A photovoltaic power station inspection robot

Abstract

The present application relates to the technical field of inspection robots, and discloses a photovoltaic power station inspection robot, which comprises an unmanned water surface boat, a detection shell is rotationally connected to the output end of a lifting mechanism, an image recognition module, an infrared detection module, an electric push rod three and a laser ranging module one are arranged on the outer wall of the detection shell, a push paw is slidably arranged through a measuring seat and fixed to the output end of an electric push rod two, a supporting rod is rotationally connected to the upper side of the unmanned water surface boat, and a fixing paw is slidably arranged through a fixing seat and fixed to the output end of an electric push rod one. The unmanned water surface boat is moved to a corresponding support detection position, the fixing seat and the fixing paw are used to tightly hold a pile foundation through the cooperation of the supporting rod and the electric push rod one, then the measuring seat and the push paw are used to enclose the support through the rotation of the detection shell and the driving of the electric push rod three, and the cooperation of a pressure sensor two, the electric push rod two and the laser ranging module one is used to complete the detection of the stability of the support.

Description

Technical Field

[0001] This invention relates to the field of inspection robot technology, specifically to a photovoltaic power station inspection robot. Background Technology

[0002] A photovoltaic (PV) power station is a power generation system that utilizes solar energy, employs special materials such as crystalline silicon panels, inverters, and other electronic components, and is connected to the power grid to transmit electricity to it. Existing PV systems are already being installed on water using both pile-based and floating methods.

[0003] A search revealed Chinese Patent Publication No. CN216697066U, which discloses an integrated robot for automatic inspection and cleaning of floating photovoltaic modules. The robot includes a floating body, an underwater power drive device, an infrared imaging device, a wireless signal transmitter, a power supply module, a GPS positioning module, a high-pressure cleaning water pump set, a processing controller, obstacle avoidance components, and a remote control system. The underwater power drive device is fixedly mounted on the outer bottom surface of the floating body, the infrared imaging device is located in the upper middle part of the floating body, and the wireless signal transmitter is fixedly mounted at the front of the floating body. The power supply module is fixedly mounted inside the floating body and is used to provide power to other modules or components that require electricity. The GPS positioning module is located at the front end of the floating body and is used to provide direction and location navigation. The high-pressure cleaning water pump set is located on the right side of the front end of the floating body. This design overcomes the shortcomings of existing technologies, such as poor anti-interference ability and slow response, reduces manpower, improves the efficiency of inspection and cleaning, and further improves power generation efficiency.

[0004] The aforementioned robot integrates different types of sensors to enhance its intelligence. Through infrared imaging, it can collect and process images to inspect photovoltaic modules and clean their surfaces using high-pressure cleaning equipment, thereby improving the power generation efficiency of the photovoltaic system. However, in actual use with pile-based photovoltaic stations, the following problems exist: 1. When a problem is discovered and recorded in the system, subsequent maintenance personnel can only locate the approximate location, still requiring time to find the repair point; 2. It cannot detect the stability issues caused by long-term water vapor exposure to the floating photovoltaic support structure; 3. The pile foundation installation location often contains a large amount of silt, and the robot cannot detect pile foundation tilting. Summary of the Invention

[0005] To address the shortcomings of existing technologies and solve the aforementioned technical problems, this invention provides a photovoltaic power plant inspection robot.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a photovoltaic power station inspection robot, comprising an unmanned surface vessel, a lifting mechanism fixed to the upper side of the unmanned surface vessel, a detection housing rotatably connected to the output end of the lifting mechanism, an image recognition module, an infrared detection module, an electric push rod three, and a laser ranging module one arranged on the outer wall of the detection housing, a measuring seat fixed to the output end of the electric push rod three, an electric push rod two fixed to the outer wall of the measuring seat, a push claw sliding through the measuring seat fixed to the output end of the electric push rod two, a support rod rotatably connected to the upper side of the unmanned surface vessel, a fixed seat rotatably connected to one end of the support rod, an electric push rod one arranged on the outer wall of the fixed seat, a fixed claw sliding through the fixed seat fixed to the output end of the electric push rod one, pressure sensors two arranged on the side walls between the fixed claw and the fixed seat, and between the push claw and the measuring seat, and a laser ranging module two fixed to the outer wall of the unmanned surface vessel.

