Operation and maintenance equipment and control method and control device thereof

Abstract

The invention discloses operation and maintenance equipment and a control method and a control device thereof. The method comprises the following steps: acquiring motion detection data and position detection data of the operation and maintenance equipment; determining an operation scene of the operation and maintenance equipment according to the motion detection data and the position detection data; and a target control strategy is determined according to the operation scene, and the walking mechanism and the turnover mechanism are controlled to operate according to the target control strategy. According to the method, the operation scene of the operation and maintenance equipment is automatically identified, the whole machine control strategy is adaptively matched, stable operation of the operation and maintenance equipment in different operation scenes can be realized, and the operation reliability and the operation efficiency are improved.

Description

Technical Field

[0001] The present invention relates to the field of photovoltaic operation and maintenance control technology, and in particular to an operation and maintenance device and a 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 a control method and a control device thereof to solve the problem that the existing operation and maintenance equipment cannot pass through or operates unstably in a flexible bracket scenario, affecting the progress and cost of operation and maintenance operations. The equipment can operate stably on a flexible bracket and perform maintenance operations.

[0005] According to one aspect of the present invention, a method for controlling an operation and maintenance equipment is provided, wherein the operation and maintenance equipment is used for a flexible bracket, and the operation and maintenance equipment includes a walking mechanism and a flipping mechanism, and the method includes: acquiring motion detection data and position detection data of the operation and maintenance equipment; determining an operation scenario of the operation and maintenance equipment according to the motion detection data and the position detection data; wherein the operation scenario includes any one of the following: a smooth operation scenario, an obstacle crossing operation scenario, and an operation scheduling scenario; determining a target control strategy according to the operation scenario, and controlling the operation of the walking mechanism and the flipping mechanism according to the target control strategy; wherein the target control strategy includes at least one of the following: a leveling control strategy, an obstacle crossing control strategy, and an operation scheduling strategy.

[0006] Optionally, the target control strategy is determined according to the operating scenario, and the operation of the walking mechanism and the flipping mechanism is controlled according to the target control strategy, including: in the obstacle-overcoming operating scenario, executing the obstacle-overcoming control strategy, controlling the walking mechanism to slow down and move forward, controlling the flipping mechanism to unlock with the flexible bracket, and controlling the flipping mechanism to flip to the side away from the flexible bracket.

[0007] Optionally, when executing the obstacle crossing control strategy, the method includes: determining whether there is a leveling requirement based on the motion detection data; when there is a leveling requirement, executing a first leveling control strategy to control the flipping mechanism to fall back to the flexible bracket, so that the walking mechanism and the flipping mechanism provide obstacle crossing driving force at the same time.

[0008] Optionally, the target control strategy is determined according to the working scenario, and the operation of the walking mechanism and the flipping mechanism is controlled according to the target control strategy, including: in the smooth working scenario, the limit locking between the walking mechanism and / or the flipping mechanism and the flexible bracket is controlled, and whether there is a leveling requirement is determined according to the motion detection data; when there is a leveling requirement, a second leveling control strategy is executed, and the drive motors of the walking mechanism and the flipping mechanism are cross-coupled and controlled based on the PID compensator.

[0009] Optionally, the target control strategy is determined according to the operation scenario, and the operation of the walking mechanism and the flipping mechanism is controlled according to the target control strategy, including: in the operation scheduling scenario, executing the operation scheduling strategy, controlling the walking mechanism to walk in the opposite direction, controlling the flipping mechanism to unlock with the flexible bracket, and controlling the flipping mechanism to flip from one side of the walking mechanism to the other side of the walking mechanism.

[0010] Optionally, determining the operation scene of the operation and maintenance equipment according to the motion detection data and the position detection data includes: identifying the operation and maintenance distance or the tilt angle between the operation and maintenance equipment and the component to be maintained according to the motion detection data, and determining the operation scene as the smooth operation scene when the fluctuation angle corresponding to the operation and maintenance distance or the tilt angle is less than or equal to a preset threshold, and determining the operation scene as the obstacle crossing operation scene when the fluctuation angle corresponding to the operation and maintenance distance or the tilt angle is greater than the preset threshold; and / or, when the position detection data is the end column position of the flexible bracket, determining the operation scene as the operation scheduling scene.

[0011] Optionally, before obtaining the motion detection data and position detection data of the operation and maintenance equipment, the method also includes: obtaining the motion mode configuration module to issue automatic mode or manual mode control instructions; in the automatic mode, controlling the operation and maintenance equipment to automatically move forward and perform maintenance operations based on a preset path, and in the manual mode, controlling the operation of the walking mechanism and the flipping mechanism according to user operation instructions.

