A high-voltage electrical equipment live-line cleaning robot system and control method

Abstract

This invention relates to the field of live-line maintenance of high-voltage electrical equipment, and particularly to a live-line insulation cleaning robot system and control method for high-voltage electrical equipment. The method includes: processing scheduling instructions and equipment parameters to obtain safe approach data; controlling the robot to move to the work point, deploying the first robotic arm insulation barrier and collecting working status data to form a safe cleaning zone; acquiring images of insulator strings and identifying the distribution and level of contamination; generating the cleaning trajectory and control data of the second robotic arm; executing the spraying of insulating cleaning fluid, simultaneously collecting leakage current and surface conductivity data and dynamically adjusting cleaning parameters; and retracting the robotic arm and robot based on the live-line data, and generating a maintenance report. This invention, through active insulation barriers and real-time electrical parameter feedback closed-loop control, achieves safe permissioning and dynamic adjustment of the live-line cleaning process, significantly improving the operational safety and intelligence level of live-line insulation cleaning of high-voltage electrical equipment.

Description

Technical Field

[0001] This invention relates to the field of live-line maintenance of high-voltage electrical equipment, and in particular to a live-line insulation cleaning robot system and control method for high-voltage electrical equipment. Background Technology

[0002] In the field of live-line maintenance of high-voltage electrical equipment, existing solutions typically employ robotic walking devices, work execution layers, end-of-line cleaning devices, spray guns, nozzles, and insulating cleaning fluids to clean target insulators. Some solutions also utilize cameras, wireless communication modules, insulated water pipelines, or insulation protection systems for auxiliary operations. However, these solutions suffer from limitations such as the separation of cleaning actions from leakage current acquisition, the lack of integration of surface conductivity data with cleaning parameter adjustments, and the failure to correlate the working status of insulation barriers with the spraying actions of the end-of-line cleaning device. Existing methods largely rely on manual spray guns, fixed cleaning trajectories, multi-degree-of-freedom actuator positioning, or structural insulation protection, making it difficult to integrate data on work location, work height, energized area, cleaning safety area, contamination distribution, and live-line cleaning into a continuous control process.

[0003] In energized areas, uneven distribution of oil and conductive dust on the surface of the target insulator is prone to occur, and it is difficult to control the leakage current and surface conductivity changes after the insulating cleaning fluid is sprayed in a timely manner. This makes it difficult to meet the requirements of stable linkage between the insulating cleaning fluid spraying of the end cleaning device, the cleaning trajectory of the second robotic arm, the spraying angle, the nozzle distance, the cleaning intensity, and the movement speed of the cleaning arm.

[0004] Existing technologies generally suffer from shortcomings in the joint processing of the first robotic arm's insulation barrier deployment, camera insulator string surface image acquisition, leakage current acquisition, surface conductivity acquisition, and cleaning parameter adjustment. These shortcomings include scattered data acquisition objects, disconnect between working status determination and spray control, and lack of continuous recording of abnormal data and second robotic arm retraction. It is difficult to form a consistent process for obtaining scheduling instructions, forming a cleaning safety zone, identifying contamination levels, generating cleaning control data, generating live cleaning data, and processing maintenance reports in high-voltage electrical equipment live insulation cleaning scenarios. This results in a lack of continuously callable data foundation between insulation cleaning fluid spraying and cleaning parameter adjustment. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides a control method for a live-line insulation cleaning robot for high-voltage electrical equipment, comprising:

[0006] S100: Obtain scheduling instructions and target device parameters, and process them to obtain safe approach data;

[0007] S200. Based on the safe proximity data, control the robot's walking device to move to the work point, deploy the first robotic arm insulation barrier and collect the working status to form a cleaning safety area.

[0008] S300. Based on the cleaning safety area, acquire images of insulator strings, identify the skirt area, pollution distribution and pollution level, and output pollution distribution data and pollution level data.

[0009] S400: Combining the cleaning safety area, dirt distribution data and dirt level data, generate the cleaning trajectory and cleaning control data of the second robotic arm;

[0010] S500: Based on the cleaning control data, the insulating cleaning fluid is sprayed, and the leakage current and surface conductivity are collected simultaneously and the cleaning parameters are adjusted to obtain the live cleaning data.

[0011] S600: Based on the live cleaning data, retract the robotic arm, remove the robot's walking device, upload the data, and generate a maintenance report.

[0012] Furthermore, the process of obtaining securely accessible data includes:

[0013] The processing yields safe approach data including: work location processing, work height processing, energized area processing, and safe approach path processing.

[0014] The operation location processing includes: extracting the equipment location and the current position of the robot walking device from the target equipment parameters, matching the equipment location with the orientation of the skirts of the target insulator, determining the operation point including the robot walking device stop position, orientation position, first robotic arm deployment position and second robotic arm cleaning and covering position, and excluding positions within the boundary of the energized area.

[0015] The operation height processing includes: reading the operation height from the target equipment parameters, corresponding the operation height to the umbrella skirt orientation, determining the height range of the first robotic arm deploying the insulating barrier and the height reference when the second robotic arm calls the cleaning trajectory;

[0016] The charged area processing includes: reading the charged area boundary, and mapping the charged area boundary to the operation position data and operation height data respectively, to form the passage restriction of the robot walking device and the boundary reference of the first robotic arm unfolding the insulation barrier;

[0017] The safe approach path processing includes: connecting the current position of the robot walking device with the work point to obtain an initial movement path; deleting the path segment entering the electrified area according to the boundary of the electrified area; and adjusting the stopping position and facing position of the robot walking device according to the working height and the umbrella skirt orientation to generate a safe approach path that includes the movement direction, stopping position and facing position.

[0018] When the target insulator in the scheduling instruction is inconsistent with the equipment position in the target equipment parameters, or when the current position of the robot walking device does not have the path conditions to enter the work point, record the abnormal information and pause the output of safe approach data.

[0019] Furthermore, the process of controlling the robot's walking device to move to the work point, deploying the first robotic arm's insulating barrier, and collecting working status data includes:

[0020] Read the safe approach path data and the robot's orientation data, send a movement control command to the robot to move to the work point according to the safe approach path data and adjust its orientation; continuously read the robot's current position during the movement, and stop moving and record the deviation information when the current position deviates from the safe approach path data;

[0021] After obtaining the work point location data, the work height data and the live area data are read from the safety approach data. The work height data is converted into the end height of the first robotic arm, and the live area data is converted into the deployment boundary of the insulation barrier. The first robotic arm performs extension, rotation and deployment actions according to the end height and deployment boundary, so that the insulation barrier enters the deployment state from the retracted state and is located between the live area and the cleaning execution space.

[0022] The system synchronously reads the joint rotation angle or insulation barrier rotation angle collected by the angle sensor set on the first robotic arm or insulation barrier, and the tilt state of the insulation barrier relative to the robot's walking device collected by the tilt sensor; it matches the motion data with the insulation barrier deployment data to determine whether the insulation barrier is located between the energized area and the cleaning execution space; when the motion data does not match the insulation barrier deployment data, it stops the first robotic arm from continuing to deploy and records the anomaly; when the motion data matches, it allows the camera to capture an image of the insulation barrier relative to the target insulator.

[0023] Furthermore, the process of creating a clean and safe area includes:

[0024] The motion data, images, and charged area data are correlated to determine whether the insulating barrier is in a working state. The working state is defined as the insulating barrier being positioned between the charged area and the cleaning execution space, with the first robotic arm maintaining the insulating barrier without retracting. When the insulating barrier is in a working state, the insulating barrier deployment data, motion data, images, charged area data, and work point positioning data are merged to obtain a cleaning safety area that includes the robot's walking device stop position, the first robotic arm posture, the insulating barrier's working state, the charged area boundary, and the cleaning execution space boundary. When the insulating barrier is not in a working state, the end-effector cleaning device is prohibited from spraying insulating cleaning fluid, and the information indicating that it is not in a working state is recorded.

[0025] Furthermore, the process of acquiring images of insulator strings, identifying the shed area, pollution distribution and pollution level, and outputting pollution distribution data and pollution level data includes:

[0026] The system reads the working status of the insulation barrier, the boundary of the cleaning execution space, and the boundary of the energized area within the cleaning safety zone. When the insulation barrier is in working condition, the camera is activated to capture images of the insulator string surface, including the target insulator, skirts, oil, and conductive dust. The camera orientation is adjusted according to the robot's stopping position and the boundary of the cleaning execution space to ensure the acquisition range covers the target insulator. The acquisition range is limited according to the boundary of the energized area, and areas obstructed by the insulation barrier are excluded. The acquired images of the insulator string surface are recorded in correspondence with the cleaning safety zone, forming image recording data that includes acquisition time, robot position, camera orientation, insulation barrier working status, and insulator string surface images.

[0027] Image boundary reading and region segmentation are performed on the surface image of the insulator string. The outer edge of the target insulator is extracted, and the skirt spacing between adjacent skirts is identified. The skirt boundaries, skirt spacing, and cleaning execution space boundaries are mapped, and image areas outside the cleaning execution space boundaries are excluded to obtain the area to be cleaned. Within the area to be cleaned, color differences, surface brightness differences, and boundary continuity are read. Dark patchy areas corresponding to the skirt boundaries are recorded as oil contamination candidate areas, and granular areas distributed on the skirt spacing or skirt surface are recorded as conductive dust candidate areas. The oil contamination candidate areas and conductive dust candidate areas are mapped with the cleaning safety area, and areas blocked by the insulation barrier and not belonging to the target insulator are deleted. The distribution locations within the area to be cleaned are preserved to obtain dirt distribution data containing the skirt number, distribution location, coverage area, and corresponding image location. The oil stain coverage area and conductive dust coverage area are read from the dirt distribution data, and the coverage areas are mapped to the skirt areas. When the coverage area is concentrated near a single skirt boundary, it is recorded as a local dirt level; when the coverage area spans multiple skirt intervals, it is recorded as a continuous dirt level; when the coverage area contains both oil stains and conductive dust, it is recorded as a composite dirt level. The local dirt level, continuous dirt level, or composite dirt level is associated with the corresponding skirt area to obtain dirt level data containing the skirt area, dirt type, coverage area, and level record.

[0028] Furthermore, the process of generating the second robotic arm's cleaning trajectory and cleaning control data includes:

[0029] Read the distribution location from the dirt distribution data and the level record from the dirt level data, convert the distribution location into nozzle movement location, generate continuous nozzle movement location for multiple distribution locations located in the same umbrella skirt area according to the umbrella skirt boundary and umbrella skirt interval, and generate segmented nozzle movement location for distribution locations spanning multiple umbrella skirt areas according to the umbrella skirt arrangement direction; compare the nozzle movement location with the cleaning execution space boundary, delete the nozzle movement location located outside the cleaning execution space boundary, and obtain the cleaning trajectory;

[0030] Read the umbrella skirt orientation corresponding to the target device parameters, match the umbrella skirt orientation with the nozzle movement position, for the nozzle movement position located outside the umbrella skirt boundary, point the nozzle towards the umbrella skirt boundary direction, for the nozzle movement position located at the umbrella skirt interval, point the nozzle towards the umbrella skirt interval direction, and obtain the spray angle data that is bound to the cleaning trajectory segment by segment;

[0031] The movement position of each nozzle in the cleaning trajectory is compared with the boundary of the charged area. The movement position of the nozzle is restricted to the boundary of the cleaning execution space. The nozzle distance is increased at the nozzle movement position near the boundary of the charged area, and the nozzle distance is kept recorded at the nozzle movement position far from the boundary of the charged area but located in the area to be cleaned. The nozzle distance data is obtained by binding the cleaning trajectory segment by segment.

[0032] Read the local dirt level, continuous dirt level and complex dirt level from the dirt level data. For the umbrella skirt area corresponding to the local dirt level, generate the local cleaning intensity. For the umbrella skirt area corresponding to the continuous dirt level, generate the continuous cleaning intensity. For the umbrella skirt area corresponding to the complex dirt level, generate the complex cleaning intensity. Bind the cleaning intensity to the corresponding nozzle movement position and spray angle to obtain the cleaning intensity data.

