Electric shock safety protection system for live cleaning of power equipment

Abstract

This invention discloses a safety protection system for preventing electric shock during live-line cleaning of power equipment. The system includes a cleaning execution unit that uses a robotic arm to move a cleaning nozzle, which sprays an insulating cleaning medium onto the power equipment to be cleaned. It also includes a sensor detection unit for real-time monitoring of operational parameters; a control unit for presetting safe operating parameters and serving as the core processing unit; and a safety execution unit controlled by the control unit that shuts off the cleaning medium supply unit. By deploying an online water resistivity sensor in the sensor detection unit, the system can continuously and in real-time monitor the insulation performance of the cleaning medium. When the control unit detects an anomaly in the real-time data from the sensor detection unit, it activates an emergency stop module, which automatically cuts off the power to the pump of the cleaning medium supply unit. Even if the resistivity of the insulating cleaning medium decreases during operation, the system can immediately detect the change, avoiding the risk of electric shock due to medium deterioration.

Description

Technical Field

[0001] This invention relates to the field of power system safety technology, specifically to a live-line cleaning and electric shock protection system for power equipment. Background Technology

[0002] As the power grid expands and power supply reliability requirements increase, electrical equipment (such as insulators, circuit breakers, and disconnectors) is prone to accumulating dirt during long-term operation, leading to a decline in insulation performance. In severe cases, this can cause flashover, tripping, or even equipment damage. To ensure the safe and stable operation of the power grid, it is essential to regularly clean and maintain live equipment. Traditional cleaning methods often involve power outages, which not only cause power interruptions and result in significant direct economic losses but may also have immeasurable indirect impacts on social welfare, industrial production, and other sectors.

[0003] To avoid power outages, live-line water rinsing or live-line spraying technologies have been developed in recent years. However, these operations require operators to closely control the cleaning equipment in a high-voltage environment. In live-line cleaning, the insulation performance of the cleaning medium (usually high-purity water or a special insulating cleaning agent) directly determines the safety of the operation. The key indicator is resistivity; the higher the resistivity, the weaker the conductivity and the better the insulation performance.

[0004] However, in actual operation, the resistivity of the cleaning medium is not constant and may deteriorate due to the following reasons: natural degradation of water quality due to prolonged disuse; a significant decrease in resistivity due to increased water temperature (resistivity decreases by approximately 2% to 3% for every 1°C increase in temperature); and rapid degradation of the medium's insulation performance under high summer temperatures or direct sunlight. Traditional operations rely on "pre-operation detection" (such as measuring resistivity before cleaning), which cannot reflect dynamic changes during the operation. Operators cannot intuitively perceive whether the medium is still in a safe state, nor can they timely and accurately determine whether the resistivity of the cleaning medium meets the standards. This can easily lead to safety accidents due to misjudgment or delayed response, representing a typical "passive" safety protection mode. It lacks the ability to perceive, dynamically assess, and actively intervene in the entire operation process, making live-line cleaning operations a significant risk of electric shock. To solve the above problems, we propose a live-line cleaning electric shock protection system for power equipment. Summary of the Invention

[0005] To address this issue, the present invention provides a safety protection system for preventing electric shock during live-line cleaning of power equipment. This system solves the problem that existing live-line cleaning operations lack real-time monitoring and proactive intervention capabilities for key safety parameters such as the resistivity of the cleaning medium, relying on pre-detection and manual judgment. As a result, they are unable to cope with the risk of electric shock caused by the dynamic deterioration of the insulation performance of the medium during the operation, and thus pose significant safety hazards.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A live-line cleaning safety protection system for electrical equipment to prevent electric shock, comprising:

[0008] The cleaning execution unit includes a robotic arm made of insulating material and a cleaning nozzle disposed at its end. When the cleaning execution unit is working, the robotic arm drives the cleaning nozzle to move, and the cleaning nozzle sprays an insulating cleaning medium onto the electrical equipment to be cleaned.

[0009] A cleaning medium supply unit is used to supply an insulating cleaning medium to the cleaning nozzle;

[0010] The sensor detection unit is used to detect parameters of the work scene in real time.

[0011] The control unit is used to preset safe operating parameters and serves as the core processing unit, and is used to receive real-time data from the sensor detection unit.

