CN109333538B - Control system of photovoltaic intelligent robot - Google Patents
Control system of photovoltaic intelligent robot Download PDFInfo
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- CN109333538B CN109333538B CN201811295751.5A CN201811295751A CN109333538B CN 109333538 B CN109333538 B CN 109333538B CN 201811295751 A CN201811295751 A CN 201811295751A CN 109333538 B CN109333538 B CN 109333538B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24024—Safety, surveillance
Abstract
A control system of a photovoltaic intelligent robot comprises a remote control system and a near control system, wherein the remote control system comprises a control end, receives a control command input by an administrator and sends the control command to a network side server; the on-site monitoring terminal monitors the meteorological information around the machine equipment and sends the meteorological information to the network side server; the network side server comprises a database, a storage unit and a processing unit, wherein the database stores a conversion directory of control commands and machine commands and receives the control commands sent by a control end; converting the control command into a machine command according to the conversion catalog; receiving meteorological information sent by a field monitoring terminal, and judging whether a machine command is sent to a machine terminal; the machine terminal receives a machine command sent by the network side server and controls the machine equipment to execute work corresponding to the machine command; and the short-range control system is used for operating the control circuit board of the machine terminal by an operator to realize short-range control of the machine terminal. The system realizes the remote and short-range control of the photovoltaic intelligent robot.
Description
Technical Field
The invention relates to the technical field of machine control, in particular to a control system of a photovoltaic intelligent robot.
Background
With the development of science and technology, various machine equipment are simplified in structure, more powerful in function and more intelligent in machine operation, and at present, the machine is basically controlled to operate through an operator touching a button of the machine equipment.
In recent years, wireless communication technology is rapidly developed and widely applied, so that the wireless communication technology is combined with mechanical equipment, an operator can control the mechanical equipment at a distance from the mechanical equipment, but the distance between the operator and the mechanical equipment cannot exceed a certain range, otherwise, the remote control of the mechanical equipment cannot be realized, and the effect of a remote control function is poor.
Disclosure of Invention
In order to solve the technical problem, the invention provides a control system of a photovoltaic intelligent robot.
The embodiment of the invention provides a control system of a photovoltaic intelligent robot, which comprises a remote control system and a short-range control system, wherein,
the remote control system comprises a control end, a field monitoring terminal, a network side server and a machine terminal, wherein:
the control end is used for receiving a control command input by an administrator and sending the control command to the network side server;
the on-site monitoring terminal is used for monitoring the meteorological information of the surrounding environment of the machine equipment and sending the meteorological information to the network side server;
the network side server comprises a database, a conversion directory, a control end and a machine command, wherein the conversion directory stores the control command and the machine command and is used for receiving the control command sent by the control end; converting the received control command into a corresponding machine command according to the conversion catalog; receiving meteorological information sent by the on-site monitoring terminal, and judging whether to send the machine command to the machine terminal according to the meteorological information;
the machine terminal is used for controlling machine equipment to start to execute work corresponding to the machine command when receiving the machine command sent by the network side server; the network side server is also used for sending the working state of the machine equipment and the execution progress of the machine command to the network side server;
the network side server is further used for sending the working state of the machine equipment and the execution progress of the machine command to the control end;
the control end is further used for acquiring the real-time working state of the machine equipment, the execution progress of the current machine command and the data information of the completed and unfinished machine commands from the network side server;
and the short-range control system is used for operating the machine terminal on site by an operator.
In one embodiment, the control terminal comprises a mobile client;
the system also comprises a fixed PC end;
and the fixed PC end is used for receiving the real-time working state of the machine equipment, the execution progress of the current machine command, the data information of the completed and uncompleted machine command, receiving the weather information sent by the on-site monitoring terminal and displaying the received information.
In one embodiment, the mobile client comprises a photovoltaic intelligent robot remote control APP, and comprises a control instruction sending module, a data receiving module and a setting module;
the control instruction sending module is used for an administrator to send a control instruction to the network side server;
the data receiving module is used for receiving information sent by the field monitoring terminal and the machine terminal;
and the setting module is used for setting by an administrator to execute a preset control command according to a certain period and send the preset control command to the network side server.
In one embodiment, the machine terminal includes: a photovoltaic intelligent cleaning robot;
the photovoltaic intelligent cleaning robot is used for starting to clean the specified photovoltaic panel when receiving a machine cleaning command sent by the control end; and the photovoltaic intelligent cleaning robot is also used for sending the electricity consumption, the work progress and the cleaning degree of the photovoltaic intelligent cleaning robot and the service loss condition of the photovoltaic intelligent cleaning robot to the network side server.
In one embodiment, the on-site monitoring terminal comprises a micro weather station;
the intelligent photovoltaic cleaning robot comprises a control end, a network side server and a photovoltaic intelligent cleaning robot, wherein the control end is used for monitoring the temperature, the wind level, the wind direction and the precipitation of the working environment of the intelligent photovoltaic cleaning robot and sending the monitored data to the network side server, and the network side server transmits the monitored data to the control end.
