CN109774666B - Insulator cleaning system and insulator cleaning method - Google Patents
Insulator cleaning system and insulator cleaning method Download PDFInfo
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- CN109774666B CN109774666B CN201910238877.7A CN201910238877A CN109774666B CN 109774666 B CN109774666 B CN 109774666B CN 201910238877 A CN201910238877 A CN 201910238877A CN 109774666 B CN109774666 B CN 109774666B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 239
- 239000012212 insulator Substances 0.000 title claims abstract description 89
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000004891 communication Methods 0.000 claims abstract description 72
- 230000005540 biological transmission Effects 0.000 claims description 16
- 239000007788 liquid Substances 0.000 claims description 15
- 239000007921 spray Substances 0.000 claims description 10
- 238000005507 spraying Methods 0.000 claims description 10
- 230000008054 signal transmission Effects 0.000 claims description 4
- 230000001680 brushing effect Effects 0.000 claims description 3
- 230000003137 locomotive effect Effects 0.000 description 13
- 238000010586 diagram Methods 0.000 description 6
- 230000001276 controlling effect Effects 0.000 description 5
- 230000000875 corresponding effect Effects 0.000 description 5
- 230000003028 elevating effect Effects 0.000 description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 239000000126 substance Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 238000005406 washing Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- GELKBWJHTRAYNV-UHFFFAOYSA-K lithium iron phosphate Chemical compound [Li+].[Fe+2].[O-]P([O-])([O-])=O GELKBWJHTRAYNV-UHFFFAOYSA-K 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Abstract
The embodiment of the application discloses an insulator cleaning system and an insulator cleaning method, wherein the insulator cleaning system comprises the following components: cleaning vehicles and floor consoles; the cleaning vehicle comprises a cleaning module, a walking module, a vehicle-mounted control module and a vehicle-mounted communication module; the cleaning module is used for cleaning the insulator, and the traveling module is used for moving the cleaning module to the position of the insulator to be cleaned; the ground console comprises a ground control module and a ground communication module; the ground control module is operated by a worker and transmits a control signal to the vehicle-mounted communication module through the ground communication module, the vehicle-mounted communication module transmits the control signal to the vehicle-mounted control module, and the vehicle-mounted control module is used for controlling the walking module and the cleaning module and feeding back the working state to the ground control module. According to the embodiment of the application, the machine is used for cleaning the insulator on the roof of the motor car, and a worker only needs to operate the ground control module, so that the labor is saved, and the cleaning efficiency is higher.
Description
Technical Field
The application relates to the field of cleaning equipment, in particular to an insulator cleaning system and an insulator cleaning method.
Background
Along with the continuous development of high-speed railway technology in China, the running speed of the motor train unit is continuously improved, the safety requirement on the motor train unit is also continuously improved, and a motor train unit roof insulator is a key component for ensuring the safe running of a high-voltage electrical appliance on the motor train unit roof. In the quick operation of the motor train unit, rain, snow, dust and oil stains are firmly adhered to a roof insulator under the action of wind speed, the insulation value of the insulator is reduced after the insulator is dirty, the insulator is dirty to flash to cause the accident that the overhead high-voltage discharge of the motor train unit burns out the contact net, and the power supply safety of the motor train unit and the contact net is seriously affected.
Periodic cleaning of insulators on the roofs of motor train units is an important means for preventing insulator pollution flashovers. Generally, cleaning methods can be classified into two general categories, physical and chemical cleaning, according to the principle thereof. Chemical cleaning relies on chemical reaction cleaning; while physical cleaning is primarily performed using external forces. With the increasing importance of environmental protection, chemical cleaning is greatly limited, and physical cleaning has become a main cleaning mode, wherein water cleaning is most widely applied and developed, and has become a mainstream cleaning technology. At present, a working roof insulator is cleaned in a manual mode mostly by a motor train unit, and the mode is high in labor intensity and low in cleaning efficiency.
Disclosure of Invention
The application provides an insulator cleaning system and an insulator cleaning method, which are used for saving labor force, improving cleaning efficiency and improving operation safety.
