CN108401648B - Wind-solar energy storage and charging integrated intelligent lawn maintenance system - Google Patents
Wind-solar energy storage and charging integrated intelligent lawn maintenance system Download PDFInfo
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- CN108401648B CN108401648B CN201810446752.9A CN201810446752A CN108401648B CN 108401648 B CN108401648 B CN 108401648B CN 201810446752 A CN201810446752 A CN 201810446752A CN 108401648 B CN108401648 B CN 108401648B
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- 238000004146 energy storage Methods 0.000 title claims description 37
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- 238000003973 irrigation Methods 0.000 claims abstract description 13
- 230000002262 irrigation Effects 0.000 claims abstract description 13
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- 229910052757 nitrogen Inorganic materials 0.000 claims description 10
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D43/00—Mowers combined with apparatus performing additional operations while mowing
- A01D43/14—Mowers combined with apparatus performing additional operations while mowing with dispensing apparatus, e.g. for fertilisers, herbicides or preservatives
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D67/00—Undercarriages or frames specially adapted for harvesters or mowers; Mechanisms for adjusting the frame; Platforms
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D69/00—Driving mechanisms or parts thereof for harvesters or mowers
- A01D69/005—Non electric hybrid systems, e.g. comprising mechanical and/or hydraulic and/or pneumatic drives
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D69/00—Driving mechanisms or parts thereof for harvesters or mowers
- A01D69/02—Driving mechanisms or parts thereof for harvesters or mowers electric
-
- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03B—INSTALLATIONS OR METHODS FOR OBTAINING, COLLECTING, OR DISTRIBUTING WATER
- E03B3/00—Methods or installations for obtaining or collecting drinking water or tap water
- E03B3/02—Methods or installations for obtaining or collecting drinking water or tap water from rain-water
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S10/00—PV power plants; Combinations of PV energy systems with other systems for the generation of electric power
- H02S10/10—PV power plants; Combinations of PV energy systems with other systems for the generation of electric power including a supplementary source of electric power, e.g. hybrid diesel-PV energy systems
- H02S10/12—Hybrid wind-PV energy systems
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A20/00—Water conservation; Efficient water supply; Efficient water use
- Y02A20/108—Rainwater harvesting
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Abstract
The invention relates to an intelligent lawn maintenance system integrating wind, solar and charge, which comprises a green house part, an energy supply part, a robot part and a control part, wherein an automatic sun tracking device, a wind driven generator and a rain water collecting device are arranged at the upper part of the green house part, and the automatic sun tracking device utilizes a camera to detect the shadow length of a solar panel to drive a steering engine cradle head to rotate; an energy supply part is connected between the green house part and the robot part to provide all electric energy of the system; the control part drives the crawler robot part to independently navigate and plan paths through various sensors, machine vision and camera detection signals, and performs the functions of intelligent weeding, water supplementing, irrigation, fertilization and the like. Compared with the prior art, the intelligent lawn maintenance system can solve the problems of low energy utilization rate, high energy consumption, low intelligence, low adaptability and the like of the lawn maintenance system, is intelligent and environment-friendly, has high energy utilization rate, low power and high stability and adaptability, and can bear heavy lawn maintenance work.
Description
Technical Field
The invention relates to a lawn maintenance device, in particular to an intelligent lawn maintenance system integrating wind, solar and energy storage and charging.
Background
At present, the new energy is utilized efficiently to drive the energy revolution to develop forward rapidly, and the solar energy, wind energy and other multifunctional complementation is a clean and renewable utilization mode conforming to the development trend. The wind-solar energy storage and charging combined power generation system converts, stores and releases solar energy and wind energy, can provide stable high-quality electric energy output, greatly improves the power output characteristic of the system, increases the capacity of a power grid for absorbing renewable energy, simultaneously relieves the instability of the power grid caused by fluctuation of electric energy demand, enhances the adaptability of the power grid to peak clipping and valley filling, and improves the electric energy utilization efficiency.
