A photographing system applied to a cleaning robot and a cleaning robot

Abstract

The application discloses a photographing system applied to a cleaning robot and the cleaning robot. The photographing system is used for collecting images of the pollution state of a photovoltaic module surface and comprises a shell, an image collecting device arranged in the shell, a brake mechanism and a mounting assembly for assembling the photographing system to the cleaning robot. The shell is composed of a bottom shell, a top cover, a rear cover and a front cover. The front cover is hingedly connected with the top cover. When the cleaning robot is running, the brake mechanism pushes the front cover to make the front cover in an open state. When the cleaning robot stops running, the brake mechanism is retracted to make the front cover in a closed state. The photographing system arranged on the cleaning robot can conveniently obtain the state pictures of the photovoltaic module, provides strategy support for the operation and maintenance of a photovoltaic power station, has simple structure and low cost, and can be switched between the open state and the closed state, so that the image collecting device is effectively protected from external damage.

Description

Technical Field

[0001] This application relates to the field of photovoltaic power station inspection technology, specifically to a photography system for use in cleaning robots and the cleaning robot itself. Background Technology

[0002] Contaminants on the surface of photovoltaic modules mainly include dust, sand, bird droppings, oil, and acidic or alkaline substances. These contaminants not only reduce the light transmittance of photovoltaic modules and corrode the materials, but may also cause hot spots, thus significantly reducing power generation efficiency and accelerating module aging. Therefore, the cleanliness of photovoltaic power plants is extremely important.

[0003] The condition monitoring of photovoltaic modules is the foundation and reference for the operation and maintenance of photovoltaic power plants. However, traditional methods such as drone photography are often not very accurate in obtaining the condition of the photovoltaic module surface. The continuity and clarity of image acquisition, as well as other interference factors, will more or less affect the final strategy formulation, thus causing deviations in the cleaning and operation and maintenance strategies of photovoltaic power plants and resulting in resource waste. To address this problem that plagues the industry, there is a need to provide a device that can accurately obtain the surface condition of photovoltaic modules. Summary of the Invention

[0004] To address the aforementioned technical problems, this application provides a photography system and a cleaning robot for use in cleaning robots, in order to obtain accurate photos of photovoltaic modules.

[0005] To address the aforementioned technical problems, this application provides a photographic system for cleaning robots, used to acquire images of the contamination status of photovoltaic module surfaces. The system includes a housing, an image acquisition device disposed within the housing, a braking mechanism, and an assembly for mounting the photographic system onto the cleaning robot. The housing comprises a detachable bottom shell, a top cover, a rear cover, and a front cover. The front cover is hinged to the top cover. When the cleaning robot is running, the braking mechanism pushes the front cover to open it; when the cleaning robot stops running, the braking mechanism retracts to close the front cover.

[0006] Furthermore, the bottom shell is provided with a mounting bracket for an image acquisition device, and the image acquisition device is adjustablely mounted on the mounting bracket.

[0007] Furthermore, the mounting frame includes a mounting column and a mounting base assembled with the bottom shell. The mounting base includes a main body and mounting plates extending upward from both sides of the main body. The image acquisition device is disposed within the accommodating cavity formed by the mounting plates.

[0008] Furthermore, the mounting base is provided with a through hole for assembly with the mounting column, the mounting plate is inclined and the mounting plate is provided with a sliding groove and a central hole for adjusting the installation position of the image acquisition device.

[0009] Furthermore, the two side assembly surfaces of the image acquisition device are respectively provided with two positioning holes, which correspond to the slide groove and the center hole respectively and are assembled and fixed by positioning pins.

[0010] Furthermore, the braking mechanism is an electric push rod, and the top cover is provided with a mounting hole. A bolt for the electric push rod passes through the mounting hole to assemble and fix the electric push rod to the top cover. The electric push rod is located directly above the image acquisition device.

