Mapping device and mapping vehicle
By using a mapping device with sensor components and leg structure in a photovoltaic power station, the problem of low efficiency in manual construction of three-dimensional maps is solved, and efficient and accurate map data acquisition is achieved, which is suitable for large photovoltaic power stations.
Patent Information
- Application Number
- CN202422064798.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-23
- Publication Date
- 2025-06-17
- Estimated Expiration
- 2034-08-23
AI Technical Summary
In the prior art, photovoltaic power stations have a large workload and low efficiency, and are difficult to meet the high-precision map requirements of large photovoltaic power stations.
A map construction device is provided, including a sensor assembly and a leg structure, which is used to collect map data. The leg structure includes a suction cup and a universal joint, which is used to adsorb on an external mounting surface, and a universal joint is used to adjust the arrangement and posture of the sensor assembly.
Through the combination of sensor components and leg structure, the installation of the map construction device is simplified, manual operation steps are reduced, and efficient and accurate map data acquisition is achieved, which is suitable for map construction tasks of large photovoltaic power stations.
Smart Images
Figure CN222992556U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of mapping devices, and more specifically, relates to a mapping device and a mapping vehicle. Background Art
[0002] In the field of photovoltaic power generation, with the continuous progress of technology and the increasing demand for large-scale development, the unmanned photovoltaic operation system has become an important trend to improve operation and maintenance efficiency and reduce labor costs. The system aims to achieve intelligent and automated management of photovoltaic power stations. Among them, accurate and efficient autonomous positioning, path planning, and comprehensive system monitoring are its core functions. To achieve these functions, constructing a three-dimensional map of the photovoltaic power station environment has become an essential basic link.
[0003] The three-dimensional map not only details the geometric features of the ground of the photovoltaic power station, such as slope, elevation change, etc., but also accurately marks the positions, shapes, and size information of various objects in the station, including but not limited to photovoltaic panel arrays, inverter stations, cable trenches, maintenance channels, and safety warning areas, etc. This information is an important basis for unmanned operation and maintenance vehicles or robots to plan paths, formulate obstacle avoidance strategies, and quickly locate fault points when performing tasks such as inspection, maintenance, and cleaning.
[0004] However, traditional map construction methods mainly rely on manually carrying devices equipped with various sensors such as lidar, GPS, cameras, etc., moving within the power station area on foot or by vehicle, and collecting environmental data in real time to draw maps. Although this method can meet the mapping requirements of small-scale areas to a certain extent, its limitations become prominent when faced with large-scale photovoltaic power stations with areas of tens of thousands of square meters or even larger. Manually mapping large areas is not only time-consuming and laborious, with low efficiency, but also faces challenges such as personnel safety risks and difficulty in ensuring data consistency. In addition, as the power station operates for a long time, environmental changes such as vegetation growth and equipment updates also require the map to be updated regularly to maintain its accuracy and timeliness, which undoubtedly further exacerbates the burden of manual mapping. Summary of the Utility Model
[0005] The purpose of the embodiments of this application is to provide a mapping device and a mapping vehicle to solve the technical problem of large workload and low efficiency in manually constructing three-dimensional maps of photovoltaic power stations in the prior art.
[0006] To achieve the above purpose, the technical solution adopted in this application is:
[0007] Provide a mapping device, including:
[0008] A sensor component for collecting map data;
[0009] The leg structure includes a suction cup and a universal joint. One end of the universal joint is connected to the sensor assembly, and the other end of the universal joint is connected to the suction cup. The universal joint is used to adjust the arrangement attitude of the sensor assembly; the suction cup is used to adsorb on an external mounting surface.
[0010] As a further improvement of the above technical solution:
[0011] Optionally, the sensor assembly includes a sensor and a chassis. The sensor is mounted on the chassis, and the leg structure is connected to the chassis.
[0012] Optionally, the sensor assembly further includes a shock-absorbing mechanism. One end of the shock-absorbing mechanism is connected to the sensor assembly, and the other end of the shock-absorbing mechanism is connected to the chassis.
[0013] Optionally, the shock-absorbing mechanism includes a first mounting substrate, a second mounting substrate, and an elastic member. The first mounting substrate is connected to the sensor assembly, the second mounting substrate is connected to the chassis, one end of the elastic member is connected to the first mounting substrate, and the other end of the elastic member is connected to the second mounting substrate.
