Operation and maintenance robot, operation and maintenance system and operation and maintenance method of land-air amphibious photovoltaic power station

Abstract

The invention relates to the technical field of robots, and discloses an operation and maintenance robot, an operation and maintenance system and an operation and maintenance method for an air-ground amphibious photovoltaic power station. The operation and maintenance robot comprises an infrared device, a machine body, a walking mechanism and a plurality of rotor mechanisms; the two rolling brush mechanisms are symmetrically arranged front and back; an even number of cameras; and the controller is used for controlling the power battery to supply or cut off power to the rotor mechanism and the rolling brush lifting motor, and is also used for controlling the rolling brush lifting motor to unfold the rolling brush bracket and perform infrared detection again after cleaning by using the rolling brush body when the infrared device detects that hot spots appear on the surface of the photovoltaic panel assembly and foreign matter shielding is analyzed through photographing of the camera. According to the operation and maintenance robot, the operation and maintenance system and the operation and maintenance method, the sweeping function and the flying function are integrated, sweeping is added during infrared detection, and the accuracy of infrared detection is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, in particular to a land-air amphibious photovoltaic power station operation and maintenance robot, an operation and maintenance system and an operation and maintenance method. BACKGROUND

[0002] At present, with the rapid development of the photovoltaic power generation industry, the large-scale construction of photovoltaic power stations puts forward higher requirements for operation and maintenance efficiency. At present, the daily operation and maintenance of photovoltaic power stations mainly includes key tasks such as hot spot detection and electrical equipment temperature detection to ensure power generation efficiency and prevent safety accidents. In view of these needs, a variety of intelligent operation and maintenance robots have appeared on the market to operate and maintain photovoltaic power stations.

[0003] In related technologies, photovoltaic power station intelligent operation and maintenance robots mainly adopt a walking robot mode. The walking robot is equipped with infrared lines, and can walk at a high speed on the photovoltaic roof to perform close-range temperature control detection on photovoltaic panel components, electrical equipment, cable pipelines and the like, and perform positioning alarm when temperature abnormalities are found.

[0004] However, the photovoltaic power station intelligent operation and maintenance robot in the walking robot mode has obvious defects: ① It cannot work from one factory roof to another factory roof, and it is difficult to realize that one intelligent cleaning operation and maintenance robot manages multiple roof power stations.

[0005] ② Directly using infrared lines to detect the temperature of photovoltaic panel components, electrical equipment, cable pipelines and the like is easily affected by falling impurities and obstacles, resulting in inaccurate detection. SUMMARY

[0006] The present application provides a land-air amphibious photovoltaic power station intelligent operation and maintenance robot, an operation and maintenance system and an operation and maintenance method, which integrates cleaning function and flight function, adds cleaning during infrared detection, and improves the accuracy of infrared detection.

[0007] In a first aspect, the embodiments of the present application provide a land-air amphibious photovoltaic power station operation and maintenance robot, which comprises an infrared device, a body main body and a walking mechanism, a controller and a power battery are arranged in the body main body, and the operation and maintenance robot further comprises: A plurality of rotor mechanisms are symmetrically arranged around the circumference of the body main body; Two rolling brush mechanisms are symmetrically arranged front and back, each rolling brush mechanism comprises a rolling brush support, a rolling brush body and a rolling brush lifting motor, one end of the rolling brush support is swingably connected to the body main body, and the rolling brush body is arranged at the other end of the rolling brush support; An even number of signal connection controllers are symmetrically arranged around the circumference of the body main body; The controller is used for controlling the power battery to supply power or cut off power to the rotor mechanism and the brush lifting motor, and is also used for controlling the brush lifting motor to expand the brush support through the gear assembly and clean the brush body through the brush body when the infrared device detects a hot spot on the surface of the photovoltaic panel assembly and the camera analyzes that there is foreign matter shielding.

[0008] In combination with the first aspect, in an implementation, the walking mechanism adopts a track walking mechanism; the track walking mechanism comprises a plurality of tracks arranged symmetrically on the left and right sides of the bottom side of the main body, and a plurality of servo motors arranged symmetrically on the front and back of the bottom side of the main body and driving the tracks one by one; the controller controls the tracks to walk through the servo motors.

[0009] In combination with the first aspect, in an implementation, each rotor mechanism comprises: a wing support, one end of which is fixed to the main body; a flight motor, the bottom surface of which is fixed to the other end of the wing support; a rotor body, which is installed on the top surface of the flight motor; The controller is used for controlling the power battery to supply power or cut off power to the flight motor, and is also used for controlling the rotation speed of the flight motor.

[0010] In combination with the first aspect, in an implementation, the main body comprises, from bottom to top, a chassis, a battery support, and a center cover; the power battery is arranged in the battery support, and the battery support is provided with a charging interface; the bottom of the center cover is provided with a plurality of column feet, and the center cover is supported and fixed to the top surface of the battery support through the plurality of column feet and accommodates the controller.

[0011] In combination with the first aspect, in an implementation, the maintenance robot further comprises a radar and a pair of more than one searchlight, the radar is arranged at the center of the top surface of the center cover, and the pair of more than one searchlight is installed symmetrically on the front and back of the two sides of the main body; the controller is signal-connected to the radar, and the controller controls the power battery to supply power or cut off power to all the searchlights.

