Detection robot

Abstract

The utility model discloses a detection robot, the detection robot comprises a moving part and a detection part, the moving part is driven by a first driving member, the detection part is used for detecting the subfissure condition of a photovoltaic module, the detection part is driven by a second driving member, the moving part is provided with a grabbing mechanism, the grabbing mechanism is used for grabbing the photovoltaic module, and the detection part is used for detecting the subfissure condition of the photovoltaic module. The grabbing mechanism can loosen or grab and fix the detection part, so that the detection part and the moving part are in a split state or a combined state, in the split state, the detection part moves in the extension direction of the photovoltaic module under the driving action of the second driving part and synchronously detects defects or hidden cracks on the surface of the photovoltaic module, and in the combined state, the detection part is driven by the second driving part to move in the extension direction of the photovoltaic module. The detection part is fixed to the grabbing mechanism, so that the detection part is carried on the moving part and synchronously moves along with the moving part, the cooperative operation mode of the moving part and the detection part is achieved, the detection quality and efficiency of the hidden cracks on the photovoltaic module are improved through the automatic design, and the detection burden of workers is relieved.

Description

Technical Field

[0001] The utility model relates to the technical field of photovoltaic component hidden crack detection, and further relates to a detection robot. Background Art

[0002] As we all know, photovoltaic modules are the core components of large photovoltaic power stations. Their performance and loss directly affect the power generation and revenue of the power station. At present, the detection of hidden cracks in photovoltaic power station components still mainly relies on manual inspections. The staff visually inspects whether there are cracks on the surface of the photovoltaic modules, and records and maintains them. This method has the subjectivity and variability of manual operation, and is also prone to missed detection and misjudgment.

[0003] In summary, there is a need to improve the current technology. Utility Model Content

[0004] In view of the above technical problems, the purpose of the utility model is to provide a detection robot, which eliminates the need for workers to visually check the hidden cracks on the surface of photovoltaic modules, can reduce labor costs and the burden on workers, and realize the automation of hidden crack detection.

[0005] In order to achieve the above object, the utility model provides a detection robot, comprising:

[0006] The moving part comprises a first driving member and a grabbing mechanism, wherein the first driving member is used to drive the moving part to move, and the grabbing mechanism is adjustable;

[0007] The detection part includes a second driving member, the detection part is used to detect the hidden crack of the photovoltaic module, and the grasping mechanism can be operated to loosen or grasp the detection part, so that the detection part and the grasping mechanism have a separate state or a combined state.

[0008] In the split state, the detection unit moves along the extension direction of the photovoltaic assembly under the driving action of the second driving member, and simultaneously detects the upper surface of the photovoltaic assembly;

[0009] In the combined state, the detection part is connected to the grasping mechanism and is carried to the moving part to achieve synchronous movement.

[0010] It is worth mentioning that the moving part and the detection part are set up to form a mutually coordinated and cooperative operation form, which not only ensures the normal movement and displacement of the detection robot, but also can simultaneously detect hidden cracks in photovoltaic modules, thereby improving the practicality and detection efficiency of the detection robot, and helping to reduce the burden on staff and labor costs.

[0011] In some embodiments, the detection unit includes an infrared imaging module, which is used to detect the temperature of several areas on the upper surface of the photovoltaic component to feed back the temperature condition of the upper surface of the photovoltaic component to a data receiving end, thereby feeding back the abnormal temperature condition of the photovoltaic component.

[0012] In some embodiments, the detection unit includes a laser detection module and an imaging module, and the laser detection module has a laser;

[0013] The emission end of the laser is oriented toward the photovoltaic component, so that the laser emitted by the emission end can be transmitted to the upper surface of the photovoltaic component and form reflected laser through the photovoltaic component, so that the imaging module performs photosensitivity imaging through the reflected laser to obtain the image of the upper surface of the photovoltaic component.

[0014] In some embodiments, the detection unit further includes a light source and a camera;

[0015] The light source is directed toward the photovoltaic component to provide lighting for the photovoltaic component so as to clearly display defects or flaws on the surface of the photovoltaic component;

[0016] The photographing element is arranged in cooperation with the light source to photograph image information of the photovoltaic assembly after being illuminated.