[0007] Preferably, the end of the fixed claw away from the electric push rod is arranged as two claws side by side in the vertical direction, and an attitude sensor is installed inside the fixed base.

[0008] Preferably, one end of the support rod is rotatably connected to a rotating rod fixed to the outer wall of the fixed seat. Both the rotating rod and the outer wall of the support rod are fixed with a fixing plate, and a spring is fixed between the side walls of the two fixing plates.

[0009] Preferably, the measuring seat is provided with a marking assembly, which includes a marking strip disposed inside the measuring seat. The inner wall of the pusher is provided with a magnet and an electromagnet. One end of the marking strip is attached between the side walls of the magnet and the electromagnet. The side walls between the measuring seat and the pusher are provided with heating blocks for heat-melting and fixing the marking strip. The marking strip is made of nylon and has a strip structure of a certain length.

[0010] Preferably, a linear module is fixed to the inner wall of the measuring seat, and a blade for cutting the marking tape is fixed to the outer wall of the linear module. A groove for sliding with the blade is opened on the outer wall of the measuring seat. A discharge roller is rotatably connected to both sides of the marking tape. Both ends of the discharge roller rotate on the inner wall of the measuring seat. A motor for driving the discharge roller to rotate is fixed to the inner wall of the measuring seat.

[0011] Preferably, the inner wall of the pusher claw has a sliding seat, and the outer wall of the sliding seat has a second groove for sliding with the magnetic block and the electromagnet.

[0012] Preferably, a pressure sensor is provided on the inner wall of the pusher, and a spring is fixed between the pressure sensor and the side wall of the slide.

[0013] Preferably, an automatic tape reel is detachably mounted on the upper side of the measuring seat, and the marking tape is disposed inside the automatic tape reel.

[0014] Preferably, a ranging plate is fixed to the outer wall of the push claw, and the ranging plate and the laser ranging module are located at the same horizontal height and on the measurement path of the laser ranging module.

[0015] Preferably, the inner wall of the unmanned surface vessel is fixed with a second motor for driving the support rod to rotate, the outer wall of the unmanned surface vessel is provided with a storage groove for cooperating with the rotation of the support rod, and the lower side of the detection housing is fixed with a third motor for driving its own rotation.

[0016] Working principle: The unmanned surface vessel starts its inspection from the edge of the photovoltaic backlight side. While moving, it uses its own positioning function and laser ranging module 2 to locate and detect the distance to the pile foundation in real time; combined with the image recognition module, it determines whether the obstruction within the predetermined range is the pile foundation. If it is a pile foundation, the unmanned surface vessel adjusts its position, drives the support rod, fixed seat and fixed claw to surround the pile foundation, and fixes itself by retracting the electric push rod one, and uses the pressure sensor two to maintain appropriate pressure to complete its own fixation. Subsequently, the detection housing rotates to align the electric push rod three with the support above the pile foundation. Combined with laser ranging module one and laser ranging module two, it drives the measuring seat and push claw to surround the support. The electric push rod two retracts to make the push claw contact the support. Laser ranging module one detects the distance change, determines whether the support is loose, and transmits the corresponding signal to the backend. During the inspection, the image recognition module identifies foreign objects, dust, and abnormalities in the photovoltaic panels and pile foundation supports, while the infrared detection module detects the infrared status of the photovoltaic panels, thus realizing automatic inspection of the photovoltaic power station.

[0017] This invention provides a photovoltaic power plant inspection robot. It has the following beneficial effects: 1. This invention involves moving an unmanned surface vessel (USV) to the corresponding support detection position. With the cooperation of laser ranging module two, the distance between the USV and the pile foundation is maintained within a suitable range. The lifting mechanism drives the detection housing to move to the corresponding height. Simultaneously, the rotation of the support rod and the drive of electric push rod one cause the fixed seat and fixed claw to grip the pile foundation, thus fixing the USV. Then, the rotation of the detection housing and the drive of electric push rod three cause the measuring seat and push claw to surround the support. The stability of the support is detected through the cooperation of pressure sensor two, electric push rod two, and laser ranging module one.

[0018] 2. The present invention uses an attitude sensor installed inside the fixed base to enable the fixed base and fixed claw to grip the pile foundation to provide support for the unmanned surface vessel, while also measuring the inclination of the pile foundation; and through the cooperation of the fixed plate and spring two, the fixed base and fixed claw can be reset to the correct position after the measurement of a point is completed, thereby helping to improve the efficiency of measuring the inclination of the pile foundation.

