Photovoltaic inspection robot

Abstract

The utility model discloses a photovoltaic inspection robot which is used for inspecting a photovoltaic system. The photovoltaic inspection robot comprises a moving mechanism, a controller, a detection mechanism and an operation mechanism. The moving mechanism is provided with a front end and a rear end which are oppositely arranged, and the controller is arranged in the moving mechanism. The detection mechanism is arranged at the front end, the detection mechanism is electrically connected with the controller, and the detection mechanism comprises a lifting part, a first camera and a second camera. The first camera and the second camera are respectively arranged at the top of the lifting part, the lifting part drives the first camera and the second camera to move up and down, and the first camera and the second camera are configured to inspect two adjacent rows of photovoltaic modules at the same time. And the operating mechanism is arranged at the rear end, is electrically connected with the controller, and is configured to maintain the photovoltaic system. Through the arrangement, the inspection efficiency can be improved, and the maintenance cost is reduced.

Description

Technical Field

[0001] The utility model relates to the photovoltaic field, in particular to a photovoltaic inspection robot. Background Art

[0002] In existing large-scale photovoltaic power plants, as equipment ages, damage to photovoltaic modules and mounting components increases. Consequently, damaged components must be replaced to ensure proper operation. Currently, inspection equipment is used to inspect photovoltaic modules to reduce labor costs. However, this equipment can only inspect a single row of modules, resulting in low inspection efficiency.

[0003] Therefore, it is necessary to provide a photovoltaic inspection robot to solve the above problems. Utility Model Content

[0004] The purpose of the utility model is to provide a photovoltaic inspection robot to improve the inspection efficiency of photovoltaic components.

[0005] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0006] A photovoltaic inspection robot is used to inspect photovoltaic systems, comprising:

[0007] A moving mechanism having a front end and a rear end disposed opposite to each other;

[0008] a controller, disposed in the moving mechanism;

[0009] a detection mechanism disposed at the front end, the detection mechanism being electrically connected to the controller, the detection mechanism comprising a lifting member, a first camera, and a second camera, the first camera and the second camera being respectively disposed on top of the lifting member, the lifting member driving the first camera and the second camera to move up and down, the first camera and the second camera being configured to simultaneously inspect two adjacent rows of photovoltaic modules of the photovoltaic system;

[0010] An operating mechanism is provided at the rear end, the operating mechanism is electrically connected to the controller, and the operating mechanism is configured to perform maintenance on the photovoltaic system.

[0011] Furthermore, the moving mechanism includes a main body and a walking device arranged on both sides of the main body, the main body includes a top wall, a bottom wall arranged opposite to the top wall, and a front wall and a rear wall connecting the same end of the top wall and the bottom wall, the front wall is close to the detection mechanism, the rear wall is close to the operating mechanism, and the lifting member and the operating mechanism are arranged on the top wall.

[0012] Furthermore, the detection mechanism also includes a first laser radar, which is arranged on the top wall and located in front of the lifting member, and the first laser radar is electrically connected to the controller.

[0013] Furthermore, the detection mechanism also includes an ultrasonic sensor, which is arranged on the front wall and is electrically connected to the controller.

[0014] Furthermore, the detection mechanism also includes a signal receiver, which is arranged on the top of the lifting member, and the signal receiver is arranged between the first camera and the second camera, and the first camera and the second camera are respectively connected to the signal receiver by signal.

[0015] Furthermore, the detection mechanism also includes a first support block and a second support block, the first support block and the second support block are respectively arranged on opposite sides of the signal receiver, the first camera is arranged above the first support block, and the second camera is arranged above the second support block.

[0016] Furthermore, the first supporting block and the second supporting block are symmetrically arranged relative to the signal receiver.

[0017] Furthermore, the first camera and the second camera are two pan-tilt cameras of the same model, and the controller controls the first camera and the second camera to rotate independently.

