Crawler-type transformer substation electrified water washing robot and robot system

Abstract

The invention relates to the technical field of substations, in particular to a crawler-type substation electrified water washing robot and a robot system. Comprising a master-slave control module used for realizing two-way information interaction and safety control between an operator and the crawler-type transformer substation live-line water washing robot; the visual flushing control module is used for realizing identification, positioning and automatic flushing control of the primary equipment of the transformer substation; the autonomous navigation obstacle avoidance module is used for realizing autonomous walking, path planning and safe obstacle avoidance of the robot in the substation environment; according to the invention, by constructing a comprehensive system of master-slave control, visual perception, precise washing control, autonomous navigation obstacle avoidance and power management and information acquisition, remote precise control of electrified water washing operation in a safe area is realized. The system can automatically identify and position the primary equipment to be flushed, dynamically adjust the flushing strategy according to visual feedback, realize tracking type flushing of the equipment contour, and improve the flushing uniformity and the operation quality.

Description

Technical Field

[0001] This invention relates to the field of substation technology, specifically to a tracked substation live-lined water flushing robot and robot system. Background Technology

[0002] During long-term operation, the insulation performance of primary equipment in substations is easily degraded due to the adhesion of dust, salt spray, and industrial pollutants, which may lead to discharge or operational failures in severe cases. Current substation live-line water flushing operations mainly rely on manual labor or semi-mechanized equipment. Operators must operate at close range in complex equipment environments, resulting in high labor intensity and significant safety risks under energized conditions. Furthermore, traditional flushing methods lack the ability to accurately identify and locate the objects being flushed, relying on manual experience and making it difficult to precisely control the flushing angle, distance, and effect, easily leading to uneven flushing, blind spots, or over-flushing. In addition, existing equipment lacks sufficient mobility and autonomous obstacle avoidance capabilities in complex terrain and densely packed equipment substation environments, and its system intelligence and information technology levels are low, failing to meet the current substation requirements for safety, efficiency, and intelligent operation. Summary of the Invention

[0003] To achieve the above objectives, the present invention provides a tracked substation live-lined water flushing robot system, comprising:

[0004] The master-slave control module is used to realize two-way information interaction and safety control between the operator and the tracked substation live water flushing robot.

[0005] The visual flushing control module is used to identify, locate, and automatically control the flushing of primary equipment in the substation.

[0006] The autonomous navigation and obstacle avoidance module is used to enable the robot to move autonomously, plan its path, and safely avoid obstacles in the substation environment.

[0007] The power management and information acquisition module is used to realize the robot's energy management and real-time monitoring of key operating parameters.

[0008] Furthermore, the master-slave control module includes: a master control terminal and a robot body control unit;

[0009] The main control terminal is used to send walking control commands, robotic arm movement commands, rotation control commands, and water rinsing operation commands to the robot, and to receive real-time video information, operating status information, sensor data, and alarm information transmitted back by the robot.

[0010] The robot body control unit is used to receive and parse the control commands issued by the main control terminal, and to perform real-time control of each execution unit through a PLC or embedded controller.

[0011] Furthermore, the master-slave control module includes: the master control terminal and the robot body control unit establish a two-way communication link through an industrial-grade communication network, and adopt an industrial communication protocol with high real-time performance and high reliability to achieve stable transmission of control commands and status information; the robot body control unit runs in a real-time operating system environment to ensure that the system still has high response speed and high reliability in complex electromagnetic environments, thereby enabling operators to remotely control the electric water washing operation within a safe area.

[0012] Furthermore, the visual rinsing control module includes: an image acquisition unit, a visual processing unit, and a rinsing control unit;

[0013] The image acquisition unit is used to acquire image information of primary equipment within the work area in real time.

[0014] The vision processing unit uses computer vision algorithms and deep learning target detection algorithms to process the acquired images, so as to realize the automatic identification and positioning of primary equipment such as insulator strings and porcelain insulators, and obtain the spatial location information of the target equipment.

[0015] Furthermore, the visual flushing control module includes: a flushing control unit that automatically plans a flushing strategy based on the recognition and positioning results output by the visual processing unit, and adjusts the water flushing operation parameters in real time.

[0016] Furthermore, the autonomous navigation and obstacle avoidance module includes: a power management unit and a data acquisition and transmission unit;

[0017] The power management unit is used to dynamically adjust the power supply strategy according to the load changes of the robot in each working state, so as to improve energy utilization efficiency and extend the system's battery life.