[0017] In some embodiments, the horizontal position of the detection portion is higher than the horizontal position of the photovoltaic assembly, and a side of the detection portion facing the photovoltaic assembly is configured as a detection surface;

[0018] The photovoltaic assembly includes a plurality of photovoltaic panels arranged in series, and the contour of the detection surface is adapted to the contour of any of the photovoltaic panels, so that when the detection unit moves along the arrangement direction of the photovoltaic panels, its detection range can cover the corresponding photovoltaic panel.

[0019] It can be understood that the contours and sizes of the detection surface and the photovoltaic panel are basically consistent, thereby improving the effective detection range and detection efficiency of the detection part relative to the photovoltaic panel, while avoiding the detection part from repeatedly moving on the photovoltaic component and causing unnecessary scratches on the surface of the photovoltaic component.

[0020] In some embodiments, the detection robot further includes a walking assembly, which is evenly arranged on opposite sides of the detection portion in a width direction and spans the photovoltaic panel in a length direction, thereby avoiding at least a portion of the surface of the photovoltaic panel;

[0021] Wherein, the walking component is used to drive the detection part to move along the arrangement direction of the photovoltaic panels.

[0022] It should be noted that the detection unit can travel on the photovoltaic panel through the walking assembly, thereby realizing automatic adjustment of the detection position, and the walking assemblies arranged on both sides of the detection unit can also be misaligned with most surfaces of the photovoltaic panel.

[0023] In some embodiments, the travel assembly includes a first wheel, and the first wheel is provided with a first drive shaft;

[0024] The first driving shaft is used to drive the first wheel to rotate, and the extension direction of the first driving shaft is perpendicular to the plane where the photovoltaic panel is located;

[0025] Wherein, when the detection unit moves, the active surface of the first wheel abuts against the side of the corresponding photovoltaic panel, so that the detection unit moves along the side track of the photovoltaic panel.

[0026] In some embodiments, the travel assembly further includes a second wheel, and the second wheel is provided with a second drive shaft;

[0027] The second driving shaft is used to drive the second wheel to rotate, and the extension direction of the second driving shaft is perpendicular to the extension direction of the first driving shaft;

[0028] When the detection part is displaced, the active surface of the second wheel abuts against the upper surface of the photovoltaic panel, so that the first wheel and the second wheel jointly form a limiting structure, and the limiting structure simultaneously abuts against part of the upper surface and corresponding side edges of the photovoltaic panel to prevent the detection part from being offset during walking.

[0029] It can be understood that the first wheel can be set at the same time as the second wheel, or can be set independently. When set at the same time, the first wheel and the second wheel can not only drive the detection part to move, but also form a limiting structure similar to a right angle form, so that the relative ends of the detection part and the photovoltaic panel form a relative limit, thereby ensuring the driving path of the detection part, thereby playing a certain guiding role.

[0030] In some embodiments, the number of the first wheels and the second wheels are both even numbers, and are distinguished as two sets of matching wheels according to opposite sides of the detection portion;

[0031] In each set of wheels, the second wheels are arranged between the first wheels.

[0032] In some embodiments, the detection robot further comprises:

[0033] A power supply end, the power supply end is arranged on the moving part;

[0034] A flexible cable is connected to the power supply end and the detection part respectively, and is used to supply power to the detection part. In the split state, the flexible cable expands and contracts synchronously with the movement of the detection part.

[0035] It should be noted that the provision of a flexible cable enables flexible relative displacement between the detection part and the moving part, which is beneficial to improving the flexibility of the detection part and can also prevent the cable from being broken due to continuous bending during long-term work, thereby affecting the normal use of the detection robot.

[0036] Compared with the prior art, the detection robot provided by the utility model has the following beneficial effects:

[0037] 1. The utility model provides an inspection robot, which has a moving part and a detection part, wherein the detection part can be connected to the moving part and can also be used separately from the moving part, so that the overall flexibility of the robot is high and different working modes can be formed. At the same time, by using this inspection robot, the inspection burden for the staff can be reduced and the automation of hidden crack detection can be realized.

