Adaptive Control Method and System for Substation Insulator Cable-Descent Cleaning Robot

Abstract

This invention belongs to the field of power equipment maintenance technology, and provides an adaptive control method and system for a substation insulator cable-drop cleaning robot. The robot includes a cable-drop mechanism and a cleaning mechanism suspended on the cable-drop mechanism by ropes. The method includes: acquiring radial distance sequences, bushing axial height sequences, and tilt angle data of the insulator surface; determining the start and end positions of potential edge points; adjusting the cleaning self-balancing through differential rope adjustment; and dynamically adjusting the lifting amplitude based on the spacing between insulators: adjusting the robot's lifting amplitude according to the distance between two insulators. By determining the start and end positions of potential edge points, adjusting the cleaning self-balancing through differential rope adjustment, and dynamically adjusting the lifting amplitude, precise positioning and balance adjustment of the insulator surface and precise step control of the cleaning mechanism are achieved. This solves the problems of missed cleaning, repeated cleaning, and tilting, improves positioning accuracy and cleaning quality, reduces work process rigidity, and ensures cleaning effectiveness.

Description

Technical Field

[0001] This invention belongs to the field of power equipment maintenance technology, and in particular relates to an adaptive control method and system for a substation insulator cable-drop cleaning robot. Background Technology

[0002] As the core hub of the power system, the reliable operation of equipment in substations is crucial. Regularly cleaning transformers, incoming and outgoing bushings, and other insulators during power outages is a necessary maintenance procedure to prevent flashover accidents and ensure power grid safety.

[0003] While existing insulator cleaning robots have achieved the goal of cleaning in confined spaces, their technical solutions still have significant shortcomings. Traditional robots lack the ability to accurately perceive the surface morphology of insulators, making it difficult to accurately identify the gap position of each skirt. This leads to inaccurate positioning of the cleaning mechanism, resulting in missed or repeated cleaning and affecting the cleaning effect. During the cleaning process, due to changes in the diameter of the insulator surface or uneven stress, the cleaning device is prone to tilting, causing uneven contact pressure between the brush and the insulator surface, or even jamming, affecting cleaning quality and equipment safety. The lifting control of the cleaning mechanism after completing a single layer of work is mostly uniform speed or simple timed control, lacking the ability to make precise steps according to the actual structure of the insulator, resulting in a rigid operation process and poor adaptability. Summary of the Invention

[0004] To address the aforementioned problems, this invention proposes an adaptive control method and system for a substation insulator cable-drop cleaning robot. This invention achieves precise positioning and balance adjustment of the insulator surface and precise step control of the cleaning mechanism by determining the start and end positions of potential edge points, adjusting the cleaning self-balancing via differential rope adjustment, and dynamically adjusting the lifting amplitude. This solves the problems of missed cleaning, repeated cleaning, and tilting, improves positioning accuracy and cleaning quality, and ensures effective cleaning.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solution: In a first aspect, the present invention provides an adaptive control method and system for a substation insulator cable-drop cleaning robot, the robot comprising a cable-drop mechanism and a cleaning mechanism suspended on the cable-drop mechanism by ropes; the method comprising: Obtain the radial distance sequence of the insulator surface, the axial height sequence of the bushing, and the tilt angle data; Determining the start and end positions of potential edge points: Gradient-curvature joint edge extraction is performed on the radial distance sequence and axial height sequence to obtain the rate of change and curvature; potential edge points are determined by comparing thresholds of the rate of change and curvature; potential edge points are clustered to determine the axial distance between two adjacent edge points, and the start and end positions of the cleaning mechanism are determined based on the axial distance; Differential rope adjustment for cleaning self-balancing: Cleaning operations are carried out based on the start and end positions, and cleaning self-balancing is adjusted according to the tilt angle data and the differential rope adjustment of the descent mechanism; Dynamic adjustment of lifting amplitude based on inter-insulator spacing: The lifting amplitude of the robot is adjusted according to the distance between two insulators.

[0006] Furthermore, the determination of the start and end positions includes: obtaining the radial distance sequence of the insulator surface through laser ranging, and recording the bushing axial height sequence through the encoder of the lifting motor; when the rate of change and curvature are greater than the rate of change threshold and curvature threshold, respectively, the corresponding point is determined as a potential edge point; clustering the potential edge points to determine the axial distance between two adjacent edge points; if the axial distance is within the standard width range, it is marked as a bushing skirt entity; if the axial distance is within the standard range of the gap, it is marked as the bushing segment gap; and the center position of the bushing segment gap is used as the start and end positions of the cleaning action.