Wireless charging and efficient energy storage play a key role in developing distributed energy, and the existing wireless power transmission modes are mainly divided into three categories of short range, medium range and long range transmission. Short-range transmission is mainly realized by an electromagnetic induction power transmission technology, and the electromagnetic induction transmission power is large and the transmission distance is short. The middle-range transmission is realized by utilizing electromagnetic coupling resonance/radio frequency technology, the transmission distance is longer, and the technology is mature at present and has higher safety. The remote transmission is realized by a microwave/laser power transmission technology, the technology is still in a development stage, the safety and the reliability still need to be demonstrated and improved, and part of beam energy is lost in the transmission process. Based on the background technology, the medium-range power transmission technology is a wireless transmission technology with great application potential. The energy storage technology mainly relates to electricity storage, heat storage and hydrogen storage, and the electricity storage mainly comprises an energy storage battery. At present, the energy storage battery has low specific energy and power, and poor cycle performance and multiplying power performance, and how to effectively improve the cycle multiplying power of the energy storage battery becomes a hot spot of current research.
The intelligent lawn maintenance robot is used as the crossing field of intelligent manufacturing and greening engineering, gradually becomes the key point of intelligent development of smart cities, and is promoted to the market through upgrading innovation of several generations of robots, but a plurality of key bottlenecks still exist in the need of large-scale market production. The energy utilization rate is too low, the robot load is high, the gravity center is high, the intelligent degree is low, the self-power supply degree of equipment is low, the power is high, the safety and stability are low, the labor force consumption in the lawn maintenance process is excessive, and the like. The marketizing process of the lawn maintenance robot can be promoted by improving the utilization rate of renewable energy sources, lightening the dead weight of the robot and lowering the gravity center of equipment and optimizing the overall performance of the robot through an intelligent algorithm.
Chinese patent CN201520407751.5 proposes a design of a wind-solar energy storage/grid-connected power generation wireless power generation system of an electric vehicle, which comprises a wind-solar energy storage power generation device, a wireless power transmitting device, a wireless power receiving device and the like. Although this patent can utilize solar energy and wind energy for electrical energy storage, then stable electrical energy is output through a wireless power transmission device to charge an electric vehicle. But the solar energy and wind energy utilization efficiency is low, the charge and storage capacity is small and the time is long; the utility model provides an energy-concerving and environment-protective solar robot design of contrast patent CN201710793801.1, including frame, walking motor and slider, front portion support body, middle part support body and rear portion support body, arrange solar panel in the frame front portion of robot, lead to the robot load big and focus is high for the power of equipment is too big and stability and reliability are lower, and regional migration ability is relatively poor.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide the wind-solar energy storage-charging integrated intelligent lawn maintenance system, which can remarkably improve the energy utilization rate, reduce the working power of a robot, improve the intelligent degree and the stability of the system and achieve the purposes of self energy supply, intelligent environmental protection and replicable popularization.
The aim of the invention can be achieved by the following technical scheme:
an intelligent lawn maintenance system integrating wind, solar and energy storage comprises a green house part, an energy supply part, a robot part and a control part. The solar energy system is characterized in that the green house part comprises an automatic sun tracking device, a vertical axis wind turbine and a groove type siphon rainwater collecting device, wherein the automatic sun tracking device is positioned at the top of the green house part, the vertical axis wind turbine is uniformly distributed around the green house part, and the groove type siphon rainwater collecting device is arranged at the lower part of the solar panel. The energy supply part comprises an energy storage battery and a wireless charging device, wherein the energy storage battery is arranged on the left side of the middle of the green house part and is positioned at the upper end of the groove type siphon rainwater collecting device, and the wireless charging device is respectively arranged between the lower part of the groove type siphon rainwater collecting device and the robot part. The robot part comprises a machine chassis, weeding cutters, a watering tank and a selective spray head, wherein the machine chassis comprises driving wheels, guide wheels, supporting wheels and supporting wheels, the driving wheels are arranged at the rear end, the guide wheels are arranged at the front end and have slightly smaller diameters than the driving wheels, the number and arrangement of the supporting wheels are uniformly distributed according