[0018] Furthermore, the operating mechanism includes a robotic arm, a second laser radar, a camera and an actuator, the robotic arm includes a first end and a second end arranged opposite to each other, the first end is arranged on the top wall, the second laser radar, the camera and the actuator are arranged at the second end, and the second laser radar, the camera and the actuator are electrically connected to the controller respectively.

[0019] Furthermore, the operating mechanism also includes a fixed seat, which is arranged at the second end. The fixed seat includes a first fixed part and a second fixed part and a third fixed part vertically arranged at opposite ends of the first fixed part. The first fixed part, the second fixed part and the third fixed part form a receiving space. The actuator is arranged in the receiving space, the second laser radar is arranged at the top of the first fixed part, and the camera is arranged at the bottom of the second fixed part.

[0020] Compared with the prior art, the beneficial effects of the present invention are:

[0021] 1. By arranging the first camera and the second camera on the top of the lifting member, the first camera and the second camera can simultaneously inspect two adjacent rows of photovoltaic components, thereby improving the inspection efficiency.

[0022] 2. By setting up an operating mechanism to repair photovoltaic components, the maintenance cost is reduced and the maintenance efficiency is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a three-dimensional schematic diagram of the utility model photovoltaic inspection robot;

[0024] Figure 2 yes Figure 1 A three-dimensional schematic diagram from another angle;

[0025] Figure 3 yes Figure 2 Schematic diagram of the three-dimensional decomposition of

[0026] Figure 4 It is a three-dimensional schematic diagram of the operating mechanism of the utility model;

[0027] Figure 5 yes Figure 4 A partial enlarged schematic diagram of part A. DETAILED DESCRIPTION

[0028] The following exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. If there are several specific embodiments, the features of these embodiments can be combined with each other without conflict. When the description refers to the drawings, unless otherwise specified, the same numbers in different drawings represent the same or similar elements. The contents described in the following exemplary embodiments do not represent all embodiments consistent with the present invention; rather, they are merely examples of devices, products and / or methods that are consistent with some aspects of the present invention and are described in the claims of the present invention.

[0029] The terms used in this utility model are only for the purpose of describing specific embodiments and are not intended to limit the scope of protection of this utility model. The singular forms "a", "the" or "the" used in the specification and claims of this utility model are also intended to include the plural forms, unless the context clearly indicates otherwise.

[0030] Please refer to Figures 1 to 5 The present invention discloses a photovoltaic inspection robot 100 for inspecting photovoltaic systems. The photovoltaic inspection robot 100 includes a moving mechanism 1, a controller, a detection mechanism 2, and an operating mechanism 3. For the convenience of explanation, the present invention defines the following: Figure 1The photovoltaic inspection robot 100 shown has a travel direction of a first direction D1-D1, a width direction of a second direction D2-D2, and a height direction of a third direction D3-D3. The first direction D1-D1, the second direction D2-D2, and the third direction D3-D3 are perpendicular to each other. The mobile mechanism 1 has a front end 101 and a rear end 102 that are arranged opposite each other. The controller is arranged in the mobile mechanism 1, the detection mechanism 2 is arranged at the front end 101, and the operating mechanism 3 is arranged at the rear end 102. The detection mechanism 2 and the operating mechanism 3 are respectively electrically connected to the controller so that no obstructions appear in front of the detection mechanism 2 during the operation of the photovoltaic inspection robot 100. The detection mechanism 2 includes a lifting member 21, a first camera 22, and a second camera 23. The first camera 22 and the second camera 23 are respectively arranged at the top of the lifting member 21. The lifting member 21 drives the first camera 22 and the second camera 23 to move up and down. The first camera 22 and the second camera 23 are configured to simultaneously inspect two adjacent rows of photovoltaic modules, thereby improving inspection efficiency and reducing maintenance costs. Furthermore, the operating mechanism 3 is configured to repair the photovoltaic system. By arranging the operating mechanism 3 at the rear end 102 of the mobile mechanism 1, manual maintenance costs are further reduced.