[0007] Furthermore, the radial distance sequence and axial height sequence are denoised while preserving the steep features of the bushing insulator skirt edge using Gaussian weighted sliding filtering.

[0008] Furthermore, the Gaussian weighted sliding filter is as follows: ; Among them, weight w j It follows a Gaussian distribution; For the first Filtered distance values ​​of each sampling point; m The radius of the sliding window; For the first Distance values.

[0009] Furthermore, the rate of change G n and the curvature C n They are respectively: ; ; in, For the first Filtered distance values ​​of each sampling point; For the first The filtered distance value of each sampling point.

[0010] Furthermore, the cleaning self-balancing adjustment includes: real-time monitoring of the tilt angle of the cleaning mechanism, determining the tilt angle difference based on the tilt angle; determining whether to adjust based on the comparison between the tilt angle difference and the balance dead zone threshold, and controlling the rope length difference based on integral separation when adjustment is required.

[0011] Furthermore, if the tilt angle difference is less than the balance dead zone threshold, no adjustment is made; if the rope length difference is greater than zero, the first side is too high, the rope is pulled up on the first side and released on the second side; otherwise, it means the second side is too high, the rope is pulled up on the second side and released on the first side.

[0012] Furthermore, during the cleaning phase, the robot descends to the gap position of the current insulator piece and starts the brush rotation to perform reciprocating friction cleaning; during the lifting phase, after cleaning is completed, the cable descent mechanism lifts the cleaning mechanism to the working position of the next piece.

[0013] Furthermore, the robot's lifting height is equal to the actual distance between the two currently detected insulators.

[0014] Secondly, the present invention also provides an adaptive control system for a substation insulator cable-drop cleaning robot, the robot comprising a cable-drop mechanism and a cleaning mechanism suspended on the cable-drop mechanism by ropes; the system includes: The data acquisition module is configured to acquire the radial distance sequence of the insulator surface, the axial height sequence of the bushing, and the tilt angle data. The start and end position determination module is configured to: perform gradient-curvature joint edge extraction on the radial distance sequence and the axial height sequence to obtain the rate of change and curvature; determine potential edge points by comparing thresholds of the rate of change and curvature; cluster the potential edge points to determine the axial distance between two adjacent edge points; and determine the start and end positions of the cleaning mechanism based on the axial distance. The self-balancing adjustment module is configured to perform sweeping operations at the start and end positions, and to adjust the sweeping self-balancing according to the tilt angle data and the differential rope adjustment of the descent mechanism. The dynamic adjustment module for lifting amplitude is configured as follows: dynamic adjustment of lifting amplitude based on the spacing between insulators: adjusting the robot's lifting amplitude according to the distance between two insulators.

[0015] Thirdly, the present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the adaptive control method for the substation insulator cable descent cleaning robot described in the first aspect.

[0016] Fourthly, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to implement the steps of the adaptive control method for the substation insulator cable descent cleaning robot described in the first aspect.

[0017] Fifthly, the present invention also provides a computer program product, the computer program product comprising a computer program, which, when executed by a processor, implements the steps of the adaptive control method for the substation insulator cable descent cleaning robot described in the first aspect.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. This invention innovatively proposes an adaptive control method for a substation insulator cable-drop cleaning robot. By determining the start and end positions of potential edge points, adjusting the cleaning self-balancing through differential rope adjustment, and dynamically adjusting the lifting amplitude, it achieves precise positioning and balancing adjustment of the insulator surface and precise stepping control of the cleaning mechanism. This solves the problems of missed cleaning, repeated cleaning, and tilting, improves positioning accuracy and cleaning quality, avoids rigidity in the operation process, and ensures the cleaning effect.

[0019] 2. This invention innovatively proposes an adaptive control method for a cable-drop cleaning robot for substation insulators and develops a method for determining the start and end positions of potential edge points. Gradient-curvature joint edge extraction is performed on the radial distance sequence and axial height sequence to obtain the rate of change and curvature. The rate of change and curvature are compared with a threshold to determine potential edge points. By clustering potential edge points, the axial distance between two adjacent edge points is determined, realizing accurate perception of the surface morphology of the insulator, solving the problem of the cleaning mechanism's inability to accurately position itself, reducing the probability of missed cleaning or repeated cleaning, and improving the cleaning effect.

[0020] 3. This invention innovatively proposes an adaptive control method for a substation insulator cable-drop cleaning robot and develops a cleaning self-balancing adjustment method based on differential rope adjustment. According to the tilt angle data and the differential rope adjustment of the cable-drop mechanism, the cleaning self-balancing adjustment is carried out, realizing the self-balancing adjustment of the cleaning mechanism. This solves the problem of uneven contact pressure between the brush and the insulator surface caused by the tilting of the cleaning mechanism, improves the cleaning quality, and ensures equipment safety.