[0038] 2. The inspection robot provided by the utility model can be provided with a laser inspection module, a light source (for lighting) and other similar components on the inspection part, so as to cooperate with the imaging unit or the camera to perform corresponding analysis and imaging on the photovoltaic panel, so as to obtain information such as defects or stains on the photovoltaic panel, thereby greatly improving the inspection efficiency and quality.

[0039] 3. The utility model provides a detection robot, in which a first wheel and a second wheel are arranged on the detection part, so as to drive the detection part to move on the photovoltaic panel. At the same time, a limiting structure is formed by the arrangement of the first wheel and the second wheel, so that the relative ends of the detection part and the photovoltaic panel are relatively limited, thereby ensuring the driving path of the detection part, thereby playing a certain guiding role. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The preferred implementation modes will be described below in a clear and understandable manner with reference to the accompanying drawings to further illustrate the above-mentioned characteristics, technical features, advantages and implementation methods of the present utility model.

[0041] Figure 1 This is a schematic diagram of the overall structure of a detection robot in one embodiment of the utility model;

[0042] Figure 2 It is a schematic diagram of the overall structure of the detection robot in another perspective in one embodiment of the utility model;

[0043] Figure 3 It is a schematic diagram of another embodiment of the utility model;

[0044] Figure 4 It is a partial detail diagram of one embodiment of the utility model.

[0045] Description of the accompanying drawings: moving part 1; grasping mechanism 11; mechanical arm 1101; mechanical claw 1102; detection part 2; detection surface 21; photovoltaic module 3; photovoltaic panel 31; first wheel 41; second wheel 42; first drive shaft 51; second drive shaft 52. DETAILED DESCRIPTION

[0046] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the specific implementation methods of the utility model will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings and other implementation methods can be obtained based on these drawings without creative work.

[0047] In order to simplify the drawings, only the parts related to the utility model are schematically shown in each figure, and they do not represent the actual structure of the product. In addition, in order to simplify the drawings and facilitate understanding, in some figures, only one of the parts with the same structure or function is schematically drawn or marked. In this article, "one" not only means "only one", but also means "more than one".

[0048] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0049] In this article, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

[0050] In the description of the present invention, 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", "axial", "radial", "circumferential" and the like 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 the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0051] In addition, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0052] In one embodiment, the reference specification Figure 1 and Figure 2 The detection robot provided by the utility model can reduce the labor cost and the burden on the staff, and eliminates the need for the staff to visually check the hidden cracks on the surface of the photovoltaic module, thereby realizing the automation of hidden crack detection.

[0053] Reference Manual Attached Figures 1 to 3 The utility model provides a detection robot, including a moving part 1 and a detection part 2, the moving part 1 includes a first driving member and a grasping mechanism 11, the first driving member is used to drive the moving part 1 to move, and the grasping mechanism 11 is adjustable; the detection part 2 includes a second driving member, the detection part 2 is used to detect hidden cracks of the photovoltaic component 3, and the grasping mechanism 11 can be operated to loosen or grasp the detection part 2, so that the detection part 2 and the grasping mechanism 11 have a separate state or a combined state.

[0054] In the split state, the detection part 2 moves along the extension direction of the photovoltaic component 3 under the driving action of the second driving member, and simultaneously detects the upper surface of the photovoltaic component 3.

[0055] When in the combined state, the detection part 2 is connected to the grasping mechanism 11 and moves synchronously with the moving part 1. At this time, the detection part 2 can be in the starting state as described above; of course, in the combined state, the detection function can also be turned off, so that the moving part 1 can quickly drive the detection part 2 to move, for example, move to the next detection point, or return to the hangar, etc., which will not be repeated here.

[0056] It is worth mentioning that a mutually coordinated and cooperative operation mode is formed by setting the moving part 1 and the detection part 2, which not only ensures the normal movement and displacement of the detection robot, but also can simultaneously detect hidden cracks in the photovoltaic module 3, thereby improving the practicability and detection efficiency of the detection robot, and is conducive to reducing the burden on staff and labor costs.

[0057] Wherein, both the moving part 1 and the detecting part 2 include driving members, which can ensure that the two can move independently. Of course, the specific form and type of the first driving member and the second driving member are not specifically limited in this embodiment.

