CN110899183A - Transformer substation insulator live cleaning robot system and method - Google Patents
Transformer substation insulator live cleaning robot system and method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
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- 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
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Abstract
The invention provides a transformer substation insulator live cleaning robot system and a method. The system comprises a cleaning part, a power supply part and a control part, wherein the cleaning part is used for starting to clean the insulator in a charged manner when the center of the semicircular surrounding device is superposed with the axis of the insulator; the insulator positioning part comprises at least two paths of image acquisition devices, and the image acquisition devices are uniformly arranged in the semicircular surrounding device and are used for acquiring images in a semicircular range of the semicircular surrounding device and simultaneously transmitting the images to the processor; the processor performs image segmentation on the images based on a Cartesian space threshold segmentation algorithm, and judges whether all the images received simultaneously contain insulators or not in real time according to a multi-scale insulator sample library; if the insulator is contained, determining whether the axis of the insulator is positioned at the central position of the semicircular surrounding device or not according to the comparison of the proportion of the insulator in each path of image to the corresponding whole image; otherwise, outputting a command for adjusting the semicircular encircling device until the axis of the insulator is positioned at the central position of the semicircular encircling device. Which improves the sweeping efficiency.
Description
Technical Field
The invention belongs to the field of cleaning of insulators of robots, and particularly relates to a system and a method for cleaning a transformer substation insulator in a live manner.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The large-area power failure of the power grid system caused by the pollution flashover accident of the power transmission line not only affects the safe operation of the power grid system, but also brings huge loss to the economy. The method for keeping the insulator of the power transmission line clean is an effective measure for preventing pollution flashover accidents. At present, mainly rely on the electrified water washing car of manual operation to wash the contact net insulator, but artifical washing intensity of labour is high, and washing efficiency is also lower, if the workman operates improperly, then leads to wasing unclean, adopts water washing car self-cleaning to connect the transmission line insulator, can effectively solve the problem that artifical washing exists. In the face of a huge insulator cleaning task of a power transmission line, an automatic device is adopted to replace manual cleaning of the power transmission line insulator, and the important research point is that the manual cleaning of the power transmission line insulator is achieved.
Because the cleaning effect is best when the center of the surrounding device of the insulating cleaning tool coincides with the axis of the insulator, the inventor finds that the process of judging the coincidence of the center of the surrounding device of the insulating cleaning tool and the axis of the insulator is still realized manually at present, the intelligent degree is low, and the defect of inaccurate positioning exists in visual positioning of the insulator.
Disclosure of Invention
In order to solve the problems, the invention provides a transformer substation insulator live-line cleaning robot system and a method, wherein images in a semicircular range of a semicircular surrounding device are collected, whether the axis of an insulator is located at the center of the semicircular surrounding device is determined according to the comparison of the proportion of the insulator in each image to the corresponding whole image, the judgment of whether the axis of the insulator is located at the center of the semicircular surrounding device is automatically realized, and the cleaning efficiency of the transformer substation insulator live-line cleaning robot system is improved.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a live-line cleaning robot system for a transformer substation insulator.
A transformer substation insulator live-line cleaning robot system comprises:
the cleaning part is connected with the mechanical arm through the semicircular surrounding device; the cleaning part is used for starting and cleaning the insulator in a live-line manner when the center of the semicircular encircling device is superposed with the axis of the insulator;
the insulator positioning part comprises at least two paths of image acquisition devices, and the image acquisition devices are uniformly arranged in the semicircular surrounding device and are used for acquiring images in a semicircular range of the semicircular surrounding device and simultaneously transmitting the images to the processor;
the processor is configured to: performing image segmentation on the image based on a Cartesian space threshold segmentation algorithm, and judging whether all the simultaneously received images contain insulators or not in real time according to a multi-scale insulator sample library; if the insulator is contained, determining whether the axis of the insulator is positioned at the central position of the semicircular surrounding device or not according to the comparison of the proportion of the insulator in each path of image to the corresponding whole image; otherwise, outputting a command for adjusting the semicircular encircling device until the axis of the insulator is positioned at the central position of the semicircular encircling device.
