CN107053218A - A kind of intelligent robot and detection method for detecting the infrared hot spot of photovoltaic module - Google Patents
A kind of intelligent robot and detection method for detecting the infrared hot spot of photovoltaic module Download PDFInfo
- Publication number
- CN107053218A CN107053218A CN201710408178.3A CN201710408178A CN107053218A CN 107053218 A CN107053218 A CN 107053218A CN 201710408178 A CN201710408178 A CN 201710408178A CN 107053218 A CN107053218 A CN 107053218A
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- CN
- China
- Prior art keywords
- intelligent robot
- hot spot
- arm
- photovoltaic module
- robotic arm
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 238000001514 detection method Methods 0.000 title claims abstract description 28
- 238000005183 dynamical system Methods 0.000 claims abstract description 8
- 238000004886 process control Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 4
- 230000005540 biological transmission Effects 0.000 abstract 1
- 239000000306 component Substances 0.000 description 11
- 239000008358 core component Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
Abstract
A kind of intelligent robot and detection method for detecting the infrared hot spot of photovoltaic module, the intelligent robot includes robotic arm, the robotic arm rotating shaft being connected with robotic arm, connection robotic arm rotating shaft and robotic arm are used for the machine arm brace for aiding in control machine arm to rotate, it is connected to the infrared camera of robotic arm end, the control machine arm being connected with robotic arm rotating shaft acts and controlled the machine arm controller that infrared camera is taken pictures, also include control intelligent robot walking, take pictures, and the dynamical system that the controller of the information instantaneous transmission taken pictures to server and driving intelligent robot are walked along photovoltaic module；The invention also discloses the detection method of the intelligent robot；The present invention can directly position hot spot component, improve component hot spot detection efficiency, reduce labor strength, save photovoltaic plant testing cost；It can detect occur the cell piece of hot spot and position location, the module information is sent to server by warning device, detection process is saved, the efficiency of infrared detection is improved.
Description
Technical field
The present invention relates to the infrared hot spot detection technique field of photovoltaic module, and in particular to one kind detection infrared heat of photovoltaic module
The intelligent robot and detection method of spot.
Background technology
For the detection of photovoltaic module hot spot, current most common method is man-hour manually hand-held thermal infrared imager or unmanned plane
Carry thermal infrared imager and detected that hand-held thermal infrared imager can directly be detected that Direct Analysis goes out hot spot component to component；
UAV flight's thermal infrared imager detection efficiency is high, especially shows great advantage in rugged mountain path.
The problem of above method is present has：1) manual detection efficiency is low, and working strength is big, more seems in rugged mountain path
Inconvenience；2) due to the interference of external environment, the unmanned infrared hot spot of machine testing can not accurately recognize hot spot, and can not accurately determine
There is the component of hot spot in position.
The content of the invention
It is an object of the invention to overcome above-mentioned prior art shortcoming, there is provided a kind of intelligence for detecting the infrared hot spot of photovoltaic module
Energy robot and detection method, can directly position hot spot component, improve component hot spot detection efficiency, and reduction workman's work is strong
Degree, saves photovoltaic plant testing cost；Intelligent robot of the present invention can detect the cell piece for occurring hot spot, and position the electricity
The position of pond piece, is sent the module information to server by warning device, saves detection process, is greatly improved red
The efficiency of outer detection.
To reach above-mentioned purpose, the present invention is adopted the following technical scheme that：
A kind of intelligent robot for detecting the infrared hot spot of photovoltaic module, including robotic arm 8, the control being connected with robotic arm 8
Its robotic arm rotating shaft 7 rotated, connection robotic arm rotating shaft 7 and robotic arm 8 are used for 8 turns of 7 control machine arm of auxiliary machinery arm rotating shaft
Dynamic machine arm brace 9, is connected to the end of robotic arm 8 and realizes the infrared camera 10 that the infrared hot spot of photovoltaic module is taken pictures, with machine
The control machine arm 8 that arm rotating shaft 7 is connected acts and controlled the machine arm controller 5 that infrared camera 10 is taken pictures, in addition to control intelligence
Energy robot ambulation, infrared photography, the information IMU that infrared camera 10 is taken pictures are completed in the process control machine arm 8 of walking
Cross the dynamical system that the controller 6 for being wirelessly transmitted to server and driving intelligent robot are walked along photovoltaic module 12.
The dynamical system includes motor 1, the motor driving wheel that power is provided for intelligent robot being connected with controller 6
2nd, the driving wheel 3 for the motor driving wheel 2 being connected with motor driving wheel 2 and the driven pulley 4 being connected with driving wheel 3.
The intelligent robot neck 11 of the convenient whole photovoltaic array of detection is provided with the photovoltaic module 12.