[0012] Optionally, the motion detection data includes at least one of the following: first detection data between the flipping mechanism and the first frame of the component to be maintained, second detection data between the frame of the walking mechanism and the second frame of the component to be maintained, and posture detection data of the walking mechanism; wherein, the extension direction of the first frame is parallel or approximately parallel to the walking direction of the operation and maintenance equipment; the extension direction of the second frame is parallel or approximately parallel to the walking direction.

[0013] According to another aspect of the present invention, there is provided an operation and maintenance equipment control device, wherein the operation and maintenance equipment is used for a flexible bracket, and the operation and maintenance equipment includes a walking mechanism and a flipping mechanism, and the device includes: a data acquisition module, used to acquire motion detection data and position detection data of the operation and maintenance equipment; a scene recognition module, used to determine an operation scene of the operation and maintenance equipment according to the motion detection data and the position detection data; wherein the operation scene includes any one of the following: a smooth operation scene, an obstacle crossing operation scene, and an operation scheduling scene; a control module, used to determine a target control strategy according to the operation scene, and control the operation of the walking mechanism and the flipping mechanism according to the target control strategy; wherein the target control strategy includes at least one of the following: a leveling control strategy, an obstacle crossing control strategy, and a job scheduling strategy.

[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 the above-mentioned operation and maintenance device control device.

[0015] The technical solution of the embodiment of the present invention detects the motion detection data and position detection data of the operation and maintenance equipment in real time, identifies the operation scenario of the operation and maintenance equipment in combination with the motion detection data and the position detection data, and then determines the target control strategy according to the operation scenario, and controls the operation of the walking mechanism and the flipping mechanism according to the target control strategy, thereby solving the problem that the existing operation and maintenance equipment cannot pass through or runs unstably in the flexible bracket scenario, affecting the progress of the operation and maintenance operation and the operation and maintenance cost. The operation and maintenance equipment can be driven stably on the flexible bracket and perform maintenance and cleaning operations with smooth operation and high operation efficiency. The equipment has good passability and does not need to build a bridge frame, thereby saving operation and maintenance costs.

[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 flowchart of an operation and maintenance equipment control method provided by an embodiment of the present invention;

[0022] Figure 5 A flowchart of another operation and maintenance equipment control method provided by an embodiment of the present invention;

[0023] Figure 6 A schematic diagram of the structure of a walking mechanism in an unlocked state provided by an embodiment of the present invention;

[0024] Figure 7 A schematic diagram of the structure of a walking mechanism in a limit locking state provided by an embodiment of the present invention;

[0025] Figure 8 A flowchart of a control method for operation and maintenance equipment to identify operation scenarios provided by an embodiment of the present invention;

[0026] Fig. 9 A flowchart of another operation and maintenance equipment control method provided by an embodiment of the present invention;

[0027] Fig.10 A schematic diagram of the structure of an operation and maintenance equipment control device provided in 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] 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; Figure 2 is a first structural schematic diagram of an operation and maintenance device provided by an embodiment of the present invention; Figure 3 is a second structural diagram of an operation and maintenance device provided by an embodiment of the present invention. 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] See also Figures 1 to 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 (for example, a driving motor) and a first driving wheel 122. The first driving member 121 is arranged on the frame 11, and 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, and there is no need to build a bridge frame, and the passability is good.

[0032] See also Figure 2 and Figure 3 As shown, the flip mechanism 2 includes a flip drive 21, a cleaning assembly 22 and a second traveling assembly 23. The flip drive 21 can drive the cleaning assembly 22 to flip relative to the traveling mechanism 1, for example, it can drive the cleaning assembly 22 to flip 180° relative to the traveling mechanism 1. The second traveling assembly 23 includes a second drive 231 (for example, a drive motor) and a second drive wheel 232. The second drive 231 is fixed to the cleaning assembly 22, and the output end of the second drive 231 is in transmission connection with the second drive wheel 232, so as to drive the second drive wheel 232 to rotate.

[0033] See also 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 bracket of the flip mechanism 2, 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.

[0034] See also 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.

[0035] In the present application, the flexible bracket has walking operation scenarios such as smooth working conditions, upward folding, downward folding, U-turn cleaning or reciprocating cleaning. Under different working conditions, the working states of the walking mechanism 1 and the flipping mechanism 2 are different. Therefore, it is necessary to identify the operation scenarios and adaptively control the operation and maintenance equipment in combination with the operation scenarios.

[0036] Figure 4 A flowchart of an operation and maintenance equipment control method provided by an embodiment of the present invention, see Figures 1 to 4 As shown, the operation and maintenance equipment control method of the present application includes:

[0037] S1: Acquire motion detection data and position detection data of operation and maintenance equipment.