As an embodiment, the cleaning part comprises a cleaning brush structure and a driving motor;
the cleaning brush structure comprises a hollow cleaning brush, insulating agent sponge and a centrifugal motor so as to realize centrifugal flexible environment-friendly cleaning;
the driving motor is connected with the hollow cleaning brush, an output shaft of the centrifugal motor is connected with the insulating agent centrifugal mechanism, and the insulating agent sponge is positioned between the hollow cleaning brush and the insulating agent centrifugal mechanism;
when the driving motor and the centrifugal motor enable the rotation directions of the output shafts of the driving motor and the centrifugal motor to be opposite, the hollow cleaning brush and the insulating agent centrifugal mechanism rotate reversely, the insulating agent centrifugal mechanism rotates to extrude insulating agent sponge, and the insulating agent flows to the hollow cleaning brush, so that fluid-solid coupling cleaning of the insulator is achieved.
The effect that above-mentioned technical scheme produced does: due to the fact that the cleaning structure is additionally provided with the insulating agent sponge, the centrifugal motor and the driving motor, under the action of centrifugal force generated by rotation of the hollow cleaning brush, the insulating agent flows to the brush through the brush holes of the hollow cleaning brush, so that cleaning of the insulator is achieved, and oil dirt on the surface of the insulator can be cleaned;
dipping in the insulating agent required for cleaning, putting the hollow cleaning brush into the hollow cleaning brush after the insulating agent sponge is completely absorbed, and placing the hollow cleaning brush between the hollow cleaning brush and the insulating agent centrifugal mechanism, wherein the cleaning work of the insulator can be realized by dipping in the insulating agent sponge once, and the insulator can work continuously without dipping in the insulating agent sponge for many times.
As an implementation mode, the cleaning brush structure further comprises an insulating agent sponge fixing plate and a centrifugal motor mounting plate;
the insulating agent sponge fixing plate is arranged on the hollow sweeping brush, the upper surface of the hollow sweeping brush is connected with the centrifugal motor mounting plate, and the centrifugal motor is connected and mounted on the centrifugal motor mounting plate.
As an implementation mode, the cleaning brush structure further comprises a centrifugal motor bearing, wherein the outer diameter of the centrifugal motor bearing is in transition fit connection with the inner part of the insulating agent sponge fixing plate, and the inner diameter of the centrifugal motor bearing is in transition fit connection with the output shaft of the centrifugal motor.
The effect that above-mentioned technical scheme produced does: improve the stability of cleaning the brush structure through transition fit connected mode.
In one embodiment, the insulating agent sponge is connected with the hollow cleaning brush and the insulating agent centrifugal mechanism in an interference fit mode.
In one embodiment, the brush of the hollow cleaning brush is fixed on the hollow component and communicated with the inside of the hollow component, and is in transition connection and matching with the insulating agent sponge.
As an implementation mode, the cleaning brush structure is located in a cavity formed by matching an upper protective cover and a lower protective cover, the upper protective cover and the lower protective cover adopt an opening structure, the insulating agent can be cleaned at the opening structure of the protective cover, and the rest insulating agent is recovered through the adsorption of the recovery sponge.
The effect that above-mentioned technical scheme produced does: the protection casing is open structure, therefore, the insulating agent can clean the operation at the protection casing opening part, realizes retrieving through the absorption of retrieving the sponge at the insulating agent of the remaining part to prevent polluting the transformer substation environment.
As an implementation mode, the driving motor is fixed on an upper protective cover, a brush upper bearing is arranged in the upper protective cover, the inner diameter of the brush upper bearing is in transition fit connection with an output shaft of the driving motor, and the outer diameter of the brush upper bearing is in transition fit connection with the upper protective cover; the lower protective cover is internally provided with a lower brush bearing, the outer diameter of the lower brush bearing is in transition fit connection with the lower protective cover, and the inner diameter of the lower brush bearing is in transition fit connection with an outer shaft of the insulating agent sponge fixing plate. The robot is provided with sensors of laser, vision, ultrasound and leakage current, so that the states of the robot, tools and equipment in the live-line dismounting operation process can be monitored at any time, and the operation safety is ensured.
The invention provides a working method of a live-line cleaning robot system for a transformer substation insulator.
