Operation and maintenance equipment and motion path switching control method and control device thereof

Abstract

The invention discloses operation and maintenance equipment and a motion path switching control method and device thereof, and the device comprises a first detection assembly which is used for detecting first detection data between a turnover mechanism and a first side frame of a to-be-maintained assembly, and the extension direction of the first side frame is parallel or approximately parallel to the walking direction; the second detection assembly is used for detecting second detection data between the frame of the walking mechanism and a second side frame of the to-be-maintained assembly, and the extending direction of the second side frame is parallel or approximately parallel to the walking direction; and the control module is used for receiving the first detection data and the second detection data, determining the path position of the operation and maintenance equipment according to the first detection data and the second detection data, and adjusting the working states of the walking mechanism and the turnover mechanism according to the path position. By automatically recognizing the path position of the operation and maintenance equipment, the working states of the walking mechanism and the turnover mechanism are adaptively adjusted, it can be guaranteed that the equipment stably runs on the flexible support, and the maintenance work efficiency is high.

Description

Technical Field

[0001] The present invention relates to the field of photovoltaic operation and maintenance technology, and in particular to an operation and maintenance device and a motion path switching control method and a control device thereof. Background Art

[0002] Flexible support is a large-span, high-clearance, multi-span structure. Due to its strong adaptability and low installation and maintenance costs, it is widely used in the construction of photovoltaic power stations in areas with large slope fluctuations or in fishing ponds and tidal flats.

[0003] Existing flexible photovoltaic brackets use prestressed steel strands to form a force system through the columns and ground anchors at both ends, and the photovoltaic modules are placed and fixed on the steel strands. When cleaning and maintaining photovoltaic modules fixed with flexible photovoltaic brackets, the operation and maintenance equipment needs to switch from one photovoltaic module to the steel strand, and then move to the next photovoltaic module. Since there are gaps between photovoltaic modules and there are slope changes between photovoltaic modules and the gap positions, the operation and maintenance equipment will not be able to pass or will run unsteadily, affecting the operation and maintenance work. If a bridge is built at the gap position to assist the operation and maintenance equipment to pass, it is necessary to increase the installation operation of the bridge, which is time-consuming and labor-intensive, and increases the operation and maintenance costs. Summary of the invention

[0004] The present invention provides an operation and maintenance equipment and its motion path switching control method and control device to solve the problem that the existing operation and maintenance equipment cannot pass through or runs unstably in a flexible bracket scenario, affecting the progress and cost of operation and maintenance operations. The equipment can run stably on a flexible bracket and perform maintenance operations.

[0005] According to one aspect of the present invention, there is provided a motion path switching control device for operation and maintenance equipment, wherein the operation and maintenance equipment is used to maintain a component to be maintained which is fixed with a flexible bracket, the operation and maintenance equipment comprises a walking mechanism and a flipping mechanism, the motion path comprises a first sub-path located on the component to be maintained, or a second sub-path located at a gap between components; the device comprises: a first detection component, arranged on a side of the flipping mechanism facing a walking direction, for detecting first detection data between the flipping mechanism and a first side frame of the component to be maintained, wherein an extension direction of the first side frame is parallel or approximately parallel to the walking direction; a second detection component, arranged on a frame of the walking mechanism, for detecting second detection data between a frame of the walking mechanism and a second side frame of the component to be maintained, wherein an extension direction of the second side frame is parallel or approximately parallel to the walking direction; a control module, connected to the first detection component and the second detection component, for receiving the first detection data and the second detection data, determining the path position of the operation and maintenance equipment according to the first detection data and the second detection data, and adjusting the working states of the walking mechanism and the flipping mechanism according to the path position.

[0006] Optionally, the walking mechanism includes: a first walking component and a limit anti-slip component, and the first walking component is rollingly connected to the flexible bracket; the control module is configured to: control the limit anti-slip component to unlock when the flipping mechanism at least partially leaves the first sub-path; and / or, when the walking mechanism travels on the second sub-path, control the limit anti-slip component to perform a limit lock on the first walking component and the flexible bracket.

[0007] Optionally, the first walking component includes: a first driving member and a first driving wheel, the first driving member is drivingly connected to the first driving wheel for driving the first driving wheel to rotate; the control module is configured to: adjust the speed and / or output torque of the first driving member according to the path position.

[0008] Optionally, the flipping mechanism includes: a flipping drive, a cleaning component and a second walking component; the flipping drive can drive the cleaning component to flip relative to the walking mechanism; the control module is configured to: when the flipping mechanism at least partially leaves the first sub-path, control the flipping drive to drive the cleaning component to flip in a direction away from the flexible bracket; when the walking mechanism travels on the second sub-path and there is a leveling requirement, control the flipping drive to drive the cleaning component to flip in a direction close to the flexible bracket, so that the second walking component drives the operation and maintenance equipment to enter the first sub-path corresponding to the next component to be maintained.

[0009] Optionally, the flip driving member can drive the cleaning component to flip 180 degrees relative to the traveling mechanism; the control module is configured to determine the flipping path of the flip driving member according to the path position and the relative position relationship between the cleaning component and the traveling mechanism.

