CN117584142A

CN117584142A - Operation and maintenance robot and control method thereof

Info

Publication number: CN117584142A
Application number: CN202311587782.9A
Authority: CN
Inventors: 王国锋
Original assignee: XFusion Digital Technologies Co Ltd
Current assignee: XFusion Digital Technologies Co Ltd
Priority date: 2023-11-24
Filing date: 2023-11-24
Publication date: 2024-02-23

Abstract

The embodiment of the application provides an operation and maintenance robot and a control method thereof, relates to the technical field of servers, and is used for the operation and maintenance robot. The operation and maintenance robot comprises a controller, a base and two execution mechanisms; two actuating mechanisms are independently installed in the both ends of base, and every actuating mechanism includes: lifting unit, operating unit and subassembly of making a video recording. The camera module is used for: and acquiring the picture information of the feature points corresponding to the target positions. The controller is used for: and judging whether the position relation between the operation assembly and the characteristic points meets a first preset condition according to the picture information, and if not, controlling the operation assembly to move towards the direction of the target position through a lifting assembly connected with the operation assembly until the position relation between the operation assembly and the characteristic points meets the first preset condition. The operation and maintenance robot is used for loading or unloading the electronic equipment.

Description

Operation and maintenance robot and control method thereof

Technical Field

The application relates to the technical field of servers, in particular to an operation and maintenance robot and a control method thereof.

Background

Data centers typically include racks and electronic equipment, which may be located within the racks. In the operation and maintenance process, an operation and maintenance robot is needed, the operation and maintenance robot comprises a lifting mechanism and operating mechanisms, the lifting mechanism can drive the operating mechanisms to lift, the number of the operating mechanisms is two, and the two operating mechanisms are connected with each other and synchronously move, so that the height difference between the two operating mechanisms is required to be very high, if the height exists between the two operating mechanisms, the lifting mechanism is pulled and deformed, and therefore noise is increased, abrasion is increased, precision is reduced and the like.

Disclosure of Invention

An embodiment of the application aims to provide an operation and maintenance robot and a control method thereof, which are used for improving the problem of pulling deformation of an operation assembly on a lifting assembly.

In order to achieve the above purpose, the embodiments of the present application provide the following technical solutions:

in one aspect, an operation and maintenance robot is provided. The operation and maintenance robot includes: the device comprises a controller, a base and two execution mechanisms; the controller is arranged on the base, and the two execution mechanisms are independently arranged at two ends of the base; each actuator comprises: the lifting assembly, the operating assembly and the camera shooting assembly; the lifting component is arranged on the base; the operation assembly is connected with the lifting assembly; the camera shooting assembly is connected with the operation assembly; the controller is electrically connected to the lifting assembly and the camera assembly. Wherein, the subassembly of making a video recording is used for: and acquiring the picture information of the feature points corresponding to the target positions. The controller is used for: and judging whether the position relation between the operation assembly and the characteristic points meets a first preset condition according to the picture information, and if not, controlling the operation assembly to move towards the direction of the target position through a lifting assembly connected with the operation assembly until the position relation between the operation assembly and the characteristic points meets the first preset condition.

In the operation and maintenance robot, after the image pickup assembly obtains the picture information of the feature points corresponding to the target positions, the controller can respectively control the lifting assemblies of the two execution mechanisms based on the picture information. Under the condition that the position relationship between the operation assembly and the characteristic points does not meet the first preset condition, the controller can adjust the position relationship between the target positions of the operation assemblies through the lifting assembly, wherein the two operation assemblies independently move due to the fact that the lifting assembly can independently drive the operation assemblies connected with the lifting assembly to move, linkage does not exist between the two operation assemblies, and therefore the height difference between the two operation assemblies is not required. In addition, because the two lifting components can independently drive the operation components connected with the two lifting components to move, even if the two operation components have a height difference, the two operation components can independently move, so that the problems of pulling deformation, noise, abrasion and the like caused by the operation components to the lifting components can be reduced, the precision of the lifting components to the operation components can be further improved, and meanwhile, the controller independently controls the two lifting components, so that the position relationship between the operation components and the characteristic points can meet the first preset condition, the control mode can be simplified, and the operation and maintenance cost can be reduced.

In some embodiments, the lifting assembly comprises: the device comprises a first driving motor, a first driving screw rod, a first guide rail, a first nut base and a supporting frame. The first driving motor is arranged on the base and is electrically connected with the controller; the first driving screw rod extends in a first direction and is connected to the first driving motor; the first guide rail is connected to the base and extends along a first direction; the first nut base is sleeved on the first driving screw rod; the support frame is connected to the first nut base, is in sliding connection with the first guide rail, and is also connected to the operation assembly. Wherein, first driving motor is used for: under the control of the controller, the first driving screw rod is driven to rotate so as to drive the first nut base to move along the first driving screw rod, and therefore the operation assembly is driven to move along the first direction and towards the target position through the supporting frame.

The first nut base can reciprocate along the first driving screw rod, and the first nut base can reciprocate along the first direction. The first driving motor is electrically connected to the controller, two pieces of first control information generated by the controller can be respectively sent to the first driving motors of the two lifting assemblies, and under the control of the first control information, the first driving motor can drive the first driving screw rod to rotate, so that the first nut base is driven to move along the first driving screw rod in a first direction, and the first nut base is close to the target position.

In some embodiments, the number of the first guide rails is two, the first guide rails are respectively arranged at two sides of the first driving screw rod in the second direction, and the second direction is intersected with the first direction.

Wherein, through setting up two first guide rails, can improve the stability of braced frame along the motion of first direction.

In some embodiments, the actuator further comprises: and the transverse moving assembly is connected with the supporting frame and the operating assembly and is electrically connected with the controller. Wherein, the controller is used for: and judging whether the position relation between the operation assembly and the characteristic points meets a second preset condition according to the picture information, and if not, controlling the operation assembly to move towards the target position through a transverse movement assembly connected with the operation assembly until the position relation between the operation assembly and the characteristic points meets the second preset condition.

Under the condition that the position relationship between the operation component and the characteristic point does not meet the second preset condition, the controller can adjust the position of the operation component through the transverse movement component, so that the position relationship between the operation component and the characteristic point meets the second preset condition. In the process of installing the electronic equipment on the cabinet by the operation and maintenance robot, the position relation between the operation assembly and the characteristic points meets the second preset condition, so that the operation assembly can conveniently operate the electronic equipment to be operated and the position relation between the operation assembly and the characteristic points meets the second preset condition in the process of putting the electronic equipment to be operated and maintained on the shelf, the interference degree between the electronic equipment to be operated and the cabinet can be reduced, and the operation assembly can conveniently install the electronic equipment to be operated and maintained in the cabinet.

In some embodiments, the lateral movement assembly comprises: the first support, the second driving motor, the first gear, the second support, the first rack and the second guide rail. The first supporting piece is connected to the supporting frame; the second driving motor is arranged on the first supporting piece and is electrically connected with the controller; the first gear is connected to the second driving motor. The second supporting piece is connected to the operation assembly; the first rack extends along a third direction and is meshed with the first gear, and the first rack is also connected to the second support piece, wherein the two execution mechanisms are sequentially arranged along the third direction; the second guide rail is connected to the first support piece and is in sliding connection with the second support piece, and the second guide rail extends along the third direction. Wherein, the second driving motor is used for: the first gear is driven to rotate under the control of the controller to drive the first rack to move along a third direction, so that the second supporting piece drives the operation assembly to move along the third direction and towards the target position.

The first supporting piece can be fixedly connected with the supporting frame or in sliding connection with the supporting frame. The first support may support the second driving motor. The second guide rail extends along the third direction and is in sliding connection with the second support piece, so that the second support piece can be limited to reciprocate along the third direction. Meanwhile, the first rack can be fixedly connected with the second support piece, so that the second support piece can move synchronously with the first rack. The first rack is meshed with the first gear, so that when the second driving motor drives the first gear to rotate, the first rack can move along a third direction, the distance between the operating component and the corresponding target position in the third direction can be adjusted, and the position relationship between the operating component and the characteristic point can meet a second preset condition.

In some embodiments, the operation and maintenance robot further comprises: the first pushing assembly is connected with the supporting frame and the transverse moving assembly; the first pushing component is used for driving the transverse moving component to reciprocate along a second direction, wherein the second direction is intersected with the first direction.

The first pushing component is arranged to drive the transverse moving component to reciprocate along the second direction, and the transverse moving component is connected with the operating component, so that the operating component is close to or far away from the cabinet, and the depth of the operating component entering the cabinet can be controlled.

In some embodiments, the operation and maintenance robot further comprises: the camera shooting moving assembly is connected with the supporting frame and the camera shooting assembly, the camera shooting moving assembly is electrically connected with the controller, the distance sensing assembly is connected with the supporting frame, and the distance sensing assembly is electrically connected with the controller. Wherein, the distance sensing subassembly is used for: distance information between the distance sensing assembly and the target component where the feature points are located is obtained. The controller is used for: judging whether the position relation between the image pickup assembly and the target component meets a third preset condition according to the distance information, and if not, controlling the image pickup assembly to move towards a direction close to or far away from the target component through an image pickup moving assembly connected with the image pickup assembly until the position relation between the image pickup assembly and the target component meets the third preset condition.

In the process that the operation and maintenance robot takes out the electronic equipment from the cabinet, the characteristic points can be located on the electronic equipment, and at the moment, the target component can be the electronic equipment. In the process of installing the electronic device on the cabinet by the operation and maintenance robot, the feature point may be located on the cabinet, and at this time, the target component may be the cabinet. The controller may determine a distance between the camera assembly and the target component based on the distance information. The focal length range of the camera shooting assembly is fixed, and when the positional relationship between the camera shooting assembly and the target component does not meet a third preset condition, the target component is located outside the focal length range of the camera shooting assembly, and at the moment, the picture shot by the camera shooting assembly is unclear. At this time, the controller can drive the camera shooting assembly to move through the camera shooting moving assembly, so that the position relationship between the camera shooting assembly and the target component meets a third preset condition, the definition of a picture shot by the camera shooting assembly can be improved, and the control precision of the controller can be improved.