[0012] In combination with the first aspect, in an implementation, the maintenance robot further comprises a fire extinguishing bottle fixed to the main body, the fire extinguishing bottle is provided with a fire extinguishing electronic valve at the front end, the fire extinguishing electronic valve is connected to a fire extinguishing pipe, the fire extinguishing pipe is connected to a fire extinguishing nozzle fixed to the top of the main body; the controller is connected to and controls the fire extinguishing electronic valve.

[0013] In combination with the first aspect, in an implementation manner, the operation and maintenance robot is further provided with an acceleration sensor; an anti-falling air cushion is arranged between the bottom of the main body and the gap of the walking mechanism; an ignition device and a reaction pile are arranged inside the anti-falling air cushion; the ignition device and the acceleration sensor are both signal-connected to the controller; when the acceleration obtained by the controller from the acceleration sensor is greater than a set threshold, the controller transmits a signal to the ignition device, the ignition device ignites the reaction pile, and the reaction pile explodes to generate a large amount of gas, and the anti-falling air cushion explodes.

[0014] In the second aspect, the embodiments of the present application provide an operation and maintenance system, comprising: a remote background control center; a plurality of charging piles distributed at various positions of the photovoltaic power station; the operation and maintenance robot, a controller of the operation and maintenance robot is signal-connected to the remote background control center; when the controller detects that the power of the power battery decreases to a set power value, the operation and maintenance robot stops cleaning and detecting work, the remote background control center finds the nearest charging pile from the position where the operation and maintenance robot is located, and controls the operation and maintenance robot to fly or walk to the nearest charging pile for charging.

[0015] In the third aspect, the embodiments of the present application provide an operation and maintenance method based on the operation and maintenance robot, the operation and maintenance robot comprises two infrared devices at the front side and the back side, and the operation and maintenance method comprises the following steps: the front side infrared device first detects hot spots of the photovoltaic panel assembly before cleaning; if there is no hot spot, it continues to drive and detect; if there is a hot spot, it is recorded for the next step; the controller receives the image of the camera and analyzes whether there is foreign matter at the position of the hot spot, if not, the next step; if yes, the controller controls the brush lifting motor to expand the brush support in the folded state through the gear assembly and clean the foreign matter with the brush body, and the next step; the back side infrared device detects the original position of the hot spot again, if the hot spot still exists, sends a maintenance alarm information to the background.

[0016] In combination with the third aspect, in an implementation manner, in the operation and maintenance method, while the hot spot detection is performed, the infrared device also detects the temperature of the electrical device, the cable joint part and the internal cable of the bridge; the operation and maintenance method further comprises: if the infrared device detects that the detected temperature of a certain electrical device or cable position is greater than an alarm temperature threshold, a maintenance alarm information is directly sent to the background; if the detected temperature is greater than or equal to a pre-alarm temperature threshold and less than the alarm temperature threshold, the operation and maintenance robot automatically stops cleaning and moves to the vicinity of the temperature anomaly; The temperature is detected more than three times at a set time interval, if the temperature anomaly disappears, it is ended, if the temperature of any detection exceeds the alarm temperature threshold, the maintenance alarm information is sent to the background, and the instruction of cutting off the power station is sent to the inverter, and the inverter pauses the work, if the temperature of more than three times is greater than or equal to the pre-alarm temperature threshold and less than the alarm temperature threshold, or the temperature is relatively higher than the last time, the maintenance alarm information is sent to the background.

[0017] The technical scheme provided by the embodiments of the application has the beneficial effects that include: 1. The operation and maintenance robot of the application is installed with a plurality of rotor mechanisms, integrates flight function on the basis of walking, is amphibious, can walk and work, and can also fly and work, wherein the flight function can enable the operation and maintenance robot to work from the roof of one factory building to the roof of another factory building, realizes that one operation and maintenance robot manages a plurality of roof power stations, greatly improves the operation and maintenance management area, and saves cost. More importantly, the operation and maintenance robot is provided with two rolling brush mechanisms and integrates cleaning function, the rolling brush mechanisms are usually in a folding state, reduce the required channel area for walking, and are beneficial to walking, when the infrared device detects that a hot spot appears on the surface of a photovoltaic panel assembly, whether foreign matter is shielded is analyzed by photographing through a camera, when foreign matter is shielded, a controller controls a rolling brush lifting motor to expand the rolling brush support through a gear assembly, the rolling brush body directly contacts the surface of the photovoltaic panel assembly, cleaning is performed, and infrared detection is performed again after cleaning. This mode of detecting a hot spot anomaly, performing cleaning, and then verifying the hot spot again can greatly improve the accuracy of the detection result and greatly reduce the probability of false reporting of the hot spot anomaly.

[0018] 2. The operation and maintenance system of the application comprises a remote background control center, an operation and maintenance robot, and a plurality of charging piles. The operation and maintenance robot needs to detect a set area of a photovoltaic power station each time, and the set area of the photovoltaic power station can comprise a plurality of roofs of different heights. During the detection process, when the controller detects that the power of the power battery decreases to a set power value, the operation and maintenance robot stops cleaning and detection work, the controller sends a power shortage signal to the remote background control center, the remote background control center finds the nearest charging pile from the position of the operation and maintenance robot, and controls the operation and maintenance robot to fly or walk to the nearest charging pile for charging. After the charging is completed, the operation and maintenance robot returns to the original position to continue detection until the set area detection is completed. The operation and maintenance system of the application solves the problem that the operation and maintenance robot moves from one roof to another roof well through good flight capability, greatly improves the moving performance and working efficiency of the operation and maintenance robot, the operation and maintenance robot moves by flying, the remote background control center can control the operation and maintenance robot through a wireless network, realizes on-site unattended operation, and can greatly save labor cost and labor.

