Autonomous inspection and weed removal device for photovoltaic power station

Abstract

The present application relates to the technical field of weed removal. Disclosed is an autonomous inspection and weed removal device for a photovoltaic power station. The autonomous inspection and weed removal device comprises: a chassis assembly, a weed removal assembly and a connection assembly. The weed removal assembly is located on the front side of the chassis assembly in the movement direction, and comprises a mounting plate and a weed removal cutter head mechanism, the weed removal cutter head mechanism being arranged on the mounting plate. The connection assembly comprises a connection mechanism and a telescopic adjustment mechanism, one end of the connection mechanism being hinged to the chassis assembly and the other end thereof being hinged to the mounting plate, and a mounting end of the telescopic adjustment mechanism being connected to the chassis assembly and a driving end thereof being connected to the mounting plate; during extension and retraction, the telescopic adjustment mechanism can drive the mounting plate to tilt. In the present application, the telescopic adjustment mechanism is used to drive the mounting plate to tilt, so as to change the height and angle of the weed removal cutter head mechanism, thus allowing same to better fit to the ground and achieving adaptation to various terrains.

Description

An autonomous inspection and weeding device for photovoltaic power plants

[0001] Cross-reference to related applications

[0002] This application claims priority to Chinese Patent Application No. 202411487673.4, filed on October 23, 2024, entitled "An Autonomous Inspection and Weeding Device for Photovoltaic Power Stations", the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of weed control technology, specifically to an autonomous inspection and weed control device for photovoltaic power plants. Background Technology

[0004] Photovoltaic (PV) power generation is a method of converting solar energy into electrical energy using the photovoltaic effect. PV power generation has advantages such as being clean and pollution-free, highly safe, and having low operating costs, meeting the global demand for new energy development and possessing broad development prospects. As the scale of PV power plants continues to expand and application scenarios become more diverse, the overall operation and maintenance of PV power plants has become particularly important. For example, some PV power plant application scenarios suffer from the problem of overgrown weeds and shrubs. Overgrown weeds and shrubs have a significant negative impact on PV power plants. On the one hand, excessively tall weeds and shrubs can shade the photovoltaic panels, greatly reducing the efficiency of PV power generation. On the other hand, excessive weeds and shrubs also pose a fire risk, creating a safety hazard.

[0005] Therefore, weeding is particularly important for photovoltaic power plants. Traditional weeding methods mainly involve manual weeding or chemical weeding. Manual weeding involves workers using weeding tools to cut weeds and shrubs. Chemical weeding involves spraying herbicides. However, both methods require manual labor, increasing labor costs. Furthermore, weeding efficiency is relatively low in large-scale photovoltaic power plants, and chemical weeding is also environmentally unfriendly, causing pollution.

[0006] Therefore, weeding robots are commonly used in photovoltaic power plants for automated weeding. Existing weeding robots are generally tracked self-propelled robots equipped with blades on their chassis. As the robot moves along a path, the blades cut weeds and shrubs. However, the blades on existing weeding robots are positioned close to the ground and are generally fixed. When moving on uneven terrain or slopes, the blades may come into contact with the ground and be damaged. Therefore, existing weeding robots have poor adaptability to special terrains and are not suitable for weeding in such challenging environments. Summary of the Invention

[0007] In view of this, this application provides an autonomous inspection and weeding device for photovoltaic power plants to solve the problem that existing weeding robots have poor adaptability to uneven terrain and slopes and cannot carry out weeding work on these special terrains.

[0008] In a first aspect, this application provides an autonomous inspection and weeding device for photovoltaic power plants, comprising:

[0009] Chassis components;

[0010] A weeding assembly, located at the front of the chassis assembly in the direction of travel, includes: a mounting plate and a weeding blade mechanism, the weeding blade mechanism being disposed on the mounting plate;

[0011] A connecting assembly, comprising a connecting mechanism and a telescopic adjustment mechanism, wherein one end of the connecting mechanism is hinged to the chassis assembly and the other end is hinged to the mounting plate; the mounting end of the telescopic adjustment mechanism is connected to the chassis assembly and its driving end is connected to the mounting plate; and the telescopic adjustment mechanism can cause the mounting plate to flip when it extends or retracts. Beneficial effects

[0012] This autonomous weeding device uses a telescopic adjustment mechanism to rotate the mounting plate up and down, which in turn rotates the weeding blade mechanism. This allows the mounting plate to rotate and change the height and angle of the weeding blade mechanism when weeding in special terrain, ensuring a better fit between the blade and the terrain, resulting in more effective weeding and preventing the blade from being bumped or knocked over.