In some embodiments, the camera movement assembly includes: the device comprises a third support piece, a third driving motor, a second driving screw rod, a second nut base and a third guide rail. The third support piece is connected with the support frame, and the distance sensing component is arranged on the third support piece; the third driving motor is arranged on the third supporting piece and is electrically connected with the controller; the second driving screw rod is connected with a third driving motor; the second nut base seat is sleeved on the second driving screw rod and is connected with the camera shooting assembly; the third guide rail is arranged on the third supporting piece and is connected with the second nut base in a sliding mode, and the third guide rail extends along the second direction. Wherein, the third driving motor is used for: and the second driving screw rod is driven to rotate under the control of the controller so as to drive the second nut base to move along the third guide rail, so that the image pickup assembly moves towards a direction approaching or separating from the target component.

The camera shooting moving assembly comprises a support frame, a camera shooting moving assembly and a third support piece, wherein the camera shooting moving assembly is connected to the support frame through the third support piece, and the camera shooting moving assembly can move back and forth along a first direction along with the support frame. Through setting up the third guide rail, and make third guide rail and second nut base sliding connection, when the rotation of second drive lead screw, then can restrict the second nut base and remove along the second direction.

In some embodiments, the operating component comprises: the device comprises a fourth supporting piece, a fourth driving motor, a second gear, an arc-shaped rack, an arc-shaped track and a wrench. The fourth supporting piece is connected to the supporting frame; the fourth driving motor is electrically connected with the controller; the second gear is connected with a fourth driving motor; the arc-shaped rack is connected to the fourth supporting piece and meshed with the second gear; the arc-shaped track is arranged on the arc-shaped rack; the spanner is connected with the arc track in a sliding way, and the spanner is connected with a fourth driving motor. Wherein, the fourth driving motor is used for: the second gear is driven to rotate under the control of the controller so as to drive the wrench to move along the extending track of the arc-shaped rack.

When the fourth driving motor drives the second gear to rotate, the second gear can move along the arc edge of the arc rack, the second gear can drive the wrench to move through the fourth driving motor, the angle of the wrench can be changed in the moving process of the wrench, and accordingly the wrench can be abutted against the elastic clamping piece of the electronic equipment to be operated and maintained, the elastic clamping piece is pressed into the electronic equipment, and at the moment, the electronic equipment to be operated and maintained can be taken out from the cabinet.

In some embodiments, the operation and maintenance robot further comprises: and a second pushing assembly. The second pushing component is installed on the supporting frame and connected to the fourth supporting piece, and is used for driving the fourth supporting piece to move along a second direction, wherein the second direction intersects with the first direction.

The second pushing component can drive the operating component to move along a second direction, so that the operating component can be close to or far away from the cabinet, and the depth of the operating component entering the cabinet can be adjusted.

In another aspect, a control method of an operation and maintenance robot is provided. The operation and maintenance robot includes base and two actuating mechanism, and two actuating mechanism are independently installed in the both ends of base, and every actuating mechanism includes: a lifting assembly and an operating assembly; the lifting component is arranged on the base, and the operating component is connected with the lifting component. The control method comprises the following steps: and acquiring the picture information of the feature points corresponding to the target positions. And judging whether the position relation between the operation assembly and the characteristic points meets a first preset condition according to the picture information, and if not, controlling the operation assembly to move towards the direction of the target position through a lifting assembly connected with the operation assembly until the position relation between the operation assembly and the characteristic points meets the first preset condition.

The control method of the operation and maintenance robot can be applied to the operation and maintenance robots provided by some embodiments, so that the control method has the beneficial effects provided by some operation and maintenance robots and is not described herein.

In some embodiments, the actuator further comprises: and the transverse moving assembly is connected with the lifting assembly and the operating assembly. The control method may further include: and judging whether the position relation between the operation assembly and the characteristic points meets a second preset condition according to the picture information, and if not, controlling the operation assembly to move towards the direction of the target position through a transverse movement assembly connected with the operation assembly until the position relation between the operation assembly and the characteristic points meets the second preset condition.

In some embodiments, the operation and maintenance robot further comprises: the camera shooting moving assembly is connected with the lifting assembly and the camera shooting assembly, and the distance sensing assembly is connected with the lifting assembly. The control method may further include: acquiring distance information between the distance sensing assembly and a target component where the feature points are located; and judging whether the position relationship between the image pickup assembly and the target component meets a third preset condition according to the distance information, and if not, controlling the image pickup assembly to move towards a direction close to or far away from the target component through the image pickup moving assembly connected with the image pickup assembly until the position relationship between the image pickup assembly and the target component meets the third preset condition.

Drawings

For a clearer description of the technical solutions in the present application, the drawings that need to be used in some embodiments of the present application will be briefly described below, and it is obvious that the drawings in the following description are only drawings of some embodiments of the present application, and other drawings may be obtained according to these drawings for a person of ordinary skill in the art. Furthermore, the drawings in the following description may be regarded as schematic diagrams, not limiting the actual size of the product, the actual flow of the method, the actual timing of the signals, etc. according to the embodiments of the present application.

FIG. 1 is a block diagram of a data center provided in some embodiments of the present application;

FIG. 2 is a block diagram of an electronic device and cabinet lock;

FIG. 3 is a block diagram of an electronic device unlocking from a cabinet;

FIG. 4 is a block diagram of an operation and maintenance robot according to some embodiments;

FIG. 5 is a block diagram of an operation and maintenance robot according to some embodiments;

FIG. 6 is a block diagram of an operation and maintenance robot according to some embodiments;

FIG. 7 is a block diagram of the lift assembly of FIG. 6;

FIG. 8 is a block diagram of an actuator according to some embodiments;

FIG. 9 is a block diagram of the lateral shifting assembly of FIG. 8;

FIG. 10 is a structural exploded view of the lateral shifting assembly of FIG. 9;

FIG. 11 is a block diagram of the lateral movement assembly coupled to the support plate by a first push assembly;

FIG. 12 is a block diagram of the support frame coupled to the first pushing assembly;

FIG. 13 is a block diagram of a camera movement assembly and a distance sensing assembly according to some embodiments;

FIG. 14 is a block diagram of operational components according to some embodiments;

FIG. 15 is a block diagram of a second pusher assembly according to some embodiments;

FIG. 16 is a flow chart of a control method of an operation and maintenance robot according to some embodiments;

fig. 17 is another flow chart of a control method of an operation and maintenance robot according to some embodiments.

Detailed Description

The following description of the embodiments of the present disclosure will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present disclosure. All other embodiments obtained by one of ordinary skill in the art based on the embodiments provided by the present disclosure are within the scope of the present disclosure.

Throughout the specification and claims, unless the context requires otherwise, the word "comprise" and its other forms such as the third person referring to the singular form "comprise" and the present word "comprising" are to be construed as open, inclusive meaning, i.e. as "comprising, but not limited to. In the description of the specification, the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", "some examples", "and the like are intended to indicate that a particular feature, structure, material, or characteristic associated with the embodiment or example is included in at least one embodiment or example of the present disclosure. The schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.

The terms "first" and "second" are used below for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the embodiments of the present disclosure, unless otherwise indicated, the meaning of "a plurality" is two or more.

In describing some embodiments, expressions of "coupled" and "connected" and their derivatives may be used. The term "coupled" is to be interpreted broadly, as referring to, for example, a fixed connection, a removable connection, or a combination thereof; can be directly connected or indirectly connected through an intermediate medium. The term "coupled" for example, indicates that two or more elements are in direct physical or electrical contact. The term "coupled" or "communicatively coupled (communicatively coupled)" may also mean that two or more elements are not in direct contact with each other, but yet still co-operate or interact with each other. The embodiments disclosed herein are not necessarily limited to the disclosure herein.

As used herein, "about," "approximately" or "approximately" includes the stated values as well as average values within an acceptable deviation range of the particular values as determined by one of ordinary skill in the art in view of the measurement in question and the errors associated with the measurement of the particular quantity (i.e., limitations of the measurement system).

As used herein, "parallel", "perpendicular", "equal" includes the stated case as well as the case that approximates the stated case, the range of which is within an acceptable deviation range as determined by one of ordinary skill in the art taking into account the measurement in question and the errors associated with the measurement of the particular quantity (i.e., limitations of the measurement system). For example, "parallel" includes absolute parallel and approximately parallel, where the acceptable deviation range for approximately parallel may be, for example, a deviation within 5 °; "vertical" includes absolute vertical and near vertical, where the acceptable deviation range for near vertical may also be deviations within 5 °, for example. "equal" includes absolute equal and approximately equal, where the difference between the two, which may be equal, for example, is less than or equal to 5% of either of them within an acceptable deviation of approximately equal.

Fig. 1 is a block diagram of a data center according to some embodiments of the present application.

Referring to fig. 1, an embodiment of the present application provides a data center 1000. The data center 1000 is a specific device network cooperating globally, and is used to implement functions of data transmission, acceleration, presentation, calculation, storage, etc. on an Internet (chinese name: internet) network infrastructure.

The data center 1000 may include a computing device 2000, and the computing device 2000 may be a complete cabinet server, for example. The computing device 2000 may include a cabinet 1100 and an electronic device 1200, and the electronic device 1200 may be located within the cabinet 1100 such that the cabinet 1100 can protect the electronic device 1200.

In some examples, the electronic device 1200 may include a server or a switch, or the like. It is understood that the embodiments of the present application do not further limit the kinds of the electronic device 1200.

In some examples, as shown in fig. 1, the data center 1000 may include a plurality of computing devices 2000, and the plurality of computing devices 2000 may be arranged in an array. One computing device 2000 may include at least two electronic devices 1200, where at least two electronic devices 1200 may be stacked within the same rack 1100 to increase space utilization of the data center 1000 and reduce space costs.

In some examples, the data center 1000 may also include a power system (not shown in fig. 1) that may be electrically connected with the electronic device 1200 for powering the electronic device 1200 so that the electronic device 1200 can operate properly.

Fig. 2 is a block diagram of an electronic device 1200 locked with a cabinet 1100.