A working method of a live-line cleaning robot system for a transformer substation insulator comprises the following steps:
collecting images in a semicircular range of the semicircular surrounding device;
performing image segmentation on the image based on a Cartesian space threshold segmentation algorithm, and judging whether all the simultaneously received images contain insulators or not in real time according to a multi-scale insulator sample library; if the insulator is contained, determining whether the axis of the insulator is positioned at the central position of the semicircular surrounding device or not according to the comparison of the proportion of the insulator in each path of image to the corresponding whole image; otherwise, outputting a command for adjusting the semicircular encircling device until the axis of the insulator is positioned at the central position of the semicircular encircling device;
and starting the cleaning part when the center of the semicircular encircling device is superposed with the axis of the insulator, and cleaning the insulator in a charged manner.
As an embodiment, the process of obtaining the ratio of the insulator in each image to the corresponding whole image is as follows:
respectively extracting an insulator connected domain from the insulator region detected in each image, and solving the central point of the connected domain and the total number of pixel points occupied by the connected domain;
and determining the proportion of the connected domain to the corresponding whole image according to the total number of the pixel points of the connected domain to obtain the proportion of the insulator in each path of image to the corresponding whole image.
In one embodiment, when the proportion of the insulators in each image to the corresponding whole image is equal, or the difference between the abscissa of the center point of the connected region of the insulators and the 1/2 value of the length of the whole image is smaller than or equal to a preset error threshold, the center of the semicircular surrounding device coincides with the axis of the insulators.
As an implementation mode, the cleaning and embracing device is suitable for insulators of various different models through machine learning, the position of the central axis of the cleaning and embracing device is captured, and the accuracy of the cleaning and embracing device on the insulators of different models is achieved.
The invention has the beneficial effects that:
(1) the invention provides a transformer substation insulator robot live-line cleaning technology, which is characterized in that a fluid-solid coupling cleaning model of an open type transformer substation insulator homologous structure is constructed, a centrifugal flexible environment-friendly cleaning device is developed, a cleaning part is connected with a mechanical arm through a semicircular surrounding device, and the cleaning part is used for starting and carrying out live-line cleaning on an insulator when the center of the semicircular surrounding device is superposed with the axis of the insulator, so that the live-line cleaning operation of a transformer substation pillar insulator is realized, and the problem of incomplete dirt cleaning in the live-line cleaning operation is solved.
(2) The method comprises the steps of establishing a multi-scale insulator sample library, establishing an insulator recognition model under an open type power transformation environment based on a Cartesian space threshold segmentation algorithm, designing a multi-video target accurate recognition and tracking technology, an image semantic segmentation position extraction algorithm and a multi-camera same-diameter semicircle center alignment method, determining whether the axis of an insulator is located at the center of a semicircle surrounding device or not by acquiring images in the semicircle surrounding device semicircle range and comparing the ratio of the insulator in each path of image to a corresponding whole image, so that the recognition, real-time tracking, positioning and alignment of post insulators with different sizes are realized, and the problem that the insulators with different types are difficult to position and align is solved; the judgment of whether the axis of the insulator is positioned in the center of the semicircular encircling device is automatically realized, and the cleaning efficiency of the live-line cleaning robot system for the insulator of the transformer substation is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
Fig. 1 is a schematic structural diagram of a transformer substation insulator live cleaning robot system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an image capture device disposed on a semicircular surrounding device according to an embodiment of the present invention;
FIG. 3 is a diagram showing the state of the cleaning part and the insulator string according to the embodiment of the present invention;
FIG. 4 is an internal structure view of a cleaning portion of the embodiment of the present invention;
FIG. 5 is a partial schematic view of a cleaning brush according to an embodiment of the present invention;
FIG. 6 is a schematic view of a hollow sweeping brush according to an embodiment of the present invention;
fig. 7 is a flowchart illustrating operation of the live-line cleaning robot system for insulators in a substation according to the embodiment of the present invention.
