CN-121989765-A - Insulator cleaning method and device

CN121989765ACN 121989765 ACN121989765 ACN 121989765ACN-121989765-A

Abstract

The application relates to an insulator cleaning method and device. The method comprises the steps of controlling movable sensing equipment mounted on a bearing platform to collect environment information of a current operation area, determining pose data of sensing equipment corresponding to each insulator and water outlet parameters of cleaning equipment according to the environment information, controlling the cleaning equipment to clean the insulator based on the corresponding water outlet parameters and controlling the sensing equipment to detect a first obstacle, controlling the sensing equipment and the cleaning equipment to translate according to the position relation between the first obstacle and the insulator when the sensing equipment detects the first obstacle, adjusting the water outlet parameters corresponding to the insulator according to the position relation between the translated cleaning equipment and the insulator, and returning to execute operation of controlling the cleaning equipment to clean the insulator based on the corresponding water outlet parameters based on the adjusted water outlet parameters until the completion of cleaning of the insulator is detected. The method can improve the cleaning efficiency of the insulator.

Inventors

BIAN NAN
LIU YANG
NIU XIAOWEI
HE XIAOYONG
WANG LEI
ZHAO MENG
FAN ZIWEN
FENG JINSONG
CHEN XI
LI JIEQIONG
Yuan Youkang

Assignees

国能朔黄铁路发展有限责任公司

Dates

Publication Date: 20260508
Application Date: 20260402

Claims (10)

1. A method for cleaning an insulator, characterized in that the method comprises: Under the condition that the bearing platform runs to a scanning position corresponding to a current operation area, controlling movable sensing equipment carried by the bearing platform to acquire environment information of the current operation area, wherein the bearing platform is also carried with movable cleaning equipment, and the environment information at least comprises at least one insulator in the current operation area; According to the environmental information, pose data of the sensing equipment and water outlet parameters of the cleaning equipment corresponding to each insulator are determined; For each insulator, controlling the cleaning equipment to clean the insulator based on the corresponding water outlet parameter, and controlling the sensing equipment to detect a first obstacle on the insulator; Under the condition that the sensing equipment detects a first obstacle, controlling the sensing equipment and the cleaning equipment to translate according to the position relation between the first obstacle and the insulator, and adjusting the water outlet parameter corresponding to the insulator according to the position relation between the translated cleaning equipment and the insulator, wherein the detection area of the sensing equipment and the water outlet flowing area of the cleaning equipment after translation both avoid the first obstacle; And based on the adjusted water outlet parameters, returning to execute the operation of controlling the cleaning equipment to clean the insulator based on the corresponding water outlet parameters until the completion of cleaning the insulator is detected.
2. The method according to claim 1, wherein the method further comprises: Determining a cleaning sequence of the at least one insulator according to the environmental information; For each insulator, controlling the cleaning device to clean the insulator based on the corresponding water outlet parameter, including: traversing the at least one insulator according to the cleaning sequence; And under the condition of traversing to each insulator, controlling the cleaning equipment to clean the insulator based on the corresponding water outlet parameter.
3. The method of claim 1, wherein prior to said controlling the cleaning apparatus to clean the insulator based on the corresponding water outlet parameter, the method further comprises: Controlling the bearing platform to travel to a preset operation area corresponding to the insulator under the condition that the bearing platform is detected not to be located in the preset operation area corresponding to the insulator; the preset operation areas are areas in the current operation area, wherein the areas in the current operation area are used for ensuring that the cleaning equipment can clean the insulators, and each preset operation area corresponds to at least one insulator.
4. The method of claim 1, wherein the detecting that the cleaning of the insulator is complete comprises: Detecting the dirt degree of the insulator; and determining that the insulator is completely cleaned under the condition that the detected dirt degree meets the preset cleaning standard.
5. The method of claim 4, wherein said detecting the contamination level of the insulator comprises: controlling sensing equipment to acquire a current image of the insulator; and identifying the current image to obtain the dirt degree of the insulator.
6. The method of claim 1, wherein the cleaning apparatus includes an image acquisition device, wherein the controlling the cleaning apparatus to clean the insulator based on the corresponding effluent parameters includes: controlling the cleaning equipment to emit water flow based on the corresponding water outlet parameters, wherein the water flow is used for cleaning the insulator; Acquiring a current image of the water flow acquired by the image acquisition device, and determining the cleaning effect of the water flow on the insulator according to the current image; according to the cleaning effect, adjusting the water outlet parameters corresponding to the insulators; And based on the adjusted water outlet parameters, returning to execute the operation of controlling the cleaning equipment to emit water flow based on the corresponding water outlet parameters.
7. The method according to any one of claims 1 to 6, wherein determining pose data of the sensing device and water outlet parameters of the cleaning device corresponding to each insulator according to the environmental information includes: Fusing the environment information and the railway contact network map associated with the current operation area to obtain a target semantic map; And carrying out pose collaborative planning on the sensing equipment and the cleaning equipment according to the target semantic map so as to obtain pose data of the sensing equipment and water outlet parameters of the cleaning equipment, which correspond to each insulator.
8. The method of claim 7, wherein the target semantic map comprises the at least one insulator, location information and fouling information for each insulator, a second obstacle within the current work zone, and spatial profile information for the second obstacle; and performing pose collaborative planning on the sensing equipment and the cleaning equipment according to the target semantic map to obtain pose data of the sensing equipment and water outlet parameters of the cleaning equipment corresponding to each insulator, wherein the method comprises the following steps: for each insulator, determining initial pose data of the sensing equipment corresponding to the insulator according to the position information of the insulator and the spatial contour information of the second obstacle, and Determining initial water outlet parameters of the cleaning equipment corresponding to the insulator according to the position information of the insulator, the dirt information of the insulator and the space contour information of the second obstacle; And carrying out pose collaborative planning on the sensing equipment and the cleaning equipment according to the initial pose data and the initial water outlet parameters to obtain pose data of the sensing equipment and the water outlet parameters of the cleaning equipment, which correspond to the insulators.
9. The method of claim 7, wherein the environmental information includes environmental point cloud data and environmental image data, and wherein the fusing the environmental information with the railway catenary map associated with the current work area to obtain the target semantic map includes: Carrying out standardized processing on the environmental point cloud data to obtain target point cloud data; Identifying dirt information of each insulator and spatial profile information of a second obstacle in the environmental image data; fusing the target point cloud data, the space contour information of the second obstacle and the dirt information of each insulator to obtain an initial semantic map; And calibrating the position information in the initial semantic map according to the railway catenary map associated with the current operation area to obtain a target semantic map.
10. A railway catenary insulator cleaning device, the device comprising: The system comprises a load-bearing platform, an acquisition module, a control module and a control module, wherein the load-bearing platform is used for controlling movable sensing equipment carried by the load-bearing platform to acquire environment information of a current operation area under the condition that the load-bearing platform is driven to a scanning position corresponding to the current operation area; The processing module is used for determining pose data of the sensing equipment and water outlet parameters of the cleaning equipment corresponding to each insulator according to the environmental information; the cleaning module is used for aiming at each insulator, controlling the cleaning equipment to clean the insulator based on the corresponding water outlet parameter, and controlling the sensing equipment to detect a first obstacle on the insulator; The processing module is further used for controlling the sensing device and the cleaning device to translate according to the position relation between the first obstacle and the insulator and adjusting the water outlet parameter corresponding to the insulator according to the position relation between the translated cleaning device and the insulator when the sensing device detects the first obstacle, wherein the detection area of the sensing device and the water outlet flowing area of the cleaning device after translation both avoid the first obstacle; And the cleaning module is also used for returning to execute the operation of controlling the cleaning equipment to clean the insulator based on the corresponding water outlet parameter based on the adjusted water outlet parameter until the completion of cleaning the insulator is detected.