[0018] The data acquisition and transmission unit is used to collect key parameters during the robot's operation, including robotic arm motion parameters, water rinsing related parameters, battery voltage and current information, equipment temperature information, and water medium resistivity information.

[0019] The data acquisition and transmission unit transmits the acquired operational data to the main control terminal in real time through a communication network for operational status monitoring, fault diagnosis, and operational decision support.

[0020] Furthermore, the master-slave control module includes: an environmental perception unit, a localization and mapping unit, and a path planning and obstacle avoidance control unit;

[0021] The environmental perception unit consists of a lidar, an ultrasonic sensor, an inertial measurement unit, and a vision sensor, and is used to collect information about the robot's surrounding environment.

[0022] The localization and mapping unit constructs a two-dimensional or three-dimensional map of the robot's surrounding environment based on multi-sensor fusion data, and realizes real-time localization of the robot's own pose.

[0023] The path planning and obstacle avoidance control unit automatically plans a safe driving path based on the environmental map and target location, and adjusts the walking strategy in real time during the robot's movement to avoid obstacles.

[0024] Beneficial effects

[0025] Compared with known public technologies, the technical solution provided by this invention has the following beneficial effects:

[0026] This invention achieves remote and precise control of live-line water flushing operations within a safe area by constructing a comprehensive system integrating master-slave control, visual perception, precise flushing control, autonomous navigation and obstacle avoidance, and power management and information acquisition. The system can automatically identify and locate primary equipment to be flushed, dynamically adjust the flushing strategy based on visual feedback, and achieve contour-tracking flushing of the equipment, improving flushing uniformity and operation quality. Simultaneously, leveraging multi-sensor fusion and autonomous navigation technology, the robot can move safely and effectively avoid obstacles in the complex environment of substations, reducing the need for human intervention. Furthermore, through intelligent power management and real-time acquisition and transmission of operational status information, the system's endurance and operational reliability are improved, thereby significantly enhancing the safety, efficiency, and intelligence level of live-line water flushing operations in substations. Attached Figure Description

[0027] Figure 1 This is a system diagram of a tracked substation live-lined water flushing robot system according to the present invention;

[0028] Figure 2 This is a three-dimensional structural diagram of a tracked substation energized water flushing robot according to the present invention.

[0029] Legend:

[0030] 101. Mobile platform; 102. Folding robotic arm; 103. Cylindrical nozzle; 104. High-definition camera; 105. Laser rangefinder; 106. Hydraulic outriggers; 107. Tracks. Detailed Implementation

[0031] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0032] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0033] The present invention will now be described in further detail with reference to the accompanying drawings:

[0034] Example 1:

[0035] As shown in the figure, the present invention provides a tracked substation live-line water flushing robot system, including: a master-slave control module, used to realize two-way information interaction and safety control between the operator and the tracked substation live-line water flushing robot;

[0036] The visual flushing control module is used to identify, locate, and automatically control the flushing of primary equipment in the substation.

[0037] The autonomous navigation and obstacle avoidance module is used to enable the robot to move autonomously, plan its path, and safely avoid obstacles in the substation environment.

[0038] The power management and information acquisition module is used to realize the robot's energy management and real-time monitoring of key operating parameters;

[0039] Specifically, the robot system employs a master-slave control method. The system consists of a master control terminal and a robot body control unit, which establish a bidirectional communication link via an industrial-grade communication network. The master control terminal sends walking control commands, operation control commands, and rinsing control commands to the robot, and receives real-time video information, operating status information, sensor data, and alarm information transmitted back from the robot. The robot body control unit uses a PLC or embedded controller as its core control unit, running in a real-time operating system environment. It parses the control commands issued by the master control terminal and performs real-time control of each execution unit to ensure the system's control stability and real-time response in the strong electromagnetic interference environment of the substation, enabling operators to complete live water rinsing operations within a safe area.

[0040] During operation, the robot system uses visual perception to identify and locate the equipment to be washed. The system is equipped with an image acquisition unit to collect real-time image information of primary equipment within the work area. The acquired image data is transmitted to the vision processing unit, which preprocesses the images using the OpenCV vision processing framework and combines it with the YOLO-v4 deep learning object detection algorithm to achieve rapid identification and two-dimensional localization of substation primary equipment such as insulator strings and porcelain insulators. Based on this, the system further combines distance information obtained through laser ranging or depth vision to convert the two-dimensional position information of the target equipment into three-dimensional spatial coordinates, thereby obtaining the spatial positional relationship of the target equipment relative to the robot.

