Autonomous routing inspection weeding device for photovoltaic power station

Abstract

The invention relates to the technical field of weeding, and discloses an autonomous inspection and weeding device for a photovoltaic power station. The autonomous inspection weeding device comprises a chassis assembly, a weeding assembly and a connecting assembly, the weeding assembly is located on the front side of the advancing direction of the chassis assembly and comprises a mounting plate and a weeding tool bit mechanism, and the weeding tool bit mechanism is arranged on the mounting plate; the connecting assembly comprises a connecting mechanism and a telescopic adjusting mechanism, one end of the connecting mechanism is hinged to the chassis assembly, the other end of the connecting mechanism is hinged to the mounting plate, the mounting end of the telescopic adjusting mechanism is connected with the chassis assembly, the driving end of the telescopic adjusting mechanism is connected with the mounting plate, and the telescopic adjusting mechanism can drive the mounting plate to turn over when stretching out and drawing back. The telescopic adjusting mechanism drives the mounting plate to turn over, so that the height and angle of the weeding tool bit mechanism are changed, and the weeding tool bit mechanism better fits the ground and can adapt to various terrains.

Description

Technical Field

[0001] The invention relates to the technical field of weeding, and in particular to an autonomous inspection and weeding device for a photovoltaic power station. Background Art

[0002] Photovoltaic power generation is a power generation method that uses the photovoltaic effect to convert solar energy into electrical energy. Photovoltaic power generation has the advantages of being clean and pollution-free, highly safe, and having low operating costs. It can meet the global demand for the development of new energy and has broad development space. With the continuous development of photovoltaic power stations, the scale of photovoltaic power stations has gradually expanded, and the application scenarios have become more diverse. The overall operation and maintenance of photovoltaic power stations has also become particularly important. For example, some application scenarios of photovoltaic power stations may have the problem of overgrown weeds and shrubs. Overgrown weeds and shrubs have a great negative impact on photovoltaic power stations. On the one hand, if weeds and shrubs grow too high, they will block the photovoltaic panels, greatly reducing the efficiency of photovoltaic power generation. On the other hand, too many weeds and shrubs also have the risk of causing fires, which poses a safety hazard.

[0003] It can be seen that weeding in photovoltaic power stations is particularly important. Traditional weeding methods are mainly manual weeding or chemical weeding. Manual weeding mainly involves workers using weeding tools to cut weeds and shrubs to weed. Chemical weeding mainly involves spraying herbicides and other chemical agents to weed. However, both weeding methods require workers to work, and labor costs are increasing. The weeding efficiency in large-scale photovoltaic power stations is still relatively low, and chemical weeding is not environmentally friendly and will cause environmental pollution.

[0004] Therefore, weeding robots are generally used in photovoltaic power stations for automatic weeding. Existing weeding robots are generally crawler-type self-propelled robots with cutters on the chassis. The robot can cut weeds and shrubs with the cutters when walking on the path. However, the position of the cutters on existing weeding robots is close to the ground and is generally fixed. When walking on some undulating terrain and slopes, the cutters will touch the ground and the cutters will be damaged. Therefore, the existing weeding robots have poor adaptability to special terrains and are not competent for weeding work on these special terrains. Summary of the invention

[0005] In view of this, the present invention provides an autonomous patrol and weeding device for a photovoltaic power station to solve the problem that the existing weeding robots have poor adaptability to special terrains such as uneven terrains and slopes and cannot perform weeding work in these special terrains.

[0006] In a first aspect, the present invention provides an autonomous inspection and weeding device for a photovoltaic power station, comprising:

[0007] Chassis components;

[0008] A weeding assembly, the weeding assembly is located at the front side of the chassis assembly in the direction of travel, and comprises: a mounting plate and a weeding cutter head mechanism, the weeding cutter head mechanism is arranged on the mounting plate;

[0009] A connecting component, the connecting component includes: a connecting mechanism and a telescopic adjustment mechanism, one end of the connecting mechanism is hinged to the chassis component, and the other end is hinged to the mounting plate, the mounting end of the telescopic adjustment mechanism is connected to the chassis component, and the driving end is connected to the mounting plate, and the telescopic adjustment mechanism can drive the mounting plate to flip when it is extended or retracted.