Referring to fig. 2, the cabinet 1100 may include a column 111, a top plate (not shown) and a bottom plate (not shown), one end of the column 111 may be connected to the top plate 112, and the other end of the column 111 may be connected to the bottom plate to form the cabinet 1100.

The column 111 may extend in the Z direction. The number of the columns 111 may be four, and the four columns 111 may be arranged in an array. In fig. 2, only two columns 111 are schematically shown.

In some examples, the column 111 may include two first columns 111a, and the cabinet 1100 may further include a door (not shown in fig. 2), and the two first columns 111a may be sequentially disposed along the Y direction and located at both sides of the respective door. The column 111 may further include two second columns, which may be sequentially disposed along the Y direction, and one first column 111a and one second column may be sequentially disposed along the x direction with an interval therebetween.

With continued reference to fig. 2, the electronic device 1200 may further include an electronic device body 1210 and an elastic clamping member 1220. The electronic device body 1210 may include a housing, and electronic devices such as a CPU (central processing unit ), a memory, a chipset, and a power supply disposed in the housing.

The elastic clamping member 1220 is connected to the electronic device body 1210. In some examples, the resilient clip 1220 may be disposed within a housing of the electronic device 1200.

The elastic clamping piece 1220 can be movably connected with the electronic device body 1210, and at this time, the elastic clamping piece 1220 can move relative to the electronic device body 1210. For example, the elastic clamping member 1220 may be rotatably connected with the electronic device body 1210.

The cabinet 1100 may be provided with a clamping groove, and the elastic clamping member 1220 may be clamped with the clamping groove, which may be disposed on the first column 111 a.

Referring to fig. 2, when the elastic clamping member 1220 is clamped in the clamping groove, the electronic device 1200 is locked with the cabinet 1100, and the elastic clamping member 1220 is in the first state.

Fig. 3 is a block diagram of an electronic device 1200 unlocked from a cabinet 1100.

Referring to fig. 3, when the elastic clamping member 1220 is pressed into the electronic device body 1210, the elastic clamping member 1220 can be separated from the clamping groove, and the electronic device 1200 is unlocked from the cabinet 1100, and at this time, the elastic clamping member 1220 is in the second state.

Referring to fig. 2 and 3, in some examples, the number of the elastic clamping members 1220 may be two, and the two elastic clamping members 1220 are respectively disposed at two sides of the electronic device body 1210 in the Y direction. The number of the clamping grooves can be two, and the two clamping grooves are respectively arranged on two sides of the cabinet 1100 in the Y direction. The two elastic clamping members 1220 can be respectively clamped in the two clamping grooves. By arranging the two elastic clamping pieces 1220, when the electronic device 1200 is locked with the cabinet 1100, both sides of the electronic device 1200 in the Y direction can be clamped with the cabinet 1100, so that the stability of connection between the electronic device 1200 and the cabinet 1100 is improved.

In some examples, two resilient snaps 1220 are symmetrically disposed in the Y-direction.

In some examples, the clamping grooves may be disposed on the first columns 111a, and in examples, one clamping groove is disposed on each of the two first columns 111 a.

Fig. 4 is a block diagram of an operation and maintenance robot 3000 according to some embodiments.

Referring to fig. 4, the data center 1000 may include an operation and maintenance robot 3000, and the operation and maintenance robot 3000 may include a robot body 3100, a lifting mechanism 3200, a tilting mechanism 3300, and two operating mechanisms (not shown in fig. 4). Wherein, elevating system 3200 can be connected with robot body 3100, and tilting mechanism 3300 is connected in elevating system 3200, and two operating mechanisms are connected in tilting mechanism 3300, and are located tilting mechanism 3300 in the both sides in the Y direction.

Wherein, elevating system 3200 can drive tilting mechanism 3300 along Z direction, and tilting mechanism 3300 is connected with two operating device to two operating devices can be along with tilting mechanism 3300 along Z direction removal, and at this moment, two operating devices can be located same height.

If there is a height difference between the two operating mechanisms and the elastic clamping piece 1220 corresponding to the two operating mechanisms, the tilting mechanism 3300 can adjust the horizontal tilting angle, so that the heights of the two operating mechanisms can be adjusted, and the height difference between the two operating mechanisms and the elastic clamping piece 1220 corresponding to each operating mechanism can be adjusted.

After adjusting the height difference between the two operating mechanisms and the corresponding elastic clamping pieces 1220, the two operating mechanisms can respectively apply pressure to the two elastic clamping pieces 1220, so that the two elastic clamping pieces 1220 are pressed into the electronic equipment body 1210, at this time, the operation and maintenance robot 3000 can put the electronic equipment 1200 on or off the shelf, and operation and maintenance personnel are not required to manually operate, so that the labor input can be reduced, and the operation and maintenance cost of the data center is reduced.

The two operating mechanisms are lifted synchronously, so that the height difference between the two operating mechanisms is required to be high, and if the height difference between the two operating mechanisms is large in the lifting process, the lifting mechanisms are pulled to deform, the noise is increased, the abrasion is increased, the precision is reduced and the like.

Based on this, the embodiment of the application provides an operation and maintenance robot.

Fig. 5 is a block diagram of an operation and maintenance robot 3000 according to some embodiments, and fig. 6 is a block diagram of the operation and maintenance robot 3000 according to some embodiments.

Referring to fig. 5 and 6, the operation and maintenance robot 3000 includes: a controller 100, a base 200, and two actuators 300. The controller 100 is disposed on the base 200, and two actuators 300 are independently mounted on two ends of the base 200. Each actuator 300 includes: a lifting assembly 400, an operating assembly 500, and a camera assembly 600; the lifting assembly 400 is mounted to the base 200; the operation assembly 500 is connected to the elevation assembly 400; the camera assembly 600 is connected to the handling assembly 500. The controller 100 is electrically connected to the elevation assembly 400 and the camera assembly 600.

Wherein, the camera module 600 is used for: the picture information of the feature point corresponding to the target position is acquired and transmitted to the controller 100.

The controller 100 is configured to: according to the picture information, whether the position relationship between the operation assembly 500 and the feature points meets a first preset condition is judged, if not, the operation assembly 500 is controlled to move towards the direction of the target position by the lifting assembly 400 connected with the operation assembly 500 until the position relationship between the operation assembly 500 and the feature points meets the first preset condition.

Wherein the base 200 may support two actuators 300. The two actuators 300 are symmetrically arranged along the third direction F3, as shown in fig. 6, the direction indicated by the arrow F3 is the third direction F3.

The controller 100 is electrically connected to the lift assembly 400 and the camera assembly 600, so that communication between the controller 100 and the lift assembly 400 and communication between the controller 100 and the camera assembly 600 are possible.

For example, the lifting assembly 400 may drive the operating assembly 500 to reciprocate along the first direction F1, and the operating assembly 500 is further connected to the image pickup assembly 600, and thus the image pickup assembly 600 may reciprocate along the first direction F1 along with the operating assembly 500.

One lifting assembly 400 may drive one operating assembly 500, with the movements of the two operating assemblies 500 being independent of each other, in which case the movement of one operating assembly 500 is not affected by the other operating assembly 500.

In one actuator 300, the imaging assembly 600 may acquire the picture information of the feature point corresponding to the target position.

For example, in the process of installing the electronic device 1200 in the cabinet 1100 by the operation and maintenance robot 3000, the two operation components 500 of the operation and maintenance robot 3000 may clamp both sides of the electronic device 1200 to be operated and install the electronic device 1200 to be operated and maintained in the cabinet 1100.

For example, a plurality of carrying structures sequentially arranged along the first direction F1 are disposed in the cabinet 1100, and the number of carrying structures may be the same as the number of electronic devices 1200. Wherein, a bearing structure can include two bearings, and two bearings can all extend along X direction, and two bearings can be opposite to each other in Y direction. When the electronic device 1200 is mounted in the cabinet 1100, two carriers may support the electronic device 1200.

For example, during the process of the operation and maintenance robot 3000 installing the electronic device 1200 on the cabinet 1100, the feature points may be located on the cabinet 1100. For example, the feature points are located on the carrier, although other structures for the cabinet 1100 are possible.

In addition, the feature points also correspond to target locations, which are associated with the electronic device 1200 to be operated.

For example, a plurality of electronic devices 1200 in one cabinet 1100 may be sequentially arranged along the first direction F1. For example, when the number of electronic devices 1200 in one cabinet 1100 is 10, when the operation and maintenance robot 3000 takes the fifth electronic device 1200 off the rack, the target position corresponds to the height of the fifth electronic device 1200, and the feature point may be located on a carrier that supports the fifth electronic device 1200. When the operation and maintenance robot 3000 is taking the seventh electronic device 1200 off the rack, the target position corresponds to the height of the seventh electronic device 1200, and the feature point may be located on a carrier supporting the seventh electronic device 1200.

Among them, the structure of the electronic apparatus 1200 to be operated and maintained may interfere with the carrying mechanism in the cabinet 1100 due to environmental reasons, or installation errors, etc., thereby causing abnormal installation of the electronic apparatus 1200 to be operated and maintained.

For example, during the process of the operation and maintenance robot 3000 taking the electronic device 1200 out of the cabinet 1100, the feature points may be located on the electronic device 1200 to be operated and maintained. For example, the feature points may be located on the elastic clip 1220 of the electronic device 1200 to be operated, and of course, the feature points may be located on other structures of the electronic device 1200 to be operated.

When the operation and maintenance robot 3000 is taking the fifth electronic device 1200 off the rack, that is, the electronic device 1200 to be operated and maintained is the fifth electronic device 1200, at this time, the target position corresponds to the height of the fifth electronic device 1200, and the feature point is located on the elastic clamping piece 1220 of the fifth electronic device 1200. When the operation and maintenance robot 3000 takes the sixth electronic device 1200 off the rack, that is, the electronic device 1200 to be operated and maintained is the sixth electronic device 1200, the target position corresponds to the sixth electronic device 1200, and the feature points are located on the elastic clamping piece 1220 of the fifth electronic device 1200.