In one embodiment, the network-side server includes a comparison module, configured to compare the temperature, wind level, wind direction, and precipitation information sent by the micro weather station with a preset weather threshold in the network-side server, and send a machine command to the machine terminal when the temperature, wind level, wind direction, and precipitation information sent by the micro weather station is within the preset weather threshold; and when the temperature, wind level, wind direction and precipitation information sent by the micro meteorological station exceed the preset meteorological threshold range, the network side server returns the information that the command is not executed and meteorological data to the control end.
In one embodiment, the preset meteorological threshold is: the temperature is 10-30 ℃, the wind power is 0-5 grade, and the precipitation is 0-8 mm.
In one embodiment, the on-site monitoring terminal and the machine terminal are both provided with a 4G internet of things card for receiving a machine command sent by the network side server and sending information to the network side server by the on-site monitoring terminal and the machine terminal.
In one embodiment, the machine terminal is provided with a control circuit board for controlling the machine terminal to execute corresponding operations according to machine commands received by the 4G internet of things card;
the control circuit board is also used for the short-range control system, and an operator controls the machine terminal through the operation of the control circuit board.
In one embodiment, the network-side server further includes a device for detecting an exception of the control-side access server, including:
the recording unit is used for recording the times of data transmission requests sent to the network side server by the control end after a data transmission channel is established between the control end and the network side server;
the detection unit is used for detecting whether the access server of the control end is abnormal or not according to the times of sending data transmission requests to the network side server by the control end and a preset criterion;
the detection unit is used for automatically refusing to receive all the requests of the control end by the network side server when the number of times of data transmission requests sent to the network side server by the control end exceeds the first number of preset criteria, and recording information of data requests made by the control end; when the number of data transmission requests sent to the network side server by the control terminal exceeds the second number of the preset criteria but does not exceed the first number of the preset criteria, the control terminal is determined to be illegal intrusion, and the control terminal is added to a blacklist; when the number of data transmission requests sent to the network side server by the control terminal exceeds the third number of the preset criterion but does not exceed the second number of the preset criterion, determining that the control terminal is operated wrongly, and recording the control terminal into a control terminal protection directory; when the number of times of data transmission requests sent to the network side server by the control end exceeds the fourth number of preset criteria, the control end is determined to normally access the network side server, the network side server creates a storage address corresponding to the data request based on the network side server according to the data request of the control end, and the storage address corresponds to the fragment storage space on the network side server and the file attribute of the request data on the network side server.
In one embodiment, before the network side server sends the machine command to the machine terminal, security authentication is performed between the network side server and the machine terminal, and after the authentication is passed, the network side server sends the machine command to the machine terminal; the security authentication between the network side server and the machine terminal includes:
the network side server comprises a certificate generating module used for generating a digital authentication certificate of the network side server and a digital authentication certificate of the machine terminal, and the network side server issues the digital authentication certificate of the machine terminal to the machine terminal;
the machine terminal comprises a terminal certificate sending module, a network side server and a terminal certificate sending module, wherein the terminal certificate sending module is used for sending a digital authentication certificate of the machine terminal and a random character code generated by the machine terminal to the network side server after public key encryption operation of the network side server;
the network side server also comprises a terminal verification module which is used for carrying out decryption verification on the received digital authentication certificate sent by the machine terminal and the random character code generated by the machine terminal through a private key of the network side server, verifying whether the digital authentication certificate of the machine terminal is legal or not, acquiring a public key of the machine terminal if the digital authentication certificate of the machine terminal is legal, and otherwise, cutting off the connection with the machine terminal;
the network side server also comprises a server random character code generation encryption module which is used for generating a random character code of the network side server and transmitting a digital authentication certificate of the network side server and the network side server random character code to the machine terminal after being encrypted by a machine terminal public key; the random character code is generated by an operation method of generating the random character code according to a preset pseudo character code, and the character code is generated by a random character code generator according to a set operation method, wherein the random character code generator is arranged in the network side server;
the machine terminal also comprises a server verification module which is used for carrying out decryption operation on the digital authentication certificate sent by the network side server and the random character code of the network side server through a machine terminal private key, verifying whether the digital authentication certificate of the network side server is legal or not, if the digital authentication certificate is legal, passing the safety authentication with the network side server, and the network side server sends the machine command to the machine terminal, otherwise, the connection with the network side server is cut off.