In a first aspect, an embodiment of the present application provides an insulator cleaning system, including: cleaning vehicles and floor consoles;
The cleaning vehicle comprises a walking module, a cleaning module, a vehicle-mounted control module and a vehicle-mounted communication module;
The cleaning module is fixedly connected to the traveling module, the cleaning module is used for cleaning the insulator, the traveling module is used for driving the cleaning module to move to the position of the insulator to be cleaned, and the vehicle-mounted control module is connected with the traveling module, the cleaning module and the vehicle-mounted communication module;
the ground console comprises a ground control module and a ground communication module;
The vehicle-mounted communication module and the ground communication module can be used for carrying out signal transmission, the ground control module is used for acquiring an operation instruction input by a worker, sending a control signal to the vehicle-mounted communication module through the ground communication module according to the operation instruction, transmitting the control signal to the vehicle-mounted control module by the vehicle-mounted communication module, sending the control instruction to the walking module and the cleaning module according to the received control signal, and feeding back the working state of the cleaning vehicle to the ground control module.
Optionally, the walking module comprises a machine body, a walking mechanism and a driving motor, wherein the cleaning module is fixed on the machine body, and the driving motor is used for driving the walking mechanism to move.
Optionally, the cleaning module comprises an industrial robot, a liquid spraying component and a cleaning brush, wherein a clamping mechanism is arranged at the tail end of the industrial robot and used for clamping the cleaning brush, the cleaning brush is used for brushing an insulator, and the liquid spraying component is used for spraying cleaning liquid.
Optionally, the cleaning vehicle further comprises a rotary lifting module, the rotary lifting module is fixed on the machine body, the industrial robot is fixed on the rotary lifting module, and the rotary lifting module is used for driving the industrial robot to rotate to a specified angle and move up and down to a specified position.
Optionally, the safety device is further included, the safety device comprises a disconnecting switch control module and a wireless switch quantity communication module, the disconnecting switch control module is used for controlling and detecting the working state of the disconnecting switch, when the disconnecting switch is disconnected, the disconnecting switch control module sends a contact net outage signal to the vehicle-mounted control module through the wireless switch quantity communication module, the vehicle-mounted control module receives the contact net outage signal and then controls the cleaning vehicle to start, when the cleaning vehicle works, the vehicle-mounted control module sends a disconnecting switch contact net signal to the disconnecting switch control module through the wireless quantity switch communication module, and the disconnecting switch contact net control module receives the disconnecting switch contact net signal and then serves as one of interlocking conditions for controlling the disconnecting switch to close and transmit power.
Optionally, a warning module is further arranged on the cleaning vehicle and is identical to a warning module for reminding a worker of the working state of the cleaning vehicle.
Optionally, the cleaning vehicle further comprises a charging device and an electric storage device, wherein the electric storage device is arranged on the cleaning vehicle and used for supplying power to the cleaning vehicle, and the charging device is located on the ground and used for being automatically connected with the cleaning vehicle to charge when the cleaning vehicle is in a non-working state.
Optionally, the cleaning vehicle is further provided with a camera and a network transmission module, the camera is used for recording the operation condition of the cleaning vehicle, the network transmission module is used for transmitting the operation condition recorded by the camera to the ground control module and/or the cloud server, and the network transmission module is further used for receiving the program applied to the vehicle-mounted control module.
In a second aspect, an embodiment of the present application further provides a cleaning method using an intelligent cleaning system for an insulator, including:
acquiring an operation instruction of a worker through a ground control module;
transmitting corresponding instructions to the vehicle-mounted control module through the ground communication module and the vehicle-mounted communication module;
The cleaning module is driven to move to the position of the insulator to be cleaned under the control of the vehicle-mounted control module through the traveling module;
the insulator to be cleaned is cleaned through a cleaning module;
the working condition is fed back to the ground control module through the vehicle-mounted communication module and the ground communication module in the cleaning process through the vehicle-mounted control module;
After cleaning is finished, the traveling module is controlled by the vehicle-mounted control module to move to the position of the next insulator to be cleaned;
After all insulators are cleaned, the traveling module is controlled to move to a preset place through the vehicle-mounted control module.