In the process that the operation and maintenance robot 3000 takes out the electronic device 1200 from the cabinet 1100, the two operation components 500 of the operation and maintenance robot 3000 operate the two elastic clamping pieces 1220 of the electronic device 1200 to be operated and press the two elastic clamping pieces 1220 into the electronic device 1200, so that the elastic clamping pieces 1220 can avoid the cabinet 1100, and the operation components 500 can take out the electronic device 1200 from the cabinet 1100. The two elastic clamping members 1220 of the electronic device 1200 to be operated and maintained may be located at different heights due to environmental reasons, installation errors, or the like.

The target positions may be the same or different during the process of putting the electronic device 1200 on or off the rack.

For example, when the operation and maintenance robot 3000 is taking off the electronic device 1200 to be operated and maintained, if the positional relationship between the operation component 500 and the feature points satisfies the first preset condition, it indicates that the operation component 500 is located at the target position, and at this time, the distance between the operation component 500 and the elastic clamping member 1220 of the electronic device 1200 to be operated and maintained in the first direction F1 is smaller, so that the operation component 500 can take off the electronic device 1200 to be operated and maintained conveniently.

If the positional relationship between the operation assembly 500 and the feature points does not satisfy the first preset condition, it indicates that the operation assembly 500 is not at the target position, and the distance between the operation assembly 500 and the elastic clamping member 1220 of the electronic device 1200 to be operated and maintained in the first direction F1 is larger, and a larger deviation exists between the operation assembly 500 and the elastic clamping member 1220, which is not beneficial for the operation assembly 500 to take the electronic device 1200 to be operated and maintained off the shelf. In this scenario, the controller 100 may control the lifting assembly 400, so that the lifting assembly 400 drives the operation assembly 500 to move toward the target position until the positional relationship between the operation assembly 500 and the feature points meets the first preset condition, so that the distance between the operation assembly 500 and the elastic clamping member 1220 of the electronic device 1200 to be operated and maintained can be reduced, and the electronic device 1200 to be operated and maintained can be conveniently lifted by the operation assembly 500.

For another example, when the operation and maintenance robot 3000 mounts the electronic device 1200 to be operated and maintained, if the positional relationship between the operation component 500 and the feature point satisfies the first preset condition, it means that the distance between the electronic device 1200 to be operated and maintained clamped by the operation and maintenance robot 3000 in the first direction F1 is small, and it is advantageous for the Yu Yunwei robot 3000 to mount the electronic device 1200 to be operated and maintained on the carrier of the cabinet.

If the positional relationship between the operation assembly 500 and the feature points does not satisfy the first preset condition, it indicates that the distance between the electronic device 1200 to be operated and maintained clamped by the operation and maintenance robot 3000 and the carrier in the first direction F1 is larger, at this time, the interference between the electronic device 1200 to be operated and maintained and the carrier is larger, and the adverse Yu Yunwei robot 3000 installs the electronic device 1200 to be operated and maintained on the carrier of the cabinet. In this scenario, the controller 100 may control the lifting assembly 400, so that the lifting assembly 400 drives the operation assembly 500 to move toward the target position until the positional relationship between the operation assembly 500 and the feature point meets the first preset condition, so that the height deviation between the electronic device 1200 to be operated and maintained and the carrier can be reduced, and interference between the electronic device 1200 to be operated and maintained and the carrier is reduced, thereby facilitating the operation and maintenance robot 3000 to mount the electronic device 1200 to be operated and maintained on the carrier of the cabinet.

In summary, after the image capturing assembly 600 obtains the image information of the feature points corresponding to the target positions, the controller 100 may control the lifting assemblies 400 of the two actuators 300 respectively based on the image information. In case that the positional relationship between the operating members 500 and the feature points does not satisfy the first preset condition, the controller 100 may control the movement of the operating members 500 toward the target position through the elevating member 400, wherein there is no requirement for the height difference between the two operating members 500 since the elevating member 400 may individually drive the movement of the operating member 500 to which it is connected. In addition, since the two lifting assemblies 400 can independently drive the operation assemblies 500 connected with the two lifting assemblies 400 to move, even if a height difference exists between the two operation assemblies 500, the two operation assemblies 500 can independently move, so that the problems of pulling deformation, noise, abrasion and the like caused by the operation assemblies 500 on the lifting assemblies 400 can be reduced, the precision reduction of the lifting assemblies 400 on the operation assemblies 500 can be improved, and meanwhile, the controller 100 independently controls the two lifting assemblies 400 so that the position relationship between the operation assemblies 500 and the feature points can meet the first preset condition, thereby simplifying the control mode and reducing the operation and maintenance cost.

In addition, in the related art, when there is a height difference between the two operating mechanisms and the corresponding elastic clamping members 1220, the tilting mechanism 3300 can adjust the horizontal tilting angle thereof, so as to adjust the heights of the two operating mechanisms, and further adjust the height difference between the two operating mechanisms and the corresponding elastic clamping members 1220, so that the two operating mechanisms can be aligned with the corresponding elastic clamping members 1220. Therefore, in the related art, the tilting mechanism 3300 is required to adjust the height difference between the two operating mechanisms and the respective corresponding elastic stoppers 1220, and thus the structure of the operation and maintenance robot 3000 is complicated.

In the embodiment of the present application, the two lifting assemblies 400 can respectively adjust the positional relationship between the two operation assemblies 500 and the respective corresponding feature points, so that the turning mechanism 3300 may not be installed in the operation and maintenance robot 3000, so that the structural complexity of the operation and maintenance robot 3000 may be reduced, and the cost of the operation and maintenance robot 3000 may be reduced.

For example, the controller 100 may determine a first distance between the manipulation assembly 500 and the target position according to the picture information, and the first distance may be a distance between the manipulation assembly 500 and the target position in the first direction F1. Wherein "determining whether the positional relationship between the operation component 500 and the feature point satisfies the first preset condition" may include "determining whether the first distance is greater than or equal to a first threshold value". In case that the first distance is greater than or equal to the first threshold value, the controller 100 may generate first control information corresponding to each of the elevation components 400. The first distances corresponding to each operation assembly 500 may be equal or different, and the first control information corresponding to each operation assembly 500 is different.

Wherein, when the first distance is greater than or equal to the first threshold value, it indicates that the positional relationship between the operation component 500 and the feature point does not satisfy the first preset condition, and when the first distance is smaller than the first threshold value, it indicates that the positional relationship between the operation component 500 and the feature point satisfies the first preset condition.

For example, the two actuators are a first actuator and a second actuator, and the two operation assemblies 500 are a first operation assembly and a second operation assembly, the lifting assembly 400 connected to the first operation assembly is a first lifting assembly, and the lifting assembly 400 connected to the second operation assembly is a second lifting assembly.

If the first distance between the first operating component and the corresponding target position is greater than the first threshold, the controller 100 generates first control information corresponding to the first operating component and sends the first control information to the first lifting component, and the first lifting component can control the first operating component to move along the first direction F1 according to the received first control information, so that the first distance corresponding to the first operating component is smaller than the first threshold.

If the first distance between the second operating component and the corresponding target position is greater than the first threshold, the controller 100 generates first control information corresponding to the second operating component and sends the first control information to the second lifting component, and the second lifting component can control the second operating component to move along the second direction F1 according to the received first control information, so that the first distance corresponding to the second operating component is smaller than the first threshold.

If the first distance corresponding to the first operation component and the first distance corresponding to the second operation component are both greater than or equal to the first threshold, the controller 100 generates first control information corresponding to the first operation component and the second operation component, respectively.

If the first distance corresponding to the first operation component is smaller than the first threshold, the controller 100 does not generate the first control information corresponding to the first operation component. Similarly, if the first distance corresponding to the second operation component is smaller than the first threshold, the controller 100 does not generate the first control information corresponding to the second operation component.

The lifting assemblies 400 in the two actuators 300 can respectively control the movement of the assembly 500 operated by the lifting assemblies 400 in the first direction F1 according to the first control information received by the lifting assemblies, so that the distance between the operating assembly 500 and a corresponding target position in the first direction F1 (i.e. the first distance) can be adjusted to be smaller than a first threshold value.

In the process of installing the electronic device 1200 on the cabinet 1100 by the operation and maintenance robot 3000, after the first distance is smaller than the first threshold, the operation assembly 500 can be convenient to operate the elastic clamping piece 1220 of the electronic device 1200 to be operated in the first direction F1. Of course, the operating component 500 may also be located at the same height as the target location of the electronic device 1200 to be operated.

In the process that the operation and maintenance robot 3000 takes out the electronic device 1200 from the cabinet 1100, after the first distance is smaller than the first threshold, the interference degree between the electronic device 1200 to be operated and maintained clamped by the two operation components 500 and the bearing structure in the cabinet 1100 can be reduced, so that the operation components 500 can be convenient for installing the electronic device 1200 to be operated and maintained in the cabinet 1100.

With continued reference to fig. 6, in the present embodiment, the base 200 may include a bottom plate 210, two supporting frames 220 and a top plate 230, where the bottom plate 210 and the top plate 230 are disposed opposite to each other in the first direction F1, and the two supporting frames 220 are connected between the bottom plate 210 and the top plate 230, and the two supporting frames 220 are disposed at intervals. Two operating assemblies 500 may be disposed between two support brackets 220.

Fig. 7 is a block diagram of the lifting assembly 400 of fig. 6.

Referring to fig. 7, in the present embodiment, the lifting assembly 400 includes: the first driving motor 410, the first driving screw 420, the first guide rail 430, the first nut base 440, and the support frame 450.

The first driving motor 410 is mounted on the base 200, and the first driving motor 410 is electrically connected to the controller 100.

The first driving screw 420 extends in the first direction F1, and the first driving screw 420 is connected to the first driving motor 410.

The first rail 430 is connected to the base 200, and the first rail 430 extends along a first direction F1.

The first nut base 440 is sleeved on the first driving screw 420.

The support frame 450 is connected to the first nut base 440 and slidably connected to the first rail 430, and the support frame 450 is also connected to the operating assembly 500.