In one embodiment, the microclimate station includes: an unmanned aerial vehicle;
the unmanned aerial vehicle includes: the multifunctional lifting device comprises a main body, a lifting device, a driving device and a multifunctional box;
the main body includes: the beam rod is mounted at the central position of the unmanned aerial vehicle main body, the substrate is fixedly mounted above the beam rod and comprises an upper substrate and a lower substrate, the middle positions of the upper substrate and the lower substrate are connected with the support rod through support tubes, the linkage device comprises a parallel linkage device and an inclined linkage device, the inclined linkage device is connected with the beam rod, and the parallel linkage device is connected with the support rod;
the lifting device is arranged in a wheel type structure and is arranged on the supporting rod;
the driving device comprises a motor and propellers, the driving device is arranged at the bottom of the supporting rod, and each propeller is driven by the corresponding motor;
the multifunctional box comprises a temperature detector, a wind direction and wind level detector, a precipitation detector, a camera and a communication device;
unmanned aerial vehicle top is provided with solar power supply unit, and solar power supply unit includes solar cell panel, power protector and battery, wherein:
the solar cell panel is used for receiving sunlight and performing photoelectric conversion on the received sunlight to generate electric energy;
the power supply protector is used for transmitting the electric energy generated by the solar cell panel to the storage battery;
the storage battery is used for storing electric energy generated by the solar panel and providing power for the rise and fall of the unmanned aerial vehicle; the solar cell panel is electrically connected with the storage battery through the power supply protector;
the solar cell panel comprises a crystalline silicon substrate, wherein the crystalline silicon substrate comprises a light-facing surface and a backlight surface, the light-facing surface and the backlight surface are respectively provided with two layers of amorphous wafers, the upper side of a first amorphous wafer is provided with a first amorphous silicon layer, the upper side of a second amorphous wafer is provided with a second amorphous silicon layer, the first amorphous silicon layer comprises a first conductive film, the second amorphous silicon layer comprises a second conductive film, and a transparent chalcogenide is arranged between the light-facing surface and the first amorphous wafer or between the backlight surface and the second amorphous wafer of the crystalline silicon substrate;
the power supply protector comprises a charging contactor and a freewheeling diode which are connected in parallel; the freewheeling diode is used for preventing sudden change voltage from being generated and damaging other devices in the charging process of the storage battery;
the storage battery comprises a lead-acid storage battery, wherein a buffer sealing device is arranged in the storage battery, the buffer sealing device is arranged in an upper shell and a lower shell, the upper shell is connected with the lower shell, two concave curved surfaces are arranged at the joint of the upper shell and the lower shell, the lower shell is symmetrically provided with two concave curved surfaces, a first concave surface of the upper shell is combined with a second concave surface of the lower shell to form a group of symmetrical closed concave curved surfaces to form a first buffer area, and peripheral planes of the first buffer area form a sealing surface; the second concave surface of inferior valve than the second concave surface of epitheca is 6mm wide, the second concave surface of epitheca with the second concave surface of inferior valve combines together, combines the clearance and forms the second buffer.
In one embodiment, the first amorphous silicon layer and the second amorphous silicon layer are a p-type amorphous silicon film layer and an n-type amorphous silicon film layer, respectively, or the first amorphous silicon layer and the second amorphous silicon layer are an n-type amorphous silicon film layer and a p-type amorphous silicon film layer, respectively.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
Fig. 1 is a schematic structural diagram of a remote control system of a photovoltaic intelligent robot provided by the invention;
fig. 2 is a schematic structural diagram of an unmanned aerial vehicle of a remote control system of a photovoltaic intelligent robot provided by the invention;
fig. 3 is a schematic partial structural diagram of an unmanned aerial vehicle of a remote control system of a photovoltaic intelligent robot provided by the invention.
Detailed Description
The embodiment of the invention provides a control system of a photovoltaic intelligent robot.
A control system of a photovoltaic intelligent robot is shown in figure 1, and comprises a remote control system and a short-range control system, wherein,
the remote control system comprises a control terminal 11, a field monitoring terminal 14, a network side server 12 and a machine terminal 13, wherein:
the control terminal 11 is configured to receive a control command input by an administrator, and send the control command to the network side server 12;
the on-site monitoring terminal 14 is used for monitoring the meteorological information of the surrounding environment of the machine equipment and sending the meteorological information to the network side server 12;
the network side server 12 comprises a database, a conversion directory for storing the control command and the machine command, and is used for receiving the control command sent by the control terminal 11; converting the received control command into a corresponding machine command according to the conversion catalog; receiving meteorological information sent by the on-site monitoring terminal 14, and judging whether to send a machine command to the machine terminal 13 according to the meteorological information;
the machine terminal 13 is used for controlling the machine equipment to start executing the work corresponding to the machine command when receiving the machine command sent by the network side server 12; the network side server 12 is further configured to send the operating status of the machine device and the execution progress of the machine command to the network side server;
the network side server 12 is further configured to send the working state of the machine device and the execution progress of the machine command to the control end 11;
the control end 11 is further configured to obtain a real-time working state of the machine device, an execution progress of a current machine command, and data information of completed and unfinished machine commands from the network side server 12;
and the short-range control system is used for operating the machine terminal on site by an operator.