[0033] The cleaning arm movement speed is generated based on the cleaning intensity data and the cleaning trajectory. The cleaning arm movement speed is reduced at the nozzle movement position with high cleaning intensity and increased or maintained at the nozzle movement position with low cleaning intensity. The transition movement speed is recorded for the movement segment between adjacent umbrella skirt areas, the approach movement speed is recorded for the movement segment before entering the spray position, and the exit movement speed is recorded for the movement segment after leaving the spray position. Thus, the cleaning arm movement speed data is obtained by binding it to the cleaning trajectory segment by segment.

[0034] Furthermore, the process of performing the insulating cleaning fluid spraying includes:

[0035] After reading the working status of the insulation barrier in the cleaning safety area, the second robotic arm is driven to move according to the cleaning trajectory. The spray direction of the nozzle relative to the target insulator is adjusted according to the spray angle data, and the distance between the nozzle tip and the surface of the target insulator is adjusted according to the nozzle distance data. After reading the cleaning intensity data, a spray control command is sent to the spray gun to make the spray gun spray insulating cleaning fluid onto the target insulator according to the cleaning intensity data. The cleaning arm movement speed data is used to control the speed at which the second robotic arm moves along the cleaning trajectory. When the second robotic arm reaches each nozzle movement position, the corresponding spray angle, nozzle distance, cleaning intensity, and cleaning arm movement speed are written into the spray record.

[0036] Furthermore, the process of simultaneously collecting leakage current and surface conductivity and adjusting cleaning parameters includes:

[0037] While the end-point cleaning device is spraying insulating cleaning fluid, leakage current is collected, and the leakage current is recorded in relation to the current nozzle movement position, current spray angle, current nozzle distance, current cleaning intensity, and current cleaning arm movement speed. If leakage current collection is interrupted, spraying is stopped, and the leakage current collection interruption information is written into the anomaly log. Surface conductivity is collected according to the nozzle movement position corresponding to the cleaning trajectory, and the surface conductivity is correlated with the corresponding umbrella skirt area, dirt distribution data, and dirt level data. If surface conductivity data is missing, the current spraying action is stopped, and the missing information is recorded.

[0038] At each nozzle movement position, the leakage current and surface conductivity are read to determine whether they meet safety conditions. When the leakage current or surface conductivity increases and meets safety conditions, the cleaning intensity is reduced, the nozzle distance is increased, and the cleaning arm movement speed is increased. The adjusted spray angle, nozzle distance, cleaning intensity, and cleaning arm movement speed are written into the adjustment record. When the leakage current or surface conductivity does not meet safety conditions, the end cleaning device stops spraying insulating cleaning fluid, and the current nozzle movement position, current leakage current, current surface conductivity, and motion data of each degree of freedom of the second robotic arm are written into the abnormal data. During the adjustment of cleaning parameters, the insulation barrier of the first robotic arm is kept in working condition, and the cleaning safety area is used as the movement boundary of the second robotic arm. The adjusted nozzle movement position must not exceed the boundary of the cleaning execution space. If the adjusted nozzle movement position is close to the boundary of the charged area, the spraying action of the corresponding nozzle movement position is stopped, and the position is recorded as abnormal data.

[0039] Furthermore, the process of retracting the robotic arm and removing the robot's walking mechanism includes:

[0040] The system reads abnormal data, spray records, leakage current records, surface conductivity records, and adjustment records from the live cleaning data. Based on the abnormal data, it determines whether the current state is normal cleaning completion, cleaning parameter adjustment completion, or abnormal stop. In the abnormal stop state, it controls the second robotic arm to retract along the reverse path of the cleaning trajectory. In the normal cleaning completion state, it controls the second robotic arm to retract according to the end position of the cleaning trajectory, the transition speed, and the exit speed. During the retraction of the second robotic arm, the insulation barrier of the first robotic arm is kept in working condition, and the retraction position of the second robotic arm is restricted to the side of the insulation barrier away from the live area. After the retraction is completed, it controls the first robotic arm to retract the insulation barrier and records the retraction status of the second robotic arm and the first robotic arm.

[0041] After both the second and first robotic arms have been retracted, the safe approach path data and the retraction status of the second and first robotic arms are read. An evacuation path is generated based on the current position of the robot's walking device and the work point data. The evacuation path adopts the opposite direction of the safe approach path and avoids the boundary of the electrified area. The position and orientation of the robot's walking device are continuously recorded during its movement. After leaving the work area, the evacuation completion status is recorded.

[0042] Furthermore, the process of uploading data and generating maintenance reports includes:

[0043] The system sends the injection record, leakage current record, surface conductivity record, adjustment record, abnormal data, motion data of each degree of freedom of the second robotic arm, position of the robot walking device, and evacuation completion status to the wireless communication module, which then uploads them to the remote dispatch terminal. Local records are retained during the upload process, and local data continues to be recorded when the wireless communication module is interrupted. The data is then uploaded again after the connection is restored.

[0044] Before the second robotic arm retracts, the camera again captures images of the insulator string surface of the target insulator. Based on the recaptured images, the distribution and level of contamination after cleaning are identified and recorded accordingly. After the robot's walking device withdraws, the contamination distribution data, contamination level data, cleaning trajectory, cleaning control data, leakage current records, surface conductivity records, adjustment records, and abnormal data before and after cleaning are written into a maintenance report. The maintenance report includes scheduling instructions, target equipment parameters, safe proximity data, cleaning safety area, contamination distribution data, contamination level data, cleaning control data, live cleaning data, abnormal data, withdrawal completion status, and wireless communication module upload status.

[0045] The key innovations of this invention include:

[0046] (1) The scheduling instructions and target equipment parameters are processed into safe proximity data, and the robot walking device is moved, the first mechanical arm insulation barrier is deployed and the working status is collected and processed based on the safe proximity data, so that the cleaning safety area is formed by the working position, working height, energized area and working status of the insulation barrier.

[0047] (2) The cleaning safety area is used as the input for the acquisition of the surface image of the insulator string by the camera, and the skirt area recognition, dirt distribution recognition and dirt level recognition are performed so that the dirt distribution data and dirt level data become the input for the second robotic arm cleaning trajectory, spray angle, nozzle distance, cleaning intensity and cleaning arm movement speed processing.

[0048] (3) Use the cleaning control data for the spraying of insulating cleaning fluid in the end cleaning device, and simultaneously collect leakage current, surface conductivity and clean parameter adjustment, so that the live cleaning data includes the spraying process, electrical parameters and clean parameter adjustment.

[0049] The following are its main beneficial effects:

[0050] (1) To address the issue that the working status of the insulation barrier is not associated with the spraying action of the end cleaning device, a cleaning safety area is formed by the deployment of the insulation barrier of the first robotic arm and the acquisition and processing of its working status. This allows the movement of the robot walking device, the posture of the first robotic arm, the energized area, and the cleaning execution space to be recorded in the same data object. This provides a preceding input for the subsequent acquisition of the surface image of the insulator string by the camera and the spraying of the insulation cleaning fluid by the end cleaning device.

[0051] (2) To address the problem that fixed cleaning trajectories are difficult to correspond to the distribution of oil and conductive dust on the surface of the target insulator, the pollution distribution data and pollution level data are obtained by identifying the skirt area, pollution distribution, and pollution level. This allows the cleaning trajectory, spray angle, nozzle distance, cleaning intensity, and cleaning arm movement speed of the second robotic arm to be generated from the surface state of the target insulator.

[0052] (3) To address the issue of separation between cleaning action and leakage current acquisition and surface conductivity acquisition, the end cleaning device sprays insulating cleaning fluid, acquires leakage current, acquires surface conductivity and adjusts cleaning parameters to form live cleaning data, so that the spray angle, nozzle distance, cleaning intensity and cleaning arm movement speed are in the same processing link as electrical parameters.

[0053] (4) To address the issue of missing continuous records of abnormal data and the second robotic arm retraction, the second robotic arm retraction, robot walking device retraction, and wireless communication module upload processing are performed using live cleaning data, so that leakage current, surface conductivity, cleaning control data, and abnormal data are continuously accessed during the retraction and retraction process.

[0054] (5) To address the issue of scattered data during the live insulation cleaning process, the data on safe proximity, cleaning safety area, contamination distribution, contamination level, cleaning control, and live cleaning are summarized through maintenance report processing, so that the data between the acquisition of dispatch instructions and the generation of maintenance reports maintain a corresponding relationship. Attached Figure Description

[0055] Figure 1 A flowchart illustrating a control method for a live-line insulation cleaning robot for high-voltage electrical equipment, provided in an embodiment of this application;

[0056] Figure 2 This is a structural block diagram of a live-line insulation cleaning robot system for high-voltage electrical equipment provided in an embodiment of this application. Detailed Implementation

[0057] Example 1: Refer to Figure 1 This is a flowchart illustrating a control method for a live-line insulation cleaning robot for high-voltage electrical equipment according to an embodiment of the present invention. The process may include at least steps S100-S600:

[0058] S100: Obtain scheduling instructions and target device parameters, and process them to obtain safe approach data;

[0059] S200. Based on the safe proximity data, control the robot's walking device to move to the work point, deploy the first robotic arm insulation barrier and collect the working status to form a cleaning safety area.

[0060] S300. Based on the cleaning safety area, acquire images of insulator strings, identify the skirt area, pollution distribution and pollution level, and output pollution distribution data and pollution level data.

[0061] S400: Combining the cleaning safety area, dirt distribution data and dirt level data, generate the cleaning trajectory and cleaning control data of the second robotic arm;

[0062] S500: Based on the cleaning control data, the insulating cleaning fluid is sprayed, and the leakage current and surface conductivity are collected simultaneously and the cleaning parameters are adjusted to obtain the live cleaning data.

[0063] S600: Based on the live cleaning data, retract the robotic arm, remove the robot's walking device, upload the data, and generate a maintenance report.

[0064] S100: Obtain scheduling instructions and target device parameters, and process them to obtain safe approach data;

[0065] This step is the initial operation step of the high-voltage electrical equipment live-line insulation cleaning robot system in the corresponding scenario. Specifically, the remote dispatch terminal sends a dispatch command to the control system via a wireless communication module. The dispatch command is the instruction data for starting the robot's walking device to enter the live-line cleaning operation of the high-voltage electrical equipment, including the target insulator, the work point, the work height, and the robot's walking device activation conditions. The target equipment parameters are a set of parameters describing the high-voltage electrical equipment and the target insulator, including the equipment position, work height, skirt orientation, live area boundary, and the current position of the robot's walking device. After receiving the dispatch command, the control system records the dispatch command and the target equipment parameters accordingly. It first determines whether the target insulator in the dispatch command matches the equipment position in the target equipment parameters, and then determines whether the current position of the robot's walking device has the path conditions to enter the work point. When there is an inconsistency between the dispatch command, the equipment position, and the current position of the robot's walking device, the control system records the abnormal information and suspends the output of safe approach data.

[0066] Specifically, the work position processing is completed by the control system. The work position is the ground or platform location where the robot travels after arriving, allowing the first robotic arm to deploy the insulating barrier and the second robotic arm to execute the subsequent cleaning trajectory. The control system extracts the equipment position and the current position of the robot travel from the target equipment parameters, and maps the equipment position to the orientation of the target insulator's skirts to determine the work point where the robot travels near the target insulator. The work point is not a single stopping position, but includes the robot travel's stopping position, orientation position, the first robotic arm's deployment position, and the second robotic arm's cleaning coverage position. The control system excludes positions within the boundary of the energized area during work position processing and records the robot travel direction from its current position to the work point, obtaining work position data.

[0067] Specifically, the working height processing is completed by the control system in conjunction with the target equipment parameters. The working height is the height position of the skirt area of ​​the target insulator relative to the robot's walking device, and it is also the height reference for the first robotic arm's insulation barrier deployment and the subsequent entry of the second robotic arm's end-effector cleaning device into the cleaning execution space. The control system reads the working height from the target equipment parameters and correlates it with the skirt orientation to determine the height range for the first robotic arm to deploy the insulation barrier in subsequent S200, and to determine the height reference to be used by the second robotic arm when forming the cleaning trajectory in subsequent S400. After the working height processing is completed, the control system records the working height, skirt orientation, and target insulator's equipment position in a correlated manner, forming working height data.

