Insulator cleaning tool for substation

Abstract

The utility model discloses substation insulator cleaning operation tool relates to substation insulator cleaning technical field, substation insulator cleaning operation tool, including support pole, drive motor, operation tool handheld handle, transmission mechanism, insulator cleaning device and the cleaning feedback assembly based on vision, the utility model discloses through setting up insulator cleaning device, cooperation a pair of rotatable cleaning brush, can adapt to different specifications insulator, realize efficient comprehensive cleaning operation, promote the cleaning coverage and cleaning efficiency. The cleaning feedback assembly based on vision can real -time shoot insulator surface picture and analyze the cleaning state, and accurate transmission cleaning state information is passed to the operator through the vibration feedback module, avoids subjective judgment error, ensures that the cleaning quality reaches the standard, reduces the equipment loss caused by excessive cleaning simultaneously. The setting of flexible part can form flexible limit to insulator in the cleaning process, guarantee the stability of cleaning process, avoid the rigid collision of cleaning brush and insulator and cause damage.

Description

Technical Field

[0001] This invention relates to the field of substation insulator cleaning technology, and in particular to tools for substation insulator cleaning operations. Background Technology

[0002] Insulators are critical insulating components in power transmission lines of substations. Their surfaces are prone to accumulating dust, oil, salt, and other contaminants due to long-term exposure to the natural environment. This buildup of contaminants reduces their insulation performance and, in severe cases, can cause flashover accidents, affecting the safe and stable operation of the power system. Therefore, regular cleaning of insulators is an important part of the daily maintenance of substations.

[0003] Current insulator cleaning methods largely rely on manual operation, requiring workers to carry cleaning tools and work at close range. This is not only labor-intensive and inefficient but also poses risks associated with working at height. Some existing cleaning equipment lacks an effective adaptive cleaning structure, making it difficult to adapt to insulators of different specifications, resulting in poor cleaning performance. Furthermore, most existing equipment cannot provide real-time feedback on the cleaning status, forcing workers to rely on subjective experience to judge whether the cleaning is up to standard, which can easily lead to incomplete or over-cleaning, further affecting cleaning quality and work efficiency. In addition, the insulation performance and operational safety of existing cleaning equipment need improvement, making it difficult to fully meet the operational requirements of high-voltage environments in substations. Summary of the Invention

[0004] To solve the above-mentioned technical problems, this invention provides a tool for cleaning insulators in substations. The technical solution is as follows:

[0005] A substation insulator cleaning tool includes a support pole, a drive motor, a tool handle, a transmission mechanism, an insulator cleaning device, and a vision-based cleaning feedback component. The drive motor is mounted at the bottom of the support pole, and the tool handle is mounted on the drive motor housing. The transmission mechanism is mounted on the inner wall of the support pole, with one end connected to the drive motor's power shaft. The insulator cleaning device includes a cleaning brush mounting base, a pair of cleaning brush drive shafts, and a pair of cleaning brushes. The cleaning brush mounting base is mounted at the top of the support pole, and the pair of cleaning brush drive shafts are respectively mounted on the cleaning brush mounting positions of the mounting base. The drive motor drives the pair of cleaning brush drive shafts to rotate through the transmission mechanism. The pair of cleaning brushes are respectively mounted on the pair of cleaning brush drive shafts. The cleaning feedback component captures a visual image of the insulator to be cleaned, analyzes the cleaning status based on the visual image, and provides feedback on the cleaning status to the operator.

[0006] Optionally, the cleaning feedback component includes a visual monitoring module and a vibration feedback module. The visual monitoring module is installed on the cleaning brush mounting base, and the vibration feedback module is installed on the handle of the work tool and is communicatively connected to the visual monitoring module. The visual monitoring module is used to capture visual images of the insulator to be cleaned, analyze the cleaning status, and control the execution action of the vibration feedback module based on the cleaning status analysis results. The operator obtains the cleaning status based on the vibration status of the vibration feedback module.

[0007] Optionally, the visual monitoring module includes a camera, a visual analysis module, and a control chip. The camera is mounted on the cleaning brush mounting base, the visual analysis module is communicatively connected to the camera, and the control chip is communicatively connected to the visual analysis module and controls the execution of the vibration feedback module.

[0008] Optionally, the vibration feedback module is a vibration motor.