[0013] In one alternative embodiment, the connecting assembly further includes a shock-absorbing mechanism, one end of which is connected to the chassis assembly and the other end of which is connected to the mounting end of the telescopic adjustment mechanism.

[0014] In one optional embodiment, the shock absorption mechanism includes: a base, a connecting seat, an elastic element, and a guide element. The base is connected to the chassis assembly, the connecting seat is connected to the mounting end of the telescopic adjustment mechanism, the elastic element is disposed between the base and the connecting seat and sleeved on the guide element, one end of the guide element is fixedly disposed on the base, and the other end is slidably connected to the connecting seat.

[0015] Beneficial effects

[0016] When the weeding blade mechanism comes into contact with hard objects, the shock absorption mechanism can provide shock absorption and buffering, thereby protecting the weeding blade mechanism and preventing damage.

[0017] In one alternative embodiment, the connecting assembly further includes a connecting frame connected to the chassis assembly, and the shock absorption mechanism and the telescopic adjustment mechanism are connected to the chassis assembly via the connecting frame.

[0018] Beneficial effects

[0019] The connection frame facilitates the disassembly and assembly of the shock absorption mechanism and telescopic adjustment mechanism with the chassis components.

[0020] In one optional embodiment, the connecting mechanism includes two connecting rods, which are respectively disposed on both sides of the connecting frame. One end of each connecting rod is hinged to the connecting frame, and the other end is hinged to the mounting plate.

[0021] The telescopic adjustment mechanism includes two telescopic rods, which are respectively disposed on both sides of the connecting frame. The mounting end of the telescopic rod is connected to the connecting frame, and its driving end is connected to the mounting plate.

[0022] Beneficial effects

[0023] The two connecting rods and two telescopic rods are symmetrically arranged on both sides of the connecting frame, which ensures that the force on both sides of the mounting plate is even and the rotation is more stable.

[0024] In one optional embodiment, the autonomous inspection and weeding device further includes an inspection component mounted on the chassis assembly. The inspection component includes a main-view radar, a blind-spot radar, and a depth camera. The blind-spot radar and the depth camera are mounted on the front side of the chassis assembly, and the main-view radar is mounted at a higher height than the blind-spot radar.

[0025] Beneficial effects

[0026] The autonomous weeding and inspection device can detect and identify the surrounding environment through main-view radar, blind-spot radar and depth camera, which makes it easier for the device to plan its travel path.

[0027] In one optional embodiment, the inspection component further includes a vision pan-tilt unit, and a support column is provided on the chassis component, with the vision pan-tilt unit mounted on the support column.

[0028] Beneficial effects

[0029] By setting up a visual gimbal, the autonomous inspection and weeding device can identify and detect photovoltaic panels in the photovoltaic plant during the weeding process, determine whether there are any abnormalities in the photovoltaic panels, and guide the staff to deal with them in a timely manner.

[0030] In one optional embodiment, the weeding head mechanism includes a drive member and a blade disc, wherein the mounting end of the drive member is disposed on the mounting plate, and the drive end of the drive member is provided with the blade disc.

[0031] In one alternative embodiment, the weeding assembly further includes a roller mechanism comprising a plurality of casters disposed at the bottom of the mounting plate.

[0032] Beneficial effects

[0033] By incorporating casters to provide support for the weeding head mechanism, and in conjunction with a shock-absorbing mechanism, the autonomous inspection weeding device can perform weeding work even on uneven terrain, thus protecting the weeding head mechanism.