[0011] Furthermore, the mounting assembly includes a support rod and an assembly block for fixing the support rod. The support rod has an L-shaped structure, and the bottom shell has a first assembly hole at its center. The first end of the support rod passes through the first assembly hole and is assembled and fixed to the bottom shell by means of a nut. The second end of the support rod is fixedly connected to the assembly block.

[0012] Furthermore, the assembly block includes a base and a base portion. The base portion has a second assembly hole at its center for the second end of the support rod to pass through. The base portion has a threaded hole that passes through the base portion. Fasteners pass through the threaded hole to fix the assembly block to the cleaning robot.

[0013] Furthermore, the image acquisition device is a CCD camera, and a polarizer is provided in front of the camera lens.

[0014] This application also provides a cleaning robot, which includes a walking beam and an upper drive mechanism and a lower drive mechanism assembled at both ends of the walking beam. The walking beam is provided with a cleaning component for cleaning photovoltaic modules, a central control system and a camera system as described above. The upper drive mechanism, the lower drive mechanism, the cleaning component and the camera system are all electrically connected to the central control system. The camera system is assembled on one side of the walking beam corresponding to the forward direction.

[0015] Compared with the prior art, this application has the following advantages: by setting up a photography system on the cleaning robot to obtain surface images of photovoltaic modules, this application provides operation and maintenance strategy support for the cleaning operation and maintenance of photovoltaic power plants, reduces the cost of power plant maintenance and has a simple structure. Attached Figure Description

[0016] Figure 1 This is a three-dimensional assembly diagram of a cleaning robot as an exemplary embodiment; Figure 2 This is a partial assembly schematic diagram of an exemplary embodiment of a photographing system; Figure 3 This is a schematic diagram illustrating the assembly of the mounting components and the cleaning robot in an exemplary embodiment; Figure 4This is a partially exploded view of an exemplary embodiment of a photographing system; Figure 5 This is an exploded perspective view of an image acquisition device and mounting bracket as an exemplary embodiment.

[0017] Icon labels:

[0018] 100 cleaning robots Traveling beam 1, upper drive mechanism 11, lower drive mechanism 12, Cleaning component 13, central control system 14, first protective cover 15. Second protective cover 16, camera system 2, housing 21, Bottom shell 210, First assembly hole 211, Top cover 212, mounting hole 213, front cover 214, Rear cover 215, image acquisition device 22, positioning hole 221 Electric actuator 23, bolt 231, mounting assembly 24. Support rod 240, assembly block 241, base 242, Base 243, Second assembly hole 244, Threaded hole 245, First through hole 246, mounting bracket 25, mounting post 251. Mounting base 252, main body 253, through hole 254, Mounting plate 255, receiving cavity 256, sliding groove 26, Center hole 27, locating pin 28, hinge 3, Fastener 4, Nut 5, Locking component 6. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, not all of them. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this application. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this application.

[0020] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the equipment 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 application.

[0021] Furthermore, it should be understood that although the terms first, second, third, etc., may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0022] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. In the description of this application, “a plurality” means two or more unless otherwise expressly and specifically defined. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0023] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0024] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0025] Please refer to Figures 1 to 5 As shown, a photographic system 2 for a cleaning robot is used to acquire images of the contamination status of photovoltaic modules. It includes a housing 21, an image acquisition device 22 disposed within the housing 21, a braking mechanism, and a mounting assembly 24 for assembling the photographic system 2 onto the cleaning robot. The housing 21 consists of a detachable bottom shell 210, a top cover 212, a rear cover 215, and a front cover 214, with the front cover 214 hinged to the top cover 212. When the cleaning robot is running, the braking mechanism pushes the front cover 214 to open it; when the cleaning robot stops running, the braking mechanism retracts, closing the front cover 214. By setting the front cover 214 in front of the image acquisition device 22 to a switchable open and closed state, potential damage from dust and rain is effectively avoided, thus protecting the safety and lifespan of the image acquisition device 22.

[0026] In an exemplary embodiment, the bottom shell 210 is provided with a mounting bracket 25 for the image acquisition device 22, and the image acquisition device 22 is adjustablely mounted on the mounting bracket 25.