[0010] Beneficial Effects

[0011] This autonomous patrol weeding device can drive the mounting plate to flip up and down through the telescopic adjustment mechanism, and synchronously drive the weeding blade mechanism to flip. In this way, when weeding in special terrain, the mounting plate can be flipped to change the height and angle of the weeding blade mechanism, so that the weeding blade mechanism fits the current terrain better, the weeding effect is better, and the weeding blade mechanism will not be bumped.

[0012] In an optional embodiment, the connecting assembly further comprises a shock absorbing mechanism, one end of the shock absorbing mechanism is connected to the chassis assembly, and the other end of the shock absorbing mechanism is connected to the mounting end of the telescopic adjustment mechanism.

[0013] In an optional embodiment, the shock absorbing mechanism includes: a base, a connecting seat, an elastic member and a guide member, the base is connected to the chassis assembly, the connecting seat is connected to the mounting end of the telescopic adjustment mechanism, the elastic member is arranged between the base and the connecting seat, and is sleeved on the guide member, one end of the guide member is fixedly arranged on the base, and the other end is slidably connected to the connecting seat.

[0014] Beneficial Effects

[0015] When the weeding cutter head mechanism touches a hard object, the shock absorbing mechanism can be used to provide shock absorption and buffering, thereby protecting the weeding cutter head mechanism and preventing the weeding cutter head mechanism from being damaged.

[0016] In an optional embodiment, the connection assembly further includes a connection frame, the connection frame is connected to the chassis assembly, and the shock absorbing mechanism and the telescopic adjustment mechanism are connected to the chassis assembly via the connection frame.

[0017] Beneficial Effects

[0018] The connection frame is provided to facilitate the disassembly and assembly connection of the shock absorbing mechanism and the telescopic adjustment mechanism with the chassis assembly.

[0019] In an optional embodiment, the connecting mechanism includes two connecting rods, which are respectively arranged on both sides of the connecting frame, one end of the connecting rod is hinged to the connecting frame, and the other end is hinged to the mounting plate;

[0020] The telescopic adjustment mechanism comprises two telescopic rods, which are respectively arranged on both sides of the connecting frame. The mounting ends of the telescopic rods are connected to the connecting frame, and the driving ends of the telescopic rods are connected to the mounting plate.

[0021] Beneficial Effects

[0022] The two connecting rods and the two telescopic rods are symmetrically arranged on both sides of the connecting frame, thereby ensuring that both sides of the mounting plate are evenly stressed and the turning is more stable.

[0023] In an optional embodiment, the autonomous patrol weeding device also includes a patrol component arranged on the chassis assembly, the patrol component includes: a main view radar, a blind spot radar and a depth camera, and the blind spot radar and the depth camera are arranged on the front side of the chassis assembly, and the main view radar is set at a higher height than the blind spot radar.

[0024] Beneficial Effects

[0025] The main vision radar, blind spot radar and depth camera can be used to detect and identify the surrounding environment of the autonomous patrol and weeding device, making it convenient for the autonomous patrol and weeding device to plan its travel path.

[0026] In an optional embodiment, the inspection component further includes a visual platform, a support column is provided on the chassis component, and the visual platform is provided on the support column.

[0027] Beneficial Effects

[0028] By setting up a visual pan-tilt platform, the autonomous patrol and weeding device can identify and detect the photovoltaic panels in the photovoltaic plant during the weeding process, determine whether there are any abnormal conditions in the photovoltaic panels, and guide the staff to deal with them in a timely manner.

[0029] In an optional embodiment, the weeding cutter head mechanism includes: a driving member and a cutter disc, the mounting end of the driving member is arranged on the mounting plate, and the driving end of the driving member is provided with the cutter disc.

[0030] In an optional embodiment, the weeding assembly further includes: a roller mechanism, wherein the roller mechanism includes a plurality of universal wheels disposed at the bottom of the mounting plate.

[0031] Beneficial Effects

[0032] Universal wheels are provided to provide support for the weeding cutter head mechanism, and a shock-absorbing mechanism is provided so that the autonomous patrol weeding device can also perform weeding work on uneven terrain, thereby protecting the weeding cutter head mechanism.

