A photovoltaic power station construction inspection robot

Abstract

The application discloses a kind of photovoltaic power station construction inspection robots, belong to the technical field of inspection robot, solve the problem that existing inspection robot inspection robot is prone to dump or sink in recess when passing through uneven or sloping position, so as not to be conducive to achieving the purpose of automatic inspection.The present application comprises a shell, a walking mechanism and a data acquisition mechanism arranged on the shell, a detection mechanism arranged on the shell for detecting the running direction of the walking mechanism, the horizontal transverse and longitudinal height of the road surface, and comparing the results of the detection mechanism, a rotating mechanism arranged on the shell, a leveling mechanism arranged on the rotating mechanism for leveling uneven ground according to the comparison results of the detection mechanism.The present application is used for photovoltaic power station inspection data acquisition.

Description

TECHNICAL FIELD

[0001] The application relates to a photovoltaic power station construction inspection robot for photovoltaic power station inspection data collection. BACKGROUND

[0002] In China, 76% of the land is well-illuminated, and the light energy resources are evenly distributed; compared with hydropower, wind power and nuclear power, solar power generation has no emissions and noise, and the application technology is mature and safe and reliable. Solar energy is the cleanest, safest and most reliable energy in the future, and the best way to utilize solar energy is photovoltaic conversion, that is, using the photovoltaic effect to make sunlight on silicon materials generate current to directly generate electricity. In order to realize the conversion of solar energy, photovoltaic power stations need to be built.

[0003] The construction site of a photovoltaic power station is relatively complex, and usually includes wasteland, waste mine subsidence area site, building roof, water surface and the like. The subsidence of the waste mine area construction site, the load of the building roof and the like risks need to be understood during construction and avoided in advance. During the construction process, the photovoltaic power station that has been constructed or is under construction needs to be data-collected in real time or periodically by an inspection robot, and the data collection is used to analyze the installation defects of components and other conditions existing in the construction.

[0004] Due to the complex construction site of a photovoltaic power station, the existing technology usually uses a unmanned aerial vehicle (UAV) to perform inspection, but the support structure under the photovoltaic panel is prone to undetected, at this time, a ground walking type inspection robot needs to be used to collect ground data, but the existing ground walking type inspection robot has the following technical problems:

[0005] 1. When the inspection robot passes through a position with unevenness or slope, the problem of tilting or sinking in the recessed place is prone to occur, thereby being not conducive to achieving the purpose of automatic inspection;

[0006] 2. The optimal data collection path cannot be obtained according to historical inspection data. SUMMARY

[0007] The application aims to provide a photovoltaic power station construction inspection robot, and solve the problem that the existing inspection robot is prone to tilting or sinking in the recessed place when passing through a position with unevenness or slope, thereby being not conducive to achieving the purpose of automatic inspection.

[0008] In order to achieve the above-mentioned purpose, the technical scheme adopted by the application is as follows:

[0009] The utility model provides a kind of photovoltaic power plant construction inspection robot, including shell, walking mechanism and data acquisition mechanism being arranged on shell, including detection mechanism being arranged on shell, for detecting the road surface of walking mechanism advancing direction, horizontal transverse and longitudinal height, and comparison is carried out, rotating mechanism being arranged on shell, flattening mechanism being arranged on rotating mechanism, according to the comparison result of detection mechanism, the ground of uneven is flattened.

[0010] Further, the detection mechanism includes a support rod arranged on the shell, a rectangular net frame arranged on the support rod, a plurality of rows of height sensors arranged on the rectangular net frame for detecting horizontal transverse and longitudinal height, each row is divided into left and right sides and a middle region, and at least one height sensor is arranged in each region;

[0011] and a storage module for storing a distance threshold value, a first threshold value, a second threshold value and height values obtained in real time by each height sensor;

[0012] and a controller, which controls the operation of the height sensors, obtains a first result by comparing the absolute value of the difference between the height values obtained by the height sensors on the left and right sides in the transverse direction with the first threshold value, obtains a second result by comparing the absolute value of the difference between the height values obtained by the two height sensors adjacent in the longitudinal direction and located on the left and right sides in the transverse direction with the second threshold value, and obtains a third result by subtracting the height value obtained by the height sensor in the middle region from the smaller one of the height values obtained by the height sensors on the left and right sides in the transverse direction and comparing the result with the distance threshold value.

