A photovoltaic array automatic inspection robot

Abstract

The utility model discloses a photovoltaic array automatic inspection robot, including stand, panoramic camera and mobile seat group, and the stand is the conical frame structure of multiple support pole constitution, and the top fixed installation panoramic camera, and the bottom is connected with mobile seat group, and mobile seat group includes the car disc, and is installed in the annular ring of car disc outer periphery and is located in the mobile subassembly of car disc both sides, and the annular ring inner wall is evenly arranged with permanent magnet, and is equipped with controller, lithium battery group and a plurality of slide roll axle on the car disc, and the annular ring inside and slide roll axle surface sliding abutment, and the mobile subassembly includes a plurality of worm plate, the crank axle rod of being connected in worm plate and the motor of driving crank axle rod rotation, and the inside of car disc is equipped with the electromagnetic drive part of permanent magnet magnetic cooperation, and lithium battery group is independent power supply module, and realizes power supply and signal transmission under the rotation state through the slip ring connector. Through above -mentioned structural design, realized the panorama scanning, stable movement and in complex topography's continuous inspection.

Description

Technical Field

[0001] This utility model relates to the field of inspection robot technology, specifically an automatic inspection robot for photovoltaic arrays. Background Technology

[0002] Currently, in applications such as photovoltaic power plants and solar power arrays, commonly used inspection equipment mainly falls into two categories: one is a fixed bracket mounting structure, where inspection cameras or sensors are fixed on the bracket and the viewing angle is adjusted within a certain range by rotating the pan-tilt unit; the other is a wheeled mobile structure, which uses a motor to drive wheels to move on the ground or array channel, and works in conjunction with camera equipment for inspection. Both of these methods have limitations in practical applications.

[0003] For fixed support structures, the installation location is fixed, and the inspection range is limited. If it is necessary to cover a large area of ​​photovoltaic array, multiple sets of devices need to be deployed, which increases the construction and maintenance costs. Moreover, in the case of environmental changes or equipment obstruction, there are problems of blind spots and insufficient coverage during inspection.

[0004] While wheel-mounted mobile structures can extend the inspection range to some extent, their reliance on the rolling contact between tires and the ground makes them susceptible to factors such as uneven ground, dust accumulation, snow, sandstorms, and gaps between arrays. This can lead to decreased stability or jamming, especially in the complex terrain of outdoor photovoltaic power stations, where mobility accuracy and reliability are difficult to guarantee. Furthermore, wheel-mounted mobile structures have poor support stability when stationary, and are prone to shifting or shaking in strong winds or vibrations, affecting camera image quality.

[0005] In summary, existing photovoltaic array inspection equipment has shortcomings in terms of inspection range coverage, mobility stability, wind resistance, and operational continuity. There is an urgent need for an automated inspection robot that can perform all-round inspection, adapt to terrain movement, provide stable support with a low center of gravity, and maintain high stability and high imaging quality in complex outdoor environments. Summary of the Invention

[0006] This utility model aims to solve one of the technical problems existing in the prior art or related technologies.

[0007] Therefore, the technical solution adopted by this utility model is as follows: an automatic inspection robot for photovoltaic arrays, including a stand, a panoramic camera, and a mobile base assembly. The stand is a conical frame structure composed of multiple support rods, with the panoramic camera fixedly installed at the top and connected to the mobile base assembly at the bottom. The mobile base assembly includes a chassis, a bearing ring installed on the outer periphery of the chassis, and mobile components symmetrically arranged on both sides of the chassis. Permanent magnets are evenly distributed on the inner wall of the bearing ring. The chassis is equipped with a controller, a lithium battery pack, and multiple sliding roller shafts, with the inner side of the bearing ring slidingly abutting against the surface of the sliding roller shafts. The mobile components include several worm plates, a crankshaft connected to the worm plates, and a motor driving the crankshaft to rotate. An electromagnetic drive component is installed inside the chassis, which magnetically engages with the permanent magnets. The electromagnetic drive component includes a magnetic yoke and an excitation coil sleeved on the surface of the magnetic yoke, used to cooperate with the permanent magnets to realize the rotation of the bearing ring on the outer periphery of the chassis. Through the above structure, the robot realizes autonomous inspection, panoramic scanning, and stable movement functions in photovoltaic arrays.

