators, including: obtaining a global image of the insulator area to be deiced, inputting the global image into a target detection model, and obtaining the position of the insulator in the image; the target detection model is obtained by training an R-CNN neural network using a mask training set; according to the position of the insulator in the image, the position of the insulator in the world coordinate system is determined, and based on the position of the insulator in the world coordinate system, the mechanical arm of the deicing robot is controlled to move to the corresponding position of the insulator; the surface temperature of the insulator is obtained, based on the surface temperature of the insulator and the appropriate temperature range of the current working condition, and using a PID control algorithm to match and calculate the direction of the reversing valve of the spray gun in the deicing robot and the air volume of the pneumatic valve, and the reversing valve and the pneumatic valve of the spray gun in the deicing robot are controlled to de-ice.

[0064] Furthermore, after obtaining the global image of the insulator area to be deiced, the method includes: processing the global image of the insulator area to be deiced: taking pictures of all objects in the global image of the insulator area to be deiced, and filtering the global image using a threshold mean filtering algorithm.

[0065] Furthermore, determining the position of the insulator in the world coordinate system includes: obtaining surface information of the insulator, marking four feature points on the surface of the insulator using the surface information, obtaining pixel coordinates of the feature points, obtaining the world coordinates of each feature point based on the intrinsic parameter matrix of the global camera and the rotation transformation matrix from the global camera to the world coordinate system, and determining the position of the insulator in the actual world coordinate system based on the world coordinates of each feature point.

[0066] Furthermore, controlling the robotic arm of the de-icing robot to move to the corresponding position of the insulator includes: setting the initial pixel coordinates in the hand-eye camera for the insulator, based on the position of the insulator in the world coordinate system, using the hand-eye camera intrinsic parameter matrix and the rotation transformation matrix from the world coordinates to the hand-eye camera, obtaining the current pixel coordinates of the insulator in the hand-eye camera, and then using an offline open-loop MPC algorithm to control the movement of the robotic arm, while continuously calculating the new pixel coordinates of the hand-eye camera of the insulator in the new position of the robotic arm until the current pixel coordinates reach near the set initial pixel coordinates.

[0067] like Figure 2 As shown in the figure, in order to solve the problem of building a real-time map of the robot's environment, a laser mapping sensor is used to build an autonomous walking system for the robot in a complex substation environment, realizing the robot's autonomous walking and automatic control functions. The laser mapping sensor has the ability to autonomously detect closed loops and correct maps, which means it can automatically walk and build maps without human intervention.

[0068] Using SLAM laser mapping sensors, we build a robot autonomous walking system in complex substation environments to realize the robot's autonomous walking and automatic control functions.

[0069] SLAM technology allows robots or self-driving vehicles to navigate autonomously in unknown environments.

[0070] ① Localization: Determine the precise location of a robot or vehicle in the environment.

[0071] ②Mapping: Create or update the map information of the environment at the same time.

[0072] Further, controlling the mechanical arm of the deicing robot to move to the deicing position of the insulator to follow includes:

[0073] The left-eye camera L and the right-eye camera R of the hand-eye camera are placed horizontally. For the images acquired by the left and right-eye cameras at the same time, the coordinate position of the feature points relative to the left-eye camera L is measured according to the hand-eye camera parallax depth measurement principle. The distance and azimuth of the ice surface position relative to the de-icing robot's robotic arm are calculated using the conversion relationship among the pixel coordinate system, the camera coordinate system and the de-icing robot's robotic arm coordinate system. The nearest ice surface area is determined as the de-icing object, and the ice surface area is saved as a template to prepare for subsequent ice surface tracking and matching.

[0074] Furthermore, the method for obtaining the intrinsic parameter matrix of the hand-eye camera is:

[0075]

[0076] Among them, u, v are the coordinates of the pixel coordinate system point, dx, dy are the dimensions of each pixel in the x and y axis directions, f is the focal length, u 0 ,v 0 is the initial coordinate, x, y, z are the positions of the points in the camera coordinate system.