[0034] In one optional embodiment, the chassis assembly includes: a chassis body, a walking mechanism, a transmission system, and a power system. The walking mechanism includes multiple walking wheels disposed on both sides of the chassis body. The transmission system and the power system are both disposed on the chassis body. The power system is connected to the transmission system, and the transmission system is connected to the walking wheels. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0036] Figure 1 is a schematic diagram of the autonomous inspection and weeding device for photovoltaic power plants used in this application;

[0037] Figure 2 is a schematic diagram of the autonomous inspection and weeding device for photovoltaic power plants in this application performing weeding work.

[0038] Figure 3 is a schematic diagram of the autonomous inspection and weeding device for photovoltaic power plants after the weeding work is completed.

[0039] Figure 4 is a schematic diagram of the chassis component in the autonomous inspection and weeding device for photovoltaic power plants used in this application;

[0040] Figure 5 is a schematic diagram of the connection between the weeding component and the connecting component in the autonomous inspection and weeding device for photovoltaic power plants used in this application;

[0041] Figure 6 is a schematic diagram of the vibration damping mechanism in the autonomous inspection and weeding device for photovoltaic power plants used in this application.

[0042] Explanation of reference numerals in the attached drawings: 1. Chassis assembly; 11. Chassis body; 12. Walking mechanism; 13. Transmission system; 14. Power system; 2. Weeding assembly; 21. Mounting plate; 22. Weeding blade mechanism; 221. Drive component; 222. Blade disc; 23. Roller mechanism; 231. Caster wheel; 3. Connecting assembly; 311. Connecting rod; 321. Telescopic rod; 33. Shock absorption mechanism; 331. Base; 332. Connecting seat; 333. Elastic component; 334. Guide component; 335. Guide rod; 34. Connecting frame; 41. Main view radar; 42. Blind spot radar; 43. Depth camera; 44. Visual gimbal; 45. Support column; 46. Mounting rod. Detailed Implementation

[0043] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0044] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," 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 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 application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0045] In the description of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection 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.

[0046] Furthermore, the technical features involved in the different embodiments of this application described below can be combined with each other as long as they do not conflict with each other.

[0047] The embodiments of this application are described below with reference to Figures 1 to 6. This embodiment discloses an autonomous inspection and weeding device for a photovoltaic power station, comprising: a chassis assembly 1, a weeding assembly 2, and a connecting assembly 3. The weeding assembly 2 is located in front of the chassis assembly 1 in the direction of travel. The weeding assembly 2 includes: a mounting plate 21 and a weeding blade mechanism 22, the weeding blade mechanism 22 being disposed on the mounting plate 21. The connecting assembly 3 includes: a connecting mechanism and a telescopic adjustment mechanism. One end of the connecting mechanism is hinged to the chassis assembly 1, and the other end is hinged to the mounting plate 21. The mounting end of the telescopic adjustment mechanism is connected to the chassis assembly 1, and the driving end of the telescopic adjustment mechanism is connected to the mounting plate 21. When the telescopic adjustment mechanism extends or retracts, it can cause the mounting plate 21 to flip.

[0048] The chassis assembly 1 provides the self-propelled function of the autonomous inspection and weeding device, allowing it to move on the ground without human intervention and simultaneously work with the weeding assembly 2 to cut weeds and shrubs. The mounting plate 21 in the weeding assembly 2 is connected to the chassis assembly 1 via a connecting mechanism and a telescopic adjustment mechanism, located at the front of the chassis assembly 1. This allows the weeding blade mechanism 22 on the mounting plate 21 to weed simultaneously as the chassis assembly 1 moves. The connecting mechanism has a fixed length, but the telescopic adjustment mechanism can extend or retract to change its length. When the telescopic adjustment mechanism extends or retracts, it can push or pull the mounting plate 21 to rotate up and down.

[0049] This autonomous weeding device allows for adjustment of the rotation angle of the weeding head mechanism 22. This ensures that regardless of whether the terrain is flat, sloping, or undulating, the rotation angle of the weeding head mechanism 22 can be adjusted to maintain it as parallel to the ground as possible. Therefore, the autonomous weeding device can adapt to various terrains, preventing damage to the weeding head mechanism 22 due to terrain variations, while also guaranteeing good weeding results.

