CN105170523A - Electrified insulator cleaning method based on unmanned aerial vehicle - Google Patents
Electrified insulator cleaning method based on unmanned aerial vehicle Download PDFInfo
- Publication number
- CN105170523A CN105170523A CN201510609282.XA CN201510609282A CN105170523A CN 105170523 A CN105170523 A CN 105170523A CN 201510609282 A CN201510609282 A CN 201510609282A CN 105170523 A CN105170523 A CN 105170523A
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- Prior art keywords
- cleaning
- insulator
- unmanned plane
- valve
- picture
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- Pending
Links
- 239000012212 insulator Substances 0.000 title claims abstract description 53
- 238000004140 cleaning Methods 0.000 title claims abstract description 49
- 238000000034 method Methods 0.000 title claims abstract description 13
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 23
- 238000012544 monitoring process Methods 0.000 claims abstract description 7
- 210000001015 abdomen Anatomy 0.000 claims abstract description 4
- 239000012459 cleaning agent Substances 0.000 claims description 18
- 238000011109 contamination Methods 0.000 claims description 16
- 239000007921 spray Substances 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000005507 spraying Methods 0.000 abstract 1
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 230000003373 anti-fouling effect Effects 0.000 description 2
- 238000002347 injection Methods 0.000 description 2
- 239000007924 injection Substances 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000001680 brushing effect Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005108 dry cleaning Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000005201 scrubbing Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 239000002351 wastewater Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
- B08B3/024—Cleaning by means of spray elements moving over the surface to be cleaned
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/04—Cleaning involving contact with liquid
- B08B3/08—Cleaning involving contact with liquid the liquid having chemical or dissolving effect
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B2203/00—Details of cleaning machines or methods involving the use or presence of liquid or steam
- B08B2203/02—Details of machines or methods for cleaning by the force of jets or sprays
- B08B2203/0258—Multiple lance high pressure cleaning station
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- General Chemical & Material Sciences (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
An electrified insulator cleaning method based on an unmanned aerial vehicle is characterized in that a cleanser sprayer, an ordinary clean water sprayer and a high-pressure sprayer arranged on the unmanned aerial vehicle side by side are operated and are the same in spraying point, meanwhile, a camera arranged in the belly of the unmanned aerial vehicle is utilized for monitoring a real-time cleaning picture, and the purpose of cleaning an insulator is achieved; firstly, the sprayers on the unmanned aerial vehicle are aligned with the part, needing to be cleaned, of the insulator, a cleanser is sprayed on dirt on the insulator, the clean water sprayer is used for cleaning the dirt of the insulator after several seconds, the monitored real-time picture is transmitted back to a ground station through a data transfer radio, and the ground station judges whether the cleaned part is clean or not according to the picture, wherein if the dirt still exists, the high-pressure sprayer is used for cleaning, and the monitored real-time picture is transmitted back to the ground station. The electrified insulator cleaning method has the beneficial effects that the possibility of danger generated when operators carry out electrified cleaning can be effectively reduced, meanwhile, cleaning is carried out by three steps, and the insulator cleaning efficiency and the water resource utilization rate are increased.
Description
Technical field
The invention belongs to unmanned plane applied technical field, the contamination especially for insulator surface has good cleaning performance, can be widely used in the insulator in the various power equipment of cleaning.
Background technology
The discharge activities on insulator surface in Long-Time Service process may make pollution layer change, thus affects the contamination accumulation characteristics of insulator.The pollution flashover accident of insulator can cause serious threat and huge economic loss to the safe operation of power system.
China launches one of antifouling work work country comparatively early in the world, existing nearly 50 years till now, and the main scrubbing mode adopted sweeps and is coated with.Concrete grammar has power failure hand sweeping, the cleaning of charged water, charged gas cleanup, machinery charged dry cleaning and brushing antifouling paint etc.
At present, most of cleaning works is all cleaned with charged water, and is manual work.Not only effect is bad in so remote cleaning, also very waste water resource, and the area for lack of water also cannot be suitable for.But along with microelectric technique and manufacturing development, replace manual work to become more and more feasible with unmanned plane.With unmanned plane replace manually carrying out closely, high-precision cleaning, can not only cleaning be made a good job of, compared to artificial remote cleaning, the object of saving water resource can also be reached, water-deficient area is had great significance.
Summary of the invention
Object of the present invention in order to solve the safety problem of the power system that contamination on insulator affects, can be widely used on all kinds of unmanned plane just.
The object of the invention is to realize by following technical solution.
