A photovoltaic module defect detection robot

Abstract

The application discloses a photovoltaic module defect detection robot, which comprises a suspension type walking beam, a detection system arranged on the walking beam and a driving system for driving the detection system. The walking beam comprises a first walking beam and a second walking beam arranged in parallel. One end of the first walking beam and the second walking beam is provided with a detachable battery assembly. The bottom of the first walking beam and the second walking beam is provided with a first receiving groove extending along the extension direction of the walking beam. The driving system is provided with an assembling plate. The fastener penetrating through the assembling plate and the assembling block arranged in the first receiving groove detachably assemble and fix the driving mechanism to the bottom of the walking beam. The detachable battery assembly greatly facilitates the disassembly and transportation of the robot. The detachable assembling mode of the driving system and the assembling block and the walking beam realizes quick disassembly and adjustment of the position of the driving system, thereby enhancing the adaptability of the robot to the scene.

Description

Technical Field

[0001] This application relates to the field of photovoltaic power plant inspection technology, specifically to a photovoltaic module defect inspection robot. Background Technology

[0002] Defect detection of photovoltaic (PV) modules is fundamental and crucial for the operation and maintenance of PV power plants. Currently, a large number of PV power plants lacked adequate defect detection equipment in their early designs. As their service life increases, various defects in PV modules, such as microcracks, hot spot effects, PID degradation, and poor welding, directly impact power generation efficiency and lifespan. Robots suitable for defect detection in different types of PV power plants can significantly reduce the cost of power plant operation and maintenance. With the continuous advancement of PV technology, PV power plants are becoming increasingly larger, requiring PV detection equipment to adapt to these advancements. This increases the overall weight of the equipment and presents challenges for transportation, installation, and disassembly. To improve equipment efficiency, PV robots theoretically need a modular design, allowing for easy assembly, disassembly, and transportation of each module while maintaining functionality.

[0003] Therefore, this application addresses the shortcomings of existing technologies by providing a low-cost, high-performance photovoltaic module defect detection robot. Summary of the Invention

[0004] To address the aforementioned technical issues, this application provides a photovoltaic module defect detection robot that meets high-precision detection requirements while reducing the overall cost of the product.

[0005] To address the aforementioned technical problems, this application provides a photovoltaic module defect detection robot, comprising a suspended walking beam, a detection system mounted on the walking beam, and a drive system for driving the detection system. The detection system includes a body, a central control system mounted on the body, a plurality of image acquisition devices, a light source assembly, and an RTK positioning system respectively connected to the central control system. The image acquisition devices dynamically acquire images of the photovoltaic modules. The walking beam includes a first walking beam and a second walking beam arranged in parallel. One end of the first walking beam and the second walking beam is provided with a detachable battery assembly. The bottom of the first walking beam and the second walking beam is provided with a first receiving groove extending along the extension direction of the walking beam. An assembly plate is provided on the drive system, and fasteners passing through the assembly plate and an assembly block placed in the first receiving groove detachably assemble and fix the drive system to the bottom of the walking beam.

[0006] Furthermore, the battery assembly includes a housing and battery cells disposed within the housing. The bottom of the front end of the housing is provided with symmetrical hooks, and the bottom of the rear end of the housing is provided with a locking component. The hooks and the locking component are detachably assembled and fixed to the first traveling beam and the second traveling beam, respectively.

[0007] Furthermore, the first traveling beam and the second traveling beam are provided with a first receiving groove, a second receiving groove and a guide groove from bottom to top. A positioning pin adapted to the hook is assembled in the guide groove, and a mounting base adapted to the engaging component is assembled in the guide groove.

[0008] Furthermore, the engaging member includes a base and an engaging portion extending downward from the base. The base is provided with an assembly hole for assembly with the housing. The mounting base includes a body and a receiving portion adapted to the engaging portion. The body is provided with an elastic member that partially extends into the receiving portion.

[0009] Furthermore, the vertical wall of the guide groove is provided with two first through holes. The first locking member passes through the first through holes to assemble the mounting base into the guide groove. The hook includes an assembly part and a fixing part that bends downward from the assembly part. The fixing part is provided with an arc-shaped notch in the horizontal direction. The notch can cover at least 2 / 3 of the outer periphery of the positioning pin in the circumferential direction.

