Overwater photovoltaic operation and maintenance ship and operation and maintenance ship control method
By designing an operation and maintenance ship for water photovoltaics, automatic inspection and cleaning functions are realized, and the problems of long inspection time and high labor costs of water photovoltaic facilities are solved, and the accuracy and reliability of inspection data are improved.
Patent Information
- Application Number
- CN202411929221.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-25
- Publication Date
- 2025-03-14
AI Technical Summary
The inspection of water photovoltaic facilities takes a long time, and operators are prone to missed and incorrect inspections due to fatigue, and various tools are required to repair, replace and clean them during the inspection, resulting in high labor costs.
Design a water photovoltaic operation and maintenance ship, equipped with control systems, propulsion systems, grabbing mechanisms and functional equipment, including mechanical arms, mechanical jaws, cleaning parts, image acquisition parts and suspension parts, to realize automatic inspection and cleaning functions.
Through automatic inspection and cleaning functions, efficient management of water photovoltaic areas can be achieved, labor costs can be reduced, and the accuracy and reliability of inspection data can be improved.
Smart Images
Figure CN119611659A_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the field of photovoltaic equipment, and in particular, to an operation and maintenance vessel for water photovoltaics and an operation and maintenance vessel control method. Background Art
[0002] Water photovoltaic facilities usually require the installation of solar photovoltaic panels. Solar photovoltaic panels that are exposed to the outdoors for a long time are prone to problems such as the surface of the photovoltaic panels being covered by foreign objects, the fixation between the photovoltaic panels and the photovoltaic panel brackets being loose, and the photovoltaic panels being aged and damaged due to the surrounding environment. Operators need to conduct regular inspections of the photovoltaic panels to ensure that the photovoltaic panels are in normal working condition.
[0003] The entire inspection process is time-consuming, and operators are prone to missing or making mistakes due to fatigue, making it difficult to ensure the accuracy of the data. In addition, during the inspection process, different tools are needed to perform operations such as repairing, replacing, and cleaning photovoltaic panels, which consumes a lot of manpower costs. Summary of the invention
[0004] The purpose of the present disclosure is to provide an operation and maintenance vessel for water photovoltaics and an operation and maintenance vessel control method, which can automatically patrol the waters where photovoltaic panels are installed, and can inspect and clean the photovoltaic panels, so as to at least partially solve the above-mentioned technical problems.
[0005] In order to achieve the above-mentioned object, the first aspect of the present disclosure provides an operation and maintenance ship for water photovoltaics, comprising: A hull, comprising a control system and a propulsion system, wherein the propulsion system is used to drive the hull to move; A gripping mechanism; disposed on the hull and comprising a mechanical arm and a mechanical gripper disposed at the end of the mechanical arm; and Functional equipment, arranged on the hull and comprising a cleaning part, an image acquisition part and a suspension part; The control system is signal-connected to the propulsion system, the gripping mechanism and the remote control station respectively. The control system is used to control the gripping mechanism and the propulsion system. The gripping mechanism is used to grip or release any one of the cleaning member, the image acquisition member and the suspension member.
[0006] Optionally, a storage portion is provided on the hull, the storage portion includes a receiving groove, the receiving groove includes a first area and a second area arranged at intervals, the functional device is located in the second area, and the gripping mechanism is located in the first area.
[0007] Optionally, the operation and maintenance vessel further includes a lifting mechanism for carrying the grabbing mechanism, and the lifting mechanism is used to drive the grabbing mechanism to enter or move away from the containing tank.
[0008] Optionally, the storage portion further includes a cover mechanism for opening and closing the receiving slot so as to cover the functional device and the gripping mechanism, and the control system signal is connected to the cover mechanism.
[0009] Optionally, the robotic arm is a multi-axis robot.
[0010] Optionally, the mechanical clamp includes a base, a drive motor, a connecting rod mechanism and a plurality of clamps, the drive motor and the clamps are both arranged on the base, and the drive motor drives the clamping ends of the plurality of clamps to rotate toward or away from each other through the connecting rod mechanism.