[0019] 3. The present invention uses a marking tape to create a partition between the pusher and the bracket during the measurement of the bracket, thus avoiding damage to the bracket's plating. Furthermore, the contact between the pusher and the measuring seat allows the two heating blocks to place the marking tape over the outside of the bracket, completing the marking and positioning of the bracket, thereby improving the positioning efficiency of subsequent maintenance.

[0020] 4. This invention, through the cooperation of the discharge roller and the automatic tape reel, enables the excess marking tape to be retrieved after the qualified bracket is inspected. This avoids the marking tape from forming interlayer failures and also prevents the marking tape from tangling, thus reducing the efficiency of subsequent marking. Attached Figure Description

[0021] Figure 1 This is a perspective view of the present invention; Figure 2 This is a schematic diagram of the structure of the fixing seat of the present invention; Figure 3 This is a schematic diagram of the measuring seat structure of the present invention; Figure 4 This is a partial cross-sectional schematic diagram of the measuring seat and pusher of the present invention; Figure 5 for Figure 4 Enlarged view of point A in the middle; Figure 6 for Figure 4 Enlarged view of point B in the middle; Figure 7 This is a partial cross-sectional schematic diagram of the measuring seat of the present invention; Figure 8 for Figure 7 Enlarged view of point C in the middle; Figure 9 This is a schematic diagram of the detection housing structure of the present invention; Figure 10 This is a schematic diagram of one side of the unmanned surface vessel of the present invention; Figure 11 This is a schematic diagram of the exploded structure of the slide of the present invention.

[0022] The diagram exaggerates the spacing or dimensions between parts to show their positions; the diagram is for illustrative purposes only.

[0023] Among them, 1. Unmanned surface vessel; 2. Lifting mechanism; 3. Support rod; 4. Electric push rod one; 5. Fixed seat; 6. Fixed claw; 7. Measuring seat; 8. Push claw; 9. Marking assembly; 900. Automatic tape reel; 901. Marking tape; 902. Linear module; 903. Heating block; 904. Magnetic block; 905. Electromagnet; 906. Slide; 907. Spring 1; 908. Pressure sensor 1; 909. Blade; 910. Discharge roller; 911. Motor 1; 10. Electric push rod II; 11. Detection housing; 12. Electric push rod III; 13. Pressure sensor II; 14. Rotating rod; 15. Fixing plate; 16. Spring II; 17. Motor II; 18. Distance measuring plate; 19. Image recognition module; 20. Infrared detection module; 21. Laser distance measuring module I; 22. Motor III; 23. Laser distance measuring module II; 24. Storage slot; 25. Attitude sensor. Detailed Implementation

[0024] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] Example 1, please refer to the appendix. Figure 1 - Appendix Figure 3 and appendix Figure 9 and attached Figure 10 This invention provides a photovoltaic power station inspection robot. The unmanned surface vessel 1 is an unmanned surface vessel with the ability to autonomously navigate, automatically detect and avoid obstacles, automatically record, analyze, upload, and alarm information. It is suitable for lake surfaces. The lifting mechanism 2 can use electric push rods, cylinders, or other linear drives, which are existing technologies.

[0026] A photovoltaic power station inspection robot includes an unmanned surface vessel 1. A lifting mechanism 2 is fixed to the upper side of the unmanned surface vessel 1. The output end of the lifting mechanism 2 is rotatably connected to a detection housing 11. An image recognition module 19, an infrared detection module 20, an electric push rod 3 12, and a laser ranging module 1 21 are provided on the outer wall of the detection housing 11. A measuring seat 7 is fixed to the output end of the electric push rod 3 12. An electric push rod 2 10 is fixed to the outer wall of the measuring seat 7. A push claw 8 that slides through the measuring seat 7 is fixed to the output end of the electric push rod 2 10. A support rod 3 is rotatably connected to the upper side of the unmanned surface vessel 1. A fixed seat 5 is rotatably connected to one end of the support rod 3. An electric push rod 1 4 is provided on the outer wall of the fixed seat 5. A fixed claw 6 that slides through the fixed seat 5 is fixed to the output end of the electric push rod 1 4. Pressure sensors 2 13 are provided on the side walls between the fixed claw 6 and the fixed seat 5, and between the push claw 8 and the measuring seat 7. A laser ranging module 2 23 is fixed to the outer wall of the unmanned surface vessel 1.

