CN112556693A

CN112556693A - Navigation method and device for operation and maintenance path of photovoltaic power station

Info

Publication number: CN112556693A
Application number: CN201910911551.6A
Authority: CN
Inventors: 王达
Original assignee: Beijing Etechwin Electric Co Ltd
Current assignee: Beijing Etechwin Electric Co Ltd
Priority date: 2019-09-25
Filing date: 2019-09-25
Publication date: 2021-03-26
Anticipated expiration: 2039-09-25
Also published as: CN112556693B

Abstract

The present invention provides a method and device for navigating an operation and maintenance path of a photovoltaic power station. The navigation method includes: constructing an operation and maintenance path map of a photovoltaic power station, wherein the operation and maintenance path map includes a plurality of traffic sections and the location of each traffic section. access restriction capability; obtain the operation and maintenance tasks to be processed, and determine the access requirements of the acquired operation and maintenance tasks to be processed; The optimal operation and maintenance path for executing the to-be-processed operation and maintenance task. Using the operation and maintenance path planned by the method and device for navigating an operation and maintenance path of a photovoltaic power station according to the exemplary embodiment of the present invention can enable the operation and maintenance personnel to pass through the photovoltaic power station factory area smoothly, and reduce the safety risk of the operation and maintenance personnel passing through the photovoltaic power station factory area. .

Description

Navigation method and device for operation and maintenance path of photovoltaic power station

Technical Field

The present invention relates to the field of photovoltaic power station operation and maintenance technologies, and in particular, to a method and an apparatus for navigating an operation and maintenance path of a photovoltaic power station.

Background

The operation and maintenance (hereinafter referred to as operation and maintenance) of the photovoltaic power station becomes a main consideration of photovoltaic power station owners and professional operation and maintenance companies, and two major core targets of ensuring the power generation amount and reducing the operation and maintenance cost are provided. With the number of photovoltaic power station owners and professional operation and maintenance companies managing more and more power stations, operation and maintenance work of the power stations becomes more complicated.

The operation and maintenance work of the photovoltaic power station generally comprises regular inspection of all equipment and facilities, troubleshooting and disposal of fault reasons such as abnormal generated energy and the like, maintenance and replacement of components and other equipment, dust removal and cleaning of photovoltaic components, cabinets and the like. Although the equipment used by the photovoltaic power station only comprises a photovoltaic component, a combiner box, an inverter, a transformer, an environment acquisition instrument and the like in terms of hardware principle, the area occupied by the plant area of the photovoltaic power station is large, the layout is complex, and the number of the equipment used by the photovoltaic power station is large. For example, in a 6MW (megawatt) photovoltaic power station, the number of devices such as photovoltaic modules, combiner boxes, inverters, box transformers, etc. is about 2 ten thousand. Operation and maintenance personnel walk in a large-area photovoltaic power station plant area, not only can quickly reach an appointed position, but also pay attention to various safety regulations, and electric power system accidents or personal hazards caused by the fact that the operation and maintenance personnel mistakenly walk or mistakenly enter a dangerous area are prevented.

With the development and the level of the remote monitoring technology being improved continuously, more and more photovoltaic power stations adopt an operation mode of being unattended by less people or being unattended, namely, operation and maintenance personnel can remotely monitor the operation condition of the photovoltaic power stations most of the time and only enter a factory area of the photovoltaic power stations to carry out operation and maintenance work when needed. According to the management mode, only a small number of operation and maintenance personnel are familiar with the environment of the photovoltaic power station plant area, the newly-working operation and maintenance personnel can be familiar with the environment of the power station plant area within one day or even several days, and for the operation and maintenance tasks to be processed, a proper operation and maintenance path needs to be continuously explored, so that the operation and maintenance work has a greater safety risk, and the efficiency of the operation and maintenance work is also influenced.

At present, aiming at the above situation, the prior art provides a transformer substation operation and maintenance path planning navigation method based on Beidou positioning, which obtains the real-time position of a user through a Beidou positioning module, and cooperates with the optimal path calculated by the path planning module, thereby providing voice prompts for the user in four advancing directions of forward movement, backward movement, left turn and right turn, when 50 meters around the user exist in an electrified area or pass through the electrified area, the path navigation module sends out a voice warning prompt and guides the user to safely advance, thereby solving the problems of electric power system accidents and personal accidents caused by the transformer substation operation and maintenance personnel mistakenly entering the electrified area and walking at wrong intervals.

Although the necessity of planning the working path of operation and maintenance personnel in the operation and maintenance work of the power station has been noted in the prior publications, the prior methods have not been proposed for photovoltaic power stations. The photovoltaic power station is mostly built in open-air open areas such as barren mountains and slopes, or roofs of factory buildings or residential buildings in industrial parks, so that the problem of planning the operation and maintenance paths of the photovoltaic power station is difficult to obtain a satisfactory result by applying the conventional method. For example, the prior art does not consider the problem of planning an operation and maintenance path in a three-dimensional space, and also does not comprehensively consider the problem of traffic safety of the operation and maintenance path, and the problem of different operation and maintenance path traffic restrictions under different operation and maintenance tasks.

Disclosure of Invention

An object of an exemplary embodiment of the present invention is to provide a method and an apparatus for navigating an operation and maintenance path of a photovoltaic power station, so as to overcome at least one of the above-mentioned drawbacks.

In one general aspect, there is provided a navigation method for an operation and maintenance path of a photovoltaic power station, the navigation method including: constructing an operation and maintenance path diagram of the photovoltaic power station, wherein the operation and maintenance path diagram comprises a plurality of passing road sections and passing limiting capacity of each passing road section; acquiring an operation and maintenance task to be processed, and determining the passing requirement of the acquired operation and maintenance task to be processed; and selecting a passing road section with passing limiting capacity meeting the passing requirement from the operation and maintenance path diagram to determine an optimal operation and maintenance path for executing the operation and maintenance task to be processed.

In another general aspect, there is provided a navigation device for an operation and maintenance path of a photovoltaic power station, the navigation device comprising: the system comprises a path map construction module and a control module, wherein the path map construction module is used for constructing an operation and maintenance path map of the photovoltaic power station, and the operation and maintenance path map comprises a plurality of passing road sections and passing limit capacity of each passing road section; the operation and maintenance task acquisition module is used for acquiring the operation and maintenance task to be processed and determining the passing requirement of the acquired operation and maintenance task to be processed; and the optimal path determining module is used for selecting a passing road section with passing limiting capacity meeting the passing requirement from the operation and maintenance path map so as to determine an optimal operation and maintenance path for executing the operation and maintenance task to be processed.

In another general aspect, there is provided a controller comprising: a processor; an input/output interface; the storage is used for storing a computer program, and the computer program realizes the navigation method of the operation and maintenance path of the photovoltaic power station when being executed by the processor.

In another general aspect, there is provided a portable electronic terminal including the controller described above.

In another general aspect, there is provided a computer readable storage medium having stored thereon a computer program which, when being executed by a processor, implements the above-mentioned method for navigating an operation and maintenance path of a photovoltaic power plant.

By adopting the operation and maintenance path planned by the navigation method and the navigation device for the operation and maintenance path of the photovoltaic power station, the operation and maintenance personnel can smoothly pass through the factory area of the photovoltaic power station, and the safety risk of the operation and maintenance personnel passing through the factory area of the photovoltaic power station is reduced.

Drawings

The above and other objects and features of the present invention will become more apparent from the following description taken in conjunction with the accompanying drawings, in which:

fig. 1 shows a flow chart of a navigation method of an operation and maintenance path of a photovoltaic power plant according to an exemplary embodiment of the present invention;

FIG. 2 illustrates an example diagram of an operation and maintenance path diagram for a photovoltaic power plant in accordance with an example embodiment of the invention;

FIG. 3 illustrates an exemplary diagram of a singly linked list of any node in accordance with an exemplary embodiment of the invention;

FIG. 4 illustrates a first example diagram of a restricted subgraph of an operation and maintenance path graph in accordance with an exemplary embodiment of the invention;

FIG. 5 illustrates a second example diagram of a restricted subgraph of an operation and maintenance path graph in accordance with an exemplary embodiment of the invention;

FIG. 6 shows a flowchart of the steps of determining the throughput and load carrying capacity of any traffic segment according to an exemplary embodiment of the present invention;

FIG. 7 is a flowchart illustrating the steps of determining an optimal operation and maintenance path for a plurality of point task instances in accordance with an exemplary embodiment of the present invention;

FIG. 8 illustrates a block diagram of a navigation device for a photovoltaic power plant operation and maintenance path, according to an exemplary embodiment of the present invention;

FIG. 9 illustrates a block diagram of an optimal path determination module according to an exemplary embodiment of the present invention;

fig. 10 illustrates a block diagram of a controller according to an exemplary embodiment of the present invention.