[0008] In a preferred example, the frame can be further configured such that it consists of several support rods arranged at circumferential intervals, with the bottom end of the frame fixedly connected to the top surface of the support ring. Specifically, this structure allows the frame and the support ring to rotate synchronously, improving the scanning continuity and coverage of the panoramic camera.

[0009] In a preferred example, the panoramic camera can be further configured such that it is mounted at the top center of the stand and connected to the stand via a height-adjustable mounting base. Specifically, the height adjustment allows for adaptation to photovoltaic array arrangements at different heights, thereby obtaining the optimal shooting angle.

[0010] In a preferred example, the bearing ring and the pallet can be further configured such that they are supported and connected by multiple sliding roller shafts to reduce frictional resistance during bearing ring rotation. Specifically, this structure reduces the rotational driving force required, making the bearing ring rotate more smoothly.

[0011] In a preferred example, the configuration can be further as follows: the creep plate is movably sleeved on the surface of the crankshaft rod, and the motor drives the crankshaft rod to rotate through a transmission structure, thereby realizing the alternating reciprocating motion of multiple creep plates. Specifically, several alternately movable creep plates are sleeved on the surfaces of two parallel crankshaft rods, so that the creep plates alternately contact the bottom surface, realizing creeping movement and improving the support stability when stationary.

[0012] In a preferred example, the controller can be further configured to be electrically connected to the electromagnetic drive unit to control the on / off state of the excitation coil to generate alternating magnetic attraction and release with the permanent magnet, thereby achieving step-by-step rotation of the bearing ring. Specifically, this design enables precise angle control and improves the accuracy of panoramic scanning.

[0013] In a preferred embodiment, the configuration can be further as follows: the lithium battery pack is housed within the chassis, forming an independent power supply module to provide power to the panoramic camera, controller, motor, and electromagnetic drive components; the support frame contains connecting cables for electrical connections between the panoramic camera, lithium battery pack, and controller, and these cables transmit electrical signals and power to the chassis via slip ring connectors. Specifically, this structure ensures the continuity of power supply and signal transmission during the support frame's rotation.

[0014] The beneficial effects achieved by this utility model are as follows: 1. In this utility model, by forming an integrated mobile chassis structure between the stand, the panoramic camera and the mobile seat, the mobile seat can achieve free inspection movement on the ground or the surface of the photovoltaic array. By rotating the support ring relative to the chassis, the stand and the panoramic camera can achieve the self-rotation scanning function. Together with the panoramic camera, it can complete the all-round inspection and shooting of the surrounding environment, which greatly improves the inspection coverage and image acquisition efficiency.

[0015] 2. In this utility model, the ultra-low chassis design lowers the overall center of gravity. Combined with the creeping drive of the moving components, multiple creeping plates alternately contact the bottom surface and propel the device, thereby achieving higher stability during movement and providing solid support when not in motion. This effectively prevents overturning or vibration caused by wind or terrain changes in outdoor inspection environments, ensuring the continuity and reliability of the inspection process. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of one embodiment of the present utility model; Figure 2 This is a schematic diagram of the internal structure of a mobile seat assembly according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the bearing ring and electromagnetic drive structure according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the wheel and the moving component according to one embodiment of the present invention; Figure 5 This is a schematic diagram of the worm gear plate and crankshaft rod structure according to one embodiment of the present invention.

[0017] Figure label: 100. Stand; 200. Panoramic camera; 300. Moving seat assembly; 310. Cart plate; 320. Bearing ring; 330. Moving component; 340. Electromagnetic drive component; 311. Controller; 312. Lithium battery pack; 313. Sliding roller shaft; 321. Permanent magnet; 331. Vernier plate; 332. Crankshaft rod; 333. Motor; 341. Magnetic yoke; 342. Excitation coil. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to specific embodiments and accompanying drawings. It should be noted that, unless otherwise specified, the embodiments and features of the present utility model can be combined with each other.

[0019] It should be understood that these descriptions are merely exemplary and not intended to limit the scope of this invention.

[0020] The following describes, with reference to the accompanying drawings, some embodiments of the present invention, providing an automatic inspection robot for photovoltaic arrays.

[0021] Combination Figures 1-5 As shown, the present invention provides an automatic inspection robot for photovoltaic arrays, including a stand 100, a panoramic camera 200, and a mobile seat 300.