[0021] 4. This invention innovatively proposes an adaptive control method for a substation insulator cable-drop cleaning robot and develops a dynamic adjustment method for the lifting amplitude based on the inter-insulator spacing. By dynamically adjusting the robot's lifting amplitude based on the actual inter-insulator spacing, the cleaning mechanism achieves precise step control after completing a single-layer operation, improving adaptability and avoiding rigid operation processes. Attached Figure Description

[0022] The accompanying drawings, which form part of this embodiment, are used to provide a further understanding of this embodiment. The illustrative embodiments and their descriptions are used to explain this embodiment and do not constitute an improper limitation of this embodiment.

[0023] Figure 1This is a flowchart of a method according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the robot structure according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the cable descent mechanism according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the clamping component according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the cleaning mechanism according to an embodiment of the present invention; Figure 6 This is a schematic diagram of an axial guide assembly according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the cleaning mechanism according to an embodiment of the present invention; The components include: 1. Raising mechanism; 11. Auxiliary connector; 12. Raising frame; 13. Drive assembly; 131. Motor; 132. Winch support frame; 133. Winch; 14. Clamping assembly; 141. Telescopic component; 142. V-frame; 143. Pin; 144. Spring bracket; 145. Guide shaft; 146. First guide wheel; 147. Second guide wheel; 148. Elastic layer; 15. Raising rope; 2. Cleaning mechanism; 21. Guide rail; 22. First handover component; 23. Lifting ring; 24. 25. Arc rack; 25. Axial guide assembly; 251. Support rod; 252. Fixing block; 253. Spring; 254. Guide rod; 26. Cleaning mechanism; 261. Support plate; 262. Support wheel; 263. First servo motor; 264. First gear; 265. Slider; 266. Slide rail; 267. Straight rack; 268. Second servo motor; 269. Second gear; 2610. Third servo motor; 2611. Bevel gear; 2612. Brush; 27. Second connecting piece; 3. Auxiliary rod; 4. Insulating sleeve. Detailed Implementation

[0024] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0025] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0026] As the core hub of the power system, the reliable operation of equipment in substations is crucial. Regularly cleaning insulators such as transformers and bushings during power outages is a necessary maintenance step to prevent flashover accidents and ensure power grid safety. Traditional cleaning operations mainly rely on manual labor, where workers stand on the ground or on a lifting platform, holding long insulated rods with electric brushes at the end for sweeping, or manually using water sprayers for rinsing. This method is not only physically demanding and inefficient, but also carries high risks due to working at heights, and the cleaning quality is greatly affected by human factors. On the other hand, although large vehicle-mounted water washing equipment can improve cleaning efficiency, its bulky size makes it difficult to enter the compact and densely packed interiors of GIS (Gas Insulated Switchgear) substations, and its applicability is greatly limited by the road conditions within the substation, preventing flexible access to all work points. Therefore, insulator cleaning robots capable of autonomous operation and adapting to complex and confined environments have become a necessity for industry development.

[0027] As described in the background section, while existing insulator cleaning robots have solved the problem of entering confined spaces to some extent, their technical solutions still have significant shortcomings. First, traditional robots often lack the ability to accurately perceive the surface morphology of the insulator, making it difficult to accurately identify the gap position of each skirt. This results in the cleaning mechanism being unable to accurately position itself, easily leading to missed or repeated cleaning, thus affecting the cleaning effect. Second, during the cleaning process, due to changes in the diameter of the insulator surface or uneven stress, the cleaning device is prone to tilting. Existing mechanisms generally lack effective self-balancing adjustment mechanisms, resulting in uneven contact pressure between the brushes and the insulator surface, or even jamming, affecting cleaning quality and equipment safety. Finally, the lifting control of the cleaning mechanism after completing a single layer of work is mostly uniform speed or simple timed control, lacking the ability to make precise steps based on the actual structure of the insulator, leading to a rigid work process and poor adaptability.

[0028] To solve at least one of the above problems, such as Figure 2 As shown, one embodiment of the present invention provides a substation insulator cable descent cleaning robot, including a cable descent mechanism 1, a cleaning mechanism 2 connected to the cable descent mechanism 1, and an auxiliary rod 3 disposed on the cable descent mechanism 1, etc.