[0068] Specifically, the energized area processing is completed by the control system reading the boundary of the energized area. The energized area is the spatial range in which the robot walking device, the first robotic arm, the second robotic arm, and the end effector are prohibited from direct entry when the high-voltage electrical equipment is energized. The control system maps the boundary of the energized area to the working position data to form the passage restriction for the robot walking device. The control system also maps the boundary of the energized area to the working height data to form the boundary reference for the subsequent deployment of the insulation barrier by the first robotic arm. After the energized area processing is completed, the control system outputs the energized area data, which serves as the boundary input for the deployment of the insulation barrier of the first robotic arm and the acquisition and processing of its working status in S200.

[0069] Specifically, the safe approach path processing involves the control system associating work position data, work height data, energized area data, and the current position of the robot's locomotive. The safe approach path is the movement path of the robot from its current position to the work point, including the direction of movement, stopping position, and facing position. When generating the safe approach path, the control system first connects the current position of the robot's locomotive to the work point to obtain an initial movement path; then, it deletes the path segment entering the energized area based on the boundary of the energized area; subsequently, it adjusts the stopping position and facing position of the robot's locomotive based on the work height and the orientation of the umbrella skirt, ensuring that the first robotic arm faces the position between the energized area and the cleaning execution space when deploying the insulation barrier in S200, and that the second robotic arm has a cleaning coverage position when forming the cleaning trajectory in S400. After the safe approach path processing is completed, the control system generates safe approach path data.

[0070] In one technical solution, the target equipment parameters received by the control system come from high-voltage electrical equipment data stored at the remote dispatch terminal. These parameters already include the equipment location, working height, skirt orientation, and energized area boundary before the dispatch command is issued. Upon receiving the data, the control system directly processes the working location, working height, energized area, and safe approach path, and writes the processing information into the safe approach data. In another technical solution, after the robot's walking device reaches the high-voltage electrical equipment area, a camera captures an image of the target insulator. The control system matches the skirt orientation of the target insulator in the image with the target equipment parameters sent by the remote dispatch terminal, correcting the working point and orientation. In yet another technical solution, when the robot's walking device deviates from its current position, the control system rereads the current position and regenerates the safe approach path data, while the original safe approach path data is stored as a record in the control system.

[0071] Understandably, the safety proximity data generated in this step serves as the unified input for subsequent steps. This safety proximity data includes work location data, work height data, energized area data, safety proximity path data, and robot walking device orientation data. The work location data is used by the robot walking device in S200 for movement; the work height data is used by the first robotic arm in S200 for deploying the insulating barrier; the energized area data is used by S200 for collecting and processing the working status; the safety proximity path data is used by S200 to control the robot walking device to move to the work point; and the robot walking device orientation data is used by S200 to determine the deployment direction of the first robotic arm relative to the target insulator. Thus, the safety proximity data obtained in S100 is input to S200 step by step, becoming the preliminary data for S200 to generate the cleaning safety area.

[0072] Summary of the technical effects of this step: This step converts scheduling instructions and target equipment parameters into safe proximity data, enabling the robot's movement, the deployment of the first robotic arm's insulating barrier, and the subsequent cleaning process by the second robotic arm to share common inputs. The working position, working height, energized area, and safe proximity path are mapped within the same step, reducing the need for repeated positioning of the target insulator in subsequent steps. The safe proximity data, as input to S200, ensures that the insulating barrier deployment action has a clear boundary after the robot's movement reaches the working point.

[0073] S200. Based on the safe proximity data, control the robot's walking device to move to the work point, deploy the first robotic arm insulation barrier and collect the working status to form a cleaning safety area.

[0074] This step follows the operation based on the safety proximity data obtained in S100. The safety proximity data includes work position data, work height data, energized area data, safety proximity path data, and robot walking device orientation data. The control system uses this safety proximity data as input, first reading the safety proximity path data and the robot walking device orientation data, and then sending a movement control command to the robot walking device. The robot walking device moves to the work point according to the safety proximity path data and adjusts its orientation according to the robot walking device orientation data. The robot walking device is a moving structure that carries the first robotic arm, the second robotic arm, a camera, an end-effector cleaning device, an electrical parameter monitoring module, a wireless communication module, and the control system. The work point is the location where, after the robot walking device stops, the first robotic arm deploys the insulating barrier, and the second robotic arm enters the cleaning execution space. After the robot walking device completes its movement, the control system records the position, orientation, and stopping status of the robot walking device, obtaining the work point arrival data.

[0075] Specifically, the movement of the robot's walking device is automatically triggered by the control system. The triggering conditions are the completion of receiving safe approach data, and the completion of recording the safe approach path data, the work position data, and the electrified area data. During movement, the control system continuously reads the current position of the robot's walking device and correlates it with the safe approach path data. When the current position of the robot's walking device deviates from the safe approach path data, the control system stops the robot's movement and records the deviation information via the wireless communication module. When the current position of the robot's walking device reaches the work point, and the robot's orientation matches the robot's orientation data, the control system writes the work point arrival data into the intermediate data of this step. This work point arrival data serves as the start input for the deployment of the first robotic arm's insulation barrier.

[0076] Specifically, the deployment of the insulating barrier by the first robotic arm is executed by the control system after obtaining the work point positioning data. The first robotic arm is a multi-degree-of-freedom actuator mounted on a robot walking device, and the insulating barrier is located at the end of the first robotic arm. The insulating barrier is a deployable component in the insulation protection system, positioned between the energized area and the cleaning execution space. The control system reads the work height data and energized area data from the safety proximity data, converts the work height data into the height of the first robotic arm's end, and converts the energized area data into the insulating barrier deployment boundary. The first robotic arm performs extension, rotation, and deployment actions according to the height of its end and the insulating barrier deployment boundary, causing the insulating barrier to move from a retracted state to an deployed state. After deployment, the control system records the motion data of each degree of freedom of the first robotic arm and the position data of the insulating barrier to obtain the insulating barrier deployment data.

[0077] Furthermore, during the deployment of the insulating barrier by the first robotic arm, the control system simultaneously reads motion data collected by angle sensors and tilt sensors mounted on the first robotic arm or the insulating barrier. The angle sensors collect the rotation angle of the first robotic arm joints or the rotation angle of the insulating barrier. The tilt sensors collect the tilt state of the insulating barrier relative to the robot's walking mechanism. The control system compares the motion data with the insulating barrier deployment data to determine whether the insulating barrier is positioned between the energized area and the cleaning execution space. If the motion data does not match the insulating barrier deployment data, the control system stops the first robotic arm from deploying further and records the current motion data as an anomaly. Once the current motion data matches, the control system allows the camera to capture an image of the insulating barrier relative to the target insulator.

[0078] Specifically, the operational status acquisition and processing includes motion data acquisition and image acquisition. Motion data is acquired by angle sensors and tilt sensors, and images are acquired by a camera. The image is an image of the insulating barrier relative to the target insulator, containing the corresponding positions of the insulating barrier edge, the target insulator, and the boundary of the energized area. The control system correlates the motion data, the image, and the energized area data to determine whether the insulating barrier is in an operational state. The operational state is when the insulating barrier is located between the energized area and the cleaning execution space, and the first robotic arm keeps the insulating barrier in a non-retracted state. When the insulating barrier is not in an operational state, the control system prohibits the end-effector from spraying insulating cleaning fluid and records the non-operational state information via the wireless communication module. When the insulating barrier is in an operational state, the control system records the operational state as barrier permission data.

[0079] Understandably, the cleaning execution space is the spatial range that the second robotic arm is allowed to enter when forming a cleaning trajectory in subsequent S400. After generating barrier permission data, the control system merges the insulation barrier deployment data, the motion data, the image, the charged area data, and the work point positioning data to obtain the cleaning safety area. The cleaning safety area includes the robot's walking device stopping position, the first robotic arm's posture, the insulation barrier's working state, the charged area boundary, and the cleaning execution space boundary. This cleaning safety area is used to limit the subsequent movement position of the nozzle at the end of the second robotic arm and also to limit the field of view position of the camera in S300 when acquiring images of the insulator string surface.

[0080] In the engineering operation scenario, after the remote dispatch terminal issues dispatch instructions for the high-voltage electrical equipment of the substation, the robot's walking device moves to the work point next to the target insulator based on the safe approach data obtained from S100. After the control system reads the working height data, it controls the first robotic arm to deploy the insulating barrier between the target insulator and the second robotic arm. An angle sensor collects the rotation data of the first robotic arm, a tilt sensor collects the tilt state of the insulating barrier, and a camera collects an image of the insulating barrier relative to the target insulator. When both the motion data and the image show that the insulating barrier is between the energized area and the cleaning execution space, the control system generates a cleaning safety zone; when the motion data or image does not conform to the working state, the control system stops subsequent spraying-related actions and waits for control commands from the remote dispatch terminal.

[0081] The cleaning safety area obtained in this step is used as input for S300. Specifically, S300 performs camera image acquisition of the insulator string surface based on the cleaning safety area. The cleaning execution spatial boundary in the cleaning safety area is used to define the camera acquisition direction, the working state of the insulation barrier is used to trigger the acquisition of the insulator string surface image, and the boundary of the energized area is used to exclude the image range that is obstructed or located within the energized area during the camera acquisition process. Thus, S200 converts the safe proximity data of S100 into a cleaning safety area for S300 to use, and provides a unified spatial boundary for subsequent skirt area identification, contamination distribution identification, and contamination level identification.

[0082] Summary of the technical effects of this step: This step continuously processes the movement of the robot's walking device, the deployment of the first robotic arm's insulating barrier, and the acquisition of its working status. This allows the cleaning safety area to be formed by the combined data of the work point's location, the insulating barrier's deployment, motion data, and images. The working status of the insulating barrier becomes the control condition for subsequent camera acquisition and the spraying of the end-effector cleaning device. After the cleaning safety area is transmitted to S300, subsequent image acquisition of the insulator string surface has clearly defined boundaries of the energized area and the cleaning execution space.

[0083] S300. Based on the cleaning safety area, acquire images of insulator strings, identify the skirt area, pollution distribution and pollution level, and output pollution distribution data and pollution level data.

[0084] This step follows the operation of the cleaning safety area obtained in S200. The cleaning safety area includes the robot's stopping position, the first robotic arm's posture, the working status of the insulation barrier, the boundary of the energized area, and the boundary of the cleaning execution space. The control system uses the cleaning safety area as input, first reading the working status of the insulation barrier, then reading the boundary of the cleaning execution space and the boundary of the energized area. When the insulation barrier is in working condition, the control system activates the camera to acquire images of the insulator string surface; when the insulation barrier is not in working condition, the control system stops acquiring images of the insulator string surface and records abnormal working status information via the wireless communication module. The camera is an image acquisition component installed on the robot's walking device, the first robotic arm, or the second robotic arm. The insulator string surface image contains image data including the target insulator, skirts, oil stains, and conductive dust.

[0085] Specifically, the image acquisition and processing of the insulator string surface by the camera is triggered by the control system after the cleaning safety area is generated. The control system adjusts the camera orientation based on the stopping position of the robot's walking device and the boundary of the cleaning execution space, ensuring the camera's acquisition range covers the target insulator. The control system limits the camera's acquisition range based on the boundary of the energized area and excludes areas obstructed by the insulation barrier. After the camera completes acquisition, the control system records the acquired insulator string surface image in correspondence with the cleaning safety area, forming image recording data. This image recording data includes the acquisition time, robot walking device position, camera orientation, insulation barrier working status, and the insulator string surface image. This image recording data serves as input for the skirt area recognition processing.

[0086] Specifically, the skirt region identification process is completed by the control system through image boundary reading and region segmentation of the insulator string surface image. The skirt is the outer edge structure arranged along the insulator string on the target insulator. The skirt region is the area enclosed by the skirt boundaries and skirt spacing in the insulator string surface image. The control system first extracts the outer edge of the target insulator from the insulator string surface image, and then identifies the skirt spacing between adjacent skirts. The control system maps the skirt boundaries, skirt spacing, and cleaning execution space boundaries, excluding image regions outside the cleaning execution space boundaries to obtain the region to be cleaned. This region to be cleaned serves as the input for subsequent contamination distribution identification processing.

