Hidden crack detection equipment

Abstract

The invention discloses hidden crack detection equipment which is used for hidden crack detection of a photovoltaic power station and comprises a detection system, a supporting system and a driving system. The detection system is arranged on the supporting system and reciprocates along the supporting system under the driving of the driving system; the detection system comprises a machine body, a plurality of image acquisition devices arranged on the machine body at intervals, a light source assembly used for providing light sources for the image acquisition devices, a central controller and a traction piece arranged on the machine body. The supporting system comprises a first walking beam and a second walking beam which are arranged in parallel. The driving system comprises an upper walking device and a lower walking device which are arranged close to the two ends of the supporting system, the two ends of the traction piece are fixedly arranged on traction mechanisms, the traction mechanisms are arranged close to the two ends of the supporting system, and the upper walking device and the lower walking device walk along the frame of the photovoltaic power station according to a preset program. The detection system is slidably arranged on the supporting system to protect the photovoltaic module from being damaged in detection, and the driving system ensures the stability of equipment detection.

Description

Technical Field

[0001] The present application relates to the technical field of photovoltaic power station detection, and in particular to a hidden crack detection device. Background Art

[0002] Photovoltaic module defect detection is fundamental and crucial for the operation and maintenance of photovoltaic power plants. Many existing methods for detecting hidden cracks in photovoltaic power plants rely on contact methods, such as EL testing, which requires disassembling the panels for testing. This wastes manpower, reduces power generation efficiency, and carries the risk of secondary damage to the panels. A more advanced method utilizes tracked inspection vehicles, but these vehicles must be designed to meet the national standard for operating pressure on photovoltaic panels, which is less than 5400 Pa. This requirement increases equipment cost and significantly limits its structural design, making it less cost-effective for power plants. Therefore, a low-cost, high-performance hidden crack detection device is needed. Summary of the Invention

[0003] In response to the above technical problems, the present application provides a new type of hidden crack detection equipment that meets the requirements of high-precision detection effect and low manufacturing cost.

[0004] In order to solve the above technical problems, the present application provides a hidden crack detection device for hidden crack detection in photovoltaic power stations, comprising a detection system, a support system and a drive system; the detection system is arranged on the support system and reciprocates along the support system under the drive of the drive system; the detection system includes a fuselage, a plurality of image acquisition devices arranged at intervals on the fuselage, a light source assembly for providing light source for the image acquisition device, a central controller and a traction member arranged on the fuselage; the support system includes a first walking beam and a second walking beam arranged in parallel; the drive system includes an upper walking device and a lower walking device arranged near the two ends of the support system, the two ends of the traction member are fixedly arranged on the traction mechanism, the traction mechanism is arranged near the two ends of the support system, and the upper walking device and the lower walking device move along the frame of the photovoltaic power station according to a preset program.

[0005] Furthermore, the upper walking device includes a first shell and a first drive motor and a first gear assembly arranged in the first shell. The first drive motor is rotatably connected to the first gear assembly. The first shell is provided with an upper walking wheel that can walk along the top wall of the frame of the photovoltaic power station. The upper walking wheel is rotatably connected to the first gear assembly.

[0006] Furthermore, the lower walking device includes a second shell and a second drive motor and a second gear assembly arranged in the second shell. The second drive motor is rotatably connected to the second gear assembly. The second shell is provided with a lower walking wheel that can walk along the top wall of the frame of the photovoltaic power station. The lower walking wheel is rotatably connected to the second gear assembly.

[0007] Furthermore, two first pressure wheels are symmetrically provided at the bottom of the first shell, the first pressure wheels are rotatably connected to the first gear assembly, and the two first pressure wheels move along the side walls of the frame of the photovoltaic power station; two second pressure wheels are symmetrically provided at the bottom of the second shell, the second pressure wheels are rotatably connected to the second gear assembly, and the two second pressure wheels move along the side walls of the frame of the photovoltaic power station.

[0008] Furthermore, the traction mechanism includes a first traction mechanism arranged at the first end of the support system and a second traction mechanism arranged at the second end of the support system; the fuselage is respectively provided with traction devices on both end surfaces in its forward direction for the traction member to be wound around, and the upper walking device is provided with a worm gear motor for driving the first traction mechanism; the traction member realizes reciprocating traction of the detection system through the traction device, the first traction mechanism and the second traction mechanism.

[0009] Furthermore, the traction device includes handles arranged on the two end surfaces and hook-type pulley assemblies arranged on the corresponding handles, and the traction mechanism includes an assembly plate, a traction seat and a fixed pulley arranged on the assembly plate; the assembly plate is assembled to the bottom of the first walking beam and the second walking beam near the end, and the traction seat is provided with a traction ring for fixing the end of the traction member.