[0041] Based on the spatial location information of the target equipment, the system automatically generates a flushing operation strategy and precisely controls the flushing process. The system can automatically plan the flushing path based on the identification results and dynamically adjust the flushing operation parameters during the process, ensuring that the flushing water flow remains within the distance and angle range required by live-line working safety regulations. Through visual feedback, the system can monitor the flushing process in real time and adjust the operation strategy based on the flushing effect. Simultaneously, it outputs corresponding control signals when abnormal conditions are detected to ensure the safety and uniformity of the flushing operation.

[0042] During movement and operation, the robot system possesses autonomous navigation and obstacle avoidance capabilities. The system acquires environmental information through multi-sensor fusion, including lidar, ultrasonic sensors, inertial measurement units, and vision sensors. Based on the fused multi-sensor data, the system employs simultaneous localization and mapping (SLAM) technology to map the robot's surroundings and achieve real-time positioning and orientation. After the operator sets the target location, the system automatically plans a safe driving path and processes environmental perception data in real time during robot movement, dynamically adjusting the path to avoid obstacles such as equipment foundations and fire-fighting facilities within the substation, thus ensuring the robot's safe movement in complex working environments.

[0043] In this embodiment, the robot system also includes power management and information acquisition functions. The system uses a power management strategy to dynamically adjust the power supply method based on load changes under different robot operating states, thereby improving energy efficiency and extending system runtime. Simultaneously, the system uses a data acquisition unit to collect key parameters during robot operation in real time. These parameters include motion parameters of each actuator, water resistivity information, battery voltage and current information, and equipment temperature information. The collected data is transmitted in real time to the main control terminal via a communication network for operational status monitoring, fault diagnosis, and operational decision support.

[0044] After the robot system was developed, environmental adaptability tests were conducted on it, including waterproofing, dustproofing, high and low temperature testing, and salt spray testing, based on its application environment and operational characteristics. Multiple field application tests were also carried out in a real substation environment. Test results show that the tracked substation live-line water flushing robot system can operate stably under complex climatic conditions and strong electromagnetic environments, possessing good reliability and safety, and can effectively complete the live-line water flushing operation of primary equipment in substations.

[0045] Through the above implementation methods, the robot system described in this embodiment realizes remote safe control, automatic target recognition, precise rinsing, autonomous navigation and obstacle avoidance, and intelligent management of operating status, transforming the robot from a single execution device into an intelligent electric water rinsing operation equipment with perception, decision-making, and execution capabilities.

[0046] Example 2:

[0047] Master-Slave Control System: Develop a master-slave control system based on reliable communication protocols (such as Modbus, Ethernet / IP). Operators can send commands via a remote handheld terminal, and the robot system accurately receives, parses, and executes them, achieving remote real-time control of functions such as movement, robotic arm actions, and flushing start / stop. The system employs a real-time operating system (RTOS) to ensure the timeliness and reliability of command responses.

[0048] Visual Recognition and Precision Control: Image processing algorithms are developed using the OpenCV computer vision library. By analyzing dynamic and static image information captured by cameras, the system accurately identifies and locates equipment such as insulators to be washed, extracting information such as their position, outline, and degree of contamination. Based on this information, the visual servo control system can autonomously or assist operators in planning the washing path and adjust the robotic arm posture, water gun angle, and washing parameters (such as pressure and flow rate) in real time to achieve precise and efficient collaborative washing.

[0049] Autonomous navigation and obstacle avoidance: By integrating information from multiple sensors such as LiDAR, ultrasonic sensors, and visual cameras, a map of the robot's surrounding environment is constructed. Path planning and obstacle avoidance algorithms are developed, enabling the robot to autonomously navigate to the work site within the substation equipment area and avoid static and dynamic obstacles in real time during movement and operation.

[0050] ③ Development and application of electric water flushing robots:

[0051] Key component development and integration: Complete the development of the robot body, including the integration and debugging of mechanical system, control system, hydraulic system and water supply system.

[0052] Environmental adaptability technology research: Focus on research on waterproof (achieving a certain IP rating), dustproof, and corrosion-resistant (resistant to chemical corrosion and ultraviolet radiation) technologies to ensure long-term stable operation of robots in harsh outdoor environments.