[0009] Optionally, the visual monitoring module captures real-time visual images of the insulator surface to be cleaned, performs noise reduction and grayscale preprocessing on the acquired images; based on an edge detection algorithm, it identifies the surface contour of the insulator from the preprocessed image and extracts the area to be analyzed on the insulator surface; it calculates the grayscale value distribution of pixels within the area to be analyzed, identifies areas with grayscale values ​​below a preset cleanliness threshold as contaminated areas, and calculates the proportion of the contaminated area to the total area of ​​the area to be analyzed, denoted as the contamination coverage rate; it compares the contamination coverage rate with a preset state threshold; if the contamination coverage rate is higher than a first threshold, the cleaning state is determined to be unclean; if the contamination coverage rate is lower than the first threshold but higher than a second threshold, the cleaning state is determined to be partially clean; if the contamination coverage rate is lower than the second threshold, the cleaning state is determined to be clean; the visual monitoring module determines the result, generates corresponding control commands, and sends them to the vibration feedback module.

[0010] Optionally, when the visual monitoring module determines that the state is not clean, it generates a first vibration command; when it determines that the state is partially clean, it generates a second vibration command; and when it determines that the state is clean, it generates a third vibration command.

[0011] The method by which operators obtain the cleaning status based on the vibration status of the vibration feedback module is as follows:

[0012] The vibration feedback module receives the control command and executes the corresponding vibration mode:

[0013] Upon receiving the first vibration command, a continuous short vibration is executed to indicate to the operator that the surface of the insulator is severely dirty and requires thorough cleaning.

[0014] Upon receiving the second vibration command, intermittent long vibrations are executed to indicate to the workers that there is still residual dirt on the surface of the insulator and that cleaning needs to continue.

[0015] Upon receiving the third vibration command, the system performs a long vibration and then stops, indicating to the operator that the surface of the insulator has reached the cleanliness standard.

[0016] Optionally, a flexible component is also included, which is detachably mounted on the side of the cleaning brush mounting base. When the insulator cleaning arm performs the cleaning action, the outer side of the flexible component abuts against the outer wall of the insulator to be cleaned.

[0017] Optionally, the flexible component is U-shaped and made of a soft material.

[0018] Optionally, the transmission mechanism includes a drive shaft connector, a transmission rod, a cleaning arm drive component, a transmission belt, and a pair of rotating bearing seats. The transmission rod is located inside the support rod, and one end is connected to the drive shaft of the drive motor via the drive shaft connector. The cleaning arm drive gear is installed inside the cleaning brush mounting seat and meshes with the other end of the transmission rod via a transmission gear. The pair of rotating bearing seats are respectively installed inside the cleaning brush mounting seat. The bottom of the pair of cleaning brush drive shafts is respectively assembled into the bearing holes of the pair of rotating bearing seats and is connected to the cleaning arm drive component via a transmission wheel and a transmission belt.

[0019] Optionally, the pair of cleaning brushes has a quick-release modular structure, allowing for the replacement of different cleaning brushes to suit different cleaning needs.

[0020] In summary, the present invention has at least one of the following beneficial technical effects:

[0021] This invention provides a tool for cleaning insulators in substations. By incorporating an insulator cleaning device with a pair of rotatable cleaning brushes, it can adapt to insulators of different specifications, achieving efficient and comprehensive cleaning operations and improving cleaning coverage and efficiency. A vision-based cleaning feedback component can capture real-time images of the insulator surface and analyze the cleaning status. Through a vibration feedback module, it accurately transmits cleaning status information to the operators, avoiding subjective judgment errors, ensuring cleaning quality meets standards, and reducing equipment damage caused by over-cleaning. The flexible component provides flexible restraint for the insulators during cleaning, ensuring stability and preventing rigid collisions between the cleaning brushes and the insulators that could cause damage.

[0022] The quick-release modular cleaning brush allows for rapid replacement to meet different cleaning needs, improving the equipment's adaptability and flexibility of use.

[0023] The rational layout of the transmission mechanism enables stable power transmission from the drive motor to the cleaning brush, ensuring the continuity of the cleaning action; the insulated and anti-slip design of the support rod, cleaning brush and hand handle improves the safety of high-altitude operations and reduces operational risks. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structural principle of the intelligent insulator cleaning tool of the present invention;

[0025] Figure 2 This is a schematic diagram illustrating the working state structure of the intelligent insulator cleaning tool of the present invention;

[0026] Figure 3 This is a schematic diagram of the electrical component connection principle of the cleaning feedback component of the intelligent insulator cleaning tool of the present invention;

[0027] Figure 4 These are schematic diagrams of different cleaning brushes in the intelligent insulator cleaning tool of this invention.