[0013] Further, the flattening mechanism includes a control mechanism arranged on the rotating mechanism and connected to the controller, a mechanical arm arranged on the rotating mechanism and connected to the control mechanism, composed of multiple arm bodies, used for transporting filling soil to low-lying areas, and rotating counterclockwise or clockwise along the longitudinal axis, and a ground breaking mechanism arranged on the mechanical arm and connected to the control mechanism;

[0014] If the first result is that the absolute value of the difference between the height values obtained by the height sensors on the left and right sides in the transverse direction is greater than the first threshold value, the control mechanism controls the mechanical arm and the ground breaking mechanism to fill soil to the low end, otherwise, no processing is performed;

[0015] If the second result is that the absolute value of the difference between the height values obtained by the two height sensors adjacent in the longitudinal direction is greater than the second threshold value, the control mechanism controls the mechanical arm and the ground breaking mechanism to fill soil to the position of the low end located at the front end, otherwise, the excess soil at the high end located at the front end is moved outside the travel path, otherwise, no processing is performed;

[0016] If the third result does not meet the passing height of the bottom plate of the walking mechanism, the control mechanism controls the mechanical arm and the ground breaking mechanism to move the soil above the part to the outside of the travel path, otherwise, no processing is performed;

[0017] The control mechanism first judges whether the first result, the second result and the third result all satisfy the travel requirement, if yes, the walking mechanism continues to advance, if not, the walking mechanism stops advancing, judges whether the height value difference between the height sensors at the rear end and the height sensors at the front end on the two sides in the transverse direction and in the longitudinal direction are all greater than or equal to zero, if yes, an instruction is sent, and the current first result, the second result and the third result executed by the controller are sequentially called for the control mechanism to execute, if not, an instruction is sent, the current second result executed by the controller is called for the control mechanism to execute, and then an instruction is sent, and the current first result, the second result and the third result executed by the controller are sequentially called for the control mechanism to execute.

[0018] Further, the mechanical arm comprises at least two arm bodies which are connected in series and rotate in a counterclockwise or clockwise direction along a longitudinal axis, a pipeline which is movably arranged on the arm bodies and is used for conveying the soil broken by the ground breaking mechanism, and a pump body connected with the pipeline.

[0019] Further, the arm body is provided with a buckle member, and the pipeline is fixed to the arm body through the buckle member.

[0020] The pipeline comprises a hard pipe arranged on the arm body and the shell, and a flexible pipe connected with the hard pipe and arranged in the mechanical arm at a position where the mechanical arm is rotatably connected with the rotating mechanism and the ground breaking mechanism.

[0021] Further, the ground breaking mechanism comprises a connecting member rotatably connected with the mechanical arm, an annular net rack structure arranged on the connecting member and a driving mechanism used for driving the annular net rack structure to rotate, and a conical tooth provided on the annular net rack structure and comprising a cutting blade.

[0022] Further, the connecting member has an L-shaped structure and comprises a vertical connecting member and a horizontal connecting member connected with the vertical connecting member.

[0023] The annular net rack structure comprises a first rotating shaft rotatably connected with the horizontal connecting member, and an annular net rack arranged on the first rotating shaft.

[0024] The driving mechanism comprises a second rotating shaft rotatably connected with the vertical connecting member, a rotating motor used for driving the second rotating shaft to rotate, a first gear arranged on the first rotating shaft, and a second gear arranged on the second rotating shaft and rotatably connected with the first gear.

[0025] Further, the device further comprises a selection module used for selecting an optimal data collection path according to data to be inspected and historical inspection paths, a tracking module used for tracking a travel path, a storage unit used for storing data to be collected corresponding to the path tracked by the tracking module, and a decision module used for receiving a data collection request and selecting a travel path from the storage unit, the decision module being connected with the walking mechanism.