[0053] Field Testing and Optimization: Develop a robot prototype and conduct comprehensive functional, performance, and safety tests in simulated and real substation environments. Based on the test results, iteratively optimize the robot's structure, control algorithm, and workflow, ultimately completing field application verification and developing a commercially viable, practical product and operational specifications.

[0054] Mobile Chassis System: Utilizing a tracked walking mechanism for mobility. This mechanism integrates a robust chassis frame, high-strength tracks, drive wheels, load-bearing wheels, tensioning device, and independent left and right travel motors. Four hydraulic outriggers extend during operation, making firm contact with the ground, significantly enhancing overall stability and preventing overturning due to arm extension or recoil. The chassis design prioritizes low ground pressure to adapt to soft surfaces such as substation lawns and gravel, and is capable of crossing standard cable trenches and narrow channels.

[0055] Robotic Arm and Rotation System: The robotic arm adopts a foldable multi-joint design and is made of high-strength fiberglass. Fiberglass is not only lightweight and high-strength, but more importantly, its excellent electrical insulation properties form the main insulation barrier for the robot in live-line working environments. The robotic arm is mounted on a rotary platform, which is connected to the chassis via a slewing bearing and driven by a rotary motor, enabling 360° continuous rotation and greatly expanding the robot's operational range.

[0056] Leveling and End Effector: A leveling mechanism (achieved by two leveling hydraulic cylinders) is installed on the rotary platform, enabling the work platform to have a floating self-leveling function. This ensures that when the robot operates on uneven ground, the water jet mechanism can always maintain a preset, relatively stable angle and distance from the equipment surface. The end effector integrates two high-pressure water jets, a high-definition camera, and a laser rangefinder. The high-pressure water jets use cylindrical nozzles optimized through fluid simulation. Simulation calculations show that at an inlet pressure of 1MPa, a 4mm diameter nozzle can generate an outlet velocity of approximately 44.7m / s, a recoil force of 25N, and a flow rate of 33.6L / min. After the water jet has sprayed 4-6 meters, the core area can still maintain a sufficient flow velocity (e.g., 4.6m / s at 4m) to meet the decontamination requirements, while also complying with the safety regulations regarding water jet length and insulation strength.

[0057] Stability and Insulation Assurance: Through meticulous weight design, heavier components (such as batteries and water pumps) are concentrated at the robot's center of gravity. Miniaturized, high-density weights are added to specific areas (such as the battery compartment) when necessary, ensuring the robot's center of gravity remains stable across various postures. Insulation design is consistently implemented, with thorough consideration given to everything from the track material and fiberglass robotic arm to the sealing of all connecting components, forming a multi-level insulation protection system. Furthermore, ultrasonic obstacle avoidance sensors are integrated to provide collision warnings for the robotic arm's movements.

[0058] This system establishes a two-way information flow channel. The master terminal (handheld terminal) is responsible for sending control commands (movement, boom movements, flushing, etc.) and displaying real-time status information transmitted back by the robot (video, sensor data, alarm information). The slave terminal (robot body) is responsible for receiving commands, parsing them through a PLC or embedded controller, and driving the various actuators (motors, hydraulic valves, water pumps) to perform precise actions. Communication uses industrial-grade protocols (such as Modbus / TCP, Ethernet / IP) to ensure real-time performance and reliability. The underlying software runs on a real-time operating system (RTOS) to meet the requirements of high reliability and fast response. This system enables human-robot collaborative operation, allowing operators to complete complex tasks within a safe area.

[0059] Visual perception: A vision system developed based on OpenCV captures the work scene in real time through a camera mounted on the robot. The algorithm processes the images to identify target devices such as insulator strings and porcelain insulators, and accurately calculates their position, pose, and contour relative to the robot.

[0060] Flushing Strategy and Control: Based on visual recognition results, the control system can automatically plan the optimal flushing path (e.g., using a "multi-gun counter-flushing, one-flushing-multiple-rounds" operation mode to improve efficiency) and dynamically adjust the angles of each joint of the robotic arm and the angle of the rotating platform to ensure that the water gun nozzles are always aimed at the target and maintain the optimal flushing distance and angle required by safety regulations (usually both horizontal and vertical angles are controlled within 45°). The vision system can also monitor the flushing effect in real time (e.g., judging the removal of dirt by the color of the water flow) and abnormal conditions (e.g., water gun blockage, target deviation), and trigger corresponding processing mechanisms.