[0019] 3. The operation and maintenance method of the operation and maintenance robot of the application, in the detection process, the cleaning step is embedded, every time hot spot is found, rigorous re-verification is carried out, foreign matters are removed, and then detection is carried out again, which can greatly improve the accuracy of hot spot identification of the photovoltaic panel assembly. At the same time, on the basis of hot spot identification of the photovoltaic panel assembly, temperature detection is also carried out on electrical devices, cable joint parts and internal cables of the bridge, at any moment, if the detection temperature is greater than the alarm temperature threshold, the controller sends a maintenance alarm information to the background, and sends an instruction to shut down the power station to the inverter, and the inverter pauses the work, so as to ensure that serious fire and other consequences will not occur; if the detection temperature is greater than or equal to the pre-alarm temperature threshold and less than the alarm temperature threshold, it is in a state with hidden dangers, the operation and maintenance robot will automatically stop cleaning and move to the vicinity of the temperature anomaly, and carry out temperature detection more than three times at a set time interval, if the temperature anomaly disappears, it is ended; if the temperature is greater than or equal to the pre-alarm temperature threshold and less than the alarm temperature threshold for more than three times, or the temperature is increasing, it means that it is still in the situation of fire hidden danger, the controller also sends a maintenance alarm information to the background, the operation and maintenance method of the operation and maintenance robot of the application, serious hidden danger (detection temperature greater than the alarm temperature threshold) immediately alarms, slight hidden danger (detection temperature greater than or equal to the pre-alarm temperature threshold and less than the alarm temperature threshold) repeatedly verifies and rigorously judges whether to alarm, which greatly improves the alarm accuracy and greatly improves the probability of eliminating hidden dangers. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can also be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0021] Figure 1 A structural schematic diagram of the operation and maintenance robot provided by the embodiment of the application is shown in the figure. Figure 2 A structural schematic diagram of the operation and maintenance robot provided by the embodiment of the application is shown in the figure. In the figure: 1, rotor body; 2, flight motor; 3, wing support; 4, rolling brush support; 5, rolling brush body; 6, servo motor; 7, track driven wheel; 8, track; 9, track driving wheel; 10, chassis; 11, power battery; 12, battery support; 13, controller; 14, center cover; 15, camera; 16, searchlight; 17, infrared device; 18, radar; 19, rolling brush lifting motor; 20, fire extinguishing bottle; 21, fire extinguishing electronic valve; 22, fire extinguishing pipe; 23, fire extinguishing nozzle; 24, anti-falling air cushion. DETAILED DESCRIPTION

[0022] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0023] This application provides an operation and maintenance robot, operation and maintenance system and operation and maintenance method for a land and air amphibious photovoltaic power station, which integrates cleaning and flight functions. The cleaning function is embedded in the inspection process to improve the accuracy of the inspection, and it also has fire extinguishing and fall prevention functions.

[0024] like Figure 1 and Figure 2 As stated above, this application discloses an embodiment of an operation and maintenance robot for a land-air amphibious photovoltaic power station. The operation and maintenance robot includes an infrared device 17, a main body and a walking mechanism, and has normal walking function and infrared detection function.

[0025] Based on this, a controller 13 and a power battery 11 are installed inside the main body of the robot. The controller 13 acts as the control center, and the power battery 11 is used to supply power to all parts of the robot.

[0026] The maintenance robot also includes several rotor mechanisms and two roller brush mechanisms. The rotor mechanisms are symmetrically arranged around the circumference of the main body along the vertical center line of the main body. The symmetrical arrangement helps the entire robot maintain its balance.

[0027] Two roller brush mechanisms are symmetrically arranged front and rear. Each roller brush mechanism includes a roller brush bracket 4, a roller brush body 5, and a roller brush lifting motor 19. One end of the roller brush bracket 4 is swayably connected to the main body of the robot, and the roller brush body 5 is located at the other end of the roller brush bracket 4. The roller brush lifting motor 19 is used to control the roller brush bracket 4 to close or open. When closed, it reduces the channel area required for movement, which is beneficial for movement and also helps to concentrate weight and maintain balance. Only during cleaning will it open to allow the roller brush body 5 to contact the photovoltaic panel components for cleaning. Specifically, the walking direction of the maintenance robot is defined as forward and backward, and the vertical direction of forward and backward is defined as left and right. Specifically, the roller brush mechanism also includes a gear assembly, through which the roller brush lifting motor 19 controls the opening or closing of the roller brush mechanism.

[0028] An even number of cameras 15 are symmetrically arranged around the circumference of the main body along the vertical center line of the main body.

[0029] The controller 13 controls the power battery 11 to supply or de-energize the rotor mechanism, the roller brush lifting motor 19, and the traveling mechanism, that is, to control flight, to control traveling, and to control the two roller brush mechanisms to retract or extend.