Detailed Description

Various example embodiments will now be described more fully with reference to the accompanying drawings, in which some example embodiments are shown.

With the development of remote monitoring technology, photovoltaic power station owners or professional operation and maintenance companies can remotely monitor and manage a plurality of photovoltaic power stations distributed in various regions. However, as the number of monitored and managed photovoltaic power stations increases and newly-enrolled personnel join, the familiarity of operation and maintenance personnel with each photovoltaic power station gradually decreases. Especially, for the situation that the photovoltaic power station is built in a residential building or a roof of a factory building and other complex areas, operation and maintenance personnel are unfamiliar with the factory area of the photovoltaic power station, so that the working efficiency can be influenced, and certain potential safety hazards exist.

Considering the limitation of layout terrain and buildings in the photovoltaic power station, the particularity of operation and maintenance path planning is mainly embodied in the following aspects:

first, the existing method does not consider the operation and maintenance path planning problem of the three-dimensional space.

The photovoltaic power station has the characteristic of no regional limitation, and can fully utilize various open sunny surfaces, such as barren hills and barren slopes or building roofs, which brings certain difficulty to the operation and maintenance personnel of the photovoltaic power station. When arriving at a certain operation and maintenance site, the operation and maintenance personnel may not only need to climb the slope and cross the threshold, but also need to climb the roof and even cross a plurality of obstacles. Therefore, the planning of the operation and maintenance path of the photovoltaic power station is absolutely not to simply select the passing path between two points on the plane diagram, but to select the passing path meeting various constraints in a complex three-dimensional space.

Second, the existing methods do not fully consider the traffic safety problem of the operation and maintenance path.

In the operation and maintenance path planning navigation method developed based on the Beidou positioning technology, all electrified dangerous areas are highlighted in an electronic map, and operation and maintenance personnel are guided to quickly, safely and accurately reach the position of fault equipment, so that the problems that the operation and maintenance personnel of a transformer substation go wrong at intervals and mistakenly enter the electrified areas are solved. However, the situation of photovoltaic power plants is sometimes very complex, and the operation and maintenance path may not only cross dense obstacles, but also be close to the top of a building or the edge of a skylight. Therefore, when planning the operation and maintenance path of the photovoltaic power station, the safety problem of the operation and maintenance path must be considered comprehensively, and not only the risk of electric shock of the operation and maintenance personnel is avoided, but also other safety risks such as scratching and falling from a high place of the operation and maintenance personnel in a narrow passageway are considered.

Thirdly, the existing method does not consider the problem that the traffic restrictions of the operation and maintenance paths under different operation and maintenance tasks are different.

The operation and maintenance personnel walk in the photovoltaic power station, and the executed operation and maintenance tasks can be routine and regular inspection tour and can also be maintenance and reconstruction. When routine inspection is carried out, the operation and maintenance personnel only need to take a small number of tools and even have no special carrying objects, and when maintenance and reconstruction work is carried out, the operation and maintenance personnel need to transport equipment or spare parts with certain size and weight to a task execution site of the operation and maintenance task together. Taking a photovoltaic module for directly providing solar energy to convert into electric energy as an example, a conventional photovoltaic module has a size of 1 m × 1.6 m, and consists of 60 cells, and the weight of the conventional photovoltaic module is about 18.2 kg. When the operation and maintenance personnel carry the photovoltaic module to reach the task execution site, the passing space of the operation and maintenance personnel on the road section and whether the operation and maintenance personnel and articles can bear the weight of the operation and maintenance personnel and the articles must be considered. The operation and maintenance personnel and the articles are too large or heavy, so that the operation and maintenance personnel and the articles are difficult to pass through and have inevitable safety risks.

In the exemplary embodiment of the invention, aiming at the above situation, a navigation method for a photovoltaic power station operation and maintenance path is provided, which can prompt an operation and maintenance worker to smoothly pass through a corresponding road section under the condition that the operation and maintenance worker does not carry articles or carries articles, and can minimize the safety risk of the operation and maintenance worker.

Fig. 1 shows a flowchart of a navigation method of an operation and maintenance path of a photovoltaic power plant according to an exemplary embodiment of the present invention.

Referring to fig. 1, in step S10, an operation and maintenance path diagram of the photovoltaic power plant is constructed.

Here, the set of working paths that allow operation and maintenance personnel to pass through in the plant area of the photovoltaic power station can be mathematically represented by a graph, that is, the operation and maintenance path graph of the photovoltaic power station is obtained.

The constructed operation and maintenance path diagram comprises a plurality of passing road sections and the passing limit capacity of each passing road section. As an example, the operation and maintenance path graph may include properties for a set of nodes, a set of edges, and edges.

For example, each node in the node set may be a location where each device included in the photovoltaic power station is located, two nodes where a passing section exists are connected by an edge, and when the locations where the two devices are located are connected by an edge, it indicates that a passable section exists between the locations where the two devices connected by the edge are located, and the attribute of the edge may indicate a passage limitation capability of the passing section corresponding to the edge.

As an example, the traffic restriction capability provided by each traffic segment may include, but is not limited to, the throughput capability of the traffic segment and the load-bearing capability of the traffic segment.

The throughput capacity of a traffic section is used to describe the capacity of the traffic section to allow people and/or goods to pass through spatially. For example, the passing capacity of a certain passing section on the operation and maintenance road map can represent the passing grade of the space passing capacity of the passing section, and can be represented by λ.

The space passing capacity can indicate whether the passing road section meets the passing requirement of a single operation and maintenance person or not, and can also indicate whether the passing road section meets the passing requirement of the operation and maintenance person carrying spare parts, spare parts and/or tools or not. For photovoltaic power stations, the factors influencing the space passing capacity of a passing road section mainly have two types: firstly, the space is narrow and small, secondly there is certain safe risk in the highway section of passing, therefore has certain requirement to the weight and the size of fortune dimension personnel and spare parts, spare parts and instrument.

The passing grade lambda of the passing road section space passing capacity can be obtained by adopting an experimental or comparative method. For example, the experimental method may refer to that the operation and maintenance personnel carry spare articles, spare parts and/or tools to a certain passing road section in person to measure the passing grade of the passing road section. The comparison method may refer to judging the passing level of the passing road section to be determined according to the space passing capacity of the similar articles or the similar road sections. As most devices in the photovoltaic power station are photovoltaic components, and more passing road sections with higher similarity exist among factory areas, the passing grades of a few passing road sections can be directly measured through an experimental method in practice, and the passing grades of most passing road sections can be indirectly obtained through a comparison method.

By way of example, the pass level λ may be represented by a non-negative integer. For example, a pass level λ of 1 may indicate that the transit section is only accessible to the operation and maintenance personnel alone. A passage level λ of 2 may indicate that the transportation and maintenance personnel can carry articles (such as a piece of photovoltaic module), and a passage level λ of 0 may indicate that the transportation and maintenance personnel cannot pass through the passage.

The carrying capacity of the traffic section is used to describe the capacity of the traffic section carrying capacity. For example, the carrying capacity of a certain traffic section on the operation and maintenance road map may represent the weight of the operation and maintenance personnel and/or articles that the traffic section is allowed to carry, that is, the carrying capacity of the traffic section may be represented by w.

The bearing capacity of the passing road section is an important index related to safety, and particularly when the photovoltaic power station is built on the roof of a factory building or a residential building, some special operation and maintenance passing road sections are easy to appear. These transportation and maintenance traffic routes may include ordinary stairways, roof access ladders, steel grilles, etc., which are dangerous in that the steel grilles may be underneath pools, ditches, or ventilation skylights, etc., which may affect normal production or cause personal injury to the transportation and maintenance personnel if people or goods fall.

The carrying capacity w of the passing road section can be obtained by adopting an experimental or comparative method. Here, unlike a method of testing the passing capacity of a passing road section, the experimental method of the bearing capacity needs to be performed in a safe area outside the real passing road section to avoid damage to the passing road section and damage to operation and maintenance personnel. In addition, it is preferable to consider reserving a sufficient safety margin when marking the load capacity of the traffic section, and periodically update the load capacity of the traffic section according to the service life and the damage degree of the traffic section, for example, gradually reducing the load capacity of the traffic section.

As an example, the carrying capacity w can adopt a non-negative real number to represent the weight which is allowed to be carried on a passing road section, and if the carrying capacity w of a certain passing road section is 0, the carrying capacity w represents that the passing road section forbids the operation and maintenance personnel to pass through.