[0050] In one embodiment, as shown in FIG4, the chassis assembly 1 includes: a chassis body 11, a walking mechanism 12, a transmission system 13, and a power system 14. The walking mechanism 12 includes a plurality of walking wheels disposed on both sides of the chassis body 11. The transmission system 13 and the power system 14 are both disposed on the chassis body 11. The power system 14 is connected to the transmission system 13, and the transmission system 13 is connected to the walking wheels.

[0051] Specifically, the chassis body 11 serves as the main load-bearing component of the entire autonomous inspection and weeding device, and its interior houses the transmission system 13 and the power system 14. The power system 14 can utilize diesel, gasoline, or electricity as a power source, correspondingly selecting either an engine or an electric motor. Power is transmitted to the walking mechanism 12 via the transmission system 13, causing the walking wheels to rotate and driving the autonomous inspection and weeding device. The relevant structure of the transmission system 13 is a mature technology in the engineering machinery and automotive industries and will not be elaborated upon here. There are a total of eight walking wheels, with four wheels on each side of the chassis body 11, and these four wheels on each side are arranged alternately, one inside and one outside.

[0052] This wheeled walking mechanism is more adaptable to different terrains than tracked walking mechanisms, and can be used on uneven or undulating ground. It also has a stronger climbing ability than tracked walking mechanisms. Furthermore, the use of an inner and outer arrangement of the walking wheels allows for a greater number of walking wheels to be placed on each side of the chassis body 11, resulting in greater stability and mobility for the autonomous inspection and weeding device.

[0053] Of course, in other embodiments, the wheels can be arranged in a manner that includes two or four wheels on each side, with the specific number adjusted according to actual needs. Furthermore, the wheels can also be arranged in the manner found in conventional passenger cars.

[0054] In other embodiments, the wheeled walking mechanism 12 may also be replaced by a tracked walking mechanism 12.

[0055] In one embodiment, as shown in FIG5, the weeding cutter head mechanism 22 includes: a drive member 221 and a cutter head 222. The mounting end of the drive member 221 is disposed on the mounting plate 21, and the drive end of the drive member 221 is provided with the cutter head 222.

[0056] Generally, the cutter head 222 is positioned closer to the ground for better cutting results. Therefore, considering the installation height of the drive unit 221, a through hole is provided on the mounting plate 21. The drive unit 221 is positioned at this through hole, with its upper half above the mounting plate 21 and its lower half below, facilitating connection and installation of the cutter head 222. In addition, the mounting plate 21, except for the front side, has a skirt extending downwards along its edge. The absence of a skirt on the front side of the mounting plate 21 is to facilitate the cutter head 222's cutting of weeds. The drive unit 221 can be a motor, which drives the cutter head 222 to rotate and cut weeds. The cutter head 222 can be a six-bladed cutter head, meaning it has six cutting teeth. In this embodiment, the drive unit 221 and the cutter head 222 are both set to three, which are spaced apart along the length of the mounting plate 21. However, two of them are located on the front side of the mounting plate 21 (the side away from the chassis assembly 1), and the middle one is located on the rear side of the mounting plate 21 (the side closer to the chassis assembly 1).

[0057] The multiple blades 222 rotate to cut weeds, resulting in a large cutting area and good cutting effect.

[0058] In other embodiments, the number of drive units 221 and cutter heads 222 can be adjusted adaptively, for example, two, four, or five. The specific arrangement can also be adjusted according to the size of the mounting plate 21, for example, they can be arranged alternately in front and behind.

[0059] In one embodiment, the weeding assembly 2 further includes a roller mechanism 23, which includes a plurality of casters 231 disposed at the bottom of the mounting plate 21.

[0060] Specifically, there are two casters 231, located in the middle of the front end of the mounting plate 21. During weeding, the casters 231 contact the ground and move on the ground.

[0061] In other embodiments, the casters 231 may also be positioned on both sides of the front end of the mounting plate 21. Alternatively, three, four, or an equal number of casters 231 may be provided.

[0062] With the casters 231 installed, they can provide support for the mounting plate 21 during weeding, maintaining the stability of the mounting plate 21. They can also provide some cushioning and shock absorption when walking on uneven ground.