Description

Insulator cleaning method and device Technical Field The application relates to the technical field of railway contact net maintenance, in particular to an insulator cleaning method and device. Background The railway contact net insulator runs outdoors for a long time, is easy to accumulate dirt, causes the insulation performance to be reduced, causes flashover accidents, and threatens the railway running safety. Traditional cleaning mode mainly relies on the manual work to use high-pressure squirt or wash car fixed point operation, however, this mode is under complicated cleaning environment such as high altitude and many barriers, because of the operation flexibility is poor and the operation is restricted, leads to the cleaning efficiency lower. Disclosure of Invention In view of the above, it is desirable to provide an insulator cleaning method and apparatus that can improve cleaning efficiency. In a first aspect, the present application provides a method for cleaning an insulator, including: Under the condition that the bearing platform runs to a scanning position corresponding to the current operation area, controlling movable sensing equipment carried by the bearing platform to acquire environment information of the current operation area, wherein the bearing platform is also carried with movable cleaning equipment, and the environment information at least comprises at least one insulator in the current operation area; according to the environmental information, pose data of sensing equipment corresponding to each insulator and water outlet parameters of cleaning equipment are determined; For each insulator, controlling the cleaning equipment to clean the insulator based on the corresponding water outlet parameter, and controlling the sensing equipment to detect a first obstacle on the insulator; Under the condition that the sensing equipment detects a first obstacle, controlling the sensing equipment and the cleaning equipment to translate according to the position relation between the first obstacle and the insulator, and adjusting the corresponding water outlet parameter of the insulator according to the position relation between the translated cleaning equipment and the insulator, wherein the detection area of the translated sensing equipment and the water outlet flowing area of the cleaning equipment both avoid the first obstacle; and based on the adjusted water outlet parameters, returning to execute the operation of controlling the cleaning equipment to clean the insulator based on the corresponding water outlet parameters until the completion of cleaning the insulator is detected. In one embodiment, the method further comprises: Determining a cleaning sequence of at least one insulator according to the environmental information; for each insulator, control cleaning equipment washs the insulator based on corresponding play water parameter, includes: traversing at least one insulator according to the cleaning sequence; and under the condition of traversing to each insulator, controlling the cleaning equipment to clean the insulator based on the corresponding water outlet parameter. In one embodiment, before controlling the cleaning device to clean the insulator based on the corresponding effluent parameters, the method further comprises: under the condition that the bearing platform is detected not to be located in the preset operation area corresponding to the insulator, the bearing platform is controlled to travel to the preset operation area corresponding to the insulator; the preset operation areas are areas in the current operation area, wherein the areas, in which the cleaning equipment can clean the insulators, are guaranteed, and each preset operation area corresponds to at least one insulator. In one embodiment, detecting that the cleaning of the insulator is complete includes: Detecting the dirt degree of the insulator; And determining that the insulator cleaning is finished under the condition that the detected dirt degree meets the preset cleaning standard. In one embodiment, detecting the contamination level of the insulator includes: controlling sensing equipment to acquire a current image of an insulator; and identifying the current image to obtain the dirt degree of the insulator. In one embodiment, the cleaning device comprises an image acquisition device, and the control of the cleaning device to clean the insulator based on the corresponding water outlet parameters comprises the following steps: controlling the cleaning equipment to emit water flow based on the corresponding water outlet parameters, wherein the water flow is used for cleaning the insulator; Acquiring a current image of water flow acquired by an image acquisition device, and determining the cleaning effect of the water flow on the insulator according to the current image; According to the cleaning effect, adjusting the water outlet parameters corresponding to the insulators; and based on the adjusted water out