In a preferred embodiment, the attributes of the edge may include the length of the traffic segment in addition to the throughput and load-bearing capacity of the traffic segment corresponding to the edge.

In the exemplary embodiment of the invention, the passing capacity, the carrying capacity and the length of each passing road section in the plant area of the photovoltaic power station can be determined in advance by the introduced manner, and the operation and maintenance path diagram of the photovoltaic power station is constructed based on the determined three parameters.

As an example, the operation and maintenance path graph G may be an undirected graph, which may be represented as: g ═ V, E, L, Λ, W, where V represents a set of nodes, E represents a set of edges, L, Λ, W indicate the attributes of the edges, L represents a set of lengths of the edges, Λ represents a set of throughput capabilities of the edges, W represents a set of capacities of the edges, and each element satisfies the following condition:

(1) ith node v_iE, V, i is larger than or equal to 1 and is smaller than or equal to m, V is equal to m, and m is the number of nodes in the node set V;

(2) the jth side e_jE is left to E, j is more than or equal to 1 and less than or equal to n, E is equal to n, and n is the number of edges in the edge set E;

(3) length l of jth side_j＝l(e_j)∈L，l_j＞0；

(4) Passing capability of jth side lambda_j＝λ(e_j)∈Λ，λ_j≥0；

(5) Bearing capacity w of jth edge_j＝w(e_j)∈W，w_j≥0。

In the exemplary embodiment of the invention, the operation and maintenance path diagram of the photovoltaic power station is defined as an undirected graph in consideration that operation and maintenance personnel can move in two directions on any passing road section of the plant area of the photovoltaic power station. Each edge in the operation and maintenance path diagram has three attributes, namely length, throughput and bearing capacity, and if a certain edge of the operation and maintenance path diagram is deleted, the length, throughput and bearing capacity associated with the certain edge are deleted.

It should be understood that, in the exemplary embodiment of the present invention, the operation and maintenance path diagram of the photovoltaic power plant is constructed based on the three attributes of the length of the edge, the grade and the carrying capacity, which is only a preferred example, the present invention is not limited thereto, and those skilled in the art may also increase or decrease the number of the attributes as needed.

In the operation and maintenance path diagram, if the passing capacity of a certain edge is not specified, the default value of λ is 0, which indicates that the passing road section does not allow the operation and maintenance personnel to pass through. If the bearing capacity of a certain edge is not specified, the default value of w is also 0, which also indicates that the passing road section does not allow the operation and maintenance personnel to pass through. Therefore, as long as one item in the length, the passing capacity and the bearing capacity of the edge is 0, the values of other items can automatically take 0 without influencing the calculation of the optimal operation and maintenance path.

Fig. 2 shows an example diagram of an operation and maintenance path diagram of a photovoltaic power plant according to an exemplary embodiment of the invention.

Fig. 2 shows an operation and maintenance path diagram of a local photovoltaic power station built on a roof of a factory building. The method comprises the steps of recording all passing road sections allowing operation and maintenance personnel to pass in a plant area of the photovoltaic power station in advance, determining the length, the passing capacity and the bearing capacity of each passing road section, and constructing an operation and maintenance path diagram of the photovoltaic power station based on the passing road sections.

As shown in fig. 2, the operation and maintenance path diagram has 10 nodes and 12 edges in total, and the attribute of each edge is expressed in the form of (length, level, and load). As an example, the type of the corresponding passing road section can be represented by the type of the edge in the operation and maintenance route graph, for example, the node 1 to the node 3 are connected by a dotted line to represent that the passing road section contains a roof access ladder vertical to the horizontal plane, the length of the passing road section is 10 meters, the passing grade is 1 grade, and the carrying capacity is 100 kilograms. The solid line connection of the traffic segments between node 2 and node 10 indicates that these traffic segments are all in the horizontal plane of the roof. The length of the traffic section between the node 2 and the node 3 is 15 meters, which is 10 meters longer than the length of the traffic section between the node 3 and the node 6, but the passing grade of the former is lower than that of the latter by one grade, and the carrying capacity is only half of that of the latter. Between the

nodes

4 and 7, a ventilating skylight is arranged, and operation and maintenance personnel obviously cannot pass through the skylight, so that the road section is not marked in the operation and maintenance path diagram. The steel grating and the junction box below the steel grating are damaged in the passing road section between the

nodes

5 and 8, and the operation and maintenance personnel are at risk of further damaging the steel grating and the junction box, so that the bearing capacity of the passing road section can be set to be 0 manually, and correspondingly, the length and the passing capacity of the passing road section can also be set to be 0.

The finite non-empty sequence composed of edges on the operation and maintenance path diagram G can be represented as (e)_i,…,e_k,e_k+1,…,e_q) If any two adjacent edges e_kAnd edge e_k+1If there is a common node, i is not less than k not more than q, then it is called (e)_i,…,e_k,e_k+1,…,e_q) The method is characterized in that the method is a passing path on an operation and maintenance path diagram G, the sum of the lengths of all edges in the passing path is called the length of the passing path, and the calculation formula is

If node v_iAnd v_qRespectively with edge e_iAnd e_qAssociation (i.e., node v)_iAnd v_qAre respectively an edge e_iAnd e_qAs an end point of the non-common node), is called (e)_i,…,e_k,e_k+1,…,e_q) For the slave node v on the operation and maintenance path diagram G_iTo node v_qA transit path of, node v_iTo node v_qThe transit path (v) may also be a sequence of nodes (v)_i,v_i+1,…,v_q) To indicate.

In exemplary embodiments of the present invention, edge e is not required_kUnlike other edges, that is, there may be repeated edges in the sequence of edges that make up different transit paths.The selection of the passing path of the photovoltaic power station aims at supporting operation and maintenance personnel to complete operation and maintenance tasks, for some operation and maintenance tasks (such as photovoltaic module cleaning), the walking distance of the operation and maintenance personnel is over emphasized, the convenience degree of executing the operation and maintenance tasks is ignored, and the operation and maintenance personnel are bound inversely, so that the passing path contains repeated edges which are more in line with the operation and maintenance requirements of the photovoltaic power station.

In a preferred embodiment, the operation and maintenance path diagram can be stored in the form of an adjacency list. The storage method combines sequential storage and chain storage, and has the characteristics of flexible representation and small storage space. It should be understood, however, that the present invention is not limited thereto, and the operation and maintenance path diagram may be stored in other data structure forms such as an adjacency matrix, an association matrix, and an arc table.

As an example, the adjacency list may include a plurality of singly linked lists respectively established for a plurality of nodes in the operation and maintenance path graph, for example, one singly linked list is established for one node in the operation and maintenance path graph G.

The composition of the singly linked list of any one of each node is described below in conjunction with fig. 3.

FIG. 3 illustrates an example diagram of a singly linked list of any one node in accordance with an example embodiment of the invention.

The singly linked list of any one of each node may include a table node, any node v_iCan be connected with any node v_iThe associated edges.

For example, a table node may include an adjacency point field (adjvex), a length field (length), a level field (level), a weight field (weight), and a first chain field (nextredge). The adjacency point domain is used for storing each node of a traffic section existing with any node in the operation and maintenance path diagram, the length domain is used for storing the length of the traffic section from any node to each node, the level domain is used for storing a traffic level indicating the passing capacity of the traffic section from any node to each node, the carrying capacity domain is used for storing the carrying capacity indicating the carrying capacity of the traffic section from any node to each node, and the first link domain is used for pointing to the next node of any node.

In addition, the adjacency list may further include a head node, and the head node may include a data field (data) for storing all nodes included in the operation and maintenance path graph and a second chain field (first) for pointing to a first table node in the single-linked list.

In the exemplary embodiment of the invention, a suitable mathematical model is established for the operation and maintenance path diagram of the photovoltaic power station, so that the mathematical model can be efficiently stored, and the search operation of the optimal operation and maintenance path on the operation and maintenance path diagram can be supported when a plurality of operation and maintenance tasks exist.

Returning to fig. 1, in step S20, the operation and maintenance task to be processed is acquired, and the traffic requirement of the acquired operation and maintenance task to be processed is determined.

In step S30, a traffic road segment with traffic restriction capacity meeting the traffic requirement of the operation and maintenance task to be processed is selected from the constructed operation and maintenance path map to determine an optimal operation and maintenance path for executing the operation and maintenance task to be processed.

In the exemplary embodiment of the present invention, after determining the optimal operation and maintenance path for executing the operation and maintenance task to be processed, the determined optimal operation and maintenance path may be recommended to the operation and maintenance personnel executing the operation and maintenance task to be processed, so that the operation and maintenance personnel process the operation and maintenance task to be processed based on the recommended optimal operation and maintenance path.