[0010] Optionally, the operation and maintenance equipment motion path switching control device also includes: a third detection component, arranged on the walking mechanism, for detecting posture change data of the walking mechanism; the control module, connected to the third detection component, for receiving the posture change data, verifying the path position of the operation and maintenance equipment according to the posture change data, and performing leveling control on the operation and maintenance equipment according to the posture change data, the first detection data and the second detection data.

[0011] Optionally, the control module is further configured to: determine a flip angle of the flip mechanism according to the posture change data.

[0012] Optionally, the operation and maintenance equipment motion path switching control device also includes: a motion mode configuration module, connected to the control module, for issuing automatic mode or manual mode control instructions; the control module is configured to: in the automatic mode, adjust the working states of the walking mechanism and the flipping mechanism according to the first detection data and the second detection data, and in the manual mode, adjust the working states of the walking mechanism and the flipping mechanism according to user operation instructions.

[0013] According to another aspect of the present invention, a method for controlling motion path switching of an operation and maintenance equipment is provided, wherein the operation and maintenance equipment is used to maintain a component to be maintained which is fixed with a flexible bracket, the operation and maintenance equipment comprises a walking mechanism and a flipping mechanism, the motion path comprises a first sub-path located on the component to be maintained, or a second sub-path located at a gap between components; the method comprises: obtaining first detection data between the flipping mechanism and a first side frame of the component to be maintained, wherein an extension direction of the first side frame is parallel or approximately parallel to the walking direction; obtaining second detection data between a frame of the walking mechanism and a second side frame of the component to be maintained, wherein an extension direction of the second side frame is parallel or approximately parallel to the walking direction; determining the path position of the operation and maintenance equipment according to the first detection data and the second detection data, and adjusting the working states of the walking mechanism and the flipping mechanism according to the path position.

[0014] According to another aspect of the present invention, there is provided an operation and maintenance device, comprising: a walking mechanism, a flipping mechanism, and a motion path switching control device for the operation and maintenance device.

[0015] According to the technical solution of the embodiment of the present invention, the operation and maintenance equipment is provided with a walking mechanism and a flipping mechanism, and the motion path switching control device is provided with a first detection component, a second detection component and a control module. When the operation and maintenance equipment performs the operation and maintenance operation, the first detection component detects the first detection data between the flipping mechanism and the side frame of the component to be maintained in real time, and the second detection component detects the second detection data between the frame of the walking mechanism and the side frame of the component to be maintained in real time. The control module determines the path position of the operation and maintenance equipment according to the first detection data and the second detection data, and adjusts the working states of the walking mechanism and the flipping mechanism according to the path position, which solves the problem that the existing operation and maintenance equipment cannot pass through or runs unstably in the flexible bracket scenario, affecting the progress and cost of the operation and maintenance operation, and can ensure that the equipment can stably operate on the flexible bracket and perform maintenance operations, and the operation is smooth, thereby improving the efficiency of the operation and maintenance operation.

[0016] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 It is a structural schematic diagram of an operation and maintenance device and a flexible bracket provided by an embodiment of the present invention;

[0019] Figure 2 is a first structural schematic diagram of an operation and maintenance device provided by an embodiment of the present invention;

[0020] Figure 3 is a second structural schematic diagram of an operation and maintenance device provided by an embodiment of the present invention;

[0021] Figure 4 A schematic structural diagram of a position limiting and anti-dropping component of a walking mechanism provided by an embodiment of the present invention in an unlocked state;

[0022] Figure 5 A schematic structural diagram of a position limiting and anti-dropping component of a walking mechanism provided by an embodiment of the present invention in a locked state;

[0023] Figure 6 A schematic diagram of the structure of a motion path switching control device for operation and maintenance equipment provided by an embodiment of the present invention;

[0024] Figure 7 A schematic diagram of the structure of another operation and maintenance equipment motion path switching control device provided by an embodiment of the present invention;

[0025] Figure 8 A schematic diagram of the structure of another operation and maintenance equipment motion path switching control device provided by an embodiment of the present invention;

[0026] Fig. 9 A flow chart of a motion path switching control method for operation and maintenance equipment provided by an embodiment of the present invention;

[0027] Fig.10 A flowchart of another operation and maintenance equipment motion path switching control method provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0030] like Figures 1 to 3 As shown, the operation and maintenance equipment provided by the present invention can be a cleaning robot, which is suitable for maintaining (such as cleaning) a component to be maintained fixed by a flexible bracket 200, and the component to be maintained can be a photovoltaic component 100. The flexible bracket 200 adopts a fixed steel strand 201 with columns at both ends. The operation and maintenance equipment includes a walking mechanism 1 and a flipping mechanism 2. Among them, the walking mechanism 1 includes a frame 11 and a first walking component 12; the flipping mechanism 2 includes a flipping drive 21, a cleaning component 22 and a second walking component 23, the flipping drive 21 is fixed to the frame 11, and the output end of the flipping drive 21 is connected to the cleaning component 22 for driving the cleaning component 22 to rotate. In this embodiment, the walking mechanism 1 is provided with two groups of first walking components 12, and the two groups of first walking components 12 are arranged at intervals on the frame 11; the flipping mechanism 2 is provided with two groups of second walking components 23, and the two groups of second walking components 23 are arranged at intervals on the cleaning component 22. Such a setting can make the movement smoother.