[0030] The controller 13 is also used to control the infrared device 17 to take a photo through the camera 15 to analyze whether there is foreign matter blocking when detecting that hot spots appear on the surface of the photovoltaic panel assembly, if there is foreign matter, the brush lifting motor 19 expands the brush support 4 in the folded state through the gear assembly, the brush body 5 directly contacts the surface of the photovoltaic panel assembly to clean, and the infrared detection is performed again after cleaning. Specifically, the result of the detection again after cleaning is accurate.

[0031] Specifically, the hot spot is mainly caused by foreign matter or hidden cracks. After cleaning the foreign matter, if the hot spot is detected again, it means that there is a hot spot abnormality and maintenance is needed; if the hot spot disappears after cleaning the foreign matter, maintenance is not needed. The hidden crack is an external manifestation of the hot spot fault.

[0032] Specifically, when the cleaning function is not needed, the brush support 4 can be lifted by the brush lifting motor 19 to not contact the photovoltaic panel assembly or the ground. Specifically, the brush mechanism in the folded state is tightly attached to the main body of the machine and is located below the rotor mechanism.

[0033] Specifically, when cleaning, the maintenance robot pushes away the sundries or obstacles from the photovoltaic panel assembly.

[0034] Specifically, the power battery supplies power to all power-consuming devices.

[0035] The maintenance robot of the present application is installed with several rotor mechanisms to integrate flight function on the basis of walking, is amphibious, can walk and work, and can also fly and work, wherein the flight function can make the maintenance robot work from one roof of a factory building to another roof of a factory building, realizes that one maintenance robot manages multiple rooftop power stations, greatly improves the maintenance management area, and saves cost.

[0036] More importantly, the maintenance robot is provided with two brush mechanisms to integrate cleaning function. The brush mechanism is usually in the folded state to reduce the required channel area for walking and facilitate walking. When the infrared device 17 detects that hot spots appear on the surface of the photovoltaic panel assembly, the camera 15 takes a photo to analyze whether there is foreign matter blocking. When there is foreign matter blocking, the controller 13 controls the brush lifting motor 19 to expand the brush support 4 through the gear assembly, the brush body 5 directly contacts the surface of the photovoltaic panel assembly to clean, and the infrared detection is performed again after cleaning. This mode of detecting hot spot abnormalities, cleaning, and then verifying the hot spot again can greatly improve the accuracy of the detection result and greatly reduce the probability of false positives of hot spot abnormalities.

[0037] Preferably, the infrared device 17 is provided with more than one pair, each pair is fixed on the front and rear sides of the top of the main body, multiple infrared detection can improve the accuracy of detection, and the symmetrical arrangement of each pair can improve the balance performance.

[0038] Further, in an embodiment, the walking mechanism is a track walking mechanism arranged at the bottom of the main body. Because friction is needed during cleaning, the track walking mechanism can improve the friction compared with the traditional roller walking mechanism, which can improve the cleaning ability during walking.

[0039] Specifically, the front-rear direction of the track walking mechanism is defined as front-rear.

[0040] The track walking mechanism includes a servo motor 6 and a track 8, an even number of tracks 8 are arranged symmetrically on the side of the bottom of the main body, and a plurality of servo motors 6 are arranged symmetrically on the bottom of the main body and are connected to drive the tracks 8; the controller 13 controls the tracks 8 to move forward, backward and turn through the servo motor 6.

[0041] Specifically, as shown in Figure 1 two tracks 8 and two servo motors 6, the two servo motors 6 have the same speed and the same turning direction, and move linearly forward or backward; the two servo motors 6 have different speeds and the same turning direction, and move linearly forward or backward.

[0042] Further, the track walking mechanism further includes a track driving wheel 9 and a track driven wheel 7, the servo motor 6 drives the track driving wheel 9 to rotate, thereby driving a plurality of track driven wheels 7 to rotate, achieving the purpose of walking.

[0043] The operation and maintenance robot of the present application adopts a track walking mechanism, the track walking mechanism includes a servo motor 6 and a track 8, the servo motor 6 drives the track 8 to walk, and the track walking mechanism can improve the friction compared with the traditional roller walking mechanism, which can improve the cleaning ability during walking.

[0044] Further, in an embodiment, each rotor mechanism includes a wing support 3, a flight motor 2 and a rotor body 1, and the flight motor 2 is a small motor.

[0045] One end of the wing support 3 is fixed to the main body, and the bottom surface of the flight motor 2 is fixed to the other end of the wing support 3. The rotor body 1 is installed on the top surface of the flight motor 2.

[0046] The controller 13 is used to control the power supply or power-off of the flight motor 2 by the power battery 11, thereby realizing the synchronous rotation or synchronous stop of all rotor mechanisms, and is also used to control the speed of all flight motors 2, and the speed of the four flight motors 2 is generally the same.

[0047] The operation and maintenance robot of the application, the rotor mechanism includes a wing support 3, a flight motor 2 and a rotor body 1, the controller 13 can be used to control the power battery 11 to supply power or cut off power to the flight motor 2, thereby realizing the synchronous rotation or synchronous stop of all rotor mechanisms, and also can be used to control the rotating speed of all flight motors 2, generally the rotating speed of four flight motors 2 is the same, realizing the flight across the roof operation, improving the operation and maintenance management area of the operation and maintenance robot, and improving the area of the photovoltaic power station.

[0048] Further, in an embodiment, the body main body comprises a chassis 10, a battery support 12 and a center cover 14 arranged in sequence from bottom to top.

