Unmanned inspection vehicle based on solar power generation driving

Abstract

The utility model discloses an unmanned inspection vehicle based on solar power generation driving, which comprises an inspection vehicle body, a power supply system and a control system are integrated in the inspection vehicle body; the photovoltaic power generation device is mounted on the inspection vehicle body through a tracking mechanism and used for supplying power to the power supply system; the control system is used for controlling the inspection vehicle body and the tracking mechanism to move; the tracking mechanism comprises a rotation driving assembly and a pitching driving assembly, the rotation driving assembly comprises a base, a rotating platform and a rotation driving structure, the base is in running fit with the rotating platform, and the rotation driving structure is connected with the rotating platform and used for driving the rotating platform to rotate; the pitching driving assembly comprises a supporting rod, a telescopic rod and a telescopic driving unit, the telescopic driving unit is used for driving the telescopic rod to stretch out and draw back, a first hinged sliding block is arranged on the supporting rod, a second hinged sliding block is arranged on the telescopic rod, a sliding rail is connected to the first hinged sliding block and the second hinged sliding block in a sliding mode, and the sliding rail is connected with the photovoltaic power generation device.

Description

Technical Field

[0001] This utility model relates to the field of unmanned inspection technology, specifically an unmanned inspection vehicle driven by solar power generation. Background Technology

[0002] Currently, unmanned vehicles used for tank inspection face numerous challenges in terms of range and environmental adaptability. To ensure safety during tank inspection, rechargeable batteries are the primary means of operation. However, limited by battery life, some manufacturers have introduced automatic charging devices, with solar power being the preferred charging method. Traditional solar panels, however, lack tracking capabilities, have low power generation efficiency, and cannot adapt to environmental conditions. Utility Model Content

[0003] The purpose of this invention is to provide an unmanned inspection vehicle driven by solar power generation, in order to solve the problems of short battery life and poor performance of existing unmanned inspection vehicles due to the lack of environmental adaptation in solar panel charging.

[0004] To achieve the above objectives, this utility model provides the following technical solution: an unmanned inspection vehicle driven by solar power generation, comprising:

[0005] The inspection vehicle body integrates a power system and a control system.

[0006] A photovoltaic power generation device is installed on the inspection vehicle body via a tracking mechanism and is used to power the power system; the control system is used to control the movement of the inspection vehicle body and the tracking mechanism.

[0007] The tracking mechanism includes a rotary drive assembly and a pitch drive assembly. The rotary drive assembly includes a base, a rotating platform, and a rotary drive structure. The base and the rotating platform are rotatably coupled. The rotary drive structure is connected to the rotating platform and is used to drive the rotating platform to rotate.

[0008] The pitch drive assembly includes a support rod, a telescopic rod, and a telescopic drive unit. The telescopic drive unit is used to drive the telescopic rod to extend and retract. The support rod is provided with a first hinged slider, and the telescopic rod is provided with a second hinged slider. The first and second hinged sliders are slidably connected to a slide rail, which is connected to the photovoltaic power generation device.

[0009] As a further improvement to the above technical solution:

[0010] The photovoltaic power generation device includes a reinforcing frame connected to a slide rail, on which photovoltaic panels are mounted.

[0011] The photovoltaic panel assembly includes a first fixed photovoltaic panel and a first side photovoltaic panel disposed on the side of the first fixed photovoltaic panel. The first side photovoltaic panel is hinged to the first fixed photovoltaic panel through a first hinge shaft and a first bushing. A side folding drive unit is disposed on one side of the first hinge shaft.

[0012] The reinforcing frame is rotatably equipped with a storage rack and a storage drive unit. A second fixed photovoltaic panel is provided on one side of the storage rack. The second fixed photovoltaic panel is hinged to a second side photovoltaic panel through a second hinge shaft and a second bushing. The first hinge shaft and the second hinge shaft are connected by a coupling.

[0013] The coupling is either a contact coupling or a non-contact coupling.