According to the application, the locomotive insulator is automatically cleaned by the cleaning vehicle, so that the problems of high labor intensity and low efficiency of manual cleaning of the locomotive insulator are solved, the labor force is saved, the machine cleaning efficiency is higher, and the machine cleaning with high contact net voltage is safer.
Drawings
Fig. 1 is a schematic diagram of an insulator cleaning system according to a first embodiment of the present application;
Fig. 2 is a schematic structural diagram of a cleaning vehicle in an insulator cleaning system according to a second embodiment of the present application;
fig. 3 is a schematic structural diagram of an insulator cleaning system according to a third embodiment of the present application;
fig. 4 is a schematic diagram of a control network of an insulator cleaning system according to a third embodiment of the present application;
fig. 5 is a flowchart of an insulator cleaning method using an insulator cleaning system in a fourth embodiment of the present application.
Detailed Description
The application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present application are shown in the drawings.
Example 1
Fig. 1 is a schematic diagram of an insulator intelligent cleaning system according to an embodiment of the present application, which is applicable to cleaning operation of insulators on motor vehicle roofs in a motor vehicle inspection warehouse or cleaning operation of insulators on motor vehicle roofs in a service section preparation farm. The insulator cleaning system provided by the embodiment comprises a cleaning vehicle 1 and a ground console 2;
the cleaning vehicle 1 is a cleaning operation executing device, and the ground control console 2 is used for acquiring an operation instruction of a worker so as to control the cleaning vehicle 1 to work;
The cleaning vehicle 1 comprises a walking module 101, a cleaning module 102, a vehicle-mounted control module 103 and a vehicle-mounted communication module 104;
The cleaning module 102 is fixedly connected to the traveling module 101, the cleaning module 102 is used for cleaning an insulator, the traveling module 101 is used for driving the cleaning module 102 to move to the position of the insulator to be cleaned, and the vehicle-mounted control module 103 is connected with the traveling module 101, the cleaning module 102 and the vehicle-mounted communication module 104;
The ground console 2 comprises a ground control module 202 and a ground communication module 201;
The vehicle-mounted communication module 104 and the ground communication module 201 can perform signal transmission, the ground control module 202 is configured to obtain an operation instruction input by a worker, send a control signal to the vehicle-mounted communication module 104 through the ground communication module 201 according to the operation instruction, the vehicle-mounted communication module 104 transmits the control signal to the vehicle-mounted control module 103, and the vehicle-mounted control module 103 is configured to send a control instruction to the walking module 101 and the cleaning module 102 according to the received control signal, and feed back the working state of the cleaning vehicle 1 to the ground control module 202.
The cleaning vehicle 1 is provided with a three-layer working platform 6 of a motor car house or an electric power machine service section, and the cleaning vehicle 1 needs to move and clean on the three-layer working platform 6 because the motor car or a locomotive top insulator is far away from the three-layer working platform 6, and the traveling module 101 is used for driving the cleaning vehicle 1 to move back and forth on the three-layer working platform 6. The cleaning module 102 is used for performing insulator cleaning work after the cleaning vehicle 1 reaches a specified position, and the cleaning module 102 and the traveling module 101 work under the control of the vehicle-mounted control module 103.
When the system works, the ground control module 202 is used for acquiring an operation instruction of a worker, the specific implementation manner can be realized through elements such as a computer, the operation instruction specifically comprises information such as a cleaning start command, a vehicle type to be cleaned, a vehicle number to be cleaned and the like, the ground communication module 201 and the vehicle-mounted communication module 104 are used for transmitting a control signal acceptable to the vehicle-mounted control module 103 converted according to the operation instruction to the vehicle-mounted control module 103, and the vehicle-mounted control module 103 further controls the walking module 101 and the cleaning module 102 to work according to the control signal.
The insulator cleaning system adopted in the first embodiment automatically completes cleaning of the motor car or locomotive insulator through the cleaning car, solves the problems of high labor intensity and inconvenient manual operation of manually cleaning the locomotive insulator, saves labor force, has higher machine cleaning efficiency, has higher contact net voltage, and is safer in machine cleaning.