[0029] During operation, the descent mechanism 1 in the robot is lifted and fixed to the upper end of the insulating sleeve 4 by the auxiliary rod 3. Then, the cleaning mechanism 2, using its own weight, performs a top-down cleaning operation, achieving continuous movement along the insulator string. The descent mechanism 1 is installed and fixed at the top of the insulating sleeve, hanging on the upper surface of the top insulator in a ring-like manner, providing descent support for the robot. The cleaning mechanism 2 is fixedly suspended at the lower ends of the descent ropes on the left and right sides of the descent mechanism 1. The cleaning mechanism 2 is a symmetrical ring structure that hugs the insulating sleeves 4 of different diameters, achieving circumferential cleaning. The descent mechanism 1 uses ropes to carry the cleaning mechanism 2 to move axially up and down along the insulator, achieving axial layer-by-layer cleaning of the insulating sleeve 4.

[0030] like Figure 3 As shown, the rappelling mechanism 1 includes an auxiliary connector 11, a rappelling frame 12, a drive assembly 13, a clamping assembly 14, and a rappelling rope 15, etc.

[0031] The auxiliary connector 11 is used to connect with the auxiliary rod 3, and can be connected by bolts or other means; the auxiliary connector 11 and the drive assembly 13 are both located in the middle of the rappelling frame 12; the two ends of the rappelling frame 12 are respectively provided with clamping assemblies 14; the rappelling rope 15 is provided on the drive assembly 13.

[0032] like Figure 1 As shown, in some embodiments, the drive assembly 13 can be configured as a single unit, located in the middle of the cable-dropping frame 12, simultaneously driving two winches through gear engagement or other means. In this embodiment, as... Figure 3 As shown, in order to achieve flexible left-right balance adjustment of the rappelling action, two drive components 13 are provided, symmetrically arranged on the rappelling frame 12. The drive component 13 includes a winch support frame 132 provided on the rappelling frame 12, a motor 131 and a winch 133 provided on the winch support frame 132, and the winch 133 is connected to the output shaft of the motor 131. The rappelling rope 15 is wound on the winch 133, and the motor 131 drives the rappelling rope 15 to rise and fall.

[0033] like Figure 4 As shown, the clamping assembly 14 includes a telescopic member 141 disposed on the cable descent frame 12, a V-shaped frame 142 disposed on the telescopic member 141, and a first guide wheel 146 and a second guide wheel 147 disposed at both ends of the V-shaped frame 142. The first guide wheel 146 and the second guide wheel 147 are perpendicular to each other and are used for circumferential guidance and arc-shaped guidance on the outer surface of the cylindrical outer surface of the top end of the insulating sleeve 4, respectively. An elastic layer 148 is disposed on the inner wall of the V-shaped frame 142. The elastic layer 148 can be a rubber layer to reduce damage to the upper surface of the insulating sleeve during clamping.

[0034] Optionally, two first guide wheels 146 are embedded in the left and right sides of the V-shaped frame 142, and the first guide wheels 146 are hinged to the slot of the V-shaped frame 142 through a pin 143. A guide shaft 145 is provided between the upper and lower first guide wheels 146. One end of the guide shaft 145 is hinged to the pin 143, and the other end passes through the spring bracket 144 on the back of the V-shaped frame 142. A spring is provided inside the spring bracket 144 and passes through the guide shaft 145. When the first guide wheels 146 are subjected to pressure, they can extend and retract through the guide shaft 145 and the spring in the spring bracket 144, thereby improving adaptability.

[0035] The telescopic component 141 can be an electric push rod, a hydraulic telescopic rod, or a pneumatic telescopic rod. The V-shaped frame 142 can be adapted to the outer surface of the cylindrical part at the top of the insulating sleeve 4.

[0036] Optionally, the cable descent frame 12 is U-shaped, with two clamping components 14 symmetrically distributed on the left and right sides of the front end of the cable descent frame 12. The clamping components 14 can move radially, automatically center and clamp the sleeve, and adapt to sleeves of different diameters. When the clamping components 14 move radially, they can slowly rise along the upper surface of the insulator at the top of the sleeve under the action of the second guide wheel 147 at its bottom, ensuring the left and right balance of the cable descent mechanism 1. The cable descent mechanism 1 is located in the middle of the cable descent frame 12, which can realize the lifting and lowering of the cleaning mechanism 2. The auxiliary rod 3 is located on the outside of the cable descent frame 12, and the ground personnel use the auxiliary rod 3 to install the cable descent mechanism 1 as a whole on the top of the sleeve.

[0037] When ground personnel install the rappelling mechanism 1, the second guide wheel 147 is used to place the rappelling mechanism 1 on the upper surface of the insulating sheet at the top of the sleeve. The telescopic component 141 drives the V-shaped frame 142 to move radially along the sleeve. At this time, the second guide wheel 147 plays an overall supporting role.