[0031] Please refer to Figures 1 to 2 Specifically, the mobile mechanism 1 includes a main body 11 and running devices 12 disposed on both sides of the main body 11. Specifically, the two running devices 12 are disposed on both sides of the main body 11 along the second direction D2-D2. Tracks 5 are provided on the outer side of each running device 12, enabling the mobile device to adapt to different terrain environments, thereby improving the adaptability of the photovoltaic inspection robot 100.

[0032] The body 11 includes a top wall 111, a bottom wall 112 disposed opposite the top wall 111, and a front wall 113 and a rear wall 114 connecting the top and bottom walls 111, 112 at the same end. The front wall 113 is adjacent to the detection mechanism 2, and the rear wall 114 is adjacent to the operating mechanism 3. Specifically, the front wall 113 and the rear wall 114 are disposed opposite each other along the first direction D1-D1, and the lifting member 21 and the operating mechanism 3 are respectively disposed on the top wall 111.

[0033] The detection mechanism 2 also includes a first laser radar 24, which is electrically connected to the controller and is disposed on the top wall 111 and located in front of the lifting member 21 along the first direction D1-D1. The provision of the first laser radar 24 enables the photovoltaic inspection robot 100 to avoid obstacles during movement, thereby improving the automation performance of the photovoltaic inspection robot 100.

[0034] Please refer to Figure 1 as well as Figure 3The detection mechanism 2 further includes an ultrasonic sensor 25, which is disposed on the front wall 113 and is electrically connected to the controller. Specifically, the ultrasonic sensor 25 is embedded in the front wall 113 and, in conjunction with the first laser radar 24, can improve the photovoltaic inspection robot 100's ability to detect blind spots during its travel, further enhancing the photovoltaic inspection robot's 100 obstacle avoidance capabilities.

[0035] Please refer to Figure 1 as well as Figure 3 The detection mechanism 2 also includes a signal receiver 26, which is disposed at the top of the lifting member 21. The signal receiver 26 is disposed between the first camera 22 and the second camera 23. The first camera 22 and the second camera 23 are respectively connected to the signal receiver 26. The detection mechanism 2 also includes a first support block 27 and a second support block 28. The first support block 27 and the second support block 28 are respectively disposed on either side of the signal receiver 26 along the second direction D2-D2. The first camera 22 is disposed on the first support block 27, and the second camera 23 is disposed on the second support block 28. The first support block 27 and the second support block 28 are symmetrically disposed relative to the signal receiver 26. Specifically, the signal receiver 26 includes a housing 261 and a first antenna 262 and a second antenna 263 disposed on the housing 261. The housing 261 is disposed at the top of the lifting member 21. The first support block 27 and the second support block 28 are disposed on either side of the housing 261 along the second direction D2-D2. In this way, the first camera 22 and the second camera 23 can maintain the same height when they move up and down under the drive of the lifting member 21, thereby improving the efficiency of inspection.

[0036] In this embodiment, the first camera 22 and the second camera 23 are two identical pan-tilt cameras. A controller controls the independent rotation of the first and second cameras 22, 23 to expand their viewing angles during inspections. Furthermore, during inspections, the first and second cameras 22, 23 transmit live footage captured by the first and second cameras 22, 23 to the backend via a signal receiver 26, allowing inspectors to view the footage in real time via the cloud, thus achieving automated operations.

[0037] Please refer to Figures 4 and 5The operating structure includes a robotic arm 31, a second laser radar 32, a camera 33, and an actuator 34. The robotic arm 31 includes a first end and a second end positioned opposite each other. The first end is mounted on the top wall 111. The second laser radar 32, camera 33, and actuator 34 are mounted on the second end of the robotic arm 31. Each of the second laser radar 32, camera 33, and actuator 34 is electrically connected to a controller. The coordinated operation of the second laser radar 32 and camera 33 determines the distance and position between the second end of the robotic arm 31 and the target object. The actuator 34 is mounted on the second end of the robotic arm 31. Preset operating actions for the actuator 34 enable it to perform maintenance on the combiner box. In this embodiment, the preset operating actions for the actuator 34 include grabbing, pressing, and rotating. These actions can control the actuator 34 to open or close field devices such as the combiner box, tracker control box, and inverter, as well as to press and rotate buttons within field devices. The actuator 34 can also detect the internal temperature of field devices and diagnose faults. This improves work efficiency and reduces labor costs.