The control system of the photovoltaic intelligent robot has the beneficial effects that: including remote control system and proximity control system, remote control system's control end has realized the control to machine terminal through network side server, network side server coverage is wide, can realize remote communication, and network side server can be with machine terminal's the operating condition of machine equipment, operational environment information and the execution progress of the machine command that sends to the control end send for the control end, the real-time control of control end to machine terminal has been realized, compare with the conventional art, above-mentioned remote system not only can realize remote control machine equipment, can also carry out real-time supervision to machine equipment. The short-range control system can realize short-range control while realizing long-range control by operating personnel on site to operate and control the machine terminal.
In one embodiment, the control end comprises a mobile client;
the system also comprises a fixed PC end;
and the fixed PC terminal is used for receiving the real-time working state of the machine equipment, the execution progress of the current machine command, the data information of the completed and unfinished machine commands, receiving the weather information sent by the field monitoring terminal and displaying the received information. The technical scheme is used for displaying the execution condition of the machine command by the machine equipment and the meteorological information of the surrounding environment of the machine equipment, and is convenient for an administrator to carry out real-time monitoring.
In one embodiment, the mobile client comprises a photovoltaic intelligent robot remote control APP, and the photovoltaic intelligent robot remote control APP comprises a control instruction sending module, a data receiving module and a setting module;
the control instruction sending module is used for sending a control instruction to the network side server by an administrator;
the data receiving module is used for receiving information sent by the field monitoring terminal and the machine terminal;
and the setting module is used for setting the preset control command to be executed according to a certain period by an administrator and sending the preset control command to the network side server. The administrator realizes remote monitoring of the machine equipment and sends a machine instruction through the mobile phone APP, so that the control and monitoring of the machine equipment are more convenient.
In one embodiment, a machine terminal includes: a photovoltaic intelligent cleaning robot;
the photovoltaic intelligent cleaning robot is used for starting to clean the specified photovoltaic panel when receiving a machine cleaning command sent by the control end; and the intelligent cleaning robot is also used for sending the electricity consumption, the work schedule, the cleaning degree of the intelligent cleaning robot and the service loss condition of the intelligent cleaning robot to a network side server.
The beneficial effects of the above technical scheme are that: the photovoltaic intelligent cleaning robot can clean a photovoltaic panel, not only can realize the basic photovoltaic panel cleaning function, but also can remotely monitor the electricity consumption, the work progress, the cleaning degree of the photovoltaic intelligent cleaning robot and the service loss condition of the photovoltaic intelligent cleaning robot, and when the photovoltaic intelligent cleaning robot breaks down, the photovoltaic intelligent cleaning robot can timely maintain and repair, so that the photovoltaic panel cleaning efficiency is effectively guaranteed.
In one embodiment, the on-site monitoring terminal comprises a micro weather station;
the intelligent photovoltaic cleaning robot comprises a control end, a network side server and a photovoltaic intelligent cleaning robot, and is used for monitoring the temperature, the wind level, the wind direction and the precipitation of the working environment of the intelligent photovoltaic cleaning robot, sending the monitored data to the network side server, and transmitting the monitored data to the control end by the network side server. Real-time meteorological monitoring of the surrounding environment of the machine equipment is achieved.
In one embodiment, the network side server comprises a comparison module, a comparison module and a control module, wherein the comparison module is used for comparing the temperature, the wind level, the wind direction and the precipitation information sent by the micro weather station with a preset weather threshold value in the network side server, and sending a machine command to the machine terminal when the temperature, the wind level, the wind direction and the precipitation information sent by the micro weather station are within the preset weather threshold value range; when the temperature, wind level, wind direction and precipitation information sent by the micro weather station exceed the preset weather threshold range, the network side server returns the information that the command is not executed and weather data to the control end. The technical scheme has the beneficial effects that the network side server analyzes and compares the received meteorological data, judges whether to send a machine command or not, and avoids the problem that the photovoltaic panel is cleaned under the severe environment to cause the loss of the photovoltaic intelligent robot.
In one embodiment, the preset meteorological threshold is: the temperature is 10-30 ℃, the wind power is 0-5 grade, and the precipitation is 0-8 mm.
In one embodiment, the on-site monitoring terminal and the machine terminal are both provided with 4G Internet of things cards for receiving machine commands sent by the network side server and sending information to the network side server by the on-site monitoring terminal and the machine terminal. The transmission of data commands between the field monitoring terminal and the network side service and between the machine terminal and the network side server is faster and more stable.
In one embodiment, the machine terminal is provided with a control circuit board for controlling the machine terminal to execute corresponding operations according to machine commands received by the 4G Internet of things card; the circuit board is provided with a chip which can identify the machine command and execute corresponding operation;
the control circuit board is also used for a short-range control system, an operator controls the machine terminal through the operation of the control circuit board, and the operator writes a program into the control circuit board through a computer to realize the control of the machine terminal.