[0038] Since the surface of the bushing insulator is raised in the middle, when the clamping components 14 on the left and right sides gradually approach the cylindrical surface of the bushing in the radial direction, the clamping components 14 can be slowly raised along the upper surface of the insulator under the action of the second guide wheel 147, so as to ensure the left and right balance of the cable descent mechanism 1.

[0039] When the clamping assembly 14 approaches the cylindrical surface of the sleeve, the first guide wheel 146 on the clamping assembly 14 first contacts the cylindrical surface of the sleeve. Under the action of the first guide wheels 146 on both sides, the clamping assembly 14 is gradually centered, improving the concentricity between the clamping assembly 14 and the sleeve. When the clamping assembly 14 begins to clamp the sleeve, under external pressure, the first guide wheel 146 gradually retracts outward under the action of the guide shaft, spring and spring bracket. After the first guide wheel 146 retracts, the rubber on the surface of the V-shaped frame 142 begins to contact the cylindrical surface of the sleeve. Under the action of the micro telescopic parts 141 on both sides, the rubber begins to deform, clamping the sleeve and realizing the centering and clamping of the clamping assembly 14.

[0040] Optionally, the second guide wheel 147 and the first guide wheel 146 are made of non-metallic materials such as nylon and POM to avoid scratching the sleeve.

[0041] like Figure 5 As shown, the cleaning mechanism 2 includes a guide rail 21, a first connecting piece 22, a lifting ring 23, an arc-shaped rack 24, an axial guide assembly 25, a cleaning mechanism 26, and a second connecting piece 27.

[0042] The cleaning mechanism 2 includes two guide rails 21, which are semi-circular guide rails. The two ends of the two guide rails 21 are connected by a first connector 22 and a second connector 27, respectively. An axial guide component 25 is provided at each end of each guide rail 21, and each guide rail 21 is provided with a cleaning mechanism 26.

[0043] The guide rail 21 is provided with a lifting ring 23 and an arc-shaped rack 24 on both sides. The lifting ring 23 is connected to the descent rope 15, and the arc-shaped rack 24 is used to connect to the cleaning mechanism 26. The first connecting member 22 and the second connecting member 27 can adopt a structure such as a pin.

[0044] like Figure 6 As shown, the axial guide assembly 25 includes a support rod 251 disposed on the guide rail 21, a fixing block 252 disposed on the support rod 251, and a guide rod 254 connected to the fixing block 252 by a spring 253.

[0045] like Figure 7 As shown, the cleaning mechanism 26 includes a support plate 261, a support wheel 262, a first servo motor 263, a first gear 264, a slider 265, a slide rail 266, a spur rack 267, a second servo motor 268, a second gear 269, a third servo motor 2610, a bevel gear 2611, and a brush 2612, etc.

[0046] The support plate 261 is slidably connected to the guide rail 21 via the support wheel 262. The first servo motor 263 is mounted on the support plate 261, and the output shaft of the first servo motor 263 is provided with a first gear 264 that meshes with the arc-shaped rack 24. The second servo motor 268 and the third servo motor 2610 are slidably mounted on the support plate 261 via the slider 265 and the slide rail 266, respectively. The support plate 261 is provided with a spur rack 267, and the second servo motor 268 is provided with a second gear 269 that meshes with the spur rack 267. The third servo motor 2610 is rotatably mounted with a brush 2612, and the brush 2612 is provided with a bevel gear 2611, which meshes with a gear on the output shaft of the third servo motor 2610.

[0047] The cleaning mechanism 2 is divided into left and right parts. The left and right cleaning mechanisms 2 form a ring structure through the hinge shaft, which encircles insulator strings of different diameters in the middle, and can adapt to bushing cleaning operations within a certain diameter range.

[0048] Optionally, sliders 265 and slide rails 266 are provided on both sides of the support plate 261. The third servo motor 2610 drives the brush to rotate through a bevel gear. The radial feed of the brush 2612 is realized through the second servo motor 268 to adapt to insulating sleeves of different diameters.

[0049] like Figure 1 As shown, one embodiment of the present invention also provides an adaptive control method for a substation insulator cable-drop cleaning robot, comprising: S1. Determining the start and end positions: To achieve layer-by-layer cleaning of insulators, the robot must accurately identify the edge of each insulator, i.e. the position of the gap between the insulators. Since the surface of the insulator may be dirty or reflective, relying solely on vision is prone to misjudgment. This embodiment adopts a detection scheme that combines laser contour scanning and visual feature fusion.