In one example, the traffic requirements of the operation and maintenance task to be processed may include the current location of the operation and maintenance personnel performing the operation and maintenance task to be processed and the task execution location of the operation and maintenance task to be processed.

In this case, the optimal operation and maintenance path for executing the operation and maintenance task to be processed may be determined as follows: and selecting a traffic road section with traffic restriction capacity meeting traffic requirements from the operation and maintenance path diagram to form a restricted subgraph of the operation and maintenance path diagram, and determining the shortest path from the current position of the operation and maintenance personnel to the task execution location of the operation and maintenance task to be processed in the restricted subgraph as the optimal operation and maintenance path.

Here, the restricted subgraph includes at least one traffic path from the current location of the operation and maintenance personnel to the task execution site of the operation and maintenance task to be processed. Because different passing road sections have different passing capacities and carrying capacities, the corresponding limited subgraphs of the operation and maintenance path graph are different according to the passing requirements of different operation and maintenance tasks.

Take the operation and maintenance path diagram G ═ V, E, L, Λ, W as an example, if there is one

And

indicating that the upper bound of the level lambda is passed,

representing the upper bound of the carrying capacity w, then the edge set E₁∩E₂And a graph H formed by the associated node set is called a limited subgraph of the operation and maintenance path graph G.

The operation and maintenance path diagram H ═ (V ', E ', L ', Λ ', W ') is a restricted subgraph of the operation and maintenance path diagram G ═ V, E, L, Λ, W, and there are node sets, edge sets, sets of lengths of edges, sets of throughput and sets of capacity

And

this is true.

The value range of the pass level λ (the passing capacity required by the operation and maintenance task for the passing road section) may be [0, + ∞ ], if the upper bound of the pass level is not specified

The upper bound may be defaulted

Value is ∞, at which time E₁Because E ═ E ≈ E₁＝E₁Then there is E₁∩E₂＝E∩E₂＝E₂. This indicates that when the restricted subgraph of the operation and maintenance path graph is solved, if the upper bound of the pass level is not specified, the upper bound of the pass level can be disregarded without affecting the result of the solving.

Upper bound for assigned pass level

If it is the case

I.e. for any edge its pass level is greater than the specified upper bound

At this time, the edge meeting the upper bound of the pass level designation cannot be found on the operation and maintenance path diagram. Thus, the operation and maintenance path graph G specifies an upper bound for the pass level

The restricted subgraph of (a) does not exist.

The value range of the carrying capacity w (carrying capacity required by the operation and maintenance task to the passing road section) can be [0, + ∞ ], if the upper bound of the carrying capacity is not specified

The upper bound may be defaulted

Value is ∞, at which time E₂Because E₂∩E＝E₂Thus having E₁∩E₂＝E₁∩E＝E₁. This indicates that when the restricted subgraph of the operation and maintenance path graph is solved, if the upper bound of the carrying capacity is not specified, the upper bound of the carrying capacity can be disregarded without affecting the solving result.

Upper bound for specified capacity

If it is the case

I.e. the carrying capacity is greater than the specified upper bound for any edge

At this time, the edge meeting the upper bound of the passing load capacity cannot be found on the operation and maintenance path diagram. Thus, the operation and maintenance path diagram G specifies an upper bound for the load capacity

The restricted subgraph of (a) does not exist.

And if the passing grade and the upper bound of the bearing capacity are not specified, the limited subgraph of the operation and maintenance path graph is the operation and maintenance path graph itself. In addition, if the operation and maintenance path diagram does not exist for the restricted subgraph passing through the upper bound of the grade or the carrying capacity, the restricted subgraph of the operation and maintenance path diagram does not exist.

Furthermore, the change of the traffic requirements of the operation and maintenance task to be processed can be taken into account, for example, the traffic path in the restricted subgraph may have different traffic requirements on different traffic road sections. For example, an operation and maintenance person performs a plurality of operation and maintenance tasks along a passing route, and a passing level required by a front passing road section is higher and a carrying capacity is larger. Along with the completion of part fortune dimension task, spare parts are changed, and the fortune dimension personnel need the article that carry reduce gradually, so the required passing grade and the bearing capacity that possess of back passing section can reduce correspondingly.

FIG. 4 illustrates a first example diagram of a restricted subgraph of an operation and maintenance path graph in accordance with an exemplary embodiment of the invention.

Fig. 4 shows a restricted subgraph in the condition that the plant roof in the operation and maintenance path diagram is determined as the target area, and the traffic requirement indicates that the traffic section needs to have a passing grade of 1 and a carrying capacity of 75 kilograms.

FIG. 5 illustrates a second example diagram of a restricted subgraph of an operation and maintenance path graph in accordance with an exemplary embodiment of the invention.

Fig. 5 shows a restricted subgraph with a passing grade of 2 and a carrying capacity of 300 kilograms, which is required to be provided for a passing section indicated by the passing requirement, wherein the plant roof in the operation and maintenance path diagram is determined as a target area.

If the slave node v on the operation and maintenance path graph G_iTo node v_jA plurality of passing paths exist between the nodes, and one passing path with the shortest length can be called a slave node v_iTo node v_jThe shortest path of (2).

If the task execution sites of the operation and maintenance tasks to be processed are multiple, namely, the target nodes are multiple, the set formed by the operation and maintenance tasks is { v }_j,…,v_kAt this time, the slave node v_iStarting through the set v_j,…,v_kThe traffic path with the shortest length of all nodes in the station is called a slave node v_iDeparture arrival target node v_j,…,v_kThe shortest path of (2).

The photovoltaic power station has operation and maintenance requirements at a plurality of places at the same time, if operation and maintenance personnel enter a power station factory once to reach the plurality of places and execute a plurality of operation and maintenance tasks, and then exit the power station, the physical consumption of the operation and maintenance personnel repeatedly entering the power station factory can be reduced, and the working efficiency can be improved. However, the shortest path to a plurality of locations is not necessarily equal to the sum of the shortest paths to the respective locations, and the present invention will describe a procedure of determining the shortest path in the case of a plurality of locations in the following.

Because the restricted subgraph of the operation and maintenance road map comes from the operation and maintenance road map, the passing road and the shortest operation and maintenance road of the operation and maintenance road map are the passing road and the shortest operation and maintenance road of the restricted subgraph in the restricted subgraph of the operation and maintenance road map.

It should be understood that, the photovoltaic power station is built in an open ground zone or on the roof of a factory building or a residential building, and the communication of the passing path for the operation and maintenance personnel to walk is good. Compared with a certain task execution place, the operation and maintenance personnel often have a plurality of passage paths to choose from, and finding a shortest passage path can not only enable the operation and maintenance personnel to quickly reach the task execution place so as to improve the efficiency of operation and maintenance work, but also reduce the physical consumption of the operation and maintenance personnel and reduce the labor intensity of the operation and maintenance work. Especially when the photovoltaic power station is located on the roof of a building, a safe, convenient and shortest passage path is especially important for operation and maintenance personnel.

In an exemplary embodiment of the present invention, the shortest path may be determined based on the attributes of the edge by: for each passing path in at least one passing path in the restricted subgraph, determining each passing road section contained in the passing path, respectively obtaining the length of each passing road section from the attribute of the side corresponding to each passing road section, respectively calculating the length of each passing path according to the length of each passing road section contained in each passing path, and determining the passing path with the minimum length as the shortest path.

Because the photovoltaic power station can be built on the roof of barren mountains and barren slopes, residential buildings or factory buildings, roads on which operation and maintenance personnel need to walk can be on the horizontal plane, can form a certain angle with the horizontal plane, and even can be perpendicular to the horizontal plane, such as a roof maintenance ladder on the side of a building. Therefore, the operation and maintenance personnel can record each road in the three-dimensional space or clearly mark each road in different planes in the two-dimensional space so as to determine the length of each passing path.

That is, the length of the passing road segment included in the attribute of the edge may refer to the path length of the passing path in the two-dimensional plane, and in a preferred embodiment, the length of each passing path may also refer to the path length in the three-dimensional spatial layout. For example, the length of any passing path of operation and maintenance personnel passing through the three-dimensional space can be determined by combining the three-dimensional space layout of the positions of the devices in the photovoltaic power station.

It should be understood that the traffic requirement of the operation and maintenance task to be processed may include, in addition to the current location of the operation and maintenance personnel performing the operation and maintenance task to be processed and the task execution location of the operation and maintenance task to be processed, the articles that the operation and maintenance personnel need to carry to perform the operation and maintenance task to be processed.