[0028] Explanation of reference numerals in the attached drawings: 40, support rod; 41, cleaning brush; 42, drive motor; 43, cleaning brush mounting base; 44, flexible component; 45, cleaning brush drive shaft; 46, transmission mechanism; 47, work tool handle; 481, camera; 482, visual analysis module; 483, control chip; 484, vibration feedback module; 100, insulator to be cleaned. Detailed Implementation

[0029] The present invention will be further described in detail below with reference to the accompanying drawings.

[0030] This invention discloses a tool for cleaning insulators in substations.

[0031] Reference Figure 1 - Figure 4 Example 1: A substation insulator cleaning tool includes a support rod 40, a drive motor 42, a tool handle 47, a transmission mechanism 46, an insulator cleaning device, and a vision-based cleaning feedback component. The drive motor 42 is installed at the bottom of the support rod 40, and the tool handle 47 is installed on the housing of the drive motor 42. The transmission mechanism 46 is installed on the inner wall of the support rod 40, and one end is connected to the power shaft of the drive motor 42. The insulator cleaning device includes a cleaning brush mounting base 43, a pair of cleaning brush drive shafts 45, and a pair of cleaning brushes 41. The cleaning brush mounting base 43 is installed at the top of the support rod 40, and the pair of cleaning brush drive shafts 45 are respectively installed at the cleaning brush mounting positions of the cleaning brush mounting base 43. The drive motor 42 drives the pair of cleaning brush drive shafts 45 to rotate through the transmission mechanism 46. The pair of cleaning brushes 41 are respectively mounted on the pair of cleaning brush drive shafts 45. The cleaning feedback component captures a visual image of the insulator 100 to be cleaned, analyzes the cleaning status based on the visual image, and provides feedback on the cleaning status to the operator.

[0032] By adopting the above technical solution, during the cleaning process, the worker holds the handle 47 of the work tool and presses a pair of cleaning brushes 41 of the insulator cleaning device against the outer wall of the insulator 100 to be cleaned. The vision-based cleaning feedback component works continuously, capturing real-time visual images of the insulator 100 to be cleaned through its own camera component. The captured visual images are then analyzed and processed to accurately determine the current cleaning status. Subsequently, the cleaning feedback component feeds back the determined cleaning status to the worker in a corresponding manner. The worker adjusts the operation according to the feedback information to ensure that the cleaning operation achieves the expected results, realizing targeted and efficient insulator cleaning.

[0033] The core working principle of the substation insulator cleaning tool is to drive the cleaning components through power transmission, while using visual monitoring to provide real-time feedback on the cleaning status. The specific principle is as follows: The operator controls the entire device by holding the tool handle 47. After starting the drive motor 42, the power shaft of the drive motor 42 transmits power to the transmission mechanism 46 installed on the inner wall of the support rod 40. The transmission mechanism 46 further transmits power to a pair of cleaning brush drive shafts 45 on the cleaning brush mounting base 43, causing the pair of cleaning brush drive shafts 45 to rotate synchronously. Since a pair of cleaning brushes 41 are respectively mounted on a pair of cleaning brush drive shafts 45, the rotation of the cleaning brush drive shafts 45 will drive the pair of cleaning brushes 41 to rotate. The operator controls the device to make the rotating cleaning brushes 41 fit against the surface of the insulator 100 to be cleaned, thus realizing the cleaning operation of the insulator.

[0034] Example 2: The cleaning feedback component includes a visual monitoring module and a vibration feedback module 484. The visual monitoring module is installed on the cleaning brush mounting base 43, and the vibration feedback module 484 is installed on the handle 47 of the work tool and is communicatively connected to the visual monitoring module. The visual monitoring module is used to capture visual images of the insulator 100 to be cleaned, analyze the cleaning status, and control the execution action of the vibration feedback module 484 based on the cleaning status analysis results. The operator obtains the cleaning status based on the vibration status of the vibration feedback module 484.