Example two
In the second embodiment, based on the first embodiment, part of the structure is further refined, which is specifically as follows:
As shown in fig. 2, the walking module 101 includes a body 1011, a walking mechanism 1012, and a driving motor, not shown in fig. 2, for driving the walking mechanism 1012 to move, wherein the cleaning module 102 is fixed to the body 1011.
The travelling mechanism 1012 is connected with the machine body 1011 and is generally positioned below the machine body 1011, and is driven by a driving motor, the travelling mechanism 1012 can be in a wheel type or a crawler type or a walking type, and is preferably in a wheel type, and it is noted that the cleaning vehicle 1 of the application is applied to a three-layer working platform 6 of an electric car, the three-layer working platform 6 of the existing electric car adopts grid walking boards, the travelling mechanism 1012 needs to be solved by paving new plates on the grid walking boards in consideration of the situation that the travelling mechanism 1012 cannot be blocked in the grids.
The cleaning module 102 comprises an industrial robot 1021, a liquid spraying component 1022 and a cleaning brush 1023, wherein a clamping mechanism is arranged at the tail end of the industrial robot 1021 and used for clamping the cleaning brush 1023, the cleaning brush 1023 is used for brushing an insulator, and the liquid spraying component 1022 is used for spraying cleaning liquid.
The cleaning vehicle 1 further comprises a rotary lifting module 105, the rotary lifting module 105 is fixed on the machine body, and the industrial robot 1021 is fixed on the rotary lifting module 105.
The organism sets up on running gear, and industrial robot 1021 is fixed in on rotatory elevating module 105, and rotatory elevating module 105 includes carousel device 1051 and elevating system 1052, and carousel device receives on-vehicle control module 103 control rotation, and elevating system receives on-vehicle control module 103 control to go up and down, and rotatory elevating module 105 can drive industrial robot 1021 and rotate to appointed angle and rise, descend to appointed position.
The industrial robot 1021 is preferably a six-axis robot that can well simulate a human hand and perform more complex mechanical operations, and cleaning brushes 1023 and spray assemblies 1022 are provided on the six-axis robot to enable cleaning at different angles by means of the six-axis robot: the cleaning brush 1023 and the liquid spraying component 1022 are fixed by different fixing components, the cleaning brush 1023 is preferably a rotary brush, a brush clamping mechanism for fixing the cleaning brush 1023 is driven by a servo motor, and the servo motor can be provided with a constant torque control mode to ensure that the brush contacts the surface of the insulator with set pressure; the spray assembly 1022 comprises a spray clamping mechanism, a spray head, a water pump and a cleaning liquid tank, wherein the water pump is connected with the cleaning liquid tank, and the spray head is fixed by the spray clamping mechanism.
Optionally, the ground communication module 201 and the vehicle-mounted communication module 104 are an RS485 communication module, an RS232 communication module or other serial communication modules, and can perform signal transmission therebetween, and in this embodiment, the RS485 wireless communication module is adopted, where the ground communication module 201 is connected with the ground control module 202, and is configured to send a control signal to the vehicle-mounted communication module 104 according to an operation instruction of a ground staff, and the vehicle-mounted communication module 104 is connected with the vehicle-mounted control module 103, and is configured to transmit the received control signal to the vehicle-mounted control module 103.