[0077] Furthermore, if Figure 3 As shown, the de-icing robot includes:

[0078] Dolly, robotic arm and spray gun;

[0079] Mobile vehicle, used for moving on the ground;

[0080] A mechanical arm for moving the spray gun to the corresponding position of the insulator;

[0081] Spray gun for de-icing insulators.

[0082] Aiming at the problem of building a real-time map of the robot's environment, a laser mapping sensor is used to build a robot autonomous walking system in a complex substation environment, realizing the robot's autonomous walking and automatic control functions, such as Figure 6-7 shown.

[0083] Chassis selection: selection of tires for rainy, icy and other weather conditions, remote control function, automatic travel and other functional requirements.

[0084] like Figure 4 As shown, chassis options: four-wheel vehicle chassis, 6*6 chassis, four-legged rear belt chassis; traditional crawler chassis four-wheel vehicle chassis: low injection consumption, easy to maneuver, tires do not damage the road surface during operation, suitable for urban environment; 6x6 vehicle chassis has strong climbing ability, small turning radius, good flexibility, suitable for extreme road conditions and harsh environment; 4-legged crawler chassis: large driving force, small ground contact pressure, can turn on the spot; strong ground adaptability traditional crawler chassis: strong load-bearing capacity, large driving force, safe and reliable, good protection performance, good passability, can maneuver in various complex road environments.

[0085] In response to the different types of energy demands of multiple devices, a 220V single-phase + 380V three-phase generator set is used; a multi-energy operation energy supply system for the robot is built, using a series hybrid energy supply system that coordinates battery power supply and fuel power supply; providing stable and reliable energy to support its ability to operate for a long time.

[0086] like Figure 5As shown, the robot's electrical equipment requirements are: Power system: at least 220V DC voltage is required to drive the motor, powered by a generator set; Robotic arm system: 12V / 24V DC voltage is required to drive the swing arm, powered by a battery pack; Fully automatic electric ultra-dry steam generator: 380V, 50HZ three-phase AC voltage is required, powered by a generator set; Lifting platform power: 220V DC voltage, powered by a generator set; Sensor: 5V constant voltage, powered by a battery pack.

[0087] System power supply solution: A series hybrid energy supply system that combines battery power supply with fuel power supply. Fuel power supply: A 220V single-phase & 380V three-phase generator set + battery power supply (powered by a 5 / 12V / 24V battery pack).

[0088] Furthermore, the dynamic model of the de-icing robot is:

[0089]

[0090] in, is the joint velocity vector, which indicates the linear velocity or angular velocity of each joint of the robot. This is an important indicator of the robot's motion state. is the desired joint velocity vector, which is the velocity that the controller wants the robot to achieve. It is part of the control objective and is used to guide the robot's motion. is the desired external torque vector, and u is the control input vector, which is usually generated by the controller to drive the robot. Control input is the key to achieve robot motion. K P is the control gain matrix, which is used to adjust the performance of the controller. These gain matrices are important parameters in controller design, affecting the stability and response speed of the system. d is the expected joint position vector, q is the current joint position vector, which indicates the current position state of the robot. It is another important indicator of the robot's motion state. ,J(q) is the Jacobian matrix, which describes the linear relationship between the joint space and the task space. The Jacobian matrix is ​​a core concept in robot kinematics. It converts changes in the joint space into changes in the task space. T is the transposition symbol, Γ ext is the external torque vector, which represents the external force or torque acting on the robot. These torques can be generated by gravity, friction or other external factors. is the gain matrix related to dynamics. In the dynamics model, the gain matrix is ​​usually used to adjust the dynamic response of the system.

[0091] Further, the spray gun includes: a shell, a high-pressure fan is provided at the rear of the shell, the high-pressure fan is provided with a power switch, an air flow chamber is provided at the front end of the high-pressure fan, a pneumatic valve is provided at the front end of the air flow chamber, and a reversing valve is provided at the front end of the pneumatic valve, such as Figure 8 .