[0022] In this embodiment, the support frame 100 is a conical frame structure composed of multiple support rods. The support rods are arranged at intervals along the circumference to form a stable conical skeleton structure, which can support the panoramic camera 200 installed above and is connected to the movable base assembly 300 through the bottom end. The panoramic camera 200 is fixedly installed at the top of the support frame 100 and is used for panoramic shooting and inspection of the photovoltaic array.

[0023] The movable seat assembly 300 includes a chassis 310, a bearing ring 320 mounted on the outer periphery of the chassis 310, and movable components 330 symmetrically arranged on both sides of the chassis 310. Permanent magnets 321 are evenly distributed on the inner wall of the bearing ring 320. The permanent magnets 321 are used to form a magnetic engagement with the electromagnetic drive component 340 inside the chassis 310, thereby driving the bearing ring 320 to rotate relative to the chassis 310.

[0024] The pallet 310 is equipped with a controller 311, a lithium battery pack 312, and multiple sliding roller shafts 313. The inner side of the bearing ring 320 slides against the surface of the sliding roller shafts 313 to reduce the frictional resistance of the bearing ring 320 during rotation. The controller 311 receives and processes signals from the panoramic camera 200 and other sensors, and controls the movement of the moving component 330 and the electromagnetic drive component 340. The lithium battery pack 312 provides independent power support for the entire device.

[0025] The moving assembly 330 includes several creeping plates 331, a crankshaft 332 connected to the creeping plates 331, and a motor 333 that drives the crankshaft 332 to rotate. The crankshaft 332 is arranged parallel to both sides, with multiple creeping plates 331 movably fitted onto its surface. The moving assembly 330 is symmetrically arranged on both sides of the disc 310. During straight-line travel, the synchronous operation of the moving assemblies 330 on both sides of the disc 310 achieves linear drive. During steering, the moving assembly 330 on the steering side of the disc 310 stops working, and the creeping motion of the other moving assembly 330 maintains the movement. When the other moving assembly 330 stops working, it acts as a fulcrum during its movement, causing a deflection motion, thus achieving the deflection of the disc 310 and consequently steering. The motor 333 drives the crankshaft 332 to rotate through a transmission structure, causing the creeping plates 331 to sequentially contact and advance against the bottom surface, thereby achieving the creeping movement of the entire device. Through this alternating contact propulsion method, the robot can maintain stable movement on photovoltaic array channels or uneven ground, while the worm plate 331 provides reliable support to resist the effects of wind when stationary.

[0026] The chassis 310 is equipped with an electromagnetic drive unit 340 that magnetically engages with a permanent magnet 321. The electromagnetic drive unit 340 includes a magnetic yoke 341 and an excitation coil 342 sleeved on the surface of the magnetic yoke 341. Under the control of the controller 311, the excitation coil 342 switches current on and off, generating alternating magnetic attraction and release with the permanent magnet 321, thereby enabling the bearing ring 320 to rotate stepwise along the outer circumference of the chassis 310. The rotation of the bearing ring 320 drives the support frame 100 and the panoramic camera 200 to achieve panoramic scanning and imaging, expanding the inspection coverage area.

[0027] In this embodiment, the support frame 100 is composed of several support rods arranged at intervals along the circumference. The bottom end of the support frame 100 is fixedly connected to the top surface of the support ring 320, so that the support frame 100 and the support ring 320 rotate synchronously, thereby improving the continuity and stability of the inspection screen.

[0028] In this embodiment, the panoramic camera 200 is installed at the top center of the stand 100 and connected to the stand 100 via a liftable mounting base, enabling the panoramic camera 200 to operate at different heights, thereby obtaining the best viewing angle and imaging effect in complex photovoltaic array environments.

[0029] In this embodiment, the bearing ring 320 and the disc 310 are supported and connected by multiple sliding roller shafts 313 to reduce the frictional resistance of the bearing ring 320 during rotation, reduce driving energy consumption, and improve the smoothness of the bearing ring 320 rotation.

[0030] In this embodiment, the creep plate 331 is movably sleeved on the surface of the crankshaft rod 332. The motor 333 drives the crankshaft rod 332 to rotate through a transmission structure, realizing the alternating reciprocating motion of multiple creep plates 331. By sleeved on the surfaces of two parallel crankshaft rods 332 with several alternately movable creep plates 331, the creep plates 331 alternately contact the ground, thereby realizing the creeping movement of the entire structure and improving the stability of the support in both moving and non-moving states.