In one embodiment, the network side server further includes a device for detecting an exception of the control end accessing the server, including:
the recording unit is used for recording the times of the control end for sending a data transmission request to the network side server after a data transmission channel is established between the control end and the network side server;
the detection unit is used for detecting whether the access server of the control end is abnormal or not according to the times of sending data transmission requests to the network side server by the control end and a preset criterion;
the detection unit is used for automatically refusing to receive all the requests of the control end by the network side server when the number of times of data transmission requests sent to the network side server by the control end exceeds the first number of preset criteria, and recording the information of data requests made by the control end; when the number of data transmission requests sent to the network side server by the control terminal exceeds the second number of the preset criteria but does not exceed the first number of the preset criteria, the control terminal is determined to be illegal invasion, and the control terminal is added to a blacklist; when the number of data transmission requests sent to the network side server by the control end exceeds the third number of the preset criterion but does not exceed the second number of the preset criterion, determining that the control end is in error in operation, and recording the control end into a control end protection directory; and when the number of times of data transmission requests sent to the network side server by the control end exceeds the fourth number of the preset criteria, the control end is determined to be a normal access network side server, the network side server creates a storage address corresponding to the data request based on the network side server according to the data request of the control end, and the storage address corresponds to the fragment storage space on the network side server and the file attribute of the request data on the network side server.
The beneficial effects of the above technical scheme are that: the network side server records the data request times of the control end, and judges whether the data request of the current control end is abnormal or not according to the request times and a preset criterion, so that the safety of the network side server can be effectively improved, the confidentiality of a control system is enhanced, and a hacker is effectively prevented from illegally invading to obtain data.
In one embodiment, before the network side server sends the machine command to the machine terminal, security authentication is performed between the network side server and the machine terminal, and after the authentication is passed, the network side server sends the machine command to the machine terminal; the safety certification is carried out between the network side server and the machine terminal, and the safety certification comprises the following steps:
the network side server comprises a certificate generating module and a digital authentication module, wherein the certificate generating module is used for generating a digital authentication certificate of the network side server and a digital authentication certificate of the machine terminal, and the network side server issues the digital authentication certificate of the machine terminal to the machine terminal;
the machine terminal comprises a terminal certificate sending module, a network side server and a terminal certificate sending module, wherein the terminal certificate sending module is used for sending the digital authentication certificate of the machine terminal and the random character code generated by the machine terminal to the network side server after public key encryption operation of the network side server;
the network side server also comprises a terminal verification module which is used for decrypting and verifying the digital authentication certificate sent by the receiving machine terminal and the random character code generated by the machine terminal through a private key of the network side server, verifying whether the digital authentication certificate of the machine terminal is legal or not, acquiring a public key of the machine terminal if the digital authentication certificate of the machine terminal is legal, or cutting off the connection with the machine terminal;
the network side server also comprises a server random character code generation encryption module which is used for generating a random character code of the network side server and transmitting the digital authentication certificate of the network side server and the random character code of the network side server to the machine terminal after being encrypted by the machine terminal public key; a random character code generated by a random character code generator according to a set operation method, the random character code being provided in a network-side server;
the machine terminal also comprises a server verification module which is used for carrying out decryption operation on the digital authentication certificate sent by the network side server and the random character code of the network side server through a machine terminal private key, verifying whether the digital authentication certificate of the network side server is legal or not, if the digital authentication certificate is legal, passing the safety authentication with the network side server, and the network side server sends a machine command to the machine terminal, otherwise, the connection with the network side server is cut off. The beneficial effects of the above technical scheme are that: before the machine command is sent, the network side server and the machine terminal carry out security verification through the digital authentication certificate, so that the confidentiality and the security of the machine command sending are effectively improved.
In one embodiment, as shown in FIG. 2, a microclimate station includes: an unmanned aerial vehicle 21;
the unmanned aerial vehicle 21 includes: a main body 211, a landing gear 212, a drive 213, and a utility box 214;
the main body 211 includes: the unmanned aerial vehicle comprises a beam bar 2111, a base plate 2112, a support bar 2113 and a linkage 2114, wherein the beam bar 2111 is installed at the central position of a main body of the unmanned aerial vehicle 21, the base plate 2112 is fixedly installed above the beam bar 2111, the base plate 2112 comprises an upper base plate 21121 and a lower base plate 21122, the middle positions of the upper base plate 21121 and the lower base plate 21122 are connected with the support bar 2113 through a support tube 2115, as shown in fig. 3, the linkage 2114 comprises a parallel linkage 21141 and an inclined linkage 21142, the inclined linkage 21142 is connected to the beam bar 2111, and a parallel linkage 21141 is connected with the support bar 2113;
the landing gear 212 is configured as a wheel mounted on a support bar 2113;
the driving device 213 comprises a motor 2131 and propellers 2132, the driving device 213 is arranged at the bottom of the supporting rod 2113, and each propeller 2132 is driven by the corresponding motor 2131;
the multifunctional box 214 comprises a temperature detector 2141, a wind direction and wind level detector 2142, a precipitation detector 2143, a camera 2144 and a communication device 2145; above-mentioned unmanned aerial vehicle simple structure, the quality is less, can realize great bearing capacity, can increase and decrease equipment as required in the multi-functional case 214 for unmanned aerial vehicle realizes more functions.