Wherein, first driving motor 410 is used for: under the control of the controller 100, the first driving screw 420 is driven to rotate to drive the first nut base 440 to move along the first driving screw 420, so that the operating assembly 500 is driven to move along the first direction F1 and toward the target position by the supporting frame 450.

Wherein the first driving screw 420 is parallel to the first guide rail 430.

The support frame 450 is also connected to the first nut base 440 such that the first nut base 440 and the support frame 450 are synchronously moved, wherein the support frame 450 can reciprocate along the first guide rail 430, and at the same time, since the first driving screw 420 and the first guide rail 430 are parallel, the first nut base 440 can reciprocate along the first driving screw 420, and thus the first nut base 440 can reciprocate along the first direction F1.

In some examples, the first driving screw 420 and the first guide rail 430 may be sequentially disposed along a second direction F2, wherein the second direction F2 crosses the first direction F1, and the second direction F2 is perpendicular to the first direction F1, as an example.

For example, the first driving motor 410 is electrically connected to the controller 100, two pieces of first control information generated by the controller 100 may be sent to the first driving motors 410 of the two lifting assemblies 400, and under the control of the first control information, the first driving motor 410 may drive the first driving screw 420 to rotate, so as to drive the first nut base 440 to move along the first driving screw 420 in the first direction F1 and approach the target position until the positional relationship between the operating assembly 500 and the feature points meets the first preset condition.

With continued reference to fig. 7, in the present embodiment, the number of the first guide rails 430 is two, and the first guide rails 430 are respectively disposed on two sides of the first driving screw 420 in the second direction F2.

Wherein, the stability of the movement of the support frame 450 in the first direction F1 can be improved by providing two first guide rails 430.

In some examples, the support frame 450 may include a support plate 451 and a first slider 452, the support plate 451 and the first slider 452 being fixedly connected, the first slider 452 being slidably connected to the first rail 430, the support plate 451 being connected to the operation assembly 500, and the operation assembly 500 being movable with the support plate 451.

For example, the support plate 451 may include two surfaces disposed opposite to each other in the third direction F3, and the first nut base 440 and the first slider 452 may be located on the same surface of the support plate.

For example, the support frame 450 may include four first sliding blocks 452, one first guide rail 430 is slidably coupled with two first sliding blocks 452, and the two first sliding blocks 452 coupled to one first guide rail 430 may be sequentially aligned along the first direction F1.

Wherein one first guide rail 430 is slidably coupled with two first sliding blocks 452, so that stability of sliding coupling of the support frame 450 with the first guide rail 430 and stability of movement of the support frame 450 can be improved.

Fig. 8 is a block diagram of an actuator 300 according to some embodiments, wherein fig. 8 does not show a first drive motor 410, a first drive screw 420, a first guide rail 430, and a first nut base 440 in a lift assembly 400; FIG. 9 is a block diagram of the lateral shifting assembly 700 of FIG. 8; fig. 10 is a structural exploded view of the lateral shifting assembly 700 of fig. 9.

Referring to fig. 8 to 10, in the present embodiment, the actuator 300 further includes: the assembly 700 is moved laterally. The lateral movement assembly 700 is connected to the support frame 450 of the elevation assembly 400 and the operation assembly 500, and the lateral movement assembly 700 is electrically connected to the controller 100 (shown in fig. 5).

Wherein the controller 100 is configured to: and judging whether the position relation between the operation assembly 500 and the feature points meets a second preset condition according to the picture information, and if not, controlling the operation assembly 500 to move towards the target position through a transverse movement assembly 700 connected with the operation assembly 500 until the position relation between the operation assembly 500 and the feature points meets the second preset condition.

For example, the lateral movement assembly 700 may drive the operation assembly 500 to reciprocate in the third direction F3.

For example, when the operation and maintenance robot 3000 is taking off the electronic device 1200 to be operated and maintained, if the positional relationship between the operation component 500 and the feature points satisfies the second preset condition, it indicates that the operation component 500 is located at the target position, and when the operation component 500 is located at the target position, the distance between the operation component 500 and the elastic clamping member 1220 of the electronic device 1200 to be operated and maintained in the third direction F3 is smaller, so that the operation component 500 can take off the electronic device 1200 to be operated and maintained conveniently.

If the positional relationship between the operating component 500 and the feature points does not satisfy the second preset condition, it indicates that the operating component 500 is not located at the target position, at this time, the distance between the operating component 500 and the elastic clamping member 1220 of the electronic device 1200 to be operated and maintained in the third direction F3 is relatively large, and a relatively large deviation exists between the operating component 500 and the elastic clamping member 1220, at this time, there may be interference between the operating component 500 and the electronic device 1200 to be operated and maintained, or there may be interference between the operating component 500 and the cabinet 1100, which is further unfavorable for the operating component 500 to take the electronic device 1200 to be operated and maintained off the shelf. In this scenario, the controller 100 may control the lateral movement assembly 700, so that the lateral movement assembly 700 drives the operation assembly 500 to move toward the target position until the positional relationship between the operation assembly 500 and the feature points meets the second preset condition, so that the distance between the operation assembly 500 and the elastic clamping member 1220 of the electronic device 1200 to be operated and maintained can be reduced, and the operation assembly 500 can be conveniently used for unloading the electronic device 1200 to be operated and maintained.

For another example, when the operation and maintenance robot 3000 mounts the electronic device 1200 to be operated and maintained, if the positional relationship between the operation component 500 and the feature point satisfies the second preset condition, it means that the height deviation between the electronic device 1200 to be operated and maintained and the carrier clamped by the operation and maintenance robot 3000 is small, which is beneficial for the operation and maintenance robot 3000 to mount the electronic device 1200 to be operated and maintained on the carrier of the cabinet.

If the positional relationship between the operation component 500 and the feature point does not meet the second preset condition, it indicates that the distance between the electronic device 1200 to be operated and maintained clamped by the robot 3000 to be operated and the carrier in the third direction F3 is larger, at this time, the interference between the electronic device 1200 to be operated and the carrier is larger, and the robot 3000 is unfavorable for Yu Yunwei to mount the electronic device 1200 to be operated and maintained on the carrier of the cabinet. In this scenario, the controller 100 may control the lateral movement assembly 700, so that the lateral movement assembly 700 drives the operation assembly 500 to move toward the target position until the positional relationship between the operation assembly 500 and the feature points meets the second preset condition, so that the distance between the electronic device 1200 to be operated and maintained and the carrier in the third direction F3 may be reduced, and interference between the electronic device 1200 to be operated and maintained and the carrier may be reduced, thereby facilitating the operation and maintenance robot 3000 to mount the electronic device 1200 to be operated and maintained on the carrier of the cabinet.

In some examples, the controller 100 may determine, from the picture information, a second distance between the operational component 500 and the corresponding target location. And "determining whether the positional relationship between the operating member 500 and the feature points satisfies the second preset condition" may include "determining whether the second distance is greater than or equal to a second threshold", wherein in case that the second distance is greater than or equal to the second threshold, the second control information is transmitted to the lateral movement member 700 to which the operating member 500 is connected. The second distance is a distance between the operating component 500 and the target position in the third direction F3, and the two actuators 300 are sequentially disposed along the third direction F3.

The lateral movement assembly 700 is for: according to the received second control information, the operating assembly 500 to which it is connected is controlled to move in the third direction F3 such that the second distance is smaller than the second threshold.

Wherein, when the second distance is greater than or equal to the second threshold value, it indicates that the positional relationship between the operation component 500 and the feature point does not satisfy the second preset condition, and when the second distance is smaller than the second threshold value, it indicates that the positional relationship between the operation component 500 and the feature point satisfies the second preset condition.

When the electronic device 1200 is installed in the cabinet 1100, the two elastic clamping members 1220 of the electronic device 1200 are sequentially disposed along the third direction F3.

Wherein, the lateral movement assembly 700 is connected to the support frame 450, and thus the support frame 450 may support the lateral movement assembly 700, and the lateral movement assembly 700 may reciprocate along the first direction F1 along with the support frame 450. For example, the first nut base 440 and the lateral movement assembly 700 may be located at opposite surfaces of the support plate of the support frame 450.

The traverse assembly 700 may drive the operating assembly 500 to reciprocate along the third direction F3.

The distance between the operation assembly 500 and the corresponding target position in the third direction F3 (i.e., the second distance) may be greater than the second threshold, at this time, if the operation assembly 500 is in the process of installing the electronic device 1200 in the cabinet 1100, the operation assembly 500 is inconvenient to operate the corresponding elastic clamping member 1220, and if the operation assembly 3000 is in the process of installing the electronic device 1200 in the cabinet 1100, the electronic device 1200 to be operated clamped by the two operation assemblies 500 may interfere with the bearing structure in the cabinet 1100, which is disadvantageous for installing the electronic device 1200 to be operated.

The controller 100 may determine a second distance between each of the operation components 500 and the corresponding target position according to the picture information, and generate corresponding second control information in case the second distance is greater than or equal to a second threshold value. The second distances corresponding to the two operation assemblies 500 may be equal or unequal.

The two operating assemblies 500 are, for example, a first operating assembly and a second operating assembly, respectively, the traverse assembly 700 connected to the first operating assembly is a first traverse assembly, and the traverse assembly 700 connected to the second operating assembly is a second traverse assembly.

If the second distance between the first operation component and the corresponding target position is greater than the second threshold, the controller 100 generates second control information corresponding to the first operation component and sends the second control information to the first lateral movement component, and the first lateral movement component can control the first operation component to move along the third direction F3 according to the received second control information, so that the second distance corresponding to the first operation component is smaller than the second threshold.

If the second distance between the second operation component and the corresponding target position is greater than the second threshold, the controller 100 generates second control information corresponding to the second operation component and sends the second control information to the second lateral movement component, and the second lateral movement component can control the second operation component to move along the third direction F3 according to the received second control information, so that the second distance corresponding to the second operation component is smaller than the second threshold.

If the second distances corresponding to the first operating component and the second operating component are both greater than or equal to the second threshold, the controller 100 generates second control information corresponding to the first operating component and the second operating component, respectively.