[0092] Furthermore, the working modes of controlling the spray gun in the deicing robot include:

[0093] When the temperature sensor detects the maximum value of the surface temperature of the insulator, t i ≤T 0 , T 0 represents the first temperature threshold, and the difference between the maximum and minimum values ​​in the temperature is ≤ D 0 , D 0 When the surface temperature difference of the insulator reaches the first threshold, it is in mode 1 state;

[0094] When the maximum value ti of the surface temperature of the insulator detected by the temperature sensor is ≥ T0, or the difference between the maximum value and the minimum value of the detected temperature is ≥ D0, it is the mode 2 state.

[0095] When mode 1 is satisfied, the control parameters of the de-icing robot are as follows: the battery management controls the reversing valve to open, the pneumatic valve to open, and the high-pressure fan to open, so that the airflow cavity circulates to control the de-icing robot's mechanical arm, so that the reversing valve is at 5% to 25% flow opening, the high-pressure fan is kept between 5% and 25% fan speed, and the pneumatic valve is at 10% to 50% flow opening;

[0096] When mode 2 is met, the control parameters of the de-icing robot are as follows: the battery management controls the reversing valve to open, the pneumatic valve to open, and the high-pressure fan to open, so that the airflow chamber circulates to control the de-icing robot's mechanical arm, so that the reversing valve is at a flow opening of 26% to 95%, the high-pressure fan is maintained at a fan speed between 26% and 95%, and the pneumatic valve is at a flow opening of 50% to 95%.

[0097] Furthermore, the method further comprises:

[0098] Evaluation of de-icing effect:

[0099]

[0100] Among them, Q N is the de-icing effect evaluation result, m 0 is the mass of melted ice, c ice is the specific heat of ice, T ice is the initial temperature of the ice layer, γ is the latent heat of ice-water phase change, m fall The mass of ice that falls off without melting into water.

[0101] The present embodiment also discloses a deicing device for transformer substation support insulators, comprising: an image acquisition module: used to acquire a global image of the insulator area to be deiced; a target detection module: inputting the global image into a target detection model to acquire the position of the insulator in the image; the target detection model is acquired by training an R-CNN neural network using a mask training set; a position determination module: determining the position of the insulator in the world coordinate system according to the position of the insulator in the image; a robotic arm control module: controlling the robotic arm of the deicing robot to move to the corresponding position of the insulator based on the position of the insulator in the world coordinate system; a temperature detection module: used to acquire the surface temperature of the insulator; a control algorithm module: based on the surface temperature of the insulator and the appropriate temperature range of the current working condition, and using a PID control algorithm to match and calculate the direction of the reversing valve of the spray gun in the deicing robot and the air volume of the pneumatic valve; and a deicing execution module: controlling the reversing valve and the pneumatic valve of the spray gun in the deicing robot to perform deicing.

[0102] The above embodiments are only descriptions of the preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the protection scope determined by the claims of the present invention.

Claims

1. A deicing method for substation support insulators, characterized in that: include: Obtaining a global image of the insulator area to be de-iced, inputting the global image into a target detection model, and obtaining the position of the insulator in the image; The target detection model is obtained by training the R-CNN neural network using the mask training set; Determine the position of the insulator in the world coordinate system according to the position of the insulator in the image, and control the mechanical arm of the deicing robot to move to the corresponding position of the insulator based on the position of the insulator in the world coordinate system; The surface temperature of the insulator is obtained, and based on the surface temperature of the insulator and the appropriate temperature range of the current working conditions, a PID control algorithm is used to match and calculate the direction of the reversing valve of the spray gun and the air volume of the pneumatic valve in the deicing robot, so as to control the reversing valve and the pneumatic valve of the spray gun in the deicing robot to perform deicing.

2. The deicing method for substation post insulators according to claim 1, characterized in that: After obtaining a global image of the insulator area to be de-iced, the following steps are performed: The global image of the insulator area to be de-iced is processed: All objects in the global image of the insulator area to be de-iced are photographed, and the global image is filtered using a threshold mean filtering algorithm.