[0058] In addition, the grasping mechanism 11 in the above content generally adopts a robotic arm 1101 with an end effector, such as the combination of the robotic arm 1101 and the mechanical claw 1102 in the attached figure, the mechanical claw 1102 can perfectly complete the grasping and releasing operations, and the robotic arm 1101 is responsible for extending or retracting and controlling the mechanical claw 1102, so as to control the distance between the detection part 2 and the photovoltaic component 3 to achieve the adjustment of the relative detection distance, or control the distance between the mechanical claw 1102 and the detection part 2 to facilitate grasping and other operations.

[0059] In one embodiment, the horizontal position of the detection portion 2 is higher than the horizontal position of the photovoltaic component 3 , and a side of the detection portion 2 facing the photovoltaic component 3 is configured as a detection surface 21 .

[0060] The photovoltaic assembly 3 includes a plurality of photovoltaic panels 31 arranged in series, and the contour of the detection surface 21 is adapted to the contour of any photovoltaic panel 31 , so that when the detection part 2 moves along the arrangement direction of the photovoltaic panels 31 , its detection range can cover the corresponding photovoltaic panel 31 .

[0061] It can be understood that the contour and size of the detection surface 21 and each photovoltaic panel 31 are basically consistent, thereby improving the effective detection range and detection efficiency of the detection part 2 relative to the photovoltaic panel 31, and at the same time avoiding the detection part 2 from repeatedly moving on the photovoltaic component 3 and causing unnecessary scratches on the surface of the photovoltaic component 3.

[0062] In addition, the detection time of the detection unit 2 can be intermittent or continuous. For example, the detection is started once when the detection surface 21 covers the entire photovoltaic panel 31. After the detection, it can be temporarily dormant until the next time the detection surface 21 and other photovoltaic panels 31 are aligned and then turned on again. Of course, the detection can also be turned on continuously or continuously, that is, the detection function of the detection unit 2 is turned on during the period of walking through a whole row of photovoltaic components 3 to form a panoramic imaging. However, this form may also cause excessive power consumption, so it can be used as one of the variable implementation methods.

[0063] In one embodiment, based on the above embodiment, the detection unit 2 includes a laser detection module and an imaging module (not shown in the figure).

[0064] The laser detection module has a laser, and the emitting end of the laser is facing the photovoltaic panel 31, so that the laser emitted by the emitting end can be transmitted to the upper surface of the photovoltaic panel 31 and form a reflected laser through the photovoltaic panel 31, so that the imaging module performs photosensitive imaging through the reflected laser to obtain the image of the upper surface of the photovoltaic panel 31.

[0065] It should be noted that since each row of photovoltaic components 3 includes multiple photovoltaic panels 31, unless otherwise specified in the relevant descriptions about detection here and in the subsequent descriptions, specific descriptions are generally made for one photovoltaic panel 31. As long as the detection unit 2 is controlled to move on the photovoltaic panel 31, multiple photovoltaic panels 31 can be detected in sequence, which is common knowledge.

[0066] In this embodiment, a laser is provided to detect defects in the photovoltaic panel 31. After the photovoltaic panel 31 obtains the laser light emitted by the laser, the imaging module receives the laser reflected from the photovoltaic panel 31 due to the principle of photoluminescence. The imaging module is generally a high-sensitivity and high-resolution performance element for photosensitive imaging, and can be connected to the system's computer or control center to feed back the obtained image to the staff, and at the same time obtain the defect status of the photovoltaic panel 31.

[0067] It is understandable that the feasibility of laser detection in the above content is not difficult to understand. For details, please refer to the existing patent "A PL detection device and photovoltaic PVD equipment" (CN202320393674.7), in which the content of paragraph 0032 of the specification is "the specific principle is that the imaging light intensity of the cell after laser irradiation is proportional to the non-equilibrium minority carrier concentration at the corresponding position, and defects will cause the minority carrier concentration in the area to decrease, thereby weakening its fluorescence effect, resulting in the image after imaging appearing as dark points, lines or certain areas; therefore, photoluminescence can be used to determine whether the cell has defects, impurities, and other factors that ultimately affect the efficiency of the cell". In addition, there are many types of lasers, and in actual applications, you can choose according to the manufacturer or company's situation.