[0031] In the present application, the motion path of the operation and maintenance equipment includes a first sub-path located on the component to be maintained, or a second sub-path located at the gap between the components. In this embodiment, a column is set at the gap between the components, and the second sub-path may have non-smooth operation scenes, such as an operation scene of bending upward or bending downward. Therefore, it is necessary to identify the motion path and adaptively control the operation and maintenance equipment in combination with the motion path.

[0032] Figure 4A schematic diagram of the structure of a motion path switching control device for operation and maintenance equipment provided by an embodiment of the present invention. Figure 3 and Figure 4 As shown, the device of the present application includes: a first detection component 401, a second detection component 402 and a control module 403.

[0033] The first detection component 401 is arranged on the side of the flip mechanism 2 facing the walking direction of the operation and maintenance equipment, and is used to detect the side frame 101 (see Figure 1 ), the extension direction of the first side frame 101 is parallel or approximately parallel to the walking direction of the operation and maintenance equipment. Among them, the first detection data can be understood as the spacing distance between the flipping mechanism 2 and the first side frame 101 of the component to be maintained when the cleaning component 22 is in the cleaning operation mode. Optionally, the first detection component 401 includes at least one of the following: an image detection unit, a laser radar, a millimeter wave radar or an ultrasonic sensor. Specifically, the first detection data is used to determine whether the operation and maintenance equipment is crossing the component gap. Exemplarily, when the operation and maintenance equipment is driving on the photovoltaic component, the maximum spacing distance between the flipping mechanism and the first side frame 101 of the component to be maintained is defined as D1, and the first preset threshold value can be set to 2*D1. When the first detection data is greater than the first preset threshold value, it is determined that the operation and maintenance equipment is crossing the component gap.

[0034] The second detection component 402 is arranged on the frame frame of the walking mechanism 1, and is used to detect the frame of the walking mechanism 1 and the second side frame 102 (see Figure 1 ), the extension direction of the second side frame 102 is parallel or approximately parallel to the walking direction of the operation and maintenance equipment. Among them, the second detection data can be understood as the offset distance between the frame of the walking mechanism 1 and the second side frame 102 of the component to be maintained when the cleaning component 22 is in the cleaning operation mode (including but not limited to: offset in the horizontal direction or offset in the vertical direction). Optionally, the second detection component 402 includes at least one of the following: an image detection unit, a laser radar, a millimeter wave radar or an ultrasonic sensor. Specifically, the second detection data is used to determine whether the operation and maintenance equipment is tilted. Exemplarily, when the operation and maintenance equipment is traveling on the photovoltaic component, the maximum offset distance between the frame of the walking mechanism 1 and the second side frame 102 of the component to be maintained is defined as D2, and the second preset threshold value can be set to 2*D2. When the second detection data is greater than the second preset threshold value, it is determined that the operation and maintenance equipment has an offset risk. In this embodiment, the first side frame 101 and the second side frame 102 can be located on the same side or different sides of the photovoltaic component 100, without limitation.

[0035] The control module 403 is connected to the first detection component and the second detection component 402, and is used to receive the first detection data and the second detection data, determine the path position of the operation and maintenance equipment according to the first detection data and the second detection data, and adjust the working state of the walking mechanism 1 and the flipping mechanism 2 according to the path position. In this embodiment, the path position of the operation and maintenance equipment includes any of the following: the first sub-path of the operation and maintenance equipment walking on the photovoltaic module 100, or the second sub-path of the operation and maintenance equipment driving from the photovoltaic module 100 into the steel strand 201.

[0036] In this embodiment, the working states of the walking mechanism 1 and the flipping mechanism 2 are adjusted according to the path position, including at least one of the following: controlling the cleaning component 22 to start or stop the cleaning operation according to the path position; adjusting the flipping angle of the flipping mechanism 2 according to the path position; adjusting the power source of the equipment according to the path position; and adjusting the equipment walking speed according to the path position.

[0037] Specifically, when it is recognized that the operation and maintenance equipment is walking on the photovoltaic module 100, that is, it is in the first sub-path, the first walking component 12 and the second walking component 23 provide power, which can achieve smooth movement of the operation and maintenance equipment and improve work efficiency. When it is recognized that the operation and maintenance equipment enters the steel strand 201 from the photovoltaic module 100, that is, it is in the second sub-path, the cleaning component 22 is lifted by the flipping driving member 21, and the power is provided by the first walking component 12. When the operation and maintenance equipment enters the next photovoltaic module 100, the cleaning component 22 is put down by the flipping driving member 21, and the cleaning component 22 is smoothly placed on the next photovoltaic module 100. At this time, the second walking component 23 acts as the main force to drive the robot to enter the photovoltaic module 100, thereby realizing adaptive switching from the photovoltaic module 100 to the steel strand 201 and then to the photovoltaic module 100, and can realize comprehensive operation and maintenance cleaning of the photovoltaic module 100. By automatically identifying the path position of the operation and maintenance equipment and adaptively adjusting the working status of the walking mechanism and the flipping mechanism, the problem that the existing operation and maintenance equipment cannot pass or runs unstably in the flexible bracket scenario, affecting the progress and cost of operation and maintenance operations, is solved. This can ensure that the equipment runs smoothly on the flexible bracket and improve the efficiency of maintenance operations.