[0014] Optionally, the universal joint includes a first connecting seat, a second connecting seat, and a locking mechanism. The first connecting seat is movably connected to one end of the locking mechanism, the second connecting seat is movably connected to the other end of the locking mechanism, and the locking mechanism is used to lock the first connecting seat and the second connecting seat.
[0015] Optionally, the end of the first connecting seat and / or the second connecting seat is a ball head, and the locking mechanism has a correspondingly arranged spherical groove, and the ball head is movably connected to the spherical groove.
[0016] Optionally, the locking mechanism includes a pair of clamping plates and a fastener for connecting the pair of clamping plates. The pair of clamping plates are respectively located on both sides of the ball head, and the fastener is used to fasten the pair of clamping plates so that the pair of clamping plates clamp the ball head.
[0017] Optionally, the number of the leg structures is multiple, and each of the leg structures is arranged at intervals from each other.
[0018] This application also provides a mapping vehicle, including a vehicle body and the above mapping device.
[0019] Compared with the prior art, the beneficial effects of the present utility model are:
[0020] The mapping device provided by this application includes a sensor assembly and a leg structure. The sensor assembly is responsible for capturing surrounding environment information, including but not limited to key map data such as terrain contours, obstacle positions, and environmental features. The leg structure includes suction cups and universal joints. The suction cups are used to adsorb on the external mounting surface, which includes but is not limited to the top platform of an unmanned vehicle carrier, the mounting rack of a drone, etc., ensuring stable installation and rapid deployment of the mapping device during mobile operations. One end of the universal joint is connected to the sensor assembly, and the other end of the universal joint is connected to the suction cup. Since the outer surfaces of existing vehicles are mostly curved surfaces, through the multi-degree-of-freedom adjustment function of the universal joint, multiple suction cups on this mapping device can better fit and adsorb on the vehicle surface, and the arrangement posture of the sensor assembly can also be easily adjusted to adapt to different terrains, lighting conditions, or other task requirements, thereby maximizing the data acquisition effect. The mapping device of this application can simplify the installation of the mapping device and reduce manual operation steps through the combination of the sensor assembly and the leg structure.
[0021] This application also provides a mapping vehicle, which includes a vehicle body and the above-mentioned mapping device, and it also has the advantages of the above-mentioned mapping device. Description of the Drawings
[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.
[0023] Figure 1 It is a three-dimensional structural schematic diagram of the first state of the mapping device of this application;
[0024] Figure 2 is Figure 1 a partially enlarged structural schematic diagram in
[0025] Figure 3 It is a three-dimensional structural schematic diagram of the second state of the mapping device of this application;
[0026] Figure 4 It is a partially enlarged structural schematic diagram of the mapping device of this application.
[0027] Among them, the reference numerals in the drawings:
[0028] 1, sensor assembly; 11, sensor;
[0029] 12, chassis; 2, leg structure;
[0030] 21, suction cup; 22, universal joint;
[0031] 221. First connecting seat; 222. Second connecting seat;
[0032] 223. Locking mechanism; 2231. Clamping plate;
[0033] 2232. Fastening member; 3. Damping mechanism;
[0034] 31. First mounting substrate; 32. Second mounting substrate;
[0035] 33. Elastic member. Detailed implementation manners
[0036] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application clearer, the following further details this application in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not used to limit this application.
[0037] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.
[0038] It should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation to this application.
[0039] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of this application, "a plurality of" means two or more unless otherwise specifically defined.
[0040] Unless otherwise defined, all the professional terms used hereinafter have the same meaning as commonly understood by those skilled in the art. The professional terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the protection scope of this utility model.
[0041] Such as Figure 1 and Figure 3As shown in the figure, the present application provides a mapping device, including a sensor assembly 1 and a leg structure 2.
[0042] Among them, the sensor assembly 1 serves as the core for data acquisition of the mapping device, responsible for accurately capturing the surrounding environment information with high precision, including but not limited to key map data such as terrain contours, obstacle positions, and environmental features. It integrates various sensing technologies internally, such as Light Detection and Ranging (LiDAR), vision sensors, and Inertial Navigation System (INS), etc., to ensure stable and accurate map data acquisition in complex environments. The leg structure 2 includes suction cups 21 and a universal joint 22. Specifically, the suction cups 21 are used to adsorb on the external mounting surface, and the external mounting surface includes but not limited to the top platform of an unmanned vehicle carrier, the mounting rack of a drone, etc., to ensure the stable installation and rapid deployment of the mapping device during mobile operations. One end of the universal joint 22 is connected to the sensor assembly 1, and the other end of the universal joint 22 is connected to the suction cups 21. Since the outer surfaces of existing vehicles (such as unmanned vehicle carriers) are mostly curved surfaces, through the multi-degree-of-freedom adjustment function of the universal joint 22, multiple suction cups 21 on the mapping device can better fit and adsorb on the vehicle surface, and the arrangement posture of the sensor assembly 1 can also be easily adjusted to adapt to different terrains, lighting conditions, or other task requirements, thereby maximizing the data acquisition effect.