[0063] In one embodiment, the connecting component 3 further includes a connecting frame 34, which is connected to the chassis component 1. The shock absorption mechanism 33 and the telescopic adjustment mechanism are connected to the chassis component 1 through the connecting frame 34.

[0064] The connecting frame 34 consists of a main board and two side plates located on both sides of the main board. Both the main board and the side plates are connected to the chassis assembly 1. Specifically, the main board is connected to the front side of the chassis body 11, and the side plates are connected to the two sides of the chassis body 11 where the wheels are located. This type of connecting frame 34 can be a one-piece bent part or a welded part composed of three plates.

[0065] By setting up the connecting frame 34, the transition connection between the connecting mechanism, the telescopic adjustment mechanism and the chassis body 11 is facilitated, thereby improving assembly efficiency.

[0066] In one embodiment, the connecting mechanism includes two connecting rods 311, which are respectively disposed on both sides of the connecting frame 34. One end of the connecting rod 311 is hinged to the connecting frame 34, and the other end is hinged to the mounting plate 21.

[0067] The telescopic adjustment mechanism includes two telescopic rods 321, which are respectively disposed on both sides of the connecting frame 34. The mounting end of the telescopic rod 321 is connected to the connecting frame 34, and the driving end of the telescopic rod 321 is connected to the mounting plate 21.

[0068] Two connecting rods 311 are respectively positioned on the two side plates of the connecting frame 34. One end of each connecting rod 311 is hinged to a side plate, and the other end is hinged to the rear skirt of the mounting plate 21. Two telescopic rods 321 are similar to the connecting rods 311, also respectively positioned on the two side plates of the connecting frame 34. However, the connection point between the telescopic rods 321 and the side plates is higher than the connection point of the connecting rods 311. One end of each telescopic rod 321 is hinged to a side plate, and the other end is hinged to the upper surface of the mounting plate 21. When the telescopic rod 321 extends, it can cause the mounting plate 21 to flip downwards; when the telescopic rod 321 retracts, it can cause the mounting plate 21 to flip upwards.

[0069] By setting up a connecting mechanism and a telescopic adjustment mechanism, the flip angle of the mounting plate 21 can be changed. When weeding, regardless of flat ground, slope, or uneven terrain, the mounting plate 21 can be kept as parallel as possible to the ground, allowing the cutter head 222 to cut weeds better, while protecting the cutter head 222 from being damaged by bumps.

[0070] In one embodiment, the connecting component 3 further includes a shock-absorbing mechanism 33, one end of which is connected to the chassis component 1 and the other end of which is connected to the mounting end of the telescopic adjustment mechanism.

[0071] Furthermore, as shown in Figure 6, the shock absorption mechanism 33 includes: a base 331, a connecting seat 332, an elastic element 333, and a guide element 334. The base 331 is connected to the chassis assembly 1, the connecting seat 332 is connected to the mounting end of the telescopic adjustment mechanism, the elastic element 333 is disposed between the base 331 and the connecting seat 332, and is sleeved on the guide element 334. One end of the guide element 334 is fixedly disposed on the base 331, and the other end is slidably connected to the connecting seat 332.

[0072] Specifically, the base 331 is an L-shaped plate, fixedly connected to the connecting frame 34 by bolts. A hinge seat is provided on the side of the connecting seat 332 away from the base 331 for hinged connection of the telescopic rod 321. The elastic element 333, optionally a spring, is disposed between the base 331 and the connecting seat 332, with both ends of the elastic element 333 abutting against the base 331 and the connecting seat 332 respectively. To guide the movement of the elastic element 333, a guide element 334 is also provided. One end of the guide element 334 is fixedly connected to the base 331, and the other end passes through the elastic element 333 and the connecting seat 332 in sequence. Furthermore, four guide rods 335 parallel to the guide element 334 are provided at the four corners of the connecting seat 332 and the base 331. The guide rods 335 are also fixedly connected to the base 331 and slidably connected to the connecting seat 332. When the telescopic connecting seat 332 is subjected to external force, it can slide along the axial direction of the guide element 334, buffering the external force through the deformation of the elastic element 333.