[0038] The motion detection data can be understood as data characterizing the motion posture and driving speed of the maintenance equipment. The motion posture can be represented by the distance between other components or the tilt angle of the maintenance equipment itself relative to the horizontal. Optionally, the motion detection data includes at least one of the following: the first frame 101 (see FIG. 10) of the flip mechanism and the component to be maintained Figure 1 ), the first detection data between the frame of the walking mechanism and the second frame 102 of the component to be maintained (see Figure 1) and the posture detection data of the walking mechanism; wherein, the extension direction of the first frame 101 is parallel or approximately parallel to the walking direction of the operation and maintenance equipment; the extension direction of the second frame is parallel or approximately parallel to the walking direction. Among them, the first detection data can be understood as the spacing distance between the flipping mechanism 2 and the first frame 101 of the component to be maintained when the cleaning component 22 is in the cleaning operation mode. The second detection data can be understood as the offset distance between the frame of the walking mechanism 1 and the second frame 102 of the component to be maintained when the walking mechanism 1 walks on the steel strand (including but not limited to: offset in the horizontal direction or offset in the vertical direction). In this embodiment, at least one of an image detection unit, a laser radar, a millimeter wave radar or an ultrasonic sensor can be used to collect and feedback the first detection data and the second detection data; an inclination sensor or an inertial measurement element is used to collect and feedback the posture detection data.

[0039] The position detection data can be understood as data that characterizes the position of the operation and maintenance equipment on the flexible bracket. In this embodiment, the position detection data can be collected and fed back through the travel switches set at different nodes of the flexible bracket, or the position detection data can be collected and fed back through the positioning component feedback integrated in the operation and maintenance equipment. Typically, a travel switch can be set on the end columns at both ends of the flexible bracket or on the middle column in the gap area between two adjacent groups of photovoltaic components. When the operation and maintenance equipment contacts the travel switch set on the middle column, the feedback position detection data is that the operation and maintenance equipment has traveled to the component gap area; when the operation and maintenance equipment contacts the travel switch set on the end column, the feedback position detection data is that the operation and maintenance equipment has traveled to both ends of the flexible bracket; the position can also be marked by RTK combined navigation data.

[0040] S2: Determine the operation scenario of the operation and maintenance equipment based on the motion detection data and the position detection data.

[0041] Among them, the operation scenarios include any of the following: smooth operation scenarios, obstacle crossing operation scenarios and operation scheduling scenarios.

[0042] In this embodiment, the smooth operation scenario can be understood as an operation scenario in which the angles of the steel strands are consistent or approximately consistent on the walking route of the operation and maintenance equipment. For example, the operation and maintenance equipment travels to the middle column position of the flexible bracket, and the angles of the steel strands on both sides of the middle column beam are consistent. The obstacle crossing operation scenario can be understood as an operation scenario in which the angles of the steel strands are inconsistent (such as tilted upward or downward) on the walking route of the operation and maintenance equipment. For example, the operation and maintenance equipment travels to the middle column position of the flexible bracket, and the angles of the steel strands on both sides of the middle column beam are inconsistent. The operation scheduling scenario can be understood as an operation scenario in which the operation and maintenance equipment needs to change its walking direction. For example, the operation and maintenance equipment travels to the end column position of the flexible bracket, and needs to perform U-turn cleaning or reciprocating cleaning.

[0043] Specifically, if it is identified based on motion detection data (such as posture detection data) or position detection data (such as driving to the middle column position of the flexible support) that the angles of the steel strands on the current operation route are consistent or approximately consistent, the current operation scene is determined as a smooth operation scene. If it is identified based on motion detection data (such as posture detection data) or position detection data (such as driving to the middle column position of the flexible support) that the angles of the steel strands on the current operation route are inconsistent, the current operation scene is determined as an obstacle crossing operation scene. If it is identified based on the position detection data that the operation and maintenance equipment drives to the end column position of the flexible support, the current operation scene is determined as an operation scheduling scene.

[0044] S3: Determine the target control strategy according to the operation scenario, and control the operation of the walking mechanism and the flipping mechanism according to the target control strategy.

[0045] Among them, the target control strategy includes at least one of the following: leveling control strategy, obstacle crossing control strategy and operation scheduling strategy.

[0046] In this embodiment, the leveling control strategy can be understood as a control strategy for maintaining the smooth operation of the operation and maintenance equipment by adjusting the drive or posture correction of the operation and maintenance equipment; the obstacle control strategy can be understood as a control strategy for assisting the operation and maintenance equipment to cross the bend or obstacle area by adjusting the power source and cleaning operation status of the operation and maintenance equipment; the job scheduling strategy can be understood as a control strategy for assisting the operation and maintenance equipment to complete U-turn cleaning or reciprocating cleaning scheduling by adjusting the driving direction of the operation and maintenance equipment and the relative position relationship between the mechanisms. Optionally, the leveling control strategy is applicable to the smooth operation scenario, the obstacle operation scenario and the job scheduling scenario; the obstacle control strategy is at least applicable to the obstacle operation scenario; and the job scheduling strategy is at least applicable to the job scheduling scenario.