[0027] Specifically, the mounting frame 25 includes a mounting post 251 and a mounting base 252 assembled with the bottom shell 210. The mounting base 252 includes a main body 253 and mounting plates 255 extending upward from both sides of the main body 253. The image acquisition device 22 is disposed within a receiving cavity 256 formed by the mounting plates 255 on both sides. The image acquisition device 22 is disposed within the receiving cavity 256, which can limit its movement laterally, effectively reducing the impact of vibrations generated during the operation of the cleaning robot.

[0028] In a preferred embodiment, the main body 253 is a planar structure, and the mounting base 252 is provided with a through hole 254 for assembly with the mounting post 251. The through hole 254 is disposed on the main body 253, and the mounting plate 255 is inclined and is provided with a sliding groove 26 for adjusting the installation position of the image acquisition device 22 and a central hole 27. Setting the mounting plate 255 to be inclined upward relative to the main body 253 facilitates the disassembly and assembly of the mounting base 252 and the mounting post 251.

[0029] In an exemplary embodiment, the image acquisition device 22 has two positioning holes 221 on each of its two side assembly surfaces. These positioning holes 221 correspond to the slide groove 26 and the central hole 27, respectively, and are fixed together by positioning pins 28. Specifically, the two positioning holes 221 on the same side assembly surface share a common centerline, which is parallel to the horizontal plane. The center distance between the two positioning holes 221 on the same side is equal to the center distance between the slide groove 26 and the central hole 27, allowing for smooth adjustment of the image acquisition device 22's position. The slide groove 26 has a semi-circular structure, with the line connecting the starting ends of the slide groove 26 parallel to the horizontal line. The central hole 27 is located below the slide groove 26.

[0030] In a preferred embodiment, the braking mechanism is an electric push rod 23. The top cover 212 has mounting holes 213, and bolts 231 for the electric push rod 23 pass through the mounting holes 213 to assemble and fix the electric push rod 23 to the top cover 212. The electric push rod 23 is positioned directly above the image acquisition device 22. In one embodiment, the top cover 212 and the front cover 214 are assembled together by a hinge 3, and the front end of the electric push rod is assembled together with the front cover. When the cleaning robot 100 is running, the electric push rod 23 extends to push the front cover 214 into an open state; when the cleaning robot stops running, the electric push rod 23 retracts to close the front cover 214.

[0031] In a preferred embodiment, the image acquisition device 22 is a CCD camera, and a polarizer (not shown) is provided in front of the lens of the CCD camera to eliminate glare and stray reflections that may occur during the shooting process, so as to make the acquired image clearer.

[0032] The mounting assembly 24 includes a support rod 240 and an assembly block 241 for fixing the support rod 240. The support rod 240 has an L-shaped structure. The bottom shell 210 has a first assembly hole 211 at its center. The first end of the support rod 240 passes through the first assembly hole 211 and is assembled and fixed to the bottom shell 210 by means of a nut 5. The second end of the support rod 240 is fixedly connected to the assembly block 241.

[0033] The assembly block 241 includes a base 242 and a base portion 243. The base portion 243 has a second assembly hole 244 at its center for the second end of the support rod 240 to pass through. The base portion 243 has threaded holes 245 located on both sides of the second assembly hole 244 and penetrating the base 242. Fasteners 4 pass through the threaded holes 245 to secure the assembly block 241 to the cleaning robot. The centerline of the second assembly hole 244 is perpendicular to the centerline of the threaded holes 245. The second end passes through the second assembly hole 244 and is then secured by a nut.