Unmanned aerial vehicle 21 top is provided with solar power supply unit 22, and solar power supply unit includes solar cell panel 221, power protector 222 and battery 223, wherein:
a solar cell panel 221 for receiving sunlight and performing photoelectric conversion on the received sunlight to generate electric power;
a power protector 222 for transmitting the electric power generated by the solar cell panel 221 to the storage battery 223;
the storage battery 223 is used for storing electric energy generated by the solar cell panel and providing power for the unmanned aerial vehicle to rise and fall; the solar cell panel 221 is electrically connected with the storage battery 223 through the power protector 222;
the solar cell panel comprises a crystalline silicon substrate, wherein the crystalline silicon substrate comprises a light-facing surface and a backlight surface, the light-facing surface and the backlight surface are respectively provided with two layers of amorphous wafers, the upper side of a first amorphous wafer is provided with a first amorphous silicon layer, the upper side of a second amorphous wafer is provided with a second amorphous silicon layer, the first amorphous silicon layer comprises a first conductive film, the second amorphous silicon layer comprises a second conductive film, and a transparent chalcogenide is arranged between the light-facing surface of the crystalline silicon substrate and the first amorphous wafer or between the backlight surface and the second amorphous wafer; according to the technical scheme, the conversion efficiency of sunlight is effectively improved, the manufacturing procedure of the crystalline silicon substrate is simple, and the cost of the solar cell panel is reduced.
A power supply protector 222 including a charging contact 2221 and a freewheeling diode 2222 connected in parallel; the freewheeling diode 2222 is used for preventing sudden voltage generation and damage to other devices in the charging process of the storage battery 223; the charging of the battery 223 is effectively ensured.
The storage battery 223 comprises a lead-acid storage battery, a buffer sealing device is arranged in the storage battery, the buffer sealing device is arranged in an upper shell 2231 and a lower shell 2232, the upper shell 2231 is connected with the lower shell 2232, two concave curved surfaces are arranged at the joint of the upper shell 2231 and the lower shell 2232, the lower shell is symmetrically provided with two concave curved surfaces, a first concave surface of the upper shell 2231 and a second concave surface of the lower shell 2232 are combined to form a group of symmetrical closed concave curved surfaces to form a first buffer zone 2233, and peripheral planes of the first buffer zone 2233 form a sealing surface; the second concave surface of the lower housing 2232 is 6mm wider than the second concave surface of the upper housing 2231, and the second concave surface of the upper housing 2231 and the second concave surface of the lower housing 2232 combine to form a second buffer zone 2234. The battery adopts above-mentioned structure, makes simply, has reduced manufacturing cost to be provided with the buffer, when the circumstances such as external force vibrates, can keep good state, avoid appearing leading to the battery to damage because of external force, influence unmanned aerial vehicle operation.
In one embodiment, the first amorphous silicon layer and the second amorphous silicon layer are a p-type amorphous silicon film layer and an n-type amorphous silicon film layer, respectively, or the first amorphous silicon layer and the second amorphous silicon layer are an n-type amorphous silicon film layer and a p-type amorphous silicon film layer, respectively. By adopting the technical scheme, more sunlight can be incident to the crystal silicon substrate, and the photoelectric conversion efficiency is greatly improved.
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (12)
1. A control system of a photovoltaic intelligent robot is characterized by comprising a remote control system and a short-range control system, wherein,
the remote control system comprises a control end, a field monitoring terminal, a network side server and a machine terminal, wherein:
the control end is used for receiving a control command input by an administrator and sending the control command to the network side server;
the on-site monitoring terminal is used for monitoring the meteorological information of the surrounding environment of the machine equipment and sending the meteorological information to the network side server;
the network side server comprises a database, a conversion directory, a control end and a machine command, wherein the conversion directory stores the control command and the machine command and is used for receiving the control command sent by the control end; converting the received control command into a corresponding machine command according to the conversion catalog; receiving meteorological information sent by the on-site monitoring terminal, and judging whether to send the machine command to the machine terminal according to the meteorological information;
the machine terminal is used for controlling machine equipment to start to execute work corresponding to the machine command when receiving the machine command sent by the network side server; the network side server is also used for sending the working state of the machine equipment and the execution progress of the machine command to the network side server;
the network side server is further used for sending the working state of the machine equipment and the execution progress of the machine command to the control end;
the control end is further used for acquiring the real-time working state of the machine equipment, the execution progress of the current machine command and the data information of the completed and unfinished machine commands from the network side server;
the short-range control system is used for operating the machine terminal on site by an operator;
the network side server also comprises a device for detecting the abnormity of the control end access server, comprising:
the recording unit is used for recording the times of data transmission requests sent to the network side server by the control end after a data transmission channel is established between the control end and the network side server;
the detection unit is used for detecting whether the access server of the control end is abnormal or not according to the times of sending data transmission requests to the network side server by the control end and a preset criterion;
the detection unit is used for automatically refusing to receive all the requests of the control end by the network side server when the number of times of data transmission requests sent to the network side server by the control end exceeds the first number of preset criteria, and recording information of data requests made by the control end; when the number of data transmission requests sent to the network side server by the control terminal exceeds the second number of the preset criteria but does not exceed the first number of the preset criteria, the control terminal is determined to be illegal intrusion, and the control terminal is added to a blacklist; when the number of data transmission requests sent to the network side server by the control terminal exceeds the third number of the preset criterion but does not exceed the second number of the preset criterion, determining that the control terminal is operated wrongly, and recording the control terminal into a control terminal protection directory; when the number of times of data transmission requests sent to the network side server by the control end exceeds the fourth number of preset criteria, the control end is determined to normally access the network side server, the network side server creates a storage address corresponding to the data request based on the network side server according to the data request of the control end, and the storage address corresponds to the fragment storage space on the network side server and the file attribute of the request data on the network side server.