[0047] Specifically, when it is identified that the angles of the steel strands on both sides of the center column beam of the flexible bracket are consistent, the equipment is judged to have entered a smooth operation scene. When the roller brush moves to the steel strand, there is no need to lift the roller brush. Based on the leveling control strategy, the first walking component 12 of the walking mechanism 1 and the second walking component 23 of the flipping mechanism 2 are controlled to run simultaneously to provide walking power for the operation and maintenance equipment.

[0048] When it is identified that the angles of the steel strands on both sides of the center column beam of the flexible bracket are inconsistent, it is determined that the equipment has entered an obstacle crossing operation scenario. For example, the operation and maintenance equipment needs to climb or go downhill. When the roller brush moves to the steel strand, the roller brush is lifted based on the obstacle crossing control strategy. At this time, only the first walking component 12 of the walking mechanism 1 provides walking power.

[0049] When it is identified that the robot has cleaned the end column position at the end of the photovoltaic panel, the equipment is determined to enter the job scheduling scene, and the flipping mechanism is controlled to flip 180° based on the job scheduling strategy. Based on the leveling control strategy, the first walking component 12 of the walking mechanism 1 and the second walking component 23 of the flipping mechanism 2 are controlled to run simultaneously to provide walking power for the operation and maintenance equipment, and control the operation and maintenance equipment to return or reciprocate for cleaning.

[0050] Therefore, the technical solution of the present application can achieve smooth operation of the operation and maintenance equipment in different operating scenarios and improve operational reliability and operating efficiency by automatically identifying the operating scenarios of the operation and maintenance equipment and adaptively matching the control strategy of the entire machine.

[0051] Figure 5 This is a flowchart of another operation and maintenance equipment control method provided by an embodiment of the present invention, which exemplarily shows the specific implementation methods of the control strategy in different operation scenarios. Figure 5 As shown, in the above step S3, the target control strategy is determined according to the operation scenario, and the operation of the walking mechanism and the flipping mechanism is controlled according to the target control strategy, including:

[0052] S301: In an obstacle-crossing operation scenario, an obstacle-crossing control strategy is executed to control the walking mechanism to slow down and move forward, control the flipping mechanism to unlock the flexible bracket, and control the flipping mechanism to flip to a side away from the flexible bracket.

[0053] In some embodiments, see Figure 3 As shown, controlling the unlocking between the flipping mechanism 2 and the flexible bracket includes: controlling the action of the second anti-slip component 225 of the flipping mechanism 2, and the anti-slip driving component 2251 controls the second anti-slip component 2252 to deflect 90° to the side, so as to facilitate the flipping mechanism 2 to flip smoothly to the side away from the flexible bracket, avoiding interference between the flipping mechanism 2 and the photovoltaic component 100.

[0054] Optionally, controlling the flipping mechanism to flip to a side away from the flexible bracket further includes: determining a flipping angle of the flipping mechanism according to the posture detection data. Specifically, in an obstacle-crossing operation scenario, the inclination angle of the steel strand is identified according to the posture detection data, and the flipping angle of the cleaning component 22 is adaptively adjusted, so that the flipping angle of the cleaning component 22 is adaptively adjusted along with the upward folding inclination angle of the component gap area, so as to avoid the cleaning component not flipping up in place to affect the operation of the equipment, thereby improving the motion control accuracy.

[0055] Optionally, when executing the obstacle control strategy, the operation and maintenance equipment control method of the present application further includes:

[0056] S302: Determine whether there is a leveling requirement based on the motion detection data. When there is a leveling requirement, execute a first leveling control strategy to control the flipping mechanism to fall back to the flexible support so that the walking mechanism and the flipping mechanism can provide obstacle-crossing driving force at the same time.

[0057] Among them, the first leveling control strategy can be understood as a control strategy for maintaining the smooth operation of the operation and maintenance equipment by driving and adjusting the operation and maintenance equipment.

[0058] Specifically, two ultrasonic sensors can be installed on the same side frame of the walking mechanism to detect the relative distance between the frame of the walking mechanism and the second frame of the component to be maintained. When the distance deviation detected by the two ultrasonic waves exceeds a second preset threshold (determined based on the maximum offset distance between the frame of the walking mechanism and the second frame of the component to be maintained when the operation and maintenance equipment is traveling on the steel strand, and is not specifically limited), it indicates that the posture of the operation and maintenance equipment has deviated. At this time, the flipping mechanism is controlled to fall back to the flexible bracket, so that the first drive member 121 and the second drive member 231 simultaneously provide obstacle-crossing driving force to achieve four-wheel drive, which is conducive to maintaining a stable posture.