to the ground pressure of a crawler, and the supporting wheels are positioned at the left end and the right end of the lower part of the crawler and have slightly smaller diameters than the supporting wheels; the weeding device is inlaid at the middle lower part of the control part, a weeding cutter telescopic rod and a blade are combined, the weeding cutter telescopic rod is connected with a high-speed motor, the weeding cutter telescopic rod is adjusted through a height sensor algorithm, and a height sensor acquires height information of the grass and selects to execute a weeding function; the water tank is arranged at the rear end of the control part, the upper part of the water tank is designed into a concave water supplementing groove, a liquid level signal is detected by a liquid level sensor, an electromagnetic valve is accurately driven to be opened and closed, water for irrigation is supplemented regularly, and spray-drying irrigation is implemented by using a booster pump and an atomizing nozzle; the selective spray head is positioned at the rear end of the irrigation water tank, and sends out instructions through the control part to selectively execute irrigation or fertilization actions. The control part comprises an automatic sun tracking device, an intelligent weeding module, water supplementing irrigation, autonomous navigation, path planning and the like. The automatic sun tracking device is positioned at the top of the green house, and the shadow length of the solar panel is visually identified to control the rotation of the steering engine cradle head with two degrees of freedom, so that the solar panel accurately captures sunlight; the water supplementing and irrigating module mainly collects signals through a liquid level sensor and transmits program information to the electromagnetic valve so as to achieve the water supplementing and irrigating function; the intelligent weeding module adopts a height sensor algorithm and a height sensor signal, and performs actions such as cutter extension and intelligent weeding after program processing; the watering and fertilizing mainly utilizes a humidity sensor, a soil nitrogen, phosphorus and potassium detection sensor and a height sensor to respectively collect soil water content signals and soil nutrient content information, and then controls a selective spray head to execute watering or fertilizing functions; the autonomous navigation and path planning performance accurately identifies the working area and the execution path through a color segmentation algorithm of a machine vision and laser sensor signal identification boundary.
Further, the energy storage battery adopts a sodium type double-ion battery, and the negative electrode material adopts molybdenum disulfide/2D graphite with the mass fraction ratio of 67:33-72:28 to be ground into a nanocomposite.
Further, the wireless charging device adopts a medium-range wireless power transmission technology, an electromagnetic transmitting end is positioned at the left side of the energy storage battery, and a receiving end is positioned at the bottom of the robot part.
Further, the machine chassis is manufactured by sequentially connecting a driving wheel, a guide wheel, a supporting wheel and a supporting wheel through a crawler provided with a tensioning device.
Furthermore, the weeding cutter lifting rod can reserve the height of the grass and the height of the ground obstacle according to different lawns, and the height sensor algorithm and the height sensor signal are utilized to drive the executing mechanism to carry out proper adjustment.
Further, the liquid level sensor consists of a water level display module and a water level acquisition module, wherein the water level display module adopts a single group of a plurality of LED arrays to sequentially arrange up and down to represent the liquid level, voltage signals acquired by the water level acquisition module are connected with an A/D serial port of a singlechip to be automatically converted, and the converted data are identified from the upper four bits and finally sent to the corresponding serial port to control the on/off of the LEDs, so that the liquid level is displayed.
Further, the color segmentation algorithm for visual boundary recognition comprises an edge detection operator, a color segmentation algorithm, a full-automatic route planning and control part such as machine vision, an electronic compass and the like.
Further, the edge detection operator defines the local edge of the image as the transition between two regions with significantly different intensities, the gradient function of the image, i.e. the rate of change of the image gray level, will have a maximum value at these transition boundaries, the gradient direction of the change of the image gray level is estimated by a detector based on the gradient operator or the first derivative, the changed region in the image is enhanced, and then the gradient is thresholded, if the gradient value is larger than a given threshold, the edge is present.
Furthermore, the color segmentation algorithm adopts the color segmentation processing of the full true color image. In practice, the maximum distinguishing point of the lawn and the outside is different in color, the color of the lawn is totally biased to green, the edge of the lawn is generally a road, a cement brick or a flower belt, and the like outside the boundary of the lawn, the green lawn is detected by a color segmentation algorithm, the edge point of a green area is detected on an image acquired by a camera, and a boundary position mark is made, so that the edge of the green area, namely the boundary of the lawn, is finally obtained.