[0033] In an optional embodiment, the chassis assembly includes: a chassis body, a walking mechanism, a transmission system and a power system, the walking mechanism includes a plurality of walking wheels arranged on both sides of the chassis body, the transmission system and the power system are both arranged on the chassis body, the power system is connected to the transmission system, and the transmission system is connected to the walking wheels. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 It is a schematic diagram of the autonomous inspection and weeding device used in a photovoltaic power station according to the present invention;

[0036] Figure 2 It is a schematic diagram of the autonomous inspection and weeding device for a photovoltaic power station of the present invention when performing weeding work;

[0037] Figure 3 It is a schematic diagram of the autonomous patrol and weeding device for photovoltaic power stations of the present invention after the weeding work is completed;

[0038] Figure 4 It is a schematic diagram of a chassis assembly in an autonomous inspection and weeding device for a photovoltaic power station according to the present invention;

[0039] Figure 5 It is a connection diagram of a weeding component and a connection component in the autonomous inspection and weeding device for a photovoltaic power station of the present invention;

[0040] Figure 6 It is a schematic diagram of the shock absorbing mechanism in the autonomous inspection and weeding device for photovoltaic power stations according to the present invention.

[0041] Description of reference numerals:

[0042] 1. Chassis assembly, 11. Chassis body, 12. Traveling mechanism, 13. Transmission system, 14. Power system;

[0043] 2. weeding assembly, 21. mounting plate, 22. weeding cutter head mechanism, 221. driving member, 222. cutter disc, 23. roller mechanism, 231. universal wheel;

[0044] 3. Connecting assembly, 311. Connecting rod, 321. Telescopic rod, 33. Shock absorbing mechanism, 331. Base, 332. Connecting seat, 333. Elastic member, 334. Guide member, 335. Guide rod, 34. Connecting frame;

[0045] 41. Main vision radar, 42. Blind spot radar, 43. Depth camera, 44. Visual gimbal, 45. Support column, 46. Mounting pole. DETAILED DESCRIPTION

[0046] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0048] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0049] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0050] Combine the following Figures 1 to 6, describing an embodiment of the present invention. This embodiment discloses an autonomous patrol and weeding device for a photovoltaic power station, which includes: a chassis assembly 1, a weeding assembly 2 and a connecting assembly 3. The weeding assembly 2 is located at the front side of the chassis assembly 1 in the direction of travel, and the weeding assembly 2 includes: a mounting plate 21 and a weeding blade mechanism 22, and the weeding blade mechanism 22 is arranged on the mounting plate 21. The connecting assembly 3 includes: a connecting mechanism and a telescopic adjustment mechanism, one end of the connecting mechanism is hinged to the chassis assembly 1, and the other end is hinged to the mounting plate 21, the mounting end of the telescopic adjustment mechanism is connected to the chassis assembly 1, and the driving end of the telescopic adjustment mechanism is connected to the mounting plate 21, and the telescopic adjustment mechanism can drive the mounting plate 21 to flip when it is telescopic.

[0051] The chassis component 1 is responsible for the self-propelled function of the autonomous patrol weeding device. It can walk on the ground without the need for human driving and cooperate with the weeding component 2 to cut weeds and shrubs. The mounting plate 21 in the weeding component 2 is connected to the chassis component 1 through a connecting mechanism and a telescopic adjustment mechanism, and is located on the front side of the chassis component 1. In this way, the weeding blade mechanism 22 set on the mounting plate 21 can weed synchronously when the chassis component 1 is moving. The length of the connecting mechanism is fixed, but the telescopic adjustment mechanism can be extended to change its own length. In this way, when the telescopic adjustment mechanism is extended, the mounting plate 21 can be pushed or pulled to flip up and down.

[0052] This autonomous patrol weeding device can adjust the flip angle of the weeding blade mechanism 22, so that no matter it is ordinary flat land, sloped land, or undulating terrain, the flip angle of the weeding blade mechanism 22 can be adjusted to keep it as parallel to the ground as possible. Therefore, the autonomous patrol weeding device can fit various terrains, not only will the weeding blade mechanism 22 not be damaged or knocked due to terrain problems, but also can ensure a better weeding effect.

[0053] In one embodiment, Figure 4 As shown, the chassis assembly 1 includes: a chassis body 11, a traveling mechanism 12, a transmission system 13 and a power system 14. The traveling mechanism 12 includes a plurality of traveling wheels arranged on both sides of the chassis body 11, the transmission system 13 and the power system 14 are both arranged on the chassis body 11, the power system 14 is connected to the transmission system 13, and the transmission system 13 is connected to the traveling wheels.