[0059] See also Figure 5 As shown, in the above step S3, the target control strategy is determined according to the operation scenario, and the operation of the walking mechanism and the flipping mechanism is controlled according to the target control strategy, which also includes:

[0060] S303: In a smooth operation scenario, control the limit locking between the walking mechanism and / or the flipping mechanism and the flexible bracket, and determine whether there is a leveling requirement based on the motion detection data. When there is a leveling requirement, execute the second leveling control strategy, and cross-couple the drive motors of the walking mechanism and the flipping mechanism based on the PID compensator.

[0061] The second leveling control strategy can be understood as a control strategy for correcting the posture of the operation and maintenance equipment through PID control to maintain the smooth operation of the operation and maintenance equipment. Optionally, the PID compensator can be a compensator established based on a fuzzy PID control strategy.

[0062] Specifically, two ultrasonic sensors can be installed on the same side frame of the walking mechanism to detect the relative distance between the frame of the walking mechanism and the second frame of the component to be maintained. When the distance deviation detected by the two ultrasonic waves exceeds a second preset threshold value (determined based on the maximum offset distance between the frame of the walking mechanism and the second frame of the component to be maintained when the operation and maintenance equipment is traveling on the steel strand, and is not specifically limited), it indicates that the posture of the operation and maintenance equipment has deviated. At this time, the driving motors of the walking mechanism and the flipping mechanism are cross-coupled and controlled based on the PID compensator, the rotational speeds of the first drive member 121 and the second drive member 231 are adjusted, and the rotational speed error of the first drive member 121 and the second drive member 231 is calculated, and the rotational speed error is fed forward to the speed control loop as a disturbance variable, and the rotational speeds of the first drive member 121 and the second drive member 231 are synchronously controlled to correct the robot posture.

[0063] In some embodiments, see Figure 6and Figure 7 As shown, controlling the travel mechanism and / or the flip mechanism to limit and lock with the flexible bracket includes: controlling the limit and anti-slip assembly 123 to prevent the first driving wheel 122 of the first travel assembly and the steel strand 201 from slipping and limiting and locking. Specifically, in a gentle operation scenario, the limit and anti-slip assembly 123 is controlled to be in a compressed state to control the first driving wheel 122 and the steel strand 201 to be in a locked state, at which time, the steel strand 201 is restricted in the rolling groove 1221 of the first driving wheel 122 by the limit and anti-slip assembly 123.

[0064] See also Figure 5 As shown, in the above step S3, the target control strategy is determined according to the operation scenario, and the operation of the walking mechanism and the flipping mechanism is controlled according to the target control strategy, which also includes:

[0065] S304: In the job scheduling scenario, execute the job scheduling strategy, control the walking mechanism to walk in the reverse direction, control the flipping mechanism to unlock the flexible bracket, and control the flipping mechanism to flip from one side of the walking mechanism to the other side of the walking mechanism.

[0066] In some embodiments, see Figure 3 As shown, controlling the unlocking between the flipping mechanism 2 and the flexible bracket includes: controlling the action of the second anti-slip component 225 of the flipping mechanism 2, the anti-slip driving component 2251 controlling the second anti-slip component 2252 to deflect 90° to the side, so as to facilitate the flipping mechanism 2 to flip 180° smoothly, avoiding interference between the flipping mechanism 2 and the photovoltaic component 100, and after the flipping is completed, the anti-slip driving component 2251 controls the second anti-slip component 2252 to deflect back 90°.

[0067] Figure 8 The flowchart of a control method for operation and maintenance equipment to identify operation scenes provided by an embodiment of the present invention exemplarily shows a specific implementation of the above step S2. Figure 8 As shown, the operation scenario of the operation and maintenance equipment is determined based on the motion detection data and the position detection data, including:

[0068] S201: Identify the operation and maintenance distance or tilt angle between the operation and maintenance equipment and the component to be maintained according to the motion detection data.

[0069] The operation and maintenance distance can be understood as the distance between the flip mechanism and the first frame of the component to be maintained. In this embodiment, motion detection data can be collected by an ultrasonic sensor to calculate the operation and maintenance distance.

[0070] The tilting angle may be understood as a deflection angle of the frame of the walking mechanism relative to the first frame of the component to be maintained.

[0071] S202: Determine whether the fluctuation change angle corresponding to the operation and maintenance distance or the tilt angle is greater than a first preset threshold.

[0072] The first preset threshold value may be understood as the maximum fluctuation angle between the flip mechanism and the first frame of the component to be maintained when the operation and maintenance equipment is traveling on the photovoltaic component.

[0073] The fluctuation angle corresponding to the operation and maintenance interval can be understood as the vehicle body angle change value calculated based on the operation and maintenance interval collected at two adjacent sampling moments; the fluctuation angle corresponding to the tilt angle can be understood as the vehicle body angle change value calculated based on the tilt angle collected at two adjacent sampling moments.

[0074] When the fluctuation change angle corresponding to the operation and maintenance interval or the tilt angle is less than or equal to the first preset threshold, execute step S203; when the fluctuation change angle corresponding to the operation and maintenance interval or the tilt angle is greater than the preset threshold, execute step S204.