If the second distance corresponding to the first operation component is smaller than the second threshold, the controller 100 does not generate the second control information corresponding to the first operation component. Similarly, if the second distance corresponding to the second operation component is smaller than the second threshold, the controller 100 does not generate the second control information corresponding to the second operation component.

The lateral movement assemblies 700 in the two actuators 300 can adjust the positions of the operation assemblies 500 according to the second control information received by the lateral movement assemblies 700, so that the operation assemblies 500 move along the third direction F3, and the second distance can be smaller than the second threshold.

In the process of installing the electronic device 1200 on the cabinet 1100 by the operation and maintenance robot 3000, the controller 100 may control the operation assembly 500 to move along the third direction F3 through the lateral movement assembly 700, so as to ensure that the second distance between the operation assembly 500 and the target position is smaller than the second threshold value, and further in the process of putting the electronic device 1200 to be operated and maintained on the rack, the operation assembly 500 may be convenient for operating the elastic clamping member 1220 of the electronic device 1200 to be operated and in the process of putting the electronic device 1200 to be operated and maintained on the rack, so that the interference degree between the electronic device 1200 to be operated and maintained and the bearing structure of the cabinet 1100 may be reduced, and thus the operation assembly 500 may be convenient for installing the electronic device 1200 to be operated and maintained in the cabinet 1100.

In some embodiments, the controller 100 is configured to: the fourth control information is generated and sent to the first driving motors 410 of the two lifting assemblies 400, and the first driving motors 410 of the two lifting assemblies 400 can drive the first driving screw 420 to rotate, so that the first nut base 440 drives the operation assembly 500 to move to the set position through the supporting frame 450. The set position may be related to a height corresponding to the electronic device 1200 to be operated and maintained.

Note that the set position is preset, and the set position is determined according to the actual position of the electronic device 1200 to be operated or the actual position of the cabinet 1100.

The camera assembly 600 is for: after the operation unit 500 moves to the set position, the image information of the feature point corresponding to the target position is acquired and transmitted to the controller 100.

In this case, after the image information of the feature point corresponding to the target position is obtained, the first distance may be smaller than the first threshold, and the second distance may be smaller than the second threshold. Of course, the set position may be a different position from the target position.

With continued reference to fig. 10, in this embodiment, the lateral movement assembly 700 includes: a first support 710, a second driving motor 720, a first gear 730, a second support 740, a first rack 750, and a second guide 760.

The first support 710 is connected to the support frame 450 (as shown in fig. 7); the second driving motor 720 is mounted to the first support 710 and is electrically connected to the controller 100. The first gear 730 is connected to the second driving motor 720. The second support 740 is connected to the operating assembly 500. The first rack 750 extends along the third direction F3 and is meshed with the first gear 730, and the first rack 750 is further connected to the second support 740, wherein the two actuators are sequentially arranged along the third direction F3. The second rail 760 is connected to the first support 710 and slidably connected to the second support 740, and the second rail 760 extends along the third direction F3.

Wherein, the second driving motor 720 is used for: the first gear 730 is driven to rotate under the control of the controller 100 to drive the first rack 750 to move along the third direction F3, so that the operating assembly 500 is driven to move along the third direction F3 and toward the target position by the second support 740.

The first support 710 may be fixedly connected with the support frame 450, or slidably connected. The first supporter 710 may support the second driving motor 720.

In some examples, the first support 710 may include a first sub-support plate 711 and a second sub-support plate 712, wherein the first sub-support plate 711 may be connected with the support plate 451 of the support frame 450. The second sub-supporting plate 712 is connected to the first sub-supporting plate 711.

For example, the plane in which the second sub-support plate 712 is located may be perpendicular to the plane in which the first sub-support plate 711 is located.

The second driving motor 720 and the second support 740 may be respectively located at both sides of the first sub supporting plate 711 opposite to each other in the first direction F1, and the first gear 730 is located at a side of the first sub supporting plate 711 facing away from the second driving motor 720. For example, the first sub supporting plate 711 may include a first surface 7111 and a second surface 7112 disposed opposite to each other in the first direction F1, wherein the second driving motor 720 is located at the first surface 7111, wherein an output shaft of the second driving motor 720 may be connected to the first gear 730, and drives the first gear 730 to rotate.

For example, a mounting hole 713 is provided on the first sub supporting plate 711, and an output shaft of the second driving motor 720 may be connected to the first gear 730 through the mounting hole 713.

The second guide 760 is coupled to the second surface 7112 of the first sub supporting plate 711, and the second guide 760 is slidably coupled to the second supporting member 740, wherein the second guide 760 extends in the third direction F3, and thus, the second supporting member 740 may be restricted from reciprocating in the third direction F3.

Meanwhile, the first rack 750 may be fixedly coupled with the second support 740, and thus, the second support 740 may move synchronously with the first rack 750. The first rack 750 is engaged with the first gear 730, so that when the second driving motor 720 drives the first gear 730 to rotate, the first rack 750 can move along the third direction F3, so that the operating assembly 500 can be driven to move along the third direction F3, and the distance between the operating assembly 500 and the corresponding target position in the third direction F3 can be adjusted.

In some examples, a plurality of weight reducing holes are provided on the first sub supporting plate 711, whereby the weight of the first supporting member 710 can be reduced.

In some examples, the second driving motor 720, the first gear 730, the second support 740, the first rack 750, and the second guide 760 may constitute a lateral driving structure, wherein the number of lateral driving structures may be two, and the two lateral driving structures may be sequentially disposed along the second direction F2.

In some examples, the lateral drive structure may further include a second slider 770, the second slider 770 may be fixedly coupled with the second support 740, and the second slider 770 may be slidably coupled with the second rail 760, that is, the second support 740 may be slidably coupled with the second rail 760 through the second slider 770.

In some examples, the second support 740 may be plate-shaped.

In one transverse driving structure, the number of the second guide rails 760 may be two, and in this case, one second support 740 may be connected to two second sliding blocks 770, and the two second sliding blocks 770 are slidably connected to the two second guide rails 760, respectively. Wherein, two second guide rails 760 may be respectively disposed at both sides of the first rack 750 in the second direction F2.

Wherein, by providing two lateral driving structures to drive the operating assembly 500 to move in the third direction F3, the stability of the movement of the driving assembly 500 can be improved.

Fig. 11 is a structural view of the lateral movement assembly 700 coupled to the support plate 451 through the first push assembly 800, and fig. 12 is a structural view of the support frame 450 coupled to the first push assembly 800, wherein the fifth driving motor 810 of the first push assembly 800 is not shown in fig. 12.

Referring to fig. 11 and 12, in this embodiment, the operation and maintenance robot 3000 may further include: the first pushing assembly 800. The first pushing assembly 800 is connected to the support frame 450 and the lateral movement assembly 700; the first pushing assembly 800 is used for driving the first support 710 to reciprocate along a second direction F2, wherein the second direction F2 intersects the first direction F1.

The first pushing assembly 800 may be configured to drive the traverse assembly 700 to reciprocate along the second direction F2, where the traverse assembly 700 is further connected to the operation assembly 500, so that the operation assembly 500 may be close to or far from the cabinet 1100, and thus the depth of the operation assembly 500 into the cabinet 1100 may be controlled.

By way of example, the first pushing assembly 800 may be coupled to the first support 710 of the lateral movement assembly 700.

For example, the first pushing assembly 800 may include a fifth driving motor 810, a third gear 820, a third rack 830, a fourth guide rail 840, and a fourth sliding block 850.

The fifth driving motor 810 and the third gear 820 may be disposed at opposite sides of the second sub-supporting plate 712 of the first supporter 710 in the third direction F3, respectively, wherein the third gear 820 is located at a side of the second sub-supporting plate 712 facing away from the first sub-supporting plate 711.

The fourth slider 850 is coupled to a side of the second sub-supporting plate 712 of the first supporter 710 facing away from the fifth driving motor 810, the fourth guide rail 840 is coupled to the supporting plate 451 of the supporting frame 450, and the fourth slider 850 is slidably coupled to the fourth guide rail 840. Wherein the fourth guide 840 extends in the second direction F2, and thus, the first supporter 710 may reciprocate in the second direction F2.

The third rack 830 is connected to the support plate 451 of the support frame 450, the third rack 830 is engaged with the third gear 820, and the fifth driving motor 810 can drive the third gear 820 to rotate under the control of the controller 100, so as to drive the third rack 830 to move along the second direction F2, thereby driving the lateral movement assembly 700 and the operation assembly 500 to reciprocate along the second direction F2 through the first support 710.

The second sub supporting plate 712 mounted to the first supporting member 710, the second sub supporting plate 712 being provided with a mounting hole, and an output shaft of the fifth driving motor 810 may be connected to the third gear 820 through the mounting hole of the second sub supporting plate 712.

When the electronic device 1200 is put on or taken off, the controller 100 may drive the operation assembly 500 to reciprocate along the second direction F2 through the first pushing assembly 800, so that the operation assembly 500 may approach or separate from the electronic device 1200.

In some examples, the number of the fourth guide rails 840 may be two, the two fourth guide rails 840 may be sequentially disposed along the first direction F1, and the two fourth guide rails 840 may be respectively disposed at both sides of the third rack 830 in the first direction F1.

The first support 710 may be slidably connected to the two fourth guide rails 840 through two fourth sliding blocks 850, respectively, wherein the stability of the movement of the first support 710 and the operating assembly 500 may be improved by providing the two fourth guide rails 840.

In some examples, the number of fourth sliding blocks 850 may be greater than or equal to 4, at which time one fourth guide rail 840 may be slidably coupled with at least 2 fourth sliding blocks 850, so that the stability of the movement of the first support 710 and thus the operating assembly 500 may be further improved.

Fig. 13 is a block diagram of camera movement assembly 910 and distance sensing assembly 920 according to some embodiments.

Referring to fig. 13, in this embodiment, the operation and maintenance robot 3000 may further include: the camera moving assembly 910 and the distance sensing assembly 920, the camera moving assembly 910 is connected to the supporting frame 450 of the lifting assembly 400 and the camera assembly 600, the camera moving assembly 910 is electrically connected to the controller 100, the distance sensing assembly 920 is connected to the supporting frame 450 of the lifting assembly 400, and the distance sensing assembly 920 is electrically connected to the controller 100.