The vehicle-mounted control module 103 comprises a vehicle-mounted PLC (Programmable Logic Controller ) which is provided with a pre-stored control program, wherein the control program is specifically a running mechanism driving program, a rotary lifting mechanism driving program, an industrial robot 1021 driving program and the like which are respectively written correspondingly according to different vehicle types to be operated and different operation carriages. The vehicle-mounted PLC is respectively connected with the walking module 101, the cleaning module 102, the rotary lifting module 105 and the RS485 wireless communication module. The vehicle-mounted PLC acquires relevant information such as a motor car or a locomotive model of an insulator to be cleaned through the RS485 wireless communication module, and then retrieves and executes a corresponding driving program according to the relevant information, and the walking module 101, the cleaning module 102 and the rotary lifting module 105 execute corresponding actions according to program settings under the control of the vehicle-mounted PLC: the travelling mechanism 1012 drives the cleaning vehicle 1 to move to a designated position, the turntable device 1051 drives the six-axis robot to rotate to a preset angle, the lifting mechanism 1052 drives the six-axis robot to lift to a preset height, the six-axis robot sequentially reaches a path point according to a set path planning point, the liquid spraying component 1022 sprays cleaning liquid, and the rotary hairbrush 1023 contacts the insulator to brush in a rotary mode. After the cleaning, the cleaning liquid is stopped to be sprayed, the brush is stopped to rotate, the six-axis robot returns to the initial position, the lifting mechanism 1052 is lowered to the original point, the turntable 1051 rotates, and the travelling mechanism 1012 moves the cleaning vehicle 1 to the standby position under the control of the vehicle-mounted PLC. The vehicle-mounted PLC feeds back the working state to the ground control module 202 in real time through the RS485 wireless communication module during working, and a worker can check the working state of the cleaning vehicle 1 on a computer.
Preferably, the vehicle-mounted control module further comprises a vehicle-mounted touch screen, and the operator can input an operation instruction through the vehicle-mounted touch screen to control the cleaning vehicle through the vehicle-mounted PLC.
According to the embodiment, the system structure is further refined on the basis of the technical scheme, the wheel type travelling mechanism is more suitable for moving on the three-layer working platform 6, the six-axis robot can complete cleaning at more angles to achieve a better cleaning effect, the rotary brush is combined with the cleaning liquid, the cleaning efficiency is improved, and the pre-stored PLC control program improves the working efficiency of the system.
Example III
According to the insulator cleaning system provided by the third embodiment of the application, on the basis of the technical scheme, the system is further optimized, and part of modules are added as follows:
The insulator cleaning system that this embodiment provided still includes safety device 5, safety device 5 includes isolator control module 501 and wireless switch volume communication module 502, isolator control module 501 is used for controlling and detecting isolator's operating condition, when isolator separating brake contact net outage, isolator control module 501 is through wireless switch volume communication module 502 to on-vehicle control module 103 sends isolator separating brake contact net outage signal, on-vehicle control module 103 receives the isolator separating brake contact net outage signal after control cleaning vehicle 1 starts, works as cleaning vehicle 1 finishes, on-vehicle control module 103 is through wireless switch volume communication module 502 to isolator control module 501 sends isolator contact net can the switching-on signal, isolator control module 501 receives one of the interlocking condition that the isolator contact net can the switching-on after the switching-on signal was passed through as control isolator switching-on and is transmitted.
The overhead contact line voltage of a motor car or locomotive is very high, so that safety accidents are prevented, cleaning of an overhead insulator is required to be performed under the condition that the overhead contact line is powered off, and the isolating switch control module 501 is arranged at an isolating switch control box and used for controlling and detecting the working state of an isolating switch: when a motor car or a locomotive enters a cleaning work area, the isolating switch control module 501 detects whether the contact network is in a power-off state, and sends a signal of whether the isolating switch opening contact network has a power-off state to the wireless switching value communication module 502. The wireless switching value communication module 502 is respectively connected with the vehicle-mounted PLC and the isolating switch control module 501. When the on-board PLC does not receive the overhead line system power-off signal, the cleaning vehicle 1 cannot be started even if the on-board PLC receives the operation instruction of the ground control module 202. After the cleaning vehicle 1 is cleaned and returns to the standby position, the vehicle-mounted PLC closes the operation of the cleaning vehicle 1, and sends a closing signal of the contact net of the isolating switch to the isolating switch control module 501 through the wireless switching value communication module 502, and the isolating switch control module uses the closing signal of the contact net of the isolating switch as one of interlocking conditions for controlling the closing and power transmission of the isolating switch.
The insulator cleaning system further comprises a charging device 3 and an electric storage device 4, wherein the electric storage device 4 is arranged on the cleaning vehicle 1 and used for supplying power to the cleaning vehicle 1, and the charging device 3 is arranged on the ground and used for being automatically connected with the cleaning vehicle 1 to charge when the cleaning vehicle 1 is in a non-working state.