[0054] Specifically, the chassis body 11 serves as the main bearing member of the entire autonomous patrol and weeding device, and a transmission system 13 and a power system 14 are arranged inside the chassis body 11. The power system 14 can use diesel, gasoline, electric energy, etc. as the power source, and the corresponding selection is an engine or a motor to provide power. The power is transmitted to the walking mechanism 12 through the transmission system 13, so that the walking wheels rotate, driving the autonomous patrol and weeding device to move. The relevant structure of the transmission system 13 is a mature technology in the engineering machinery industry and the automobile industry, and will not be repeated here. There are a total of eight walking wheels, that is, four walking wheels are arranged on each side of the chassis body 11, and the four walking wheels on each side are staggered in an inner and outer manner.

[0055] Compared with the crawler-type walking mechanism, this wheel-type walking mechanism has a stronger ability to adapt to terrain, can be used on some uneven and undulating ground, and has a stronger climbing ability than the crawler-type walking mechanism. In addition, the walking wheels are arranged in an inner and outer manner, so that more walking wheels can be arranged on each side of the chassis body 11, and the walking stability and movement ability of the autonomous patrol weeding device are stronger.

[0056] Of course, in other embodiments, the arrangement of the running wheels may be two, four, etc. on each side, and the specific number is adjusted according to actual needs. The running wheels may also be arranged in the manner of a conventional family car.

[0057] In other embodiments, the wheel-type traveling mechanism 12 may also be replaced by a crawler-type traveling mechanism 12 .

[0058] In one embodiment, Figure 5 As shown, the weeding blade mechanism 22 includes: a driving member 221 and a blade disc 222 . The mounting end of the driving member 221 is arranged on the mounting plate 21 , and the driving end of the driving member 221 is provided with the blade disc 222 .

[0059] Generally speaking, the position of the blade disc 222 is closer to the ground, so as to achieve a better cutting effect. Therefore, considering the installation height of the driving member 221, a through hole is opened on the mounting plate 21, and the driving member 221 is arranged at the through hole, that is, the upper half of the driving member 221 is located above the mounting plate 21, and the lower half is located below the mounting plate 21, so as to facilitate the connection and installation of the blade disc 222. In addition, except for the front side, the mounting plate 21 is provided with a skirt extending downward along its edge line. The front side of the mounting plate 21 is not provided with a skirt to facilitate the blade disc 222 to cut weeds. The driving member 221 is preferably a motor, and the motor can drive the blade disc 222 to rotate to cut weeds. The blade disc 222 is preferably a six-leaf blade disc, that is, it has six teeth. In the present embodiment, the driving member 221 and the blade disc 222 are both set in number of three, which are spaced apart along the length direction of the mounting plate 21, but two of them are located on the front side of the mounting plate 21 (the side away from the chassis assembly 1), and the middle one is located on the rear side of the mounting plate 21 (the side close to the chassis assembly 1).

[0060] The multiple blade discs 222 are rotated to cut the weeds, so the cutting area is larger and the cutting effect is better.

[0061] In other embodiments, the number of the driving members 221 and the blade discs 222 can be adjusted adaptively, for example, two, four, or five. The specific arrangement can also be adjusted according to the size of the mounting plate 21, for example, a staggered arrangement of one front and one rear can also be adopted.

[0062] In one embodiment, the weeding assembly 2 further includes a roller mechanism 23 , wherein the roller mechanism 23 includes a plurality of universal wheels 231 disposed at the bottom of the mounting plate 21 .

[0063] Specifically, there are two universal wheels 231, which are located in the middle of the front end of the mounting plate 21. During the weeding process, the universal wheels 231 are in contact with the ground and walk on the ground.

[0064] In other embodiments, the universal wheels 231 may also be arranged at both sides of the front end of the mounting plate 21. Three, four, or other numbers of universal wheels 231 may also be arranged.

[0065] After the universal wheel 231 is provided, it can provide support force for the mounting plate 21 during weeding, and maintain the stability of the mounting plate 21. It can also play a certain buffering and shock-absorbing role when walking on some uneven ground.