[0026] Compared with the prior art, the present application has the advantages of:

[0027] Firstly, the present application detects the road surface in the direction of the walking mechanism by setting a detection mechanism on the shell, and compares the data, and the leveling mechanism realizes the leveling of the uneven ground based on the comparison result, and after leveling, the inspection robot can effectively avoid the problem of tilting or sinking in the recess when passing through, so as to achieve the purpose of automatic inspection and data collection.

[0028] Secondly, the detection mechanism in the present application detects the ground height of the front, rear, left, right and middle positions by setting multiple rows and columns of height sensors on the rectangular grid, calculates the difference between the values of the two sides and the adjacent front and rear positions through the controller, and judges whether the left and right and front and rear tilting problems will occur, and whether the middle area can accommodate the passing of the walking mechanism, and the results are called by the leveling mechanism to realize leveling, which is simple in structure and also facilitates data collection.

[0029] Thirdly, the leveling mechanism in the present application controls the ground crushing mechanism to crush the ground at the designated location nearby through the leveling information received by the control mechanism, and transports the crushed soil to the low ground or outside the path after crushing the excess soil on the path, which can realize the crushing and transportation of soil at the same time, so as to quickly realize soil filling and moving, and also effectively avoid the problem of dust generation during crushing, and according to the corresponding control logic, the problem of moving backfilled soil again after backfilling can also be avoided, so as to realize the rapid repair of complex road surfaces.

[0030] Fourthly, the mechanical arm in the present application is movably connected with the pipeline, which is convenient for taking off, replacing or cleaning the pipeline.

[0031] Fifthly, the ground crushing mechanism in the present application is easy to be tapered into the ground to realize rotary crushing, and the soil sucked by the tapered teeth not extending into the ground is crushed again, and at the same time, the soil is filtered by the annular grid before being transported, so as to effectively avoid the problems of soil blocking the pipeline or too little soil being transported.

[0032] Sixthly, the connecting piece in the present application is simple in structure and also facilitates the installation of the driving mechanism to drive the annular grid and the tapered teeth to rotate for ground crushing.

[0033] Seventhly, the selection module is set to facilitate the selection of the optimal data collection path according to the data to be inspected and the historical inspection path, and also effectively reduces the secondary leveling, so as to improve the efficiency of automatic inspection. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some of the embodiments of the present application, and therefore should not be regarded as a limitation to the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0035] Figure 1 It is a structural schematic diagram of the present application;

[0036] Figure 2 It is a structural schematic diagram of the present application;

[0037] Figure 3 It is a leveling mechanism provided on the rotating mechanism in the present application;

[0038] Figure 4 It is a ground breaking mechanism connected with the rotating structure provided on the mechanical arm in the present application;

[0039] Figure 5 It is a structural schematic diagram of the conical tooth of the present application;

[0040] Figure 6 It is a control and information feedback schematic diagram in the present application;

[0041] In the figure: 1 - shell, 2 - walking mechanism, 3 - data acquisition mechanism, 4 - detection mechanism, 5 - rotating mechanism, 6 - leveling mechanism, 7 - support rod, 8 - rectangular net rack, 9 - height sensor, 10 - storage module, 11 - controller, 12 - control mechanism, 13 - arm body, 14 - mechanical arm, 15 - ground breaking mechanism, 16 - pipeline, 17 - pump body, 18 - buckle, 19 - hard pipe, 20 - shrinkable hose, 21 - connecting piece, 22 - annular net rack structure, 23 - conical tooth, 24 - vertical connecting piece, 25 - horizontal connecting piece, 26 - first rotating shaft, 27 - annular net rack, 28 - second rotating shaft, 29 - rotating motor, 30 - first gear, 31 - second gear, 32 - selection module, 33 - tracking module, 34 - storage unit, 35 - decision module. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solutions and advantages of the embodiments of the present application more clear, the following will combine the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0043] It should be noted that similar reference numerals and letters refer to like items in the several figures of the drawings, and that, as such, once an item is defined in one figure, it is not necessarily required to be further defined and explained in further figures.

[0044] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship when the product of the present application is used, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0045] In addition, the terms "first", "second", "third" and the like appear only to distinguish the description and cannot be understood as indicating or implying relative importance.