[0061] Environmental perception: By fusing LiDAR, ultrasonic sensors, inertial measurement units (IMU), and visual information, a real-time two-dimensional or three-dimensional map of the robot's surrounding environment is constructed.

[0062] Path planning and obstacle avoidance: Based on SLAM (Simultaneous Localization and Mapping) technology, the robot achieves self-localization in known or unknown environments. The operator can set target points, and the robot autonomously plans a safe and efficient travel path using path planning algorithms (such as A and D). During movement, the obstacle avoidance algorithm processes sensor data in real time to dynamically avoid obstacles (such as equipment foundations, fire hydrants, etc.).

[0063] An intelligent power management strategy is implemented to dynamically adjust power supply according to load conditions, extending battery life. The information acquisition system collects key data such as motion parameters of each axis of the robotic arm, pure water resistivity (measured by a dedicated sensor, range 0-10^10 Ω·cm), battery voltage / current, and equipment temperature through a serial port server, and uploads it to the main control terminal in real time via WIFI network, providing data support for status monitoring, fault diagnosis, and operation decision-making.

[0064] The control algorithm employs the YOLO-v4 deep learning target detection algorithm to quickly and accurately identify and locate targets such as insulators in two dimensions. This information is then combined with distance information acquired by a depth camera to convert it into three-dimensional spatial coordinates for precise positioning. After the robot was developed, it underwent rigorous waterproof and dustproof testing (IP rating certification), high and low temperature testing, salt spray testing, and extensive simulation and field testing. The software algorithm and system parameters were continuously optimized to ensure that the robot can safely, stably, and efficiently complete live-line water flushing tasks in complex and realistic substation environments.

[0065] On the other hand, a tracked substation live-lined water washing robot includes: tracks, cylindrical nozzles, a mobile platform, a high-definition camera, a laser rangefinder, a folding robotic arm, and four hydraulic outriggers.

[0066] The tracks are located on the bottom of the mobile platform near both sides for maneuverability on complex road surfaces in substations.

[0067] Four hydraulic outriggers are respectively installed on the bottom of the mobile platform near its perimeter, and the folding robotic arm is installed on the top of the mobile platform. The folding robotic arm is designed to meet the washing needs of equipment at different heights and orientations. The folding robotic arm is made of high-strength fiberglass to ensure that it has excellent insulation performance while bearing the load.

[0068] A cylindrical nozzle is mounted on the surface of a folding robotic arm near its top. A high-definition camera is mounted on the side of the folding robotic arm near the cylindrical nozzle. A laser rangefinder is mounted on the side of the folding robotic arm near its top. The laser rangefinder is close to the cylindrical nozzle. The cylindrical nozzle is cylindrical to optimize the water jet performance.

[0069] This can be understood as:

[0070] Mobile Chassis Design: Develop a tracked mobile platform with strong obstacle-crossing capabilities. The focus is on solving the chassis's passability, driving stability, and grounding insulation issues on complex substation surfaces (such as gravel, ditches, and cable trenches). The integrated chassis, track frame, left and right travel motors, drive wheels, load-bearing wheels, tensioning and buffer devices, and four hydraulic outriggers ensure excellent driving force, road surface adhesion, and low ground pressure.

[0071] Robotic Arm and Tool Design: A multi-degree-of-freedom folding robotic arm is designed to meet the rinsing needs of equipment at different heights and orientations. The robotic arm is made of high-strength fiberglass to ensure excellent insulation performance while bearing the load. The end effector is a multi-functional tool integrating a high-pressure water jet mechanism (using a specially designed cylindrical nozzle to optimize water jet performance), a high-definition camera, a laser rangefinder, etc., realizing integrated rinsing, observation, and ranging functions.

[0072] Stability and counterweight design: By optimizing the overall structural layout and center of gravity distribution, and designing an adjustable counterweight system, the robot's static and dynamic stability is ensured when extending its robotic arm, as well as on slopes and uneven surfaces, preventing tipping.

[0073] Insulation and Safety Principles: Safe robot operation is based on a combination of "distance insulation" and "material insulation." Distance insulation is achieved by maintaining a sufficiently long water column, which acts as an insulating medium in the air; its insulation strength is positively correlated with its length and water resistivity. Material insulation refers to the robot body, especially components near live parts such as the robotic arm and rotating platform, which are all made of high-strength fiberglass and other insulating materials. This forms a reliable primary insulation barrier, effectively blocking leakage current paths and ensuring the absolute safety of the robot body and remote operators.