[0010] Furthermore, the upper walking device and the lower walking device are both provided with at least one set of sensor components for position detection.

[0011] Furthermore, the sensor assembly includes a high-sensitivity sensor device and a position sensor, and the sensor assembly is connected to the central controller signal; the high-sensitivity sensor device includes a detection wheel that moves along the frame of the photovoltaic power station and a travel switch that is rotatably connected to the detection wheel, and the travel switch is arranged in the first shell and / or the second shell.

[0012] Furthermore, the first gear assembly includes a first main gear connected to the first drive motor shaft, a first bevel gear group and a second bevel gear group located below the first main gear, the first main gear is connected to the first bevel gear group and the second bevel gear group through a chain transmission, the upper walking wheel is rotatably connected to the first pressure wheel and the first bevel gear group; the other upper walking wheel is rotatably connected to the other first pressure wheel and the second bevel gear group.

[0013] Furthermore, the fuselage is detachably mounted on the first walking beam and the second walking beam, and the light source assembly adopts a near-infrared light source with a wavelength of 920nm~1150nm.

[0014] Compared with the prior art, the present application has the following beneficial effects: the present application avoids direct contact between the detection system and the photovoltaic modules by slidingly setting the detection system on the support system, thereby protecting the photovoltaic modules from secondary damage during the detection process. At the same time, the stability of the detection system running on the support system is ensured by the driving of the upper and lower walking devices and the traction of the traction parts, thereby ensuring the reliability of the detection effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the usage status of the hidden crack detection equipment in an exemplary embodiment.

[0016] Figure 2 It is a schematic three-dimensional assembly diagram of a hidden crack detection device in an exemplary embodiment.

[0017] Figure 3 It is a partial assembly diagram of a hidden crack detection device in an exemplary embodiment.

[0018] Figure 4 It is a partial three-dimensional assembly diagram of a hidden crack detection device in an exemplary embodiment.

[0019] Figure 5 It is a perspective exploded schematic diagram of a drive system in an exemplary embodiment.

[0020] Figure 6 It is a schematic exploded perspective view of a detection system in an exemplary embodiment.

[0021] Figure Numbers

[0022] Hidden crack detection equipment 100, Detection system 1, Body 10, image acquisition device 11, light source assembly 12, Central controller 13, traction member 14, roller 15, Traction device 16, handle 160, pulley assembly 161, Hook 162, bracket 163, pulley 164, Support system 2, first walking beam 21, second walking beam 22 Drive system 3, Upper walking device 30, first shell 31, front shell 311, Base 3110, edging 3111, cover 312, Accommodating cavity 313, fixing bracket 314, first driving motor 32, First gear assembly 33, first main gear 330, first bevel gear set 331, First bevel gear 332, second bevel gear 333, parallel axis gear 334, Second bevel gear group 335, third bevel gear 336, fourth bevel gear 337, Chain 338, upper traveling wheel 34, first pressing wheel 35, Lower traveling device 36, second housing 37, lower traveling wheel 38, Second pressing wheel 39, traction mechanism 4, first traction mechanism 41, Assembly plate 410, traction seat 411, horizontal portion 412, Vertical portion 413, traction ring 414, fixed pulley 415, Second traction mechanism 42, worm gear motor 43, sensor assembly 5, Highly sensitive sensor device 51, detection wheel 510, travel switch 511, Position sensor 52, battery assembly 6. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application for which protection is sought, but merely represents the selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0024] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on this application.

[0025] In addition, it should be understood that although the terms first, second, third, etc. may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0026] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms "a", "the" and "the" used in this application and the appended claims are also intended to include plural forms, unless the context clearly indicates otherwise. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically limited. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0027] In this application, unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components or interactions between two components. Those skilled in the art will understand the specific meanings of these terms in this application based on specific circumstances.