[0049] The power battery 11 is arranged in the battery support 12, the battery support 12 reserves a charging interface, and charging can be performed. The bottom of the center cover 14 has a plurality of column feet, the center cover 14 is supported and fixed on the top surface of the battery support 12 through the plurality of column feet, and the center cover 14 covers the top surface of the battery support 12 and accommodates the controller 13.

[0050] Preferably, the plurality of column feet are arranged along the center symmetry.

[0051] Further, in an embodiment, the operation and maintenance robot further comprises a radar 18 and a pair of above probe lights 16, the radar 18 is arranged at the center of the top surface of the center cover 14, the radar 18 can be positioned and can be used to assist in controlling the shape and flight route planning of the operation and maintenance robot. A pair of above probe lights 16 are symmetrically installed on both sides of the body main body.

[0052] The controller 13 is signal connected to the radar 18 and all cameras 15, and the controller 13 controls the power battery 11 to power on or power off all probe lights 16, and controls the probe lights 16 to open or close the illumination.

[0053] Preferably, the body main body is a rectangular parallelepiped, the cross sections of the chassis 10, the battery support 12 and the center cover 14 are all rectangular. The shape mechanism is installed on the chassis 10. Preferably, the camera has four, the four cameras 15 are symmetrically installed around the center cover 14 (i.e. four side surfaces). A pair of above probe lights 16 are symmetrically installed on the front and rear side surfaces of the center cover 14.

[0054] Preferably, there are four probe lights 16, two are arranged on the front side surface of the center cover 14, and two are arranged on the rear side surface of the center cover 14.

[0055] The operation and maintenance robot of the application, the probe light 16 illuminates, providing a bright environment for the camera 15; the radar 18 and the camera 15 detect the surrounding environment, and then control the forward movement, the backward movement and the turning of the operation and maintenance robot through the algorithm of the controller 13; the camera 15 is also used for taking pictures to analyze whether there is foreign matter when detecting the hot spot in infrared, and the detection accuracy is improved after cleaning when there is foreign matter.

[0056] Further, in an embodiment, the operation and maintenance robot further comprises a fire extinguishing bottle 20 fixed to the main body of the machine body, the fire extinguishing bottle 20 has a fire extinguishing electronic valve 21 at the front end, the fire extinguishing electronic valve 21 is connected to a fire extinguishing pipe 22, and the fire extinguishing pipe 22 is connected to a fire extinguishing nozzle 23 fixed to the top of the main body of the machine body. The controller 13 is connected to and controls the fire extinguishing electronic valve 21.

[0057] In the actual operation and maintenance process of the operation and maintenance robot of the present application, if a fire is detected, the controller 13 can control the fire extinguishing electronic valve 21 to open, and the fire extinguishing agent of the fire extinguishing bottle 20 can be continuously sprayed out through the fire extinguishing nozzle 23 to achieve the purpose of extinguishing the fire.

[0058] Preferably, the number of fire extinguishing bottles 20 is two, and they are symmetrically arranged to balance each other.

[0059] Further, the operation and maintenance robot is also provided with an acceleration sensor connected to the controller 13. An anti-falling air cushion 24 is arranged at the bottom of the main body of the machine body and between the gaps of the walking mechanism.

[0060] The inside of the anti-falling air cushion 24 is provided with an ignition device and a reaction pile, and the ignition device is connected to the controller 13.

[0061] When the acceleration obtained by the controller 13 from the acceleration sensor is greater than a set threshold value, the controller 13 transmits a signal to the ignition device, the ignition device ignites the reaction pile, the reaction pile explodes to generate a large amount of gas, and the anti-falling air cushion 24 bursts.

[0062] Preferably, the acceleration sensor is fixed to the main body of the machine body, and if one acceleration sensor is arranged, another fixed block with the same weight is arranged for balance. The fixed block and the acceleration sensor are symmetrically arranged with the center of the main body of the machine body.

[0063] Preferably, the set threshold value is 0.5g, and g is the acceleration of gravity.

[0064] Specifically, the principle of the ignition device and the reaction pile of the present application is similar to that of the safety airbag of a vehicle, adopts the explosion principle, and can realize inflation and anti-falling before falling.

[0065] The operation and maintenance robot of the application, when the acceleration obtained by the controller 13 from the acceleration sensor is greater than the set threshold value, the controller 13 transmits a signal to the ignition device, the ignition device ignites the reactor, the reactor explodes to produce a large amount of gas, the anti-falling air cushion 24 bursts open, and the anti-falling air cushion 24 can be inflated instantaneously. The anti-falling air cushion 24 is inflated and pops out, and in a very short time, the anti-falling air cushion 24 partially or completely surrounds the operation and maintenance robot. The inflated anti-falling air cushion 24 not only reduces the falling speed, but also reduces the impact of landing with the anti-falling air cushion 24, thereby reducing the damage of the operation and maintenance robot landing on the ground objects or personnel, or avoiding damaging the photovoltaic panel when falling on the roof, causing damage to the power station, and at the same time greatly protecting the damage of the robot itself.

[0066] In a second aspect, an embodiment of an operation and maintenance system is disclosed, which comprises a remote background control center, the operation and maintenance robot and a plurality of charging piles.

[0067] The remote background control center is used for remote communication with the operation and maintenance robot.