[0012] And a safety execution unit, controlled by the control unit, for shutting down the cleaning medium supply unit;

[0013] The control unit is communicatively connected to the cleaning execution unit, the cleaning medium supply unit, the sensor detection unit, and the safety execution unit. Based on the real-time feedback data from the sensor detection unit, it controls the actions of the cleaning execution unit and the cleaning medium supply unit, and activates protection measures through the safety execution unit when parameters are abnormal, so as to achieve active protection against electric shock during the live cleaning process.

[0014] As a preferred embodiment, the sensor detection unit includes:

[0015] The distance detection module uses a laser rangefinder to measure the working distance between the cleaning nozzle and the surface of the power equipment in real time.

[0016] A media characteristic detection module is used to monitor the resistivity of the cleaning medium in real time, including an online water resistivity sensor installed in the cleaning nozzle;

[0017] A water pressure detection module is used to measure the injection pressure of the insulating cleaning medium. The water pressure detection module adopts a pressure sensor installed in the liquid supply pipeline upstream of the cleaning nozzle.

[0018] The leakage current detection module is used to detect the leakage current value of the electrical equipment being cleaned and the cleaning execution unit in real time. The leakage current detection module uses a leakage current sensor to perform multi-point measurements.

[0019] An environmental monitoring module collects temperature and humidity information in the environment through temperature and humidity sensors.

[0020] As a preferred embodiment, the control unit has a preset expert database system, which stores a set of safe operating parameters corresponding to different voltage levels, types of contamination, and environmental conditions. The control unit is configured to receive real-time data from the sensor detection unit, compare it with a preset alarm threshold or ideal parameters in the expert database system, and then generate control commands to adjust the cleaning execution unit and the cleaning medium supply unit.

[0021] As a preferred embodiment, the control logic of the system is a dual closed-loop control:

[0022] The outer loop control system uses the resistivity of the cleaning medium fed back by the medium characteristic detection module as the main input signal, and outputs the ideal working distance and cleaning medium injection pressure command based on the expert database system.

[0023] The inner loop control system receives instructions from the outer loop system and performs closed-loop control on the cleaning execution unit and the cleaning medium supply unit based on the actual working distance and spray pressure fed back by the distance detection module, so that the actual working distance and spray pressure are stabilized at the ideal value.

[0024] As a preferred embodiment, the robotic arm of the cleaning execution unit is a multi-degree-of-freedom robotic arm, and its base and arm are both made of high-strength insulating composite material; the end of the robotic arm is also equipped with a camera for assisting in positioning and observing the cleaning effect.

[0025] As a preferred embodiment, the insulating cleaning medium provided by the cleaning medium supply unit is high-resistivity pure water, whose resistivity is stably not lower than 500 Ω·cm. Alternatively, it could be a specialized live-line cleaning agent with higher insulation properties.

[0026] As a preferred embodiment, the secure execution unit includes:

[0027] The emergency stop module is activated when the control unit detects an abnormality in the real-time data of the sensor detection unit. The emergency stop module automatically cuts off the power supply to the power pump of the cleaning medium supply unit.

[0028] The alarm module issues an audible and visual alarm when any parameter fed back by the sensor detection unit exceeds a safety threshold.

[0029] As a preferred embodiment, when the control unit detects an anomaly in the real-time data of the sensor detection unit, the control unit controls the robotic arm in the cleaning execution unit to retract to a safe position.

[0030] As a preferred embodiment, the control unit includes a controller mounted on the base of the robotic arm, and the controller stores a control program.

[0031] As a preferred embodiment, the system further includes a remote control module that communicates wirelessly with the control unit. This remote control module integrates a display unit and an input unit for remotely monitoring the operation status and making manual interventions.

[0032] The present invention has the following advantages:

[0033] 1. By deploying an online water resistivity sensor in the sensor detection unit, the system can continuously and in real-time monitor the insulation performance of the cleaning medium. When the control unit detects an anomaly in the real-time data from the sensor detection unit, it activates the emergency stop module, which automatically cuts off the power supply to the cleaning medium supply unit's power pump. Even if the resistivity decreases due to increased water temperature, sunlight exposure, or prolonged stagnation during operation, the system can immediately detect the change, avoiding the risk of electric shock caused by medium deterioration.