[0068] In another embodiment, the detection unit 2 further includes a light source and a camera.

[0069] The light source is directed toward the photovoltaic panel 31 to provide illumination for the photovoltaic panel 31 so as to clearly display defects or flaws on the surface of the photovoltaic panel 31. The camera is arranged in conjunction with the light source to capture image information of the photovoltaic panel 31 displayed after illumination.

[0070] It is easy to understand that when light is shined on the surface of an object, some defects on its surface will be more obvious than usual, and these defects and flaws will be easier to detect. In addition, by taking pictures with the camera, the pictures taken can be sent to the control center for comprehensive processing.

[0071] In a better situation, when the detection part 2 is wide enough, it can completely cover the photovoltaic panel 31, so that most of the photovoltaic panel 31 can be covered by the light emitted by the light source, and the light source illuminates the photovoltaic panel 31 more completely. At the same time, in other embodiments, the color, light intensity, etc. of the light source can be adjusted to provide more targeted lighting for the photovoltaic panel 31.

[0072] In one embodiment, the detection unit 2 includes an infrared imaging module, which is used to detect the temperature of several areas on the upper surface of the photovoltaic component 3 to feed back the temperature condition of the upper surface of the photovoltaic component 3 to the data receiving end, thereby feeding back the temperature abnormality of the photovoltaic component 3.

[0073] It should be noted that the infrared imaging module can be used in combination with the above-mentioned laser detection module, light source, etc., so as to make the detection robot more comprehensive. The data receiving end in this embodiment can be a control center or a unit for receiving data such as a computer.

[0074] In one embodiment, the detection robot also includes a walking component, which is used to drive the detection part 2 to move along the arrangement direction of the photovoltaic panel 31. The walking component is evenly distributed on the opposite sides of the width direction of the detection part 2, and spans the photovoltaic panel 31 in the length direction, thereby avoiding at least part of the surface of the photovoltaic panel 31.

[0075] It should be noted that the detection unit 2 can travel on the photovoltaic panel 31 through the walking component, thereby realizing automatic adjustment of the detection position, and the walking components are arranged on both sides of the detection unit 2 so as not to block the surface of the photovoltaic panel 31 as much as possible.

[0076] Furthermore, the walking assembly is fixed to the detection part 2 through an adjustable connection structure, which can help improve the flexibility of the detection part 2 and timely adjust the distance between it and the photovoltaic panel 31. This adjustable connection structure can be multi-section and can also have a certain elasticity to achieve a buffering effect.

[0077] In one embodiment, Figure 4 As shown, the traveling assembly includes a first wheel 41 , and a first driving shaft 51 is passed through the first wheel 41 .

[0078] The first drive shaft 51 is used to drive the first wheel 41 to rotate. The extension direction of the first drive shaft 51 is perpendicular to the plane where the photovoltaic panel 31 is located, and when the detection part 2 is moving, the active surface of the first wheel 41 abuts against the side of the photovoltaic panel 31, so that the detection part 2 can move along the side track of the photovoltaic panel 31.

[0079] Based on the above embodiment, the travel assembly further includes a second wheel 42, and the second wheel 42 is provided with a second drive shaft 52. The second drive shaft 52 is used to drive the second wheel 42 to rotate, and the extension direction of the second drive shaft 52 is perpendicular to the extension direction of the first drive shaft 51.

[0080] Please refer to the attached Figure 4 It is understood that the width of the second wheel 42 should not be too large to avoid scratching the surface of the photovoltaic panel 31 during rotation. Of course, if conditions permit, the material of the second wheel 42 should not be too rough.

[0081] Furthermore, when the detection unit 2 travels on the photovoltaic panel 31, the active surface of the second wheel 42 abuts against the upper surface of the photovoltaic panel 31, so that the first wheel 41 and the second wheel 42 jointly form a limiting structure, and the limiting structure simultaneously abuts against part of the upper surface and corresponding side edge of the photovoltaic panel 31 to prevent the detection unit 2 from being offset during walking.