[0066] In one embodiment, the connection assembly 3 further includes a connection frame 34 , which is connected to the chassis assembly 1 , and the shock absorbing mechanism 33 and the telescopic adjustment mechanism are connected to the chassis assembly 1 via the connection frame 34 .

[0067] The connection frame 34 is composed of a main board and two side panels located on both sides of the main board. Both the main board and the side panels are connected to the chassis assembly 1. Specifically, the main board is connected to the front side of the chassis body 11, and the side panels are connected to the two sides of the chassis body 11 where the running wheels are arranged. This shape of the connection frame 34 can be an integrally formed bending part, or it can be a welded part formed by welding three plates.

[0068] By providing the connection frame 34, the transition connection between the connection mechanism, the telescopic adjustment mechanism and the chassis body 11 is facilitated, thereby improving the assembly efficiency.

[0069] In one embodiment, the connection mechanism includes two connection rods 311, which are respectively arranged on both sides of the connection frame 34, one end of the connection rod 311 is hinged to the connection frame 34, and the other end is hinged to the mounting plate 21;

[0070] The telescopic adjustment mechanism includes two telescopic rods 321 , which are respectively arranged on both sides of the connecting frame 34 , the mounting ends of the telescopic rods 321 are connected to the connecting frame 34 , and the driving ends of the telescopic rods 321 are connected to the mounting plate 21 .

[0071] The two connecting rods 311 are respectively arranged at the two side panels of the connecting frame 34, one end of the connecting rod 311 is hinged to the side panel, and the other end is hinged to the skirt on the rear side of the mounting plate 21. The two telescopic rods 321 are similar to the two connecting rods 311, and are also respectively arranged at the two side panels of the connecting frame 34, but the connection point between the telescopic rod 321 and the side panel is higher than the connection point between the side panel of the connecting rod 311. One end of the telescopic rod 321 is hinged to the side panel, and the other end is hinged to the upper surface of the mounting plate 21. When the telescopic rod 321 is extended, it can drive the mounting plate 21 to flip downward; when the telescopic rod 321 is shortened, it can drive the mounting plate 21 to flip upward.

[0072] By setting a connecting mechanism and a telescopic adjustment mechanism, the flip angle of the mounting plate 21 can be changed. When weeding, no matter it is flat ground, sloping ground or undulating terrain, the mounting plate 21 can be kept as parallel to the ground as possible, so that the blade disc 222 can cut the weeds better and protect the blade disc 222 from being damaged.

[0073] In one embodiment, the connection assembly 3 further includes a shock absorbing mechanism 33, one end of the shock absorbing mechanism 33 is connected to the chassis assembly 1, and the other end is connected to the mounting end of the telescopic adjustment mechanism.

[0074] Further, such as Figure 6 As shown, the shock absorbing mechanism 33 includes: a base 331, a connecting seat 332, an elastic member 333 and a guide member 334. The base 331 is connected to the chassis assembly 1, the connecting seat 332 is connected to the mounting end of the telescopic adjustment mechanism, the elastic member 333 is arranged between the base 331 and the connecting seat 332, and is sleeved on the guide member 334, one end of the guide member 334 is fixedly arranged on the base 331, and the other end is slidably connected to the connecting seat 332.

[0075] Specifically, the base 331 is an L-shaped plate, which is fixedly connected to the connecting frame 34 by bolts. A hinge seat is provided on the side of the connecting seat 332 away from the base 331 for hingedly connecting the telescopic rod 321. The elastic member 333 is preferably a spring arranged between the base 331 and the connecting seat 332, and the two ends of the elastic member 333 are respectively abutted against the base 331 and the connecting seat 332. In order to guide the movement direction of the elastic member 333, a guide member 334 is also provided, one end of the guide member 334 is fixedly connected to the base 331, and the other end passes through the elastic member 333 and the connecting seat 332 in sequence. In addition, four guide rods 335 parallel to the guide member 334 are provided at the four corners of the connecting seat 332 and the base 331, and the guide rods 335 are also fixedly connected to the base 331 and slidably connected to the connecting seat 332. When the telescopic connecting seat 332 is subjected to an external force, it can slide along the axial direction of the guide member 334, and the external force is buffered by the deformation of the elastic member 333.