In actual operation, the cleaning vehicle 1 is inconvenient to work by connecting wires, so that the electric power storage device 4 is generally used for supplying power to the electric power storage device, and a main body of the electric power storage device 4 is generally a lithium iron phosphate battery. The charging device 3 is arranged on the ground, the charging interfaces of the charging device 3 are generally arranged at the two ends of the three-layer operation platform 6, when the cleaning vehicle 1 is in a non-working state, a charging operation instruction can be sent by the ground control device and sent to the vehicle-mounted PLC through the RS485 wireless communication module, the vehicle-mounted PLC controls the cleaning vehicle 1 to move to the position of the charging device 3 to be in butt joint with the interfaces, the charging device 3 is provided with a photoelectric sensor, and when the photoelectric sensor detects that the cleaning vehicle 1 is in butt joint with the charging device 3, the charging device 3 starts to work to charge the electric storage device 4.
The cleaning vehicle 1 is further provided with a warning module 106 for reminding a worker of the working state of the cleaning vehicle 1.
In order to remind ground staff to wash the operating condition of car 1, be equipped with warning module 106 on the washing car 1, warning module 106 can send different audible and visual suggestion according to the different operating conditions of washing car 1.
In order to ensure that the movement track of the cleaning vehicle 1 is correct, the insulator cleaning system provided in the third embodiment of the application further comprises a color navigation device, wherein the color navigation device comprises a navigation identification line 601 arranged on the three-layer working platform 6 and a vision sensing module 110 arranged on the cleaning vehicle 1, and the vision sensing module 110 can identify the navigation identification line 601 so as to judge whether the cleaning vehicle 1 moves according to a set route to realize the longitudinal automatic navigation of the cleaning vehicle 1.
In order to prevent accidents caused by the influence of obstacles on the working environment of the cleaning vehicle 1 during working, the cleaning vehicle 1 is further provided with a laser avoidance module 109, which specifically comprises a laser emitter and a laser detector, the laser emitter is used for emitting laser signals to detect whether the front of the cleaning vehicle 1 is provided with the obstacles, the laser receiver is used for receiving the laser signals reflected by the obstacles, and the warning module 106 can send warning prompts after the laser receiver receives the reflected laser signals.
The cleaning vehicle 1 is further provided with a camera 107 and a network transmission module 108, the camera 107 is used for recording the operation condition of the cleaning vehicle 1, the network transmission module 108 is used for transmitting the operation condition recorded by the camera 107 to the ground control module 202 and/or the cloud server 7, and the network transmission module 108 is further used for receiving a program applied to the vehicle-mounted control module 103.
Because on-vehicle PLC only can feed back the operating condition of washtruck 1 and can not observe the cleaning condition, in order to make things convenient for ground control personnel to observe the operation condition of washtruck 1, still be equipped with camera 107 and network transmission module 108 on the washtruck 1, camera 107 is used for shooing the cleaning condition of washtruck 1, and network transmission module 108 is generally 4G wireless gateway.
Fig. 4 is a schematic diagram of a control network of an insulator cleaning system according to a third embodiment of the present application.
As shown in fig. 4, the vehicle-mounted control module 103 for control and the wireless switching value communication module 502, the 4G gateway and the vehicle-mounted communication module 104 for transmission are arranged on the cleaning vehicle 1, the ground control console is provided with the ground control module 202 for control and the ground communication module 201 for transmission, and the locomotive contact network position is provided with the isolating switch control module 501 for control and the wireless switching value communication module 502 for transmission.
The third embodiment further improves the function of the insulator cleaning system on the basis of the technical scheme, and the overhead contact line of the locomotive has high voltage, so that the isolating switch control module 501 is used for ensuring that the cleaning vehicle 1 can be started under the condition of the breakpoint of the overhead contact line in order to prevent safety accidents; the vehicle-mounted PLC can only feed back the working condition of the cleaning vehicle 1 and can not observe the cleaning condition, and the camera 107 on the cleaning vehicle 1 is convenient for ground control personnel to observe the working condition of the cleaning vehicle 1; other staff work can possibly exist on the three-layer work platform 6, and the laser avoidance module 109 and the warning module 106 are used for preventing accidents such as collision of the cleaning vehicle 1.