[0027] Specifically, the electric push rod 12 is fixed to the side wall of the detection housing 11, the laser ranging module 21 is also set on the side wall of the detection housing 11, and the ranging direction points to the push claw 8. The image recognition module 19 and the infrared detection module 20 are both set on the top of the detection housing 11. During the inspection, the unmanned surface vessel 1 starts its inspection from the edge of the photovoltaic backlight side. As the unmanned surface vessel 1 travels along the predetermined route, it uses its own positioning function to locate itself in real time and uses the laser ranging module 23 to detect the real-time distance between itself and the pile foundation. During this process, when the laser ranging module 23 detects an obstruction within the predetermined range, it uses the image recognition module 19 to determine whether the obstruction is a pile foundation. If it is a pile foundation, the unmanned surface vessel 1 controls its own position so that it is within the measurement range of the pile foundation. Then, by driving the rotation of the support rod 3, it drives the fixed seat 5 and the fixed claw 6 to rotate to the position to enclose the pile foundation. Then, by driving the electric push rod 4, it drives the fixed claw 6 to retract and move towards the position of the unmanned surface vessel 1, so that the fixed claw 6 and the fixed seat 5 tightly grip the pile foundation. During this process, the pressure sensor 13 on the fixed seat 5 and the fixed claw 6 measures and feeds back the pressure data in real time, so that the pressure between the fixed seat 5 and the fixed claw 6 and the pile foundation is maintained within a suitable range, thereby completing the fixation of the position of the unmanned surface vessel 1. Subsequently, the lifting mechanism 2 drives the detection housing 11 to rise to a preset height. Then, the rotation of the detection housing 11 drives the electric push rod 12 to rotate and face the support above the pile foundation. During this process, the distance from the rotation axis of the detection housing 11 to the pile foundation is determined by the data fed back by the laser ranging module 23. The support is usually installed in a fixed position in the same photovoltaic power station. In the initial state, the push claw 8 is in the open state. Therefore, by recording the data and cooperating with the laser ranging module 21, the electric push rod 12 drives the measuring seat 7 and the push claw 8 to move to a circle with the rotation axis of the detection housing 11 as the center and the distance from the outer wall of the detection housing 11 to the support as the radius, so that the support can be closed. Then, the electric push rod 210 drives the push claw 8 to retract and move towards the detection housing 11. When the pressure sensor 213 on the push claw 8 returns a pressure signal, it indicates that the push claw 8 and the bracket have made contact. At this time, the laser ranging module 21 starts to measure the distance between the push claw 8 and the detection housing 11. The electric push rod 210 continues to drive, so that the pressure between the push claw 8 and the bracket is maintained within a certain range. During this process, if the data detected by the laser ranging module 21 remains within the preset range, it indicates that the bracket is stable, and the unmanned surface vessel 1 transmits a normal signal to the terminal backend. If the data detected by the laser ranging module 21 exceeds the preset range, it indicates that the bracket is loose and needs maintenance. In this case, a maintenance signal is transmitted to the backend, thus realizing the function of detecting the stability of the photovoltaic bracket. During the sequential inspection of the support structure, the image recognition module 19 identifies foreign objects and dust on the photovoltaic panel, as well as abnormalities in the pile foundation and support structure. At the same time, the infrared detection module 20 detects the infrared status of the photovoltaic system to determine whether there are any abnormalities, thereby realizing automatic inspection of the photovoltaic power station.

[0028] Please refer to the attached figures and appendices. Figure 2 and attached Figure 10 The fixed claw 6, located away from the electric push rod 4, is arranged with two claws side by side in the vertical direction. The attitude sensor 25 is installed inside the fixed base 5.

[0029] Specifically, after the fixed base 5 and the fixed claw 6 firmly grasp the pile foundation, the fixed base 5 automatically adapts to the tilt angle of the pile foundation and rotates relative to the support rod 3 through the rotational connection between the fixed base 5 and the support rod 3. The fixed claw 6 is equipped with double claws at its end, which avoids the unevenness of local positions on the pile foundation from affecting the tilt measurement data when it is in contact with the pile foundation, and further improves the accuracy of the tilt measurement. Then, with the cooperation of the image acquisition data of the image recognition module 19, after excluding foreign objects on the outer wall of the pile foundation, when the attitude sensor 25 detects that the tilt angle of the pile foundation deviates from the initial measured angle, it indicates that the pile foundation has tilted compared to the original data. Thus, while supporting the unmanned surface vessel 1, the stability of the pile foundation is also detected.