[0068] The plurality of charging piles are arranged at different positions of the photovoltaic power station, so as to facilitate the operation and maintenance robot to charge in time.

[0069] The controller 13 of the operation and maintenance robot is signal connected to the remote background control center. When the controller 13 detects that the power of the power battery 11 decreases to a set power value, the operation and maintenance robot stops cleaning and detecting work, the controller 13 sends a power shortage signal to the remote background control center, the remote background control center finds the nearest charging pile from the position of the operation and maintenance robot, and controls the operation and maintenance robot to fly or walk to the nearest charging pile for charging.

[0070] Specifically, the plurality of charging piles form a charging pile network, and the set power value can ensure that the flight or walking distance of the operation and maintenance robot is greater than the distance between two charging piles, thereby ensuring that the operation and maintenance robot will not run out of power and be unable to move.

[0071] Further, if it is detected that the power is insufficient halfway, the operation and maintenance robot will continue to return to the original position after charging and work. After all the detection is completed, the operation and maintenance robot will return to the most advanced charging bin for charging and standby.

[0072] Specifically, the photovoltaic power station will be inspected according to a set period during use.

[0073] The operation and maintenance system of the application comprises a remote background control center, an operation and maintenance robot and a plurality of charging piles. The operation and maintenance robot needs to detect a set area of a photovoltaic power station each time. The set area of the photovoltaic power station can comprise a plurality of roofs with different heights. During the detection process, when the controller 13 detects that the power of the power battery 11 decreases to a set power value, the operation and maintenance robot stops cleaning and detection work, the controller 13 sends a power shortage signal to the remote background control center, the remote background control center finds the nearest charging pile from the position of the operation and maintenance robot, and controls the operation and maintenance robot to fly or walk to the nearest charging pile for charging. After the charging is completed, the operation and maintenance robot returns to the original position to continue the detection until the detection of the set area is completed. The operation and maintenance system of the application solves the problem of moving the operation and maintenance robot from one roof to another roof by good flight capability, greatly improves the moving performance and working efficiency of the operation and maintenance robot, and realizes the on-site unattended operation of the operation and maintenance robot by using the remote background control center to control the operation and maintenance robot through a wireless network, thereby greatly saving the labor cost and labor.

[0074] In a third aspect, an embodiment of an operation and maintenance method based on the operation and maintenance robot is disclosed. The operation and maintenance robot comprises two front and rear infrared devices 17. The operation and maintenance method comprises the following steps: The front infrared device 17 first detects the hot spot of the photovoltaic panel assembly before cleaning. If there is no hot spot, the operation and maintenance robot continues to move and detect. If there is a hot spot, the next step is to: The controller 13 receives the image of the camera 15 and analyzes whether there is foreign matter at the position of the hot spot. If there is no foreign matter, the next step is to: if there is foreign matter, the controller 13 controls the brush lifting motor 19 to expand the brush support 4 in the folded state through the gear assembly and clean the foreign matter with the brush body 5. The next step is to: The rear infrared device 17 detects the original position of the hot spot again. If the hot spot still exists, the maintenance alarm information is sent to the background.

[0075] Specifically, if the hot spot still exists after the rear infrared device 17 detects again after cleaning, it means that the hot spot is not caused by foreign matter but by hidden cracks.

[0076] Specifically, while sending the maintenance alarm information to the background, a work order is also automatically created to match the corresponding operation and maintenance personnel for processing. Then the operation and maintenance robot continues the cleaning and operation and maintenance work.

[0077] The operation and maintenance method of the operation and maintenance robot of the application embeds a cleaning step in the detection process. Each time a hot spot is found, rigorous re-verification is performed. After the foreign matter is removed, the hot spot is detected again, which can greatly improve the accuracy of hot spot identification of the photovoltaic panel assembly and solve the problem of inaccurate detection.

[0078] Further, regarding the operation and maintenance method, in an embodiment, the operation and maintenance robot further comprises a fire extinguishing bottle 20 fixed to the main body of the robot body, the front end of the fire extinguishing bottle 20 is provided with a fire extinguishing electronic valve 21, the fire extinguishing electronic valve 21 is connected with a fire extinguishing pipe 22, and the fire extinguishing pipe 22 is connected with a fire extinguishing nozzle 23 fixed to the top of the main body of the robot body. The controller 13 is connected with and controls the fire extinguishing electronic valve 21. During the inspection process of the operation and maintenance robot, if a fire occurs in the photovoltaic panel assembly, the inverter or the cable is suddenly detected, after the operation and maintenance robot issues an alarm and operates the power station to stop working, the operation and maintenance robot will automatically adjust the position away from the fire source, and according to the control signal generated after the infrared and visible light camera processing, the direction of the fire extinguishing nozzle 23 is adjusted to the root of the fire source. Then, the action signal is transmitted to the fire extinguishing electronic valve 21 to open, and the fire extinguishing medium is continuously sprayed out to achieve automatic fire extinguishing, so as to extinguish the fire at the initial stage and avoid serious consequences caused by the fire, thereby further greatly improving the safety of the power station.