[0011] Optionally, the base includes a shell and a bracket connected to the bottom of the shell, the driving motor is arranged in the shell and is drivingly connected to a wheel disc, the connecting rod mechanism includes a first connecting rod and a second connecting rod, the first connecting rod is respectively hinged to the wheel disc and the second connecting rod, the second connecting rod is slidably penetrated through the shell, so that when the driving motor drives the wheel disc to rotate a preset angle, the second connecting rod can be driven to reciprocate by the first connecting rod, the second connecting rod is fixedly connected to the outside of the shell with a slider, the hinged end of the clamping jaw away from the clamping end is hinged to the slider, the clamping jaw is hinged to the bracket and the hinge is located between the clamping end and the hinged end.
[0012] Optionally, the operation and maintenance vessel also includes a first balancing body and a second balancing body located on opposite sides of the hull along a first direction, the first balancing body is connected to the hull through a first driving member, and the second balancing body is connected to the hull through a second driving member, the first driving member is used to drive the first balancing body away from or close to the hull, and the second driving member is used to drive the second balancing body away from or close to the hull.
[0013] Optionally, the operation and maintenance vessel also includes an obstacle identification device, which includes a monitoring device, a dynamic laser radar and a signal antenna, the signal antenna is used to receive signals, the monitoring device is connected to the control system through the wireless bridge system signal, the dynamic laser radar signal is connected to the control system, and the monitoring device and the dynamic laser radar are used to identify the environment around the hull.
[0014] A second aspect of the present disclosure provides a method for controlling an operation and maintenance ship, which is applied to the above-mentioned operation and maintenance ship for water photovoltaics, and the method comprises: The control system sets the inspection route according to the operating waters, and controls the propulsion system to conduct inspections along the predetermined inspection route; The grabbing mechanism selects and clamps one of the cleaning member, the image acquisition member and the suspension member according to the signal feedback from the remote control station to complete the inspection instruction; After the inspection command is completed, the remote control station processes the data according to the feedback signal and images it on the data receiving screen.
[0015] Through the above technical solution, the control system set on the hull can control the propulsion system and the grabbing mechanism to inspect the water area through a preset inspection route. The grabbing mechanism can clamp any one of the cleaning parts, image acquisition parts and suspension parts to complete different inspection instructions, so that the operation and maintenance ship can complete functions such as cleaning, scanning and suspension of photovoltaic panels. Therefore, the operation and maintenance ship provided by the present disclosure can realize automatic inspection of photovoltaic areas on the water. The functions of the operation and maintenance ship are more complete, and the labor cost is effectively reduced. The feedback on the situation of photovoltaic panels is more accurate and comprehensive, and it is more reliable in use.
[0016] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings: Figure 1 The overall structure of the maintenance ship provided in the exemplary embodiment of the present disclosure is schematically shown. Figure 1 ; Figure 2 yes Figure 1 A magnified view of position A in the middle; Figure 3 The overall structure of the maintenance ship provided in the exemplary embodiment of the present disclosure is shown in FIG. Figure 2 ; Figure 4 The overall structure of the maintenance ship provided in the exemplary embodiment of the present disclosure is schematically shown. Figure 3 ; Figure 5 The overall structure of the mechanical gripper provided in the exemplary embodiment of the present disclosure is schematically shown in FIG. Figure 1 ; Figure 6 The overall structure of the mechanical gripper provided in the exemplary embodiment of the present disclosure is schematically shown in FIG. Figure 2 ; Figure 7 The overall structure of the mechanical gripper provided in the exemplary embodiment of the present disclosure is schematically shown in FIG. Figure 3 ; Figure 8 is a schematic diagram of the principle of a mechanical gripper provided in an exemplary embodiment of the present disclosure; Fig. 9 It is a schematic diagram of the principle of the control system of the operation and maintenance vessel provided in the exemplary embodiment of the present disclosure.
[0018] Description of Reference Numerals 100, hull; 101, propulsion system; 102, receiving tank; 1020, first area; 1021, second area; 103, cover mechanism; 104, cleaning part; 105, image acquisition part; 106, suspension part; 110, control system; 120, remote control station; 200, grabbing mechanism; 201, first arm; 2010, first motor; 202, second arm; 2020, second motor; 2021, third motor; 203, mechanical gripper; 204, housing; 205, bracket; 206, wheel; 207, first connecting rod; 208, second connecting rod; 209, slider; 210, gripper; 2100, gripping end; 2101, hinged end; 211, slewing bearing device; 212, lifting mechanism; 220, first balancing body; 230, second balancing body; 240, first driving member; 250, second driving member; 300. Obstacle recognition device; 301. Monitoring device; 302. Dynamic laser radar; 303. Signal antenna. DETAILED DESCRIPTION
[0019] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.