[0076] When the blade disc 222 is weeding, if the universal wheel 231 passes through some uneven ground, such as a small pit or a raised ground, there is no need or necessity to adjust the telescopic mechanism at this time, and the shock absorbing mechanism 33 can be used for buffering, thereby protecting the connecting mechanism, the telescopic mechanism and the weeding mechanism. Moreover, during the weeding process, when the blade disc 222 hits some hard objects, it can also be quickly retracted under the action of the shock absorbing mechanism 33 to protect the blade disc 222 from being damaged.

[0077] In one embodiment, the autonomous patrol weeding device also includes a patrol component arranged on the chassis component 1, and the patrol component includes: a main view radar 41, a blind spot radar 42 and a depth camera 43, and the blind spot radar 42 and the depth camera 43 are arranged on the front side of the chassis component 1, and the main view radar 41 is set at a higher height than the blind spot radar 42.

[0078] Specifically, the blind spot radar 42 and the depth camera 43 are both arranged on the front side of the chassis body 11, and the blind spot radar 42 is located above the depth camera 43. The main view radar 41 is installed on the rear half of the upper surface of the chassis body 11 through the mounting rod 46, and its installation height is increased by the mounting rod 46.

[0079] The main-view radar 41 is installed at a higher height and has a wider field of view. The blind spot radar 42 and the depth camera 43 are installed at a lower height and have a smaller field of view, but they can complement the blind spot of the main-view radar 41 and provide clearer observations near the chassis component 1. Radar can use electromagnetic waves for detection and ranging. The depth camera 43, also known as a three-dimensional camera, is a camera technology that can simultaneously obtain color information and depth information of a scene. The main-view radar 41, the blind spot radar 42 and the depth camera 43 are used in conjunction to sense and detect the surrounding environment of the autonomous patrol and weeding device, guide and plan the route of the chassis component 1, and realize the automated walking of the device.

[0080] In one embodiment, the inspection component further includes a visual platform 44 . A support column 45 is disposed on the chassis component 1 , and the visual platform 44 is disposed on the support column 45 .

[0081] Specifically, the visual platform 44 is arranged further back than the main visual radar 41. The visual platform 44 can identify the state of the photovoltaic panel through the built-in motor, sensor and visual processing system, and can report to the staff for maintenance in time if the photovoltaic panel is dirty or damaged.

[0082] The visual gimbal 44 can simultaneously detect and identify the status of each photovoltaic panel in the photovoltaic power station during the weeding process of the autonomous patrol weeding device, and cooperate with the main vision radar 41, the blind spot radar 42 and the depth camera 43 to realize the automated patrol work of the device.

[0083] The following is a description of the use process of the autonomous patrol weeding device provided in this embodiment:

[0084] The weeding device is driven to the weeding area at the photovoltaic panel. When the weeding area is flat, the weeding assembly 2 is lowered to the ground through the telescopic mechanism. Figure 2 The state shown is that the mounting plate 21 is parallel to the ground. When the weeding area is a slope, the weeding assembly 2 is lowered to a state parallel to the slope through the telescopic mechanism. When the weeding area is an undulating terrain, the state of the weeding assembly 2 can be adjusted multiple times during the weeding process according to the undulating shape to ensure that the weeding assembly 2 is parallel to the ground as much as possible.

[0085] When weeding, the driving member 221 is started to rotate the blade disc 222. During the movement of the autonomous patrol weeding device, the blade disc 222 can cut the weeds it touches. During the movement, the shock absorbing component plays a protective role of shock absorption and buffering, and if the blade disc 222 touches a hard object, it can also retract in time to prevent the blade disc 222 from being damaged.

[0086] The route of the autonomous patrol weeding device is guided and planned by the main vision radar 41, the blind spot radar 42 and the depth camera 43 and the chassis component 1 is completed. In the weeding process, the visual gimbal 44 simultaneously identifies and detects the status of the surrounding photovoltaic panels. The photovoltaic panels are inspected simultaneously during the weeding process.

[0087] After weeding is completed, Figure 3 As shown, the weeding component 2 is lifted to the illustrated state, so that the weeding work area can be quickly driven away, and the weeding component 2 can continue to maintain this state when the autonomous patrol weeding device stops.