[0073] When the cutter head 222 is weeding, if the casters 231 traverse uneven ground, such as small pits or bumps, there is no need to adjust the telescopic mechanism. The shock-absorbing mechanism 33 provides cushioning, protecting the connecting mechanism, telescopic mechanism, and weeding mechanism. Furthermore, if the cutter head 222 encounters hard objects during weeding, the shock-absorbing mechanism 33 can quickly retract, protecting the cutter head 222 from damage.

[0074] In one embodiment, the autonomous inspection and weeding device further includes an inspection component mounted on the chassis assembly 1. The inspection component includes a main-view radar 41, a blind spot radar 42, and a depth camera 43. The blind spot radar 42 and the depth camera 43 are mounted on the front side of the chassis assembly 1, and the main-view radar 41 is mounted at a higher height than the blind spot radar 42.

[0075] Specifically, the blind spot radar 42 and the depth camera 43 are both located on the front side of the chassis body 11, with the blind spot radar 42 located above the depth camera 43. The main view radar 41 is installed on the rear half of the upper surface of the chassis body 11 via the mounting rod 46, which raises its installation height.

[0076] The main-view radar 41 is installed at a higher height, providing a wider field of view. The blind-spot radar 42 and depth camera 43 are installed at a lower height, with smaller fields of view, but they fill in the blind spots of the main-view radar 41, resulting in clearer observation of the area near the chassis component 1. The radar uses electromagnetic waves for detection and ranging. The depth camera 43, also known as a 3D camera, is a camera technology capable of simultaneously acquiring color and depth information of a scene. The coordinated use of the main-view radar 41, blind-spot radar 42, and depth camera 43 allows for the perception and detection of the environment surrounding the autonomous weeding and inspection device, guiding the planning of the chassis component 1's movement and enabling automated movement of the device.

[0077] In one embodiment, the inspection component further includes a vision pan-tilt unit 44, and a support column 45 is provided on the chassis component 1, with the vision pan-tilt unit 44 disposed on the support column 45.

[0078] Specifically, the visual gimbal 44 is positioned further back than the main viewing radar 41. The visual gimbal 44, through its built-in motor, sensors, and visual processing system, can identify the status of the photovoltaic panels. If the photovoltaic panels are dirty or damaged, it can promptly report this to staff for repair.

[0079] The visual gimbal 44 can simultaneously detect and identify the status of each photovoltaic panel in the photovoltaic power station during the weeding process of the autonomous inspection and weeding device. Together with the main view radar 41, the blind spot radar 42 and the depth camera 43, it realizes the automated inspection work of the device.

[0080] The following is a description of the usage process of the autonomous inspection and weeding device provided in this embodiment:

[0081] The weeding device is driven to the weeding area near the photovoltaic panels. When the area is flat, the weeding component 2 is lowered to the position shown in Figure 2 via the telescopic mechanism, i.e., the mounting plate 21 is parallel to the ground. When the area is sloping, the weeding component 2 is lowered to the position parallel to the slope via the telescopic mechanism. When the area is undulating terrain, the position of the weeding component 2 can be adjusted multiple times during the weeding process according to the undulation shape to ensure that the weeding component 2 is as parallel to the ground as possible.

[0082] When weeding, the drive unit 221 is activated to rotate the cutter head 222. During the autonomous inspection and weeding device's movement, the cutter head 222 can cut any weeds it encounters. The shock absorption components provide shock absorption and buffering protection during movement, and if the cutter head 222 comes into contact with a hard object, it can retract promptly to prevent damage.

[0083] The autonomous inspection and weeding device's route is guided and planned by the main-view radar 41, the blind-spot radar 42, and the depth camera 43, and completed by the chassis assembly 1. During the weeding process, the visual gimbal 44 simultaneously identifies and detects the status of the surrounding photovoltaic panels. The photovoltaic panels are inspected concurrently with the weeding process.

[0084] After the weeding work is completed, as shown in Figure 3, the weeding component 2 is raised to the position shown in the figure, and it can be quickly driven away from the weeding work area. The weeding component 2 should also remain in this position when the autonomous inspection weeding device stops.

[0085] Although embodiments of this application have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of this application, and all such modifications and variations fall within the scope defined by the appended claims.