[0038] See also Figure 2 and Figure 3As shown, the walking mechanism 1 includes: a frame 11, a first walking assembly 12 and a limit anti-slip assembly 123. Among them, the first walking assembly 12 includes a first driving member 121 and a first driving wheel 122. The first driving member 121 is arranged on the frame 11. The output end of the first driving member 121 is connected to the first driving wheel 122 for driving the first driving wheel 122 to rotate. The outer circumference of the first driving wheel 122 is concavely provided with a rolling groove 1221, and the first driving wheel 122 is connected to the steel strand 201 through the rolling groove 1221. When the first walking assembly 12 travels onto the steel strand 201, the first driving wheel 122 is connected to the steel strand 201 through the rolling groove 1221. There is no need to build a bridge frame, and the passability is good.

[0039] The control module 403 of the present application is configured to: when the flipping mechanism 2 at least partially leaves the first sub-path, control the limit anti-slip component 123 to unlock the first driving wheel 122 and the steel strand 201 of the first walking component 12; and / or, when the walking mechanism 1 travels on the second sub-path, control the limit anti-slip component 123 to perform anti-slip limit locking on the first driving wheel 122 and the steel strand 201 of the first walking component.

[0040] Figure 5 A schematic structural diagram of a position limiting and anti-dropping component of a walking mechanism provided by an embodiment of the present invention in an unlocked state; Figure 6 A schematic diagram of a structure of a travel mechanism limit anti-drop assembly in a locked state provided by an embodiment of the present invention. Figure 5 and Figure 6 As shown, when the control module 403 recognizes that the flipping mechanism 2 at least partially leaves the first sub-path, the limit anti-slip assembly 123 is controlled to be in a retracted state to control the first drive wheel 122 and the steel strand 201 to be in an unlocked state; when the control module 403 recognizes that the walking mechanism 1 is traveling on the second sub-path, the limit anti-slip assembly 123 is controlled to be in a clamped state to control the first drive wheel 122 and the steel strand 201 to be in a locked state. At this time, the steel strand 201 is restricted in the rolling groove 1221 of the first drive wheel 122 by the limit anti-slip assembly 123.

[0041] Optionally, the control module 403 of the present application is also configured to: adjust the speed and / or output torque of the first drive member according to the path position. Specifically, when it is identified that the operation and maintenance equipment is walking on the photovoltaic component 100, that is, in the first sub-path, the operation and maintenance equipment is controlled to automatically move forward along the preset motion path at a first driving speed; when the control module 403 identifies that the flip mechanism 2 at least partially leaves the first sub-path, the operation and maintenance equipment is controlled to automatically move forward along the preset motion path at a second driving speed; when the control module 403 identifies that the walking mechanism 1 is traveling on the second sub-path, the operation and maintenance equipment is controlled to automatically move forward along the preset motion path at a third driving speed. Among them, the second driving speed is less than the first driving speed; the third driving speed is less than the first driving speed. When it is identified that the operation and maintenance equipment runs to the component gap area, by reducing the speed and controlling the operation and maintenance equipment to pass the steel strand 201 in the gap area at a low speed, the operation stability can be improved. When an upward bending operation condition is identified, increasing the output torque of the first drive member 121 can improve the operation efficiency. When a downward bending operation condition is identified, the output torque of the first driving member 121 is reduced, so that the operation stability can be improved.

[0042] See also Figure 2 and Figure 3 As shown, the flip mechanism 2 includes a flip drive 21, a cleaning component 22 and a second walking component 23. Among them, the flip drive 21 can drive the cleaning component 22 to flip relative to the walking mechanism 1. The second walking component 23 includes a second drive 231 and a second drive wheel 232, the second drive 231 is fixed to the cleaning component 22, and the output end of the second drive 231 is connected to the second drive wheel 232 for driving the second drive wheel 232 to rotate. The control module 403 of the present application is also configured to: when the flip mechanism 2 at least partially leaves the first sub-path, control the flip drive 21 to drive the cleaning component 22 to flip in a direction away from the flexible bracket (for example, upward); when the walking mechanism 1 travels on the second sub-path and there is a leveling requirement, control the flip drive to drive the cleaning component to flip in a direction close to the flexible bracket (for example, downward), so that the second walking component 23 drives the operation and maintenance equipment to enter the first sub-path corresponding to the next component to be maintained. In this embodiment, if the second detection data between the frame of the walking mechanism and the second side frame of the component to be maintained is greater than a second preset threshold (determined based on the maximum offset distance between the frame of the walking mechanism and the second side frame of the component to be maintained when the operation and maintenance equipment is traveling on the steel strand), it is determined that there is a need for leveling the walking mechanism.

[0043] Optionally, the flip drive 21 can drive the cleaning component 22 to flip 180 degrees relative to the walking mechanism 1. The control module 403 of the present application is configured to determine the flipping path of the flip drive 21 according to the path position and the relative position relationship between the cleaning component 22 and the walking mechanism 1. Specifically, when the operation and maintenance equipment travels to the rightmost column, if the cleaning component 22 is located on the right side of the walking mechanism 1, the flip drive 21 is controlled to drive the cleaning component 22 to flip 180°, flip the cleaning component 22 to the left side of the walking mechanism 1, and perform cleaning to the left side; when the operation and maintenance equipment travels to the leftmost column, if the cleaning component 22 is located on the left side of the walking mechanism 1, the flip drive 21 is controlled to drive the cleaning component 22 to flip 180°, flip the cleaning component 22 to the right side of the walking mechanism 1, and perform cleaning to the right side. Through the flip mechanism, the cleaning component 22 is set to rotate with the center line of the frame 11 as the rotation center, so that two-way cleaning of the photovoltaic component 100 can be achieved.