[0034] 2. The system can safely complete cleaning while the equipment is powered on, avoiding production interruptions, load losses and scheduling pressures caused by traditional power outage cleaning. It is especially suitable for scenarios with extremely high requirements for power supply continuity, such as power grids, data centers and rail transit, bringing considerable direct economic benefits.

[0035] 3. The system abandons the "passive protection" mode that relies on human experience and reactive response, and instead adopts a dual closed-loop control architecture. The outer loop intelligently generates the optimal operating strategy based on key parameters such as real-time resistivity and an expert database; the inner loop precisely controls the nozzle distance and water pressure to ensure that the actual operating conditions are always within the safety boundaries. This mechanism realizes the transformation from "passive protection" to "active protection," and has the capabilities of dynamic assessment, proactive early warning, and automatic intervention.

[0036] 4. When leakage current is abnormal, safety distance is insufficient, or resistivity is below the threshold, the system can trigger multiple protection measures within milliseconds. This includes automatically cutting off the power to the power pump to stop the spraying of hazardous media at the source; providing audible and visual alarms to alert on-site personnel; and controlling the robotic arm to retract to a safe position to achieve physical isolation. This multi-layered safety linkage mechanism significantly reduces the probability of safety accidents caused by misoperation or sudden environmental changes.

[0037] 5. With the built-in expert database system, the system can automatically match the optimal cleaning parameters based on voltage level, degree of contamination, ambient temperature and humidity, etc., reducing reliance on highly skilled personnel and making complex live-line operations more standardized. Attached Figure Description

[0038] Figure 1 A schematic diagram of the robotic arm in the live-line cleaning and electric shock prevention safety protection system for power equipment provided in this embodiment of the invention. Figure 1 .

[0039] Figure 2 A schematic diagram of the robotic arm in the live-line cleaning and electric shock prevention safety protection system for power equipment provided in this embodiment of the invention. Figure 2 .

[0040] Figure 3 This is an enlarged schematic diagram of a portion of the structure at the end of the robotic arm in the live-line cleaning and electric shock prevention safety protection system for power equipment provided in an embodiment of the present invention.

[0041] Figure 4 A block diagram of a live-line cleaning and electric shock prevention safety protection system for power equipment provided in an embodiment of the present invention.

[0042] In the diagram: 1. Robotic arm; 2. Cleaning nozzle; 3. Controller; 4. Laser rangefinder; 5. Water resistivity sensor; 6. Pressure sensor. Detailed Implementation

[0043] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0044] like Figures 1 to 4 As shown, a live-line cleaning safety protection system for electrical equipment includes:

[0045] The cleaning execution unit includes a robotic arm 1 made of insulating material and a cleaning nozzle 2 disposed at its end. When the cleaning execution unit is working, the robotic arm 1 drives the cleaning nozzle 2 to move, and the cleaning nozzle 2 sprays an insulating cleaning medium onto the electrical equipment to be cleaned.

[0046] A cleaning medium supply unit is used to supply an insulating cleaning medium to the cleaning nozzle 2;

[0047] The sensor detection unit is used to detect parameters of the work scene in real time.

[0048] The control unit is used to preset safe operating parameters and serves as the core processing unit, and is used to receive real-time data from the sensor detection unit.

[0049] And a safety actuator, controlled by the control unit, used to shut down the cleaning medium supply unit;

[0050] The control unit is communicatively connected to the cleaning execution unit, the cleaning medium supply unit, the sensor detection unit, and the safety execution unit. Based on the real-time feedback data from the sensor detection unit, it controls the actions of the cleaning execution unit and the cleaning medium supply unit, and activates protection measures through the safety execution unit when parameters are abnormal, so as to achieve active protection against electric shock during the live cleaning process.

[0051] The sensor detection unit includes:

[0052] The distance detection module uses a laser rangefinder 4 to measure the working distance between the cleaning nozzle 2 and the surface of the power equipment in real time.