Claims

1. An autonomous inspection and weeding device for photovoltaic power plants, characterized in that, include: Chassis components (1); Weeding assembly (2), which is located at the front of the chassis assembly (1) in the direction of travel, includes: mounting plate (21) and weeding head mechanism (22), which is disposed on the mounting plate (21); The connecting component (3) includes a connecting mechanism and a telescopic adjustment mechanism. One end of the connecting mechanism is hinged to the chassis component (1), and the other end is hinged to the mounting plate (21). The mounting end of the telescopic adjustment mechanism is connected to the chassis component (1), and its driving end is connected to the mounting plate (21). When the telescopic adjustment mechanism extends or retracts, it can drive the mounting plate (21) to flip.

2. The autonomous inspection and weeding device for photovoltaic power plants according to claim 1, characterized in that, The connecting component (3) further includes a shock-absorbing mechanism (33), one end of which is connected to the chassis component (1) and the other end is connected to the mounting end of the telescopic adjustment mechanism.

3. The autonomous inspection and weeding device for photovoltaic power plants according to claim 2, characterized in that, The shock absorption mechanism (33) includes: a base (331), a connecting seat (332), an elastic element (333), and a guide element (334). The base (331) is connected to the chassis assembly (1), the connecting seat (332) is connected to the mounting end of the telescopic adjustment mechanism, the elastic element (333) is disposed between the base (331) and the connecting seat (332), and is sleeved on the guide element (334). One end of the guide element (334) is fixedly disposed on the base (331), and the other end is slidably connected to the connecting seat (332).

4. The autonomous inspection and weeding device for photovoltaic power plants according to claim 2, characterized in that, The connecting component (3) further includes a connecting frame (34), which is connected to the chassis component (1). The shock absorption mechanism (33) and the telescopic adjustment mechanism are connected to the chassis component (1) through the connecting frame (34).

5. The autonomous inspection and weeding device for photovoltaic power plants according to claim 4, characterized in that, The connecting mechanism includes two connecting rods (311), which are respectively disposed on both sides of the connecting frame (34). One end of the connecting rod (311) is hinged to the connecting frame (34), and the other end is hinged to the mounting plate (21). The telescopic adjustment mechanism includes two telescopic rods (321), which are respectively disposed on both sides of the connecting frame (34). The mounting end of the telescopic rod (321) is connected to the connecting frame (34), and its driving end is connected to the mounting plate (21).

6. The autonomous inspection and weeding device for photovoltaic power plants according to claim 1, characterized in that, It also includes an inspection component mounted on the chassis assembly (1), the inspection component including: a main view radar (41), a blind spot radar (42) and a depth camera (43), and the blind spot radar (42) and the depth camera (43) are mounted on the front side of the chassis assembly (1), and the main view radar (41) is mounted at a higher height than the blind spot radar (42).

7. The autonomous inspection and weeding device for photovoltaic power plants according to claim 6, characterized in that, The inspection component also includes a vision gimbal (44), and a support column (45) is provided on the chassis component (1), with the vision gimbal (44) mounted on the support column (45).

8. The autonomous inspection and weeding device for photovoltaic power plants according to claim 1, characterized in that, The weeding blade mechanism (22) includes a drive member (221) and a blade disc (222). The mounting end of the drive member (221) is disposed on the mounting plate (21), and the drive end of the drive member (221) is provided with the blade disc (222).

9. The autonomous inspection and weeding device for photovoltaic power plants according to claim 8, characterized in that, The weeding assembly (2) further includes a roller mechanism (23), which includes a plurality of casters (231) disposed at the bottom of the mounting plate (21).

10. The autonomous inspection and weeding device for a photovoltaic power station according to any one of claims 1-9, characterized in that, The chassis assembly (1) includes: a chassis body (11), a walking mechanism (12), a transmission system (13), and a power system (14). The walking mechanism (12) includes multiple walking wheels disposed on both sides of the chassis body (11). The transmission system (13) and the power system (14) are both disposed on the chassis body (11). The power system (14) is connected to the transmission system (13), and the transmission system (13) is connected to the walking wheels.

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