[0038] Please refer to Figures 4 and 5 The operating mechanism 3 also includes a fixing base 35, which is disposed at the second end of the robotic arm 31. In this embodiment, the fixing base 35 has a "U"-shaped structure and includes a first fixing portion 351 and a second fixing portion 352 and a third fixing portion 353 disposed at opposite ends of the first fixing portion 351. The first fixing portion 351, the second fixing portion 352, and the third fixing portion 353 form a receiving space 301. The actuator 34 is disposed within the receiving space 301. The second laser radar 32 is disposed at the top of the first fixing portion 351, and the camera 33 is disposed at the bottom of the second fixing portion 352. Specifically, the first fixing portion 351 is fixedly connected to the second end of the robotic arm 31. Such a configuration can optimize the layout structure, improve the coordination of the work of the second laser radar 32, the camera 33, and the actuator 34, provide a more precise position for the actuator 34, and thus improve the working efficiency of the actuator 34.

[0039] The photovoltaic inspection robot 100 also includes a battery pack 6, which is arranged in the main body 11. The moving device 12, the controller, the detection mechanism 2 and the operating mechanism 3 are respectively electrically connected to the battery pack 6, so that the photovoltaic inspection robot 100 can autonomously perform inspection work in an outdoor environment, thereby improving the inspection efficiency.

[0040] In summary, the present invention discloses a photovoltaic inspection robot 100 for inspecting photovoltaic modules. The photovoltaic inspection robot 100 includes a moving mechanism 1, a controller, a detection mechanism 2, and an operating mechanism 3. The detection mechanism 2 includes a lifting member 21, a first camera 22, and a second camera 23. By positioning the first and second cameras 22, 23 on top of the lifting member 21, the first and second cameras 22, 23 can simultaneously inspect two adjacent rows of photovoltaic modules, thereby improving inspection efficiency. By providing the operating mechanism 3 to repair photovoltaic modules, maintenance costs are reduced and maintenance efficiency is improved.

[0041] It should be understood that the words used in the specification and claims of the present invention, such as "first", "second" and similar words, do not indicate any order, quantity or importance, but are only used to distinguish the names of features. Similarly, "one" or "an" and similar words do not indicate a quantity limitation, but rather indicate the existence of at least one. Unless otherwise specified, the words "front", "back", "upper", "lower" and similar words that appear in the present invention are only for the convenience of description and are not limited to a specific position or a spatial orientation. Words such as "include" or "comprises" are open-ended expressions, meaning that the elements appearing before "include" or "comprises" include the elements appearing after "include" or "comprises" and their equivalents, which does not exclude that the elements appearing before "include" or "comprises" may also include other elements. If "several" appears in the present invention, it means two or more.

[0042] The above embodiments are only used to illustrate the present invention and are not intended to limit the technical solutions described in the present invention. The understanding of this specification should be based on technical personnel in the relevant technical field. For example, the description of directions such as "front", "back", "left", "right", "up", and "down" has been described in detail with reference to the above embodiments. However, ordinary technical personnel in this field should understand that technical personnel in the relevant technical field can still modify or replace the present invention with equivalents, and all technical solutions and improvements that do not depart from the spirit and scope of the present invention should be covered by the scope of the claims of the present invention.