Compared with the prior art, the invention has the following advantages:
(1) Wind-solar complementary, storage and filling combination, rainwater collection, intelligent weeding, water supplementing irrigation and selective irrigation fertilization form an intelligent lawn maintenance system, renewable energy utilization and intelligent control are highly fused, complex and heavy lawn maintenance work can be replaced, the energy utilization rate is improved, and the purposes of saving energy, reducing emission and promoting green energy development are achieved.
(2) The shadow length of the solar panel is visually identified to control the rotation of the steering engine cradle head with two degrees of freedom, so that the solar panel is kept in a vertical state with the sun at any time, and the solar energy utilization efficiency is improved; the vertical axis separation generator can capture the whole circumferential wind direction, has higher power generation efficiency and realizes wind-solar complementary self-power supply of the system.
(3) Rainwater is collected and liquid level control combines together, is used for the lawn watering with the rainwater of collecting, improves water resource utilization, simultaneously with the signal that novel liquid level sensor gathered, drive solenoid valve work after the procedure processing, reaches the effect of accurate moisturizing.
(4) The wireless charging and efficient electricity storage are skillfully combined, the robot part is separated from the green house part, so that a power generation system is more stable, the load and the gravity center of the robot part can be reduced, the power of the robot is greatly reduced, the stability and the adaptability of the robot are improved, and the regional migration capability is enhanced.
(5) The color segmentation algorithm for visual boundary recognition adopts an edge detection operator and a color segmentation algorithm, so that the lawn boundary and the working path planning can be accurately recognized, the intelligent degree of the system is improved, the lawn area for repeated weeding or irrigation is reduced, and the lawn maintenance efficiency is remarkably improved.
(6) The liquid level sensor, the soil humidity sensor, the nitrogen, phosphorus and potassium detection sensor, the grass height sensor, the camera, the machine vision and the laser sensor are utilized to collect various signals, after program control, the driving robot selectively executes the functions of water supplementing, watering, fertilization and weeding, and can replace various complex manual labor, and the working efficiency, the safety and the reliability are higher.
(7) The energy storage battery adopts a sodium type double-ion battery, the negative electrode material adopts molybdenum disulfide/2D graphite with the mass fraction ratio of 67:33-72:28 to be ground into a nanocomposite, and the nanocomposite has higher specific energy and specific power, better cycle performance and rate capability and abundant available resources.
Drawings
FIG. 1 is a schematic diagram of the overall system configuration of the present embodiment;
fig. 2 is a schematic view of the green house part structure of the present embodiment;
FIG. 3 is a schematic view of the structure of the energizing part of the present embodiment;
fig. 4 is a schematic view of the robot part structure of the present embodiment;
fig. 5 is a schematic diagram of the control portion structure of the present embodiment;
in the figure: 1 is a green house part; 101 is an automatic sun tracking device; 102 is a vertical axis wind turbine; 103 is a groove type siphon rainwater collecting device; 104 is a steering engine cradle head; 105 is a solar panel; 106 is a camera; 2 is an energy supply part; 201 is an energy storage battery; 202 is a wireless charging device; 203 is a storage battery; 204 is a bearing plate; 205 is an inverter; 206 is a high frequency oscillator; 3 is a robot part; 301 is a weeding cutter; 301a is a weeding cutter lifting rod; 302 is a machine chassis; 302a is a guide wheel; 302b is a thrust wheel; 302c is a drive wheel; 302d is a pull pulley; 303 is an irrigation water tank; 304 is a selective spray head; 4 is a control part; 401 is a program control board; 401a is a driver; 401b is an energy supply battery; 402 is a selective watering and fertilizing module; 402a is a soil moisture sensor; 402b is a soil nitrogen, phosphorus and potassium detection sensor; 403 is an autonomous navigation and path planning module; 403a is a machine vision module; 403b is a laser sensor; 404 is an intelligent weeding module; 404a is a height sensor; 405 is a moisturizing and irrigating module; 405a is a solenoid valve; 405b is a liquid level sensor; 406 is an auto-tracking solar module.