[0028] In this application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0029] Please refer to Figures 1 to 6 As shown, the present application provides a hidden crack detection device 100 for hidden crack detection of photovoltaic power stations, including a detection system 1, a support system 2 and a drive system 3; the detection system 1 is arranged on the support system 2 and reciprocates along the support system 2 under the drive of the drive system 3; the detection system 1 includes a fuselage 10, a plurality of image acquisition devices 11 arranged at intervals on the fuselage 10, a light source assembly 12 for providing light to the image acquisition device 11, a central controller 13 and a traction member 14 arranged on the fuselage 10; the support system 2 includes a first walking beam 21 and a second walking beam 22 arranged in parallel; the drive system 3 includes an upper walking device 30 and a lower walking device 36 arranged near the two ends of the support system 2, the two ends of the traction member 14 are fixedly arranged on the traction mechanism 4, and the traction mechanism 4 is arranged near the two ends of the support system 2, and the upper walking device 30 and the lower walking device 36 walk along the frame of the photovoltaic power station according to a preset program. The present application effectively avoids direct contact between the detection system 1 and the photovoltaic module by slidingly setting the detection system 1 on the support system 2, thereby protecting the photovoltaic module from secondary damage during the detection process. At the same time, the stability of the detection system running on the support system is ensured by the driving of the upper and lower walking devices and the traction of the traction parts, thereby ensuring the reliability of the detection effect.

[0030] As a preferred embodiment, one end of the support system 2 of the present application is further provided with a battery assembly 6 for powering the said hidden crack detection device; indeed, the said hidden crack detection device can also be charged wirelessly.

[0031] As a preferred embodiment, the fuselage 10 described in this application is detachably mounted on the first walking beam 21 and the second walking beam 22, and the light source assembly 12 uses a near-infrared light source with a wavelength of 920nm to 1150nm. The first walking beam 21 and the second walking beam 22 are profiles, and the fuselage 10 is provided with rollers 15 that can roll along the first walking beam 21 and the second walking beam 22. The provision of the rollers 15 reduces the friction between the detection equipment and the walking mechanism, making it easier for the traction member 14 to tow the detection system 1. The use of a near-infrared light source with a wavelength of 920nm to 1150nm enhances the penetration depth of the light, making it easier to detect deep defects in photovoltaic modules. Image capture by the image acquisition device 11 ensures image clarity, thereby accurately capturing the status of the photovoltaic modules.

[0032] In one embodiment, the upper walking device 30 includes a first shell 31 and a first drive motor 32 and a first gear assembly 33 arranged in the first shell 31. The first drive motor 32 is rotatably connected to the first gear assembly 33. The first shell 31 is provided with an upper walking wheel 34 that can walk along the top wall of the frame of the photovoltaic power station. The upper walking wheel 34 is rotatably connected to the first gear assembly 33.

[0033] Two first pressure rollers 35 are symmetrically provided at the bottom of the first housing 31. The first pressure rollers 35 are rotatably connected to the first gear assembly 33, and the two first pressure rollers 35 move along the sidewalls of the frame of the photovoltaic power station. Specifically, the first housing 31 includes a front housing 311 and a cover plate 312 assembled with the front housing 311. The front housing 311 includes a base 3110 and a rim 3111 formed by bending from the edge of the base 3110. The front housing 311 and the cover plate 312 are assembled to form a receiving cavity 313. The first gear assembly 33 is received in the receiving cavity 313 and is fixedly mounted by a fixing bracket 314 disposed within the receiving cavity 313.

[0034] Specifically, the first gear assembly 33 includes a first main gear 330 connected to the shaft of the first drive motor 32, a first bevel gear set 331 located below the first main gear 330, and a second bevel gear set 335. The first main gear 330 is connected to the first bevel gear set 331 and the second bevel gear set 335 via a chain 338. The upper travel wheel 34, the first pressure wheel 35, and the first bevel gear set 331 are rotationally connected; the other upper travel wheel 34, the other first pressure wheel 35, and the second bevel gear set 335 are rotationally connected. The first bevel gear set 331 includes horizontally mounted first bevel gears 332 and vertically mounted second bevel gears 333. The first bevel gears 332 and the second bevel gears 333 are meshed and rotationally connected. The second bevel gear set 335 includes a horizontally mounted third bevel gear 336 and a vertically mounted fourth bevel gear 337. The third bevel gear 336 is meshed and rotatably connected with the fourth bevel gear 337. The first upper travel wheel 34 and the corresponding first pressure wheel 35 form a first wheel set, which is rotatably connected to the first bevel gear 332 and the second bevel gear 333, respectively. The other upper travel wheel and the corresponding first pressure wheel 35 form a second wheel set, which is rotatably connected to the third bevel gear 336 and the fourth bevel gear 337, respectively. The two first pressure wheels 35 are positioned on the same horizontal line to further enhance the smooth operation of the drive system 3. A parallel axis gear 334 is coaxially disposed on the outer periphery of the first bevel gear 332, which meshes and transmits power to the chain 338.