[0046] In addition, the terms "horizontal", "vertical", "suspension" and the like do not mean that the component must be absolutely horizontal or suspended, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0047] In the description of the present application, it should be noted that, unless otherwise explicitly specified and limited, the terms "provided", "mounted", "connected", "connected" and the like should be broadly understood, for example, can be fixedly connected, can be detachably connected, or integrally connected; can be mechanically connected, can be electrically connected; can be directly connected, can be indirectly connected through an intermediate medium, or can be connected inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0048] Example 1

[0049] In order to solve the problem that the existing inspection robot is prone to fall or sink in the concave position when passing through the uneven or sloping position, thereby being not conducive to achieving the purpose of automatic inspection, such as Figure 1 、 2 , 3, a photovoltaic power station construction inspection robot is provided, which comprises a shell 1, a walking mechanism 2 and a data acquisition mechanism 3 arranged on the shell 1, a detection mechanism 4 arranged on the shell 1 and used for detecting the road surface of the walking mechanism 2, the horizontal transverse and longitudinal height of the walking mechanism 2, and comparing the detection results, a rotating mechanism 5 arranged on the shell 1, and a leveling mechanism 6 arranged on the rotating mechanism 5 and used for leveling the uneven ground according to the comparison results of the detection mechanism 4.

[0050] In practice, through the initial data collection path (such as selecting the travel route from the positioning module) or the manually controlled data collection path, the walking mechanism drives the data collection mechanism 3, the rotating mechanism 5 and the leveling mechanism 6 to collect data such as pictures along the path of the photovoltaic power station, and in the data collection process, when the walking mechanism travels, the detection mechanism 4 needs to collect information about the road surface and analyze the road surface conditions. The detection mechanism 4 analyzes the road surface conditions and feeds them back to the leveling mechanism 6. The leveling mechanism 6 identifies whether the road surface needs to be leveled based on the relevant data. If it needs to be leveled, the walking mechanism will pass through the leveled road surface, otherwise it will not be leveled and the walking mechanism will directly proceed to data collection. In this embodiment, the detection mechanism is arranged on the shell to detect the road surface in the direction of travel of the walking mechanism and compare the data, and the leveling mechanism is based on the comparison result to level the uneven ground. After leveling, the inspection robot can effectively avoid the problem of tilting or sinking in the recessed place when passing through, so as to facilitate the purpose of automatic inspection and data collection.

[0051] Embodiment 2

[0052] Based on embodiment 1, as shown in Figure 6 The detection mechanism 4 includes a support rod 7 arranged on the shell 1, a rectangular net rack 8 arranged on the support rod 7, a plurality of rows of height sensors 9 (at least two rows, three rows for rechecking and judgment or to effectively expand the detection area (it is impossible to completely repeat the previous path when traveling, so left or right expansion detection or area detection for data comparison can be achieved) for horizontal transverse and vertical height detection) arranged on the rectangular net rack 8, each row is divided into left and right sides and a middle area, and at least one height sensor 9 is arranged in each area; a storage module 10 for storing the distance threshold value, the first threshold value, the second threshold value and the height values obtained by the height sensors in real time; and a controller 11, which controls the operation of the height sensors 9, calculates the absolute value of the difference between the height values obtained by the height sensors 9 on the left and right sides of the transverse direction and compares it with the first threshold value to obtain the first result, calculates the absolute value of the difference between the height values obtained by the two height sensors 9 on the left and right sides of the transverse direction and the second threshold value to obtain the second result, and selects the smaller value of the height values obtained by the height sensors 9 on the left and right sides of the transverse direction, subtracts the difference between the height values obtained by the height sensors 9 in the middle area, and compares it with the distance threshold value to obtain the third result. Each threshold value can be set according to actual needs.

[0053] The left, middle and right height sensors are horizontally arranged on the rectangular grid structure, and the longitudinal arrangement is two rows, the initial height of the height sensor and the ground is 10 cm, and the smaller the subsequent measurement interval, the higher the ground. At a certain advancing location, the height values detected by the left, middle and right height sensors in the first row are 20 cm, 14 cm and 30 cm respectively, and the height values detected by the left, middle and right height sensors in the second row are 20 cm, 18 cm and 29 cm respectively, the interval threshold is 5 cm, the first threshold is 8 cm, and the second threshold is 8 cm.