[0087] Specifically, the contamination distribution identification process is performed by the control system within the area to be cleaned. The contamination distribution refers to the location of oil stains and conductive dust within the umbrella skirt area. The control system reads the color differences, surface brightness differences, and boundary continuity within the area to be cleaned and maps them to the umbrella skirt boundaries. For dark, sheet-like areas near the umbrella skirt boundaries, the control system records them as candidate oil stain areas; for granular areas distributed in the umbrella skirt gaps or on the umbrella skirt surface, the control system records them as candidate conductive dust areas. The control system then maps the candidate oil stain areas and the candidate conductive dust areas to the cleaning safety area, deleting areas obscured by the insulation barrier and not belonging to the target insulator, retaining the distribution locations of oil stains and conductive dust within the area to be cleaned, thus obtaining contamination distribution data. This contamination distribution data includes the umbrella skirt number, distribution location, coverage area, and corresponding image location, and is used by the second robotic arm of the S400 for cleaning trajectory processing.

[0088] Specifically, the contamination level identification process is completed by the control system based on the contamination distribution data. The contamination level is data describing the degree of coverage of oil and conductive dust in the area to be cleaned. The control system reads the oil coverage area and conductive dust coverage area from the contamination distribution data and maps these coverage areas to the skirt areas. When the coverage area is concentrated near a single skirt boundary, the control system records it as a local contamination level; when the coverage area spans multiple skirt intervals, the control system records it as a continuous contamination level; when the coverage area contains both oil and conductive dust, the control system records it as a composite contamination level. The control system associates the local contamination level, the continuous contamination level, or the composite contamination level with the corresponding skirt area to obtain contamination level data. The contamination level data includes the skirt area, contamination type, coverage area, and level record, and is used by the S400 for processing the cleaning intensity and cleaning arm movement speed.

[0089] In the engineering operation scenario, after the robotic walking device moves to the work point of the high-voltage electrical equipment in the substation, the first robotic arm has already deployed the insulation barrier in S200. After the control system reads the cleaning safety area, the camera captures an image of the surface of the insulator string of the target insulator. The control system identifies the skirt boundaries and skirt spacing of the target insulator in the image to obtain the area to be cleaned. Subsequently, the control system identifies the distribution location of oil and conductive dust within the area to be cleaned and generates pollution distribution data and pollution level data according to the coverage area. When the camera's acquisition range is blocked by the insulation barrier, the control system readjusts the camera's orientation and re-acquires the surface image of the insulator string; if the complete skirt area cannot be obtained after re-acquisition, the control system records the image acquisition anomaly information through the wireless communication module and stops outputting pollution level data.

[0090] Understandably, the contamination distribution data and contamination level data output in this step are direct inputs to S400. In S400, the contamination distribution data is converted into the nozzle movement position of the second robotic arm, and the contamination level data is converted into spray angle, nozzle distance, cleaning intensity, and cleaning arm movement speed. The cleaning safety zone still serves as boundary data for S400 to limit the cleaning trajectory of the second robotic arm. Therefore, S300 converts the cleaning safety zone formed in S200 into contamination distribution data and contamination level data describing the surface condition of the target insulator, and transmits this data to S400 for cleaning control data processing.

[0091] In summary, this step converts the surface images of the insulator strings captured by the camera into contamination distribution data and contamination level data, ensuring that the subsequent processing of the second robotic arm's cleaning trajectory includes the corresponding skirt area and contamination location. Skirt area identification, contamination distribution identification, and contamination level identification are executed consecutively, establishing a correspondence between the cleaning safety area and the surface condition of the target insulator. Once the contamination distribution data and contamination level data are input into the S400 system, the second robotic arm's cleaning trajectory, spray angle, nozzle distance, cleaning intensity, and cleaning arm movement speed are clearly defined.

[0092] S400: Combining the cleaning safety area, dirt distribution data and dirt level data, generate the cleaning trajectory and cleaning control data of the second robotic arm;

[0093] This step follows the processing of the contamination distribution data and contamination level data obtained in step S300. The contamination distribution data includes the skirt area, distribution location, coverage area, and corresponding image location. The contamination level data includes the skirt area, contamination type, coverage area, and level record. The control system uses the contamination distribution data and contamination level data as input and calls the cleaning safety area obtained in step S200. The cleaning safety area includes the boundary of the electrified area and the boundary of the cleaning execution space. The control system first reads the distribution location from the contamination distribution data, then reads the level record from the contamination level data, and then matches the distribution location, level record, and cleaning execution space boundary to form the input data for the second robotic arm's cleaning trajectory processing. When the cleaning safety area is not in a valid recording state, the control system stops generating cleaning control data and records abnormal information about the cleaning safety area via the wireless communication module.

[0094] Specifically, the second robotic arm's cleaning trajectory processing is executed by the control system. The second robotic arm is a multi-degree-of-freedom actuator mounted on a robot walking device, and the end effector cleaning device is located at the end of the second robotic arm. The cleaning trajectory is the path data of the second robotic arm driving the nozzle to move within the cleaning execution space. The control system converts the distribution positions in the dirt distribution data into nozzle movement positions and maps these nozzle movement positions to umbrella skirt areas. For multiple distribution positions located within the same umbrella skirt area, the control system generates continuous nozzle movement positions according to the umbrella skirt boundaries and intervals. For distribution positions spanning multiple umbrella skirt areas, the control system generates segmented nozzle movement positions according to the umbrella skirt arrangement direction. Subsequently, the control system compares the nozzle movement positions with the cleaning execution space boundaries, deletes nozzle movement positions located outside the cleaning execution space boundaries, and retains nozzle movement positions located within the cleaning safety area, thus obtaining the cleaning trajectory.

[0095] Specifically, the spray angle processing is performed by the control system based on the nozzle movement position, the skirt area, and the skirt orientation. The spray angle is the spray direction of the nozzle relative to the target insulator. The control system reads the skirt orientation corresponding to the target equipment parameters in S100 and maps the skirt orientation to the nozzle movement position. For nozzle movement positions located outside the skirt boundary, the control system orients the nozzle towards the skirt boundary; for nozzle movement positions located at the skirt gaps, the control system orients the nozzle towards the skirt gaps. After the spray angle processing is completed, the control system binds the spray angle to the cleaning trajectory segment by segment to obtain spray angle data.

[0096] Specifically, the nozzle distance processing is performed by the control system based on the cleaning trajectory, the cleaning safety zone, and the boundary of the energized area. The nozzle distance is the distance between the nozzle tip and the surface of the target insulator. The control system compares the movement position of each nozzle in the cleaning trajectory with the boundary of the energized area and restricts the nozzle movement position within the cleaning execution space boundary. The control system increases the nozzle distance at nozzle movement positions near the boundary of the energized area and maintains the recorded nozzle distance at nozzle movement positions far from the boundary of the energized area but within the area to be cleaned. After the nozzle distance processing is completed, the control system binds the nozzle distance to the cleaning trajectory segment by segment to obtain nozzle distance data.

[0097] Specifically, the cleaning intensity is determined by the control system based on the contamination level data. The cleaning intensity is the recorded spray volume and duration of the insulating cleaning fluid sprayed by the end-point cleaning device. The control system reads the local contamination level, continuous contamination level, and combined contamination level from the contamination level data. For the umbrella skirt area corresponding to the local contamination level, the control system generates a local cleaning intensity. For the umbrella skirt area corresponding to the continuous contamination level, the control system generates a continuous cleaning intensity. For the umbrella skirt area corresponding to the combined contamination level, the control system generates a combined cleaning intensity. The control system then links the cleaning intensity with the corresponding nozzle movement position and spray angle to obtain the cleaning intensity data.

[0098] Specifically, the cleaning arm movement speed is processed by the control system based on cleaning intensity data and the cleaning trajectory. The cleaning arm movement speed is recorded as the speed at which the second robotic arm drives the end-effector cleaning device along the cleaning trajectory. The control system reduces the cleaning arm movement speed at nozzle movement positions with high cleaning intensity and increases or maintains the speed at nozzle movement positions with low cleaning intensity. For movement segments between adjacent umbrella skirt areas, the control system records the transition speed. For movement segments before entering the spray position, the control system records the approach speed. For movement segments after leaving the spray position, the control system records the exit speed. After processing the cleaning arm movement speed, the control system binds the cleaning arm movement speed to the cleaning trajectory segment by segment to obtain the cleaning arm movement speed data.

[0099] In Technical Solution 1, the control system directly generates the nozzle movement position based on the contamination distribution data and determines the cleaning intensity and cleaning arm movement speed according to the contamination level data. This technical solution is suitable for engineering scenarios where the skirt area is clear and the coverage of oil and conductive dust is well-defined. In Technical Solution 2, the control system first compares the cleaning safety area with the contamination distribution data to determine the boundary, and then generates the cleaning trajectory. This technical solution is suitable for engineering scenarios where the insulation barrier is close to the target insulator and the camera's acquisition range is obstructed. In Technical Solution 3, the control system records the spray angle, nozzle distance, cleaning intensity, and cleaning arm movement speed in segments according to the cleaning trajectory. This technical solution is suitable for engineering scenarios where multiple skirt areas have different contamination levels. All three technical solutions are automatically triggered by the control system, with the triggering conditions being the completion of recording of contamination distribution data, contamination level data, and the cleaning safety area.

[0100] In the engineering operation scenario, the target insulator is located at the high-voltage electrical equipment operation point of the substation. The S300 has already obtained pollution distribution data and pollution level data. After reading the pollution distribution data, the control system converts the distribution locations of oil and conductive dust into the movement positions of the nozzles at the end of the second robotic arm. After reading the pollution level data, the control system converts the level records of the corresponding skirt area into cleaning intensity and cleaning arm movement speed. Subsequently, the control system restricts the nozzle movement position according to the cleaning safety zone and corrects the nozzle distance according to the boundary of the energized area. After correction, the control system generates the cleaning trajectory, spray angle, nozzle distance, cleaning intensity, and cleaning arm movement speed, and merges the above data into cleaning control data.

[0101] Understandably, the cleaning control data output in this step is a direct input to S500. The cleaning control data includes cleaning trajectory, spray angle data, nozzle distance data, cleaning intensity data, and cleaning arm movement speed data. Based on this cleaning control data, S500 sprays insulating cleaning fluid from the end-of-line cleaning device. The cleaning trajectory controls the movement of the second robotic arm, the spray angle data and nozzle distance data control the attitude of the nozzle relative to the target insulator, the cleaning intensity data controls the spraying of insulating cleaning fluid by the end-of-line cleaning device, and the cleaning arm movement speed data controls the movement of the second robotic arm along the cleaning trajectory. Thus, S400 converts the contamination distribution data and contamination level data obtained in S300 into cleaning control data for S500 to execute.

[0102] Summary of the technical effects of this step: This step converts contamination distribution data into a cleaning trajectory and contamination level data into cleaning intensity and cleaning arm movement speed. The spray angle, nozzle distance, cleaning intensity, and cleaning arm movement speed are segmented and bound to the cleaning trajectory, providing unified cleaning control data for the second robotic arm and the end-effector cleaning device. After the cleaning control data is input into the S500, the end-effector cleaning device's insulating cleaning fluid spray and electrical parameter acquisition have corresponding trajectory, angle, distance, intensity, and speed records.

[0103] S500: Based on the cleaning control data, the insulating cleaning fluid is sprayed, and the leakage current and surface conductivity are collected simultaneously and the cleaning parameters are adjusted to obtain the live cleaning data.

[0104] This step follows the operation of the cleaning control data obtained in S400. The cleaning control data includes cleaning trajectory, spray angle data, nozzle distance data, cleaning intensity data, and cleaning arm movement speed data. The control system uses this cleaning control data as input and calls the cleaning safety zone obtained in S200. The working status of the insulation barrier within the cleaning safety zone serves as a condition for starting the end-of-line cleaning device. The end-of-line cleaning device includes a spray gun holder, a spray gun, a nozzle, an insulating water pipe, and a cleaning agent delivery channel. The nozzle is located at the front end of the spray gun and is connected to both the insulating water pipe and the cleaning agent delivery channel. The insulating cleaning fluid enters the spray gun through the insulating water pipe or the cleaning agent delivery channel and is sprayed out through the nozzle. After reading the cleaning trajectory, the spray angle data, and the nozzle distance data, the control system controls the second robotic arm to move the end-of-line cleaning device to the corresponding nozzle movement position.