[0010] Furthermore, the guide slot is equipped with a position detection switch of the detection system, and the position detection switch is located directly in front of the battery assembly.

[0011] Furthermore, the machine body is provided with a pulley assembly that can slide along the first traveling beam and the second traveling beam. The light source assembly uses near-infrared light with a wavelength of 950nm~1150nm as the light source. The image acquisition device can be adjusted in both the horizontal and vertical directions. The distance between the lens of the image acquisition device and the upper surface of the photovoltaic module is 290mm≤H≤360mm.

[0012] Furthermore, the pulley assembly includes a support and horizontal and vertical wheels assembled on the support, and the support is assembled with the machine body.

[0013] Furthermore, the detection system is equipped with a traction component, and both ends of the first traveling beam and the second traveling beam are equipped with traction mechanisms. The traction component is connected to the traction mechanism and drives the detection system to reciprocate along the traveling beam under the traction of the traction mechanism.

[0014] Furthermore, the drive system is equipped with a position sensor assembly, and the housing is equipped with a positioning piece to limit the position of the battery cell. The positioning piece is provided with a Velcro strap to further secure the battery cell.

[0015] Compared with the prior art, this application has the following advantages: by setting the battery components to be detachable, this application greatly facilitates the disassembly, assembly, and transportation of the robot; the drive system achieves rapid disassembly and assembly with the walking beam through the detachable assembly method of fasteners and assembly blocks, and the position of the drive system can be adjusted to enhance the adaptability of the photovoltaic module defect detection robot to various scenarios. Attached Figure Description

[0016] Figure 1 This is a schematic diagram illustrating the usage state of a photovoltaic module defect detection robot, as shown in an exemplary embodiment.

[0017] Figure 2 This is a schematic diagram of a three-dimensional assembly of a photovoltaic module defect detection robot, which is an exemplary embodiment.

[0018] Figure 3 This is a schematic diagram of the assembly of the detection system and the traveling beam in an exemplary embodiment.

[0019] Figure 4 This is a schematic diagram of the assembly of the drive mechanism and the traveling beam in an exemplary embodiment.

[0020] Figure 5 This is a schematic diagram of the assembly of the drive mechanism and the traveling beam in an exemplary embodiment.

[0021] Figure 6 This is an exploded perspective view of the battery assembly and the traveling beam in an exemplary embodiment.

[0022] Figure 7 This is an exploded perspective view of the walking beam, assembly block, and mounting base as an exemplary embodiment.

[0023] Figure 8 This is a three-dimensional assembly schematic diagram of a pulley assembly as an exemplary embodiment.

[0024] Figure 9 This is a three-dimensional assembly schematic diagram of a battery assembly as an exemplary embodiment.

[0025] Icon labels:

[0026] 100 photovoltaic module defect detection robots

[0027] Traveling beam 1, First traveling beam 11, Second traveling beam 12,

[0028] First containment slot 13, opening 130; Second containment slot 14.

[0029] Guide groove 15, first through hole 150, first locking element 16

[0030] Positioning pin 17, mounting base 18, body 181,

[0031] Containment unit 182, detection system 2, traction component 20.

[0032] Fuselage 21, cantilever beam 210, connecting plate 211,

[0033] First shell 212, second shell 213, third shell 214

[0034] First reinforcing rib 215, second reinforcing rib 216, first assembly plate 217.

[0035] RTK positioning system 22, pulley assembly 23, support 231,

[0036] Horizontal wheel 232, vertical wheel 233, traction mechanism 24,

[0037] Bracket 25, Assembly base 26, Drive system 3,

[0038] Upper drive mechanism 31, lower drive mechanism 32, assembly plate 33,

[0039] Fastener 34, Assembly block 35, Main body 351,

[0040] Protrusion 352, screw hole 353, position sensor assembly 36,

[0041] Battery assembly 4, casing 40, battery cell 41,

[0042] Hook 43, Assembly part 431, Fixing part 432,

[0043] Notch 433, Connecting part 44, Base 441,

[0044] 442 engagement part, 443 assembly hole, 45 positioning piece.

[0045] Velcro strap 46, cover 47, first fastener 48,

[0046] Hinge 471, Lock 472, Emergency stop switch 473,

[0047] Position detection switch 5, Central control system 6,

[0048] Image acquisition device 7, light source assembly 8. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, not all of them. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this application. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this application.