[0030] Example 2, please refer to the appendix. Figure 2 Based on the above embodiments, there is a problem that the fixed seat 5 and the fixed claw 6 can rotate to a position where they cannot grasp the pile foundation due to vibration and interference from the pile foundation, which affects the function of detecting the pile foundation and the support. This embodiment proposes the following solution to solve the above problems: one end of the support rod 3 has a rotating rod 14 that is fixed to the outer wall of the fixed seat 5. The rotating rod 14 and the outer wall of the support rod 3 are both fixed with a fixing plate 15. A spring 16 is fixed between the side walls of the two fixing plates 15.

[0031] Specifically, spring 16 is in a pre-tensioned state. Electric push rod 4 is mounted on the outer wall of a fixed plate 15 connected to rotating rod 14. Rotating rod 14 provides support for fixed plate 15, which in turn provides support for electric push rod 4, allowing electric push rod 4 to have sufficient retraction distance to drive fixed claw 6 to retract and move, thus gripping the pile foundation with the fixed seat 5. At the same time, through the rotational connection between rotating rod 14 and support rod 3, fixed claw 6 can rotate to match the inclination of the pile foundation, thereby overcoming the elastic potential energy of spring 16. When fixed seat 5, fixed claw 6 and pile foundation are separated, the contraction of spring 16 allows fixed claw 6 to return to its original position, preventing excessive rotation of fixed claw 6 and making it impossible to measure the next pile foundation.

[0032] Example 3, please refer to the appendix. Figure 1 Appendix Figure 3 Appendix Figure 4 and attached Figure 5Based on the above embodiments, several pile foundations are installed on the water surface, and the positioning accuracy of the water surface is limited, which makes it time-consuming for maintenance personnel to find maintenance points, resulting in low efficiency. This embodiment proposes the following solution to solve the above problems: A marking component 9 is set inside the measuring seat 7. The marking component 9 includes a marking strip 901 set inside the measuring seat 7. A magnetic block 904 and an electromagnet 905 are set on the inner wall of the push claw 8. One end of the marking strip 901 is attached between the side walls of the magnetic block 904 and the electromagnet 905. A heating block 903 for heat-melting and fixing the marking strip 901 is set on the side walls between the measuring seat 7 and the push claw 8. The marking strip 901 is made of nylon material and has a strip structure of a certain length.

[0033] Specifically, the marking strip 901 is red or yellow, and the heating block 903 can be heated by resistance. It is set on the outer wall where the measuring seat 7 and the pusher 8 fit together, and is also close to the inner side. When the pusher 8 retracts to apply force to the bracket for detection, the marking strip 901 held on the outside will form a layer on the outer wall of the bracket to avoid damage to the plating of the outer wall of the bracket during the detection process, which would affect its service life. When a bracket or other structure is detected to require repair, in addition to uploading the repair location and type to the backend, the electric push rod 12 drives the pressure sensor 13 on the measuring seat 7 to make the outer wall of the measuring seat 7 fit together. Then, the electric push rod 10 drives the push claw 8 and the measuring seat 7 to fit together completely, thanks to the feedback of its stroke and the cooperation of the laser ranging module 21. At this time, the outer wall of the end of the marking strip 901 fits together with the outer wall of its side on the measuring seat 7. Meanwhile, the two heating blocks 903 are distributed and press against the outer side of the two layers of marking strip 901 to heat them, so that the end of the marking strip 901 and its outer side are thermally bonded together. At this time, the electromagnet 905 is de-energized, releasing the magnetic force between it and the magnetic block 904, and the marking strip 901 is released. The other end of the marking strip 901 can be pulled out from the measuring seat 7 as the detection housing 11 rotates, completing one marking. This allows maintenance personnel to see the marking strip 901 from a distance, thereby improving the efficiency of locating the repair point.

[0034] Please see the appendix Figure 4 - Appendix Figure 8 A linear module 902 is fixed to the inner wall of the measuring base 7. A blade 909 for cutting the marking tape 901 is fixed to the outer wall of the linear module 902. A groove is opened on the outer wall of the measuring base 7 to slide with the blade 909. A discharge roller 910 is rotatably connected to both sides of the marking tape 901. Both ends of the discharge roller 910 rotate on the inner wall of the measuring base 7. A motor 911 for driving the discharge roller 910 to rotate is fixed to the inner wall of the measuring base 7.