Detailed Description
The invention will now be described in detail with reference to the drawings and specific examples. The present embodiment is implemented on the premise of the technical scheme of the present invention, and a detailed implementation manner and a specific operation process are given, but the protection scope of the present invention is not limited to the following examples.
Examples
An intelligent lawn maintenance system integrating wind, solar and energy storage, as shown in fig. 1, comprises a green house part 1, an energy supply part 2, a robot part 3 and a control part 4.
As shown in fig. 2, the green house part 1 comprises an automatic sun tracking device 101, a vertical axis wind turbine 102, a rainwater collecting device 103, a steering engine cradle head 104, a solar panel 105 and a camera 106. The automatic sun tracking device 101 is located at the top of the green house part 1, the camera 106 is installed at the lower part of the solar panel 105, and the steering engine cradle head 104 supports the solar panel 105 to rotate through gear engagement. The shadow length of the solar panel 105 is detected through the camera 106, and after program processing, the steering engine cradle head 104 is driven to rotate, so that the state of being vertical to the sun is maintained in real time. The vertical axis wind turbines 102 are uniformly distributed around the green house part 1 and are used for capturing wind energy with a certain speed in all directions. The rainwater collecting device 103 is arranged at the lower part of the automatic sun tracking device 101, a plurality of polygonal plates are adopted to form grooves, and a siphon device is arranged in the grooves and is used for efficiently collecting rainwater.
As shown in fig. 3, the power supply section 2 includes an energy storage battery 201, a wireless charging device 202, a storage battery 203, a load-bearing plate 204, an inverter 205, and a high-frequency oscillator 206. The energy storage battery 201, the wireless charging device 202, the inverter 205 and the high-frequency oscillator 206 are all arranged on the upper side of the bearing plate 204, and electric energy generated by the automatic tracking solar device 101 and the vertical axis wind turbine 102 is processed by the inverter 205 and the high-frequency oscillator 206 and then is stored in the energy storage battery (201) and then is stored in the storage battery 203 through the wireless charging device 202 to supply electric energy for the robot part 3.
As shown in fig. 4, the robot part 3 includes a weeding cutter 301, a machine chassis 302, a watering tank 303, and a selective spray head 304. The machine chassis 302 is located at the bottom of the robot part 3, and is provided with a guide wheel 302a, a thrust wheel 302b, a driving wheel 302c and a towing wheel 302d, the weeding cutter 301 is vertically embedded on a flat plate of the machine chassis 302, the irrigation water tank 303 is located at the rear end of the robot part 3 and is divided into a rainwater area and a fertilizer area, and the selective spray head 304 is installed at the upper part of the rear end of the irrigation water tank 303 and executes irrigation or fertilization and other actions according to a control program. The weeding cutter 301 drives the intelligent weeding module 404 to function according to the height sensor 404a, weeding action is realized according to the preset height, and if an obstacle is encountered, the weeding cutter 301 automatically retracts to avoid the obstacle after exceeding the preset height of the weeding cutter lifting rod 301 a. The machine chassis 302 adopts a crawler design, and the guide wheel 302a, the thrust wheel 302b, the driving wheel 302c and the towing wheel 302d are connected by crawler, so that the robot part 3 can move safely and stably. The irrigation tank 303 is combined with the selective shower head 304, and the selective shower head 304 is made to execute a corresponding action after the control program process by detecting each sensor signal.
As shown in fig. 5, the control part 4 comprises a program control board 401, a selective watering and fertilizing module 402, an autonomous navigation and path planning module 403, an intelligent weeding module 404, a water supplementing watering module 405 and an automatic sun tracking module 406. The program board 401 is located at the upper part of the front end of the robot part 3, and the driver 401a and the power supply battery 401b are located at the left side of the same horizontal plane, and after the power supply battery 401b supplements the power from the storage battery 203, the driver 401a is caused to perform a corresponding action. The selective watering and fertilizing module 402 processes the humidity and nitrogen, phosphorus and potassium content signals acquired by the soil humidity sensor 402a and the soil nitrogen, phosphorus and potassium detection sensor 402b through the program control board 401, and then executes watering or fertilizing actions. The autonomous navigation and path planning module 403 collects signals of the machine vision 403a and the laser sensor 403b, and after being processed by an edge detection operator and a color segmentation algorithm in the control program board 401, the autonomous navigation and path planning module realizes the full-automatic path planning and autonomous navigation functions. The intelligent weeding module 404 mainly detects the height of the grass through the height sensor 404a, acquires the height information for processing, and then executes the weeding function. The water replenishing module 405 collects signals by the liquid level sensor 405b, processes the signals by the program control board 401, and controls the electromagnetic valve 405a to perform water replenishing operation. The automatic tracking solar module 406 detects the shadow length of the solar panel 105 by using the camera 106, and after the shadow length is processed by the program control board 401, the steering engine cradle head 104 is driven to rotate, so that the shadow length is always vertical to the sun.