[0074] Flushing Operation Principle: The physical principle of flushing is to use the kinetic energy impact of high-pressure water jets to remove dirt from the surface of equipment. A water pump generates a high-pressure water flow, which is channeled through a specially designed nozzle (such as a cylindrical nozzle) to form a well-concentrated, energy-rich water column. Fluid dynamics simulation is used to optimize the nozzle structure, ensuring that the water column maintains sufficient terminal velocity and impact force (e.g., simulation shows a flow velocity of 4.6 m / s at 4 meters) while meeting the safety distance requirements of safety regulations, thus effectively removing dirt. During the flushing process, pure water (high-resistivity water) serves not only as the cleaning medium but also as an auxiliary insulating medium.

[0075] Motion and Control Principles: The robot's motion is based on multibody dynamics and kinematic control. The mobile chassis provides planar translational degrees of freedom, the rotary platform provides horizontal rotational degrees of freedom, and the multi-joint robotic arm provides multiple pitch and extension degrees of freedom. The control system uses inverse kinematics algorithms to decompose the target pose (provided by the vision system) into the desired angles of each joint, which are then precisely executed by servo drives or hydraulic servo systems. The floating self-leveling mechanism, based on tilt sensor feedback, controls the leveling hydraulic cylinders to compensate for ground unevenness in real time, maintaining the working platform level.

[0076] Perception and Decision-Making Principles: A robot's "intelligence" stems from the fusion of information from multiple sensors. Visual sensors (cameras) provide rich semantic information about the scene for target recognition and localization. LiDAR and ultrasonic sensors provide precise distance information for navigation and obstacle avoidance. Water resistivity sensors, pose sensors, and other sensors provide information about the robot's own state. The control system, acting as the "brain," fuses this heterogeneous information, makes decisions based on preset algorithms (such as YOLO-v4 for target detection, A* for path planning, and PID for motion control), generates control commands, and achieves closed-loop control from environmental perception to action execution. In master-slave control mode, decisions are made by the operator; in autonomous mode, the built-in algorithms complete the process autonomously.

[0077] Technology Category Specific technical specifications Overall performance - Dimensions and weight: Meets the transportation and operation requirements of substation access roads (specific dimensions omitted). - Movement speed: Adjustable from 0-3km / h. - Obstacle crossing ability: Can cross obstacles with a height ≥200mm and ditches with a width ≥300mm. - Protection rating: IP54 for the whole unit (dustproof and splashproof), key components can reach IP65. - Operating ambient temperature: -20℃~+50℃. Insulation safety - Insulation performance: Key components such as the robotic arm pass the power frequency withstand voltage test (e.g., 110kV voltage level requirement). - Water resistivity: The resistivity of the flushing water is monitored in real time and is not lower than the standard requirement (e.g., 1×10^5Ω·cm). - Safety distance control: The system can automatically or assistedly ensure that the water column length meets the safety distance requirements for different voltage levels. Flushing performance - Maximum operating water pressure: Up to XMPa (depending on pump selection). - Flow rate: XXL / min (e.g., 33.6L / min). - Nozzle diameter: Replaceable, covering different working conditions such as medium-pressure water flushing (e.g., 4mm). - Flushing angle range: 360° continuous horizontal rotation, 20°-90° pitch. - Flushing control accuracy: Angle control error ≤ ±3°, distance control error ≤ ±5cm. control system - Control method: Supports remote wireless master-slave control and semi-autonomous operation. - Communication distance: Line-of-sight ≥ 200 meters. - Video transmission: Real-time high-definition (1080P) video transmission with latency < 200ms. - Target recognition: ≥ 95% accuracy in recognizing typical insulators. - Autonomous navigation: Enables point-to-point autonomous navigation and dynamic obstacle avoidance in structured environments. Power and battery life - Power source: Lithium iron phosphate battery pack. - Continuous operating time: ≥4 hours on a full charge (typical operating conditions). Testing and Verification - Passed specialized tests, including high and low temperature tests on the chassis and the whole machine, salt spray tests, waterproof rating tests, etc.

[0078] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A tracked substation live-lined water flushing robot system, characterized in that, include: The master-slave control module is used to realize two-way information interaction and safety control between the operator and the tracked substation live water flushing robot. The visual flushing control module is used to identify, locate, and automatically control the flushing of primary equipment in the substation. The autonomous navigation and obstacle avoidance module is used to enable the robot to move autonomously, plan its path, and safely avoid obstacles in the substation environment. The power management and information acquisition module is used to realize the robot's energy management and real-time monitoring of key operating parameters.