[0020] In the present disclosure, unless otherwise specified, "inside" and "outside" refer to the inside and outside of the contour of the corresponding component. Furthermore, the terms "first" and "second" used in the present disclosure are to distinguish one element from another and have no order or importance. In addition, when the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.
[0021] according to Figures 1 to 9As shown, in the first aspect of the present disclosure, a maintenance ship for water photovoltaic is provided to realize regular automatic inspection of water photovoltaic panels, and to clean and maintain photovoltaic panels. The maintenance ship may include a hull 100, a gripping mechanism 200 and functional equipment. The hull 100 may include a control system 110 and a propulsion system 101. The propulsion system 101 is used to drive the hull 100 to move. The gripping mechanism 200 is arranged on the hull 100 and may include a mechanical arm and a mechanical gripper 203 arranged at the end of the mechanical arm. The functional equipment is arranged on the hull 100 and may include a cleaning member 104, an image acquisition member 105 and a suspension member 106; the control system 110 is respectively connected to the propulsion system 101, the gripping mechanism 200 and the remote control station 120 by signals. The control system 110 is used to control the gripping mechanism 200 and the propulsion system 101. The gripping mechanism 200 is used to grip or release any one of the cleaning member 104, the image acquisition member 105 and the suspension member 106. The remote control station 120 is used to send signals to the hull 100 and receive signals from the hull 100 . The operator can observe the movement of the hull 100 and issue relevant instructions in the remote control station 120 .
[0022] Through the above technical solution, the control system 110 provided on the hull 100 can control the propulsion system 101 and the gripping mechanism 200 to inspect the water area through a preset inspection route, and the gripping mechanism 200 can clamp any one of the cleaning part 104, the image acquisition part 105 and the suspension part 106 to complete different inspection instructions, so that the maintenance ship can complete the functions of cleaning, scanning and suspending the photovoltaic panels. Therefore, the maintenance ship provided by the present disclosure can realize automatic inspection of the photovoltaic area on the water, the functions of the maintenance ship are more complete, and the labor cost is effectively reduced, the feedback on the situation of the photovoltaic panels is more accurate and comprehensive, and it is more reliable in use.
[0023] The control system 110 may include a navigation module, a control module, a monitoring module and a fault diagnosis module. The navigation module is used to obtain navigation information such as the position, speed, and heading of the hull 100. The control module generates control commands through a control algorithm based on the navigation information and the navigation mission instructions to control the movement of the hull 100. The monitoring module is used to monitor the state and environmental parameters of the hull 100. The fault diagnosis module is responsible for diagnosing and troubleshooting. Of course, the above description of the control system 110 is exemplary, and those skilled in the art can adaptively adjust the control system 110 according to the needs of actual conditions and with reference to existing technologies and literature. The present disclosure does not make specific limitations on this. Among them, the operation and maintenance ship can automatically patrol according to a predetermined patrol route, or personnel can patrol on board, and the ship personnel can intervene in the operation and maintenance ship.
[0024] The propulsion system 101 may include a motor, a steering device, a propeller, and a control module. The steering device may include a steering gear and an operating system. The steering gear is used to change the running direction of the hull 100. The operating system is used to control the steering gear to execute relevant instructions. The control module is used to control the operation of the entire propulsion system 101. The motor is used to drive the propeller to rotate to achieve the travel of the hull 100. For more specific structures of the propulsion system 101, those skilled in the art may refer to existing technologies and literature, and the present disclosure will not repeat them here.
[0025] In order to facilitate remote opening and closing of the image acquisition component 105, the image acquisition component 105 can be connected to the remote control station 120 through a wireless bridge system. For example, a cloud server can be built to achieve remote monitoring and management of the image acquisition component 105. The present disclosure does not make specific limitations on this.
[0026] Among them, the wireless bridge system uses wireless transmission to build a communication bridge between two or more networks.