In this case, the step of selecting the traffic road segment with the traffic limitation capability meeting the traffic requirement of the operation and maintenance task to be processed from the operation and maintenance road map may include: and selecting a passing road section from the operation and maintenance path diagram, wherein the passing road section can allow the operation and maintenance personnel and/or the articles carried by the operation and maintenance personnel to pass through and can bear the weight of the operation and maintenance personnel and/or the articles carried by the operation and maintenance personnel.

The process of determining the carrying capacity and the passing capacity of any one passing road segment is described below with reference to fig. 6.

Fig. 6 shows a flowchart of the steps of determining the throughput and load carrying capacity of any traffic segment according to an exemplary embodiment of the present invention.

Referring to fig. 6, in step S601, the throughput and the load carrying capacity of a plurality of typical road segments are experimentally determined in advance.

Here, the throughput and the load-carrying capacity of each typical road segment can be obtained for a plurality of typical road segments using various existing experimental test means.

In step S602, a typical road segment matching any one of the traffic road segments is determined from among a plurality of typical road segments.

In step S603, the throughput and the load-bearing capacity of the matched typical road segment are determined as the throughput and the load-bearing capacity of any one traffic road segment.

The navigation method for planning the working path for the operation and maintenance personnel of the photovoltaic power station is provided in the exemplary embodiment of the invention, and the optimal operation and maintenance path can be recommended for the operation and maintenance personnel only based on the current position of the operation and maintenance personnel, the task execution location of the operation and maintenance task to be processed and the size and weight of the carried articles, and the optimal operation and maintenance path not only can enable the operation and maintenance personnel to pass through smoothly under the condition of carrying the articles, but also can reduce the safety risk of the operation and maintenance personnel passing through the plant area of the photovoltaic power station.

The photovoltaic power station has a plurality of equipment facilities, and most of positions in a plant area have operation and maintenance requirements. Due to different operation and maintenance requirements, the operation and maintenance tasks of the photovoltaic power station are different in task type, and the operation and maintenance paths required by the operation and maintenance task operation and maintenance personnel of different task types may be greatly different. By way of example, task types may include, but are not limited to, point tasks and area tasks.

For example, the point task may refer to that the operation and maintenance personnel only need to move around a certain position of the plant area of the photovoltaic power plant to complete the operation and maintenance task, and the point task may include, but is not limited to, fault handling (such as tripping of a circuit breaker in a combiner box), and the operation and maintenance personnel only need to reach a fault location from a current position to handle the fault.

For example, a regional task may refer to an operation and maintenance person needing a large range of activities within a photovoltaic power plant floor to complete the operation and maintenance task, and may include, but is not limited to, photovoltaic component cleaning, as an example. For the cleaning of the photovoltaic module, operation and maintenance personnel not only need to reach the area where the photovoltaic module to be cleaned is located from the current position, but also need to walk along a plurality of paths in the designated area to complete the cleaning work.

For the problem of selecting the optimal operation and maintenance path of the point task, operation and maintenance personnel are concerned about how to reach the point task execution location from the current position along the shortest path. For the case that a plurality of tasks exist, the optimal operation and maintenance path may refer to a transit path where the sum of path lengths of the task execution sites where the operation and maintenance personnel reach the plurality of tasks is the minimum. For the problem of selecting the optimal operation and maintenance path of the regional task, the operation and maintenance personnel are concerned about how to reach the nearest place to the operation and maintenance personnel in the target region of the regional task from the current position, and can acquire the feasible path in the target region.

Based on this, in a preferred embodiment, according to the navigation method for the operation and maintenance path of the photovoltaic power station in the exemplary embodiment of the present invention, an optimal operation and maintenance path can be formulated for the operation and maintenance tasks to be processed of different task types, so that the navigation method can solve the problem of searching a single passing path and the problem of searching a plurality of passing paths with loops.

For example, the task type of the acquired operation and maintenance task to be processed is determined. If the task type of the to-be-processed operation and maintenance task is an area task, determining a shortest path from the current position of the operation and maintenance personnel to a predetermined place and a feasible path of the operation and maintenance personnel in a target area for executing the area task, and determining the determined shortest path and the feasible path as an optimal operation and maintenance path. Here, the predetermined location may refer to a location closest to the current location of the operation and maintenance person in the target area where the regional task is performed.

That is, the determination of the optimal operation and maintenance path of the regional task involves the shortest path from the current position to the predetermined location of the operation and maintenance personnel and the feasible path in the target region. For determining the shortest path from the current position to the predetermined place, the limited subgraph of the operation and maintenance path graph can be used for selecting the node closest to the current position in the target area, and then the Dijkstra algorithm is applied to calculate the shortest path from the current position to the selected node. For the feasible paths in the target area, all the passing paths that the operation and maintenance personnel can walk in the target area can be displayed to the operation and maintenance personnel.

And if the acquired task type of the operation and maintenance task to be processed is a point task, determining the shortest path from the current position of the operation and maintenance personnel to the task execution location of the point task as the optimal operation and maintenance path.

In one case, the task execution location of the point task is the position of a predetermined node in the operation and maintenance path diagram.

In this case, the shortest path from the current position of the operation and maintenance person to the position where the predetermined node is located may be determined as the shortest path from the current position of the operation and maintenance person to the task execution place of the point task. That is, the determined shortest path is a traffic path between two nodes on the operation and maintenance path graph. Here, the shortest path may be determined based on the attributes of the limited subgraph and the edge of the operation and maintenance path graph, and this part of the present invention is not described in detail again.

In another case, the task execution location of the point task is the position of a point on a predetermined edge in the operation and maintenance path diagram.

In this case, the passage paths from the current position of the operation and maintenance person to the two end points of the predetermined edge where the task execution place of the point task is located may be determined, and the passage path having a small length among the passage paths from the current position of the operation and maintenance person to the two end points of the predetermined edge may be determined as the shortest path.

For example, Dijkstra's algorithm may be applied to calculate the shortest path from the current position to the two end points of the predetermined edge on which the task execution location of the point task is located, respectively. The present invention is not limited thereto and other methods may be employed to determine the shortest path.

Taking the operation and maintenance path diagram shown in fig. 2 as an example, assuming that the current position of the operation and maintenance personnel is located at node 1 in fig. 2, the operation and maintenance task to be processed is to remove the obstruction on the photovoltaic panel, and the task execution location of the operation and maintenance task to be processed is located at the midpoint between node 5 and node 6. Assuming that the weight of the operation and maintenance personnel is 75 kg and tools or spare parts and spare parts do not need to be carried with the operation and maintenance personnel, the passing grade required by the operation and maintenance task to be processed on the passing road section is 1, and the carrying capacity of all the passing road sections can meet the requirement.

Aiming at the traffic requirement, the limited sub-graph of the operation and maintenance path graph is itself, and the obtained optimal operation and maintenance path is (1,3,6) by using the determination method of the task shortest path of the single point. The length from node 1 to node 3 is l (1,3) equal to 10, the length from node 3 to node 6 is l (3,6) equal to 5, and the operation and maintenance staff needs to pass through half of the traffic route between node 5 and node 6, that is, the traffic route needs to be passed through by the operation and maintenance staff

Therefore, the operation and maintenance personnel need to walk to the task execution site along the shortest path

In a preferred example, the acquired pending operation and maintenance task may include a plurality of point tasks.

Due to the complexity of photovoltaic power plants, multiple point tasks may be located in a relatively distributed or dense manner, even at the same location. When the task execution places of the plurality of point tasks are in the same place, the task execution places can be treated as a single point task, and the optimal operation and maintenance path of the plurality of point tasks is determined according to a method for solving the shortest path of the single point task. When the task execution places of a plurality of point tasks indicate the same node on the operation and maintenance path diagram, or edges of the task execution places share the same endpoint, the task execution places can also be treated as a single-point task.

When the task execution sites of the plurality of point tasks are relatively scattered, the optimal operation and maintenance path of the plurality of point tasks can be determined in the following way.

For example, for the case that the operation and maintenance task to be processed includes a plurality of dispersed point tasks, the optimal operation and maintenance path may be a path in which the sum of the path lengths of the operation and maintenance personnel reaching the task execution site of the plurality of point tasks is the minimum.

The photovoltaic power station can have operation and maintenance requirements in a plurality of places at the same time, and if operation and maintenance personnel can execute a plurality of operation and maintenance tasks at one time, physical consumption caused by repeated entering of the photovoltaic power station into a factory area can be reduced, and working efficiency can be improved. The steps for determining an optimal operation and maintenance path for a plurality of point task scenarios are described below with reference to fig. 7.