[0014] The photovoltaic panel array is equipped with a light sensor, and the inspection vehicle is equipped with an MPPT solar controller. Both the light sensor and the MPPT solar controller are connected to the control system, which is connected to the storage drive unit and the side folding drive unit.

[0015] The inspection vehicle includes a wind speed sensor, which is connected to the control system.

[0016] Compared with the prior art, the beneficial effects of this utility model are:

[0017] Significantly improved energy efficiency: Employing hybrid dual-axis tracking technology, the photovoltaic panels can adjust their angle in real time to track the sun from all directions, ensuring they always operate at their maximum power point under different lighting conditions, thereby maximizing power generation efficiency. The application of the MPPT controller further optimizes the output of the photovoltaic panels, making energy utilization even more efficient.

[0018] Enhanced environmental adaptability: The foldable solar photovoltaic panel design allows the autonomous vehicle to flexibly deploy or retract the panels under different spatial conditions, adapting to various environments. In harsh environments such as extreme winds or insufficient sunlight, the intelligent control system can automatically adjust the photovoltaic panel status to protect the equipment and reduce energy consumption.

[0019] Enhanced operational safety: The intelligent control system monitors environmental data in real time and automatically switches operating modes, effectively preventing excessive motor energy consumption or equipment damage caused by tracking. A safe and reliable charging system ensures charging safety in complex environments, effectively preventing accidents.

[0020] Enhanced autonomous operation capability: The application of integrated technologies has significantly improved the autonomous vehicle's range and energy management, enhancing its autonomous operation capability and making it suitable for a wider range of complex environments.

[0021] Enhanced equipment protection: Under extreme weather conditions, the photovoltaic panels can automatically fold and retract, effectively protecting the equipment from damage and extending its service life.

[0022] Enhanced intelligence: The application of PLC control units enables intelligent control of unmanned vehicles, allowing them to automatically adjust their working modes based on environmental conditions and battery status, thus improving their level of intelligence.

[0023] In summary, the solar-powered unmanned inspection vehicle of this embodiment demonstrates significant benefits in terms of energy utilization, environmental adaptability, operational safety, space utilization, autonomous operation, equipment protection, intelligence level, and wide application. Attached Figure Description

[0024] Figure 1 This is one of the schematic diagrams of the overall structure of this utility model;

[0025] Figure 2 This is a schematic diagram of the top structure of the photovoltaic power generation device of this utility model;

[0026] Figure 3 This is a schematic diagram of the photovoltaic panel assembly of this utility model;

[0027] Figure 4 This is a schematic diagram of the tracking mechanism structure of this utility model;

[0028] Figure 5 This is a schematic diagram of the bottom structure of the photovoltaic power generation device of this utility model;

[0029] Figure 6 This is one of the schematic diagrams of the folding of the photovoltaic panel assembly of this utility model;

[0030] Figure 7 This is the second schematic diagram of the folding of the photovoltaic panel assembly of this utility model;

[0031] Figure 8 This is the third schematic diagram of the folding of the photovoltaic panel assembly of this utility model;

[0032] Figure 9 This is the second schematic diagram of the overall structure of this utility model;

[0033] Figure 10 This is a schematic diagram of the working mechanism of the tracking device of this utility model;

[0034] Figure 11 This is a flowchart of the intelligent control system of this utility model.

[0035] Reference numerals: 1. Photovoltaic power generation device; 10. Storage rack; 100. First fixed photovoltaic panel; 101. First side photovoltaic panel; 102. Second fixed photovoltaic panel; 103. Second side photovoltaic panel; 12. Side folding drive unit; 13. Reinforcing frame; 14. Slide rail; 15. First hinge slider; 16. Second hinge slider; 19. Support rod; 2. Inspection vehicle body; 20. Rotating platform; 21. Rotation drive structure; 22. Base; 23. Telescopic drive unit; 24. Telescopic rod; 71. First bushing; 72. Second bushing; 81. First hinge shaft; 82. Second hinge shaft; 9. Storage drive unit; 4. MPPT solar controller. Detailed Implementation

[0036] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the present utility model will be further described below in conjunction with specific embodiments.