[0105] Specifically, the insulation cleaning fluid spraying process of the end-of-line cleaning device is triggered by the control system after the cleaning safety zone is in an effective state. The control system first drives the second robotic arm to move according to the cleaning trajectory, then adjusts the spray direction of the nozzle relative to the target insulator according to the spray angle data, and then adjusts the distance between the nozzle tip and the target insulator surface according to the nozzle distance data. After reading the cleaning intensity data, the control system sends a spray control command to the spray gun, causing the spray gun to spray insulation cleaning fluid onto the target insulator according to the cleaning intensity data. The cleaning arm movement speed data is used to control the speed at which the second robotic arm moves along the cleaning trajectory. When the second robotic arm reaches each nozzle movement position, the control system writes the corresponding spray angle, nozzle distance, cleaning intensity, and cleaning arm movement speed into the spray record.

[0106] Specifically, leakage current acquisition is performed by the electrical parameter monitoring module. The leakage current is a record of electrical parameters generated during the live-line cleaning process of the target insulator. The electrical parameter monitoring module acquires the leakage current while the end-of-line cleaning device sprays the insulating cleaning fluid and sends the leakage current to the control system. The control system records the leakage current in relation to the current nozzle position, current spray angle, current nozzle distance, current cleaning intensity, and current cleaning arm speed. If leakage current acquisition is interrupted, the control system stops the end-of-line cleaning device from spraying the insulating cleaning fluid and writes the leakage current acquisition interruption information into the anomaly log.

[0107] Specifically, surface conductivity data acquisition is also performed by the electrical parameter monitoring module. The surface conductivity is a record of electrical parameters formed on the surface of the target insulator during the spraying of the insulating cleaning fluid. The electrical parameter monitoring module acquires the surface conductivity according to the nozzle movement position corresponding to the cleaning trajectory and sends the surface conductivity to the control system. The control system correlates the surface conductivity with the corresponding skirt area, contamination distribution data, and contamination level data, ensuring that each cleaning trajectory segment has a surface conductivity record. If surface conductivity data is missing, the control system stops the current spraying action and records the missing information via the wireless communication module.

[0108] Specifically, the cleaning parameter adjustment is performed by the control system based on leakage current and surface conductivity. These cleaning parameters include spray angle, nozzle distance, cleaning intensity, and cleaning arm movement speed. The control system reads the leakage current and surface conductivity at each nozzle movement position and determines whether these parameters meet safety conditions. When the leakage current or surface conductivity increases and meets safety conditions, the control system reduces the cleaning intensity, increases the nozzle distance, and increases the cleaning arm movement speed; simultaneously, it writes the adjusted spray angle, nozzle distance, cleaning intensity, and cleaning arm movement speed into the adjustment record. When the leakage current or surface conductivity does not meet safety conditions, the control system stops the end-effector from spraying the insulating cleaning fluid and writes the current nozzle movement position, current leakage current, current surface conductivity, and the motion data of each degree of freedom of the second robotic arm into the abnormal data.

[0109] Furthermore, during the cleaning parameter adjustment process, the control system maintains the insulating barrier of the first robotic arm in an active state. The active state of the insulating barrier is derived from the cleaning safety zone obtained in S200. When adjusting the nozzle distance and the cleaning arm's movement speed, the control system still uses the cleaning safety zone as the boundary for the second robotic arm's movement. The adjusted position of the second robotic arm must not exceed the boundary of the cleaning execution space. If the adjusted nozzle position approaches the boundary of the electrified area, the control system stops the spraying action at the corresponding nozzle position and records this position as abnormal data. Thus, the spraying action of the end-effector cleaning device, the data acquisition action of the electrical parameter monitoring module, and the movement action of the second robotic arm operate correspondingly within the same cleaning trajectory.

[0110] In the engineering operation scenario, the robot's walking device has reached the work point of the high-voltage electrical equipment in the substation. The first robotic arm has deployed the insulation barrier, and S400 has obtained the cleaning control data. The control system controls the second robotic arm to move the spray gun frame and spray gun to the first nozzle movement position. The nozzle is aimed at the skirt area of ​​the target insulator according to the spray angle data, and the tip of the nozzle maintains the distance corresponding to the nozzle distance data between the nozzle and the surface of the target insulator. When the spray gun sprays the insulating cleaning fluid, the electrical parameter monitoring module simultaneously collects the leakage current and surface conductivity. When the leakage current and surface conductivity increase but meet the safety conditions, the control system reduces the cleaning intensity and increases the moving speed of the second robotic arm. When the leakage current or surface conductivity does not meet the safety conditions, the control system stops the spray gun spraying and transmits the current spraying record and abnormal data to the subsequent S600.

[0111] Understandably, the live-line cleaning data output in this step is a direct input to S600. This live-line cleaning data includes spray records, leakage current records, surface conductivity records, adjustment records, and abnormal data. The spray records are used by S600 to determine the starting position of the second robotic arm retraction. The leakage current records and the surface conductivity records are used by S600 to generate a maintenance report. The adjustment records are used by S600 to record changes in cleaning parameters. The abnormal data is used by S600 to execute the retraction of the second robotic arm, the withdrawal of the robot's walking device, and the uploading of data via the wireless communication module. Thus, S500 converts the cleaning control data from S400 into live-line cleaning data, which is then used by S600 for subsequent processing.

[0112] Summary of the technical effects of this step: This step integrates the spraying of the end-of-line cleaning device, leakage current acquisition, surface conductivity acquisition, and cleaning parameter adjustment within the same cleaning trajectory. Leakage current and surface conductivity directly influence the adjustment of spray angle, nozzle distance, cleaning intensity, and cleaning arm movement speed. After the live cleaning data is input into S600, the second robotic arm retraction, robot walking device withdrawal, wireless communication module uploading, and maintenance report processing all have corresponding spraying records and electrical parameter records.

[0113] In one specific embodiment:

[0114] In S500, the insulating cleaning fluid is sprayed according to the cleaning control data, the leakage current and surface conductivity are collected simultaneously, and the cleaning parameters are adjusted to obtain the live cleaning data.

[0115] This step (S500) follows the cleaning control data obtained in S400. The cleaning control data includes cleaning trajectory, spray angle data, nozzle distance data, cleaning intensity data, and cleaning arm movement speed data. The control system uses this cleaning control data as input and calls the cleaning safety zone obtained in S200, where the working status of the insulation barrier is used as a condition for starting the end-point cleaning device. The control system first reads the first... The injection angle corresponding to each nozzle movement position Reference nozzle distance Standard cleaning intensity and the speed of the reference arm movement After the insulation barrier is in working condition and the cleaning safety area is in an effective recording state, the control system drives the second robotic arm to move the end-effector cleaning device into the first... Each nozzle moves to a different position, and the electrical parameter monitoring module is activated simultaneously, with a sampling period. Continuous collection of leakage current With surface conductivity ,in This serves as a discrete-time index after the start of injection. To achieve real-time binding between injection action and electrical feedback, the control system constructs a five-dimensional correlation record between the current injection parameters and electrical parameters. Formula ① defines the normalized electrical risk index for each sampling moment. It is used to quantify the dynamic safety margin during the live cleaning process.

[0116] Formula①

[0117]

[0118] in: : Calculated from formula ①, representing the first The degree of electrical safety risk at each sampling moment;

[0119] : Discrete-time index, with a value that is a non-negative integer, representing the index from the start of the injection. One sampling period;

[0120] Weighting coefficient, range of values The control system dynamically sets the parameters based on the type of contamination present at the site (when conductive dust is dominant). Approaching 1);

[0121] The instantaneous value of leakage current is collected from the target insulator by the electrical parameter monitoring module;

[0122] The leakage current reference value is taken from the lower limit of the adjustment threshold in the safety threshold table stored in the control system.

[0123] Instantaneous surface conductivity values ​​are collected synchronously by the electrical parameter monitoring module;

[0124] Surface conductivity reference value, taken from the safety threshold table.

[0125] Data Source → Metrics → Variable Mapping: Extract instantaneous leakage current from "Leakage Current Acquisition" and record it as... The instantaneous surface conductivity is extracted from the "Surface Conductivity Acquisition" function and recorded as follows: The risk index is obtained after weighted normalization of the two. .

[0126] The control system further integrates real-time risk indicators Compare with two preset thresholds: Adjust the threshold and stopping threshold ( Formula ② constructs the parameter adjustment direction coefficient. This is used in subsequent formula ③ to dynamically correct the cleaning intensity, nozzle distance, and arm movement speed.

[0127] Formula②

[0128]

[0129] in: Adjust the direction coefficient, calculated using formula ②, with a range of values. This is used to adjust the cleaning parameters in subsequent formula ③.

[0130] : Same as formula ①;

[0131] The minimum value function returns the smaller of two arguments.

[0132] : A function that returns the larger of two arguments.

[0133] : Same as formula ①;

[0134] The threshold is adjusted by the control system reading from the safety threshold table. Time-triggered parameter adjustment;

[0135] The stop threshold is read by the control system from the safety threshold table, and .when An emergency stop is triggered at that time.

[0136] Data source → Metrics → Variable mapping: From formula ①; , From the "safety condition threshold table" pre-stored in the control system.

[0137] After obtaining the adjustment coefficient, the control system adjusts the current nozzle movement position. The corresponding baseline cleaning parameters are adjusted in real time. Formula ③ gives the adjusted cleaning intensity. Nozzle distance and the speed of the cleaning arm movement ,in Fixed as the execution location index, This represents the sampling time at that location.

[0138] Formula③

[0139]

[0140] in: The corrected cleaning intensity, in the first... The nozzle movement position, the first The actual spray volume or spray level at each sampling time;

[0141] Nozzle movement position number, value range , This represents the total number of positions in the cleaning trajectory;

[0142] : Same as formula ①;

[0143] : Baseline cleaning intensity, derived from the "cleaning intensity data" output by the S400, is the [number]th [unit / item]. Preset values ​​for each position;

[0144] Intensity attenuation coefficient, range of values It is determined by experimental calibration;

[0145] : Same as formula ②;

[0146] The corrected nozzle distance, at the first... The position, the The actual distance between the nozzle tip and the surface of the target insulator at each sampling moment;

[0147] : Reference nozzle distance, from the "nozzle distance data" output by S400, is the first... Preset values ​​for each position;

[0148] Distance amplification factor, range of values It is determined by experimental calibration;

[0149] The corrected speed of the cleaning arm movement, in the... The position, the The actual speed at which the second robotic arm moves along the cleaning trajectory at each sampling moment;

[0150] : Reference arm movement speed, derived from the "cleaning arm movement speed data" output by the S400, is the first... Preset values ​​for each position;

[0151] Speed ​​enhancement factor, range of values It is determined by experimental calibration;

[0152] : Constant, used for addition and subtraction operations with coefficients.

[0153] Data source → Metrics → Variable mapping: , , The data are respectively derived from the S400 output: "Cleaning Intensity Data", "Nozzle Distance Data", and "Cleaning Arm Movement Speed ​​Data". From formula ②.

[0154] Engineering Example: In a live-line cleaning operation of 110kV high-voltage electrical equipment at a substation, the robot's walking device was in place, and the first robotic arm's insulation barrier was deployed, with its working status confirmed by a combination of angle sensors, tilt sensors, and a camera. The cleaning trajectory generated by the S400 included 15 nozzle movement positions, covering three skirts of the target insulator. When the second robotic arm drove the end-effector cleaning device to the 5th nozzle movement position (corresponding to the outer side of the second skirt), the electrical parameter monitoring module... The leakage current and surface conductivity are obtained during the sampling period. Initial time. , , ,calculate If the temperature falls below the adjustment threshold, the control system maintains the baseline spray parameters. After 0.5 seconds of spraying, the surface conductivity rises due to the wet contaminants. The leakage current rose to , Exceed But not achieved Formula ② Calculation Formula ③ is adjusted accordingly: the original benchmark Down to , Increase to , Raised to The upward trend of leakage current was suppressed after adjustment, and it stabilized in the subsequent two sampling periods. Surface conductivity decreased The control system continues to spray at that position and writes the adjustment record into the live cleaning data.

[0155] The intermediate data output in this step ( , The injection records (including the actual injection parameters of each nozzle's movement position) are used as inputs for the next stage of cleaning parameter adjustment. At the same time, the injection records (including the actual injection parameters of each nozzle's movement position) are temporarily stored for later linkage with the anomaly detection module.