FIG. 7 is a flowchart illustrating steps for determining an optimal operation and maintenance path for a plurality of point task instances according to an exemplary embodiment of the present invention.

Referring to fig. 7, in step S701, a plurality of point tasks are grouped according to a traffic demand of each point task to obtain a plurality of task sets.

Here, all the point tasks in any task set have the same passing capacity and/or carrying capacity required for the passing road section. That is, the plurality of point tasks are grouped according to the passing capacity and/or the bearing capacity required by each point task for the passing link, and each point task belonging to one task set may have the same passing capacity required for the passing link, the same bearing capacity required for the passing link, or the same passing capacity and bearing capacity required for the passing link.

In step S702, a traffic path satisfying the passing capacity and/or the carrying capacity required by each point task in the a-th task set is selected from the operation and maintenance path map to form a restricted sub-map.

For example, when the task execution places of a plurality of point tasks are comparatively dispersed, it is assumed that the point tasks are divided into two task sets T₁₁,T₁₂,…,T_1rAnd T₂₁,T₂₂,…,T_2s. Each of the first task setPoint task T₁₁,T₁₂,…,T_1rThe total number of the task execution places is r, and the passing grade required by each task on the passing road section is lambda₁Bearing capacity of w₁The restricted subgraph of the operation and maintenance path graph G corresponding to the first task set is H₁. Each point task T in the second task set₂₁,T₂₂,…,T_2sThe total number of the task execution places is s, and the passing grade required by each task on the passing road section is lambda₂Bearing capacity of w₂And λ₁＜λ₂，w₁＜w₂And the limited subgraph H of the operation and maintenance path graph G corresponding to the second task set₂。

In step S703, a shortest path from the current position of the operation and maintenance staff to the task execution location of the task to be determined in the a-th task set is determined.

Here, the point task to be determined may be a point task other than the determined point task among all the point tasks included in the current task set, and the determined point task may be a point task whose task execution location is in the shortest path determined for the processed task set.

For example, the two task sets T listed above₁₁,T₁₂,…,T_1rAnd T₂₁,T₂₂,…,T_2sFor example, assume that the a-th task set is the first task set, and the second task set T is already processed first₂₁,T₂₂,…,T_2sAnd after the searching is finished, obtaining the shortest path to the s task execution places. If the obtained shortest path includes T task execution locations in the first task set (i.e., T task execution locations in the a-th task set are in the shortest path obtained for the second task set), it is determined in step S703 that the current position of the operation and maintenance staff is within the first task set T₁₁,T₁₂,…,T_1rThe shortest path of r-t task execution sites in (1).

In step S704, it is determined whether a is equal to a. Here, a refers to the number of the plurality of task sets, and a is a natural number greater than zero.

If a is not equal to A, step S705 is executed: let a be a +1 and return to performing step S702.

If a is equal to A, step S706 is performed: and connecting the shortest paths determined for all the task sets to obtain the optimal operation and maintenance path from the current position of the operation and maintenance personnel to the task execution site of the plurality of tasks.

It should be understood that the method for obtaining the shortest path assumes that all point tasks can be executed at one time, but considering the factors of the emergency degree of the point tasks, the mutual influence between the point tasks, the need to transport the original device after the new spare part is installed, etc., the operation and maintenance personnel are likely not to complete all the operation and maintenance tasks at one time, and at this time, the operation and maintenance personnel can select a part of point tasks which can be executed at one time from all the point tasks according to experience, and calculate the shortest path for the selected part of point tasks.

Fig. 8 shows a block diagram of a navigation device of an operation and maintenance path of a photovoltaic power plant according to an exemplary embodiment of the present invention.

As shown in fig. 8, a navigation device for an operation and maintenance path of a photovoltaic power station according to an exemplary embodiment of the present invention includes: the system comprises a path diagram building module 10, an operation and maintenance task obtaining module 20 and an optimal path determining module 30.

Specifically, the path map construction module 10 constructs an operation and maintenance path map of the photovoltaic power plant.

Here, the operation and maintenance path diagram may be a set of working paths allowing operation and maintenance personnel to pass through in the plant area of the photovoltaic power station, and the operation and maintenance path diagram includes a plurality of passing road sections and a passing limitation capability possessed by each passing road section.

As an example, the operation and maintenance path graph may include properties for a set of nodes, a set of edges, and edges.

For example, each node in the node set may be a location where each device included in the photovoltaic power plant is located, and two nodes where a passing section exists are connected by an edge, indicating that a passable section exists between the locations where the two devices connected by the edge are located, and the attribute of the edge may indicate a passage limiting capacity of the passing section corresponding to the edge.

The throughput capacity of a traffic section is used to describe the capacity of the traffic section to allow people and/or goods to pass through spatially. For example, the passing capacity of a certain passing section on the operation and maintenance path diagram can represent the passing grade of the space passing capacity of the passing section.

The carrying capacity of the traffic section is used to describe the capacity of the traffic section carrying capacity. For example, the carrying capacity of a certain traffic section on the operation and maintenance road map may represent the weight of the operation and maintenance personnel and/or goods that the traffic section is allowed to carry, that is, the carrying capacity of the traffic section.

In an exemplary embodiment of the present invention, the passing capacity, the carrying capacity, and the length of each passing road section may be determined in advance for each passing road section in the plant area of the photovoltaic power station in the manner described above, and the path diagram building module 10 builds the operation and maintenance path diagram of the photovoltaic power station based on the three determined parameters.

In a preferred embodiment, the navigation device for the operation and maintenance path of the photovoltaic power station according to an exemplary embodiment of the present invention may further include: and the storage module (not shown in the figure) stores the operation and maintenance path diagram in the form of an adjacency list.

As an example, the adjacency list may include a plurality of singly linked lists respectively established for a plurality of nodes in the operation and maintenance path graph.

For example, the singly linked list of any one of the nodes may include a table node, and the table node may include an adjacency point field for storing each node having a traffic segment with any one node in the operation and maintenance road map, a length field for storing the length of the traffic segment from any one node to the above nodes, a level field for storing a pass level indicating the pass capability of the traffic segment from any one node to the above nodes, a bearer amount field for storing a bearer amount indicating the bearer capability of the traffic segment from any one node to the above nodes, and a first link field for pointing to a node next to the any one node.

The adjacency list may further include a head node, which may include a data field for storing all nodes included in the operation and maintenance path graph and a second chain field for pointing to a first list node in the singly linked list.

The operation and maintenance task obtaining module 20 obtains the operation and maintenance task to be processed, and determines the passing requirement of the obtained operation and maintenance task to be processed.

The optimal path determining module 30 selects a traffic road segment with traffic restriction capacity meeting the traffic requirement of the operation and maintenance task to be processed from the operation and maintenance path map to determine an optimal operation and maintenance path for executing the operation and maintenance task to be processed.

In this case, the optimal path determining module 30 may select a traffic road segment from the operation and maintenance path map, where the traffic restriction capacity meets the traffic requirement of the operation and maintenance task to be processed, to form a restricted sub-image of the operation and maintenance path map, and determine a shortest path from the current position of the operation and maintenance person to a task execution location of the operation and maintenance task to be processed in the restricted sub-image as the optimal operation and maintenance path.

Here, the restricted subgraph may include at least one traffic path from the current position of the operation and maintenance personnel to the task execution site of the operation and maintenance task to be processed.

As an example, optimal path determination module 30 may determine the shortest path based on the attributes of the edges in the following manner.

And aiming at each passing path in at least one passing path, determining each passing road section contained in the passing path, respectively acquiring the length of each passing road section from the attribute of the side corresponding to each passing road section, respectively calculating the length of each passing path according to the length of each passing road section contained in each passing path, and determining the passing path with the minimum length as the shortest path.

Here, the length of the passage section included in the attribute of the edge may refer to a path length of the passage path in a two-dimensional plane or a path length of the passage path in a three-dimensional spatial layout. In a preferred embodiment, the optimal path determination module 30 may determine the length of any of the transit paths by: and determining the length of the operation and maintenance personnel passing through any one passing path in the three-dimensional space by combining the three-dimensional space layout of the positions of the devices in the photovoltaic power station.

It should be understood that the traffic requirement of the operation and maintenance task to be processed may further include articles carried by the operation and maintenance personnel required to execute the operation and maintenance task to be processed, in addition to the current position of the operation and maintenance personnel executing the operation and maintenance task to be processed and the task execution location of the operation and maintenance task to be processed.