[0037] In the description of this utility model, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," and "the other end," etc., indicating orientation or position, are based on the orientation or positional relationships shown in the accompanying drawings. They are used only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0038] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," and "connected," etc., should be interpreted broadly. For example, "connected" 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 an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0039] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0040] like Figure 1 As shown, the solar-powered unmanned inspection vehicle of this embodiment includes:

[0041] The inspection vehicle body 2 integrates a power system and a control system.

[0042] The photovoltaic power generation device 1 is installed on the inspection vehicle body 2 via a tracking mechanism and is used to supply power to the power system; the control system is used to control the movement of the inspection vehicle body 2 and the tracking mechanism.

[0043] like Figures 2 to 9 As shown, the tracking mechanism includes a rotary drive assembly and a pitch drive assembly. The rotary drive assembly includes a base 22, a rotary platform 20, and a rotary drive structure 21. The base 22 and the rotary platform 20 are rotatably coupled. The rotary drive structure 21 is connected to the rotary platform 20 and is used to drive the rotary platform 20 to rotate. The rotary drive structure 21 adopts a gear meshing transmission method, which drives the gear to rotate through a stepper motor, thereby driving the rotary platform 20 meshing with it to rotate.

[0044] The pitch drive assembly includes a support rod 19, a telescopic rod 24, and a telescopic drive unit 23. The telescopic drive unit 23 is used to drive the telescopic rod 24 to extend and retract. A first hinge slider 15 is provided on the support rod 19, and a second hinge slider 16 is provided on the telescopic rod 24. A slide rail 14 is slidably connected to the first hinge slider 15 and the second hinge slider 16. The slide rail 14 is connected to the photovoltaic power generation device 1.

[0045] The photovoltaic power generation device 1 includes a reinforcing frame 13 connected to the slide rail 14, and photovoltaic panels are mounted on the reinforcing frame 13.

[0046] The photovoltaic panel assembly includes a first fixed photovoltaic panel 100 and a first side photovoltaic panel 101 disposed on the side of the first fixed photovoltaic panel 100. The first side photovoltaic panel 101 is hinged to the first fixed photovoltaic panel 100 via a first hinge shaft 81 and a first bushing 71. A side folding drive unit 12 is disposed on one side of the first hinge shaft 81. The side folding drive unit 12 is a stepper motor. The stepper motor drives the hinge shaft 81 to rotate, thereby realizing the folding of the side photovoltaic panel 101. Here, the bushing is fixedly connected to the fixed photovoltaic panel, the hinge shaft is fixedly connected to the side photovoltaic panel, and the bushing is rotatably connected to the hinge shaft. When the hinge shaft rotates, it will drive the side photovoltaic panel to rotate and achieve folding.

[0047] A storage rack 10 and a storage drive unit 9 are rotatably mounted on the reinforcing frame 13. A second fixed photovoltaic panel 102 is mounted on one side of the storage rack 10. The second fixed photovoltaic panel 102 is hinged to a second side photovoltaic panel 103 via a second hinge shaft 82 and a second bushing 72. The first hinge shaft 81 and the second hinge shaft 82 are connected by a coupling. The storage drive unit 9 is also a stepper motor. The storage rack 10 and the reinforcing frame 13 are rotatably connected. The stepper motor drives the storage rack 10 to rotate, thereby achieving the folding of the photovoltaic panel assembly.

[0048] The coupling can be a contact coupling or a non-contact coupling. A non-contact coupling is a magnetic coupling. In this application, a contact coupling is used. Instead of a coupling device, a coupling with a first hinge shaft 81 and a second hinge shaft 82, similar to a tenon and mortise structure, is used, allowing them to be driven simultaneously by the side-folding drive unit 12. Alternatively, the coupling can be eliminated, and an independent side-folding drive unit 12 can be used to independently control the two photovoltaic panel groups.