[0082] Optionally, the first wheel 41 and the second wheel 42 may be provided simultaneously or independently.

[0083] For details, please refer to the attached Figure 4 When both are provided at the same time, the first wheel 41 and the second wheel 42 can not only drive the detection part 2 to move, but also form a limiting structure similar to a right angle, so that the relative ends of the detection part 2 and the photovoltaic panel 31 form a relative limit, thereby ensuring the driving path of the detection part 2, thereby playing a certain guiding role.

[0084] In addition, when the second wheel 42 is set alone, one or more sets of ribs can be additionally provided to prevent it from falling off the photovoltaic panel 31 (especially when the photovoltaic panel 31 is set at an angle); the same is true when the first wheel 41 is set alone, and attention should be paid to the coordination between the first wheel 41 and the photovoltaic panel 31 to avoid affecting the normal movement of the detection unit 2.

[0085] However, the assembly dimensions and other data of the first wheel 41 and the second wheel 42 need to be set corresponding to the thickness, width and other data of the photovoltaic panel 31 and the photovoltaic module 3. If the position of the first wheel 41 is too high or too low, it may not be able to accurately drive on the side of the photovoltaic panel 31, thereby affecting the normal operation and driving of the detection unit 2.

[0086] In another embodiment, the second drive shaft 52 is configured as a rotating shaft, that is, the second drive shaft 52 is not connected to the driving member, but when the detection part 2 is displaced, the second wheel 42 will synchronously roll around the rotating shaft, thereby playing a certain auxiliary guiding role. At this time, the first wheel 41 is used as a running wheel, and the second wheel 42 is used as a guide wheel. Similarly, in other embodiments, the first wheel 41 can also be used as a guide wheel, and the second wheel 42 can be used as a running wheel.

[0087] In one embodiment, the number of the first wheels 41 and the second wheels 42 are both even numbers, and are distinguished as two matching sets of wheels according to the opposite sides of the detection unit 2, that is, a setting similar to that in the accompanying drawings. In actual production applications, this number can be adjusted accordingly based on actual conditions.

[0088] Optionally, referring to the attached drawings, in each set of wheels, the second wheels 42 are arranged between the first wheels 41. If in the above embodiment, the first wheels 41 are running wheels and the second wheels 42 are guide wheels, when the first wheels 41 start to drive, the detection unit 2 is driven to move as a whole from both sides, which can ensure the strength of the drive and the reliability of the brakes, avoiding the slipping phenomenon caused by the brakes, etc. Similarly, in other embodiments, the first wheels 41 in each set can also be arranged between the second wheels 42 of the set.

[0089] In one embodiment, the detection robot further includes a power supply terminal and a flexible cable.

[0090] The power supply end is arranged at the moving part 1 , and the flexible cable is respectively connected to the power supply end and the detection part 2 for supplying power to the detection part 2 . In the separated state, the flexible cable expands and contracts synchronously with the displacement of the detection part 2 .

[0091] It should be noted that, in the separated state, there may be both lateral and longitudinal misalignment between the detection part 2 and the moving part 1, which can also be understood as the relative displacement difference between the two in the X and Y directions. In this embodiment, the flexible cable is arranged to enable flexible relative displacement between the detection part 2 and the moving part 1, which is beneficial to improve the flexibility of the detection part 2, and can also avoid the flexible cable from being broken due to continuous bending during long-term work, thereby affecting the normal use of the detection robot.

[0092] Alternatively, the operator can set an automatic cable winding structure in the mobile part 1 to prevent the flexible cable from getting tangled when being accommodated in the mobile part 1, thereby affecting the normal displacement of the detection part 2. In addition, in other embodiments, a second power supply terminal can also be set in the detection part 2 to realize the independent use of the detection part 2, so that the detection part 2 and the mobile part 1 can use a wireless connection to perform corresponding control or associated work.

[0093] It should be noted that the above embodiments can be freely combined as needed. The above are only preferred implementations of the utility model. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the utility model, and these improvements and modifications should also be regarded as the protection scope of the utility model.