[0156] Based on the aforementioned real-time adjustment coefficients and corrected cleaning parameters, the control system continuously monitors the changing trends of electrical risk indicators at each nozzle movement position and executes graded decisions based on safety conditions. When the risk indicators... Exceeding the stop threshold Upon this, the system immediately interrupts injection and generates abnormal data. However, in most engineering scenarios, risk indicators may continue to rise after adjustment; therefore, a risk accumulation energy within a sliding window is introduced. This is used to predict dangerous trends in advance. Formula ④ calculates the short-term risk energy and compares it with the secondary stop threshold to achieve proactive protection.

[0157] Formula④

[0158]

[0159] in: Short-term risk energy, calculated using formula ④, reflects the recent... The cumulative sum of the squares of risk indicators within each sampling period is used for advanced hazard prediction.

[0160] : Same as formula ①;

[0161] Summation dummy element, time index, AND of values Same range;

[0162] The width of the sliding window (number of sampling points) is set by the control system based on the dynamic response time of electrical parameters (typical value 10).

[0163] The risk indicator is the same as in formula ①, but the index is... ;

[0164] The sampling period is determined by the acquisition frequency of the electrical parameter monitoring module (e.g., 0.05 seconds).

[0165] Data source → Metrics → Variable mapping: The calculation sequence derived from formula ①; and Configure system parameters. Simple numerical example: Let... , Risk indicators of three consecutive sampling points , , ,but If the system's set energy stop threshold is The current value The energy stop has not yet been triggered; if the next sampling point ,but This triggers an energy shutdown.

[0166] when or Upon this, the control system immediately executes an emergency stop: closing the spray gun solenoid valve, stopping the movement of the second robotic arm, and numbering the current nozzle movement position. Current moment , , The angle values ​​of each joint of the second robotic arm and the coordinates of the robot's walking mechanism are packaged and written into an exception data structure. If a stop is not triggered but its... consistently higher Then continue to dynamically adjust according to formulas ② and ③, and record the adjustment after each adjustment (including the parameters before adjustment, the parameters after adjustment, the adjustment time, and the basis). Stored in a temporary cache. Simultaneously, the control system maintains boundary constraints with the S200 cleaning safety zone: during adjustment Afterwards, the spatial coordinates of the nozzle tip need to be recalculated and compared with the boundaries of the cleaning execution space and the electrified area. Formula ⑤ defines the boundary safety margin. It is used to quantify the proximity of the nozzle position to the danger boundary.

[0167] Formula⑤

[0168]

[0169] in: The boundary safety margin is calculated using formula ⑤, and its value range is [missing information]. , indicating the first The degree of proximity between the nozzle tip and the boundary of the cleaning execution space at each nozzle movement position;

[0170] : Same as formula ③;

[0171] Minimum value function;

[0172] The shortest Euclidean distance function from a point to a set;

[0173] The three-dimensional spatial coordinate vector of the nozzle tip at the end of the second robotic arm is obtained by forward kinematics calculation from the motion data of each degree of freedom of the second robotic arm.

[0174] : The boundary surface of the cleaning execution space boundary in the cleaning safe area is described by the spatial geometry generated by S200;

[0175] The preset safety warning distance (e.g., 0.05 meters) is set by system parameters.

[0176] Data source → Metrics → Variable mapping: The results were calculated using the real-time kinematic model of the second robotic arm combined with the current joint angles. The geometric description of the "cleaning execution space boundary" output from S200; These are system parameters.

[0177] Simple numerical example: Suppose that at a certain nozzle moving position, The cleaning execution space boundary is the radius of a cylindrical surface with the central axis of the target insulator as the reference. The shortest distance is calculated. , ,but This value is higher than the threshold. It is considered safe; if the distance is ,but If the value is below the threshold, the control system will stop the injection at that location and record the anomaly.

[0178] when (in When the boundary safety low threshold is set to 0.6, even if the electrical parameters are normal, the control system will prohibit the spraying of cleaning fluid at this position and mark the nozzle movement position as "boundary exceedance anomaly," writing it into the anomaly data. This mechanism ensures that dynamic adjustments will not cause the robotic arm to intrude into live areas or exceed the protection range of the insulation barrier.

[0179] Ultimately, the control system moves each nozzle to a specific position (index). All real-time acquisition and adjustment information from the device is aggregated into a standardized live-line cleaning data structure. For the first... Each location defines a comprehensive anomaly flag. Its value can be 0 (normal), 1 (electrical parameters stopped), 2 (boundary stop), or 3 (acquisition interruption). Formula ⑥ establishes the judgment logic for the abnormal flag.

[0180] Formula⑥

[0181]

[0182] in: : Comprehensive anomaly flag, integer, value , indicating the first The type of anomaly in the movement position of each nozzle;

[0183] : Same as formula ③;

[0184] : Same as formula ①;

[0185] : in the The total number of samples taken when performing spraying at each location;

[0186] : Same as formula ①;

[0187] : Same as formula ②;

[0188] : Same as formula ④;

[0189] The risk energy stop threshold is set by the control system.

[0190] : Same as formula ⑤;

[0191] : Boundary safety low threshold, used to determine whether the boundary is too close;

[0192] Universal quantifier, meaning "for all";

[0193] : A quantifier for existence, indicating "existence";

[0194] : is a symbol indicating that an element belongs to a set;

[0195] Integer range, from 1 to The set of integers;

[0196] : Logical AND operation;

[0197] : Logical OR operation;

[0198] "No data acquisition interruption": Boolean condition, indicating that leakage current acquisition was not interrupted and surface conductivity acquisition was not missing data, provided by the status flag of the electrical parameter monitoring module;

[0199] "Interruption of Leakage Current or Surface Conductivity Acquisition": Boolean condition, corresponding to the trigger condition of anomaly type 3;

[0200] : Circumstance branch definition symbol.

[0201] Data source → Metrics → Variable mapping: The sequence comes from formula ①; From formula ④; The data acquisition interruption flag comes from the status feedback of the electrical parameter monitoring module.

[0202] Simple numerical example: For the th Each location, at all sampling times The maximum value is 0.65 < 0.9. The maximum value is 0.09s < 0.10s. And if there is no data collection interruption, then (Normal). Regarding the first... A location, at a certain moment ,but (Electrical parameters stopped). For the first... One location, ,but (Boundary stop).

[0203] The control system iterates through all nozzle movement positions that have been executed, recording the injection at each position (including...). , , Time series or mean), leakage current records ( Sequence), surface conductivity record ( Sequence), adjustment records (timestamps of each parameter adjustment and values ​​before and after the adjustment), and abnormal data (including...). The data (including detailed on-site snapshots of the triggered anomalies) is merged to form the final live-line cleaning data. This data serves as the sole output of this step and is directly available for use by the S600: the spray record is used to determine the starting position of the second robotic arm retraction, the leakage current and surface conductivity records are used for maintenance report generation, the adjustment record is used to trace the history of cleaning parameter changes, and the anomaly data is used to drive the retraction of the second robotic arm, the robot's walking device to evacuate, and the wireless communication module to upload data.

[0204] This section summarizes the technical effects: This step (S500) establishes a complete closed-loop control chain, from real-time acquisition of electrical parameters to dynamic correction of cleaning parameters and spatial boundary constraints. Formulas ① to ⑥ respectively realize risk quantification, adjustment coefficient generation, parameter linkage correction, risk energy accumulation, boundary safety margin assessment, and comprehensive anomaly indicator determination. All intermediate quantities are directly referenced by subsequent formulas, forming a traceable and reproducible algorithm dependency relationship. By using leakage current and surface conductivity as simultaneous feedback inputs, and introducing a sliding window energy criterion and boundary distance penalty, the ability to predict sudden deterioration trends and maintain safety boundaries during live-line cleaning is significantly improved.

[0205] S600: Based on the live cleaning data, retract the robotic arm, remove the robot's walking device, upload the data, and generate a maintenance report.

[0206] This step follows the operation of the live-line cleaning data obtained from S500. The live-line cleaning data includes spray records, leakage current records, surface conductivity records, adjustment records, and abnormal data. The control system uses this live-line cleaning data as input, first reading the abnormal data, then reading the spray records, leakage current records, surface conductivity records, and adjustment records. The abnormal data includes the current nozzle movement position, current leakage current, current surface conductivity, motion data of each degree of freedom of the second robotic arm, and the position of the robot's walking device. Based on the abnormal data, the control system determines whether the current state is normal cleaning completion, cleaning parameter adjustment completion, or abnormal stop. The determination result is used to trigger the second robotic arm retraction process, the robot's walking device withdrawal process, the wireless communication module upload process, and the maintenance report processing.

[0207] Specifically, the retraction of the second robotic arm is executed by the control system. The second robotic arm is a multi-degree-of-freedom actuator mounted on the robot's walking device, and the end effector cleaning device is located at the end of the second robotic arm. After reading the spraying record, the control system determines the starting position for the retraction of the second robotic arm. The starting position is the nozzle movement position corresponding to when the end effector cleaning device stops spraying the insulating cleaning fluid. The control system reads the cleaning trajectory formed in S400 and, in an abnormal stop state, controls the second robotic arm to retract along the reverse path of the cleaning trajectory. In a normal cleaning completion state, the control system controls the retraction of the second robotic arm according to the end position of the cleaning trajectory, the transition speed, and the exit speed. During the retraction of the second robotic arm, the control system keeps the insulating barrier of the first robotic arm in a working state and restricts the retraction position of the second robotic arm to the side of the insulating barrier away from the charged area. After retraction, the control system records the retraction status of the second robotic arm and the motion data of each degree of freedom.

[0208] Specifically, the working status of the insulating barrier of the first robotic arm is derived from the cleaning safety zone obtained in S200. During the retraction of the second robotic arm, the control system continues to read motion data collected by angle and tilt sensors, and captures images of the insulating barrier relative to the target insulator via a camera. The motion data and the images are used together to determine whether the insulating barrier is still between the energized area and the cleaning execution space. When the motion data or the images indicate that the insulating barrier is not in a working state, the control system stops the second robotic arm from approaching the target insulator and records the barrier status anomaly via a wireless communication module. Once the second robotic arm has retracted to the side of the insulating barrier away from the energized area, the control system controls the first robotic arm to retract the insulating barrier and records the retraction status of the first robotic arm.

[0209] Specifically, the robot's evacuation process is executed by the control system after both the first and second robotic arms have been retracted. The robot's evacuation device is a mobile structure that carries the first and second robotic arms, a camera, an end-effector cleaning device, an electrical parameter monitoring module, a wireless communication module, and the control system. The control system reads the safe approach path data generated in step S100 and the retraction status of the second and first robotic arms generated in step S600. The control system generates an evacuation path based on the robot's current position and the work point data. This evacuation path follows the reverse direction of the safe approach path and avoids the boundaries of the electrified area recorded in step S100. During the robot's movement, the control system continuously records its position and orientation. After the robot leaves the work area, the control system records the evacuation completion status.

[0210] Specifically, the wireless communication module upload process is performed continuously between the second robotic arm retraction process, the robot walking device withdrawal process, and the maintenance report processing. The wireless communication module connects the remote dispatch terminal and the control system. The control system sends the injection record, leakage current record, surface conductivity record, adjustment record, abnormal data, motion data of each degree of freedom of the second robotic arm, the position of the robot walking device, and the withdrawal completion status to the wireless communication module. The wireless communication module uploads the above data to the remote dispatch terminal. During the upload process, the control system retains local records. When the wireless communication module upload is interrupted, the control system continues to record local data and uploads the local data again after the wireless communication module reconnects.

[0211] Furthermore, the maintenance report processing is performed by the control system before the second robotic arm retracts and after the robot's walking device withdraws. Before the second robotic arm retracts, the camera again captures images of the insulator string surface of the target insulator. Based on the re-captured images of the insulator string surface, the control system identifies the contamination distribution and contamination level after cleaning. The contamination distribution and contamination level after cleaning are recorded in correspondence with the contamination distribution data and contamination level data obtained in S300. After the robot's walking device withdraws, the control system writes the contamination distribution data before and after cleaning, the contamination level data, the cleaning trajectory, the cleaning control data, the leakage current record, the surface conductivity record, the adjustment record, and the abnormal data into the maintenance report. The maintenance report is a record of the live-line cleaning operation received by the remote dispatch terminal.