Claims

1. A photovoltaic inspection robot for inspecting photovoltaic systems, characterized in that: include: A moving mechanism (1) having a front end (101) and a rear end (102) arranged opposite to each other; A controller is arranged in the moving mechanism (1); A detection mechanism (2) is arranged at the front end (101), the detection mechanism (2) is electrically connected to the controller, the detection mechanism (2) comprises a lifting member (21), a first camera (22) and a second camera (23), the first camera (22) and the second camera (23) are respectively arranged on the top of the lifting member (21), the lifting member (21) drives the first camera (22) and the second camera (23) to move up and down, and the first camera (22) and the second camera (23) are configured to simultaneously inspect two adjacent rows of photovoltaic components of the photovoltaic system; An operating mechanism (3) is provided at the rear end (102), the operating mechanism (3) is electrically connected to the controller, and the operating mechanism (3) is configured to perform maintenance on the photovoltaic system.

2. The photovoltaic inspection robot according to claim 1, characterized in that: The moving mechanism (1) comprises a main body (11) and walking devices (12) arranged on both sides of the main body (11); the main body (11) comprises a top wall (111), a bottom wall (112) arranged opposite to the top wall (111), and a front wall (113) and a rear wall (114) connecting the top wall (111) and the bottom wall (112) at the same end; the front wall (113) is close to the detection mechanism (2), and the rear wall (114) is close to the operating mechanism (3); the lifting member (21) and the operating mechanism (3) are arranged on the top wall (111).

3. The photovoltaic inspection robot according to claim 2, characterized in that: The detection mechanism (2) further includes a first laser radar (24), which is arranged on the top wall (111) and located in front of the lifting member (21), and the first laser radar (24) is electrically connected to the controller.

4. The photovoltaic inspection robot according to claim 2, characterized in that: The detection mechanism (2) further includes an ultrasonic sensor (25), the ultrasonic sensor (25) being arranged on the front wall (113), and the ultrasonic sensor (25) being electrically connected to the controller.

5. The photovoltaic inspection robot according to claim 1, characterized in that: The detection mechanism (2) further includes a signal receiver (26), which is arranged on the top of the lifting member (21), and the signal receiver (26) is arranged between the first camera (22) and the second camera (23), and the first camera (22) and the second camera (23) are respectively connected to the signal receiver (26) by signal.

6. The photovoltaic inspection robot according to claim 5, characterized in that: The detection mechanism (2) further comprises a first support block (27) and a second support block (28), wherein the first support block (27) and the second support block (28) are respectively arranged on opposite sides of the signal receiver (26), the first camera (22) is arranged above the first support block (27), and the second camera (23) is arranged above the second support block (28).

7. The photovoltaic inspection robot according to claim 6, characterized in that: The first supporting block (27) and the second supporting block (28) are symmetrically arranged relative to the signal receiver (26).

8. The photovoltaic inspection robot according to claim 5, characterized in that: The first camera (22) and the second camera (23) are two pan-tilt cameras of the same model, and the controller controls the first camera (22) and the second camera (23) to rotate independently.

9. The photovoltaic inspection robot according to claim 2, characterized in that: The operating mechanism (3) includes a robotic arm (31), a second laser radar (32), a camera (33) and an actuator (34); the robotic arm (31) includes a first end and a second end that are arranged opposite to each other; the first end is arranged on the top wall (111); the second laser radar (32), the camera (33) and the actuator (34) are arranged on the second end; the second laser radar (32), the camera (33) and the actuator (34) are respectively electrically connected to the controller.

10. The photovoltaic inspection robot according to claim 9, characterized in that: The operating mechanism (3) further includes a fixing seat (35), which is arranged at the second end. The fixing seat (35) includes a first fixing portion (351) and a second fixing portion (352) and a third fixing portion (353) vertically arranged at opposite ends of the first fixing portion (351). The first fixing portion (351), the second fixing portion (352) and the third fixing portion (353) form a receiving space (301). The actuator (34) is arranged in the receiving space (301). The second laser radar (32) is arranged at the top of the first fixing portion (351), and the camera (33) is arranged at the bottom of the second fixing portion (352).

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