[0043] The mapping device of the present application can simplify the installation of the mapping device and reduce manual operation steps by combining the sensor assembly 1 and the leg structure 2. Especially when applied to automated platforms such as unmanned vehicle carriers and drones, this device can achieve continuous and high-quality map data collection, providing a solid data foundation for subsequent path planning, autonomous navigation, and environmental analysis.
[0044] As Figure 1 and Figure 3 shown, in an embodiment of the present application, the sensor assembly 1 includes a sensor 11 and a chassis 12. The sensor assembly 1, as the core component for data acquisition, is installed on the chassis 12. The chassis 12 serves as the support platform for the sensor 11, and the leg structure 2 is connected below the chassis 12 to form a stable support for the sensor assembly 1.
[0045] As Figure 1 and Figure 4As shown, in one embodiment of the present application, the sensor assembly 1 further includes a shock absorption mechanism 3. One end of the shock absorption mechanism 3 is connected to the sensor assembly 1, and the other end of the shock absorption mechanism 3 is connected to the chassis 12. The shock absorption mechanism 3 can effectively absorb and disperse the vibration energy from the external environment, significantly reducing the direct impact of these vibrations on the precision components inside the sensor assembly. Even when the carrying platform is traveling at high speed and passing through rough roads, the sensor assembly 1 can maintain a stable working state and continuously output high-quality and high-precision map data, providing a solid data foundation for subsequent applications such as navigation, positioning, and path planning.
[0046] As Figure 1 shown, in one embodiment of the present application, the shock absorption mechanism 3 includes a first mounting substrate 31, a second mounting substrate 32, and an elastic member 33. Among them, the first mounting substrate 31 is connected to the sensor assembly 1, and the second mounting substrate 32 is connected to the chassis 12. One end of the elastic member 33 is connected to the first mounting substrate 31, and the other end of the elastic member 33 is connected to the second mounting substrate 32. The elastic member 33 can not only effectively absorb the vibration impact from the external environment and reduce its direct impact on the sensor assembly 1, but also quickly return to its initial state after the vibration, ensuring the stability of the sensor assembly 1. The elastic member 33 includes but is not limited to a spring, an elastic coil, etc.
[0047] As Figure 2 shown, in one embodiment of the present application, the universal joint 22 includes a first connection seat 221, a second connection seat 222, and a locking mechanism 223. Among them, the first connection seat 221 is movably connected to one end of the locking mechanism 223, the second connection seat 222 is movably connected to the other end of the locking mechanism 223, and both the first connection seat 221 and the second connection seat 222 can move relative to the locking mechanism 223. The locking mechanism 223 is used to lock the first connection seat 221 and the second connection seat 222. When it is necessary to fix the relative position between the connection seat and the locking mechanism 223, the locking mechanism 223 locks and fixes the connection seat; when it is necessary to adjust the connection angle, the locking mechanism 223 is unlocked, and the relative position between the connection seat and the locking mechanism 223 is readjusted.
[0048] As Figure 2As shown, in an embodiment of the present application, the end of the first connecting seat 221 and / or the second connecting seat 222 is a ball head, and the locking mechanism 223 is provided with a correspondingly arranged spherical groove. When the ball head of the first connecting seat 221 or the second connecting seat 222 is embedded in the spherical groove of the locking mechanism 223, through the spherical surface fit of the two, a movable connection is achieved. This connection method not only allows the connecting seat to freely rotate and tilt within a certain range to achieve multi-angle adjustment of the universal joint 22. Through the uniform force on the spherical contact surface, the stress and wear generated during the connection are effectively dispersed, thereby extending the service life of the universal joint 22.
[0049] As Figure 2 shown, in an embodiment of the present application, the locking mechanism 223 includes a pair of clamping plates 2231 arranged in pairs, and a fastener 2232 for connecting the pair of clamping plates 2231 arranged in pairs. The spherical groove is provided on the clamping plate 2231, and the pair of clamping plates 2231 arranged in pairs are respectively located on both sides of the ball head. When locking the ball head, the fastener 2232 is tightened to close the clamping plates 2231 on both sides of the ball head to firmly clamp the ball head and complete the locking of the ball head. When unlocking, the fastener 2232 is loosened to separate the clamping plates 2231 on both sides of the ball head, thereby releasing the clamping of the ball head, and the ball head can move within the spherical groove.