[0035] Example 3: The visual monitoring module includes a camera 481, a visual analysis module 482, and a control chip 483. The camera 481 is mounted on the cleaning brush mounting base 43. The visual analysis module 482 is communicatively connected to the camera 481. The control chip 483 is communicatively connected to the visual analysis module 482 and controls the execution of the vibration feedback module 484.

[0036] Example 4: The vibration feedback module 484 is a vibration motor.

[0037] By adopting the above technical solution, the cleaning feedback component consists of a visual monitoring module and a vibration feedback module 484. The visual monitoring module is installed on the cleaning brush mounting base 43, allowing it to be aimed at the insulator 100 to be cleaned at close range, capturing real-time visual images of the insulator 100 and analyzing the cleaning status of the images. The vibration feedback module 484 is installed on the handle 47 of the work tool, facilitating operator perception, and maintains a communication connection with the visual monitoring module. After the visual monitoring module completes the cleaning status analysis, it generates a corresponding control signal based on the analysis results and transmits it to the vibration feedback module 484, controlling the vibration feedback module 484 to perform corresponding actions. When the operator holds the handle 47 of the work tool to operate the device, they can indirectly obtain the current cleaning status of the insulator 100 to be cleaned by sensing the vibration status of the vibration feedback module 484, thereby adjusting the cleaning operation.

[0038] The visual monitoring module consists of a camera 481, a visual analysis module 482, and a control chip 483. The camera 481 is mounted on the cleaning brush mounting base 43 and is responsible for capturing visual images of the insulator 100 to be cleaned. The camera 481 maintains a communication connection with the visual analysis module 482 and transmits the captured visual images to the visual analysis module 482 in real time, whereby the visual analysis module 482 analyzes the cleaning status of the images. The control chip 483 communicates with the visual analysis module 482, receives the cleaning status analysis results output by the visual analysis module 482, and generates precise control commands based on these results. The control chip 483 transmits the control commands to the vibration feedback module 484, directly controlling the execution actions of the vibration feedback module 484, thus realizing the conversion of the cleaning status analysis results into vibration feedback.

[0039] The vibration feedback module 484 uses a vibration motor, which is mounted on the handle 47 of the work tool and communicates with the control chip 483 in the vision monitoring module. When the control chip 483 outputs a control command, the vibration motor receives the command and executes the corresponding vibration action. Since the vibration motor is directly mounted on the handle 47 of the work tool, its vibration can be directly perceived by the operator holding the handle 47. By sensing the different vibration states of the vibration motor, the operator can accurately determine the cleaning status of the insulator 100 to be cleaned, and then make targeted cleaning adjustments.

[0040] In Example 5, the visual monitoring module captures real-time visual images of the surface of the insulator 100 to be cleaned, and performs noise reduction and grayscale preprocessing on the acquired images. Based on an edge detection algorithm, the surface contour of the insulator is identified from the preprocessed image, and the area to be analyzed on the insulator surface is extracted. The grayscale value distribution of pixels within the area to be analyzed is calculated, and areas with grayscale values ​​lower than a preset cleanliness threshold are identified as contaminated areas. The proportion of the area of ​​the contaminated area to the total area of ​​the area to be analyzed is calculated and recorded as the contamination coverage rate. The contamination coverage rate is compared with a preset state threshold. If the contamination coverage rate is higher than the first threshold, the cleaning state is determined to be unclean. If the contamination coverage rate is lower than the first threshold but higher than the second threshold, the cleaning state is determined to be partially clean. If the contamination coverage rate is lower than the second threshold, the cleaning state is determined to be clean. The visual monitoring module determines the result, generates corresponding control commands, and sends them to the vibration feedback module.

[0041] Example 6: When the visual monitoring module determines that the state is not clean, it generates a first vibration command; when it determines that the state is partially clean, it generates a second vibration command; when it determines that the state is clean, it generates a third vibration command.

[0042] The operator obtains the cleaning status based on the vibration status of the vibration feedback module 484 as follows:

[0043] The vibration feedback module 484 receives the control command and executes the corresponding vibration mode:

[0044] Upon receiving the first vibration command, a continuous short vibration is executed to indicate to the operator that the surface of the insulator is severely dirty and requires thorough cleaning.

[0045] Upon receiving the second vibration command, intermittent long vibrations are executed to indicate to the workers that there is still residual dirt on the surface of the insulator and that cleaning needs to continue.