2. The system of claim 1,
the control end comprises a mobile client;
the system also comprises a fixed PC end;
and the fixed PC end is used for receiving the real-time working state of the machine equipment, the execution progress of the current machine command, the data information of the completed and uncompleted machine command, receiving the weather information sent by the on-site monitoring terminal and displaying the received information.
3. The system of claim 2,
the mobile client comprises a photovoltaic intelligent robot remote control APP and comprises a control instruction sending module, a data receiving module and a setting module;
the control instruction sending module is used for an administrator to send a control instruction to the network side server;
the data receiving module is used for receiving information sent by the field monitoring terminal and the machine terminal;
and the setting module is used for setting by an administrator to execute a preset control command according to a certain period and send the preset control command to the network side server.
4. The system of claim 1,
the machine terminal includes: a photovoltaic intelligent cleaning robot;
the photovoltaic intelligent cleaning robot is used for starting to clean the specified photovoltaic panel when receiving a machine cleaning command sent by the control end; and the photovoltaic intelligent cleaning robot is also used for sending the electricity consumption, the work progress and the cleaning degree of the photovoltaic intelligent cleaning robot and the service loss condition of the photovoltaic intelligent cleaning robot to the network side server.
5. The system of claim 1,
the field monitoring terminal comprises a micro weather station;
the intelligent photovoltaic cleaning robot comprises a control end, a network side server and a photovoltaic intelligent cleaning robot, wherein the control end is used for monitoring the temperature, the wind level, the wind direction and the precipitation of the working environment of the intelligent photovoltaic cleaning robot and sending the monitored data to the network side server, and the network side server transmits the monitored data to the control end.
6. The system of claim 5,
the network side server comprises a comparison module, a machine terminal and a control module, wherein the comparison module is used for comparing the temperature, the wind level, the wind direction and the precipitation information sent by the micro meteorological station with a preset meteorological threshold value in the network side server, and sending a machine command to the machine terminal when the temperature, the wind level, the wind direction and the precipitation information sent by the micro meteorological station are within the preset meteorological threshold value range; and when the temperature, wind level, wind direction and precipitation information sent by the micro meteorological station exceed the preset meteorological threshold range, the network side server returns the information that the command is not executed and meteorological data to the control end.
7. The system of claim 6,
the preset meteorological threshold is as follows: the temperature is 10-30 ℃, the wind power is 0-5 grade, and the precipitation is 0-8 mm.
8. The system of claim 1,
and the field monitoring terminal and the machine terminal are both provided with 4G Internet of things cards for receiving machine commands sent by the network side server and sending information to the network side server by the field monitoring terminal and the machine terminal.
9. The system of claim 8,
the machine terminal is provided with a control circuit board and is used for controlling the machine terminal to execute corresponding operation according to a machine command received by the 4G Internet of things card;
the control circuit board is also used for the short-range control system, and an operator controls the machine terminal through the operation of the control circuit board.
10. The system of claim 1,
before the network side server sends the machine command to the machine terminal, safety certification is carried out between the network side server and the machine terminal, and after the certification is passed, the network side server sends the machine command to the machine terminal; the security authentication between the network side server and the machine terminal includes:
the network side server comprises a certificate generating module used for generating a digital authentication certificate of the network side server and a digital authentication certificate of the machine terminal, and the network side server issues the digital authentication certificate of the machine terminal to the machine terminal;
the machine terminal comprises a terminal certificate sending module, a network side server and a terminal certificate sending module, wherein the terminal certificate sending module is used for sending a digital authentication certificate of the machine terminal and a random character code generated by the machine terminal to the network side server after public key encryption operation of the network side server;
the network side server also comprises a terminal verification module which is used for carrying out decryption verification on the received digital authentication certificate sent by the machine terminal and the random character code generated by the machine terminal through a private key of the network side server, verifying whether the digital authentication certificate of the machine terminal is legal or not, acquiring a public key of the machine terminal if the digital authentication certificate of the machine terminal is legal, and otherwise, cutting off the connection with the machine terminal;
the network side server also comprises a server random character code generation encryption module which is used for generating a random character code of the network side server and transmitting a digital authentication certificate of the network side server and the network side server random character code to the machine terminal after being encrypted by a machine terminal public key; the random character code is generated by an operation method of generating the random character code according to a preset pseudo character code, and the character code is generated by a random character code generator according to a set operation method, wherein the random character code generator is arranged in the network side server;
the machine terminal also comprises a server verification module which is used for carrying out decryption operation on the digital authentication certificate sent by the network side server and the random character code of the network side server through a machine terminal private key, verifying whether the digital authentication certificate of the network side server is legal or not, if the digital authentication certificate is legal, passing the safety authentication with the network side server, and the network side server sends the machine command to the machine terminal, otherwise, the connection with the network side server is cut off.