[0044] like Figure 3 As shown, the cleaning assembly 22 includes a bracket 221, a cleaning drive member 222 and a roller brush 223. The output end of the flip drive member 21 is connected to the bracket 221 in a transmission manner, the cleaning drive member 222 is fixed to the bracket 221, the roller brush 223 is connected to the bracket 221 in a rotational manner, and the output end of the cleaning drive member 222 is connected to the roller brush 223 in a transmission manner to drive the roller brush 223 to rotate. The above arrangement makes the cleaning assembly 22 simple in structure and convenient for processing and manufacturing.

[0045] See also Figure 2 and Figure 3 As shown, the flip mechanism 2 also includes a second anti-bias component 224, and the second anti-bias component 224 is provided on both sides of the frame 11, and the second anti-bias component 224 can fit with the side wall of the photovoltaic component 100. Such an arrangement plays a guiding role in the movement of the cleaning component 22. The second anti-bias component 224 includes at least one second anti-bias member 2241. In the present embodiment, the second anti-bias member 2241 is a roller, and the roller can fit with the side wall of the photovoltaic component 100. By setting the roller, the roller rolls on the side wall of the photovoltaic component 100, reducing the friction between the cleaning component 22 and the side wall of the photovoltaic component 100. In other embodiments, the second anti-bias member 2241 is a guide block, and the guide block can fit with the side wall of the photovoltaic component 100 and is slidably connected with the side wall of the photovoltaic component 100.

[0046] See also Figure 2 and Figure 3As shown, the flip mechanism 2 also includes a second anti-slip assembly 225, which includes an anti-slip driving member 2251 and a second anti-slip member 2252. The second anti-slip member 2252 extends into the bottom of the photovoltaic assembly 100 and can fit with the bottom surface of the photovoltaic assembly 100; the output end of the anti-slip driving member 2251 is transmission-connected with the second anti-slip member 2252, which is used to make the second anti-slip member 2252 disengage from the bottom surface of the photovoltaic assembly 100 and be located outside the photovoltaic assembly 100. Such an arrangement can prevent the cleaning assembly 22 from disengaging from the photovoltaic assembly 100 and overturning when moving on the photovoltaic assembly 100, and when the cleaning assembly 22 needs to rotate, the anti-slip driving member 2251 can make the second anti-slip member 2252 disengage from the bottom surface of the photovoltaic assembly 100 and be located outside the photovoltaic assembly 100. The anti-slip driving member 2251 can disengage the second anti-slip member 2252 from the bottom surface of the photovoltaic assembly 100 by rotating the second anti-slip member 2252, or disengage the second anti-slip member 2252 from the bottom surface of the photovoltaic assembly 100 by moving the second anti-slip member 2252. In the present embodiment, the second anti-slip member 2252 is a roller, and the outer wall of the roller can fit the bottom surface of the photovoltaic assembly 100. The roller rolls on the bottom surface of the photovoltaic assembly 100, reducing the friction with the side wall of the photovoltaic assembly 100. In other embodiments, the second anti-slip member 2252 is a guide block, which can fit the bottom surface of the photovoltaic assembly 100 and is slidably connected to the bottom surface of the photovoltaic assembly 100.

[0047] In the present application, before controlling the flipping drive 21 to drive the cleaning component 22 to flip 180°, it also includes: controlling the second anti-slip component 225 of the flipping mechanism 2 to move, the anti-slip drive 2251 controls the second anti-slip component 2252 to deflect 90° to the side, so as to facilitate the flipping mechanism 2 to flip 180° smoothly, avoid interference between the flipping mechanism 2 and the photovoltaic component 100, and after the flipping is completed, the anti-slip drive 2251 controls the second anti-slip component 2252 to deflect back 90°.

[0048] Figure 7 A schematic diagram of the structure of another operation and maintenance equipment motion path switching control device provided by an embodiment of the present invention. Figure 7As shown, the motion path switching control device of the operation and maintenance equipment of the present application also includes: a third detection component 404, which is arranged on the walking mechanism and is used to detect the posture change data of the walking mechanism; the control module 403 is connected to the third detection component 404, and is used to receive the posture change data, verify the path position of the operation and maintenance equipment according to the posture change data, and perform leveling control on the operation and maintenance equipment according to the posture change data, the first detection data and the second detection data. Among them, the posture change data can be understood as data characterizing the tilt angle of the operation and maintenance equipment relative to the horizontal plane. Optionally, the third detection component 404 includes at least one of the following: an inclination sensor or an inertial measurement element. Specifically, when the first detection data is greater than the first preset threshold value, and the posture change data is greater than the preset inclination threshold value (established based on calibration or user-defined data, not limited), it is determined that the operation and maintenance equipment has traveled to the component gap area; when the second detection data is greater than the second preset threshold value, and the posture change data is greater than the preset inclination threshold value (established based on calibration or user-defined data, not limited), it is determined that the operation and maintenance equipment has offset and needs to be leveled. During the leveling process, the speed of different driving wheels of the operation and maintenance equipment is adjusted in a closed loop until the first detection data is less than or equal to the first preset threshold, the second detection data is less than or equal to the second preset threshold, and the attitude change data is less than or equal to the preset inclination angle threshold. By adding attitude verification, the false detection of the operation status of the operation and maintenance equipment is avoided and the motion control accuracy is improved.