[0034] This application also provides a cleaning robot 100, which includes a walking beam 1 and an upper drive mechanism 11 and a lower drive mechanism 12 assembled at both ends of the walking beam 1. The upper drive mechanism 11 and the lower drive mechanism 12 are respectively provided with a first protective cover 15 and a second protective cover 16. The first protective cover 15 and the second protective cover 16 can protect the upper drive mechanism and the lower drive mechanism from rain, snow, sand and dust. The walking beam 1 is provided with a cleaning component 13 for cleaning photovoltaic modules, a central control system 14, and a camera system 2 as described above. The upper drive mechanism 11, the lower drive mechanism 12, the cleaning component 13, and the camera system 2 are all electrically connected to the central control system 14. The camera system 2 is assembled on one side of the walking beam 1 corresponding to the forward direction, and the camera system 2 is located at a height of 580mm-700mm above the photovoltaic modules. Positioning the photography system 2 on the forward-moving side of the traveling beam 1 allows it to capture images of the photovoltaic modules from a full-view perspective, improving photography efficiency. The base 242 has a first through hole 246, through which a locking member 6 secures the base to the traveling beam. By installing an image acquisition device on the cleaning robot, status images of the photovoltaic modules can be easily obtained, providing a basis for developing system operation and maintenance strategies, which is convenient and quick.

[0035] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A photographic system for use in cleaning robots, used to acquire images of the contamination status of photovoltaic module surfaces, characterized in that, The system includes a housing, an image acquisition device disposed within the housing, a braking mechanism, and an installation assembly for assembling the imaging system onto a cleaning robot. The housing consists of a detachable bottom shell, a top cover, a rear cover, and a front cover. The front cover is hinged to the top cover. When the cleaning robot is running, the braking mechanism pushes the front cover to open it. When the cleaning robot stops running, the braking mechanism retracts to close the front cover.

2. The photographing system according to claim 1, characterized in that, The bottom shell is provided with a mounting bracket for an image acquisition device, which is adjustablely mounted on the mounting bracket.

3. The photographing system according to claim 2, characterized in that, The mounting frame includes a mounting column and a mounting base assembled with the bottom shell. The mounting base includes a main body and mounting plates extending upward from both sides of the main body. The image acquisition device is disposed in the accommodating cavity formed by the mounting plate.

4. The photographing system according to claim 3, characterized in that, The mounting base is provided with a through hole for assembly with the mounting column, the mounting plate is inclined and is provided with a sliding groove and a central hole for adjusting the installation position of the image acquisition device.

5. The photographing system according to claim 4, characterized in that, The image acquisition device has two positioning holes on its two side assembly surfaces, which correspond to the slide groove and the center hole, respectively, and are assembled and fixed by positioning pins.

6. The photographing system according to any one of claims 1 to 5, characterized in that, The braking mechanism is an electric push rod. The top cover has a mounting hole. A bolt for the electric push rod passes through the mounting hole to assemble and fix the electric push rod to the top cover. The electric push rod is located directly above the image acquisition device.

7. The photographing system according to claim 6, characterized in that, The mounting assembly includes a support rod and an assembly block for fixing the support rod. The support rod has an L-shaped structure. The bottom shell has a first assembly hole at its center. The first end of the support rod passes through the first assembly hole and is assembled and fixed to the bottom shell by means of a nut. The second end of the support rod is fixedly connected to the assembly block.

8. The photographing system according to claim 7, characterized in that, The assembly block includes a base and a base portion. The base portion has a second assembly hole at its center for the second end of the support rod to pass through. The base portion has a threaded hole that passes through the base. Fasteners pass through the threaded hole to fix the assembly block to the cleaning robot.

9. The photographing system according to any one of claims 1 to 5, or 7 or 8, characterized in that, The image acquisition device is a CCD camera, and a polarizer is provided in front of the camera lens.

10. A cleaning robot, characterized in that, The device includes a traveling beam and an upper drive mechanism and a lower drive mechanism assembled at both ends of the traveling beam. The traveling beam is equipped with a cleaning component for cleaning photovoltaic modules, a central control system, and a photographing system as described in any one of claims 1 to 9. The upper drive mechanism, the lower drive mechanism, the cleaning component, and the photographing system are all electrically connected to the central control system. The photographing system is assembled on one side of the traveling beam corresponding to the forward direction.

Images