[0046] Upon receiving the third vibration command, the system performs a long vibration and then stops, indicating to the operator that the surface of the insulator has reached the cleanliness standard.

[0047] By adopting the above technical solution, after the visual monitoring module is activated, it captures a visual image of the surface of the insulator 100 to be cleaned in real time. The acquired image is first preprocessed with noise reduction and grayscale conversion to improve image clarity and ensure the accuracy of subsequent analysis. Then, based on an edge detection algorithm, the surface contour of the insulator 100 to be cleaned is identified from the preprocessed image, thereby accurately extracting the area to be analyzed on the insulator surface. Subsequently, the grayscale value distribution of pixels within the area to be analyzed is calculated, and areas with grayscale values ​​lower than a preset cleanliness threshold are identified as contaminated areas. The proportion of the contaminated area to the total area of ​​the area to be analyzed is calculated, and this proportion is the contamination coverage rate. The calculated contamination coverage rate is compared with a preset state threshold. If the contamination coverage rate is higher than the first threshold, the cleaning state is determined to be unclean; if the contamination coverage rate is lower than the first threshold but higher than the second threshold, the cleaning state is determined to be partially clean; if the contamination coverage rate is lower than the second threshold, the cleaning state is determined to be clean. After the visual monitoring module completes the cleaning state judgment, it generates a control command corresponding to the judgment result and sends the control command to the vibration feedback module.

[0048] The visual monitoring module generates corresponding control commands based on the determined cleaning status. When the status is determined to be unclean, a first vibration command is generated; when the status is determined to be partially clean, a second vibration command is generated; and when the status is determined to be clean, a third vibration command is generated. The vibration feedback module 484 receives the control commands sent by the visual monitoring module and executes the corresponding vibration mode according to different commands: Upon receiving the first vibration command, the vibration feedback module 484 executes continuous short vibrations to indicate to the operator that the surface of the insulator 100 to be cleaned is severely dirty and requires focused cleaning; upon receiving the second vibration command, the vibration feedback module 484 executes intermittent long vibrations to indicate to the operator that there is still residual dirt on the surface of the insulator 100 to be cleaned and cleaning needs to continue; upon receiving the third vibration command, the vibration feedback module 484 executes one long vibration and then stops, indicating to the operator that the surface of the insulator 100 to be cleaned has reached the cleanliness standard. By sensing these different vibration states, the operator can clearly understand the current cleaning status and adjust the work strategy accordingly.

[0049] Example 7 also includes a flexible member 44, which is detachably mounted on the side of the cleaning brush mounting base 43. When the insulator cleaning arm 4 performs the cleaning action, the outer side of the flexible member 44 abuts against the outer wall of the insulator 100 to be cleaned.

[0050] In Example 8, the flexible component 44 is U-shaped and made of a soft material.

[0051] By adopting the above technical solution, the device is equipped with a flexible component 44, which is detachably installed on the side of the cleaning brush mounting base 43 for easy maintenance and replacement. When the insulator cleaning arm performs the cleaning action, the operator manipulates the device to make the cleaning brush 41 fit against the surface of the insulator 100 to be cleaned. At the same time, the outer side of the flexible component 44 abuts against the outer wall of the insulator 100 to be cleaned, forming a flexible limit. This limiting effect restricts the relative displacement between the device and the insulator 100 to be cleaned, preventing the cleaning brush 41 from detaching from or colliding with the insulator 100 to be cleaned due to device shaking during the cleaning process, ensuring stable and continuous cleaning action, and improving the cleaning effect.

[0052] The flexible component 44 is configured with a U-shaped structure and is made of a soft material. The U-shaped structure can better adapt to the shape of the insulator 100 to be cleaned, allowing the flexible component 44 to form a larger contact area with the outer wall of the insulator 100, thus improving the stability and reliability of the limiting function. The properties of the soft material can prevent rigid friction or collision when the flexible component 44 comes into contact with the insulator 100 to be cleaned, preventing damage to the surface of the insulator 100. At the same time, the soft material has a certain degree of deformation capability, which can adapt to the shape differences of insulators 100 of different specifications. Combined with the U-shaped structure, this further improves the adaptability of the device, ensuring stable flexible limiting in cleaning operations of insulators of different specifications.