In the figure, I, a cleaning part, II, a semicircular surrounding device, III and a mechanical arm; IV, an image acquisition device;
1. insulator, 2, driving motor, 3, upper connecting frame, 4, upper connecting rod, 5, upper protective cover, 6, lower connecting rod, 7, lower connecting frame, 8, lower protective cover, 9, insulating agent sponge fixing plate, 10, recovery sponge, 11, hollow cleaning brush, 12, centrifugal motor mounting plate, 13, brush upper bearing, 14, centrifugal motor, 15, insulating agent centrifugal mechanism, 16, insulating agent sponge, 17, centrifugal motor bearing, 18 and brush lower bearing.
Detailed Description
The invention is further described with reference to the following figures and examples.
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
As shown in fig. 1, the live-line cleaning robot system for insulators in a substation according to the present embodiment includes:
the cleaning part I is connected with the mechanical arm III through a semicircular surrounding device II; the cleaning part I is used for starting and cleaning the insulator 1 in a charged manner when the center of the semicircular encircling device II coincides with the axis of the insulator;
insulator location portion, it includes two at least road image acquisition device IV, and image acquisition device evenly sets up in the semicircle encircles the device for gather the semicircle and encircle the image of device semicircle within range and convey to the treater simultaneously.
As shown in fig. 2, in the present embodiment, the image capturing device IV is disposed at two ends of the semicircular surrounding device, and is located on the same diameter of the semicircular surrounding device.
The processor is configured to: judging whether all the received road images contain insulators in real time; if yes, determining whether the axis of the insulator is positioned in the center of the semicircular surrounding device or not according to the comparison of the proportion of the insulator in each path of image to the corresponding whole image; otherwise, outputting a command for adjusting the semicircular encircling device until the axis of the insulator is positioned at the central position of the semicircular encircling device.
As a specific embodiment, the cleaning part comprises a cleaning brush structure and a driving motor;
the cleaning brush structure comprises a hollow cleaning brush, insulating agent sponge and a centrifugal motor;
the driving motor is connected with the hollow cleaning brush, an output shaft of the centrifugal motor is connected with the insulating agent centrifugal mechanism, and the insulating agent sponge is positioned between the hollow cleaning brush and the insulating agent centrifugal mechanism;
when the driving motor and the centrifugal motor enable the rotation directions of the output shafts of the driving motor and the centrifugal motor to be opposite, the hollow cleaning brush and the insulating agent centrifugal mechanism rotate reversely, the insulating agent centrifugal mechanism rotates to extrude insulating agent sponge, and the insulating agent flows to the hollow cleaning brush, so that cleaning of the insulator is achieved.
Specifically, referring to fig. 4 and 5, the cleaning brush structure is composed of an insulating agent sponge fixing plate 9, a hollow cleaning brush 11, a centrifugal motor mounting plate 12, a centrifugal motor 14, an insulating agent centrifugal mechanism 15, an insulating agent sponge 16 and a centrifugal motor bearing 17. The insulating agent sponge fixing plate 9 is installed on the hollow cleaning brush 11 through bolts, the upper surface of the hollow cleaning brush 11 is connected with the centrifugal motor installation plate 12 through bolts, the centrifugal motor 14 is installed on the centrifugal motor installation plate 12 through bolts, and the output shaft of the centrifugal motor 14 is connected with the insulating agent centrifugal mechanism 15 through keys. The insulator centrifugation mechanism is used for centrifugally throwing the insulator in the sponge 16 out through rotation, and the insulator overflows along the hairbrush hairs to be contacted with the insulator.
The centrifugal motor bearing 17 is installed inside the insulating agent sponge fixing plate 9 in the transition fit connection of the outer diameter, and the inner diameter is connected with the output shaft of the centrifugal motor 14 in the transition fit connection.
The insulating agent sponge 16 is positioned between the hollow cleaning brush 11 and the insulating agent centrifugal mechanism 15 and is connected with the hollow cleaning brush 11 and the insulating agent centrifugal mechanism 15 in an interference fit manner.
Referring to fig. 6, the brush of the hollow cleaning brush 11 is fixed to the hollow member and communicated with the inside thereof, and is transitionally coupled to and engaged with the insulating agent sponge 16. Specifically, the hollow part is provided with a mounting hole, and the hairbrush is plugged into the mounting hole in the manufacturing process and then is glued and fixed.