A kind of charged cleaning insulator method based on unmanned plane, feature of the present invention is: by cleaning agent shower nozzle, the common shower nozzle of clear water and high-pressure nozzle that manipulation unmanned plane is arranged side by side, the specking of three shower nozzles is identical, utilize the camera be provided with at unmanned plane belly to monitor simultaneously and clean picture in real time, reach the object of cleaning insulator; First the shower nozzle on unmanned plane is needed to clean position to quasi-insulator, first spray cleaning agent contamination on the insulator, insulator contamination is cleaned with clear water shower nozzle after waiting for the several seconds, and pass monitoring real-time pictures back earth station by data radio station, according to picture, earth station judges that whether cleaning position is clean, if still have dirt, then with high-pressure nozzle cleaning, and pass real-time monitored picture back earth station.
The present invention is provided with three operated valve buttons in earth station, control cleaning agent valve, the common shower nozzle valve of clear water and high-pressure nozzle valve respectively, and arrange when unmanned plane aim at clear target and flight stability time unmanned plane the action of response, comprise: remind operator whether to open cleaning agent valve, whether open high-pressure nozzle valve.
The present invention is for keeping a safe distance with it when ensureing unmanned plane cleaning insulator, by the GPS installed in unmanned plane frame, the path locus of Real-time Obtaining unmanned plane during flying and coordinate, and the trouble free service distance being ensured unmanned plane and insulator by its ultrasonic distance measuring module carried.
When unmanned plane is implemented of the present invention, by ground station control valve.Specifically can be set to: extra output three signals in the flight control system of unmanned plane, control three valves of its correspondence respectively.Unmanned plane accepts ground-launched control signal by the number number of delivering a letter, and arranges the input signal that corresponding valve control knob controls three valves simultaneously, thus reach the on off state of controlled in wireless three valves on ground.
Range sensor of the present invention is ultrasonic distance measuring module.
The invention has the beneficial effects as follows: effectively can reduce the possibility that staff causes danger when charged cleaning, clean with time-division three step, improve the efficiency of insulator cleaning and the utilization rate of water resource.
The technical problem that the present invention solves is:
With the charged cleaning insulator of unmanned plane, compared to power failure manual cleaning with clean at a distance with water column, both improve cleaning efficiency, also saved water resource.When carrying out work high above the ground with unmanned plane, need to use three buttons to control three shower nozzle valves that unmanned plane carries.And these three valves must be opened in order, and during the 3rd high-pressure nozzle valve opening, need inquiry ground platform.
For the control of these three valves, can control by exporting order in flight control system.Unmanned plane aim at cleaning target insulator and stabilized flight time, whether demand operating person opens cleaning model.After unmanned plane receives startup command, open first valve jet cleaner, open second valve injection low pressure water flow after the several seconds and clean spot; Carry out contamination on Real Time Observation insulator by monitoring camera whether to clean up, if cleaned up not yet, open the 3rd valve inject high pressure current, thus reach the effect of thoroughly cleaning contamination.
In this course of work, unmanned plane and insulator is needed to keep the operating distance of safety, use the ultrasonic distance measuring module be carried in unmanned plane frame to transfer data to terrestrial operation person in real time, reach safe distance by artificial regulatory, and allow unmanned plane keep flight stability.
The present invention utilize unmanned plane flexibly, the feature of mobility strong, insulator is cleaned in conjunction with airborne combined sprinkler, not only handling safety, and can also Real-time Feedback, remove contamination timely and effectively, the pollution flashover problem caused because of contamination for prevention insulator and great power failure have important meaning.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of unmanned plane; 1. cleaning agent shower nozzle 2. low pressure shower nozzle 3. high-pressure nozzle 4. frame 5. camera 6 ultrasonic range finders in figure;
Fig. 2 is the flow chart of unmanned plane cleaning insulator.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
See Fig. 1, Fig. 2, the method that the insulator based on unmanned plane cleans:
A kind of charged cleaning insulator method based on unmanned plane, feature of the present invention is: by cleaning agent shower nozzle, the common shower nozzle of clear water and high-pressure nozzle that manipulation unmanned plane is arranged side by side, the specking of three shower nozzles is identical, utilize the camera be provided with at unmanned plane belly to monitor simultaneously and clean picture in real time, reach the object of cleaning insulator; First the shower nozzle on unmanned plane is needed to clean position to quasi-insulator, first spray cleaning agent contamination on the insulator, insulator contamination is cleaned with clear water shower nozzle after waiting for the several seconds, and pass monitoring real-time pictures back earth station by data radio station, according to picture, earth station judges that whether cleaning position is clean, if still have dirt, then with high-pressure nozzle cleaning, and pass real-time monitored picture back earth station.
The present invention is provided with three operated valve buttons in earth station, control cleaning agent valve, the common shower nozzle valve of clear water and high-pressure nozzle valve respectively, and arrange when unmanned plane aim at clear target and flight stability time unmanned plane the action of response, comprise: remind operator whether to open cleaning agent valve, whether open high-pressure nozzle valve.
