CN110125125A - Photovoltaic surface intelligence purging system control device - Google Patents
Photovoltaic surface intelligence purging system control device Download PDFInfo
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- CN110125125A CN110125125A CN201910460576.9A CN201910460576A CN110125125A CN 110125125 A CN110125125 A CN 110125125A CN 201910460576 A CN201910460576 A CN 201910460576A CN 110125125 A CN110125125 A CN 110125125A
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- 238000010926 purge Methods 0.000 title claims abstract description 17
- 238000004891 communication Methods 0.000 claims abstract description 37
- 238000001514 detection method Methods 0.000 claims abstract description 13
- 239000003990 capacitor Substances 0.000 claims description 168
- 230000005540 biological transmission Effects 0.000 claims description 58
- 230000008878 coupling Effects 0.000 claims description 57
- 238000010168 coupling process Methods 0.000 claims description 57
- 238000005859 coupling reaction Methods 0.000 claims description 57
- 239000013078 crystal Substances 0.000 claims description 20
- 230000005611 electricity Effects 0.000 claims description 15
- 230000005669 field effect Effects 0.000 claims description 9
- 239000004065 semiconductor Substances 0.000 claims description 9
- 239000011324 bead Substances 0.000 claims description 6
- 238000003860 storage Methods 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 4
- 230000003287 optical effect Effects 0.000 claims description 3
- 230000003760 hair shine Effects 0.000 claims description 2
- 238000004804 winding Methods 0.000 claims description 2
- 238000005868 electrolysis reaction Methods 0.000 claims 1
- 238000000465 moulding Methods 0.000 claims 1
- 238000010408 sweeping Methods 0.000 abstract description 7
- 238000000034 method Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 3
- 230000002159 abnormal effect Effects 0.000 abstract description 2
- 238000004140 cleaning Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000007613 environmental effect Effects 0.000 description 3
- 239000000428 dust Substances 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000004353 relayed correlation spectroscopy Methods 0.000 description 2
- 101001051799 Aedes aegypti Molybdenum cofactor sulfurase 3 Proteins 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- 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
- H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
- H02S40/10—Cleaning arrangements
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The present invention discloses photovoltaic surface intelligence purging system control device, including MCU control module, power module, motor control module, sensor communication module, network communication and GPS positioning module, serial communication module, self detection and alarm module.In the control process that photovoltaic intelligent cleans, electric power source pair of module modules are powered, weather conditions are transmitted to control chip by sensor communication module by Temperature Humidity Sensor and wind sensor, the operating parameter of equipment itself is transmitted to control chip with alarm module by self detection, it takes Cheng Kaiguan and judges whether sweeping robot goes to work area edge, and information is transmitted to control chip, control chip handles obtained various information, analysis, obtained result is uploaded to host computer by network communication module, and information is analyzed to control the working condition of motor, judge whether data are abnormal, it need to not need to alarm.
Description
Technical field
The present invention relates to photovoltaic intelligents to clean field, specifically photovoltaic surface intelligence purging system control device.
Background technique
With China's expanding economy, energy problem is more and more prominent, and non-renewable energy resources have been insufficient for people
Production and living demand, energy problem has become the Social Events for being related to national economy and national security, therefore big
Power develops low-carbon industry, promotes and applies energy conservation and environmental protection new technology, promotes the fast development of solar energy power generating industry.In view of
The large-sized photovoltaic power station in China is mostly built in greatly the even desert area of the strong northwestward of illumination, these regional sunshines are sufficient, too
Sun radiation is strong, and the sunshine-duration is long, provides superior condition for the utilization of solar energy.However these areas are being suitble to large-scale light
While overhead utility power generation needs, sand and dust problem is serious, bad environments, and pollution and dust situation are more tight on solar panel
Weight influences generating efficiency and even forms hot spot effect, causes permanent lesion to solar panel, or even can result in entire
Solar panel array failure.And hand sweeping and machine cleaning two are broadly divided into greatly to the cleaning of solar panel at present
Class.Wherein, hand sweeping: low efficiency, it is at high cost, need to expend a large amount of manpower, material resources and financial resources, and clean the person of personnel
Safety cannot also ensure；Machine cleans: not extensive universal, the degree of automation is low, and the ability for adapting to environment is poor, reliability
It is low, higher cost, not very good solution problem.