[0027] The cleaning member 104 may be constructed in any suitable manner, for example, the cleaning member 104 may be constructed as a roller brush or a cleaning roller, etc. This disclosure does not specifically limit this.
[0028] The image acquisition component 105 may be constructed in any suitable manner, for example, the image acquisition component 105 may be a thermal imaging camera or a 4K high-definition camera, etc. This disclosure does not specifically limit this.
[0029] The image acquisition component 105 is used to scan the photovoltaic panel and the photovoltaic panel mounting bracket 205 to provide feedback to the remote control station 120 on the installation status of the photovoltaic panel, such as whether the mounting bolts are loose, whether the surface of the photovoltaic panel is blocked, whether the photovoltaic panel bracket 205 is damaged, etc., so as to facilitate the operator to subsequently replace and maintain the photovoltaic panel.
[0030] The suspension member 106 may be constructed in any suitable manner, for example, the suspension member 106 may be constructed as a lifting hook. The present disclosure is not limited thereto.
[0031] The following briefly describes the working process of the suspension component 106. For example, when the image acquisition component 105 feeds back the status of the photovoltaic panel to the remote control station 120, if the photovoltaic panel is damaged, the operator can go there by boat or follow the maintenance ship, tie ropes to the suspension component 106 and the damaged photovoltaic panel respectively, remove the damaged photovoltaic panel through the lifting of the robotic arm, and install the new photovoltaic panel in the same way.
[0032] In some possible implementations, for example, referring to Figures 1 to 3As shown, a storage part may be provided on the hull 100, and the storage part may include a receiving slot 102, and the receiving slot 102 may include a first area 1020 and a second area 1021 arranged at intervals, the functional device is located in the first area 1020, and the grasping mechanism 200 is located in the second area 1021. By providing the first area 1020 and the second area 1021, the arrangement of the grasping mechanism 200 and the functional device is more regular, and it is convenient for the grasping mechanism 200 to grasp and release the functional device.
[0033] The first area 1020 for placing functional devices may be adjusted to one or more partitions according to the number of functional devices. For example, when the number of functional devices is 3, the number of partitions may also be 3. This disclosure does not specifically limit this.
[0034] In some possible implementations, for example, referring to Figures 1 to 4 As shown, the operation and maintenance ship may also include a lifting mechanism 212 for carrying the grabbing mechanism 200, and the lifting mechanism 212 is used to drive the grabbing mechanism 200 to enter or move away from the containing tank 102. By setting the lifting mechanism 212, the position of the grabbing mechanism 200 in the height direction can be flexibly adjusted. For example, when it is necessary to clean the photovoltaic panel, the grabbing mechanism 200 can clamp the cleaning member 104, and adjust the position of the grabbing mechanism 200 through the lifting mechanism 212, so that the cleaning member 104 contacts the surface of the photovoltaic panel. The hull 100 moves back and forth between the multiple photovoltaic panels under the drive of the propulsion system 101, so that the cleaning member 104 cleans the surface of the photovoltaic panel.
[0035] The structure of the lifting mechanism 212 can be adaptively adjusted according to the actual needs. For example, the lifting mechanism 212 can be configured as a scissor lift. The present disclosure is not limited thereto.
[0036] In some possible implementations, for example, referring to Figures 1 to 4 As shown, the storage part may also include a cover mechanism 103 for opening and closing the receiving slot 102, so as to cover the functional device and the gripping mechanism 200, and the control system 110 is connected to the cover mechanism 103 by signal, so as to control the opening and closing of the cover mechanism 103 through the control system 110. In this way, by setting the cover mechanism 103, when the gripping mechanism 200 and the functional device are not in use, they can be avoided from being directly exposed to the external environment, so as to prevent the device from being flooded and aging accelerated, thereby protecting the gripping mechanism 200 and the functional device, and making it safer and more reliable to use.
[0037] In some practicable methods not shown in the figure, for example, the cover mechanism 103 may include a cover and electric push rods respectively connected to the cover and the hull 100, and the control system 110 signal is connected to the electric push rod to realize the opening and closing of the cover by the extension and contraction of the electric push rod. Alternatively, the cover mechanism 103 may also include a cover and a drive motor, the drive motor is connected to the cover through a connecting shaft, and the cover is driven to rotate by the rotation of the connecting shaft. The drive motor and the connecting shaft may be coaxially connected or connected through a reducer, etc. The present disclosure is not limited thereto, and technicians in the field may make adaptive adjustments according to the needs of actual conditions.