[0054] The absolute value of the difference between the height values obtained by the left and right height sensors in the first row is 10 cm, which is greater than the first threshold, that is, there is a risk of right tilting or falling into a pit; the absolute value of the difference between the height values obtained by the left and right height sensors in the second row is 9 cm, which is greater than the first threshold, that is, there is a risk of right tilting or falling into a pit.

[0055] The difference between the height values obtained by the two height sensors located on the left side in the horizontal direction and adjacent in the longitudinal direction is 0, which is less than the second threshold, and the difference between the height values obtained by the two height sensors located on the right side in the horizontal direction and adjacent in the longitudinal direction is 1 cm, which is less than the second threshold, that is, the risk of tilting of the left and right wheels is small;

[0056] In the first row, the height value obtained by the left height sensor is subtracted from the height value obtained by the height sensor in the middle region to obtain 6 cm, which is greater than the interval threshold, and there is a risk of not allowing the walking mechanism bottom plate to pass; in the second row, the height value obtained by the left height sensor is subtracted from the height value obtained by the height sensor in the middle region to obtain 2 cm, which is less than the interval threshold, and there is a risk of not allowing the walking mechanism bottom plate to pass.

[0057] The detection mechanism can also combine the advancing direction of the walking mechanism, and the area in contact with the ground is provided with multiple height sensors in each region to detect the height values of the corresponding positions, so as to compare the data in the area to determine whether a pit or a convex road is formed, of course, image acquisition can also be used to determine the pit or the convex road first, and then the height sensor is used to collect data for flatness determination, to prevent the problem of low data collection efficiency caused by unnecessary flattening.

[0058] The detection mechanism in the embodiment detects the ground height of the front, rear, left, right and middle positions by arranging multiple rows and columns of height sensors on the rectangular grid structure, calculates the difference between the values of the two sides and the adjacent front and rear positions through the controller, and judges whether the left and right, front and rear tilting problems will occur, and whether the middle region can pass the vehicle mechanism, and the results are called by the flattening mechanism to realize flattening, which is simple in structure and beneficial to data collection

[0059] Embodiment 3

[0060] On the basis of embodiment 2, the leveling mechanism 6 comprises a control mechanism 12 arranged on the rotating mechanism 5 and connected with the controller 11, a mechanical arm 14 composed of multiple arm bodies 13 arranged on the rotating mechanism 5 and connected with the control mechanism 12 and rotating counterclockwise or clockwise along the longitudinal axis, used for conveying the filling soil to the low-lying position, a ground breaking mechanism 15 arranged on the mechanical arm 14 and connected with the control mechanism 12 and rotating counterclockwise or clockwise along the longitudinal axis;

[0061] If the first result is that the absolute value of the difference between the height values obtained by the height sensors 9 on the two sides in the transverse direction is greater than the first threshold value, the control mechanism 12 controls the mechanical arm 14 and the ground breaking mechanism 15 to fill the soil to the low end, otherwise, no processing is performed;

[0062] If the second result is that the absolute value of the difference between the height values obtained by the two adjacent height sensors 9 in the longitudinal direction is greater than the second threshold value, the control mechanism 12 controls the mechanical arm 14 and the ground breaking mechanism 15 to fill the soil to the position where the front end is the low end, otherwise, the excess soil at the position where the front end is the high end is moved to the outside of the travel path, otherwise, no processing is performed;

[0063] If the third result is that the passing height of the bottom plate of the walking mechanism 2 is not met, the control mechanism 12 controls the mechanical arm 14 and the ground breaking mechanism 15 to move the soil that is higher than the passing height to the outside of the travel path, otherwise, no processing is performed;