3. The deicing method for substation post insulators according to claim 1, characterized in that: Determining the position of the insulator in the world coordinate system includes: The surface information of the insulator is obtained, and four feature points are marked on the surface of the insulator using the surface information to obtain the pixel coordinates of the feature points. The world coordinates of each feature point are obtained according to the intrinsic parameter matrix of the global camera and the rotation transformation matrix from the global camera to the world coordinate system. Based on the world coordinates of each feature point, the position of the insulator in the actual world coordinate system is determined.

4. The deicing method for substation post insulators according to claim 3, characterized in that: Controlling the mechanical arm of the de-icing robot to move to the corresponding position of the insulator includes: The initial pixel coordinates in the hand-eye camera are set for the insulator. Based on the position of the insulator in the world coordinate system, the current pixel coordinates of the insulator in the hand-eye camera are obtained by using the hand-eye camera intrinsic parameter matrix and the rotation transformation matrix from the world coordinates to the hand-eye camera. Then, an offline open-loop MPC algorithm is used to control the movement of the robotic arm. Meanwhile, the new pixel coordinates of the hand-eye camera of the insulator in the new position of the robotic arm are continuously calculated until the current pixel coordinates reach the vicinity of the set initial pixel coordinates.

5. The deicing method for substation post insulators according to claim 4, characterized in that: The method for obtaining the hand-eye camera intrinsic parameter matrix is: Among them, u, v are the coordinates of the pixel coordinate system point, dx, dy are the dimensions of each pixel in the x and y axis directions, f is the focal length, u0, v0 are the initial coordinates, and x, y, z are the positions of the camera coordinate system points.

6. The deicing method for substation post insulators according to claim 1, characterized in that: The deicing robot comprises: Dolly, robotic arm and spray gun; The mobile vehicle is used to move on the ground; The mechanical arm is used to move the spray gun to a corresponding position of the insulator; The spray gun is used for deicing insulators.

7. The deicing method for substation post insulators according to claim 6, characterized in that: The dynamic model of the deicing robot is: in, is the joint velocity vector, is the desired joint velocity vector, is the desired external torque vector, u is the control input vector, K P is the control gain matrix, q d is the desired joint position vector, q is the current joint position vector, J(q) is the Jacobian matrix, T is the transposition symbol, Γ ext is the external torque vector, is the gain matrix related to dynamics.

8. The deicing method for substation post insulators according to claim 6, characterized in that: The spray gun comprises a shell, a high-pressure fan is arranged at the rear of the shell, the high-pressure fan is provided with a power switch, an air flow cavity is arranged at the front end of the high-pressure fan, a pneumatic valve is arranged at the front end of the air flow cavity, and a reversing valve is arranged at the front end of the pneumatic valve.

9. The deicing method for substation post insulators according to claim 1, characterized in that: The method further includes: Evaluation of de-icing effect: Among them, Q N is the deicing effect evaluation result, m0 is the mass of melted ice, c ice is the specific heat of ice, T ice is the initial temperature of the ice layer, γ is the latent heat of ice-water phase change, m fall The mass of ice that falls off without melting into water.

10. A deicing device for a transformer substation support insulator, characterized in that: include: Image acquisition module: used to acquire a global image of the insulator area to be de-iced; Target detection module: input the global image into the target detection model to obtain the position of the insulator in the image; the target detection model is obtained by training the R-CNN neural network using the mask training set; Position determination module: determining the position of the insulator in the world coordinate system according to the position of the insulator in the image; A mechanical arm control module controls the mechanical arm of the deicing robot to move to a corresponding position of the insulator based on the position of the insulator in the world coordinate system; Temperature detection module: used to obtain the surface temperature of the insulator; Control algorithm module: Based on the surface temperature of the insulator and the suitable temperature range of the current working condition, the PID control algorithm is used to match and calculate the direction of the reversing valve of the spray gun and the air volume of the pneumatic valve in the deicing robot; De-icing execution module: controls the reversing valve and pneumatic valve of the spray gun in the de-icing robot to perform de-icing.

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