[0035] Specifically, the linear module 902 can use electric push rods, lead screws, etc., and the lower end of the discharge roller 910 is fixed with a gear one, the two gears one meshing at their tooth ends, and the output end of the motor one 911 is fixed with a gear two that meshes with one of the gears one's tooth end. In the above embodiments, only sequential marking can be performed. Therefore, multiple markings can be achieved through the following scheme: a rolled marking tape 901 is provided inside the measuring seat 7. One end of the tape passes through the outer wall of the measuring seat 7 and is clamped by a magnetic block 904 and an electromagnet 905. After one marking is completed, the linear module 902 drives the blade 909 to move down and cut the marking tape 901, thereby completing one marking. Before measuring the next bracket, the output of motor 911 drives the discharge roller 910 to rotate, conveying the marking strip 901 outward to a certain length. Then, electric push rod 10 controls the push claw 8 to retract and the measuring seat 7 to re-fit, so that the extended marking strip 901 is located between the magnetic block 904 and the electromagnet 905. When the electromagnet 905 is energized, the magnetic block 904 is re-attracted, completing the fixation of the end of the marking strip 901. When testing the next bracket, the marking strip 901 reforms the interlayer and can be marked again, thus realizing the marking operation of multiple maintenance points.

[0036] Please see the appendix Figure 5 and attached Figure 11 The inner wall of the pusher 8 has a sliding seat 906, and the outer wall of the sliding seat 906 has a second sliding groove for sliding with the magnetic block 904 and the electromagnet 905. The inner wall of the pusher 8 is provided with a pressure sensor 908, and a spring 907 is fixed between the pressure sensor 908 and the side wall of the sliding seat 906.

[0037] Specifically, based on the above embodiment, there is a problem that the marking tape 901 cannot smoothly enter between the magnetic block 904 and the electromagnet 905. Therefore, after marking is completed, the electromagnet 905 is reverse-energized, so that the electromagnet 905 and the magnetic block 904 generate a repulsive force, which causes the magnetic block 904 and the electromagnet 905 to slide in opposite directions in the slide block 906, so that the space between them is completely opened, increasing the redundant space for the marking tape 901 to enter. Then, driven by the electric push rod 10, the push claw 8 is moved towards the measuring seat 7. When the pressure sensor 908 generates a pressure signal change, it indicates that the outer walls of the magnetic block 904 and the electromagnet 905 have contacted the outer wall of the measuring seat 7. At this time, the electromagnet 905 can be energized to clamp the marking tape 901. During marking, as the pusher 8 and measuring seat 7 come into contact, the displacement of the pusher 8 is detected in real time by the laser ranging module 21. When the displacement data of the pusher 8 and the pressure data of the pressure sensor 908 remain unchanged, the pusher 8 and the measuring seat 7 are fully in contact. During this process, the outer wall of the measuring seat 7 compresses the magnetic block 904 and the electromagnet 905, causing the slide 906 to slide into the pusher 8 and overcome the elastic potential energy of the spring 907, generating a pressure signal for the pressure sensor 908, thereby helping to improve the replacement efficiency of the marking tape 901.

[0038] Example 4, please refer to the appendix. Figure 3 and attached Figure 4 Based on the above embodiments, after the inspection bracket is qualified, although the marking tape 901 can be retracted back into the measuring seat 7 by rotating the discharge roller 910, the remaining marking tape 901 is prone to tangling in the measuring seat 7, which reduces the marking efficiency. This embodiment proposes the following solution to solve the above problems: an automatic tape reel 900 is detachably installed on the upper side of the measuring seat 7, and the marking tape 901 is set inside the automatic tape reel 900.

[0039] Specifically, when motor 911 drives the discharge roller 910 to retract the excess marking tape 901 into the measuring seat 7, the pressure data of pressure sensor 908 remains constant until the pressure signal of pressure sensor 908 changes, indicating that the external marking tape 901 has been straightened again. At this time, motor 911 stops driving. During this process, automatic winding device 900 drives synchronously with motor 911 to rewind the remaining marking tape 901 in measuring seat 7, preventing the excess marking tape 901 from getting tangled in measuring seat 7. During the extension of marking tape 901, the change in pressure signal of pressure sensor 908 causes motor 911 and automatic winding device 900 to work together to complete the movement of marking tape 901, thereby achieving automatic adaptation of the length of marking tape 901.