[0079] After the fire extinguishing bottle 20 is used once, it will automatically send a warning to the background to remind the operation and maintenance personnel to replace a new fire extinguishing bottle 20 in time. The fire extinguishing electronic valve 21 can also automatically detect the pressure in the fire extinguishing bottle. If it is detected that the pressure is too low and exceeds the warning value, it will also send an alarm to the background to remind the operation and maintenance personnel to replace a new fire extinguishing bottle 20 in time. If only the initial fire source is detected and the alarm is sent to the monitoring background and the operation and maintenance personnel, and the operation and maintenance personnel wait on the scene to extinguish the fire, there will be a high probability of missing the best opportunity to extinguish the fire, causing serious consequences and losses. The fire extinguishing bottle 20 and related parts can extinguish the fire at the initial stage, thereby improving the safety of the photovoltaic power station.

[0080] Further, regarding the operation and maintenance method, in an embodiment, the infrared device 17 also detects the temperature of the surrounding electrical devices, cable joint parts and internal cables of the bridge during the hot spot detection. The operation and maintenance method further comprises: If the infrared device 17 detects that the detected temperature of a certain electrical device or cable position is greater than the alarm temperature threshold, the maintenance alarm information is directly sent to the background. If the detected temperature is greater than or equal to the pre-alarm temperature threshold and less than the alarm temperature threshold, the operation and maintenance robot will automatically stop cleaning and move to the vicinity of the temperature anomaly. The temperature is detected more than three times at a set time interval. If the temperature anomaly disappears, it is ended. If the detected temperature exceeds the alarm temperature threshold at any time, the controller 13 sends the maintenance alarm information to the background and sends the instruction to shut down the power station to the inverter, and the inverter pauses the work to ensure that serious fire and other consequences will not occur. If the temperature continues to be greater than or equal to the pre-alarm temperature threshold and less than the alarm temperature threshold, or the temperature is increasing, the controller 13 sends the maintenance alarm information to the background. Specifically, the pre-alarm temperature threshold is less than the alarm temperature threshold.

[0081] Specifically, the hot spot detection of the photovoltaic panel assembly, and the temperature detection of the electrical device, the cable joint part, and the internal cable of the bridge are performed simultaneously.

[0082] The operation and maintenance method of the operation and maintenance robot of the present application is based on the hot spot identification of the photovoltaic panel assembly, and also performs temperature detection on the electrical device, the cable joint part, and the internal cable of the bridge. At any moment, if it is found that the detected temperature is greater than the alarm temperature threshold, the controller 13 sends a maintenance alarm information to the background, and sends an instruction to shut down the power station to the inverter, and the inverter suspends work to ensure that serious fire and other consequences will not occur. If the detected temperature is greater than or equal to the pre-alarm temperature threshold and less than the alarm temperature threshold, it is in a state with hidden dangers. The operation and maintenance robot will automatically stop cleaning and move to the vicinity of the temperature anomaly, and perform temperature detection more than three times at a set time interval. If the temperature anomaly disappears, it is ended. If the temperature of more than three times is greater than or equal to the pre-alarm temperature threshold and less than the alarm temperature threshold, or the temperature is increasing, it means that it is still in the situation of fire hidden danger. Similarly, the controller 13 sends a maintenance alarm information to the background. The operation and maintenance method of the operation and maintenance robot of the present application immediately alarms for serious hidden dangers (the detected temperature is greater than the alarm temperature threshold), and repeatedly verifies and strictly judges whether to alarm for slight hidden dangers (the detected temperature is greater than or equal to the pre-alarm temperature threshold and less than the alarm temperature threshold), which greatly improves the alarm accuracy and the probability of eliminating hidden dangers.

[0083] In the description of the present application, it should be noted that the orientation or position relationship indicated by the terms "upper", "lower" and the like is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. Unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral connection; it can be mechanical connection, or electrical connection; it can be direct connection, or indirect connection through an intermediate medium, or internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0084] It should be noted that, in the present application, the relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another, without necessarily requiring or implying any actual relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0085] The foregoing is merely illustrative of the principles of the application and various modifications can be made by those skilled in the art without departing from the spirit and scope of the application. The above embodiments are illustrative, and not restrictive, of the scope of the application.

Claims

1. An operation and maintenance robot for an amphibious photovoltaic power station, comprising an infrared device (17), a main body and a walking mechanism, characterized in that: The controller (13) and the power battery (11) are arranged in the fuselage body, and the operation and maintenance robot further comprises: A plurality of rotor mechanisms are symmetrically arranged around the fuselage body; Two rolling brush mechanisms are symmetrically arranged front and back, each of which comprises a rolling brush support (4), a rolling brush body (5) and a rolling brush lifting motor (19), one end of the rolling brush support (4) is swingably connected to the fuselage body, and the rolling brush body (5) is arranged at the other end of the rolling brush support (4); An even number of signal connection controllers (13) are symmetrically arranged around the fuselage body. The controller (13) is used for controlling the power supply or power cut of the power battery (11) to the rotor mechanism and the rolling brush lifting motor (19), and is also used for controlling the rolling brush lifting motor (19) to expand the rolling brush support (4) through a gear assembly and clean the rolling brush body (5) when the infrared device (17) detects that a hot spot appears on the surface of the photovoltaic panel assembly and the camera (15) takes a picture to analyze that there is foreign matter shielding.

2. The operation and maintenance robot of the amphibious photovoltaic power station according to claim 1, characterized in that: The track walking mechanism comprises a plurality of track belts (8) and a plurality of servo motors (6), the plurality of track belts (8) are symmetrically arranged on the bottom side of the fuselage body, and the plurality of servo motors (6) are symmetrically arranged on the bottom of the fuselage body and drive the track belts (8) one by one; the controller (13) controls the track belts (8) to walk through the servo motors (6).