[0064] The control mechanism 12 first determines whether the first result, the second result and the third result all meet the travel requirements, if yes, the walking mechanism 2 continues to advance, if not, the walking mechanism 2 stops advancing, determines whether the difference between the height values obtained by the height sensor 9 at the rear end and the height sensor 9 at the front end in the transverse direction is greater than or equal to zero, if yes, an instruction is issued and the current first result, the second result and the third result executed by the controller 11 are sequentially called for execution by the control mechanism 12, if not, an instruction is issued and the current second result executed by the controller 11 is called for execution by the control mechanism 12, and then an instruction is issued and the current first result, the second result and the third result executed by the controller 11 are sequentially called for execution by the control mechanism 12. When filling or moving the soil, the leveling mechanism is rotated to a certain side by the rotating mechanism, the control mechanism controls the rotation angles of the arm bodies of the mechanical arm and the ground breaking mechanism 15 (the rotating structure is existing and is not described in detail here) so that the ground breaking mechanism 15 is inserted into the ground according to the leveling amount or the height difference (the amount of insertion into the ground is controlled) and the ground is broken, and then the soil is output by the mechanical arm.

[0065] Based on the data in Example 2, since the first result and the third result do not meet the travel requirements, the walking mechanism 2 stops advancing, among the two lateral sides, the height sensor 9 located at the rear end minus the height value of the height sensor 9 located at the front end, the left side is 0, and the right side is -1 cm, which is less than zero, and an instruction is issued to call the current second result executed by the controller 11 for the control mechanism 12 to execute, since the second result indicates that the left and right wheels have a small risk of front and rear tipping, that is, the control mechanism 12 does not issue a ground leveling instruction, and after the control mechanism 12 executes the second result, an instruction is issued to sequentially call the current first result executed by the controller 11, so that the mechanical arm 14 and the ground breaking mechanism 15 fill the right side, do not process based on the second result, and move the excess soil outside the travel path based on the third result.

[0066] The leveling mechanism in this embodiment receives leveling information through the control mechanism, controls the mechanical arm to drive the ground breaking mechanism to the nearby designated location to break the ground, and transports the broken soil to the low ground through the mechanical arm, or breaks the excess soil on the travel path and transports it outside the path, which can achieve soil transportation while breaking, so as to quickly realize soil filling and moving, and can effectively avoid the problem of dust during breaking. According to the corresponding control logic, the problem of moving backfilled soil again after backfilling can also be avoided to realize rapid repair of complex roads.

[0067] Example 4

[0068] On the basis of Example 3, the mechanical arm 14 at least includes two arm bodies 13 that rotate in a counterclockwise or clockwise direction along a longitudinal axis, a pipeline 16 movably arranged on the arm body 13 to transport the soil broken by the ground breaking mechanism 15, a pump body 17 connected to the pipeline 16, and the pump body 17 is a three-way pump. In practice, a control valve can also be added to facilitate the control of the direction of soil outlet through the control valve. That is, the broken soil is sucked into the pipeline through the pump body, and the outlet direction of the soil is controlled to realize soil filling and soil moving.

[0069] The arm body 13 is provided with a buckle 18, and the pipeline 16 is fixed to the arm body 13 through the buckle 18. The buckle can be a relatively arranged first buckle and a second buckle including a rotating rod, an inverted L-shaped structure arranged on the rotating rod, and a magnet arranged on the L-shaped structure. The magnets on the first buckle and the second buckle are attracted to each other to facilitate fixing and separation. Of course, the buckle can also be other structures; the pipeline 16 includes a hard pipe 19 arranged on the arm body 13 and the shell 1, and a retractable hose 20 connected to the hard pipe 19 and located in the mechanical arm 14 at the rotating cooperation position of the mechanical arm 14 with the rotating mechanism 5 and the ground breaking mechanism 15. The mechanical arm is movably cooperated with the arm body and the pipeline to facilitate the taking, separating, replacing, or cleaning of the pipeline.

[0070] Embodiment 5

[0071] On the basis of embodiment 4, the ground breaking mechanism 15 comprises a connecting piece 21 connected with the mechanical arm 14 in rotation, an annular net rack structure 22 arranged on the connecting piece 21, a driving mechanism for driving the annular net rack structure 22 to rotate, and a conical tooth 23 with a cutting blade arranged on the annular net rack structure 22. The ground breaking mechanism is easy to be coned into the ground to realize rotary breaking, and the soil sucked by the conical tooth not extending into the ground is broken again, and meanwhile, the soil is filtered by the annular net rack and then conveyed, so as to effectively avoid the problems of soil blocking the pipeline or too little soil being conveyed.