[0049] Optionally, the control module 403 of the present application is further configured to: determine the flip angle of the flip mechanism according to the posture change data. Specifically, when the control module 403 recognizes that the flip mechanism 2 at least partially leaves the first sub-path, the control module 403 adjusts the flip angle of the cleaning component 22 according to the posture change data, so that the flip angle of the cleaning component 22 is adaptively adjusted with the upward folding angle of the component gap area, so as to avoid the cleaning component from flipping up in place and affecting the operation of the equipment, thereby improving the motion control accuracy.

[0050] Figure 8 A structural diagram of another operation and maintenance equipment motion path switching control device provided by an embodiment of the present invention, see Figure 8 As shown, the operation and maintenance equipment motion path switching control device of the present application also includes: a motion mode configuration module 405, which is connected to the control module 403 and is used to issue automatic mode or manual mode control instructions; the control module 403 is connected to the motion mode configuration module 405; the control module 403 is configured to: obtain motion mode configuration data; in automatic mode, adjust the working states of the walking mechanism and the flipping mechanism according to the first detection data and the second detection data, and in manual mode, adjust the working states of the walking mechanism and the flipping mechanism according to the user operation instructions.

[0051] Optionally, the motion mode configuration module 405 may include at least one of the following: a mechanical button, a knob, a human-computer interaction module, or a device capable of implementing a remote configuration function.

[0052] Specifically, if the operation and maintenance equipment is in automatic mode, the control module 403 controls the operation and maintenance equipment to automatically move forward along the preset motion path at a first driving speed, and adjusts the working state of the walking mechanism and the flipping mechanism according to the first detection data and the second detection data; if the operation and maintenance equipment is in manual mode, the control module 403 receives user operation instructions in real time, and adjusts the working state of the walking mechanism and the flipping mechanism according to the user operation instructions. By adding the operation mode recognition function, the application scenarios of the equipment are expanded, and human intervention is convenient.

[0053] Based on the same inventive concept, an embodiment of the present invention provides a method for controlling the switching of a motion path of an operation and maintenance device, wherein the operation and maintenance device is used to maintain a component to be maintained that is fixed by a flexible bracket, the operation and maintenance device includes a walking mechanism and a flipping mechanism, and the motion path includes a first sub-path located on the component to be maintained, or a second sub-path located at a gap between the components;

[0054] Fig. 9 A flow chart of a method for controlling the movement path switching of an operation and maintenance device provided by an embodiment of the present invention. Fig. 9 As shown, the operation and maintenance equipment motion path switching control method of the present application specifically includes:

[0055] S1: Acquire first detection data between the turning mechanism and the first side frame of the component to be maintained.

[0056] Among them, the extension direction of the first side frame is parallel or approximately parallel to the moving direction of the operation and maintenance equipment.

[0057] S2: Acquire second detection data between the frame of the walking mechanism and the second side frame of the component to be maintained.

[0058] Among them, the extension direction of the second side frame is parallel or approximately parallel to the moving direction of the operation and maintenance equipment.

[0059] S3: Determine the path position of the operation and maintenance equipment according to the first detection data and the second detection data, and adjust the working states of the walking mechanism and the flipping mechanism according to the path position.

[0060] Optionally, the working states of the walking mechanism and the flipping mechanism are adjusted according to the path position, including at least one of the following: controlling the cleaning component to start or stop the cleaning operation according to the path position; adjusting the flipping angle of the flipping mechanism according to the path position; adjusting the walking power source of the equipment according to the path position; and adjusting the walking speed of the equipment according to the path position.

[0061] Optionally, the working states of the walking mechanism and the flipping mechanism are adjusted according to the path position, including: when the flipping mechanism at least partially leaves the first sub-path, controlling the limit anti-slip component to unlock; and / or, when the walking mechanism travels on the second sub-path, controlling the limit anti-slip component to perform anti-slip limit locking on the first walking component and the flexible bracket.

[0062] Optionally, adjusting the working states of the walking mechanism and the flipping mechanism according to the path position includes: adjusting the rotation speed of the first driving member according to the path position.

[0063] Optionally, the working states of the walking mechanism and the flipping mechanism are adjusted according to the path position, including: when the flipping mechanism at least partially leaves the first sub-path, controlling the flipping drive component to drive the cleaning component to flip in the direction away from the flexible bracket; when the walking mechanism is traveling on the second sub-path and there is a leveling requirement, controlling the flipping drive component to drive the cleaning component to flip in the direction close to the flexible bracket, so that the second walking component drives the operation and maintenance equipment to enter the first sub-path corresponding to the next component to be maintained.

[0064] Optionally, adjusting the working states of the walking mechanism and the flipping mechanism according to the path position includes: determining the flipping path of the flipping drive component according to the path position and the relative position relationship between the cleaning component and the walking mechanism.