[0050] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the equipment or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0051] Furthermore, 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 one another. 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 "when," "when," or "in response to determination."

[0052] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. In the description of this application, “a plurality” means two or more unless otherwise expressly and specifically defined. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0053] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0054] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0055] Please refer to Figures 1 to 9 As shown, this application provides a photovoltaic module defect inspection robot 100, including a suspended walking beam 1, an inspection system 2 mounted on the walking beam 1, and a drive system 3 for driving the inspection system 2. The walking beam 1 includes a first walking beam 11 and a second walking beam 12 arranged in parallel, with a detachable battery assembly 4 at one end of the first walking beam 11 and the second walking beam 12. The bottom of the first walking beam 11 and the second walking beam 12 is provided with a first receiving groove 13 extending along the extension direction of the walking beam; the drive system 3 is provided with an assembly plate 33, and fasteners 34 passing through the assembly plate 33 and assembly blocks 35 placed in the first receiving groove 13 detachably assemble and fix the drive system to the bottom of the walking beam. This application greatly facilitates the disassembly, assembly, and transportation of the robot by making the battery assembly 4 detachable; the drive system 3 can be quickly disassembled and assembled with the walking beam through the detachable assembly method of the fasteners 34 and the assembly blocks 35, and the position of the drive system 3 can be adjusted to enhance the robot's adaptability to different scenarios.

[0056] Specifically, the drive system 3 in this application includes an upper drive mechanism 31 and a lower drive mechanism 32 arranged in parallel. The upper drive mechanism 31 and the lower drive mechanism 32 are assembled and fixed to the first traveling beam 11 and the second traveling beam 12 in a detachable manner. When facing photovoltaic power stations of different sizes, it is only necessary to adjust the relative distance between the upper drive mechanism 31 and the lower drive mechanism 32. The structure is simple and easy to use.

[0057] In a preferred embodiment, the assembly block 35 includes a main body 351 and a protrusion 352 extending downward from the main body 351. The protrusion 352 has a centrally located screw hole 353 penetrating the main body 351 in a vertical direction. When the assembly block 35 is received in the first receiving groove 13, the main body 351 abuts against the inner wall of the first receiving groove 13, and the protrusion 352 is positioned within the opening 130 of the first receiving groove 13. The fastener 34 can be a bolt adapted to the assembly block 35 or a structural component that allows for direct manual assembly and disassembly, specifically limited to assembling the drive system 3, and not limited to the form disclosed in this embodiment.

[0058] In one embodiment, the battery assembly 4 includes a housing 40 and a battery cell 41 disposed within the housing 40. The bottom of the front end of the housing 40 is provided with symmetrical hooks 43, and the bottom of the rear end of the housing 40 is provided with two engaging members 44, which are also symmetrically distributed at the bottom of the housing 40. The hooks 43 and the engaging members 44 are detachably assembled and fixed to the first traveling beam 11 and the second traveling beam 12, respectively. The straight line of the assembly position formed by the hooks 43, the engaging members 44, and the traveling beams is parallel to the edge of the housing 40. A positioning piece 45 is provided inside the housing 40 to limit the position of the battery cell 41, and the positioning piece 45 is provided with a Velcro strap 46 for further securing the battery cell 41. The housing 40 is also provided with a cover 47, which is fixedly connected to the housing by a hinge 471 and locked together with a latch 472 to form a whole; the housing 40 is also provided with an emergency stop switch 473 to cut off the power to the battery assembly 4 in case of emergency situations that occur during the use of the battery assembly 4 and the detection equipment.

[0059] In this application, the first traveling beam 11 and the second traveling beam 12 are provided with a first receiving groove 13, a second receiving groove 14, and a guide groove 15 from bottom to top. A positioning pin 17 adapted to the hook 43 is assembled in the guide groove 15, and a mounting base 18 adapted to the engaging member 44 is assembled in the guide groove 15. In an exemplary embodiment, the first traveling beam 11 and the second traveling beam 12 are profiles, and the guide groove 15, the first receiving groove 13, and the second receiving groove 14 are all arranged through the traveling beam along its extension direction; the opening of the first receiving groove 13 faces downwards, the opening of the second receiving groove 14 is horizontal, and the guide groove 15 is located directly above the second receiving groove 14.