[0212] In engineering operation scenarios, if leakage current or surface conductivity not meeting safety requirements occurs in a certain skirt area of ​​the target insulator, the control system has stopped the end-effector from spraying insulating cleaning fluid. In this step, the control system first keeps the insulating barrier of the first robotic arm in working condition, then controls the second robotic arm to retract along the reverse path of the cleaning trajectory. After the second robotic arm retracts to the side of the insulating barrier away from the energized area, the control system retracts the first robotic arm. Subsequently, the robot's walking device leaves the work area according to the withdrawal path. The wireless communication module uploads abnormal data, leakage current records, surface conductivity records, and the position of the robot's walking device to the remote dispatch terminal. The control system writes the above data into the maintenance report.

[0213] Understandably, the maintenance report output in this step represents the final data from steps S100 to S600. This maintenance report includes scheduling instructions, target equipment parameters, safe proximity data, cleaning safety zone, contamination distribution data, contamination level data, cleaning control data, live-line cleaning data, anomaly data, evacuation completion status, and wireless communication module upload status. In the maintenance report, safe proximity data corresponds to S100, the cleaning safety zone to S200, contamination distribution data and contamination level data to S300, cleaning control data to S400, live-line cleaning data to S500, and the second robotic arm retraction and robot walking device evacuation to S600. Thus, the maintenance report completes the final record of this control method and is saved by the remote scheduling terminal.

[0214] Summary of the technical effects of this step: This step transforms the live-line cleaning data into the execution basis for the retraction of the second robotic arm, the withdrawal of the robot's walking device, the uploading of data via the wireless communication module, and the processing of the maintenance report. The retraction of the second robotic arm corresponds to the working status of the insulation barrier of the first robotic arm, ensuring a continuous record of abnormal data and retraction actions. The maintenance report summarizes the data generated from S100 to S600, providing a complete record of the live-line insulation cleaning process.

[0215] Example 2: Figure 2 A structural block diagram of a live-line insulation cleaning robot system for high-voltage electrical equipment according to an embodiment of the present invention is shown. Figure 2 As shown, the structure may include:

[0216] The scheduling receiving and safety proximity processing module 01 is used to acquire scheduling instructions and target equipment parameters, and process the work position, work height, energized area, and safety proximity path to obtain safety proximity data. Specifically, the scheduling receiving and safety proximity processing module receives scheduling instructions from a remote scheduling terminal and receives target equipment parameters, including equipment position, work height, umbrella skirt orientation, energized area boundary, and current position of the robot's walking device. The scheduling receiving and safety proximity processing module maps the equipment position to the current position of the robot's walking device to obtain the work position; maps the work height to the umbrella skirt orientation to obtain the first robotic arm deployment height and the second robotic arm cleaning height; and maps the energized area boundary to the work position to obtain the safety proximity path. The safety proximity data includes work position data, work height data, energized area data, safety proximity path data, and robot walking device orientation data. The scheduling receiving and safety proximity processing module provides the safety proximity data to the robot walking and insulation barrier processing module and records the scheduling instructions, target equipment parameters, and safety proximity path processing status.

[0217] The robot walking and insulation barrier processing module 02, connected to the scheduling receiving and safety approach processing module, is used to perform robot walking device movement, first robotic arm insulation barrier deployment, and working status acquisition and processing based on the safety approach data to obtain a cleaning safety area. Specifically, the robot walking and insulation barrier processing module receives the safety approach data and reads the work position data, work height data, energized area data, safety approach path data, and robot walking device orientation data. The robot walking and insulation barrier processing module controls the robot walking device to move to the work point along the safety approach path data and adjusts the robot walking device orientation according to the robot walking device orientation data. After the robot walking device reaches the work point, the robot walking and insulation barrier processing module controls the first robotic arm to deploy the insulation barrier according to the work height data, and collects motion data through angle sensors and tilt sensors, and collects an image of the insulation barrier relative to the target insulator through a camera. The robot walking and insulation barrier processing module matches the motion data, image, and energized area data to obtain the insulation barrier working status, and merges the robot walking device stopping position, first robotic arm posture, insulation barrier working status, energized area boundary, and cleaning execution space boundary into a cleaning safety area. The cleaning safety area is transmitted to the image acquisition and dirt recognition processing module.

[0218] The image acquisition and contamination identification processing module 03, connected to the robot walking and insulation barrier processing module, is used to perform image acquisition of the insulator string surface, skirt area identification, contamination distribution identification, and contamination level identification processing based on the cleaning safety area, obtaining contamination distribution data and contamination level data. Specifically, the image acquisition and contamination identification processing module receives the cleaning safety area and reads the working status of the insulation barrier, the boundary of the energized area, and the boundary of the cleaning execution space. When the insulation barrier is in working condition, the image acquisition and contamination identification processing module starts the camera to acquire images of the insulator string surface; when the insulation barrier is not in working condition, the image acquisition and contamination identification processing module stops acquiring images and records abnormal working status information. The image acquisition and contamination identification processing module identifies the skirt boundaries and skirt intervals in the insulator string surface image to form the area to be cleaned, and identifies the distribution location of oil and conductive dust within the area to be cleaned. The image acquisition and contamination identification processing module generates contamination distribution data and contamination level data based on the coverage area of ​​oil and conductive dust. The dirt distribution data and the dirt level data are transmitted to the cleaning control data processing module.

[0219] The cleaning control data processing module 04, connected to the image acquisition and dirt recognition processing module, is used to process the second robotic arm's cleaning trajectory, spray angle, nozzle distance, cleaning intensity, and cleaning arm movement speed based on the dirt distribution data and dirt level data, to obtain cleaning control data. Specifically, the cleaning control data processing module receives the dirt distribution data and the dirt level data, and calls the cleaning safety area. The cleaning control data processing module converts the distribution positions in the dirt distribution data into nozzle movement positions, and maps the nozzle movement positions to the umbrella skirt area to form the second robotic arm's cleaning trajectory. The cleaning control data processing module generates the spray angle based on the umbrella skirt orientation and nozzle movement position, generates the nozzle distance based on the cleaning execution space boundary and the electrified area boundary, and generates the cleaning intensity and cleaning arm movement speed based on the dirt level data. The cleaning control data processing module merges the cleaning trajectory, spray angle data, nozzle distance data, cleaning intensity data, and cleaning arm movement speed data into cleaning control data. The cleaning control data is then transmitted to the spray and electrical parameter acquisition module.

[0220] The spraying and electrical parameter acquisition module 05, connected to the cleaning control data processing module, is used to perform spraying of insulating cleaning fluid, leakage current acquisition, and surface conductivity acquisition and processing of the end-of-line cleaning device based on the cleaning control data. Specifically, the spraying and electrical parameter acquisition module receives the cleaning control data and reads the cleaning trajectory, spray angle data, nozzle distance data, cleaning intensity data, and cleaning arm movement speed data. The spraying and electrical parameter acquisition module controls the second robotic arm to move according to the cleaning trajectory, controls the spray gun holder, spray gun, and nozzle in the end-of-line cleaning device to reach the corresponding nozzle movement position, and adjusts the nozzle's attitude relative to the target insulator according to the spray angle data and nozzle distance data. The spraying and electrical parameter acquisition module controls the insulating cleaning fluid to enter the spray gun through the insulating water pipeline and cleaning agent delivery channel, and sprays it onto the target insulator through the nozzle. During spraying, the electrical parameter monitoring module acquires leakage current and surface conductivity, and records the leakage current and surface conductivity in correspondence with the current nozzle movement position, current spray angle, current nozzle distance, current cleaning intensity, and current cleaning arm movement speed. The leakage current and surface conductivity are transmitted to the cleaning parameter adjustment module.

[0221] The cleaning parameter adjustment module 06, connected to the spraying and electrical parameter acquisition module, is used to adjust the spraying angle, nozzle distance, cleaning intensity, and cleaning arm movement speed based on the leakage current and surface conductivity to obtain live cleaning data. Specifically, the cleaning parameter adjustment module receives the leakage current and surface conductivity, and reads the corresponding spraying angle, nozzle distance, cleaning intensity, and cleaning arm movement speed. The cleaning parameter adjustment module correlates the leakage current and surface conductivity with safety conditions. When the leakage current or surface conductivity increases but meets the safety conditions, the cleaning parameter adjustment module reduces the cleaning intensity, increases the nozzle distance, and increases the cleaning arm movement speed. When the leakage current or surface conductivity does not meet the safety conditions, the cleaning parameter adjustment module stops the end-effector from spraying insulating cleaning fluid and records the current nozzle movement position, current leakage current, current surface conductivity, and the movement data of each degree of freedom of the second robotic arm. The cleaning parameter adjustment module merges the spraying records, leakage current records, surface conductivity records, adjustment records, and abnormal data into live cleaning data. The live cleaning data is then transmitted to the withdrawal and upload processing module.

[0222] The retraction and upload processing module 07, connected to the cleaning parameter adjustment module, is used to perform the retraction of the second robotic arm, the retraction of the robot's walking device, and the upload processing via the wireless communication module based on the live cleaning data. Specifically, the retraction and upload processing module receives the live cleaning data and reads the spraying record, leakage current record, surface conductivity record, adjustment record, and abnormal data. The retraction and upload processing module determines the starting position of the second robotic arm retraction based on the spraying record and controls the second robotic arm to retract along the reverse path of the cleaning trajectory to the side of the insulation barrier away from the live area. During the retraction of the second robotic arm, the retraction and upload processing module keeps the insulation barrier of the first robotic arm in a working state and records the motion data of each degree of freedom of the second robotic arm. After the second and first robotic arms have completed retraction, the retraction and upload processing module controls the robot's walking device to leave the work area according to the retraction path and uploads the live cleaning data, abnormal data, the position of the robot's walking device, and the retraction completion status to the remote dispatch terminal via the wireless communication module. After the upload is completed, the withdrawal and upload processing module provides the live cleaning data and upload status to the maintenance report processing module.

[0223] The maintenance report processing module 08, connected to the withdrawal and upload processing module, is used to process maintenance reports based on the live-line cleaning data, cleaning control data, contamination distribution data, contamination level data, and abnormal data to obtain a maintenance report. Specifically, the maintenance report processing module receives live-line cleaning data and abnormal data from the withdrawal and upload processing module, and retrieves the cleaning control data, contamination distribution data, and contamination level data. Before the second robotic arm retracts, the maintenance report processing module receives the insulator string surface image captured again by the camera and identifies the contamination distribution and contamination level after cleaning. The maintenance report processing module records the contamination distribution data, contamination level data, cleaning trajectory, spray angle, nozzle distance, cleaning intensity, cleaning arm movement speed, leakage current record, surface conductivity record, adjustment record, abnormal data, and wireless communication module upload status before and after cleaning to obtain a maintenance report. The maintenance report is uploaded to the remote dispatch terminal by the wireless communication module and saved in the control system.

Claims

1. A control method for a live-line insulation cleaning robot for high-voltage electrical equipment, characterized in that, include: S100: Obtain scheduling instructions and target device parameters, and process them to obtain safe approach data; S200. Based on the safe proximity data, control the robot's walking device to move to the work point, deploy the first robotic arm insulation barrier and collect the working status to form a cleaning safety area. S300. Based on the cleaning safety area, acquire images of insulator strings, identify the skirt area, pollution distribution and pollution level, and output pollution distribution data and pollution level data. S400: Combining the cleaning safety area, dirt distribution data and dirt level data, generate the cleaning trajectory and cleaning control data of the second robotic arm; S500: Based on the cleaning control data, the insulating cleaning fluid is sprayed, and the leakage current and surface conductivity are collected simultaneously and the cleaning parameters are adjusted to obtain the live cleaning data. S600: Based on the live cleaning data, retract the robotic arm, remove the robot's walking device, upload the data, and generate a maintenance report.

2. The method according to claim 1, characterized in that, The process of obtaining securely accessible data includes: The processing yields safe approach data including: work location processing, work height processing, energized area processing, and safe approach path processing. The operation location processing includes: extracting the equipment location and the current position of the robot walking device from the target equipment parameters, matching the equipment location with the orientation of the skirts of the target insulator, determining the operation point including the robot walking device stop position, orientation position, first robotic arm deployment position and second robotic arm cleaning and covering position, and excluding positions within the boundary of the energized area. The operation height processing includes: reading the operation height from the target equipment parameters, corresponding the operation height to the umbrella skirt orientation, determining the height range of the first robotic arm deploying the insulating barrier and the height reference when the second robotic arm calls the cleaning trajectory; The charged area processing includes: reading the charged area boundary, and mapping the charged area boundary to the operation position data and operation height data respectively, to form the passage restriction of the robot walking device and the boundary reference of the first robotic arm unfolding the insulation barrier; The safe approach path processing includes: connecting the current position of the robot walking device with the work point to obtain an initial movement path; deleting the path segment entering the electrified area according to the boundary of the electrified area; and adjusting the stopping position and facing position of the robot walking device according to the working height and the umbrella skirt orientation to generate a safe approach path that includes the movement direction, stopping position and facing position. When the target insulator in the scheduling instruction is inconsistent with the equipment position in the target equipment parameters, or when the current position of the robot walking device does not have the path conditions to enter the work point, record the abnormal information and pause the output of safe approach data.