[0038] In order to realize the multi-angle and all-round telescopic movement of the robot arm, in some feasible ways, for example, reference Figures 1 to 4 As shown, the robotic arm can be a multi-axis robot.
[0039] The specific structure of the robotic arm is briefly described below. For example, the robotic arm may include a first arm frame 201, a second arm frame 202 movably connected to the first arm frame 201, and a mechanical gripper 203 movably connected to the second arm frame 202. The first arm frame 201 is connected to a lifting mechanism 212 via a slewing support device 211. The slewing support device 211 is used to drive the robotic arm to rotate 360°. A first motor 2010 for driving the first arm frame 201 to rotate is provided on the first arm frame 201. A second motor 2020 for driving the second arm frame 202 to rotate is provided at the hinge between the second arm frame 202 and the first arm frame 201. A third motor 2021 for driving the mechanical gripper 203 to rotate is also provided at the hinge between the second arm frame 202 and the mechanical gripper 203.
[0040] Regarding the specific structure and function of the slewing bearing device 211 , those skilled in the art may refer to existing technologies and literature, and the present disclosure will not elaborate on them here.
[0041] The following briefly describes the control method of the control system 110 for the robotic arm, for example, referring to Figure 2As shown, a visual device can also be provided on the second arm 202 to detect and locate the grasped target. The main steps include target positioning, posture estimation, grasping point detection, hand-eye calibration, coordinate conversion, and path planning and control. The algorithms used therein are, for example, PointRCNN, VoxelNet, etc. to obtain the three-dimensional position information of the functional equipment, and BB8, SSD6D, etc. to complete the detection and posture estimation of the functional equipment. After obtaining the known positioning and posture, the grasping point of the known target is converted into local data using the posture. It is also necessary to calibrate the visual device through, for example, the calibrateCamera function of OpenCV, obtain external parameters, and determine the relative posture relationship between the mechanical gripper 203 at the end of the robotic arm and the visual device. Regarding the specific control algorithms and steps of the robotic arm, those skilled in the art can refer to the existing literature, and the present disclosure will not repeat them here.
[0042] In some possible implementations, for example, referring to Figures 5 to 8 As shown, the mechanical clamp 203 may include a base, a driving motor, a connecting rod mechanism and a plurality of clamps 210. The driving motor and the clamps 210 are both arranged on the base, and the driving motor drives the clamping ends 2100 of the plurality of clamps 210 to rotate toward each other or away from each other through the connecting rod mechanism. In the above manner, the plurality of clamps 210 can be controlled simultaneously, thereby improving the stability of clamping the functional device.
[0043] Optionally, the base may include a shell 204 and a bracket 205 connected to the bottom of the shell 204, the driving motor is arranged in the shell 204 and is drivingly connected to the wheel disc 206, the connecting rod mechanism may include a first connecting rod 207 and a second connecting rod 208, the first connecting rod 207 is respectively hinged to the wheel disc 206 and the second connecting rod 208, the second connecting rod 208 is slidably penetrated through the shell 204, so that when the driving motor drives the wheel disc 206 to rotate a preset angle, the second connecting rod 208 can be driven to reciprocate through the first connecting rod 207, the second connecting rod 208 is fixedly connected to the outside of the shell 204 with a slider 209, the hinged end 2101 of the clamping jaw 210 away from the clamping end 2100 is hinged to the slider 209, the clamping jaw 210 is hinged to the bracket 205 and the hinge is located between the clamping end 2100 and the hinged end 2101. In the above manner, the driving motor drives the wheel 206 to rotate, and the first connecting rod 207 hinged to the wheel 206 pushes the second connecting rod 208 to drive the slider 209 to enter or move away from the shell 204. During the movement of the clamp 210 fixedly connected to the slider 209, due to the hinge with the bracket 205, the clamp 210 can clamp and release the functional device.