[0035] The lower travel device 36 includes a second housing 37 and a second drive motor and a second gear assembly disposed within the second housing 37. The second drive motor is rotatably connected to the second gear assembly. The second housing 37 is provided with lower travel wheels 38 that can travel along the top wall of the frame of the photovoltaic power station. The lower travel wheels 38 are rotatably connected to the second gear assembly. Two second pressure wheels 39 are symmetrically disposed at the bottom of the second housing 37. The second pressure wheels 39 are rotatably connected to the second gear assembly. The two second pressure wheels 39 travel along the side walls of the frame of the photovoltaic power station. The lower travel device 36 has the same structural configuration as the upper travel device 30 and will not be described in detail here. The second gear assembly has the same structural configuration as the first gear assembly 33 and will not be described in detail here.

[0036] The traction mechanism 4 includes a first traction mechanism 41 disposed at the first end of the support system 2 and a second traction mechanism 42 disposed at the second end of the support system 2. The fuselage 10 is provided with traction devices 16 on both end surfaces thereof in the forward direction, for the traction member 14 to be wound around. The traction member 14 reciprocates and pulls the detection system through the traction devices 16, the first traction mechanism 41, and the second traction mechanism 42.

[0037] Specifically, the traction device 16 includes a handle 160 arranged on the two end surfaces and a hook-type pulley assembly 161 arranged on the corresponding handle 160, the hook-type pulley assembly 161 includes a hook 162, a bracket 163 and a pulley 164 arranged in the bracket 163, the hook 162 of the hook-type pulley assembly 161 is hooked on the handle 160, and the handle 160 is provided with an anti-slip part to prevent the hook from sliding.

[0038] Both the first traction mechanism 41 and the second traction mechanism 42 include an assembly plate 410, a traction seat 411 mounted on the assembly plate 410, and a fixed pulley 415. The difference between the first traction mechanism and the second traction mechanism 42 is that the first traction mechanism also includes a worm gear motor 43 mounted below the assembly plate to drive the first traction mechanism 41. The following describes the structure of the first traction mechanism 41 in detail, using the first traction mechanism 41 as an example. The assembly plate 410 is assembled to the bottom of the first and second walking beams 21 and 22 near the ends to facilitate pulling the fuselage 10 to the frame of the photovoltaic power station, thereby ensuring that the inspection system 1 can comprehensively capture images of all components of the photovoltaic power station. The traction seat 411 is provided with a traction ring 414 that secures the end of the traction member 14. Specifically, the traction seat 411 is an L-shaped structural member, the horizontal portion 412 of the traction seat 411 is assembled to the assembly plate 410 by screws, the traction ring 414 is arranged on the vertical portion 413 of the traction seat 411, the first end of the traction member 14 is fixed to the traction ring 414 of the first traction mechanism 41, and passes around the pulley 164 of the traction device 16 on the first end face and then passes around the fixed pulley 415 of the first traction mechanism 41, and the fixed pulley 415 is driven by the worm gear motor along a preset direction. It rotates in the direction of rotation; it then passes around the fixed pulley of the second traction mechanism 42 and then passes around the pulley 164 of the traction device 16 on the second end surface, and then is fixed by the traction ring 414 of the second traction mechanism 42; the worm gear motor is connected to the fixed pulley 415 axis of the first traction mechanism 41, and in a preset detection unit, the worm gear motor rotates to drive the detection system to travel at most one fuselage length to ensure that all photovoltaic modules are photographed and detected, so that the detection system can reciprocate along the support system under the traction of the traction member.

[0039] To enhance the safety of the crack detection device, both the upper traveling device 30 and the lower traveling device 36 are equipped with at least one set of sensor assemblies 5 for position detection. In a preferred embodiment, the upper traveling device 30 is equipped with sensor assemblies 5 for both forward and reverse travel; and the lower traveling device 36 is equipped with sensor assemblies 5 for both forward and reverse travel. The sensor assemblies 5 on the upper traveling device 30 and the lower traveling device 36 have the same structure. The following description uses one set of sensor assemblies 5 on the upper traveling device 30 as an example.

[0040] The sensor assembly 5 includes a highly sensitive sensor device 51 and a position sensor 52, and the sensor assembly 5 is connected to the central controller 13 by signal. The highly sensitive sensor device 51 includes a detection wheel 510 that moves along the border of the photovoltaic power station and a limit switch 511 that is rotatably connected to the detection wheel. The limit switch 511 is arranged in the first shell 31 and / or the second shell 37. The position sensor 52 is an ultrasonic sensor. The detection wheel 510 is arranged on a connecting shaft, and the connecting shaft is slidably connected to the switch. When the boundary of the detection wheel 510 exceeds the border of the photovoltaic power station, the travel wheel tilts downward under the action of gravity, triggering the feedback signal of the limit switch 511. After receiving the feedback signal of the limit switch 511, the central controller 13 transmits the signal to the ultrasonic sensor. The ultrasonic sensor performs algorithm recognition and issues a real-time command to the central controller 13. The central controller 13 executes the corresponding command, and the upper travel device 30 and the lower travel device 36 stop moving forward.