3. The method according to claim 2, characterized in that, The process of controlling the robot's walking mechanism to move to the work point, deploying the first robotic arm's insulating barrier, and collecting operational data includes: Read the safe approach path data and the robot's orientation data, send a movement control command to the robot to move to the work point according to the safe approach path data and adjust its orientation; continuously read the robot's current position during the movement, and stop moving and record the deviation information when the current position deviates from the safe approach path data; After obtaining the work point location data, the work height data and the live area data are read from the safety approach data. The work height data is converted into the end height of the first robotic arm, and the live area data is converted into the deployment boundary of the insulation barrier. The first robotic arm performs extension, rotation and deployment actions according to the end height and deployment boundary, so that the insulation barrier enters the deployment state from the retracted state and is located between the live area and the cleaning execution space. The system synchronously reads the joint rotation angle or insulation barrier rotation angle collected by the angle sensor set on the first robotic arm or insulation barrier, and the tilt state of the insulation barrier relative to the robot's walking device collected by the tilt sensor; it matches the motion data with the insulation barrier deployment data to determine whether the insulation barrier is located between the energized area and the cleaning execution space; when the motion data does not match the insulation barrier deployment data, it stops the first robotic arm from continuing to deploy and records the anomaly; when the motion data matches, it allows the camera to capture an image of the insulation barrier relative to the target insulator.

4. The method according to claim 3, characterized in that, The process of creating a clean and safe area includes: The motion data, images, and charged area data are correlated to determine whether the insulating barrier is in a working state. The working state is defined as the insulating barrier being positioned between the charged area and the cleaning execution space, with the first robotic arm maintaining the insulating barrier without retracting. When the insulating barrier is in a working state, the insulating barrier deployment data, motion data, images, charged area data, and work point positioning data are merged to obtain a cleaning safety area that includes the robot's walking device stop position, the first robotic arm posture, the insulating barrier's working state, the charged area boundary, and the cleaning execution space boundary. When the insulating barrier is not in a working state, the end-effector cleaning device is prohibited from spraying insulating cleaning fluid, and the information indicating that it is not in a working state is recorded.

5. The method according to claim 4, characterized in that, The process of acquiring images of insulator strings, identifying the skirt area, pollution distribution and pollution level, and outputting pollution distribution data and pollution level data includes: The system reads the working status of the insulation barrier, the boundary of the cleaning execution space, and the boundary of the energized area within the cleaning safety zone. When the insulation barrier is in working condition, the camera is activated to capture images of the insulator string surface, including the target insulator, skirts, oil, and conductive dust. The camera orientation is adjusted according to the robot's stopping position and the boundary of the cleaning execution space to ensure the acquisition range covers the target insulator. The acquisition range is limited according to the boundary of the energized area, and areas obstructed by the insulation barrier are excluded. The acquired images of the insulator string surface are recorded in correspondence with the cleaning safety zone, forming image recording data that includes acquisition time, robot position, camera orientation, insulation barrier working status, and insulator string surface images. Image boundary reading and region segmentation are performed on the surface image of the insulator string. The outer edge of the target insulator is extracted, and the skirt spacing between adjacent skirts is identified. The skirt boundaries, skirt spacing, and cleaning execution space boundaries are mapped, and image areas outside the cleaning execution space boundaries are excluded to obtain the area to be cleaned. Within the area to be cleaned, color differences, surface brightness differences, and boundary continuity are read. Dark patchy areas corresponding to the skirt boundaries are recorded as oil contamination candidate areas, and granular areas distributed on the skirt spacing or skirt surface are recorded as conductive dust candidate areas. The oil contamination candidate areas and conductive dust candidate areas are mapped with the cleaning safety area, and areas blocked by the insulation barrier and not belonging to the target insulator are deleted. The distribution locations within the area to be cleaned are preserved to obtain dirt distribution data containing the skirt number, distribution location, coverage area, and corresponding image location. The oil stain coverage area and conductive dust coverage area are read from the dirt distribution data, and the coverage areas are mapped to the skirt areas. When the coverage area is concentrated near a single skirt boundary, it is recorded as a local dirt level; when the coverage area spans multiple skirt intervals, it is recorded as a continuous dirt level; when the coverage area contains both oil stains and conductive dust, it is recorded as a composite dirt level. The local dirt level, continuous dirt level, or composite dirt level is associated with the corresponding skirt area to obtain dirt level data containing the skirt area, dirt type, coverage area, and level record.

6. The method according to claim 1, characterized in that, The process of generating the second robotic arm's cleaning trajectory and cleaning control data includes: Read the distribution location from the dirt distribution data and the level record from the dirt level data, convert the distribution location into nozzle movement location, generate continuous nozzle movement location for multiple distribution locations located in the same umbrella skirt area according to the umbrella skirt boundary and umbrella skirt interval, and generate segmented nozzle movement location for distribution locations spanning multiple umbrella skirt areas according to the umbrella skirt arrangement direction; compare the nozzle movement location with the cleaning execution space boundary, delete the nozzle movement location located outside the cleaning execution space boundary, and obtain the cleaning trajectory; Read the umbrella skirt orientation corresponding to the target device parameters, match the umbrella skirt orientation with the nozzle movement position, for the nozzle movement position located outside the umbrella skirt boundary, point the nozzle towards the umbrella skirt boundary direction, for the nozzle movement position located at the umbrella skirt interval, point the nozzle towards the umbrella skirt interval direction, and obtain the spray angle data that is bound to the cleaning trajectory segment by segment; The movement position of each nozzle in the cleaning trajectory is compared with the boundary of the charged area. The movement position of the nozzle is restricted to the boundary of the cleaning execution space. The nozzle distance is increased at the nozzle movement position near the boundary of the charged area, and the nozzle distance is kept recorded at the nozzle movement position far from the boundary of the charged area but located in the area to be cleaned. The nozzle distance data is obtained by binding the cleaning trajectory segment by segment. Read the local dirt level, continuous dirt level and complex dirt level from the dirt level data. For the umbrella skirt area corresponding to the local dirt level, generate the local cleaning intensity. For the umbrella skirt area corresponding to the continuous dirt level, generate the continuous cleaning intensity. For the umbrella skirt area corresponding to the complex dirt level, generate the complex cleaning intensity. Bind the cleaning intensity to the corresponding nozzle movement position and spray angle to obtain the cleaning intensity data. The cleaning arm movement speed is generated based on the cleaning intensity data and the cleaning trajectory. The cleaning arm movement speed is reduced at the nozzle movement position with high cleaning intensity and increased or maintained at the nozzle movement position with low cleaning intensity. The transition movement speed is recorded for the movement segment between adjacent umbrella skirt areas, the approach movement speed is recorded for the movement segment before entering the spray position, and the exit movement speed is recorded for the movement segment after leaving the spray position. Thus, the cleaning arm movement speed data is obtained by binding it to the cleaning trajectory segment by segment.

7. The method according to claim 6, characterized in that, The process of spraying insulating cleaning fluid includes: After reading the working status of the insulation barrier in the cleaning safety area, the second robotic arm is driven to move according to the cleaning trajectory. The spray direction of the nozzle relative to the target insulator is adjusted according to the spray angle data, and the distance between the nozzle tip and the surface of the target insulator is adjusted according to the nozzle distance data. After reading the cleaning intensity data, a spray control command is sent to the spray gun to make the spray gun spray insulating cleaning fluid onto the target insulator according to the cleaning intensity data. The cleaning arm movement speed data is used to control the speed at which the second robotic arm moves along the cleaning trajectory. When the second robotic arm reaches each nozzle movement position, the corresponding spray angle, nozzle distance, cleaning intensity, and cleaning arm movement speed are written into the spray record.

8. The method according to claim 1, characterized in that, The process of simultaneously collecting leakage current and surface conductivity and adjusting cleaning parameters includes: While the end-point cleaning device is spraying insulating cleaning fluid, leakage current is collected, and the leakage current is recorded in relation to the current nozzle movement position, current spray angle, current nozzle distance, current cleaning intensity, and current cleaning arm movement speed. If leakage current collection is interrupted, spraying is stopped, and the leakage current collection interruption information is written into the anomaly log. Surface conductivity is collected according to the nozzle movement position corresponding to the cleaning trajectory, and the surface conductivity is correlated with the corresponding umbrella skirt area, dirt distribution data, and dirt level data. If surface conductivity data is missing, the current spraying action is stopped, and the missing information is recorded. At each nozzle movement position, the leakage current and surface conductivity are read to determine whether they meet safety conditions. When the leakage current or surface conductivity increases and meets safety conditions, the cleaning intensity is reduced, the nozzle distance is increased, and the cleaning arm movement speed is increased. The adjusted spray angle, nozzle distance, cleaning intensity, and cleaning arm movement speed are written into the adjustment record. When the leakage current or surface conductivity does not meet safety conditions, the end cleaning device stops spraying insulating cleaning fluid, and the current nozzle movement position, current leakage current, current surface conductivity, and motion data of each degree of freedom of the second robotic arm are written into the abnormal data. During the adjustment of cleaning parameters, the insulation barrier of the first robotic arm is kept in working condition, and the cleaning safety area is used as the movement boundary of the second robotic arm. The adjusted nozzle movement position must not exceed the boundary of the cleaning execution space. If the adjusted nozzle movement position is close to the boundary of the charged area, the spraying action of the corresponding nozzle movement position is stopped, and the position is recorded as abnormal data.

9. The method according to claim 1, characterized in that, The process of retracting the robotic arm and removing the robot's walking mechanism includes: The system reads abnormal data, spray records, leakage current records, surface conductivity records, and adjustment records from the live cleaning data. Based on the abnormal data, it determines whether the current state is normal cleaning completion, cleaning parameter adjustment completion, or abnormal stop. In the abnormal stop state, it controls the second robotic arm to retract along the reverse path of the cleaning trajectory. In the normal cleaning completion state, it controls the second robotic arm to retract according to the end position of the cleaning trajectory, the transition speed, and the exit speed. During the retraction of the second robotic arm, the insulation barrier of the first robotic arm is kept in working condition, and the retraction position of the second robotic arm is restricted to the side of the insulation barrier away from the live area. After the retraction is completed, it controls the first robotic arm to retract the insulation barrier and records the retraction status of the second robotic arm and the first robotic arm. After both the second and first robotic arms have been retracted, the safe approach path data and the retraction status of the second and first robotic arms are read. An evacuation path is generated based on the current position of the robot's walking device and the work point data. The evacuation path adopts the opposite direction of the safe approach path and avoids the boundary of the electrified area. The position and orientation of the robot's walking device are continuously recorded during its movement. After leaving the work area, the evacuation completion status is recorded.

10. The method according to claim 1, characterized in that, The process of uploading data and generating a maintenance report includes: The system sends the injection record, leakage current record, surface conductivity record, adjustment record, abnormal data, motion data of each degree of freedom of the second robotic arm, position of the robot walking device, and evacuation completion status to the wireless communication module, which then uploads them to the remote dispatch terminal. Local records are retained during the upload process, and local data continues to be recorded when the wireless communication module is interrupted. The data is then uploaded again after the connection is restored. Before the second robotic arm retracts, the camera again captures images of the insulator string surface of the target insulator. Based on the recaptured images, the distribution and level of contamination after cleaning are identified and recorded accordingly. After the robot's walking device withdraws, the contamination distribution data, contamination level data, cleaning trajectory, cleaning control data, leakage current records, surface conductivity records, adjustment records, and abnormal data before and after cleaning are written into a maintenance report. The maintenance report includes scheduling instructions, target equipment parameters, safe proximity data, cleaning safety area, contamination distribution data, contamination level data, cleaning control data, live cleaning data, abnormal data, withdrawal completion status, and wireless communication module upload status.

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