In this case, the optimal path determining module 30 selects a traffic section from the operation and maintenance path map, where the traffic section is capable of allowing the operation and maintenance personnel and/or the articles carried by the operation and maintenance personnel to pass through and is capable of bearing the weight of the operation and maintenance personnel and/or the articles carried by the operation and maintenance personnel, and determines the selected traffic path as the traffic section with the traffic restriction capacity meeting the traffic requirement.

Preferably, the optimal path determining module 30 may determine the passing capacity and the carrying capacity of any passing road segment in the following manner.

The passing capacity and the bearing capacity of a plurality of typical road sections are determined in advance through experiments, a typical road section matched with any passing road section is determined from the plurality of typical road sections, and the passing capacity and the bearing capacity of the matched typical road section are determined as the passing capacity and the bearing capacity of any passing road section.

Fig. 9 illustrates a block diagram of the optimal path determination module 30 according to an exemplary embodiment of the present invention.

As shown in fig. 9, the optimal path determining module 30 according to an exemplary embodiment of the present invention may include: a task type determining sub-module 301, an area task operation and maintenance path determining sub-module 302 and a point task operation and maintenance path determining sub-module 303.

Specifically, the task type determining sub-module 301 determines the task type of the acquired operation and maintenance task to be processed. By way of example, task types may include, but are not limited to, point tasks and area tasks.

If the task type of the acquired operation and maintenance task to be processed is a regional task, the regional task operation and maintenance path determination sub-module 302 determines the shortest path from the current position of the operation and maintenance personnel to the predetermined location and the feasible path of the operation and maintenance personnel in the target region where the regional task is executed, and determines the determined shortest path and the feasible path as the optimal operation and maintenance path. Here, the predetermined place may be a place closest to the current position of the operation and maintenance person in the target area where the regional task is performed.

If the task type of the acquired operation and maintenance task to be processed is a point task, the point task operation and maintenance path determining submodule 303 determines the shortest path from the current position of the operation and maintenance personnel to the task execution location of the point task as the optimal operation and maintenance path.

In this case, the point task operation and maintenance path determination submodule 303 determines the shortest path from the current position of the operation and maintenance person to the position of the predetermined node as the shortest path from the current position of the operation and maintenance person to the task execution location of the point task.

In this case, the point task operation and maintenance path determination sub-module 303 determines a passage path with a small length from the current position of the operation and maintenance person to the two end points of the predetermined edge as the shortest path.

In a preferred embodiment, the acquired pending operation and maintenance task may include a plurality of point tasks. At this time, the optimal operation and maintenance path may be a path in which the sum of the path lengths of the operation and maintenance personnel reaching the task execution site of the plurality of point tasks is the minimum.

In this case, the point task operation and maintenance path determination sub-module 303 may determine the optimal operation and maintenance path from the current position of the operation and maintenance personnel to the task execution location of the plurality of point tasks in the following manner.

Grouping a plurality of point tasks according to the traffic requirement of each point task to obtain a plurality of task sets, wherein all the point tasks in any task set have the same passing capacity and/or bearing capacity required by a traffic section; the following operations are performed on each task set in turn: selecting a traffic path meeting the passing capacity and/or bearing capacity required by each point task in the current task set from the operation and maintenance path graph to form a limited subgraph, and respectively determining the shortest path from the current position of an operation and maintenance person to a task execution place of the point task to be determined in the current task set, wherein the point task to be determined is a point task except for the determined point task in all the point tasks included in the current task set, and the determined point task is a point task of which the task execution place is in the shortest path determined aiming at the processed task set; and connecting the shortest paths determined for all the task sets to obtain the optimal operation and maintenance path from the current position of the operation and maintenance personnel to the task execution site of the plurality of tasks.

As shown in fig. 10, the controller according to an exemplary embodiment of the present invention includes: a processor 100, an input/output interface 200, and a memory 300.

In particular, the memory 300 is intended to store a computer program which, when executed by the processor 100, implements the above-mentioned method of navigation of an operation and maintenance path of a photovoltaic power plant. The input/output interface 200 is used for connecting various input/output devices.

Here, the navigation method of the operation and maintenance path of the photovoltaic power plant shown in fig. 1 may be executed in the processor 100 shown in fig. 10. That is, each of the above modules or units may be implemented by a general-purpose hardware processor such as a digital signal processor or a field programmable gate array, may be implemented by a special-purpose hardware processor such as a special chip, or may be implemented entirely in software by a computer program, for example, may be implemented as each module in the processor 100 shown in fig. 10.

There is also provided in accordance with an exemplary embodiment of the present invention a portable electronic terminal including the controller described above. By way of example, the portable electronic terminal may include, but is not limited to, a smartphone, a tablet computer, or like handheld device.

For example, after the operation and maintenance personnel can input the current position, the task execution location of the operation and maintenance task to be processed and the size and weight of the carried object on the portable electronic terminal, an optimal operation and maintenance path for executing the operation and maintenance task to be processed can be automatically obtained based on the navigation method, the operation and maintenance personnel can be prompted to smoothly pass through a corresponding passing road section under the condition of carrying the object, and the safety risk of the operation and maintenance personnel can be reduced to the minimum. Based on this, the portable electronic terminal according to the exemplary embodiment of the present invention may further include an input interface and a display for receiving an input of an operation and maintenance person and displaying the determined optimal operation and maintenance path to the operation and maintenance person, and the portable electronic terminal may include, but is not limited to, a touch screen, as an example.

By the method, the operation and maintenance personnel can search the operation and maintenance path meeting the requirements before executing the operation and maintenance task, and can search the operation and maintenance path reaching the task execution location of other operation and maintenance tasks at any time at the task execution location of a certain operation and maintenance task.

In addition, operation and maintenance path information among a plurality of portable electronic terminals can be shared, so that the operation and maintenance path information in a certain photovoltaic power station factory area can be modified and used by other colleagues by a part of operation and maintenance personnel. Here, the operation and maintenance path information may include, but is not limited to, information indicating whether a traffic section exists, a length of the traffic section, a passing grade of the traffic section, and a carrying capacity of the traffic section.

There is also provided, in accordance with an exemplary embodiment of the present invention, a computer-readable storage medium storing a computer program. The computer readable storage medium stores a computer program that, when executed by a processor, causes the processor to perform the above-described method of navigation of an operation and maintenance path of a photovoltaic power plant. The computer readable recording medium is any data storage device that can store data read by a computer system. Examples of the computer-readable recording medium include: read-only memory, random access memory, read-only optical disks, magnetic tapes, floppy disks, optical data storage devices, and carrier waves (such as data transmission through the internet via wired or wireless transmission paths).

According to the navigation method and device for the operation and maintenance path of the photovoltaic power station, provided by the exemplary embodiment of the invention, the optimal operation and maintenance path can be provided for operation and maintenance personnel under the condition that the working places of the operation and maintenance personnel are in a plurality of photovoltaic power stations or new staff are added to the plurality of photovoltaic power stations for operation and maintenance.

Along with the increase of managed photovoltaic power stations and the addition of newly-participated personnel, the familiarity of operation and maintenance personnel to each power station is gradually weakened, and especially when the photovoltaic power stations are built in complicated areas such as roofs of residential buildings or factory buildings, the operation and maintenance personnel are unfamiliar with power station factories, so that the working efficiency is influenced, and certain potential safety hazards exist. According to the navigation method and device for the operation and maintenance path, the operation and maintenance personnel can be prompted to smoothly pass through the complex passing road section under the condition of carrying articles, and the safety risk of the operation and maintenance personnel can be reduced to the minimum.

Based on the navigation method and device for the operation and maintenance path of the exemplary embodiment of the invention, an operation and maintenance person can obtain an optimal operation and maintenance path only by providing the current position, the task execution location and the size and weight of the carried object, the familiarity of the operation and maintenance person on a photovoltaic power station plant area is increased, the working efficiency is improved, and the safety risk is reduced.

In addition, according to the navigation method and device for the operation and maintenance path of the photovoltaic power station, the operation and maintenance tasks in the photovoltaic power station are divided into a single-point task, a plurality of-point tasks and an area task, and a corresponding operation and maintenance path calculation method is provided for each operation and maintenance task, so that operation and maintenance personnel, particularly newly-working operation and maintenance personnel, can find the most suitable operation and maintenance path for one or more operation and maintenance tasks in a complex photovoltaic power station factory area more quickly.

While the invention has been shown and described with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. A navigation method for an operation and maintenance path of a photovoltaic power station is characterized by comprising the following steps:

constructing an operation and maintenance path diagram of the photovoltaic power station, wherein the operation and maintenance path diagram comprises a plurality of passing road sections and passing limiting capacity of each passing road section;

acquiring an operation and maintenance task to be processed, and determining the passing requirement of the acquired operation and maintenance task to be processed;

and selecting a passing road section with passing limiting capacity meeting the passing requirement from the operation and maintenance path diagram to determine an optimal operation and maintenance path for executing the operation and maintenance task to be processed.