[0031] In this embodiment, the controller 311 is electrically connected to the electromagnetic drive 340 and is used to control the current of the excitation coil 342 to generate alternating magnetic attraction and release with the permanent magnet 321, thereby driving the bearing ring 320 to achieve step-by-step rotation and ensuring the scanning accuracy of the panoramic camera 200 during the inspection process.

[0032] In this embodiment, the lithium battery pack 312 is disposed within the chassis 310, forming an independent power supply module for providing power to the panoramic camera 200, controller 311, motor 333, and electromagnetic drive unit 340. The support frame 100 has internal connecting cables for electrical connection between the panoramic camera 200, the lithium battery pack 312, and the controller 311. These cables transmit electrical signals and power to the chassis 310 via slip ring connectors, thus maintaining the continuity and stability of power supply and signal transmission during the rotation of the support frame 100 and the bearing ring 320.

[0033] In summary, the photovoltaic array automatic inspection robot of this embodiment achieves automatic inspection of the photovoltaic array through the integrated mobile seat 300, the rotatable bearing ring 320 and the peristaltic driven mobile component 330, in conjunction with the panoramic camera 200. It not only has a wide inspection range and high mobility stability, but also has good wind resistance and continuous working ability in outdoor environments.

[0034] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0035] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. An automated inspection robot for photovoltaic arrays, characterized in that, Includes a stand (100), a panoramic camera (200), and a mobile seat assembly (300); The stand (100) is a conical frame structure composed of multiple support rods, with the panoramic camera (200) fixedly installed at the top and the bottom end connected to the mobile seat assembly (300). The movable seat assembly (300) includes a chassis (310), a bearing ring (320) installed on the outer periphery of the chassis (310), and movable components (330) symmetrically arranged on both sides of the chassis (310). Permanent magnets (321) are evenly distributed on the inner wall of the bearing ring (320). The tray (310) is equipped with a controller (311), a lithium battery pack (312) and multiple sliding roller shafts (313), and the inner side of the bearing ring (320) slides against the surface of the sliding roller shafts (313); The moving component (330) includes a plurality of worm plates (331), a crankshaft (332) connected to the worm plates (331), and a motor (333) that drives the crankshaft (332) to rotate. The disc (310) is equipped with an electromagnetic drive (340) that magnetically engages with a permanent magnet (321). The electromagnetic drive (340) includes a yoke (341) and an excitation coil (342) sleeved on the surface of the yoke (341), which is used to cooperate with the permanent magnet (321) to realize the rotation of the bearing ring (320) on the outer periphery of the disc (310); 2. The automatic inspection robot for photovoltaic arrays according to claim 1, characterized in that, The support frame (100) is composed of several support rods arranged at intervals along the circumference, and the bottom end of the support frame (100) is fixedly connected to the top surface of the bearing ring (320).

3. The automatic inspection robot for photovoltaic arrays according to claim 1, characterized in that, The panoramic camera (200) is installed at the top center of the stand (100) and connected to the stand (100) via a liftable mounting base.

4. The automatic inspection robot for photovoltaic arrays according to claim 1, characterized in that, The bearing ring (320) and the disc (310) are supported and connected by multiple sliding roller shafts (313) to reduce the frictional resistance when the bearing ring (320) rotates.

5. The automatic inspection robot for photovoltaic arrays according to claim 1, characterized in that, The worm plate (331) is movably sleeved on the surface of the crankshaft (332), and the motor (333) drives the crankshaft (332) to rotate through the transmission structure, thereby realizing the alternating reciprocating motion of multiple worm plates (331).

6. The automatic inspection robot for photovoltaic arrays according to claim 1, characterized in that, The controller (311) is electrically connected to the electromagnetic drive (340) and is used to control the on and off of the excitation coil (342) to generate alternating magnetic attraction and release with the permanent magnet (321), thereby realizing the step-by-step rotation of the bearing ring (320).

7. The automatic inspection robot for photovoltaic arrays according to claim 1, characterized in that, The lithium battery pack (312) is installed inside the chassis (310) to form an independent power supply module, which is used to provide power to the panoramic camera (200), controller (311), motor (333) and electromagnetic drive (340) respectively; the bracket (100) is provided with connecting cables inside, which are used to realize the electrical connection between the panoramic camera (200) and the lithium battery pack (312) and the controller (311), and the connecting cables realize the transmission of electrical signals and power to the chassis (310) through slip ring connectors.

Images