The detection method of the intelligent robot of the described detection infrared hot spot of photovoltaic module, the controlled motor 1 of controller 6 is opened
Stop, so that the rotation of controlled motor driving wheel 2, motor driving wheel 2 drives driving wheel 3 to provide dynamic for the walking of intelligent robot
Power so that intelligent robot is walked along photovoltaic component frame 13, controller 6 transmits instruction to mechanical arm controller 5, machine simultaneously
The action of the control machinery arm rotating shaft 7 of tool arm controller 5 so that mechanical arm 8 completes left and right and moved up and down, and mechanical arm controller 5 is same
When control infrared camera 10 take pictures action, controller 6 obtains the photo that infrared camera 10 shoots and analyzed, by hot spot battery
The information of piece and hot spot photovoltaic module is immediately by being wirelessly transmitted to server.
Compared to the prior art compared with the present invention has advantages below and effect：
(1) dynamical system in apparatus of the present invention can drive robot to be walked along component, the machine in apparatus of the present invention
Tool hand can control the controller in camera act, including adjustment angle and candid photograph immediately, apparatus of the present invention to be robot
Core component, can entirely be acted with control machine people, analysis infrared camera be transmitted back to come infrared image, transmitted after analysis to
Server.
(2) the step of apparatus of the present invention eliminate artificial or unmanned machine testing infrared hot spot, drastically increases hot spot
The efficiency of component detection.
(3) infrared hot spot component can be directly positioned, hot spot detection efficiency is improved, reduction attendant works are strong
Degree, saves photovoltaic plant testing cost, and just can position hot spot component in the very first time for occurring hot spot, effectively increases power station
Runnability.
Brief description of the drawings
Fig. 1 is the structural representation of intelligent robot of the present invention.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings：
As shown in figure 1, a kind of intelligent robot for detecting the infrared hot spot of photovoltaic module of the present invention, including robotic arm 8, with machine
What device arm 8 was connected controls the robotic arm rotating shaft 7 that it is rotated, and connection robotic arm rotating shaft 7 and robotic arm 8 are used for auxiliary machinery arm rotating shaft
The machine arm brace 9 that 7 control machine arms 8 are rotated, being connected to the end of robotic arm 8, to realize that the infrared hot spot of photovoltaic module is taken pictures infrared
Camera 10, the control machine arm 8 being connected with robotic arm rotating shaft 7 acts and controlled the machine arm controller 5 that infrared camera 10 is taken pictures,
Also include control intelligent robot walking, complete infrared photography in the process control machine arm 8 of walking, infrared camera 10 is taken pictures
Information walked immediately by being wirelessly transmitted to the controller 6 and driving intelligent robot of server along photovoltaic module 12
Dynamical system.
As the preferred embodiment of the present invention, the dynamical system with controller 6 including being connected as intelligent robot
There is provided the motor 1 of power, motor driving wheel 2, the driving wheel 3 for the motor driving wheel 2 being connected with motor driving wheel 2 and with active
The driven pulley 4 of the connection of wheel 3.
As the preferred embodiment of the present invention, the convenient whole photovoltaic array of detection is provided with the photovoltaic module 12
Intelligent robot neck 11.
The detection method of the intelligent robot of the described detection infrared hot spot of photovoltaic module, the controlled motor 1 of controller 6 is opened
Stop, so that the rotation of controlled motor driving wheel 2, motor driving wheel 2 drives driving wheel 3 to provide dynamic for the walking of intelligent robot
Power so that intelligent robot is walked along photovoltaic component frame 13, controller 6 transmits instruction to mechanical arm controller 5, machine simultaneously
The action of the control machinery arm rotating shaft 7 of tool arm controller 5 so that mechanical arm 8 completes left and right and moved up and down, and mechanical arm controller 5 is same
When control infrared camera 10 take pictures action, controller 6 obtains the photo that infrared camera 10 shoots and analyzed, by cell piece 14
In hot spot cell piece and hot spot photovoltaic module information immediately by being wirelessly transmitted to server.
Claims (4)
1. a kind of intelligent robot for detecting the infrared hot spot of photovoltaic module, it is characterised in that：Including robotic arm (8), with robotic arm
(8) the robotic arm rotating shaft (7) of its rotation of the control of connection, connection robotic arm rotating shaft (7) and robotic arm (8) are used for auxiliary machinery arm
The machine arm brace (9) that rotating shaft (7) control machine arm (8) is rotated, is connected to robotic arm (8) end and realizes the infrared heat of photovoltaic module
The infrared camera (10) that spot is taken pictures, the control machine arm (8) being connected with robotic arm rotating shaft (7) acts and controls infrared camera (10)
The machine arm controller (5) taken pictures, in addition to control intelligent robot walking, are completed in the process control machine arm (8) of walking
Infrared photography, the information that infrared camera (10) is taken pictures is immediately by being wirelessly transmitted to the controller (6) of server and driving
The dynamical system that intelligent robot is walked along photovoltaic module (12).
2. a kind of intelligent robot for detecting the infrared hot spot of photovoltaic module according to claim 1, it is characterised in that：It is described
Dynamical system includes the motor (1), motor driving wheel (2) and electricity that power is provided for intelligent robot being connected with controller (6)
The driving wheel (3) of the motor driving wheel (2) of machine driving wheel (2) connection and the driven pulley (4) being connected with driving wheel (3).