[0053] The media characteristic detection module is used to monitor the resistivity of the cleaning medium in real time, including the online water resistivity sensor 5 installed in the cleaning nozzle 2;

[0054] The water pressure detection module is used to measure the spray pressure of the insulating cleaning medium. The water pressure detection module adopts the pressure sensor 6 installed in the liquid supply line upstream of the cleaning nozzle 2.

[0055] The leakage current detection module is used to detect the leakage current value of the electrical equipment being cleaned and the cleaning execution unit in real time. The leakage current detection module uses a leakage current sensor to perform multi-point measurements.

[0056] The environmental monitoring module collects temperature and humidity information from the environment through temperature and humidity sensors.

[0057] The control unit has a pre-set expert database system that stores a set of safe operating parameters corresponding to different voltage levels, types of contamination, and environmental conditions. The control unit is configured to receive real-time data from the sensor detection unit, compare it with the preset alarm threshold or ideal parameters in the expert database system, and then generate control commands to adjust the cleaning execution unit and the cleaning medium supply unit.

[0058] The system's control logic is a dual closed-loop control:

[0059] The outer loop control system uses the resistivity of the cleaning medium fed back by the medium characteristic detection module as the main input signal, and outputs the ideal working distance and cleaning medium injection pressure command based on the expert database system.

[0060] The inner loop control system receives instructions from the outer loop system and performs closed-loop control on the cleaning execution unit and the cleaning medium supply unit based on the actual working distance and spray pressure fed back by the distance detection module, so that the actual working distance and spray pressure are stabilized at the ideal value.

[0061] The robotic arm 1 of the cleaning execution unit is a multi-degree-of-freedom robotic arm, and its base and arm are made of high-strength insulating composite material. A camera is also installed at the end of the robotic arm 1 to assist in positioning and observe the cleaning effect.

[0062] The cleaning medium supplied by the cleaning medium supply unit is high-resistivity pure water, with a stable resistivity of not less than 500 Ω·cm. Alternatively, it could be a specialized live-line cleaning agent with higher insulation properties.

[0063] The safety execution unit includes:

[0064] The emergency stop module is activated when the control unit detects an abnormality in the real-time data of the sensor detection unit. The emergency stop module automatically cuts off the power supply to the power pump of the cleaning medium supply unit.

[0065] The alarm module issues an audible and visual alarm when any parameter reported by the sensor detection unit exceeds a safety threshold.

[0066] When the control unit detects an anomaly in the real-time data of the sensor detection unit, it controls the robotic arm 1 in the cleaning execution unit to retract to a safe position.

[0067] The control unit includes a controller 3 mounted on the base of the robotic arm 1, and the controller 3 stores the control program.

[0068] The system further includes a remote control module that communicates wirelessly with the control unit. This remote control module integrates a display unit and an input unit for remotely monitoring the operation status and making manual interventions.

[0069] The system is based on active safety protection with dual closed-loop control. Its core is dynamic closed-loop control with real-time perception, intelligent decision-making, and precise execution. Its workflow can be broken down into the following key steps:

[0070] Multi-dimensional real-time data acquisition: After system startup, the sensor detection unit begins operation. The distance detection module (laser rangefinder 4) continuously measures the precise distance between nozzle 2 and the live equipment. The media characteristic detection module (online water resistivity sensor 5) monitors the insulation purity of the cleaning medium in real time, ensuring that its resistivity remains above the safety standard. Simultaneously, parameters such as water pressure (monitored by pressure sensor 6), leakage current, and ambient temperature and humidity are also collected, forming a comprehensive perception of the working environment.

[0071] Intelligent Decision-Making and Parameter Adjustment: The control unit is the brain of the system. It receives data from all sensors and compares it with a built-in expert database. The expert database contains pre-stored safe operating parameters for different voltage levels, equipment contamination levels, and environmental conditions. The system employs dual closed-loop control logic:

[0072] Outer loop decision-making: With outer loop control as the main focus, the system uses the real-time resistivity of the cleaning medium as the main input signal and outputs the ideal working distance and cleaning medium injection pressure command based on the expert database system.

[0073] Inner loop calibration: The inner loop control system receives instructions from the outer loop system and performs closed-loop control on the cleaning nozzle 2 and the cleaning medium supply unit based on the actual working distance fed back by the laser rangefinder 4 and the spray pressure fed back by the pressure sensor 6, so that the actual working distance and spray pressure are stabilized at the ideal value.

