Method for cooperative control over double guns of charged water flushing robots of substations

Abstract

The invention discloses a method for cooperative control over double guns of charged water flushing robots of substations. The double guns comprise the water gun on the charged water flushing robot onthe main flushing substation and the water gun on the charged water flushing robot of the auxiliary flushing substation. The method comprises the steps that insulators are calibrated, the base coordinates of the charged water flushing robot of the main flushing substation are used as a main coordinate system, and the coordinates of the charged water flushing robot of the auxiliary flushing substation are converted to the coordinate system of the main coordinate system; and according to the calibration result of the insulators, the double guns are used for flushing the insulators by selectinga one-flushing one-return or one-flushing multi-return flushing manner, besides in the flushing process, the charged water flushing robot of the main flushing substation and the charged water flushingrobot of the auxiliary flushing substation wait for each other, and the cumulative error in the working process is avoided by setting the waiting time frame.

Description

technical field [0001] The invention belongs to the field of substation charged water washing robots, and in particular relates to a method for coordinated control of two guns of a substation charged water washing robot. Background technique [0002] Dust in the air, animal feces and natural saline will form a layer of dirt on the surface of the insulator. Under natural weather conditions such as rain, fog, and melting ice and snow, the dirt on the surface of the insulator meets water, which dissolves the electrolyte in it, causing the insulator to flashover under normal operating voltage, resulting in a large-scale power outage. Cleaning the insulators with live water can clean the dirt on the insulators, avoid power outages, and at the same time ensure the normal supply of electricity, so that the grid can operate stably and safely. [0003] At present, the water flushing of substation insulators has the following problems: [0004] (1) The degree of automation of the wa...

AI Technical Summary

Problems solved by technology

[0004] (1) The degree of automation of the washing process is not high, resulting in low control precision, poor cleaning effect, and difficult to achieve the expected effect

[0005] (2) Some substations use power outage manual cleaning operations, which have high requirements for personnel cleaning technology, and it is difficult to grasp the cleaning speed and effect during the cleaning process

[0006] (3) Existing electrified water washing robots are mostly single-machine operations, and it is difficult to take care of the washing on the back of the cleaning side, and if the sewage under washing forms a water flow belt, it will cause flashover of the insulator and cause unnecessary losses

Images