[0044] In some possible implementations, for example, referring to Figure 1 and Figure 3As shown, the maintenance ship can also include a first balancing body 220 and a second balancing body 230 located on opposite sides of the hull 100 along the first direction. The first balancing body 220 can be connected to the hull 100 through a first driving member 240, and the second balancing body 230 can be connected to the hull 100 through a second driving member 250. The first driving member 240 is used to drive the first balancing body 220 away from or close to the hull 100, and the second driving member 250 can be used to drive the second balancing body 230 away from or close to the hull 100. In the above manner, when the driving device drives the inspection device to move toward any side of the hull 100 along the first direction during the operation of the maintenance ship, the first driving member 240 drives the first balancing body 220 and / or the second driving member 250 drives the second balancing body 230 to move, so as to maintain the balance of the two sides of the hull 100 and prevent the hull 100 from capsizing. Thereby improving the safety and stability of the operation of the maintenance ship.
[0045] The structures of the first driving member 240 and the second driving member 250 can be adaptively adjusted according to the actual needs. For example, the first driving member 240 and the second driving member 250 can both be configured as cylinders, or the first driving member 240 and the second driving member 250 can both be configured as electric push rods. This disclosure does not specifically limit this.
[0046] In some possible implementations, for example, referring to Figure 1 and Figure 3 As shown, the operation and maintenance ship may further include an obstacle identification device 300, which may include a monitoring device 301, a dynamic laser radar 302 and a signal antenna 303. The signal antenna 303 is used to receive signals. The monitoring device 301 may be connected to the control system 110 through a wireless bridge system signal, and the dynamic laser radar 302 is connected to the control system 110 by signal. The monitoring device 301 and the dynamic laser radar 302 are used to identify the environment around the hull 100. By setting the obstacle identification device 300, obstacles around the hull 100 can be identified and avoided to improve the safety of the inspection process.
[0047] The monitoring device 301 may be constructed in any suitable manner. For example, the monitoring device 301 may be a 4K high-definition camera.
[0048] There may be multiple monitoring devices 301, and multiple monitoring devices 301 may be arranged at intervals on the hull 100 to monitor the environment in all directions of the hull 100. This disclosure does not specifically limit this.
[0049] In a second aspect of the present disclosure, a control method for an operation and maintenance vessel is provided, which is applied to an operation and maintenance vessel for water-based photovoltaics. The operation and maintenance vessel has all the beneficial effects of the above-mentioned specific embodiments, which will not be described in detail in the present disclosure. The method comprises: The control system 110 sets an inspection route according to the operating waters, and controls the propulsion system 101 to perform inspections according to the predetermined inspection route; The grabbing mechanism 200 selects and clamps one of the cleaning member 104, the image acquisition member 105 and the suspension member 106 according to the signal feedback from the remote control station 120 to complete the inspection instruction; After the inspection command is completed, the remote control station 120 processes the data according to the feedback signal and images it on the data receiving screen.
[0050] Among them, the inspection instructions can correspond to the functions of the functional equipment. For example, the inspection instructions can include cleaning instructions for cleaning the surface of the photovoltaic panel, inspection instructions for inspecting the photovoltaic panel and the photovoltaic panel mounting bracket 205, and disassembly and assembly instructions for disassembling and replacing the photovoltaic panel.
[0051] The present disclosure exemplarily describes the working process of the operation and maintenance ship, for example: the control system 110 of the hull 100 can be connected to the remote control station 120 by signal through the 5G network, and the operator located in the remote control station 120 sends an inspection signal to the operation and maintenance ship. The operation and maintenance ship starts after receiving the inspection signal and starts inspection according to the preset inspection route. After the operation and maintenance ship moves to the photovoltaic area, the operator issues cleaning instructions, inspection instructions or disassembly instructions to the operation and maintenance ship according to the actual needs. After completing the designated inspection task, the control system 110 feeds back the collected data information to the remote control station 120, and the remote control station 120 processes the information, for example, it can mark the photovoltaic panels blocked or damaged by foreign objects to facilitate subsequent maintenance. Among them, the dynamic laser radar 302 can perform three-dimensional dynamic scanning of the environment of the inspection route. The dynamic laser radar 302 is connected to the control system 110 signal and transmits the scanned data to the control system 110. The control system 110 uses the control algorithm to cooperate with the monitoring device 301 to identify and process the signal to realize the identification and positioning of obstacles, and re-plan the inspection route according to the positioning information to avoid obstacles.