[0065] Optionally, the motion path switching control method of the operation and maintenance equipment of the present application also includes: obtaining posture change data of the walking mechanism, verifying the path position of the operation and maintenance equipment according to the posture change data, and performing leveling control on the operation and maintenance equipment according to the posture change data, the first detection data and the second detection data.

[0066] Optionally, the motion path switching control method of the operation and maintenance equipment of the present application also includes: obtaining automatic mode or manual mode control instructions issued by the motion mode configuration module, in automatic mode, adjusting the working states of the walking mechanism and the flipping mechanism according to the first detection data and the second detection data, and in manual mode, adjusting the working states of the walking mechanism and the flipping mechanism according to user operation instructions.

[0067] Fig.10 A flowchart of another operation and maintenance equipment motion path switching control method provided by an embodiment of the present invention, in Fig. 9 Based on the embodiment shown, a method for determining whether to perform path switching is exemplarily shown. Fig.10 As shown, the operation and maintenance equipment motion path switching control method of the present application specifically includes the following steps:

[0068] S801: Device initialization.

[0069] S802: Checking sports mode configuration data.

[0070] In this embodiment, the motion mode configuration data can be understood as data representing automatic mode or manual mode control instructions. The motion mode configuration data can be obtained through mechanical buttons, knobs, human-computer interaction modules or devices capable of implementing remote configuration functions.

[0071] S803: Determine whether the operation and maintenance device is in automatic mode.

[0072] If the operation and maintenance device is in automatic mode, execute step S804; if the operation and maintenance device is not in automatic mode, return to execute step S802.

[0073] S804: Control the operation and maintenance equipment to automatically move forward along a preset motion path at a first driving speed.

[0074] S805: Acquire first detection data between the turning mechanism and the first side frame of the component to be maintained.

[0075] S806: Determine whether the first detection data is greater than a first preset threshold.

[0076] In this embodiment, the first preset threshold is determined based on the maximum spacing distance between the flip mechanism and the first side frame of the component to be maintained when the operation and maintenance equipment is traveling on the photovoltaic component. For example, if the maximum spacing distance between the flip mechanism and the first side frame of the component to be maintained when the operation and maintenance equipment is traveling on the photovoltaic component is defined as D1, the first preset threshold can be set to 2*D1.

[0077] If the first detection data is greater than the first preset threshold, step S807 is executed; if the first detection data is less than or equal to the first preset threshold, the process returns to step S802.

[0078] S807: Control the limit anti-drop assembly to unlock, and control the flip mechanism to flip up.

[0079] S808: Control the operation and maintenance equipment to automatically move forward along the preset motion path at a second driving speed, wherein the second driving speed is lower than the first driving speed.

[0080] S809: Acquire second detection data between the frame of the walking mechanism and the second side frame of the component to be maintained.

[0081] S810: Determine whether the second detection data is greater than a second preset threshold.

[0082] In this embodiment, the second preset threshold is determined based on the maximum offset distance between the frame of the running mechanism and the second side frame of the component to be maintained when the operation and maintenance equipment is traveling on the photovoltaic component. For example, if the maximum offset distance between the frame of the running mechanism and the second side frame of the component to be maintained when the operation and maintenance equipment is traveling on the photovoltaic component is defined as D2, the second preset threshold can be set to 2*D2.

[0083] If the second detection data is greater than the second preset threshold, step S811 is executed; if the first detection data is less than or equal to the first preset threshold, the process returns to step S809.

[0084] S811: Control the limit anti-slip assembly to perform anti-slip limit locking on the first walking assembly and the flexible bracket, and control the flipping mechanism to flip down.

[0085] S812: Control the operation and maintenance equipment to automatically move forward along the preset motion path at a third driving speed, wherein the third driving speed is lower than the first driving speed.

[0086] S813: Determine whether the second detection data is greater than the second preset threshold again.

[0087] If the second detection data is greater than the second preset threshold again, step S804 is executed; if the second detection data is not greater than the second preset threshold again, step S812 is executed.

[0088] Based on the above inventive concept, an embodiment of the present invention further provides an operation and maintenance device, including: a walking mechanism, a flipping mechanism, and the operation and maintenance equipment motion path switching control device provided in the above embodiment.

[0089] In this embodiment, the operation and maintenance equipment may be a photovoltaic operation and maintenance robot or other automated equipment used to perform maintenance and cleaning operations in flexible support scenarios.

[0090] The operation and maintenance equipment of the embodiment of the present invention is provided with a walking mechanism, a flipping mechanism and a motion path switching control device, the control device is provided with a first detection component, a second detection component and a control module, when the operation and maintenance equipment performs operation and maintenance operations, the first detection component detects in real time the first detection data between the flipping mechanism and the first side frame of the component to be maintained, the second detection component detects in real time the second detection data between the frame of the walking mechanism and the second side frame of the component to be maintained, the control module determines the path position of the operation and maintenance equipment according to the first detection data and the second detection data, and adjusts the working states of the walking mechanism and the flipping mechanism according to the path position, so as to solve the problem that the existing operation and maintenance equipment cannot pass through or runs unstably in the flexible bracket scenario, thus affecting the progress and cost of the operation and maintenance operations, and can realize the stable driving of the operation and maintenance equipment on the flexible bracket and perform maintenance and cleaning operations, with stable operation and high operation efficiency; the equipment has good passability and does not need to build a bridge frame, which can save operation and maintenance costs.