The driving motor 2 is connected with the upper protective cover 5 through a bolt; a brush upper bearing 13 is arranged in the upper protective cover 5, the inner diameter of the brush upper bearing 13 is in transition fit connection with an output shaft of the driving motor 2, and the outer diameter of the brush upper bearing is in transition fit connection with the upper protective cover 5; a lower brush bearing 18 is arranged in the lower protective cover 8, the outer diameter of the lower brush bearing 18 is in transition fit connection with the lower protective cover 8, and the inner diameter of the lower brush bearing is in transition fit connection with an outer shaft of the insulating agent sponge fixing plate 9; the driving motor 2 is connected with the hollow sweeping brush 11 through a key.
Externally, referring to fig. 3, the structure comprises an upper protective cover 5 and a lower protective cover 8, wherein the upper protective cover 5 and the lower protective cover 8 are in interference fit through a concave groove, the upper protective cover 5 and the lower protective cover 8 are positioned through the combined length of an upper connecting rod 4 and a lower connecting rod 6, a recovery sponge 10 is in interference fit with the inner parts of the upper protective cover 5 and the lower protective cover 8, and the upper protective cover 5 and the lower protective cover 8 adopt 1/4 opening structures, so that insulator cleaning and waste liquid recovery are facilitated.
On the connection structure, the connection structure comprises: go up link, lower link, upper connecting rod and lower connecting rod.
Go up link 3 and last connecting rod 4 and pass through bolted connection, go up link 3 and last protection casing 5 and pass through bolted connection, lower link 7 and lower connecting rod 6 pass through bolted connection, lower link 7 and lower protection casing 8 pass through bolted connection, go up connecting rod 4 and lower connecting rod 6 and pass through bolted connection, the accessible bolt is installed on other operation tools.
In one embodiment, the insulation sponge is withdrawn before the cleaning operation, dipped with the insulation agent required for cleaning, and after the insulation agent sponge is completely absorbed, the insulation agent sponge is placed into the hollow cleaning brush and positioned between the hollow cleaning brush and the insulation agent centrifugal mechanism, and the cleaning tool is assembled according to the attached drawing 4, and the connection manner is as described above.
The live-line cleaning working device for the insulator of the transformer substation can be mounted on an insulating rod or a working platform in a bolt connection mode of an upper connecting rod 4 and a lower connecting rod 6 and can be lifted through an insulating rod piece or the working platform; a hollow cleaning brush.
During cleaning operation, the cleaning operation device is lifted to the insulator through the insulating rod or the operation platform, the opening position of the protective cover is aligned to the insulator to be cleaned, as shown in the attached drawing 3, the driving motor and the centrifugal motor are started, the rotation direction of the output shaft of the driving motor is opposite, so that the hollow cleaning brush and the insulating agent centrifugal mechanism rotate reversely, the insulating agent centrifugal mechanism rotates to extrude insulating agent sponge, the insulating agent is extruded to the inner wall of the hollow cleaning brush, and under the action of centrifugal force generated by rotation of the hollow cleaning brush, the insulating agent flows to the brush through the brush hole of the hollow cleaning brush, so that the cleaning of the insulator is realized; because the protection casing is 1/4 opening structure, consequently, the insulating agent can clean the operation at the protection casing opening, and the absorption realization of recovery through retrieving the sponge is retrieved at remaining 3/4 part insulating agent, prevents to pollute the transformer substation environment.
After the cleaning operation, the cleaning device is disassembled, and the recovered sponge is taken out to recover the unused insulating agent.
The effect that above-mentioned technical scheme produced does: due to the fact that the cleaning structure is additionally provided with the insulating agent sponge, the centrifugal motor and the driving motor, under the action of centrifugal force generated by rotation of the hollow cleaning brush, the insulating agent flows to the brush through the brush holes of the hollow cleaning brush, so that cleaning of the insulator is achieved, and oil dirt on the surface of the insulator can be cleaned;
dipping in the insulating agent required for cleaning, putting the hollow cleaning brush into the hollow cleaning brush after the insulating agent sponge is completely absorbed, and placing the hollow cleaning brush between the hollow cleaning brush and the insulating agent centrifugal mechanism, wherein the cleaning work of the insulator can be realized by dipping in the insulating agent sponge once, and the insulator can work continuously without dipping in the insulating agent sponge for many times.