[0050] Optionally, an intelligent agent, including a laser rangefinder, industrial camera, and other types of sensors, is installed on the cleaning mechanism 2. As the cleaning mechanism 2 descends, the sensors acquire contour data of the insulator string, and the intelligent agent locates the gap by identifying abrupt changes in the contour (i.e., the edges of the insulator skirt). By extracting the edge points of the insulator skirt from the sensor data, the start and end positions of the cleaning are determined.

[0051] First, using radial distance sequence D By analyzing the gradient and curvature characteristics, the geometric edges of the insulator surface are accurately identified; then, using... D Synchronously acquired axial height sequence H The actual spatial coordinates of the identified edge are calculated; the axial height sequence of adjacent edge feature points is calculated. H Difference onL a Determine the location of the gap between the pieces. Specifically: S1.1 Multi-dimensional data synchronous acquisition: After the robot starts, the laser rangefinder sensor operates at a frequency of f Collect radial distance sequences from the insulator surface D ={ d 1, d 2, ..., d n Simultaneously, the encoder of the lifting motor synchronously records the axial height sequence of the sleeve. H ={ h 1, h 2, ..., h n Each distance value d n Each corresponds to a specific spatial height position. h n .

[0052] To preserve the steep edges of the bushing insulator skirts while removing noise, a Gaussian weighted sliding filter is used to better retain the "angularity" of the edges and prevent them from being smoothed out, thereby improving detection accuracy. The calculation formula is as follows: ; Among them, weight w j Follows a Gaussian distribution. ;in, m The radius of the sliding window; σ Standard deviation is used to control the degree of smoothing. For the first Distance values.

[0053] Obtain the smoothed distance sequence D′ ={ ,... }

[0054] S1.2 Gradient-Curvature Joint Edge Extraction: Calculate the first-order gradient (rate of change) of the filtered data. G n And second-order gradient (curvature) C n : ; ; in, For the first Filtered distance values ​​of each sampling point; For the first The filtered distance value of each sampling point.

[0055] Set gradient threshold T G and curvature threshold T C .when G n > T G and C n > T C When this happens, the point is determined to be a potential edge point.

[0056] If the judgment is made i The point is an edge point; its corresponding axial height value is extracted immediately. h n And these feature height values ​​are denoted as a set. H ={ h 1, h 2, ..., h n}

[0057] S1.3, Gap locking based on geometric topology: Cluster the identified potential edge points and calculate the axial distance between two adjacent edge points. L a : L a ( n = | h n+1 h n |; Define the standard width range of insulator skirts [ W min , W max ] and standard range of gaps[ G min , G max ].

[0058] like L a ∈[ W min , W max ], marked as the sleeve umbrella skirt entity. If L a ∈[ G min , G max ], marked as the interval between sleeve segments.

[0059] S1.4 Output control signal: The center position of the locked sleeve segment interval L g = L a ( n ) / 2 is sent to the control system of the robot cleaning device as a trigger signal (start and end position) for the cleaning action.

[0060] S2. Adaptive balancing method based on integral separation PID and dead-zone control: Since the insulator string may have taper or installation deviation, it cannot be guaranteed that the insulator string is completely perpendicular to the ground. Furthermore, the descent mechanism is affected by wind, swaying, or friction with the outer edge of the insulator, which can cause the cleaning device to tilt, resulting in uneven force or jamming. Optionally, an angle sensor can be installed on the cleaning mechanism 2, and the cleaning self-balancing adjustment can be performed by using angle feedback and differential rope adjustment of the descent mechanism 1.

[0061] An attitude sensing module is integrated into the cleaning mechanism 2 to monitor the tilt angle of the cleaning mechanism 2 in real time. θ At the same time, a preset dead zone threshold is established. θ d A self-balancing algorithm based on PID control is used to maintain the horizontal (i.e., tilt angle) position of cleaning mechanism 2. θ t =0).

[0062] Determine the tilt angle difference: e ( t )= θ t θ c ; in, θ c The current real-time tilt angle measured by the sensor.

[0063] If | e ( t )∣< θ d If the motor is determined to be in a valid balanced state, the controller will not output adjustment pulses and will keep the current motor position locked without making any adjustments.

[0064] If | e ( t )∣≥ θ d The rope length difference calculated by executing PID. ΔL Rope length difference ΔL A value greater than 0 indicates the right side is too high. The right-side fine-tuning motor will retract the rope, while the left side will release it. Rope length difference. ΔL <0 indicates that the left side is too high. Retract the rope on the left side and release the rope on the right side.