[0060] The engaging member 44 includes a base 441 and an engaging portion 442 extending downward from the base 441. The base 441 has an assembly hole 443 for assembly with the housing 40. The engaging member is assembled to the bottom of the housing by a first fastener 48. The mounting base 18 includes a body 181 and a receiving portion 182 adapted to the engaging portion 442. The body 181 has an elastic member (not shown) that partially extends into the receiving portion 182.

[0061] The guide groove 15 has two first through holes 150 on its vertical wall. The first locking member 16 passes through the first through holes 150 to assemble the mounting base 18 into the guide groove 15. The hook 43 includes an assembly part 431 and a fixing part 432 extending downward from the assembly part 431. The fixing part 432 has a horizontal arc-shaped notch 433, which can cover at least 2 / 3 of the outer periphery of the positioning pin 17 in the circumferential direction. When it is necessary to disassemble the battery assembly 4, simply apply upward force to release the assembly of the locking member 44 and the mounting base 18, and rotate clockwise to disassemble the hook 43 from the positioning pin 17, thereby removing the battery assembly 4.

[0062] The guide slot 15 is equipped with a position detection switch 5 for the detection system 2, which is located directly in front of the battery assembly 4. The position detection switch 5 is used to detect the upper and lower limits of the detection system 2's movement along the walking beam to ensure the safety of the robot during operation.

[0063] The detection system 2 is equipped with a traction component 20, and both ends of the first traveling beam 11 and the second traveling beam 12 are equipped with traction mechanisms 24. The traction component 20 is connected to the traction mechanism 24 and drives the detection system 2 to reciprocate along the traveling beam under the traction of the traction mechanism 24. In this application, the traction component 20 is a steel wire rope.

[0064] Specifically, the detection system 2 includes a body 21, a central control system 6 disposed on the body 21, an image acquisition device 7 signal-connected to the central control system 6, a light source assembly 8, and an RTK positioning system 22. The body 21 is equipped with a pulley assembly 23 that can roll along the first and second traveling beams. The light source assembly 8 uses near-infrared light with a wavelength of 950nm~1150nm as the light source. The image acquisition device 7 can be adjusted in both the horizontal and vertical directions. The distance between the lens of the image acquisition device 7 and the upper surface of the photovoltaic module is 290mm≤H≤360mm. In an exemplary embodiment, the body includes a frame and a housing disposed on the frame. The frame consists of parallel cantilever beams 210 and connecting plates 211 assembled with the cantilever beams. The housing comprises a first housing 212, a second housing 213, and a third housing 214 assembled from top to bottom. The first housing 212 and the second housing 213 are fixedly connected by a first reinforcing rib 215, and the second housing 213 and the third housing 214 are fixedly connected by a second reinforcing rib 216. The light source assembly 8 is assembled onto the connecting plate 211 via a first assembly plate 217 and is located above the third housing 214. Specifically, the connecting plate 211 includes a first connecting plate and a second connecting plate arranged opposite to each other. In this application, the first connecting plate and the second connecting plate have the same structural configuration. A bracket 25 is provided between the cantilever beams 210, and the image acquisition device 7 is mounted on the bracket 25 via an assembly base 26. The assembly base 26 is provided with a sliding groove or adjustment hole to allow the image acquisition device to be adjusted in the horizontal or vertical direction. The bracket 25 uses L-shaped angle steel, which simplifies the structure of the detection system and enhances the support for the image acquisition device. The light source component 8 uses near-infrared light with a wavelength of 950nm~1150nm as the light source, which can completely penetrate the photovoltaic module to obtain a high-definition deep image of the photovoltaic module.

[0065] The pulley assembly 23 includes a support 231 and a horizontal wheel 232 and a vertical wheel 233 assembled on the support 231. The support 231 is assembled with the body 21. The horizontal wheel 232 rolls in the guide groove 15, and the vertical wheel 233 rolls along the top surface of the traveling beam. The pulley assembly effectively reduces the frictional force when the detection system reciprocates along the traveling beam, making the photovoltaic module defect detection robot run more smoothly and effortlessly.

[0066] The drive system 3 is equipped with a position sensor assembly 36, which is used to detect the walking position of the drive system 3 on the photovoltaic power station and prevent the robot from falling off the photovoltaic power station.