The working method of the live-line cleaning robot system for the insulator of the transformer substation in the embodiment comprises the following steps:
collecting images in a semicircular range of the semicircular surrounding device;
judging whether all the received road images contain insulators in real time; if yes, determining whether the axis of the insulator is positioned in the center of the semicircular surrounding device or not according to the comparison of the proportion of the insulator in each path of image to the corresponding whole image; otherwise, outputting a command for adjusting the semicircular encircling device until the axis of the insulator is positioned at the central position of the semicircular encircling device;
and starting the cleaning part when the center of the semicircular encircling device is superposed with the axis of the insulator, and cleaning the insulator in a charged manner.
As an embodiment, the process of obtaining the ratio of the insulator in each image to the corresponding whole image is as follows:
respectively extracting an insulator connected domain from the insulator region detected in each image, and solving the central point of the connected domain and the total number of pixel points occupied by the connected domain;
and determining the proportion of the connected domain to the corresponding whole image according to the total number of the pixel points of the connected domain to obtain the proportion of the insulator in each path of image to the corresponding whole image.
In one embodiment, when the proportion of the insulators in each image to the corresponding whole image is equal, or the difference between the abscissa of the center point of the connected region of the insulators and the 1/2 value of the length of the whole image is smaller than or equal to a preset error threshold, the center of the semicircular surrounding device coincides with the axis of the insulators.
Specifically, two image acquisition devices adopt two cameras with the same resolution (resolution is mxn) as an example:
1) two cameras with the same resolution (resolution is MXN) are respectively a camera 1 and a camera 2, are positioned on the same diameter of the semicircular encircling device, and can acquire images in the semicircular range of the encircling device.
2) Analyzing the two paths of videos collected by the camera 1 and the camera 2, detecting whether insulators exist in the video streams through a convolutional neural network algorithm, and if insulators exist, extracting an insulator connected domain from insulator regions detected in the two paths of video streams by using a threshold segmentation method respectively.
The convolutional neural network algorithm is used as a common means for video image detection in the field of deep learning, a prediction model is obtained by acquiring a large number of insulator image samples and training, and whether insulators exist in a video or not can be judged by using the prediction model.
It should be noted that, a person skilled in the art may specifically select a corresponding Convolutional Neural network algorithm (e.g., a Convolutional Neural Network (CNN), a structure of which may be optionally selected according to the actual situation) according to the actual situation to implement the detection of the insulator, and the final image processing result is not affected.
The threshold segmentation method is an image segmentation technology based on regions, and the principle is to divide image pixel points into a plurality of classes. The image thresholding segmentation is the most common traditional image segmentation method, and becomes the most basic and widely applied segmentation technology in image segmentation due to simple implementation, small calculation amount and stable performance. It is particularly suitable for images where the object and background occupy different gray scale ranges. It not only can compress a great amount of data, but also greatly simplifies the analysis and processing steps, and thus is a necessary image preprocessing process before image analysis, feature extraction and pattern recognition in many cases. The purpose of image thresholding is to divide the set of pixels by gray level, each resulting subset forming a region corresponding to the real scene, each region having consistent properties within it, while adjacent regions do not have such consistent properties. Such a division can be achieved by choosing one or more threshold values from the grey scale.
In this embodiment, the process of extracting the insulator connected domain by using the threshold segmentation method for the insulator regions detected in the two video streams is an existing process, and will not be described here again.
3) ObtainingCenter point (x) of connected domain1,y1)、(x2,y2) And the total number Num of pixel points occupied by the connected domain1、Num- 2And through Num1、Num2Determining the proportion of the connected domain in the video stream image:
the size of the images collected by the camera 1 and the camera 2 is MxN, and the pixel positions of the visual field centers of the images are all
Finally by comparison c1、c2Size of (a) and (x)1,y1) And
(x2y-2) and
the position relation of the insulator can obtain the position of the insulator in the semicircular encircling device, and the relative position of the semicircular encircling device and the insulator is adjusted according to the comparison result until the insulator is positioned in the middle of the device. Where M and N are the length and width of the image, respectively.