Example IV
As shown in fig. 5, a fourth embodiment of the present application provides an insulator cleaning method using an insulator cleaning system, including:
s401, acquiring an operation instruction of a worker through the ground control module 202;
s402, transmitting a corresponding instruction to the vehicle-mounted control module 103 through the communication module;
s403, driving the cleaning module 102 to move to the position of the insulator to be cleaned under the control of the vehicle-mounted control module 103 through the traveling module 101;
s404, cleaning the insulator to be cleaned through the cleaning module 102;
s405, feeding back the working condition to the ground control module 202 through the communication module in the cleaning process by the vehicle-mounted control module 103;
S406, after cleaning is finished, the traveling module 101 is controlled to move to the position of the next insulator to be cleaned through the vehicle-mounted control module 103;
s407, when all insulators are washed, the traveling module 101 is controlled to move to a predetermined place by the vehicle-mounted control module 103.
Based on the insulator cleaning system provided in the third embodiment, when the system is used, after the locomotive to be cleaned moves to the position of the three-layer operation platform 6, after the isolating switch control module 501 detects that the isolating network is powered off, the cleaning vehicle 1 is started, a worker inputs detailed information of the locomotive to be cleaned, such as a motor car or a locomotive model number and a train number, and determines a cleaning instruction through an operation computer arranged on the ground console 2, the operation instruction is sent to the vehicle-mounted PLC through the RS485 wireless communication module, and the vehicle-mounted PLC invokes and executes a corresponding program after receiving the instruction: the vehicle-mounted PLC controls the traveling module 101 to move to the position of the insulator to be cleaned according to the set program, after the vehicle-mounted PLC controls the rotating and lifting module 105 to move to the set height and rotate to the set angle according to the set program after the vehicle-mounted PLC reaches the preset position, the vehicle-mounted PLC controls the six-axis robot to sequentially move to reach the path point according to the set program, the rotating and lifting module 105 and the six-axis robot move to the set path planning point, the rotating brush is in contact with the insulator to be cleaned after the movement of the six-axis robot is finished, the spray nozzle faces the insulator to be cleaned, at the moment, the vehicle-mounted PLC controls the water pump to start spraying cleaning liquid and controls the rotating brush to start rotating cleaning, and after the vehicle-mounted PLC controls the rotating brush to leave the cleaned insulator, the traveling module 101 is controlled to work to move to the next position of the insulator to be cleaned until all insulators are cleaned. After the cleaning, the traveling module 101 moves the cleaning vehicle 1 to the position of the charging device 3, and after the cleaning vehicle 1 reaches the position of the charging device 3, the charging device 3 starts to work to charge. In the working process of the cleaning vehicle 1, the vehicle-mounted PLC continuously feeds back the working state to the ground control module 202 through the RS485 wireless communication module, and ground staff can observe the program execution condition through operating a computer and can also acquire the image recorded by the camera on the cleaning vehicle 1 to observe the cleaning condition of the cleaning vehicle 1.
Note that the above is only a preferred embodiment of the present application and the technical principle applied. It will be understood by those skilled in the art that the present application is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the application. Therefore, while the application has been described in connection with the above embodiments, the application is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the application, which is set forth in the following claims.