[0052] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.
[0053] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.
[0054] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.
Claims
1. An operation and maintenance ship for water photovoltaics, characterized in that: include: A hull, comprising a control system and a propulsion system, wherein the propulsion system is used to drive the hull to move; Grasping mechanism; A mechanical gripper disposed on the hull and comprising a mechanical arm and a mechanical gripper disposed at the end of the mechanical arm; as well as Functional equipment, arranged on the hull and comprising a cleaning part, an image acquisition part and a suspension part; The control system is signal-connected to the propulsion system, the gripping mechanism and the remote control station respectively. The control system is used to control the gripping mechanism and the propulsion system. The gripping mechanism is used to grip or release any one of the cleaning member, the image acquisition member and the suspension member.
2. The operation and maintenance ship for water photovoltaic according to claim 1, characterized in that: The hull is provided with a storage portion, the storage portion includes a receiving groove, the receiving groove includes a first area and a second area arranged at intervals, the functional device is located in the first area, and the gripping mechanism is located in the second area.
3. The operation and maintenance ship for water photovoltaic according to claim 2, characterized in that: The operation and maintenance vessel further includes a lifting mechanism for carrying the grabbing mechanism, and the lifting mechanism is used to drive the grabbing mechanism to enter or move away from the containing tank.
4. The operation and maintenance ship for water photovoltaic according to claim 3, characterized in that: The storage portion also includes a cover mechanism for opening and closing the receiving slot so as to cover the functional device and the gripping mechanism, and the control system signal is connected to the cover mechanism.
5. The operation and maintenance ship for water photovoltaic according to claim 1, characterized in that: The mechanical arm is a multi-axis manipulator.
6. The operation and maintenance ship for water photovoltaic according to claim 1, characterized in that: The mechanical clamp comprises a base, a driving motor, a connecting rod mechanism and a plurality of clamps, wherein the driving motor and the clamps are both arranged on the base, and the driving motor drives the clamping ends of the plurality of clamps to rotate toward or away from each other through the connecting rod mechanism.
7. The operation and maintenance ship for water photovoltaic according to claim 6, characterized in that: The base includes a shell and a bracket connected to the bottom of the shell, the driving motor is arranged in the shell and is drivingly connected to a wheel disc, the connecting rod mechanism includes a first connecting rod and a second connecting rod, the first connecting rod is respectively hinged to the wheel disc and the second connecting rod, the second connecting rod is slidably penetrated through the shell, so that when the driving motor drives the wheel disc to rotate a preset angle, the second connecting rod can be driven to reciprocate through the first connecting rod, the second connecting rod is fixedly connected to the outside of the shell with a slider, the hinged end of the clamping jaw away from the clamping end is hinged to the slider, the clamping jaw is hinged to the bracket and the hinge is located between the clamping end and the hinged end.
8. The operation and maintenance ship for water photovoltaic according to claim 1, characterized in that: The operation and maintenance vessel also includes a first balancing body and a second balancing body located on opposite sides of the hull along a first direction, the first balancing body is connected to the hull through a first driving member, and the second balancing body is connected to the hull through a second driving member, the first driving member is used to drive the first balancing body away from or close to the hull, and the second driving member is used to drive the second balancing body away from or close to the hull.
9. The operation and maintenance ship for water photovoltaic according to claim 1, characterized in that: The operation and maintenance vessel also includes an obstacle identification device arranged on the hull, and the obstacle identification device includes a monitoring device, a dynamic laser radar and a signal antenna. The signal antenna is used to receive signals. The monitoring device is connected to the control system via a wireless bridge system signal, and the dynamic laser radar signal is connected to the control system. The monitoring device and the dynamic laser radar are used to identify the environment around the hull.
10. A method for controlling an operation and maintenance ship, characterized in that: Applied to the operation and maintenance ship for water photovoltaics according to any one of claims 1 to 9, the method comprising: The control system sets the inspection route according to the operating waters, and controls the propulsion system to conduct inspections along the predetermined inspection route; The grabbing mechanism selects and clamps one of the cleaning member, the image acquisition member and the suspension member according to the signal feedback from the remote control station to complete the inspection instruction; After the inspection command is completed, the remote control station processes the data according to the feedback signal and images it on the data receiving screen.