The comparison result and the adjustment mode are as follows, where error is the maximum error allowed by the pixel position, and is generally less than or equal to 5:
(a) if c is1>c2The insulator is closer to the camera 1, and the surrounding device needs to be adjusted to enable the insulator to move towards one side of the camera 2;
(b) if c is2>c1The insulator is closer to the camera 2, and the surrounding device needs to be adjusted to enable the insulator to move towards one side of the camera 1;
(c) if c is1＝c2The insulator is positioned on the left and right and already positioned in the center;
(d) if it is
Or
The insulator is already positioned at the center on the front and rear positions;
(e) if it is
And is
The insulator is closer to the inner side of the surrounding device, and the device needs to be adjusted to enable the insulator to move towards the outer side of the surrounding device;
(f) if it is
And is
The insulator is closer to the outer side of the surrounding device, and the device needs to be adjusted to enable the insulator to move towards the inner side of the surrounding device;
(g) if x1-x2|>error or y1-y2|>And error, the positions of the two cameras are not aligned, the centers of the visual fields of the two cameras are not on the same horizontal line, and the positions of the two cameras need to be readjusted.
It should be noted that three or more image capturing devices may be adopted, as long as each image capturing device is located inside the semicircular surrounding device and each image capturing device is located on the same horizontal plane, but two image capturing devices are the best solutions.
The robot carries out the automatic alignment location teaching to the insulator of model commonly used through the polyphaser, collects, the analysis in the teaching in-process centering position, adapts to the insulator of multiple different models through machine learning, catches the central axis position, realizes cleaning the accuracy of embracing the device to the insulator of different models.
According to the embodiment, the image in the semi-circle range of the semi-circle surrounding device is collected, whether the axis of the insulator is located at the center of the semi-circle surrounding device or not is determined according to the comparison of the insulator in each image and the corresponding whole image, the judgment of whether the axis of the insulator is located at the center of the semi-circle surrounding device or not is automatically realized, and the cleaning efficiency of the electrified cleaning robot system for the insulator of the transformer substation is improved.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of a hardware embodiment, a software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a live-line cleaning robot system for transformer substation insulators, which comprises:
the cleaning part is connected with the mechanical arm through the semicircular surrounding device; the cleaning part is used for starting and cleaning the insulator in a live-line manner when the center of the semicircular encircling device is superposed with the axis of the insulator;
the insulator positioning part comprises at least two paths of image acquisition devices, and the image acquisition devices are uniformly arranged in the semicircular surrounding device and are used for acquiring images in a semicircular range of the semicircular surrounding device and simultaneously transmitting the images to the processor;
the processor is configured to: performing image segmentation on the image based on a Cartesian space threshold segmentation algorithm, and judging whether all the simultaneously received images contain insulators or not in real time according to a multi-scale insulator sample library; if the insulator is contained, determining whether the axis of the insulator is positioned at the central position of the semicircular surrounding device or not according to the comparison of the proportion of the insulator in each path of image to the corresponding whole image; otherwise, outputting a command for adjusting the semicircular encircling device until the axis of the insulator is positioned at the central position of the semicircular encircling device.
2. The live cleaning robot system for the substation insulator according to claim 1, wherein the cleaning part comprises a cleaning brush structure and a driving motor;
the cleaning brush structure comprises a hollow cleaning brush, insulating agent sponge and a centrifugal motor so as to realize centrifugal flexible environment-friendly cleaning;
the driving motor is connected with the hollow cleaning brush, an output shaft of the centrifugal motor is connected with the insulating agent centrifugal mechanism, and the insulating agent sponge is positioned between the hollow cleaning brush and the insulating agent centrifugal mechanism;
when the driving motor and the centrifugal motor enable the rotation directions of the output shafts of the driving motor and the centrifugal motor to be opposite, the hollow cleaning brush and the insulating agent centrifugal mechanism rotate reversely, the insulating agent centrifugal mechanism rotates to extrude insulating agent sponge, and the insulating agent flows to the hollow cleaning brush, so that fluid-solid coupling cleaning of the insulator is achieved.