[0040] Please see the appendix Figure 3 and attached Figure 9 The outer wall of the push claw 8 is fixed with a ranging plate 18. The ranging plate 18 and the laser ranging module 21 are located at the same horizontal height and on the measurement path of the laser ranging module 21.

[0041] Specifically, by setting the ranging plate 18, the laser ranging module 21 can detect the position of the push claw 8 in real time, thereby enabling more efficient measurement of the stability of the support.

[0042] Please see the appendix Figure 2 Appendix Figure 9 and attached Figure 10The inner wall of the unmanned surface vessel 1 is fixed with a motor 2 17 for driving the support rod 3 to rotate. The outer wall of the unmanned surface vessel 1 is provided with a storage groove 24 that cooperates with the rotation of the support rod 3. The lower side of the detection housing 11 is fixed with a motor 3 22 for driving its own rotation.

[0043] Specifically, the unmanned surface vessel 1 has a base on its upper side, and a storage slot 24 is opened on the outer wall of the base. The support rod 3 rotates on the inner wall of the base through a connecting rod. A gear 3 is fixed on the outer wall of the connecting rod. A motor 2 17 is fixed on the inner wall of the base, and its output end is fixed with a gear 4 that meshes with the tooth end of the gear 3. Driven by the output end of the motor 2 17, the gear 4 drives the gear 3 to rotate, thereby causing the support rod 3 to rotate and unfold or retract into the storage slot 24. This achieves both unfolding and fixed support, and also avoids interference with external objects by retracting. A gear 5 is fixed on the output end of the lifting mechanism 2, and a gear 6 that meshes with the tooth end of the gear 5 is fixed on the output end of the motor 3 22. Driven by the output end of the motor 3 22, the gear 6 rotates. Through the cooperation of the gear 5, the motor 3 22 drives the detection housing 11 to rotate, thereby driving the image recognition module 19 and the infrared detection module 20 to rotate, scanning and detecting the surrounding photovoltaic system, which helps to improve inspection efficiency.

[0044] Workflow: The unmanned surface vessel 1 travels along a preset route from the back edge of the photovoltaic power station; during the journey, the distance to the pile foundation is detected in real time by the laser ranging module 23, and the image recognition module 19 is used to determine whether the obstacle in front is the pile foundation. After confirming the target pile foundation, the unmanned surface vessel 1 automatically adjusts its attitude and position, stops at the detection safety distance, and the motor 2 17 drives the support rod 3 to unfold, causing the fixed seat 5 and the fixed claw 6 to surround the pile foundation; and through the electric push rod 1 4, the fixed claw 6 is driven to retract, which works with the fixed seat 5 to grip the pile foundation. The attitude sensor 25 inside the fixed seat 5 collects the pile foundation tilt data, compares it with the initial value to determine whether the pile foundation is tilted, and abnormal data is uploaded to the background in real time. Simultaneously, the lifting mechanism 2 raises the detection housing 11 to the corresponding height of the bracket, and the motor 3 22 drives the detection housing 11 to rotate. During the rotation, the image recognition module 19 and the infrared detection module 20 are checked for any abnormalities. Then, the electric push rod 3 12 is aligned with the bracket to be tested, and the measuring seat 7 and the push claw 8 are pushed to approach and surround the bracket. The laser ranging module 1 21 works with the ranging plate 18 to accurately position the bracket. The electric push rod 2 10 drives the push claw 8 to clamp the bracket. The pressure sensor 2 13 maintains the detection pressure. The laser ranging module 1 21 continuously collects distance changes to complete the detection of the bracket's stability. When a fault in the support or pile foundation is detected, the pusher 8 is attached to the measuring seat 7, the heating block 903 heat-melts and fixes the nylon marking strip 901 to form a conspicuous maintenance mark, the electromagnet 905 is de-energized and releases the marking strip 901, and the linear module 902 drives the blade 909 to cut the marking strip 901, completing one marking. Then, motor 911, together with discharge roller 910 and automatic tape reel 900, automatically conveys new marking tape 901, and magnetic block 904 and electromagnet 905 complete clamping and resetting, ready for the next marking.