The present invention is for keeping a safe distance with it when ensureing unmanned plane cleaning insulator, by the GPS installed in unmanned plane frame, the path locus of Real-time Obtaining unmanned plane during flying and coordinate, and the trouble free service distance being ensured unmanned plane and insulator by its ultrasonic distance measuring module carried.
When unmanned plane is implemented of the present invention, by ground station control valve.Specifically can be set to: extra output three signals in the flight control system of unmanned plane, control three valves of its correspondence respectively.Unmanned plane accepts ground-launched control signal by the number number of delivering a letter, and arranges the input signal that corresponding valve control knob controls three valves simultaneously, thus reach the on off state of controlled in wireless three valves on ground.
By installing cleaning agent, low pressure shower nozzle and high-pressure nozzle in the frame of unmanned plane, and have three corresponding with it valves, these three valve passages additionally increase by three control signal output channels by flight control system respectively and transmit control by earth station by number.
Step one: before cleaning insulator, first come the contamination on quasi-insulator by the camera be placed on unmanned plane.Utilize the ultrasonic wave module be arranged in flight control system to measure the distance of unmanned plane and insulator and to pass operating desk back, keep the comparatively safe distance of unmanned plane and insulator.Unmanned plane aim at cleaning target insulator and stabilized flight time, whether demand operating person opens cleaning model.
Step 2: open first valve jet cleaner after unmanned plane receives startup command, opens second valve injection low pressure water flow and cleans spot after the several seconds; Carry out contamination on Real Time Observation insulator by monitoring camera whether to clean up, if cleaned up not yet, open the 3rd valve inject high pressure current, thus reach the effect of thoroughly cleaning contamination.
Step 3: user arranges three operated valve buttons by earth station, control cleaning agent valve, the common shower nozzle valve of clear water and high-pressure nozzle valve respectively, and arrange when unmanned plane aim at clean target and flight stability time unmanned plane the action of response, comprise: remind operator whether to open cleaning agent valve, whether open high-pressure nozzle valve.
As the structural representation that Fig. 1 is unmanned plane, wherein, 1 is cleaning agent shower nozzle, and 2 is low pressure shower nozzles, and 3 is high-pressure nozzles, and 4 is bodies, and 5 is ultrasonic distance measuring modules, and 6 is monitoring cameras.Ultrasonic distance measuring module is arranged in unmanned plane frame, also needs to ensure that aqueduct shower nozzle is not blocked.
As the system flow chart that Fig. 2 is this method, unmanned plane needs to work under the environment of a safety, so avoid operation under the environment of strong wind as far as possible.First, position and stable flight accurately be kept, this need the flight control system of unmanned plane and ultrasonic distance measuring module with the use of.Position after unmanned plane is stablized and monitored picture transmission meeting ground, confirm position accurately safety rear unlatching cleaning agent valve and low pressure shower nozzle valve, and determine whether open high-pressure nozzle valve at observation clean-up performance, finally confirm that clean rear unmanned plane can make a return voyage safely.
Claims (3)
1. the charged cleaning insulator method based on unmanned plane, it is characterized in that: by cleaning agent shower nozzle, the common shower nozzle of clear water and high-pressure nozzle that manipulation unmanned plane is arranged side by side, the specking of three shower nozzles is identical, utilize the camera be provided with at unmanned plane belly to monitor simultaneously and clean picture in real time, reach the object of cleaning insulator; First the shower nozzle on unmanned plane is needed to clean position to quasi-insulator, first spray cleaning agent contamination on the insulator, insulator contamination is cleaned with clear water shower nozzle after waiting for the several seconds, and pass monitoring real-time pictures back earth station by data radio station, according to picture, earth station judges that whether cleaning position is clean, if still have dirt, then with high-pressure nozzle cleaning, and pass real-time monitored picture back earth station.
2. a kind of charged cleaning insulator method based on unmanned plane according to claim 1, it is characterized in that: earth station is provided with three operated valve buttons, control cleaning agent valve, the common shower nozzle valve of clear water and high-pressure nozzle valve respectively, and arrange when unmanned plane aim at clear target and flight stability time unmanned plane the action of response, comprise: remind operator whether to open cleaning agent valve, whether open high-pressure nozzle valve.