[0049] Solar panel folding:

[0050] The hinge shaft has a locking structure, which is a coupling. This coupling enables the first hinge shaft 81 and the second hinge shaft 82 to rotate coaxially and locked, used for folding the side photovoltaic panel. The folded state is shown in the reference diagram. Figure 6 and Figure 7 .

[0051] After the left and right photovoltaic panels are folded and stored, the stepper motor used for vertical folding starts working, causing the storage rack 10 to rotate around the reinforcing frame 13, performing vertical folding. When the storage rack 10 rotates 180°, the vertical folding is complete. Figure 8 As shown.

[0052] Meanwhile, the first hinge slider 15, constrained by the position of the slide rail 14, together with the second hinge slider 16, stably fixes the folded photovoltaic panel in place. Figure 9 As shown.

[0053] The photovoltaic panel array is equipped with a light sensor, and the inspection vehicle 2 is equipped with an MPPT solar controller 4. Both the light sensor and the MPPT solar controller 4 are connected to the control system, which is connected to the storage drive unit 9 and the side folding drive unit 12. The MPPT solar controller 4 can monitor the output voltage and current of the photovoltaic panel in real time and dynamically adjust the operating point to ensure that the photovoltaic panel always works at the maximum power point under different light conditions, thereby maximizing power generation efficiency.

[0054] The inspection vehicle 2 includes a wind speed sensor connected to the control system. Data is collected in real time via environmental monitoring equipment such as the wind speed sensor and light sensor, and the operating status of the photovoltaic panels is automatically adjusted according to a preset algorithm. In extreme wind conditions, the control system controls the motor to fold and retract the photovoltaic panels to protect the equipment from damage. When sunlight is insufficient, the control system automatically stops the hybrid dual-axis tracking function to prevent motor energy consumption due to tracking from exceeding power generation. Compared to traditional unmanned vehicles, this novel unmanned vehicle can automatically switch operating modes according to different weather and environmental conditions, significantly improving the energy efficiency and operational safety of the unmanned vehicle. The control system uses a PLC control unit.

[0055] Hybrid dual-axis tracking:

[0056] like Figure 10 As shown, the rotation drive structure 21 used to generate rotation causes the bearing-bearing rotating platform 20 to rotate, thereby adjusting the orientation angle of the foldable solar photovoltaic panel to 0.

[0057] The telescopic drive unit 23 pushes the telescopic rod 24 up and down to a suitable height to adapt to changes in the solar altitude angle.

[0058] Ultimately, the MPPT solar controller controls the hybrid dual-axis tracking system to ensure that the photovoltaic panels always operate at their maximum power point under different lighting conditions.

[0059] Intelligent control system:

[0060] The wind speed sensor in the PLC control unit also receives feedback signals from the light intensity sensor of the MPPT solar controller. To adapt to possible weather conditions in the open-air environment of photovoltaic power generation, the intelligent control system has the following preset modes: In sunny mode, when the light intensity is sufficient and the wind speed is within a safe range, the PLC controls the photovoltaic panels to unfold and activates the dual-axis tracking function, maximizing power generation efficiency in conjunction with MPPT technology. In extreme wind mode, when the wind speed sensor detects that the wind speed exceeds the set threshold, the PLC automatically instructs the folding motor to fold and retract the photovoltaic panels to protect the equipment from damage. In low-light mode, when the light sensor detects that the light intensity is lower than the set value, the PLC stops the dual-axis tracking function to reduce energy consumption. In nighttime or low-light mode, the PLC folds and retracts the photovoltaic panels, entering energy-saving mode, and simultaneously switches to backup battery power to ensure the basic operation of the unmanned vehicle. For ease of understanding, Figure 11 A schematic diagram illustrating the working principle is shown. First, the PLC control unit, sensor module, and actuator are initialized. Then, environmental parameters are detected, and the operating mode is determined based on these parameters. If the wind speed exceeds a safety threshold, the system enters extreme wind mode, folds the photovoltaic panel, stops the tracking motor, and records the status. If the wind speed is within the threshold, the system checks the light intensity. If the light intensity is less than the minimum threshold, the system enters insufficient light mode. It needs to determine if it is nighttime or low light conditions. If so, the system enters night / low light mode, folds the photovoltaic panel, switches to backup battery power, and records the status as night / low light mode. If it is not nighttime or low light conditions, the system enters sunny day mode, unfolds the photovoltaic panel, activates the dual-axis tracking function, starts the MPPT controller, and records the status as sunny day mode.