[0074] Multiple safety protection linkage: When any monitored parameter (such as a sudden increase in leakage current or too close safety distance) exceeds the safety threshold set by the expert database, the control unit will immediately trigger the protection measures of the safety execution unit, including activating the audible and visual alarm to remind the operator, and controlling the emergency stop module to automatically cut off the power supply of the cleaning medium supply unit's power pump to terminate the operation from the source. At the same time, the system will control the robotic arm 1 to automatically retreat to the preset safe position to achieve physical isolation and form multiple safety guarantees.

[0075] This upgrades traditional "passive" protection, which relies on manual judgment and insulating protective clothing, to proactive safety protection based on real-time data-driven decision-making. Through dual closed-loop control and multiple safety linkages, the risk of electric shock caused by human misjudgment or sudden environmental changes is fundamentally eliminated, significantly improving safety performance.

[0076] The system ensures that flushing pressure and water jet length are always at optimal levels, thereby improving flushing quality. The integrated camera and remote control module support precise remote positioning and intervention, reducing the need for close-range manual operation and frequent tool changes, thus increasing operational efficiency.

[0077] The system enables uninterrupted cleaning, avoiding the huge direct economic losses and incalculable indirect social impacts that traditional power outage operations may cause, and has significant economic benefits.

[0078] The expert database system endows the robot with a certain "decision-making ability," enabling it to adaptively adjust its strategies based on different working conditions. This reduces the skill requirements and labor intensity for operators, making cleaning operations more standardized and intelligent.

[0079] It also includes a method for safe cleaning of live electrical equipment to prevent electric shock, characterized in that the method is based on a live electrical equipment cleaning and electric shock prevention safety protection system, and the method includes the following steps:

[0080] S1. Safety Preparations and Parameter Setting Before Operation. Before starting the cleaning operation, the operator needs to set the core safety operating parameters in controller 3 according to the voltage level, type of contamination, and ambient temperature and humidity of the electrical equipment being cleaned. These parameters include, but are not limited to: the minimum allowable resistivity threshold of the cleaning medium, the maximum allowable leakage current alarm threshold, the minimum safe operating distance between the nozzle and the live parts being cleaned, and the adjustment range of the cleaning water pressure. At the same time, the system starts a self-check to ensure that all sensors, actuators, and communication links are working properly.

[0081] S2. Preparation and Distance Assurance for Non-Contact Cleaning Operations. The cleaning nozzle 2 is moved to the starting position of the operation using the robotic arm 1. During operation, it is essential to ensure that a safe water or air column composed of an insulating medium is maintained between the cleaning nozzle 2 and the electrical equipment at all times. This distance is measured in real time using a laser rangefinder 4, and its value must not be less than the preset minimum safe distance (usually not less than 2 meters) to utilize the high resistance characteristics of the long water column to form a reliable physical insulation barrier.

[0082] S3. Execution of non-contact cleaning operation: An insulating cleaning medium is pumped into the cleaning nozzle 2 on the robotic arm 1 using a water pump, ensuring a resistivity of not less than 500 Ω. An online water resistivity sensor 5 is installed at the outlet of cleaning nozzle 2 to monitor the insulation performance of the cleaning medium in real time and continuously. This monitoring data serves as the primary input signal for system safety judgment and is transmitted to controller 3 in real time. During the cleaning operation, the system performs comprehensive, real-time safety monitoring through a multi-sensor network.

Claims

1. A live-line cleaning safety protection system for electrical equipment to prevent electric shock, characterized in that, The system includes: The cleaning execution unit includes a robotic arm (1) made of insulating material and a cleaning nozzle (2) disposed at its end. When the cleaning execution unit is working, the robotic arm (1) drives the cleaning nozzle (2) to move, and the cleaning nozzle (2) sprays an insulating cleaning medium onto the electrical equipment to be cleaned. A cleaning medium supply unit is used to supply an insulating cleaning medium to the cleaning nozzle (2); The sensor detection unit is used to detect parameters of the work scene in real time. The control unit is used to preset safe operating parameters and serves as the core processing unit, and is used to receive real-time data from the sensor detection unit. And a safety execution unit, controlled by the control unit, for shutting down the cleaning medium supply unit; The control unit is communicatively connected to the cleaning execution unit, the cleaning medium supply unit, the sensor detection unit, and the safety execution unit. Based on the real-time feedback data from the sensor detection unit, it controls the actions of the cleaning execution unit and the cleaning medium supply unit, and activates protection measures through the safety execution unit when parameters are abnormal, so as to achieve active protection against electric shock during the live cleaning process.