Wherein, distance sensing assembly 920 is used for: distance information between the distance sensing assembly 920 and the target component where the feature points are located is obtained.

The controller 100 is configured to: whether the positional relationship between the image capturing assembly 600 and the target component meets a third preset condition is determined according to the distance information, and if not, the image capturing assembly 600 is controlled to move towards a direction approaching or separating from the target component by the image capturing moving assembly 910 connected with the image capturing assembly 600 until the positional relationship between the image capturing assembly 600 and the target component meets the third preset condition.

Wherein the support frame 450 may support the camera moving assembly 910, and the support frame 450 may drive the camera assembly 600 to reciprocate in the second direction F2.

By way of example, the distance sensing assembly 920 may include an infrared ranging sensor.

In the process of taking out the electronic device 1200 from the cabinet 1100 by the operation and maintenance robot 3000, the feature point may be located on the electronic device 1200, and at this time, the target component may be the electronic device 1200.

In the process of installing the electronic device 1200 in the cabinet 1100 by the operation and maintenance robot 3000, the feature point may be located on the cabinet 1100, and at this time, the target component may be the cabinet 1100.

The camera assembly 600 may include a camera.

The focal length range of the image capturing assembly 600 is fixed, and when the positional relationship between the image capturing assembly 600 and the target component satisfies the third preset condition, it indicates that the target component is located outside the focal length range of the image capturing assembly 600, and at this time, the image captured by the image capturing assembly 600 is unclear.

At this time, the controller 100 may drive the image capturing assembly 600 to move toward or away from the target component through the image capturing moving assembly 910, so that the positional relationship between the image capturing assembly 600 and the target component satisfies the third preset condition, thereby improving the clarity of capturing the image of the image capturing assembly 600.

In some examples, "determining whether the positional relationship between the image capturing assembly 600 and the target component satisfies the third preset condition" may include "determining whether the distance between the image capturing assembly 600 and the target component is within a specified distance range". If the distance between the image capturing assembly 600 and the target component is within the specified distance range, it indicates that the positional relationship between the image capturing assembly 600 and the target component meets a third preset condition; if the distance between the imaging assembly 600 and the target member is outside the specified distance range, it indicates that the positional relationship between the imaging assembly 600 and the target member does not satisfy the third preset condition.

If the distance between the image capturing assembly 600 and the target component is outside the specified distance range, the controller 100 may generate third control information and send the third control information to the image capturing movement assembly 910, and under the action of the third control information, the image capturing movement assembly 910 may drive the image capturing assembly 600 to move along the second direction F2, so that the distance between the image capturing assembly 600 and the target component in the second direction F2 is within the specified distance range, and further, the definition of the picture captured by the image capturing assembly 600 may be improved, and further, the control accuracy of the controller 100 may be improved.

For example, when the distance between the distance sensing component 920 and the target component is smaller than any value in the specified distance range, the controller 100 controls the camera component 600 to move away from the cabinet 1100 through the camera moving component 910, and when the distance between the distance sensing component 920 and the target component is larger than any value in the specified distance range, the controller 100 controls the camera component 600 to move close to the cabinet 1100 through the camera moving component 910.

With continued reference to fig. 13, in the present embodiment, the camera moving assembly 910 includes: a third support 911, a third drive motor 912, a second drive screw 913, a second nut base 914, and a third rail 915.

The third support 911 is connected to the support frame 450, and the distance sensing assembly 920 is mounted to the third support 911. Wherein the third supporting member 911 and the supporting frame 450 may be fixedly coupled.

As an example, the third support 911 may include a third sub-support plate 9111 (as shown in fig. 8) and a fourth sub-support plate 9112, wherein one side of the third sub-support plate 9111 is connected to the support plate 451 of the support frame 450, and the third sub-support plate 9111 is disposed perpendicular to the support plate 451.

One side of the fourth sub supporting plate 9112 is connected to the third sub supporting plate 9111, and the fourth sub supporting plate 9112 is located at a side of the third sub supporting plate 9111 facing away from the lateral movement assembly 700.

The third driving motor 912 is mounted to the third support 911, and the third driving motor 912 is electrically connected to the controller 100. Communication between the third drive motor 912 and the controller 100 may be provided. The third support 911 may support the third driving motor 912.

Wherein, the third driving motor 912 may be connected to the fourth sub supporting plate 9112.

The second driving screw 913 is connected to the third driving motor 912. The third driving motor 912 may drive the second driving screw 913 to rotate.

The second nut base 914 is sleeved on the second driving screw 913 and is connected to the camera module 600. The second nut base 914 and the second driving screw 913 may be connected by threads.

The third guide 915 is disposed on the third supporting member 911, and the third guide 915 is slidably connected to the second nut base 914, and the third guide 915 extends along the second direction F2. The third rail 915 may restrict the second nut base 914 from moving in the second direction F2.

For example, the third guide 915 is connected to the fourth sub-support plate 9112, and the second driving screw 913 may be located at a side of the second driving screw 913 facing away from the third support 911, and the third guide 915 is spaced apart from the second driving screw 913.

Wherein the third guide 915 is disposed parallel to the second driving screw 913.

The second nut base 914 is provided with a threaded hole, and the second nut base 914 is sleeved on the second driving screw 913 through the threaded hole.

One side of the second nut base 914 facing the fourth sub-supporting plate 9112 is slidably connected to the third guide rail 915, and one side of the third guide rail 915 facing away from the fourth sub-supporting plate 9112 is fixedly connected to the camera assembly 600, so that the camera assembly 600 can reciprocate along the second direction F2 along with the second nut base 914.

Wherein, third driving motor 912 is used for: the second driving screw 913 is driven to rotate under the control of the controller 100 to drive the second nut base 914 to move along the third guide 915, thereby driving to move along the second direction F2, so that the camera module 600 moves in a direction approaching or separating from the target component, and the positional relationship between the camera module 600 and the target component satisfies a third preset condition.

When the rotation directions of the second driving screw 913 are different, the movement direction of the second nut base 914 may be different.

Other structures in the camera moving assembly 910 may be supported by providing the third support 911, and the camera moving assembly 910 may be connected to the support frame 450 such that the camera moving assembly 910 may reciprocate along the first direction F1 with the support frame 450. By providing the third guide 915, and slidably connecting the third guide 915 with the second nut base 914, the second nut base 914 can be restricted from moving along the second direction F2 when the second driving screw 913 rotates.

Fig. 14 is a block diagram of an operational assembly 500 according to some embodiments.

Referring to fig. 14, in the present embodiment, the operation assembly 500 includes: a fourth support 510, a fourth drive motor 520, a second gear 530, an arcuate rack 540, an arcuate track 550, and a wrench 560.

The fourth support 510 is connected to the support frame 450 (shown in fig. 8). For example, the fourth supporter 510 may include a fifth sub-supporting plate 511.

The fourth driving motor 520 is electrically connected to the controller 100, and thus, communication between the fourth driving motor 520 and the controller 100 is possible.

The second gear 530 is connected to the fourth driving motor 520, and the fourth driving motor 520 can drive the second gear 530 to rotate.

The arc-shaped rack 540 is connected to the fourth support 510 and is engaged with the second gear 530. Wherein, the arc-shaped rack 540 may include an arc-shaped edge, and the engaging teeth may be disposed on the arc-shaped edge of the arc-shaped rack 540.

The arc-shaped rail 550 is mounted to the arc-shaped rack 540. Wherein the arcuate track 550 conforms to the arcuate edges of the arcuate rack 540. It should be noted that, the center of the circle corresponding to the arc edge overlaps the center of the circle corresponding to the arc track 550.

The wrench 560 is slidably coupled to the arc-shaped rail 550, and the wrench 560 is further coupled to the fourth driving motor 520, so that the arc-shaped rail 550 can limit the wrench 560 and the fourth driving motor 520 from moving along the extending track of the arc-shaped rail 550.

Wherein, fourth driving motor 520 is used for: the second gear 530 is driven to rotate under the control of the controller 100, so as to drive the wrench 560 to move along the extending track of the arc-shaped rack 540.

When the fourth driving motor 520 drives the second gear 530 to rotate, the second gear 530 may move along the arc edge of the arc rack 540, and the second gear 530 may further drive the wrench 560 to move through the fourth driving motor 520, so that the angle of the wrench 560 may be changed during the movement of the wrench 560, and the wrench 560 may abut against the elastic clamping member 1220 of the electronic device 120 to be operated and maintained, so that the elastic clamping member 1220 is pressed into the electronic device 120, and at this time, the electronic device 120 to be operated and maintained may be taken out from the cabinet 1100.

For example, the fourth driving motor 520, the second gear 530, the arc-shaped rack 540, the arc-shaped rail 550, and the wrench 560 may be located between the fourth support 510 and the third support 911 (shown in fig. 8).

Fig. 15 is a block diagram of a second pusher assembly 930 according to some embodiments.

Referring to fig. 15, in this embodiment, the operation and maintenance robot 3000 may further include: a second pushing assembly 930. The second pushing assembly 930 is mounted on the support frame 450 and connected to the operating assembly 500, and the second pushing assembly 930 is used for driving the operating assembly 500 to move along the second direction F2. Wherein the second direction F2 intersects the first direction F1.

For example, the second pushing member 930 may be coupled to the second supporting member 740 of the lateral movement member 700, and the second supporting member 740 of the lateral movement member 700 may be coupled to the operating member 500, and thus, the supporting frame 450 is coupled to the operating member 500 through the lateral movement member 700. The traverse assembly 700 may drive the traverse assembly 700 to reciprocate along the third direction F3, and thus drive the operation assembly 500 to reciprocate along the third direction F3.

The second pushing component 930 can drive the operating component 500 to move along the second direction F2, so that the operating component 500 can be close to or far from the cabinet 1100, and thus the depth of the operating component 500 into the cabinet 1100 can be adjusted.

With continued reference to fig. 15, in some examples, the second pushing assembly 930 may include a fifth support 931, a sixth drive motor 932, a belt structure 933, a fifth guide rail 934, and a fifth sliding block 935.