[0061] Under each operating mode, the system needs to monitor the equipment's operating status in real time. First, the wind speed is detected. If the wind speed is greater than the safety threshold, the system enters the extreme wind mode, folds the photovoltaic panels, stops dual-axis tracking, records and returns the status: extreme wind mode. If the wind speed is less than the safety threshold, the system proceeds to the next step, judging the lighting conditions. If it is nighttime or low light conditions, the system enters the night / low light mode, folds the photovoltaic panels, switches to backup battery power, records and returns the status: night / low light mode. If it is not nighttime or low light conditions, the system enters the sunny day mode, unfolds the photovoltaic panels, starts the dual-axis tracking function, starts the MPPT controller, records and returns the status: sunny day mode. The system monitors the equipment's operation in real time. If an abnormal condition is detected, such as excessively high temperature or power supply problems, an alarm is triggered, fault information is recorded, all actuators are stopped, the system switches to a safe mode, and the testing is repeated. If no abnormal condition is detected, the system checks whether a system shutdown command has been received. If a system shutdown command is received, all actuators are stopped, the photovoltaic panels are folded, the system switches to backup battery power, the status is recorded and returned: system shutdown, and the process ends. If no system shutdown command is received, the environmental parameters are re-detected, and a new round of wind speed, sunlight, and equipment testing processes begins.

[0062] The photovoltaic panel of this unmanned vehicle adopts a six-panel folding structure. Each photovoltaic panel is interconnected via a rotating shaft and a bushing, and is mounted on a hybrid dual-axis tracking mechanism on the top of the unmanned vehicle. The folding structure is made of lightweight, high-strength materials, which can unfold to maximize the solar energy absorption area during unmanned vehicle operation, and automatically fold away in extreme weather conditions (such as strong winds). Compared with the traditional fixed structure, the folding design significantly improves the space adaptability and equipment protection capabilities of the unmanned vehicle.

[0063] The solar photovoltaic (PV) panel employs hybrid dual-axis tracking technology, combined with a maximum power point tracking (MPPT) controller, enabling the panel to adjust its angle in real time according to the sun's position, achieving omnidirectional solar tracking. The hybrid dual-axis tracking system includes a horizontal axis and a vertical axis, with a motor driving the PV panel to rotate in both directions, ensuring the panel always faces the sun. The MPPT controller monitors the PV panel's output voltage and current in real time, dynamically adjusting the operating point to ensure the panel always operates at its maximum power point under varying illumination conditions, thereby maximizing power generation efficiency. Compared to single-axis tracking systems, hybrid dual-axis tracking technology significantly improves solar energy utilization efficiency.

[0064] The autonomous vehicle is equipped with an onboard PLC intelligent control system, which collects data in real time through environmental monitoring devices such as wind speed sensors and light sensors, and automatically adjusts the working status of the photovoltaic panels according to preset algorithms. In extreme wind conditions, the PLC system will instruct the folding motor to fold and retract the photovoltaic panels to protect the equipment from damage; when there is insufficient sunlight, the PLC system will automatically stop the hybrid dual-axis tracking function to avoid the motor energy consumption caused by tracking exceeding the power generation. Compared with the energy management system of traditional autonomous vehicles, the PLC intelligent control system can automatically switch the working mode according to different weather and environmental conditions, significantly improving the energy utilization efficiency and operational safety of the autonomous vehicle.