11. The system of claim 5, wherein the microclimate station comprises: an unmanned aerial vehicle;
the unmanned aerial vehicle includes: the multifunctional lifting device comprises a main body, a lifting device, a driving device and a multifunctional box;
the main body includes: the beam rod is mounted at the central position of the unmanned aerial vehicle main body, the substrate is fixedly mounted above the beam rod and comprises an upper substrate and a lower substrate, the middle positions of the upper substrate and the lower substrate are connected with the support rod through support tubes, the linkage device comprises a parallel linkage device and an inclined linkage device, the inclined linkage device is connected with the beam rod, and the parallel linkage device is connected with the support rod;
the lifting device is arranged in a wheel type structure and is arranged on the supporting rod;
the driving device comprises a motor and propellers, the driving device is arranged at the bottom of the supporting rod, and each propeller is driven by the corresponding motor;
the multifunctional box comprises a temperature detector, a wind direction and wind level detector, a precipitation detector, a camera and a communication device;
unmanned aerial vehicle top is provided with solar power supply unit, and solar power supply unit includes solar cell panel, power protector and battery, wherein:
the solar cell panel is used for receiving sunlight and performing photoelectric conversion on the received sunlight to generate electric energy;
the power supply protector is used for transmitting the electric energy generated by the solar cell panel to the storage battery;
the storage battery is used for storing electric energy generated by the solar panel and providing power for the rise and fall of the unmanned aerial vehicle; the solar cell panel is electrically connected with the storage battery through the power supply protector;
the solar cell panel comprises a crystalline silicon substrate, wherein the crystalline silicon substrate comprises a light-facing surface and a backlight surface, the light-facing surface and the backlight surface are respectively provided with two layers of amorphous wafers, the upper side of a first amorphous wafer is provided with a first amorphous silicon layer, the upper side of a second amorphous wafer is provided with a second amorphous silicon layer, the first amorphous silicon layer comprises a first conductive film, the second amorphous silicon layer comprises a second conductive film, and a transparent chalcogenide is arranged between the light-facing surface and the first amorphous wafer or between the backlight surface and the second amorphous wafer of the crystalline silicon substrate;
the power supply protector comprises a charging contactor and a freewheeling diode which are connected in parallel; the freewheeling diode is used for preventing sudden change voltage from being generated and damaging other devices in the charging process of the storage battery;
the storage battery comprises a lead-acid storage battery, wherein a buffer sealing device is arranged in the storage battery, the buffer sealing device is arranged in an upper shell and a lower shell, the upper shell is connected with the lower shell, two concave curved surfaces are arranged at the joint of the upper shell and the lower shell, the lower shell is symmetrically provided with two concave curved surfaces, a first concave surface of the upper shell is combined with a second concave surface of the lower shell to form a group of symmetrical closed concave curved surfaces to form a first buffer area, and peripheral planes of the first buffer area form a sealing surface; the second concave surface of inferior valve than the second concave surface of epitheca is 6mm wide, the second concave surface of epitheca with the second concave surface of inferior valve combines together, combines the clearance and forms the second buffer.
12. The system of claim 11,
the first amorphous silicon layer and the second amorphous silicon layer are respectively a p-type amorphous silicon film layer and an n-type amorphous silicon film layer, or the first amorphous silicon layer and the second amorphous silicon layer are respectively an n-type amorphous silicon film layer and a p-type amorphous silicon film layer.
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| CN202011382497.XA CN112486068A (en) | 2018-11-01 | 2018-11-01 | Control system of photovoltaic intelligent robot |
| CN201811295751.5A CN109333538B (en) | 2018-11-01 | 2018-11-01 | Control system of photovoltaic intelligent robot |
| CN202011387567.0A CN112486069B (en) | 2018-11-01 | 2018-11-01 | Control system of photovoltaic intelligent robot |
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| CN112486069A (en) | 2021-03-12 |
| CN112486069B (en) | 2022-03-01 |
| CN109333538A (en) | 2019-02-15 |
| CN112486068A (en) | 2021-03-12 |
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