[0088] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. An autonomous inspection and weeding device for a photovoltaic power station, characterized in that: include: Chassis assembly (1); A weeding assembly (2), the weeding assembly (2) being located at the front side of the chassis assembly (1) in the direction of travel, and comprising: a mounting plate (21) and a weeding blade mechanism (22), the weeding blade mechanism (22) being arranged on the mounting plate (21); A connecting assembly (3), the connecting assembly (3) comprising: a connecting mechanism and a telescopic adjustment mechanism, one end of the connecting mechanism being hinged to the chassis assembly (1), and the other end being hinged to the mounting plate (21), the mounting end of the telescopic adjustment mechanism being connected to the chassis assembly (1), and the driving end thereof being connected to the mounting plate (21), and the mounting plate (21) being able to be turned over when the telescopic adjustment mechanism is extended or retracted.

2. The autonomous inspection and weeding device for a photovoltaic power station according to claim 1, characterized in that: The connecting assembly (3) further comprises a shock absorbing mechanism (33), one end of which is connected to the chassis assembly (1), and the other end of which is connected to the mounting end of the telescopic adjustment mechanism.

3. The autonomous inspection and weeding device for photovoltaic power stations according to claim 2 is characterized in that: The shock absorbing mechanism (33) comprises: a base (331), a connecting seat (332), an elastic member (333) and a guide member (334); the base (331) is connected to the chassis assembly (1); the connecting seat (332) is connected to the mounting end of the telescopic adjustment mechanism; the elastic member (333) is arranged between the base (331) and the connecting seat (332), and is sleeved on the guide member (334); one end of the guide member (334) is fixedly arranged on the base (331), and the other end is slidably connected to the connecting seat (332).

4. The autonomous inspection and weeding device for a photovoltaic power station according to claim 2, characterized in that: The connection assembly (3) further comprises a connection frame (34), wherein the connection frame (34) is connected to the chassis assembly (1), and the shock absorbing mechanism (33) and the telescopic adjustment mechanism are connected to the chassis assembly (1) via the connection frame (34).

5. The autonomous inspection and weeding device for photovoltaic power stations according to claim 4, characterized in that: The connection mechanism comprises two connection rods (311), the two connection rods (311) are respectively arranged on both sides of the connection frame (34), one end of the connection rod (311) is hinged to the connection frame (34), and the other end is hinged to the mounting plate (21); The telescopic adjustment mechanism comprises two telescopic rods (321), the two telescopic rods (321) are respectively arranged on both sides of the connecting frame (34), the mounting ends of the telescopic rods (321) are connected to the connecting frame (34), and the driving ends thereof are connected to the mounting plate (21).

6. The autonomous inspection and weeding device for a photovoltaic power station according to claim 1, characterized in that: The invention also comprises a patrol inspection component arranged on the chassis component (1), the patrol inspection component comprising: a main vision radar (41), a blind spot radar (42) and a depth camera (43), wherein the blind spot radar (42) and the depth camera (43) are arranged on the front side of the chassis component (1), and the main vision radar (41) is arranged at a higher height than the blind spot radar (42).

7. The autonomous inspection and weeding device for a photovoltaic power station according to claim 6, characterized in that: The inspection component further comprises a visual platform (44); a support column (45) is provided on the chassis component (1); and the visual platform (44) is arranged on the support column (45).

8. The autonomous inspection and weeding device for a photovoltaic power station according to claim 1, characterized in that: The weeding blade mechanism (22) comprises: a driving member (221) and a blade disc (222); the mounting end of the driving member (221) is arranged on the mounting plate (21); and the driving end of the driving member (221) is provided with the blade disc (222).

9. The autonomous inspection and weeding device for a photovoltaic power station according to claim 8, characterized in that: The weeding assembly (2) further comprises: a roller mechanism (23), wherein the roller mechanism (23) comprises a plurality of universal wheels (231) arranged at the bottom of the mounting plate (21).

10. The autonomous inspection and weeding device for a photovoltaic power station according to any one of claims 1 to 9, characterized in that: The chassis assembly (1) comprises: a chassis body (11), a running mechanism (12), a transmission system (13) and a power system (14); the running mechanism (12) comprises a plurality of running wheels arranged on both sides of the chassis body (11); the transmission system (13) and the power system (14) are both arranged on the chassis body (11); the power system (14) is connected to the transmission system (13); and the transmission system (13) is connected to the running wheels.

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