[0072] The connecting piece 21 is in L-shaped structure, comprising a vertical connecting piece 24 and a horizontal connecting piece 25 connected with the vertical connecting piece 24; the annular net rack structure 22 comprises a first rotating shaft 26 rotatably matched with the horizontal connecting piece 25, and an annular net rack 27 arranged on the first rotating shaft 26; the driving mechanism comprises a second rotating shaft 28 rotatably matched with the vertical connecting piece 24, a rotating motor 29 for driving the second rotating shaft 28 to rotate, a first gear 30 arranged on the first rotating shaft 26, and a second gear 31 arranged on the second rotating shaft 28 and matched with the first gear 30. Considering the arrangement as shown in Figure 4 , the entry of the pipeline into the pipeline is prevented, so the entry of the pipeline can be arranged in a horn shape as shown in Figures 1-3 , or can be aligned with the exposed annular net rack structure. Of course, the connecting piece and the like can also be arranged in other manners.

[0073] Embodiment 6

[0074] On the basis of embodiment 5, a selection module 32 for selecting an optimal data collection path according to the data to be inspected and the historical inspection path is further included, a tracking module 33 for tracking the travel path is included, a storage unit 34 for storing the data to be collected corresponding to the path collected by the tracking module 33 is included, and a decision module 35 for receiving a data collection request and selecting a travel path from the storage unit 34 is included, and the decision module 35 is connected with the walking mechanism 2. Considering that the paths for collecting information at the same position can be different, through the selection module, a path with good collection angle and less flat rate can be decided from the historical path.

[0075] In practice, an analysis module for the soil taking position can also be arranged to prevent problems such as digging a hole at other positions. The outlet end of the pipeline for filling cannot block the detection mechanism, and the soil is sprayed to the designated position through the impact force of the soil taken out. Of course, in order to avoid the problem of affecting the detection precision due to too much dust adhering to the detection mechanism, the support rod is a telescopic rod or a movable rod.

Claims

1. A photovoltaic power station construction inspection robot, comprising a housing (1), a walking mechanism (2) and a data acquisition mechanism (3) arranged on the housing (1), characterized in that: It comprises a detection mechanism (4) provided on a housing (1) for detecting the road surface, horizontal lateral height and vertical height of the traveling direction of the walking mechanism (2) and performing comparison, a rotation mechanism (5) provided on the housing (1), and a leveling mechanism (6) provided on the rotation mechanism (5) for leveling the uneven ground surface according to the comparison result of the detection mechanism (4); The detection mechanism (4) comprises a support rod (7) arranged on the housing (1), a rectangular grid (8) arranged on the support rod (7), and a plurality of rows of height sensors (9) for horizontal and vertical height detection arranged on the rectangular grid (8), each row being divided into left and right sides and a middle area, and each area being provided with at least one height sensor (9); and a storage module (10) for storing the distance threshold, the first threshold, the second threshold, and the height values ​​acquired in real time by each height sensor; and a controller (11), the controller (11) controls the operation of the height sensor (9), obtains a first result of comparing the absolute value of the difference between the height values ​​obtained by the height sensors (9) on both sides in the horizontal direction with a first threshold value, obtains a second result of comparing the absolute value of the difference between the height values ​​obtained by two height sensors (9) located on both sides in the horizontal direction and adjacent in the vertical direction with a second threshold value, and obtains a third result of selecting the smaller value of the height values ​​obtained by the height sensors (9) on both sides in the horizontal direction minus the difference between the height value obtained by the height sensor (9) in the middle area and comparing the result with the spacing threshold value; The leveling mechanism (6) includes a control mechanism (12) arranged on the rotating mechanism (5) and connected to the controller (11), a mechanical arm (14) arranged on the rotating mechanism (5) and connected to the control mechanism (12) and composed of a multi-section arm body (13) and used to transport the filling soil to the low ground, and a ground crushing mechanism (15) connected to the control mechanism (12) and arranged on the mechanical arm (14) and rotating counterclockwise or clockwise along the longitudinal axis; If the first result is that the absolute value of the difference between the height values ​​obtained by the height sensors (9) on both sides of the horizontal direction is greater than the first threshold value, the control mechanism (12) controls the mechanical arm (14) and the ground crushing mechanism (15) to fill the soil toward the lower end; otherwise, no processing is performed; If the second result is that the absolute value of the difference between the height values ​​obtained by the two longitudinally adjacent height sensors (9) is greater than the second threshold value, the control mechanism (12) controls the robot arm (14) and the ground crushing mechanism (15) to fill the soil at the position where the front end is the lower end, otherwise, the excess soil at the position where the front end is the higher end is moved out of the travel path, otherwise, no processing is performed; If the third result is that the clearance height of the bottom plate of the walking mechanism (2) is not met, the control mechanism (12) controls the mechanical arm (14) and the ground crushing mechanism (15) to move the soil above the clearance height outside the travel path; otherwise, no treatment is performed; The control mechanism (12) first determines whether the first result, the second result, and the third result all meet the travel requirements. If so, the walking mechanism (2) continues to move forward. If not, the walking mechanism (2) stops moving forward and determines whether the difference between the height values ​​of the height sensors (9) located at the rear end and the height sensors (9) located at the front end adjacent to each other in the horizontal direction are greater than or equal to zero. If so, an instruction is issued and the current first result, the second result, and the third result executed by the controller (11) are sequentially called for execution by the control mechanism (12). If not, an instruction is issued and the current second result executed by the controller (11) is called for execution by the control mechanism (12). Then, an instruction is issued and the current first result, the second result, and the third result executed by the controller (11) are sequentially called for execution by the control mechanism (12).