3. a kind of charged cleaning insulator method based on unmanned plane described in requiring according to right 1 or 2, it is characterized in that: for keeping a safe distance with it when ensureing unmanned plane cleaning insulator, by the GPS installed in unmanned plane frame, the path locus of Real-time Obtaining unmanned plane during flying and coordinate, and the trouble free service distance being ensured unmanned plane and insulator by its ultrasonic distance measuring module carried.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510609282.XA CN105170523A (en) | 2015-09-23 | 2015-09-23 | Electrified insulator cleaning method based on unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510609282.XA CN105170523A (en) | 2015-09-23 | 2015-09-23 | Electrified insulator cleaning method based on unmanned aerial vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN105170523A true CN105170523A (en) | 2015-12-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201510609282.XA Pending CN105170523A (en) | 2015-09-23 | 2015-09-23 | Electrified insulator cleaning method based on unmanned aerial vehicle |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105855222A (en) * | 2016-04-29 | 2016-08-17 | 钟爱华 | Multi-angle cleaning device for insulator of iron tower pile of high-voltage power grid and construction method of multi-angle cleaning device |
| CN105944996A (en) * | 2016-04-29 | 2016-09-21 | 钟爱华 | Cleaning device special for iron tower pile insulator and construction method of cleaning device |
| CN106092213A (en) * | 2016-08-17 | 2016-11-09 | 国网河南省电力公司濮阳供电公司 | Insulator hydrophobicity on-line measuring device based on unmanned air vehicle technique |
| CN106829267A (en) * | 2016-08-31 | 2017-06-13 | 苏州迈力电器有限公司 | Garbage transfer, treatment monitoring system |
| CN107198498A (en) * | 2017-06-17 | 2017-09-26 | 广东容祺智能科技有限公司 | A kind of equipment for washing external wall based on unmanned plane |
| CN107831495A (en) * | 2016-09-15 | 2018-03-23 | 天津思博科科技发展有限公司 | Intelligent aerial platform based on three-dimensional localization techniques |
| CN108058819A (en) * | 2017-12-13 | 2018-05-22 | 萍乡市旭华电瓷电器制造有限公司 | A kind of isolator detecting unmanned plane |
| CN108248842A (en) * | 2018-01-25 | 2018-07-06 | 汕头市创新科技电子有限公司 | Suitable for high-altitude supersonic dust removal cleaner system |
| CN109436331A (en) * | 2018-11-19 | 2019-03-08 | 深圳供电局有限公司 | Cleaning system and cleaning method based on unmanned plane |
| CN112495894A (en) * | 2020-10-27 | 2021-03-16 | 国网福建省电力有限公司检修分公司 | Method for realizing anti-pollution flashover electrification control by using unmanned aerial vehicle platform |
| CN114985142A (en) * | 2022-05-30 | 2022-09-02 | 国网山东省电力公司潍坊市寒亭区供电公司 | Insulator cleaning device and method based on improved spray head |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105855222A (en) * | 2016-04-29 | 2016-08-17 | 钟爱华 | Multi-angle cleaning device for insulator of iron tower pile of high-voltage power grid and construction method of multi-angle cleaning device |
| CN105944996A (en) * | 2016-04-29 | 2016-09-21 | 钟爱华 | Cleaning device special for iron tower pile insulator and construction method of cleaning device |
| CN106092213A (en) * | 2016-08-17 | 2016-11-09 | 国网河南省电力公司濮阳供电公司 | Insulator hydrophobicity on-line measuring device based on unmanned air vehicle technique |
| CN106829267A (en) * | 2016-08-31 | 2017-06-13 | 苏州迈力电器有限公司 | Garbage transfer, treatment monitoring system |
| CN107831495A (en) * | 2016-09-15 | 2018-03-23 | 天津思博科科技发展有限公司 | Intelligent aerial platform based on three-dimensional localization techniques |
| CN107198498A (en) * | 2017-06-17 | 2017-09-26 | 广东容祺智能科技有限公司 | A kind of equipment for washing external wall based on unmanned plane |
| CN108058819A (en) * | 2017-12-13 | 2018-05-22 | 萍乡市旭华电瓷电器制造有限公司 | A kind of isolator detecting unmanned plane |
| CN108248842A (en) * | 2018-01-25 | 2018-07-06 | 汕头市创新科技电子有限公司 | Suitable for high-altitude supersonic dust removal cleaner system |
| CN108248842B (en) * | 2018-01-25 | 2021-06-04 | 汕头市创新科技电子有限公司 | High-altitude ultrasonic dust removal cleaning machine system |
| CN109436331A (en) * | 2018-11-19 | 2019-03-08 | 深圳供电局有限公司 | Cleaning system and cleaning method based on unmanned plane |
| CN112495894A (en) * | 2020-10-27 | 2021-03-16 | 国网福建省电力有限公司检修分公司 | Method for realizing anti-pollution flashover electrification control by using unmanned aerial vehicle platform |
| CN114985142A (en) * | 2022-05-30 | 2022-09-02 | 国网山东省电力公司潍坊市寒亭区供电公司 | Insulator cleaning device and method based on improved spray head |
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Application publication date: 20151223 |
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