[0065] Through the PLC control unit, the unmanned vehicle can automatically adjust the charging power according to the battery status and environmental conditions, ensuring the safety and efficiency of the charging process. Compared with existing technologies, this system can operate safely in complex environments such as flammable gas leaks, effectively avoiding safety accidents caused by charging.

[0066] By employing a foldable solar photovoltaic panel structure, hybrid dual-axis tracking and MPPT technology, an onboard PLC intelligent control system, and a safe and reliable charging system, the system addresses the problems of insufficient range, low energy efficiency, poor environmental adaptability, and insufficient safety of existing unmanned vehicles in tank inspection tasks. It significantly improves the autonomous operation capability and energy efficiency of unmanned vehicles, providing reliable technical support for the widespread application of unmanned vehicles in complex environments.

[0067] The above description is merely an embodiment of this utility model, and common knowledge regarding specific structures and characteristics is not described in detail here. It will be apparent to those skilled in the art that this utility model is not limited to the details of the above exemplary embodiments, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this utility model. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of this utility model is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this utility model. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. An unmanned inspection vehicle powered by solar energy, comprising: The inspection vehicle body (2) has an integrated power system and control system; A photovoltaic power generation device (1) is installed on the inspection vehicle body (2) via a tracking mechanism and is used for power supply by the power system; the control system adopts a PLC control unit to control the movement of the inspection vehicle body (2) and the movement of the tracking mechanism; the photovoltaic power generation device (1) includes a reinforcing frame (13) connected to a slide rail (14), and a photovoltaic panel group is provided on the reinforcing frame (13); a light sensor is provided on the surface of the photovoltaic panel group, and an MPPT solar controller (4) is provided on the inspection vehicle body (2). The light sensor and the MPPT solar controller (4) are both connected to the control system. The tracking mechanism includes a rotation drive component and a pitch drive component. The rotary drive assembly includes a base (22), a rotary platform (20), and a rotary drive structure (21). The base (22) and the rotary platform (20) are rotatably coupled. The rotary drive structure (21) is connected to the rotary platform (20) and is used to drive the rotary platform (20) to rotate. The pitch drive assembly includes a support rod (19), a telescopic rod (24), and a telescopic drive unit (23). The telescopic drive unit (23) is used to drive the telescopic rod (24) to extend and retract. A first hinged slider (15) is provided on the support rod (19), and a second hinged slider (16) is provided on the telescopic rod (24). A slide rail (14) is slidably connected to the first hinged slider (15) and the second hinged slider (16). The slide rail (14) is connected to the photovoltaic power generation device (1). The reinforcing frame (13) is rotatably equipped with a storage rack (10) and a storage drive unit (9). The photovoltaic panel assembly includes a first fixed photovoltaic panel (100) and a first side photovoltaic panel (101) disposed on the side of the first fixed photovoltaic panel (100). The first side photovoltaic panel (101) is hinged to the first fixed photovoltaic panel (100) through a first hinge shaft (81) and a first bushing (71). A side folding drive unit (12) is disposed on one side of the first hinge shaft (81). The control system is connected to the storage drive unit (9) and the side folding drive unit (12).

2. The unmanned inspection vehicle based on solar power generation as described in claim 1, characterized in that, The storage rack (10) has a second fixed photovoltaic panel (102) on one side. The second fixed photovoltaic panel (102) is hinged to a second side photovoltaic panel (103) through a second hinge shaft (82) and a second bushing (72). The first hinge shaft (81) and the second hinge shaft (82) are connected by a coupling.

3. The unmanned inspection vehicle based on solar power generation as described in claim 2, characterized in that, The coupling is either a contact coupling or a non-contact coupling.

4. The unmanned inspection vehicle based on solar power generation as described in claim 1, characterized in that, The inspection vehicle body (2) includes a wind speed sensor, which is connected to the control system.

Images