[0050] As Figure 1 and Figure 3 shown, in an embodiment of the present application, the number of the leg structures 2 is multiple, and each leg structure 2 is arranged at intervals. By adopting multiple leg structures 2 and ensuring a reasonable distance between them, the weight load of the upper structure is effectively dispersed, and the load concentration on a certain leg structure 2 is avoided.
[0051] The present application also provides a mapping vehicle, including a vehicle body and the mapping device in the above embodiment. When performing the mapping task, the vehicle body serves as a carrying platform, and its built-in power supply continuously provides power for the mapping device to ensure long-term and uninterrupted mapping operations. Compared with the mapping scheme with an aircraft as the carrying platform, this mapping vehicle can avoid many limitations of the aircraft, such as no-fly zone restrictions and the risk of the aircraft crashing. The vehicle body of this mapping vehicle is not limited to a specific type of vehicle, including but not limited to four-wheel drive, six-wheel drive, tracked, and other special vehicles. As long as it can provide a plane for the suction cup 21 of the leg structure 2 to adsorb and can travel in the photovoltaic power station, it can be used as a carrier for installing the mapping device of the present application. This device is also installed on a vehicle, and then the vehicle is driven to map in the photovoltaic power station.
[0052] Since this mapping vehicle includes the mapping device in the above embodiment, it also has the advantages of the mapping device in the above embodiment.
[0053] The foregoing are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included within the protection scope of the present application.
Claims
1. A mapping device, characterized in that: include: A sensor component (1) for collecting map data; The leg structure (2) comprises a suction cup (21) and a universal joint (22), one end of the universal joint (22) being connected to the sensor assembly (1), and the other end of the universal joint (22) being connected to the suction cup (21), and the universal joint (22) being used to adjust the arrangement posture of the sensor assembly (1); and the suction cup (21) being used to be adsorbed on an external mounting surface.
2. The mapping device according to claim 1, characterized in that: The sensor assembly (1) comprises a sensor (11) and a chassis (12); the sensor (11) is mounted on the chassis (12); and the leg structure (2) is connected to the chassis (12).
3. The mapping device according to claim 2, characterized in that: The sensor assembly (1) further comprises a shock absorbing mechanism (3), one end of the shock absorbing mechanism (3) being connected to the sensor assembly (1), and the other end of the shock absorbing mechanism (3) being connected to the chassis (12).
4. The mapping device according to claim 3, characterized in that: The shock absorbing mechanism (3) comprises a first mounting substrate (31), a second mounting substrate (32) and an elastic member (33); the first mounting substrate (31) is connected to the sensor assembly (1); the second mounting substrate (32) is connected to the chassis (12); one end of the elastic member (33) is connected to the first mounting substrate (31); and the other end of the elastic member (33) is connected to the second mounting substrate (32).
5. The mapping device according to any one of claims 1 to 4, characterized in that: The universal joint (22) comprises a first connecting seat (221), a second connecting seat (222) and a locking mechanism (223); the first connecting seat (221) is movably connected to one end of the locking mechanism (223); the second connecting seat (222) is movably connected to the other end of the locking mechanism (223); and the locking mechanism (223) is used to lock the first connecting seat (221) and the second connecting seat (222).
6. The mapping device according to claim 5, characterized in that: The end of the first connecting seat (221) and / or the second connecting seat (222) is a ball head, and the locking mechanism (223) has a correspondingly arranged spherical groove, and the ball head is movably connected to the spherical groove.
7. The mapping device according to claim 6, characterized in that: The locking mechanism (223) comprises a pair of clamping plates (2231) and a fastener (2232) for connecting the pair of clamping plates (2231), wherein the pair of clamping plates (2231) are respectively located on both sides of the ball head, and the fastener (2232) is used to fasten the pair of clamping plates (2231) so that the pair of clamping plates (2231) clamp the ball head.
8. The mapping device according to any one of claims 1 to 4, characterized in that: The number of the leg structures (2) is plural, and the leg structures (2) are arranged at intervals from each other.
9. A mapping vehicle, characterized in that: The vehicle comprises a vehicle body and a mapping device as claimed in any one of claims 1 to 8.