Claims

1. A detection robot, characterized in that: include: The moving part comprises a first driving member and a grabbing mechanism, wherein the first driving member is used to drive the moving part to move, and the grabbing mechanism is adjustable; The detection part includes a second driving member, the detection part is used to detect the hidden crack of the photovoltaic module, and the grasping mechanism can be operated to loosen or grasp the detection part, so that the detection part and the grasping mechanism have a separate state or a combined state. In the split state, the detection unit moves along the extension direction of the photovoltaic assembly under the driving action of the second driving member, and simultaneously detects the upper surface of the photovoltaic assembly; In the combined state, the detection part is connected to the grasping mechanism and is carried to the moving part to achieve synchronous movement.

2. A detection robot according to claim 1, characterized in that: The detection unit includes an infrared imaging module, which is used to detect the temperature of several areas on the upper surface of the photovoltaic component to feed back the temperature condition of the upper surface of the photovoltaic component to a data receiving end, thereby feeding back the temperature abnormality of the photovoltaic component.

3. The detection robot according to claim 1, characterized in that: The detection unit includes a laser detection module and an imaging module, and the laser detection module has a laser; The emission end of the laser is oriented toward the photovoltaic component, so that the laser emitted by the emission end can be transmitted to the upper surface of the photovoltaic component and form reflected laser through the photovoltaic component, so that the imaging module performs photosensitivity imaging through the reflected laser to obtain the image of the upper surface of the photovoltaic component.

4. The detection robot according to claim 1, characterized in that: The detection unit also includes a light source and a camera; The light source is directed toward the photovoltaic component to provide lighting for the photovoltaic component so as to clearly display defects or flaws on the surface of the photovoltaic component; The photographing element is arranged in cooperation with the light source to photograph image information of the photovoltaic assembly after being illuminated.

5. A detection robot according to any one of claims 1 to 4, characterized in that: The horizontal position of the detection part is higher than the horizontal position of the photovoltaic assembly, and the side of the detection part facing the photovoltaic assembly is configured as a detection surface; The photovoltaic assembly includes a plurality of photovoltaic panels arranged in series, and the contour of the detection surface is adapted to the contour of any of the photovoltaic panels, so that when the detection unit moves along the arrangement direction of the photovoltaic panels, its detection range can cover the corresponding photovoltaic panel.

6. The detection robot according to claim 5, characterized in that: Also includes: Walking components, the walking components are evenly arranged on opposite sides of the detection part in the width direction and cross the photovoltaic panel in the length direction, so as to avoid at least part of the surface of the photovoltaic panel; Wherein, the walking component is used to drive the detection part to move along the arrangement direction of the photovoltaic panels.

7. The detection robot according to claim 6, characterized in that: The travel assembly includes a first wheel, and the first wheel is provided with a first drive shaft; The first driving shaft is used to drive the first wheel to rotate, and the extension direction of the first driving shaft is perpendicular to the plane where the photovoltaic panel is located; Wherein, when the detection unit moves, the active surface of the first wheel abuts against the side of the corresponding photovoltaic panel, so that the detection unit moves along the side track of the photovoltaic panel.

8. The detection robot according to claim 7, characterized in that: The travel assembly further includes a second wheel, and the second wheel is provided with a second drive shaft; The second driving shaft is used to drive the second wheel to rotate, and the extension direction of the second driving shaft is perpendicular to the extension direction of the first driving shaft; When the detection part is displaced, the active surface of the second wheel abuts against the upper surface of the photovoltaic panel, so that the first wheel and the second wheel jointly form a limiting structure, and the limiting structure simultaneously abuts against part of the upper surface and corresponding side edges of the photovoltaic panel to prevent the detection part from being offset during walking.

9. The detection robot according to claim 8, characterized in that: The first wheels and the second wheels are both in even numbers, and are distinguished as two sets of matching wheels according to opposite sides of the detection portion; In each set of wheels, the second wheels are arranged between the first wheels.

10. A detection robot according to any one of claims 1-4, 6-9, characterized in that: Also includes: A power supply end, the power supply end is arranged on the moving part; A flexible cable is connected to the power supply end and the detection part respectively, and is used to supply power to the detection part. In the split state, the flexible cable expands and contracts synchronously with the movement of the detection part.

Images