3. The live cleaning robot system for the insulator of the substation according to claim 2, wherein the cleaning brush structure further comprises an insulating agent sponge fixing plate and a centrifugal motor mounting plate;
the insulating agent sponge fixing plate is arranged on the hollow sweeping brush, the upper surface of the hollow sweeping brush is connected with the centrifugal motor mounting plate, and the centrifugal motor is connected and arranged on the centrifugal motor mounting plate;
or
The cleaning brush structure further comprises a centrifugal motor bearing, the outer diameter of the centrifugal motor bearing is in transition fit connection with the inner part of the insulating agent sponge fixing plate, and the inner diameter of the centrifugal motor bearing is in transition fit connection with the output shaft of the centrifugal motor.
4. The live cleaning robot system for the substation insulator according to claim 2, wherein the insulating agent sponge is connected with the hollow cleaning brush and the insulating agent centrifugal mechanism in an interference fit manner;
or
The brush on the hollow cleaning brush is fixed on the hollow part and communicated with the inside of the hollow part, and is in transition connection and matching with the insulating agent sponge.
5. The live cleaning robot system for the substation insulator according to claim 2, wherein the cleaning brush structure is located in a cavity formed by matching an upper protective cover and a lower protective cover, the upper protective cover and the lower protective cover are of an open structure, the cleaning operation can be performed on the open structure of the protective cover by using the insulating agent, and the rest of the insulating agent is recovered by adsorbing a recovery sponge.
6. The live-line cleaning robot system for the insulator of the transformer substation as claimed in claim 2, wherein the driving motor is fixed on an upper protective cover, a brush upper bearing is arranged in the upper protective cover, the inner diameter of the brush upper bearing is in transition fit connection with an output shaft of the driving motor, and the outer diameter of the brush upper bearing is in transition fit connection with the upper protective cover; the lower protective cover is internally provided with a lower brush bearing, the outer diameter of the lower brush bearing is in transition fit connection with the lower protective cover, and the inner diameter of the lower brush bearing is in transition fit connection with an outer shaft of the insulating agent sponge fixing plate. The robot is provided with sensors of laser, vision, ultrasound and leakage current, so that the states of the robot, tools and equipment in the live-line dismounting operation process can be monitored at any time, and the operation safety is ensured.
7. An operating method of the substation insulator live cleaning robot system according to any one of claims 1-6, comprising:
collecting images in a semicircular range of the semicircular surrounding device;
performing image segmentation on the image based on a Cartesian space threshold segmentation algorithm, and judging whether all the simultaneously received images contain insulators or not in real time according to a multi-scale insulator sample library; if the insulator is contained, determining whether the axis of the insulator is positioned at the central position of the semicircular surrounding device or not according to the comparison of the proportion of the insulator in each path of image to the corresponding whole image; otherwise, outputting a command for adjusting the semicircular encircling device until the axis of the insulator is positioned at the central position of the semicircular encircling device;
and starting the cleaning part when the center of the semicircular encircling device is superposed with the axis of the insulator, and cleaning the insulator in a charged manner.
8. The working method of the live-line cleaning robot system for the insulator of the substation according to claim 7, wherein the process of obtaining the ratio of the insulator in each image to the corresponding whole image comprises the following steps:
respectively extracting an insulator connected domain from the insulator region detected in each image, and solving the central point of the connected domain and the total number of pixel points occupied by the connected domain;
and determining the proportion of the connected domain to the corresponding whole image according to the total number of the pixel points of the connected domain to obtain the proportion of the insulator in each path of image to the corresponding whole image.
9. The working method of the live-line cleaning robot system for the insulator of the substation according to claim 8, wherein when the proportion of the insulator in each image to the corresponding whole image is equal, or the difference between the abscissa of the center point of the insulator communication domain and the 1/2 value of the length of the whole image is smaller than or equal to a preset error threshold, the center of the semicircular encircling device coincides with the axis of the insulator.
10. The working method of the live-line cleaning robot system for the insulators of the transformer substation according to claim 9, wherein the working method adapts to a plurality of insulators of different models through machine learning, the position of the central axis of the insulator is captured, and the cleaning and surrounding device can accurately clean the insulators of different models.
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| CN110899183B (en) | 2021-04-20 |
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