3. a kind of intelligent robot for detecting the infrared hot spot of photovoltaic module according to claim 1, it is characterised in that：It is described
The intelligent robot neck (11) of the convenient whole photovoltaic array of detection is provided with photovoltaic module (12).
4. the detection method of the intelligent robot of the detection infrared hot spot of photovoltaic module described in any one of claims 1 to 3, it is special
Levy and be：The start and stop of controller (6) controlled motor (1), so that the rotation of controlled motor driving wheel (2), motor driving wheel (2) band
Dynamic driving wheel (3) provides power for the walking of intelligent robot so that intelligent robot is walked along photovoltaic component frame (13),
Controller (6) while transmit instruction to mechanical arm controller (5), mechanical arm controller (5) control machinery arm rotating shaft (7) it is dynamic
Make so that mechanical arm (8) completes left and right and moved up and down, the action while control infrared camera (10) is taken pictures of mechanical arm controller (5),
Controller (6) obtains the photo of infrared camera (10) shooting and analyzed, by hot spot cell piece and the letter of hot spot photovoltaic module
Breath is immediately by being wirelessly transmitted to server.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710408178.3A CN107053218A (en) | 2017-06-02 | 2017-06-02 | A kind of intelligent robot and detection method for detecting the infrared hot spot of photovoltaic module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710408178.3A CN107053218A (en) | 2017-06-02 | 2017-06-02 | A kind of intelligent robot and detection method for detecting the infrared hot spot of photovoltaic module |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107053218A true CN107053218A (en) | 2017-08-18 |
Family
ID=59616823
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710408178.3A Pending CN107053218A (en) | 2017-06-02 | 2017-06-02 | A kind of intelligent robot and detection method for detecting the infrared hot spot of photovoltaic module |
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| Country | Link |
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| CN (1) | CN107053218A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107733365A (en) * | 2017-11-15 | 2018-02-23 | 青海黄河上游水电开发有限责任公司光伏产业技术分公司 | The EL automatic testing equipments and system of a kind of photovoltaic module |
| CN108233867A (en) * | 2017-11-30 | 2018-06-29 | 国电南瑞南京控制系统有限公司 | A kind of photovoltaic array hot spot real-time detection apparatus and method |
| CN108809258A (en) * | 2018-08-21 | 2018-11-13 | 佛山职业技术学院 | A kind of photovoltaic module hot spot detecting system and hot spot detection method |
| CN108832885A (en) * | 2018-08-21 | 2018-11-16 | 佛山职业技术学院 | A kind of robot cleaner for photovoltaic module |
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| CN105643591A (en) * | 2015-12-31 | 2016-06-08 | 林根弟 | Tracks of robot of photovoltaic module system |
| CN205343108U (en) * | 2016-03-03 | 2016-06-29 | 董自强 | Cableway walking is surveyed, inspection robot |
| CN105773572A (en) * | 2016-05-13 | 2016-07-20 | 陶永安 | Photovoltaic intelligent dust and snow removing robot |
| JP2016144861A (en) * | 2015-01-29 | 2016-08-12 | キヤノン株式会社 | Robot device, robot control method, program and recording medium |
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2017
- 2017-06-02 CN CN201710408178.3A patent/CN107053218A/en active Pending
Patent Citations (5)
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| JP2010162635A (en) * | 2009-01-14 | 2010-07-29 | Fanuc Ltd | Method for correcting position and attitude of self-advancing robot |
| JP2016144861A (en) * | 2015-01-29 | 2016-08-12 | キヤノン株式会社 | Robot device, robot control method, program and recording medium |
| CN105643591A (en) * | 2015-12-31 | 2016-06-08 | 林根弟 | Tracks of robot of photovoltaic module system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107733365A (en) * | 2017-11-15 | 2018-02-23 | 青海黄河上游水电开发有限责任公司光伏产业技术分公司 | The EL automatic testing equipments and system of a kind of photovoltaic module |
| CN108233867A (en) * | 2017-11-30 | 2018-06-29 | 国电南瑞南京控制系统有限公司 | A kind of photovoltaic array hot spot real-time detection apparatus and method |
| CN108233867B (en) * | 2017-11-30 | 2019-08-20 | 国电南瑞南京控制系统有限公司 | A kind of photovoltaic array hot spot real-time detection apparatus and method |
| CN108809258A (en) * | 2018-08-21 | 2018-11-13 | 佛山职业技术学院 | A kind of photovoltaic module hot spot detecting system and hot spot detection method |
| CN108832885A (en) * | 2018-08-21 | 2018-11-16 | 佛山职业技术学院 | A kind of robot cleaner for photovoltaic module |
| CN108832885B (en) * | 2018-08-21 | 2023-12-01 | 佛山职业技术学院 | Photovoltaic module cleaning robot |
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Application publication date: 20170818 |