[0065] The control logic described above drives the differential lifting mechanisms on the left and right sides to generate a rope length difference. ΔL While ensuring the cleaning mechanism is level, it maintains consistent contact pressure between the cleaning brushes on both sides and the surface of the insulator, effectively solving the problem of one-sided jamming or cleaning blind spots caused by tilting.

[0066] The adaptive balancing method ensures that the penetration depth (compression) of the cleaning brush on both sides of the insulator skirt remains consistent, thereby ensuring balanced normal contact pressure on both sides and preventing jamming or incomplete cleaning on one side due to excessive force on one side.

[0067] S3. Method for determining the lifting range of the hoisting mechanism after each layer of insulator work is completed: To improve cleaning efficiency and eliminate missed cleaning, the robot abandoned the traditional uniform descent mode and instead adopted a "stop-move-stop" step-by-step control strategy, setting each insulator as an independent cleaning unit. This strategy follows a cyclical logic of precisely descending to the designated position to perform the cleaning operation, then resetting and lifting, and finally moving to the next layer, thereby achieving precise step-by-step cleaning of the insulator string layer by layer.

[0068] S3.1 Cleaning Phase: The robot descends to the [missing information - likely a specific location or level]. N Stop descending when the gap position of the sheet insulator is reached, start the brush rotation, and perform reciprocating friction cleaning.

[0069] S3.2 Lifting Stage: After cleaning is completed, the brush stops, the cable descent mechanism 1 activates, and the cleaning mechanism 2 is lifted to the next stage. N +1 piece of work position.

[0070] To accommodate different types of insulators, transformer bushings and GIS incoming and outgoing bushings differ in size. Therefore, the lifting range should not be a fixed value, but rather dynamically adjusted based on the detected actual inter-insulator spacing. The robot's lifting height is directly equal to the actual distance (inter-insulator spacing) between the two currently detected insulators. H n = L g [ N +1] L g [ N ]; in, L g N For the first N The axial position of each gap is obtained by the insulator gap position detection method; L g [N +1] is the first N Axial position with +1 gap.

[0071] One embodiment of the present invention also provides an adaptive control system for a substation insulator cable-drop cleaning robot, the robot including a cable-drop mechanism and a cleaning mechanism suspended on the cable-drop mechanism by ropes; the system includes: The data acquisition module is configured to acquire the radial distance sequence of the insulator surface, the axial height sequence of the bushing, and the tilt angle data. The start and end position determination module is configured to: perform gradient-curvature joint edge extraction on the radial distance sequence and the axial height sequence to obtain the rate of change and curvature; determine potential edge points by comparing thresholds of the rate of change and curvature; cluster the potential edge points to determine the axial distance between two adjacent edge points; and determine the start and end positions of the cleaning mechanism based on the axial distance. The self-balancing adjustment module is configured to perform sweeping operations at the start and end positions, and to adjust the sweeping self-balancing according to the tilt angle data and the differential rope adjustment of the descent mechanism. The dynamic adjustment module for lifting amplitude is configured as follows: dynamic adjustment of lifting amplitude based on the spacing between insulators: adjusting the robot's lifting amplitude according to the distance between two insulators.

[0072] The working method of the system is the same as the adaptive control method of the substation insulator cable descent cleaning robot, and will not be described again here.

[0073] One embodiment of the present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the adaptive control method for the substation insulator cable descent cleaning robot described in Embodiment 1.

[0074] One embodiment of the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to implement the steps of the adaptive control method for the substation insulator cable descent cleaning robot described in Embodiment 1.

[0075] One embodiment of the present invention also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the adaptive control method for the substation insulator cable-drop cleaning robot described in Embodiment 1.

[0076] The above description is merely a preferred embodiment of this practice and is not intended to limit the scope of this practice. Various modifications and variations can be made to this practice by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this practice should be included within the protection scope of this practice.

Claims

1. An adaptive control method for a substation insulator descent cleaning robot, characterized in that, The robot includes a descent mechanism and a cleaning mechanism suspended from the descent mechanism by ropes; the method includes: Obtain the radial distance sequence of the insulator surface, the axial height sequence of the bushing, and the tilt angle data; Determining the start and end positions of potential edge points: Gradient-curvature joint edge extraction is performed on the radial distance sequence and axial height sequence to obtain the rate of change and curvature; potential edge points are determined by comparing thresholds of the rate of change and curvature; potential edge points are clustered to determine the axial distance between two adjacent edge points, and the start and end positions of the cleaning mechanism are determined based on the axial distance; Differential rope adjustment for cleaning self-balancing: Cleaning operations are carried out based on the start and end positions, and cleaning self-balancing is adjusted according to the tilt angle data and the differential rope adjustment of the descent mechanism; Dynamic adjustment of lifting amplitude based on inter-insulator spacing: The lifting amplitude of the robot is adjusted according to the distance between two insulators.