[0075] S203: Determine the operation scene as a gentle operation scene.

[0076] S204: Determine the operation scene as an obstacle-crossing operation scene.

[0077] S205: When the position detection data is the end column position of the flexible bracket, the operation scene is determined as an operation scheduling scene.

[0078] In this embodiment, the position detection data can be collected and fed back through travel switches arranged at different nodes of the flexible bracket, or the position detection data can be collected and fed back through a positioning component integrated in the operation and maintenance equipment.

[0079] Exemplarily, when the operation and maintenance equipment is traveling on the photovoltaic component, the maximum body angle change value between the flip mechanism and the first frame of the component to be maintained is defined as θ, and the first preset threshold value can be set to 2*θ. When the fluctuation change angle corresponding to the operation and maintenance distance or the tilting angle between the operation and maintenance equipment and the component to be maintained is less than or equal to the first preset threshold value (for example, 2*θ), it is determined that the operation and maintenance equipment is performing a cleaning operation on the component, and the current operation scene is determined to be a gentle operation scene. When the fluctuation change angle corresponding to the operation and maintenance distance or the tilting angle between the operation and maintenance equipment and the component to be maintained is greater than the preset threshold value (for example, 2*θ), it is determined that the operation and maintenance equipment is crossing the component gap, and the current operation scene is determined to be an obstacle crossing operation scene. Therefore, by setting sensors or travel switches and other components to assist in realizing operation scene detection, the solution is simple, reliable and low-cost.

[0080] Fig. 9 A flowchart of another operation and maintenance equipment control method provided by an embodiment of the present invention is shown in FIG. Fig. 9 As shown, before obtaining the motion detection data and position detection data of the operation and maintenance equipment, the operation and maintenance equipment control method of the present application also includes:

[0081] S901: Device initialization.

[0082] S902: Obtain automatic mode or manual mode control instructions issued by the motion mode configuration module.

[0083] S903: In the automatic mode, the operation and maintenance equipment is controlled to automatically move forward and perform maintenance operations based on the preset path. Then, the subsequent step S904 is executed.

[0084] S903': In manual mode, the running mechanism and the flipping mechanism are controlled according to the user's operating instructions.

[0085] S904: Acquire motion detection data and position detection data of the operation and maintenance equipment.

[0086] S905: Determine whether the fluctuation change angle between the operation and maintenance equipment and the component to be maintained is greater than a first preset threshold.

[0087] If the fluctuation angle corresponding to the operation and maintenance interval or the tilt angle is greater than the first preset threshold, execute step S906; if the fluctuation angle corresponding to the operation and maintenance interval or the tilt angle is less than or equal to the first preset threshold, execute step S907.

[0088] S906: Execute obstacle control strategy.

[0089] S907: Determine whether the operation and maintenance equipment has traveled to the end column position of the flexible support.

[0090] If the operation and maintenance equipment has not traveled to the end column position of the flexible support, execute step S908; if the operation and maintenance equipment has traveled to the end column position of the flexible support, execute step S910.

[0091] S908: Determine whether the relative distance deviation between the frame of the walking mechanism and the second frame of the component to be maintained exceeds a second preset threshold.

[0092] If the distance deviation exceeds the second preset threshold, step S909 is executed; if the distance deviation does not exceed the second preset threshold, the process returns to step S904.

[0093] S909: Execute the leveling control strategy to control the flipping mechanism to fall back to the flexible support, so that the walking mechanism and the flipping mechanism can provide obstacle-crossing driving force at the same time, and / or, perform cross-coupling control on the driving motors of the walking mechanism and the flipping mechanism based on the PID compensator.

[0094] S910: Execute the job scheduling strategy and return automatically.

[0095] During the return journey, continue to perform obstacle crossing, operation scheduling and leveling detection. It should be noted that during the return journey, the obstacle crossing, operation scheduling and leveling detection strategies are the same as the specific implementation methods recorded in the above steps S904 to S910, and will not be repeated. After completing the reciprocating cleaning operation, stop at the designated location.

[0096] Based on the same inventive concept as the above embodiments, the embodiments of the present invention further provide an operation and maintenance equipment control device, which is used in the operation and maintenance cleaning operation scenario of components fixed by flexible brackets. Figures 1 to 3 As shown, the operation and maintenance equipment includes a walking mechanism and a flipping mechanism.