2. A photovoltaic power station construction inspection robot according to claim 1, characterized in that: The mechanical arm (14) comprises at least two arm bodies (13) that rotate counterclockwise or clockwise along a longitudinal axis, a pipe (16) movably arranged on the arm body (13) for transporting soil obtained after being crushed by the ground crushing mechanism (15), and a pump body (17) connected to the pipe (16).

3. A photovoltaic power station construction inspection robot according to claim 2, characterized in that: The arm body (13) is provided with a fastener (18), and the pipe (16) is fixed to the arm body (13) via the fastener (18); The pipeline (16) includes a hard pipe (19) provided on the arm body (13) and the housing (1), and a shrink hose (20) connected to the hard pipe (19) and located inside the mechanical arm (14) at a position where the mechanical arm (14) rotates with the rotating mechanism (5) and the ground crushing mechanism (15).

4. A photovoltaic power station construction inspection robot according to claim 3, characterized in that: The ground crushing mechanism (15) includes a connecting member (21) connected to the mechanical arm (14) for rotation, an annular grid structure (22) arranged on the connecting member (21), a driving mechanism for driving the annular grid structure (22) to rotate, and conical teeth (23) with cutting blades arranged on the annular grid structure (22).

5. The photovoltaic power station construction inspection robot according to claim 4, characterized in that: The connecting member (21) is an L-shaped structure, comprising a vertical connecting member (24) and a horizontal connecting member (25) connected to the vertical connecting member (24); The annular grid structure (22) includes a first rotating shaft (26) rotatably matched with the transverse connecting member (25), and an annular grid (27) arranged on the first rotating shaft (26); The driving mechanism includes a second rotating shaft (28) that is rotationally matched with the vertical connecting member (24), a rotating motor (29) that drives the second rotating shaft (28) to rotate, a first gear (30) arranged on the first rotating shaft (26), and a second gear (31) that is arranged on the second rotating shaft (28) and matches with the first gear (30).

6. The photovoltaic power station construction inspection robot according to claim 5, characterized in that: The invention also includes a selection module (32) for selecting an optimal data collection path according to the data to be inspected and the historical inspection path, a tracking module (33) for tracking the travel path, a storage unit (34) for storing the path collected by the tracking module (33) in correspondence with the data required to be collected, and a decision module (35) for receiving a request for collecting data and selecting a travel path from the storage unit (34). The decision module (35) is connected to the walking mechanism (2).

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