[0053] Example 9: The transmission mechanism 46 includes a drive shaft connector, a transmission rod, a cleaning arm drive component, a transmission belt, and a pair of rotating bearing seats. The transmission rod is located inside the support rod 40, and one end is connected to the drive shaft of the drive motor 42 via the drive shaft connector. The cleaning arm drive gear is installed inside the cleaning brush mounting seat 43, and the cleaning arm drive gear meshes with the other end of the transmission rod via a transmission gear. The pair of rotating bearing seats are respectively installed inside the cleaning brush mounting seat 43. The bottom of the pair of cleaning brush drive shafts 45 are respectively assembled at the bearing holes of the pair of rotating bearing seats, and are respectively connected to the cleaning arm drive component via a transmission wheel and a transmission belt.

[0054] Example 10: A pair of cleaning brushes 41 have a quick-release modular structure, which can be adapted to different cleaning needs by replacing different cleaning brushes.

[0055] By adopting the above technical solution, the transmission mechanism 46 consists of a drive shaft connector, a transmission rod, a cleaning arm drive component, a transmission belt, and a pair of rotating bearing seats. The transmission rod is located inside the support rod 40, and one end is connected to the drive shaft of the drive motor 42 via the drive shaft connector. After the drive motor 42 starts, the power is transmitted to the transmission rod through the drive shaft. The cleaning arm drive gear is installed inside the cleaning brush mounting base 43 and meshes with the other end of the transmission rod through the transmission gear. The rotation of the transmission rod drives the cleaning arm drive gear to rotate through the gear meshing. A pair of rotating bearing seats are respectively installed inside the cleaning brush mounting base 43. The bottom of a pair of cleaning brush drive shafts 45 are respectively mounted at the bearing holes of the pair of rotating bearing seats. The rotating bearing seats can reduce the frictional resistance when the cleaning brush drive shafts 45 rotate, ensuring smooth rotation. The pair of cleaning brush drive shafts 45 are respectively connected to the cleaning arm drive component through the transmission wheel and the transmission belt. The power of the cleaning arm drive gear is transmitted to the pair of cleaning brush drive shafts 45 through the transmission wheel and the transmission belt, ultimately driving the pair of cleaning brush drive shafts 45 to rotate synchronously, providing stable power for the cleaning action of the cleaning brush 41.

[0056] A pair of cleaning brushes 41 adopts a quick-release modular design, allowing for rapid assembly and disassembly of the cleaning brush drive shaft 45. When faced with different cleaning needs, such as cleaning insulators 100 with different levels of dirt or different specifications, operators can quickly disassemble the currently assembled cleaning brushes 41 and replace them with cleaning brushes 41 suitable for the current cleaning requirements without the need for complex tools. This structural design allows the same insulator cleaning tool to be adapted to various cleaning scenarios, improving the equipment's flexibility and adaptability, reducing operating costs, and increasing cleaning efficiency.

[0057] The above are all preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, all equivalent changes made in accordance with the structure, shape and principle of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A tool for cleaning insulators in substations, characterized in that: The system includes a support rod (40), a drive motor (42), a tool handle (47), a transmission mechanism (46), an insulator cleaning device, and a vision-based cleaning feedback component (48). The drive motor (42) is mounted on the bottom of the support rod (40), the tool handle (47) is mounted on the housing of the drive motor (42), and the transmission mechanism (46) is mounted on the inner wall of the support rod (40), with one end connected to the drive shaft of the drive motor (42). The insulator cleaning device includes a cleaning brush mounting base (43), a pair of cleaning brush drive shafts (45), and a... For the cleaning brush (41), the cleaning brush mounting base (43) is installed on the top of the support rod (40), and a pair of cleaning brush drive shafts (45) are respectively installed on the cleaning brush mounting position of the cleaning brush mounting base (43). The drive motor (42) drives the pair of cleaning brush drive shafts (45) to rotate through the transmission mechanism (46). The pair of cleaning brushes (41) are respectively mounted on the pair of cleaning brush drive shafts (45). The cleaning feedback component (48) captures the visual image of the insulator (100) to be cleaned, analyzes the cleaning status based on the visual image, and provides feedback on the cleaning status to the operator based on the cleaning status.