2. The navigation method of claim 1, wherein the operation and maintenance path diagram includes properties of a node set, an edge set, and an edge,

each node in the node set is the position of each device in the photovoltaic power station, two nodes with a passing road section are connected through edges, the passing road section can be shown between the positions of the two devices connected through the edges, and the passing limit capacity of the passing road section corresponding to the edges is indicated by the attribute of the edges.

3. The navigation method according to claim 2, wherein the operation and maintenance path diagram is stored in the form of an adjacency list;

wherein the adjacency list comprises a plurality of singly linked lists respectively established for a plurality of nodes in the operation and maintenance path diagram,

wherein the singly linked list of any node in each node comprises a list node, the list node comprises an adjacency point domain, a length domain, a level domain, a carrying capacity domain and a first link domain, the adjacency point domain is used for storing each node which has a traffic section with the any node in the operation and maintenance path diagram, the length domain is used for storing the length of the traffic section from the any node to each node, the level domain is used for storing a passing level which indicates the passing capacity of the traffic section from the any node to each node, the carrying capacity domain is used for storing the carrying capacity which indicates the carrying capacity of the traffic section from the any node to each node, and the first link domain is used for pointing to the next node of the any node,

the adjacency list further comprises a head node, the head node comprises a data field and a second chain field, the data field is used for storing all nodes contained in the operation and maintenance path diagram, and the second chain field is used for pointing to the first list node in the single chain list.

4. The navigation method of claim 2, wherein the traffic requirements include a current location of an operation and maintenance person performing the operation and maintenance task to be processed and a task execution location of the operation and maintenance task to be processed,

the step of selecting a traffic road section with traffic restriction capacity meeting the traffic requirement from the operation and maintenance path diagram to determine an optimal operation and maintenance path for executing the operation and maintenance task to be processed comprises the following steps:

selecting a passing road section with passing limiting capacity meeting the passing requirement from the operation and maintenance path diagram to form a limited subgraph of the operation and maintenance path diagram;

and determining the shortest path from the current position of the operation and maintenance personnel to the task execution site of the operation and maintenance task to be processed in the limited subgraph as an optimal operation and maintenance path.

5. The navigation method of claim 4, wherein the attributes of the edge further include a length of a transit leg, the restricted subgraph includes at least one transit path from a current location of the operation and maintenance person to a task execution location of the operation and maintenance task to be processed,

wherein the shortest path is determined by:

determining each passing road section contained in the passing route aiming at each passing route in the at least one passing route, and respectively acquiring the length of each passing road section from the attribute of the side corresponding to each passing road section,

respectively calculating the length of each passing path according to the length of each passing road section contained in each passing path,

and determining the traffic path with the minimum length as the shortest path.

6. The navigation method according to claim 1 or 4, characterized in that the traffic requirement of the operation and maintenance task to be processed further comprises the items carried by the operation and maintenance personnel for executing the operation and maintenance task to be processed,

wherein the traffic restriction capability of each traffic section comprises the passing capability and the carrying capacity of the traffic section, the passing capability is used for describing the capability of the traffic section to allow people and/or goods to pass through in space, and the carrying capacity is used for describing the capability of the traffic section to carry capacity,

the step of selecting the passing road section with the passing limiting capacity meeting the passing requirement from the operation and maintenance path diagram comprises the following steps:

and selecting a passing road section which can allow the operation and maintenance personnel and/or the articles carried by the operation and maintenance personnel to pass through and can bear the weight of the operation and maintenance personnel and/or the articles carried by the operation and maintenance personnel from the operation and maintenance path diagram.

7. The navigation method according to claim 6, characterized in that the passing capacity and the carrying capacity of any passing road segment are determined by:

determining the passing capacity and the bearing capacity of a plurality of typical road sections in advance through experiments;

determining a typical road section matched with any one passing road section from the plurality of typical road sections;

and determining the passing capacity and the bearing capacity of the matched typical road section as the passing capacity and the bearing capacity of any one passing road section.

8. The navigation method of claim 4, wherein the step of determining the optimal operation and maintenance path for executing the operation and maintenance task to be processed comprises:

determining the task type of the acquired operation and maintenance task to be processed, wherein the task type comprises a point task and a regional task;

if the task type of the to-be-processed operation and maintenance task is the point task, determining the shortest path from the current position of the operation and maintenance personnel to the task execution location of the point task as an optimal operation and maintenance path;

if the acquired task type of the operation and maintenance task to be processed is a regional task, determining a shortest path from the current position of the operation and maintenance personnel to a predetermined location and a feasible path of the operation and maintenance personnel in a target region for executing the regional task, and determining the determined shortest path and the feasible path as an optimal operation and maintenance path, wherein the predetermined location is a location closest to the current position of the operation and maintenance personnel in the target region for executing the regional task.

9. A navigation device for an operation and maintenance path of a photovoltaic power station is characterized by comprising:

the system comprises a path map construction module and a control module, wherein the path map construction module is used for constructing an operation and maintenance path map of the photovoltaic power station, and the operation and maintenance path map comprises a plurality of passing road sections and passing limit capacity of each passing road section;

the operation and maintenance task acquisition module is used for acquiring the operation and maintenance task to be processed and determining the passing requirement of the acquired operation and maintenance task to be processed;

and the optimal path determining module is used for selecting a passing road section with passing limiting capacity meeting the passing requirement from the operation and maintenance path map so as to determine an optimal operation and maintenance path for executing the operation and maintenance task to be processed.

10. The navigation device of claim 9, wherein the operation and maintenance road map includes attributes of a set of nodes, a set of edges, and edges,

11. The navigation device of claim 10, further comprising a storage module that stores the operation and maintenance road map in an adjacency list;

12. The navigation device of claim 10, wherein the traffic requirements include a current location of an operation and maintenance person performing the operation and maintenance task to be processed and a task execution location of the operation and maintenance task to be processed,

the optimal path determining module selects a passing road section with passing limiting capacity meeting the passing requirement from the operation and maintenance path diagram to form a limited sub-diagram of the operation and maintenance path diagram, and determines a shortest path from the current position of operation and maintenance personnel to a task execution place of the operation and maintenance task to be processed in the limited sub-diagram as an optimal operation and maintenance path.

13. The navigation device of claim 12, wherein the attributes of the edge further include a length of a transit leg, the restricted subgraph including at least one transit path from a current location of the operation and maintenance person to a task execution location of the operation and maintenance task to be processed,

wherein the optimal path determination module determines the shortest path by:

and determining the traffic path with the minimum length as the shortest path.

14. The navigation device according to claim 9 or 12, wherein the traffic requirement of the operation and maintenance task to be processed further comprises the items carried by the operation and maintenance personnel for executing the operation and maintenance task to be processed,

the optimal path determining module selects a passing road section which can allow the operation and maintenance personnel and/or the articles carried by the operation and maintenance personnel to pass through and can bear the weight of the operation and maintenance personnel and/or the articles carried by the operation and maintenance personnel from the operation and maintenance path map.

15. The navigation device of claim 14, wherein the optimal path determination module determines the throughput and load bearing capacity of any traffic segment by:

16. The navigation device of claim 12, wherein the optimal path determination module comprises:

the task type determining submodule is used for determining the task type of the acquired operation and maintenance task to be processed, and the task type comprises a point task and a regional task;

the point task operation and maintenance path determining submodule determines the shortest path from the current position of the operation and maintenance personnel to the task execution location of the point task as the optimal operation and maintenance path if the task type of the acquired operation and maintenance task to be processed is the point task;

and if the task type of the acquired operation and maintenance task to be processed is the regional task, determining a shortest path from the current position of the operation and maintenance personnel to a predetermined location and a feasible path of the operation and maintenance personnel in a target region for executing the regional task, and determining the determined shortest path and the feasible path as the optimal operation and maintenance path, wherein the predetermined location is the location closest to the current position of the operation and maintenance personnel in the target region for executing the regional task.

17. A controller, comprising:

a processor;

an input/output interface;

a memory for storing a computer program which, when executed by the processor, implements the method of navigation of an operation and maintenance path of a photovoltaic power plant according to any one of claims 1 to 8.

18. A portable electronic terminal characterized by comprising the controller of claim 17.

19. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out a method of navigation of an operation and maintenance path of a photovoltaic power plant according to any one of claims 1 to 8.