The specific working principle is as follows: in the intelligent lawn maintenance system integrating wind, solar and charge, the green house part 1 mainly provides electric energy, irrigation water and weight for supporting the whole system, solar energy is efficiently utilized by adopting an automatic tracking solar device 101, the wind energy is captured at multiple angles by utilizing a vertical axis wind driven generator 102, and a groove type siphon rainwater collecting device 103 is arranged to enable rainwater to be collected in a water collecting tank for system power consumption and irrigation. The energy supply part 2 mainly stores electric energy converted from solar energy and wind energy in a sodium type double-ion energy storage battery, and transmits the electric energy in the energy storage battery 201 to the storage battery 203 through a medium-range wireless power transmission technology, so that the weight and the gravity center of the robot part 3 can be remarkably reduced, the power of equipment is reduced, and the stability and the safety are enhanced. The robot part 3 mainly performs weeding, watering and fertilizing functions, and acquires signals through the height sensor 404a, the soil humidity sensor 402a and the soil nitrogen, phosphorus and potassium detection sensor 402b to drive the weeding cutter 301 or the selective spray head 304 to perform corresponding actions. The control part 4 mainly collects corresponding signals through various sensors or machine vision and cameras, and drives corresponding execution mechanisms to act after being processed by codes or algorithms in a control program board so as to realize specific functions.
When the height of the grass on the lawn exceeds 5cm and the soil humidity and the soil nutrient content are high, only the height sensor 404a detects signals and feeds the signals back to the control program board 401, and after the signals are processed, only the weeding cutter is driven by the driver 401a to start weeding, and other functions stop working; when the soil humidity is lower than 70%, the grass height and the soil nutrient content are proper, only the soil humidity sensor 402a detects a signal, and after the humidity signal is processed by the program control board 401, the driver 401a only drives the selective spray head 304 to realize the irrigation function, and other functions stop working; when the soil nutrient content is low and the grass height and the soil humidity are proper, only the soil nitrogen, phosphorus and potassium detection sensor 402b detects a signal, and the signal is fed back by the program control board 401 and then drives the selective spray head 304 to perform fertilization. If the height of the grass exceeds 5cm, when the soil humidity is lower than 70% and the soil nutrient content is lower, signals of the height, the humidity and the nutrient content are detected by the three sensors at the same time, and are processed by the program control board 401, so that the driver 401a drives the weeding cutter and the selective spray head 304 to work at the same time, weed is timely removed, and the soil moisture and the nutrient are supplemented.