[0041] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A hidden crack detection device for detecting hidden cracks in photovoltaic power stations, characterized in that: It includes a detection system, a support system and a drive system; the detection system is arranged on the support system and reciprocates along the support system under the drive of the drive system; the detection system includes a fuselage, a plurality of image acquisition devices arranged at intervals on the fuselage, a light source assembly for providing light for the image acquisition devices, a central controller and a traction member arranged on the fuselage; the support system includes a first walking beam and a second walking beam arranged in parallel; the drive system includes an upper walking device and a lower walking device arranged near the two ends of the support system, the two ends of the traction member are fixedly arranged on the traction mechanism, the traction mechanism is arranged near the two ends of the support system, and the upper walking device and the lower walking device move along the frame of the photovoltaic power station according to a preset program.

2. The hidden crack detection device according to claim 1, characterized in that: The upper walking device includes a first shell and a first drive motor and a first gear assembly arranged in the first shell. The first drive motor is rotatably connected to the first gear assembly. An upper walking wheel that can walk along the top wall of the frame of the photovoltaic power station is provided outside the first shell. The upper walking wheel is rotatably connected to the first gear assembly.

3. The hidden crack detection device according to claim 2, characterized in that: The lower walking device includes a second shell and a second drive motor and a second gear assembly arranged in the second shell. The second drive motor is rotatably connected to the second gear assembly. The second shell is provided with a lower walking wheel that can walk along the top wall of the frame of the photovoltaic power station. The lower walking wheel is rotatably connected to the second gear assembly.

4. The hidden crack detection device according to claim 3, characterized in that: Two first pressure wheels are symmetrically provided at the bottom of the first shell, the first pressure wheels are rotatably connected to the first gear assembly, and the two first pressure wheels move along the side walls of the frame of the photovoltaic power station; two second pressure wheels are symmetrically provided at the bottom of the second shell, the second pressure wheels are rotatably connected to the second gear assembly, and the two second pressure wheels move along the side walls of the frame of the photovoltaic power station.

5. The hidden crack detection device according to any one of claims 1 to 4, characterized in that: The traction mechanism includes a first traction mechanism arranged at the first end of the support system and a second traction mechanism arranged at the second end of the support system; the fuselage is respectively provided with traction devices on both end surfaces in its forward direction for the traction member to be wound around, and the upper walking device is provided with a worm gear motor for driving the first traction mechanism; the traction member realizes reciprocating traction of the detection system through the traction device, the first traction mechanism and the second traction mechanism.

6. The hidden crack detection device according to claim 5, characterized in that: The traction device includes handles arranged on the two end surfaces and hook-type pulley assemblies arranged on the corresponding handles. The traction mechanism includes an assembly plate, a traction seat arranged on the assembly plate and a fixed pulley; the assembly plate is assembled to the bottom of the first walking beam and the second walking beam near the end, and the traction seat is provided with a traction ring for fixing the end of the traction member.

7. The hidden crack detection device according to any one of claims 1 to 4 or 6, characterized in that: The upper walking device and the lower walking device are both provided with at least one set of sensor components for position detection.

8. The hidden crack detection device according to claim 7, characterized in that: The sensor assembly includes a highly sensitive sensor device and a position sensor, and the sensor assembly is connected to the central controller signal; the highly sensitive sensor device includes a detection wheel that moves along the frame of the photovoltaic power station and a travel switch that is rotationally connected to the detection wheel, and the travel switch is arranged in the first shell and / or the second shell.

9. The hidden crack detection device according to claim 4, characterized in that: The first gear assembly includes a first main gear connected to the first drive motor shaft, a first bevel gear group and a second bevel gear group located below the first main gear, the first main gear is connected to the first bevel gear group and the second bevel gear group through a chain transmission, the upper walking wheel is rotatably connected to the first pressure wheel and the first bevel gear group; the other upper walking wheel is rotatably connected to the other first pressure wheel and the second bevel gear group.

10. The hidden crack detection device according to any one of claims 1 to 4 or 8 or 9, characterized in that: The fuselage is detachably arranged on the first walking beam and the second walking beam, and the light source component adopts a near-infrared light source with a wavelength of 920nm~1150nm.

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