[0045] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A photovoltaic power station inspection robot, comprising an unmanned surface vessel (1), wherein a lifting mechanism (2) is fixed on the upper side of the unmanned surface vessel (1), and a detection housing (11) is rotatably connected to the output end of the lifting mechanism (2), wherein an image recognition module (19), an infrared detection module (20), an electric push rod (12), and a laser ranging module (21) are provided on the outer wall of the detection housing (11), characterized in that, The output end of the electric push rod three (12) is fixedly provided with a measuring seat (7). The outer wall of the measuring seat (7) is fixed with an electric push rod two (10). The output end of the electric push rod two (10) is fixed with a push claw (8) that slides through the measuring seat (7). The upper side of the unmanned surface vessel (1) is rotatably connected with a support rod (3). One end of the support rod (3) is rotatably connected with a fixed seat (5). The outer wall of the fixed seat (5) is provided with an electric push rod one (4). The output end of the electric push rod one (4) is fixed with a fixed claw (6) that slides through the fixed seat (5). The side walls between the fixed claw (6) and the fixed seat (5), and between the push claw (8) and the measuring seat (7) are all provided with pressure sensors two (13). The outer wall of the unmanned surface vessel (1) is fixed with a laser ranging module two (23).

2. The photovoltaic power station inspection robot according to claim 1, characterized in that, The fixed claw (6) is arranged as a pair of claws in the vertical direction at the end away from the electric push rod (4), and the attitude sensor (25) is installed inside the fixed base (5).

3. The photovoltaic power station inspection robot according to claim 1, characterized in that, One end of the support rod (3) is rotatably connected to a rotating rod (14) fixed to the outer wall of the fixed seat (5). The outer walls of the rotating rod (14) and the support rod (3) are both fixed with a fixing plate (15). A spring (16) is fixed between the side walls of the two fixing plates (15).

4. The photovoltaic power station inspection robot according to claim 1, characterized in that, The measuring seat (7) is provided with a marking component (9), which includes a marking strip (901) inside the measuring seat (7). The inner wall of the pusher (8) is provided with a magnetic block (904) and an electromagnet (905). One end of the marking strip (901) is attached between the side walls of the magnetic block (904) and the electromagnet (905). The side walls between the measuring seat (7) and the pusher (8) are provided with heating blocks (903) for heat-melting and fixing the marking strip (901). The marking strip (901) is made of nylon material and has a strip structure of a certain length.

5. A photovoltaic power station inspection robot according to claim 4, characterized in that, A linear module (902) is fixed to the inner wall of the measuring seat (7). A blade (909) for cutting the marking strip (901) is fixedly provided at the output end of the linear module (902). A groove is provided on the outer wall of the measuring seat (7) to slide with the blade (909). A discharge roller (910) is rotatably connected to both sides of the marking strip (901). Both ends of the discharge roller (910) rotate on the inner wall of the measuring seat (7). A motor (911) for driving the discharge roller (910) to rotate is fixed to the inner wall of the measuring seat (7).

6. A photovoltaic power station inspection robot according to claim 5, characterized in that, The inner wall of the pusher (8) has a sliding seat (906), and the outer wall of the sliding seat (906) has a groove for sliding with the magnetic block (904) and the electromagnet (905).

7. A photovoltaic power station inspection robot according to claim 6, characterized in that, The inner wall of the pusher (8) is provided with a pressure sensor (908), and a spring (907) is fixed between the pressure sensor (908) and the side wall of the slide (906).

8. A photovoltaic power station inspection robot according to claim 7, characterized in that, An automatic tape reel (900) is detachably mounted on the upper side of the measuring seat (7), and the marking tape (901) is disposed inside the automatic tape reel (900).

9. A photovoltaic power station inspection robot according to claim 1, characterized in that, The outer wall of the push claw (8) is fixed with a ranging plate (18). The ranging plate (18) and the laser ranging module (21) are located at the same horizontal height and on the measurement path of the laser ranging module (21).

10. A photovoltaic power station inspection robot according to claim 1, characterized in that, The inner wall of the unmanned surface vessel (1) is fixed with a second motor (17) for driving the support rod (3) to rotate. The outer wall of the unmanned surface vessel (1) is provided with a storage groove (24) for cooperating with the rotation of the support rod (3). The lower side of the detection housing (11) is fixed with a third motor (22) for driving itself to rotate.

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