2. The substation insulator cleaning tool according to claim 1, characterized in that: The cleaning feedback component (48) includes a visual monitoring module and a vibration feedback module (484). The visual monitoring module is installed on the cleaning brush mounting base (43), and the vibration feedback module (484) is installed on the handle (47) of the work tool and is connected to the visual monitoring module. The visual monitoring module is used to capture the visual image of the insulator (100) to be cleaned, analyze the cleaning status, and control the execution action of the vibration feedback module (484) based on the cleaning status analysis result. The operator obtains the cleaning status based on the vibration status of the vibration feedback module (484).

3. The substation insulator cleaning tool according to claim 2, characterized in that: The visual monitoring module includes a camera (481), a visual analysis module (482), and a control chip (483). The camera (481) is mounted on the cleaning brush mounting base (43). The visual analysis module (482) is communicatively connected to the camera (481). The control chip (483) is communicatively connected to the visual analysis module (482) and controls the execution of the vibration feedback module (484).

4. The substation insulator cleaning tool according to claim 3, characterized in that: The vibration feedback module (484) is a vibration motor.

5. The substation insulator cleaning tool according to claim 4, characterized in that: The visual monitoring module captures real-time visual images of the surface of the insulator (100) to be cleaned, performs noise reduction and grayscale preprocessing on the acquired images, and identifies the surface contour of the insulator from the preprocessed images based on the edge detection algorithm, and extracts the area to be analyzed on the surface of the insulator. The grayscale distribution of pixels within the area to be analyzed is calculated. Areas with grayscale values ​​lower than a preset cleanliness threshold are identified as dirty areas, and the proportion of the dirty area to the total area of ​​the area to be analyzed is calculated and denoted as the dirt coverage rate. The dirt coverage rate is compared with a preset state threshold. If the dirt coverage rate is higher than the first threshold, the cleaning state is determined to be unclean. If the dirt coverage rate is lower than the first threshold but higher than the second threshold, the cleaning state is determined to be partially clean. If the dirt coverage rate is lower than the second threshold, the cleaning state is determined to be clean. The visual monitoring module determines the result, generates corresponding control commands, and sends them to the vibration feedback module.

6. The substation insulator cleaning tool according to claim 5, characterized in that: When the visual monitoring module determines that the status is not clean, it generates a first vibration command; when it determines that the status is partially clean, it generates a second vibration command; when it determines that the status is clean, it generates a third vibration command. The operator obtains the cleaning status based on the vibration status of the vibration feedback module (484) as follows: The vibration feedback module (484) receives the control command and executes the corresponding vibration mode: Upon receiving the first vibration command, a continuous short vibration is executed to indicate to the operator that the surface of the insulator is severely dirty and needs to be thoroughly cleaned. Upon receiving the second vibration command, intermittent long vibrations are executed to indicate to the workers that there is still residual dirt on the surface of the insulator and that cleaning needs to continue. Upon receiving the third vibration command, the system performs a long vibration and then stops, indicating to the operator that the insulator surface has reached the cleanliness standard.

7. The substation insulator cleaning tool according to claim 6, characterized in that: It also includes a flexible element (44), which is detachably mounted on the side of the cleaning brush mounting base (43). When the insulator cleaning arm (4) performs the cleaning action, the outer side of the flexible element (44) abuts against the outer wall of the insulator (100) to be cleaned.

8. The substation insulator cleaning tool according to claim 7, characterized in that: The flexible component (44) is U-shaped and made of soft material.

9. The substation insulator cleaning tool according to claim 8, characterized in that: The transmission mechanism (46) includes a drive shaft connector, a transmission rod, a cleaning arm drive component, a transmission belt, and a pair of rotating bearing seats. The transmission rod is located inside the support rod (40), and one end is connected to the drive shaft of the drive motor (42) via the drive shaft connector. The cleaning arm drive gear is installed inside the cleaning brush mounting seat (43), and the cleaning arm drive gear meshes with the other end of the transmission rod via the transmission gear. A pair of rotating bearing seats are respectively installed inside the cleaning brush mounting seat (43). The bottom of a pair of cleaning brush drive shafts (45) is respectively mounted at the bearing holes of a pair of rotating bearing seats, and is connected to the cleaning arm drive component via the transmission wheel and the transmission belt.

10. The substation insulator cleaning tool according to claim 9, characterized in that: A pair of cleaning brushes (41) has a quick-release modular structure, which can be adapted to different cleaning needs by replacing different cleaning brushes.

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