Claims (7)
1. An insulator cleaning system, comprising: cleaning vehicles and floor consoles;
the cleaning vehicle comprises a walking module, a cleaning module, a vehicle-mounted control module and a vehicle-mounted communication module;
The cleaning module is fixedly connected to the walking module, the cleaning module is used for cleaning an insulator, the walking module is used for driving the cleaning module to move to the position of the insulator to be cleaned, and the vehicle-mounted control module is connected with the walking module, the cleaning module and the vehicle-mounted communication module;
The ground console comprises a ground control module and a ground communication module;
The vehicle-mounted communication module and the ground communication module can carry out signal transmission, the ground control module is used for acquiring an operation instruction input by a worker, sending a control signal to the vehicle-mounted communication module through the ground communication module according to the operation instruction, transmitting the control signal to the vehicle-mounted control module by the vehicle-mounted communication module, and sending a control instruction to the walking module and the cleaning module according to the received control signal by the vehicle-mounted control module, and feeding back the working state of the cleaning vehicle to the ground control module;
The walking module comprises a machine body, a walking mechanism and a driving motor, the cleaning module is fixed on the machine body, and the driving motor is used for driving the walking mechanism to move;
the safety device comprises a disconnecting switch control module and a wireless switch quantity communication module, wherein the disconnecting switch control module is used for controlling and detecting the working state of a disconnecting switch, when a disconnecting switch is disconnected, the disconnecting switch control module sends a contact network disconnection signal to the vehicle-mounted control module through the wireless switch quantity communication module, the vehicle-mounted control module receives the contact network disconnection signal and then controls the cleaning vehicle to start, when the cleaning vehicle finishes working, the vehicle-mounted control module sends a disconnecting switch contact network signal to the disconnecting switch control module through the wireless switch quantity communication module, and the disconnecting switch control module receives the disconnecting switch contact network signal and then serves as one of interlocking conditions for controlling the disconnecting switch to switch on and power transmission.
2. The insulator cleaning system of claim 1, wherein the cleaning module comprises an industrial robot, a spray assembly and a cleaning brush, wherein a clamping mechanism is arranged at the tail end of the industrial robot, the clamping mechanism is used for clamping the cleaning brush, the cleaning brush is used for brushing an insulator, and the spray assembly is used for spraying cleaning liquid.
3. The insulator cleaning system of claim 2, wherein the cleaning vehicle further comprises a rotational lifting module, the rotational lifting module is fixed on the machine body, the industrial robot is fixed on the rotational lifting module, and the rotational lifting module is used for driving the industrial robot to rotate to a specified angle and move up and down to a specified position.
4. The insulator cleaning system of claim 1, wherein the cleaning vehicle is further provided with a warning module for reminding a worker of the working state of the cleaning vehicle.
5. The insulator cleaning system of claim 1, further comprising a charging device and an electrical storage device, the electrical storage device disposed on the cleaning vehicle for powering the cleaning vehicle, the charging device located on the ground for automatically connecting with the cleaning vehicle for charging when the cleaning vehicle is in a non-operational state.
6. The insulator cleaning system according to claim 1, wherein a camera and a network transmission module are further arranged on the cleaning vehicle, the camera is used for recording the operation condition of the cleaning vehicle, the network transmission module is used for transmitting the operation condition recorded by the camera to the ground control module and/or the cloud server, and the network transmission module is further used for receiving a program applied to the vehicle-mounted control module.
7. An insulator cleaning method based on the insulator cleaning system according to any one of claims 1 to 6, characterized by comprising:
acquiring an operation instruction of a worker through a ground control module;
transmitting corresponding instructions to the vehicle-mounted control module through the ground communication module and the vehicle-mounted communication module;
The cleaning module is driven to move to the position of the insulator to be cleaned under the control of the vehicle-mounted control module through the traveling module;
The insulator to be cleaned is cleaned through the cleaning module;
The working condition is fed back to the ground control module through the vehicle-mounted communication module and the ground communication module in the cleaning process by the vehicle-mounted control module;
after cleaning is finished, the traveling module is controlled to move to the position of the next insulator to be cleaned through the vehicle-mounted control module;
And after all insulators are cleaned, the traveling module is controlled to move to a preset place by the vehicle-mounted control module.
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| CN114558806B (en) * | 2020-05-07 | 2023-05-09 | 浙江大学台州研究院 | Robot for detecting and cleaning insulators based on control center and control method |
| CN114291041B (en) * | 2021-11-19 | 2023-05-30 | 安徽集萃智造机器人科技有限公司 | Insulation column cleaning and positioning system |
| CN117901144B (en) * | 2024-03-19 | 2024-05-14 | 湖南蓝天机器人科技有限公司 | AGV car washing robot intelligent control method and system |
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