Summary of the invention
In view of this, the present invention is intended to provide a kind of control device of photovoltaic surface intelligence purging system, is realized to photovoltaic
The accurate control of Intelligent sweeping machine device people, high degree of automation is highly reliable, and structure is simple, at low cost, adapts to the ability of environment
By force, can be good at completing the cleaning works to large-scale photovoltaic power station solar panel, energy under severe operating conditions
Enough extend the service life of solar panel, it is significant for the working efficiency for improving photovoltaic plant.
To achieve the above object, the present invention is now provided with following technical solution: photovoltaic surface intelligence purging system control dress
It sets including MCU control module, power module, motor control module, sensor communication module, network communication and GPS positioning module,
Serial communication module, self detection and alarm module.
The MCU control module is by main control chip U101, memory chip U104, resistance R101, R106, R108,
R109, R110, R111, R113, R117, R134, R136, capacitor C101, C102, C103, C104, C105, C106, C107,C109, C110, C111, C113, C115, C121, crystal oscillator Y101, Y102, Light-emitting diode LED 101, switch
SW101, port P102 composition.One section of the 1 pin connection capacitor C109 and resistance R110 of main control chip U101, capacitor C109's
The other end connects GND, and the other end of resistance R110 connects VDD_3.3V.Main control chip U101 3 pins connection capacitor C105 and
One end of crystal oscillator Y101, one end of the other end connection capacitor C106 of another termination GND of capacitor C105, crystal oscillator Y101, capacitor
The other end of C106 connects GND.One end of the 4 pins connection resistance R109 of main control chip U101, the other end connect capacitor C106
One end.One end of the connection of 5 pins the crystal oscillator Y102 and capacitor C111 of main control chip U101, the other end of crystal oscillator Y102 connect electricity
Hinder one end of R111 and capacitor C110, the other end of capacitor C111 connects GND, capacitor C110 the other end connect GND, resistance
6 pins of the other end connection main control chip U101 of R111.One end of one end connection crystal oscillator Y102 of resistance R113, the other end connect
Connect the other end of crystal oscillator Y102.7 pins of main control chip U101 connect8 pins of main control chip U101 connect
PC0_ADCIN10.9 pins of main control chip U101 connect PC1_ADCIN11.10 pins of main control chip U101 connect PC2_
CTL_CC.11 pins of main control chip U101 connect PC3_M1C.12 pins of main control chip U101 connect GND.Main control chip
13 pins of U101 connect A3.3V.15 pins of main control chip U101 connect PA1_CTL_AM.16 pins of main control chip U101
Connect PA2_U2TX.17 pins of main control chip U101 connect PA3_U2RX.18 pins of main control chip U101 connect GND.It is main
19 pins for controlling chip U101 connect VDD_3.3V.20 pins of main control chip U101 connect PA4_OC0.Main control chip U101's
21 pins connect PA5_OC1.22 pins of main control chip U101 connect PA6_OC2.23 pins of main control chip U101 connect
PA7_OC3.24 pins of main control chip U101 connect PC4_M2C.26 pins of main control chip U101 connect PB0_XCKG2.It is main
27 pins for controlling chip U101 connect PB1_XCKG3.One end of the 28 pins connection resistance R136 of main control chip U101, the other end
Connect GND.31 pins of main control chip U101 connect GND.32 pins of main control chip U101 connect VDD_3.3V.Main control chip
37 pins of U101 connect PC6_GRESET.38 pins of main control chip U101 connect PC7_wake_up.Main control chip U101's
39 pins connect PC8_GPWR.The cathode of the connection of 40 the pins PC9_LED and Light-emitting diode LED 101 of main control chip U101, hair