3. The operation and maintenance robot of the amphibious photovoltaic power station according to claim 1, characterized in that, Each rotor mechanism comprises: A wing support (3) fixed to one end of the fuselage body; A flight motor (2) fixed to the other end of the wing support (3); A rotor body (1) mounted on the top surface of the flight motor (2); The controller (13) is used for controlling the power supply or power cut of the power battery (11) to the flight motor (2), and is also used for controlling the rotating speed of the flight motor (2).

4. The operation and maintenance robot of the amphibious photovoltaic power station according to claim 1, characterized in that, The fuselage body comprises a chassis (10), a battery support (12) and a central cover (14) arranged in sequence from bottom to top; the power battery (11) is arranged in the battery support (12), the battery support (12) is provided with a charging interface; the bottom of the central cover (14) is provided with a plurality of column feet, and the central cover (14) is supported and fixed on the top surface of the battery support (12) through the plurality of column feet and accommodates the controller (13).

5. The operation and maintenance robot of the land-air amphibious photovoltaic power station according to claim 1, wherein: The operation and maintenance robot further comprises a radar (18) and a pair of more than one searchlight (16), the radar (18) is arranged on the central cover (14) top surface center; a pair of more than one searchlight (16) is symmetrically installed on both sides of the fuselage body; the controller (13) is signal connected to the radar (18), and the controller (13) controls the power supply or power cut of the power battery (11) to all searchlights (16).

6. The operation and maintenance robot of the amphibious photovoltaic power station according to claim 1, characterized in that, The operation and maintenance robot further comprises a fire extinguishing bottle (20) fixed to the main body of the machine body, the front end of the fire extinguishing bottle (20) is provided with a fire extinguishing electronic valve (21), the fire extinguishing electronic valve (21) is connected with a fire extinguishing pipe (22), the fire extinguishing pipe (22) is connected with a fire extinguishing nozzle (23) fixed to the top of the main body of the machine body; the controller (13) is connected with and controls the fire extinguishing electronic valve (21).

7. The operation and maintenance robot of the amphibious photovoltaic power station according to claim 1, characterized in that: The operation and maintenance robot is further provided with an acceleration sensor; an anti-falling air cushion (24) is arranged between the bottom of the main body of the machine body and the gap of the walking mechanism; the inside of the anti-falling air cushion (24) is provided with an ignition device and a reaction pile; the ignition device and the acceleration sensor are both signal connected to the controller (13); When the acceleration obtained by the controller (13) from the acceleration sensor is greater than a set threshold value, the controller (13) transmits a signal to the ignition device, the ignition device ignites the reaction pile, the reaction pile explodes to generate a large amount of gas, and the anti-falling air cushion (24) bursts.

8. An operation and maintenance system, characterized by Comprise: A remote background control center; A plurality of charging piles distributed at various places of the photovoltaic power station; The controller (13) of the operation and maintenance robot of any one of claims 1-7 is signal connected to the remote background control center; when the controller (13) detects that the power of the power battery (11) decreases to a set power value, the operation and maintenance robot stops cleaning and detecting work, the remote background control center finds the nearest charging pile from the position of the operation and maintenance robot, and controls the operation and maintenance robot to fly or walk to the nearest charging pile for charging.

9. An operation and maintenance method based on the operation and maintenance robot of claim 1, characterized in that, The operation and maintenance robot comprises two infrared devices (17) on the front side and the back side, and the operation and maintenance method comprises the following steps: The front side infrared device (17) first detects hot spots on the photovoltaic panel assembly before cleaning; if there is no hot spot, continue to drive and detect; if there is a hot spot, record it and proceed to the next step; The controller (13) receives the image of the camera (15) and analyzes whether there is foreign matter at the position of the hot spot; if not, proceed to the next step; if yes, the controller (13) controls the brush lifting motor (19) to expand the brush support (4) in the folded state through the gear assembly and clean the foreign matter with the brush body (5), and proceed to the next step; The back side infrared device (17) detects the original position of the hot spot again; if the hot spot still exists, send a maintenance alarm information to the background.

10. The operation method of the operation robot according to claim 9, wherein In the operation and maintenance method, the infrared device (17) also detects the temperature of the electrical device, the cable joint part and the internal cable of the bridge during the hot spot detection, and the operation and maintenance method further comprises: If the infrared device (17) detects that the detected temperature of a certain electrical device or cable position is greater than the alarm temperature threshold value, directly send a maintenance alarm information to the background; if the detected temperature is greater than or equal to the pre-alarm temperature threshold value and less than the alarm temperature threshold value, the operation and maintenance robot will automatically stop cleaning and move to the vicinity of the temperature anomaly. More than three times of temperature detection is carried out at set time intervals, if the temperature anomaly disappears, the process is ended; if the temperature of any detection exceeds the alarm temperature threshold, the maintenance alarm information is sent to the background, and the instruction of cutting off the power station is sent to the inverter, and the inverter suspends work; if the temperature of more than three times is greater than or equal to the pre-alarm temperature threshold and less than the alarm temperature threshold, or the temperature increases each time relative to the last time, the maintenance alarm information is sent to the background.

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