[0097] Fig.10 This is a schematic diagram of the structure of an operation and maintenance equipment control device provided by an embodiment of the present invention. Fig.10 As shown, the operation and maintenance equipment control device of the present application includes: a data acquisition module 801, used to acquire motion detection data and position detection data of the operation and maintenance equipment; a scene recognition module 802, used to determine the operation scene of the operation and maintenance equipment based on the motion detection data and the position detection data; wherein the operation scene includes any one of the following: a smooth operation scene, an obstacle crossing operation scene and an operation scheduling scene; a control module 803, used to determine a target control strategy according to the operation scene, and control the operation of the walking mechanism and the flipping mechanism according to the target control strategy; wherein the target control strategy includes at least one of the following: a leveling control strategy, an obstacle crossing control strategy and an operation scheduling strategy.

[0098] Optionally, the control module 803 is configured to: in an obstacle crossing operation scenario, execute an obstacle crossing control strategy, control the walking mechanism to slow down and move forward, control the flipping mechanism to unlock with the flexible bracket, and control the flipping mechanism to flip to the side away from the flexible bracket.

[0099] Optionally, the control module 803 is also configured to: when executing the obstacle crossing control strategy, determine whether there is a leveling requirement based on the motion detection data; when there is a leveling requirement, execute the first leveling control strategy to control the flipping mechanism to fall back to the flexible bracket, so that the walking mechanism and the flipping mechanism can provide obstacle crossing driving force at the same time.

[0100] Optionally, the control module 803 is also configured to: in a smooth working scenario, control the limit locking between the walking mechanism and / or the flipping mechanism and the flexible bracket, and determine whether there is a leveling requirement based on the motion detection data; when there is a leveling requirement, execute the second leveling control strategy, and cross-couple the drive motors of the walking mechanism and the flipping mechanism based on the PID compensator.

[0101] Optionally, the control module 803 is also configured to: in a job scheduling scenario, execute the job scheduling strategy, control the walking mechanism to walk in the opposite direction, control the unlocking between the flipping mechanism and the flexible bracket, and control the flipping mechanism to flip from one side of the walking mechanism to the other side of the walking mechanism.

[0102] Optionally, the scene recognition module 802 is configured to: identify the operation and maintenance distance or tilt angle between the operation and maintenance equipment and the component to be maintained based on the motion detection data, determine the operation scene as a smooth operation scene when the fluctuation angle corresponding to the operation and maintenance distance or the tilt angle is less than or equal to a preset threshold, and determine the operation scene as an obstacle crossing operation scene when the fluctuation angle corresponding to the operation and maintenance distance or the tilt angle is greater than a preset threshold; and / or, when the position detection data is the end column position of the flexible bracket, determine the operation scene as an operation scheduling scene.

[0103] Optionally, the operation and maintenance equipment control device of the present application further includes: a motion mode configuration module for obtaining automatic mode or manual mode control instructions. The control module 803 is connected to the motion mode configuration module, and the control module 803 is also configured to: in the automatic mode, control the operation and maintenance equipment to automatically move forward and perform maintenance operations based on a preset path, and in the manual mode, control the operation of the walking mechanism and the flipping mechanism according to the user's operation instructions.

[0104] Optionally, the motion detection data includes at least one of the following: first detection data between the flipping mechanism and the first frame of the component to be maintained, second detection data between the frame of the walking mechanism and the second frame of the component to be maintained, and posture detection data of the walking mechanism; wherein, the extension direction of the first frame is parallel or approximately parallel to the walking direction of the operation and maintenance equipment; the extension direction of the second frame is parallel or approximately parallel to the walking direction.

[0105] The operation and maintenance equipment control device provided in the embodiment of the present invention can execute the operation and maintenance equipment control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method, and the same parts will not be repeated.

[0106] Based on the same inventive concept, the present embodiment also provides an operation and maintenance equipment, including: a walking mechanism, a flipping mechanism, and the above-mentioned operation and maintenance equipment control device.

[0107] 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.

[0108] The operation and maintenance equipment of the embodiment of the present invention is provided with a walking mechanism, a flipping mechanism and an operation and maintenance equipment control device. The control device is provided with a data acquisition module, a scene recognition module and a control module. When the operation and maintenance equipment performs operation and maintenance operations, the motion detection data and the position detection data of the operation and maintenance equipment are detected in real time. The scene recognition module determines the operation scene of the operation and maintenance equipment according to the motion detection data and the position detection data. The control module determines the target control strategy according to the operation scene, and controls the operation of the walking mechanism and the flipping mechanism according to the target control strategy. This solves the problem that the existing operation and maintenance equipment cannot pass through or runs unstably in the flexible bracket scenario, affecting the progress of the operation and maintenance operations and the operation and maintenance costs. The operation and maintenance equipment can be stably driven 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.

[0109] 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.

[0110] 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 method for controlling operation and maintenance equipment, characterized in that: The operation and maintenance equipment is used for a flexible bracket, and the operation and maintenance equipment includes a walking mechanism and a flipping mechanism. The method includes: Acquiring motion detection data and position detection data of the operation and maintenance equipment; Determine the operation scenario of the operation and maintenance equipment according to the motion detection data and the position detection data; wherein the operation scenario includes any one of the following: a smooth operation scenario, an obstacle-crossing operation scenario, and an operation scheduling scenario; Determine a target control strategy according to the operation scenario, and control the operation of the walking mechanism and the flipping mechanism according to the target control strategy; The target control strategy includes at least one of the following: a leveling control strategy, an obstacle crossing control strategy and a job scheduling strategy.