2. The tracked substation live-lined water flushing robot system according to claim 1, characterized in that, The master-slave control module includes: a master control terminal and a robot body control unit; The main control terminal is used to send walking control commands, robotic arm movement commands, rotation control commands, and water rinsing operation commands to the robot, and to receive real-time video information, operating status information, sensor data, and alarm information transmitted back by the robot. The robot body control unit is used to receive and parse the control commands issued by the main control terminal, and to perform real-time control of each execution unit through a PLC or embedded controller.

3. The tracked substation live-lined water flushing robot system according to claim 2, characterized in that, The master-slave control module includes: the master control terminal and the robot body control unit establish a two-way communication link through an industrial-grade communication network, and adopt an industrial communication protocol with high real-time performance and high reliability to achieve stable transmission of control commands and status information; the robot body control unit runs in a real-time operating system environment to ensure that the system still has high response speed and high reliability in complex electromagnetic environments, thereby enabling operators to remotely control the electric water washing operation within a safe area.

4. The tracked substation live-lined water flushing robot system according to claim 3, characterized in that, The visual rinsing control module includes: an image acquisition unit, a visual processing unit, and a rinsing control unit; The image acquisition unit is used to acquire image information of primary equipment within the work area in real time. The vision processing unit uses computer vision algorithms and deep learning target detection algorithms to process the acquired images, so as to realize the automatic identification and positioning of primary equipment such as insulator strings and porcelain insulators, and obtain the spatial location information of the target equipment.

5. A tracked substation live-lined water flushing robot system according to claim 4, characterized in that, The visual flushing control module includes: a flushing control unit that automatically plans the flushing strategy based on the recognition and positioning results output by the visual processing unit, and adjusts the water flushing operation parameters in real time.

6. A tracked substation live-lined water flushing robot system according to claim 5, characterized in that, The autonomous navigation and obstacle avoidance module includes: a power management unit and a data acquisition and transmission unit; The power management unit is used to dynamically adjust the power supply strategy according to the load changes of the robot in each working state, so as to improve energy utilization efficiency and extend the system's battery life. The data acquisition and transmission unit is used to collect key parameters during the robot's operation, including robotic arm motion parameters, water rinsing related parameters, battery voltage and current information, equipment temperature information, and water medium resistivity information. The data acquisition and transmission unit transmits the acquired operational data to the main control terminal in real time through a communication network for operational status monitoring, fault diagnosis, and operational decision support.

7. A tracked substation live-lined water flushing robot system according to claim 6, characterized in that, The master-slave control module includes: an environmental perception unit, a localization and mapping unit, and a path planning and obstacle avoidance control unit; The environmental perception unit consists of a lidar, an ultrasonic sensor, an inertial measurement unit, and a vision sensor, and is used to collect information about the robot's surrounding environment. The localization and mapping unit constructs a two-dimensional or three-dimensional map of the robot's surrounding environment based on multi-sensor fusion data, and realizes real-time localization of the robot's own pose. The path planning and obstacle avoidance control unit automatically plans a safe driving path based on the environmental map and target location, and adjusts the walking strategy in real time during the robot's movement to avoid obstacles.

8. A tracked substation live-line water flushing robot, as described in any one of claims 1-7, characterized in that, include: Tracks, cylindrical nozzles, mobile platform, high-definition camera, laser rangefinder, folding robotic arm, and four hydraulic outriggers; The tracks are located on the bottom of the mobile platform near both sides for maneuverability on complex road surfaces in substations. Four hydraulic outriggers are respectively installed on the bottom of the mobile platform near its perimeter, and the folding robotic arm is installed on the top of the mobile platform. The folding robotic arm is designed to meet the washing needs of equipment at different heights and orientations. The folding robotic arm is made of high-strength fiberglass to ensure that it has excellent insulation performance while bearing the load. A cylindrical nozzle is mounted on the surface of a folding robotic arm near its top. A high-definition camera is mounted on the side of the folding robotic arm near the cylindrical nozzle. A laser rangefinder is mounted on the side of the folding robotic arm near its top. The laser rangefinder is close to the cylindrical nozzle. The cylindrical nozzle is cylindrical to optimize the water jet performance.

Images