Wherein the fifth support 931 is coupled to the traverse assembly 700 such that the traverse assembly 700 can drive the fifth support 931 to reciprocate in the third direction F3.

The sixth driving motor 932 is disposed on the fifth supporting member 931, and the sixth driving motor 932 is connected to the belt structure 933, the sixth driving motor 932 is electrically connected to the controller 100, the belt structure 933 is connected to the operating assembly 500, and the belt structure 933 is connected to the fourth supporting member 510 of the operating assembly 500, for example.

The fifth guide rail 934 is disposed on the fifth support 931, and the fifth guide rail 934 extends along the second direction F2, the fifth slider 935 may be slidably connected to the fifth guide rail 934, and the fifth slider 935 is also connected to the operating assembly 500.

When the belt in the belt structure 933 rotates under the control of the controller 100, the sixth driving motor 932 can drive the operation assembly 500 to move, and the operation assembly 500 can reciprocate along the third direction F3 under the limitation of the fifth rail 934 and the fifth slider 935.

The number of fifth guide rails 934 may be two, two fifth guide rails 934 may be sequentially disposed along the second direction F2, one fifth guide rail 934 may be slidably connected to the plurality of fifth sliding blocks 935, and one fifth guide rail 934 may be slidably connected to the two fifth sliding blocks 935, for example. By providing two fifth guide rails 934 slidably coupled to the fourth support 510 of the operating assembly 500, the stability of the movement of the fourth support 510 may be improved.

Fig. 16 is a flow chart of a control method of an operation and maintenance robot according to some embodiments.

Referring to fig. 16, the embodiment of the present application further provides a control method of an operation and maintenance robot, and the control method of the operation and maintenance robot can be applied to the operation and maintenance robots provided in some embodiments. The control method of the operation and maintenance robot may include the following steps S1 to S2.

S1, acquiring picture information of feature points corresponding to a target position;

s2, judging whether the position relation between the operation assembly and the characteristic points meets a first preset condition according to the picture information, and if not, controlling the operation assembly to move towards the direction of the target position through a lifting assembly connected with the operation assembly until the position relation between the operation assembly and the characteristic points meets the first preset condition.

The step S1 may be performed by the camera module 600 of the operation and maintenance robot, and the step S2 may be performed by the controller 100 of the operation and maintenance robot.

In the foregoing, the image capturing assembly 600 and the controller 100 have been described, and will not be described herein. The control method of the operation and maintenance robot can be applied to the operation and maintenance robots provided by some embodiments, so that the control method has the beneficial effects provided by some operation and maintenance robots and is not described herein.

Referring to fig. 17, in some embodiments, before step S1, the control method may further include step S0, controlling the operation component to move to the set position.

The step S0 may be performed by the lifting assembly 400.

Referring to fig. 17, in some embodiments, the control method may further include: step S3 is described below.

And S3, judging whether the position relation between the operation assembly and the characteristic points meets a second preset condition according to the picture information, and if not, controlling the operation assembly to move towards the direction of the target position through a transverse movement assembly connected with the operation assembly until the position relation between the operation assembly and the characteristic points meets the second preset condition.

The step S3 may be performed by the controller 100.

Referring to fig. 17, in some embodiments, the control method may further include: steps S4 and S5 are described below.

S4, obtaining distance information between the distance sensing assembly and the target component where the feature points are located.

S5, judging whether the position relation between the image pickup assembly and the target component meets a third preset condition according to the distance information, and if not, controlling the image pickup assembly to move towards a direction close to or far away from the target component through the image pickup moving assembly connected with the image pickup assembly until the position relation between the image pickup assembly and the target component meets the third preset condition.

The above step S4 may be performed by the distance sensing assembly, and the above step S5 may be performed by the controller 100.

The above steps S3 to S5 are already described above, and are not described here again.

The foregoing is merely a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art who is skilled in the art will recognize that changes or substitutions are within the technical scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. An operation and maintenance robot, comprising: the device comprises a controller, a base and two execution mechanisms; the controller is arranged on the base, and the two execution mechanisms are independently arranged at two ends of the base; each of the actuators includes: the lifting assembly, the operating assembly and the camera shooting assembly; the lifting assembly is arranged on the base; the operation assembly is connected with the lifting assembly; the camera shooting component is connected with the operation component; the controller is electrically connected with the lifting assembly and the camera shooting assembly;

wherein, the subassembly of making a video recording is used for: acquiring picture information of feature points corresponding to the target positions;

the controller is used for: and judging whether the position relation between the operation assembly and the characteristic points meets a first preset condition according to the picture information, and if not, controlling the operation assembly to move towards the target position through a lifting assembly connected with the operation assembly until the position relation between the operation assembly and the characteristic points meets the first preset condition.

2. The operation and maintenance robot of claim 1, wherein the lifting assembly comprises:

the first driving motor is installed on the base and is electrically connected with the controller;

the first driving screw rod extends in a first direction and is connected with the first driving motor;

a first guide rail connected to the base, the first guide rail extending along the first direction;

the first nut base is sleeved on the first driving screw rod;

the support frame is connected to the first nut base, is connected with the first guide rail in a sliding manner, and is also connected to the operation assembly;

wherein, first driving motor is used for: under the control of the controller, the first driving screw rod is driven to rotate so as to drive the first nut base to move along the first driving screw rod, and therefore the supporting frame drives the operation assembly to move along the first direction and towards the target position.

3. The operation and maintenance robot according to claim 2, wherein,

the number of the first guide rails is two, the first guide rails are respectively arranged on two sides of the first driving screw rod in the second direction, and the second direction is intersected with the first direction.

4. An operation and maintenance robot according to claim 2 or 3, wherein the actuator further comprises: a lateral movement assembly connected to the support frame and the operating assembly, the lateral movement assembly being electrically connected to the controller;

wherein the controller is configured to: and judging whether the position relation between the operation assembly and the characteristic points meets a second preset condition according to the picture information, and if not, controlling the operation assembly to move towards the target position through a transverse movement assembly connected with the operation assembly until the position relation between the operation assembly and the characteristic points meets the second preset condition.

5. The operation and maintenance robot of claim 4, wherein the lateral movement assembly comprises:

a first support coupled to the support frame;

the second driving motor is arranged on the first supporting piece and is electrically connected with the controller;

the first gear is connected with the second driving motor;

a second support connected to the operating assembly;

the first rack extends along a third direction and is meshed with the first gear, and the first rack is further connected to the second supporting piece, wherein the two execution mechanisms are sequentially arranged along the third direction;

The second guide rail is connected with the first supporting piece and is in sliding connection with the second supporting piece, and the second guide rail extends along the third direction;

wherein, the second driving motor is used for: the first gear is driven to rotate under the control of the controller so as to drive the first rack to move along the third direction, and therefore the second supporting piece drives the operation assembly to move along the third direction and towards the target position.

6. The operation and maintenance robot according to claim 4 or 5, further comprising: a first pushing assembly connected to the support frame and the lateral movement assembly; the first pushing component is used for driving the transverse moving component to reciprocate along a second direction, wherein the second direction is intersected with the first direction.

7. The operation and maintenance robot according to any one of claims 2 to 6, further comprising: the camera shooting moving assembly is connected with the supporting frame and the camera shooting assembly, the camera shooting moving assembly is electrically connected with the controller, the distance sensing assembly is connected with the supporting frame, and the distance sensing assembly is electrically connected with the controller;

Wherein, the distance sensing assembly is used for: acquiring distance information between the distance sensing assembly and a target component where the feature points are located;

the controller is used for: judging whether the position relation between the image pickup assembly and the target component meets a third preset condition according to the distance information, and if not, controlling the image pickup assembly to move towards a direction close to or far away from the target component through an image pickup moving assembly connected with the image pickup assembly until the position relation between the image pickup assembly and the target component meets the third preset condition.

8. The operation and maintenance robot of claim 7, wherein the camera movement assembly comprises:

the third support piece is connected with the support frame, and the distance sensing component is mounted on the third support piece;

the third driving motor is arranged on the third supporting piece and is electrically connected with the controller;

the second driving screw rod is connected with the third driving motor;

the second nut base is sleeved on the second driving screw rod and connected with the camera shooting assembly;

the third guide rail is arranged on the third supporting piece and is in sliding connection with the second nut base, and the third guide rail extends along the second direction;

Wherein, the third driving motor is used for: and the second driving screw rod is driven to rotate under the control of the controller so as to drive the second nut base to move along the third guide rail, so that the image pickup assembly moves towards a direction approaching or separating from the target component.

9. The operation and maintenance robot of any one of claims 2 to 8, wherein the operation assembly includes:

a fourth support connected to the support frame;

the fourth driving motor is electrically connected with the controller;

the second gear is connected with the fourth driving motor;

the arc-shaped rack is connected with the fourth supporting piece and meshed with the second gear;

the arc-shaped track is arranged on the arc-shaped rack;

the wrench is connected with the arc-shaped track in a sliding manner, and the wrench is connected with the fourth driving motor;

wherein, fourth driving motor is used for: and the second gear is driven to rotate under the control of the controller so as to drive the wrench to move along the extending track of the arc-shaped rack.

10. The operation and maintenance robot of claim 9, further comprising: the second pushing assembly is installed on the supporting frame and connected with the fourth supporting piece, and the second pushing assembly is used for driving the fourth supporting piece to move along a second direction, wherein the second direction intersects with the first direction.

11. The control method of the operation and maintenance robot is characterized in that the operation and maintenance robot comprises a base and two execution mechanisms, the two execution mechanisms are independently arranged at two ends of the base, and each execution mechanism comprises: a lifting assembly and an operating assembly; the lifting assembly is arranged on the base, and the operation assembly is connected with the lifting assembly; the control method comprises the following steps:

acquiring picture information of feature points corresponding to the target positions;

and judging whether the position relation between the operation assembly and the characteristic points meets a first preset condition according to the picture information, and if not, controlling the operation assembly to move towards the target position through a lifting assembly connected with the operation assembly until the position relation between the operation assembly and the characteristic points meets the first preset condition.