[0067] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A photovoltaic module defect detection robot, characterized in that, The system includes a suspended traveling beam, a detection system mounted on the traveling beam, and a drive system. The detection system includes a body, a central control system mounted on the body, several image acquisition devices, a light source assembly, and an RTK positioning system, all signal-connected to the central control system. The image acquisition devices dynamically acquire images of photovoltaic modules. The traveling beam includes a first traveling beam and a second traveling beam arranged in parallel. One end of the first traveling beam and the second traveling beam is equipped with a detachable battery assembly. The bottom of the first traveling beam and the second traveling beam is provided with a first receiving groove extending along the direction of the traveling beam. The drive system is equipped with an assembly plate, and fasteners passing through the assembly plate are connected to the assembly assembly placed in the first receiving groove. The assembly block detachably assembles and fixes the drive system to the bottom of the traveling beam. The assembly block includes a main body and a protrusion extending downward from the main body. The center of the protrusion has a screw hole that penetrates the main body in a vertical direction. When the assembly block is received in the first receiving groove, the main body abuts against the inner wall of the first receiving groove, and the protrusion is placed in the opening of the first receiving groove. The drive system is equipped with a position sensor assembly for detecting the traveling position of the drive system on the photovoltaic power station. The drive system includes an upper drive mechanism and a lower drive mechanism arranged in parallel. When dealing with photovoltaic power stations of different sizes, it is only necessary to adjust the relative distance between the upper drive mechanism and the lower drive mechanism.

2. The photovoltaic module defect detection robot according to claim 1, characterized in that, The battery assembly includes a housing and battery cells disposed within the housing. The bottom of the front end of the housing is provided with symmetrical hooks, and the bottom of the rear end of the housing is provided with a locking component. The hooks and the locking component are detachably assembled and fixed to the first traveling beam and the second traveling beam, respectively.

3. The photovoltaic module defect detection robot according to claim 2, characterized in that, The first traveling beam and the second traveling beam are provided with a first receiving groove, a second receiving groove and a guide groove from bottom to top. A positioning pin adapted to the hook is assembled in the guide groove, and a mounting base adapted to the engaging component is assembled in the guide groove.

4. The photovoltaic module defect detection robot according to claim 3, characterized in that, The engaging component includes a base and an engaging portion extending downward from the base. The base has an assembly hole for assembly with the housing. The mounting base includes a body and a receiving portion adapted to the engaging portion. The body has an elastic member that partially extends into the receiving portion.

5. The photovoltaic module defect detection robot according to claim 4, characterized in that, The guide groove has two first through holes on its vertical wall. The first locking member passes through the first through holes to assemble the mounting base into the guide groove. The hook includes an assembly part and a fixing part that bends downward from the assembly part. The fixing part has an arc-shaped notch in the horizontal direction. The notch can cover at least 2 / 3 of the outer periphery of the positioning pin in the circumferential direction.

6. The photovoltaic module defect detection robot according to any one of claims 3 to 5, characterized in that, The guide slot is equipped with a position detection switch of the detection system, and the position detection switch is located directly in front of the battery assembly.

7. The photovoltaic module defect detection robot according to any one of claims 1 to 5, characterized in that, The machine body is provided with a pulley assembly that can slide along the first traveling beam and the second traveling beam. The light source assembly uses near-infrared light with a wavelength of 950nm~1150nm as the light source. The image acquisition device can be adjusted in both the horizontal and vertical directions. The distance between the lens of the image acquisition device and the upper surface of the photovoltaic module is 290mm≤H≤360mm.

8. The photovoltaic module defect detection robot according to claim 7, characterized in that, The pulley assembly includes a support and horizontal and vertical wheels assembled on the support, and the support is assembled with the machine body.

9. The photovoltaic module defect detection robot according to any one of claims 1 to 5 or claim 8, characterized in that, The detection system is equipped with a traction component, and both ends of the first traveling beam and the second traveling beam are equipped with traction mechanisms. The traction component is connected to the traction mechanism and drives the detection system to reciprocate along the traveling beam under the traction of the traction mechanism.

10. The photovoltaic module defect detection robot according to any one of claims 2 to 5, characterized in that, The housing is provided with a positioning piece to limit the position of the battery cell, and the positioning piece is provided with a Velcro strap to further fix the battery cell.

Images