2. The operation and maintenance equipment control method according to claim 1, characterized in that: Determining a target control strategy according to the operation scenario, and controlling the operation of the walking mechanism and the flipping mechanism according to the target control strategy, includes: In the obstacle-crossing operation scenario, the obstacle-crossing control strategy is executed to control the walking mechanism to slow down and move forward, control the flipping mechanism to unlock with the flexible bracket, and control the flipping mechanism to flip to the side away from the flexible bracket.

3. The operation and maintenance equipment control method according to claim 2, characterized in that: When executing the obstacle control strategy, the method includes: Determine whether there is a leveling requirement based on the motion detection data. When there is a leveling requirement, execute a first leveling control strategy to control the flipping mechanism to fall back to the flexible support so that the walking mechanism and the flipping mechanism can provide obstacle-crossing driving force at the same time.

4. The operation and maintenance equipment control method according to claim 1, characterized in that: Determining a target control strategy according to the operation scenario, and controlling the operation of the walking mechanism and the flipping mechanism according to the target control strategy, includes: In the smooth operation scenario, the walking mechanism and / or the flipping mechanism are controlled to limit and lock with the flexible bracket, and whether there is a leveling requirement is determined based on the motion detection data; when there is a leveling requirement, the second leveling control strategy is executed, and the drive motors of the walking mechanism and the flipping mechanism are cross-coupled and controlled based on the PID compensator.

5. The operation and maintenance equipment control method according to claim 1, characterized in that: Determining a target control strategy according to the operation scenario, and controlling the operation of the walking mechanism and the flipping mechanism according to the target control strategy, includes: In the job scheduling scenario, the job scheduling strategy is executed to control the walking mechanism to walk in the opposite direction, control the flipping mechanism to unlock with the flexible bracket, and control the flipping mechanism to flip from one side of the walking mechanism to the other side of the walking mechanism.

6. The operation and maintenance equipment control method according to claim 1, characterized in that: The determining the operation scene of the operation and maintenance equipment according to the motion detection data and the position detection data includes: Identifying the operation and maintenance distance or the tilt angle between the operation and maintenance equipment and the component to be maintained according to the motion detection data, determining the operation scene as the smooth operation scene when the fluctuation change angle corresponding to the operation and maintenance distance or the tilt angle is less than or equal to a preset threshold, and determining the operation scene as the obstacle-crossing operation scene when the fluctuation change angle corresponding to the operation and maintenance distance or the tilt angle is greater than the preset threshold; and / or, When the position detection data is the end column position of the flexible support, the operation scene is determined as the operation scheduling scene.

7. The operation and maintenance equipment control method according to any one of claims 1 to 6, characterized in that: Before acquiring the motion detection data and the position detection data of the operation and maintenance equipment, the method further includes: Obtain automatic mode or manual mode control instructions from the motion mode configuration module; In the automatic mode, the operation and maintenance equipment is controlled to automatically move forward and perform maintenance operations based on a preset path, and in the manual mode, the walking mechanism and the flipping mechanism are controlled to operate according to user operation instructions.

8. The operation and maintenance equipment control method according to any one of claims 1 to 6, characterized in that: The motion detection data includes at least one of the following: first detection data between the flip mechanism and the first frame of the component to be maintained, second detection data between the frame of the walking mechanism and the second frame of the component to be maintained, and posture detection data of the walking mechanism; Wherein, the extension direction of the first frame is parallel or approximately parallel to the moving direction of the operation and maintenance equipment; An extension direction of the second frame is parallel or approximately parallel to the walking direction.

9. A maintenance equipment control device, characterized in that: The operation and maintenance equipment is used for a flexible bracket, and the operation and maintenance equipment includes a walking mechanism and a flipping mechanism. The device includes: A data acquisition module, used to acquire motion detection data and position detection data of the operation and maintenance equipment; A scene recognition module, used to determine the operation scene of the operation and maintenance equipment according to the motion detection data and the position detection data; wherein the operation scene includes any one of the following: a smooth operation scene, an obstacle-crossing operation scene, and an operation scheduling scene; A control module, used to determine a target control strategy according to the operation scenario, and control the operation of the walking mechanism and the flipping mechanism according to the target control strategy; The target control strategy includes at least one of the following: a leveling control strategy, an obstacle crossing control strategy and a job scheduling strategy.

10. An operation and maintenance device, characterized in that: include: A walking mechanism, a flipping mechanism, and the operation and maintenance equipment control device as described in claim 9.

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