2. The adaptive control method for the substation insulator cable-drop cleaning robot as described in claim 1, characterized in that, The determination of the start and end positions includes: obtaining the radial distance sequence of the insulator surface through laser ranging, and recording the bushing axial height sequence through the encoder of the lifting motor; when the rate of change and curvature are greater than the rate of change threshold and curvature threshold, respectively, the corresponding point is determined as a potential edge point; the potential edge points are clustered to determine the axial distance between two adjacent edge points; if the axial distance is within the standard width range, it is marked as a bushing skirt entity; if the axial distance is within the standard range of the gap, it is marked as the bushing segment gap; the center position of the bushing segment gap is used as the start and end positions of the cleaning action.

3. The adaptive control method for a substation insulator cable-drop cleaning robot as described in claim 2, characterized in that, The radial distance sequence and axial height sequence are denoised while preserving the steep features of the bushing insulator skirt edge using Gaussian weighted sliding filter.

4. The adaptive control method for the substation insulator cable-drop cleaning robot as described in claim 3, characterized in that, The Gaussian weighted sliding filter is: ； in, For the first Filtered distance value of each sampling point; weight w j It follows a Gaussian distribution; m The radius of the sliding window; For the first Distance values.

5. The adaptive control method for a substation insulator cable-drop cleaning robot as described in claim 2, characterized in that, The rate of change G n and the curvature C n They are respectively: ； Among them, among them, For the first Filtered distance values ​​of each sampling point; For the first The filtered distance value of each sampling point.

6. The adaptive control method for a substation insulator cable-drop cleaning robot as described in claim 1, characterized in that, The cleaning self-balancing adjustment includes: real-time monitoring of the tilt angle of the cleaning mechanism, determining the tilt angle difference based on the tilt angle; determining whether to adjust based on the comparison between the tilt angle difference and the balance dead zone threshold, and controlling the rope length difference based on integral separation when adjustment is required.

7. The adaptive control method for a substation insulator cable-drop cleaning robot as described in claim 6, characterized in that, If the tilt angle difference is less than the balance dead zone threshold, no adjustment is made; if the rope length difference is greater than zero, the first side is too high, so the rope is pulled up on the first side and released on the second side; otherwise, the second side is too high, so the rope is pulled up on the second side and released on the first side.

8. The adaptive control method for a substation insulator cable-drop cleaning robot as described in claim 1, characterized in that, During the cleaning phase, the robot descends to the gap position of the current insulator piece and starts the brush to rotate, performing reciprocating friction cleaning; During the lifting and lowering phase, after cleaning is completed, the cable descent mechanism will lift the cleaning mechanism to the next work position.

9. The adaptive control method for a substation insulator cable-drop cleaning robot as described in claim 1, characterized in that, The robot's lifting height is equal to the actual distance between the two currently detected insulators.

10. An adaptive control system for a substation insulator descent cleaning robot, characterized in that, The robot includes a descent mechanism and a cleaning mechanism suspended from the descent mechanism by ropes; the system includes: The data acquisition module is configured to acquire the radial distance sequence of the insulator surface, the axial height sequence of the bushing, and the tilt angle data. The start and end position determination module is configured to: perform gradient-curvature joint edge extraction on the radial distance sequence and the axial height sequence to obtain the rate of change and curvature; determine potential edge points by comparing thresholds of the rate of change and curvature; cluster the potential edge points to determine the axial distance between two adjacent edge points; and determine the start and end positions of the cleaning mechanism based on the axial distance. The self-balancing adjustment module is configured to perform sweeping operations at the start and end positions, and to adjust the sweeping self-balancing according to the tilt angle data and the differential rope adjustment of the descent mechanism. The dynamic adjustment module for lifting amplitude is configured as follows: dynamic adjustment of lifting amplitude based on the spacing between insulators: adjusting the robot's lifting amplitude according to the distance between two insulators.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps of the adaptive control method for the substation insulator cable-drop cleaning robot as described in any one of claims 1-9.

12. An electronic device comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, characterized in that, When the processor executes the program, it implements the steps of the adaptive control method for the substation insulator cable-drop cleaning robot as described in any one of claims 1-9.

13. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the steps of the adaptive control method for a substation insulator cable-drop cleaning robot as described in any one of claims 1-9.

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