[0091] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0092] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A motion path switching control device for operation and maintenance equipment, wherein the operation and maintenance equipment is used to maintain a component to be maintained that is fixed by a flexible bracket, characterized in that: The operation and maintenance equipment includes a walking mechanism and a flipping mechanism, and the motion path includes a first sub-path located on the component to be maintained, or a second sub-path located at the gap between the components; the device includes: A first detection component is arranged on a side of the flip mechanism facing the walking direction, and is used to detect first detection data between the flip mechanism and a first side frame of the component to be maintained, wherein an extension direction of the first side frame is parallel or approximately parallel to the walking direction; A second detection component, arranged on the frame of the walking mechanism, for detecting second detection data between the frame of the walking mechanism and a second side frame of the component to be maintained, wherein the extension direction of the second side frame is parallel or approximately parallel to the walking direction; A control module is connected to the first detection component and the second detection component, and is used to receive the first detection data and the second detection data, determine the path position of the operation and maintenance equipment according to the first detection data and the second detection data, and adjust the working states of the walking mechanism and the flipping mechanism according to the path position.

2. The motion path switching control device for operation and maintenance equipment according to claim 1, characterized in that: The walking mechanism comprises: a first walking component and a position limiting and anti-dropping component, wherein the first walking component is rollingly connected to the flexible bracket; The control module is configured to: control the limit anti-slip assembly to unlock when the flipping mechanism at least partially leaves the first sub-path; and / or control the limit anti-slip assembly to perform anti-slip limit locking on the first walking assembly and the flexible bracket when the walking mechanism travels on the second sub-path.

3. The motion path switching control device for operation and maintenance equipment according to claim 2, characterized in that: The first traveling assembly comprises: a first driving member and a first driving wheel, wherein the first driving member is drivingly connected to the first driving wheel for driving the first driving wheel to rotate; The control module is configured to adjust the rotation speed and / or the output torque of the first driving member according to the path position.

4. The motion path switching control device for operation and maintenance equipment according to claim 1, characterized in that: The flip mechanism comprises: a flip driving member, a cleaning assembly and a second walking assembly; the flip driving member can drive the cleaning assembly to flip relative to the walking mechanism; The control module is configured to: when the flipping mechanism at least partially leaves the first sub-path, control the flipping drive component to drive the cleaning component to flip in the direction away from the flexible bracket; when the walking mechanism travels on the second sub-path and there is a leveling requirement, control the flipping drive component to drive the cleaning component to flip in the direction close to the flexible bracket, so that the second walking component drives the operation and maintenance equipment to enter the first sub-path corresponding to the next component to be maintained.

5. The motion path switching control device for operation and maintenance equipment according to claim 4, characterized in that: The flip driving member can drive the cleaning assembly to flip 180 degrees relative to the walking mechanism; The control module is configured to determine the flipping path of the flip driving member according to the path position and the relative position relationship between the cleaning component and the walking mechanism.

6. The motion path switching control device for operation and maintenance equipment according to any one of claims 1 to 5, characterized in that: It also includes: a third detection component, which is arranged on the walking mechanism and is used to detect posture change data of the walking mechanism; The control module is connected to the third detection component, and is used to receive the posture change data, verify the path position of the operation and maintenance equipment according to the posture change data, and perform leveling control on the operation and maintenance equipment according to the posture change data, the first detection data and the second detection data.

7. The motion path switching control device for operation and maintenance equipment according to claim 6, characterized in that: The control module is further configured to determine a flipping angle of the flipping mechanism according to the posture change data.

8. The motion path switching control device for operation and maintenance equipment according to any one of claims 1 to 5, characterized in that: Also includes: A motion mode configuration module, connected to the control module, for issuing automatic mode or manual mode control instructions; The control module is configured to: in the automatic mode, adjust the working states of the walking mechanism and the flipping mechanism according to the first detection data and the second detection data, and in the manual mode, adjust the working states of the walking mechanism and the flipping mechanism according to user operation instructions.

9. A method for controlling the movement path switching of an operation and maintenance device, wherein the operation and maintenance device is used to maintain a component to be maintained that is fixed by a flexible bracket, characterized in that: The operation and maintenance equipment includes a walking mechanism and a flipping mechanism, and the motion path includes a first sub-path located on the component to be maintained, or a second sub-path located at a gap between components; the method includes: Acquire first detection data between the flip mechanism and a first side frame of the component to be maintained, wherein an extension direction of the first side frame is parallel or approximately parallel to a moving direction of the operation and maintenance equipment; Acquire second detection data between the frame of the walking mechanism and the second side frame of the component to be maintained, wherein the extension direction of the second side frame is parallel or approximately parallel to the walking direction; The path position of the operation and maintenance equipment is determined according to the first detection data and the second detection data, and the working states of the walking mechanism and the flipping mechanism are adjusted according to the path position.

10. An operation and maintenance device, characterized in that: include: A walking mechanism, a flipping mechanism, and a motion path switching control device for operation and maintenance equipment as described in any one of claims 1 to 8.

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