2. The power equipment live-line cleaning and electric shock prevention safety protection system according to claim 1, characterized in that, The sensor detection unit includes: The distance detection module uses a laser rangefinder (4) to measure the working distance between the cleaning nozzle (2) and the surface of the power equipment in real time. The medium characteristic detection module is used to monitor the resistivity of the cleaning medium in real time, including an online water resistivity sensor (5) installed in the cleaning nozzle (2). A water pressure detection module is used to measure the spray pressure of the insulating cleaning medium. The water pressure detection module adopts a pressure sensor (6) installed in the liquid supply pipeline upstream of the cleaning nozzle (2). The leakage current detection module is used to detect the leakage current value of the electrical equipment being cleaned and the cleaning execution unit in real time. The leakage current detection module uses a leakage current sensor to perform multi-point measurements. An environmental monitoring module collects temperature and humidity information in the environment through temperature and humidity sensors.

3. The power equipment live-line cleaning and electric shock prevention safety protection system according to claim 2, characterized in that, The control unit has a preset expert database system, which stores a set of safe operating parameters corresponding to different voltage levels, types of contamination, and environmental conditions. The control unit is configured to receive real-time data from the sensor detection unit, compare it with a preset alarm threshold or ideal parameters in the expert database system, and then generate control commands to adjust the cleaning execution unit and the cleaning medium supply unit.

4. The power equipment live-line cleaning and electric shock prevention safety protection system according to claim 3, characterized in that, The system's control logic is a dual closed-loop control: The outer loop control system uses the resistivity of the cleaning medium fed back by the medium characteristic detection module as the main input signal, and outputs the ideal working distance and cleaning medium injection pressure command based on the expert database system. The inner loop control system receives instructions from the outer loop system and performs closed-loop control on the cleaning execution unit and the cleaning medium supply unit based on the actual working distance and spray pressure fed back by the distance detection module, so that the actual working distance and spray pressure are stabilized at the ideal value.

5. The power equipment live-line cleaning and electric shock prevention safety protection system according to claim 1, characterized in that, The robotic arm of the cleaning execution unit is a multi-degree-of-freedom robotic arm, and its base and arm are both made of high-strength insulating composite material; the end of the robotic arm is also equipped with a camera for assisting in positioning and observing the cleaning effect.

6. The power equipment live-line cleaning and electric shock prevention safety protection system according to claim 1, characterized in that, The cleaning medium supplied by the cleaning medium supply unit is high-resistivity pure water, whose resistivity is consistently not lower than 500 Ω·cm. Alternatively, it could be a specialized live-line cleaning agent with higher insulation properties.

7. The power equipment live-line cleaning and electric shock prevention safety protection system according to claim 1, characterized in that, The security execution unit includes: The emergency stop module is activated when the control unit detects an abnormality in the real-time data of the sensor detection unit. The emergency stop module automatically cuts off the power supply to the power pump of the cleaning medium supply unit. The alarm module issues an audible and visual alarm when any parameter fed back by the sensor detection unit exceeds a safety threshold.

8. The power equipment live-line cleaning and electric shock prevention safety protection system according to claim 7, characterized in that, When the control unit detects an abnormality in the real-time data of the sensor detection unit, the control unit controls the robotic arm (1) in the cleaning execution unit to retract to a safe position.

9. The live-line cleaning and electric shock prevention safety protection system for power equipment according to claim 1, characterized in that, The control unit includes a controller (3) mounted on the base of the robotic arm (1), and the controller (3) stores a control program.

10. The live-line cleaning and electric shock prevention safety protection system for power equipment according to claim 1, characterized in that, The system further includes a remote control module that communicates wirelessly with the control unit. The remote control module integrates a display unit and an input unit for remotely monitoring the operation status and making manual interventions.

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