Claims (8)
1. Wind-solar energy storage and charging integrated intelligent lawn maintenance system is characterized by comprising:
the solar energy and wind power generation device comprises a green house part (1), wherein the green house part (1) is fixed in position, and a solar energy power generation device, a wind power generation device and a rainwater collection device (103) are arranged on a main body of the green house part (1);
the energy supply part (2) comprises an energy storage battery (201), a wireless charging device (202) and a storage battery (203), wherein the position of the energy storage battery (201) is fixed, the input end of the energy storage battery is connected with a solar power generation device and a wind power generation device through an electric energy conversion device, and the output end of the energy storage battery is connected with the storage battery (203) through the wireless charging device (202) in a wireless manner;
the robot part (3) comprises a travelling mechanism, a weeding cutter (301), a watering tank (303) and a spray head, wherein the weeding cutter (301), the watering tank (303) and the spray head are arranged on the travelling mechanism, the watering tank (303) is respectively connected with the rainwater collecting device (103) and the spray head, and the storage battery (203) is arranged on the travelling mechanism and used for providing a power source for the robot part (3);
a control part (4) connected with the robot part (3) and the green house part (1) and used for controlling the actions of the robot part (3) and the solar power generation device;
the solar power generation device is an automatic tracking solar device (101) and comprises a solar panel (105), a rotating mechanism for changing the angle of the solar panel (105) and a camera (106) for shooting shadows of the solar panel (105) on a reference object, wherein the control part (4) is respectively connected with the rotating mechanism and the camera (106), and the angle of the solar panel (105) is adjusted according to shadow images collected by the camera (106) so that the solar panel (105) is perpendicular to sunlight;
the energy storage battery (201) negative electrode material is formed by compounding molybdenum disulfide and 2D graphite, and the mass fraction ratio of the molybdenum disulfide to the 2D graphite is 67:33-72:28.
2. The intelligent lawn maintenance system with integrated wind-solar energy storage and charging functions according to claim 1, wherein the travelling mechanism is a crawler chassis.
3. The intelligent lawn maintenance system with integrated wind, solar and energy storage and charging according to claim 1, wherein the system further comprises a soil humidity sensor (402 a) and a soil nitrogen, phosphorus and potassium detection sensor (402 b) which are connected with the control part (4), when the soil humidity sensor (402 a) detects that the soil humidity is smaller than a moisture set value, the control part (4) controls the robot part (3) to perform irrigation, and when the soil nitrogen, phosphorus and potassium detection sensor (402 b) detects that the soil nitrogen, phosphorus and potassium content is smaller than a nutrient set value, the control part (4) controls the robot part (3) to perform fertilization.
4. The intelligent lawn maintenance system with integrated wind and solar energy storage and charging according to claim 1, wherein the system further comprises a height sensor (404 a) connected with the control part (4), and when the height sensor (404 a) detects that the height of the grass exceeds a set height value, the control part (4) controls the robot part (3) to execute weeding action.
5. The intelligent lawn maintenance system with integrated wind-solar energy storage and charging functions according to claim 4, wherein the weeding cutter (301) comprises a telescopic rod for adjusting the height of a blade, the telescopic rod is connected with the control part (4), and when the height sensor (404 a) detects that the height of a front obstacle is greater than the preset height of the telescopic rod, the telescopic rod is retracted upwards.
6. The intelligent lawn maintenance system with integration of wind, solar and energy storage according to claim 1, wherein the system further comprises a liquid level sensor (405 b) arranged in the irrigation water tank (303), an electric switch is arranged on a channel between the irrigation water tank (303) and the rainwater collecting device (103), the electric switch is connected with the control part (4), and when the liquid level sensor (405 b) detects that the water level in the irrigation water tank (303) is lower than a set water level, the control part (4) controls the electric switch to perform water supplementing action.
7. The wind-solar energy-storage-and-charge integrated intelligent lawn maintenance system according to claim 6, wherein the liquid level sensor (405 b) comprises a water level display module and a water level acquisition module, the water level display module comprises an LED array for representing the liquid level, and the output end of the water level acquisition module is connected with the control part (4) and is connected with the LED array through an AD converter.
8. The wind-solar energy storage and charging integrated intelligent lawn maintenance system according to claim 1, wherein the wireless charging device (202) comprises a transmitting end and a receiving end, and the transmitting end is provided with a high-frequency oscillator (206).
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| CN109275448B (en) * | 2018-11-10 | 2020-12-08 | 何倩 | Road green belt capable of automatically monitoring soil fertility degree |
| CN112054588B (en) * | 2020-09-10 | 2022-06-21 | 四川大学 | Wind-solar hybrid power generation system |
| CN112398441B (en) * | 2020-11-12 | 2021-11-05 | 安徽诚意电气科技有限公司 | Solar detector based on wireless signal transmission and use method thereof |
| CN112865687A (en) * | 2021-01-15 | 2021-05-28 | 上海海事大学 | Double-shaft light-following wind-solar hybrid power generation device |
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