The anode of optical diode is connect with one end of resistance R101, and the other end of resistance R101 connects VDD_3.3V.Main control chip U101
41 pins connect PA8_CTL_SS.42 pins of main control chip U101 connect PA9_U1TX.43 pins of main control chip U101
Connect PA10_U1RX.44 pins of main control chip U101 connect PA11_4851C.45 pins of main control chip U101 connect
PA12_XCKG1.One end of the connection of 46 the pins SWDIO and resistance R106 of main control chip U101, the other end connection of resistance R106
VDD_3.3V.One end of the connection of 47 the pins SWCLK and resistance R108 of main control chip U101, the other end connection of resistance R108
GND.50 pins of main control chip U101 connect PA15_XCKG4.51 pins of main control chip U101 connect PC10_U3TX.Master control
52 pins of chip U101 connect PC11_U3RX.53 pins of main control chip U101 connect PC12_4852C.Main control chip U101
54 pins connect PD2_SDEN.55 pins of main control chip U101 connect PB3_SPI1_SCK.Draw the 56 of main control chip U101
Foot connects PB4_SPI1_MISO.57 pins of main control chip U101 connect PB5_SPI1_MOSI.Draw the 58 of main control chip U101
Foot connects PB6_F_CS.One end of the 60 pins connection resistance R134 of main control chip U101, the other end connection of resistance R134
GND.63 pins of main control chip U101 connect GND.64 pins of main control chip U101 connect VDD_3.3V.The 1 of port P102
Pin connects VDD_3.3V.2 pins of port P102 connect SWDIO.3 pins of port P102 connect SWCLK.Port P102's
4 pins connect GND.One end of resistance R117 connects VDD_3.3V, other end connectionOne end of capacitor C113
ConnectionThe other end connects GND.One end of switch SW101 connectsThe other end connects GND.Electricity
The one end for holding C101 connects VDD_3.3V, and the other end connects GND.One end of capacitor C102 connects VDD_3.3V, other end connection
GND.One end of capacitor C103 connects VDD_3.3V, and the other end connects GND.One end of capacitor C104 connects VDD_3.3V, another
End connection GND.One end of capacitor C121 connects VDD_3.3V, and the other end connects GND.One end of capacitor C107 connects A3.3V, separately
One end connects GND.One end of capacitor C108 connects A3.3V, and the other end connects GND.1 pin of memory chip U104 connects
PB6_F_CS.2 pins of memory chip U104 connect PB4_SPI1_MISO.3 pins of memory chip U104 connect VDD_
3.3V.4 pins of memory chip U104 connect GND.5 pins of memory chip U104 connect PB5_SPI1_MOSI.Storage
6 pins of device chip U104 connect PB3_SPI1_SCK.7 pins of memory chip U104 connect VDD_3.3V.Storage core
One end of the connection of 8 the pins VDD_3.3V and capacitor C115 of piece U104, the other end of capacitor C115 connect GND.The power supply
Module is by port P304, modular power source U308, power supply chip U201, U309, U311, metal-oxide-semiconductor field effect transistor Q301, triode
Q302, electrolytic capacitor CP301, CP302, capacitor C201, C202, C203, C204, C205, C206, C207, C208, C301,
C303, C304, C305, C306, C307, C308, C309, C312, C315, C316, C317, C318, C319, C322, C323, electricity
Hinder R201, R202, R203, R204, R205, R206, R207, R208, R209, R304, R311, R312, R313, R315, R317,
R318, R319, R321, R322, R323, R324, R325, R326, R327, R329, R330, R331, R332, inductance L201,
L301, L302, magnetic bead LB301, LB302 composition.One end of the connection of 1 the pin AMP+ and resistance R304 of port P304, resistance
The other end of R304 connects VIN.2 pins of port P304 connect AGND.2 pins of modular power source U308 connect AGND.Module
3 pins of power supply U308 connect AGND.14 pins of modular power source U308 connect 24V.16 pins of modular power source U308 connect
GND.22 pins of modular power source U308 connect VIN.23 pins of modular power source U308 connect VIN.Electrolytic capacitor CP301 is just
Pole connects 24V, and cathode connects GND.The anode connection VIN of electrolytic capacitor CP302, cathode connect AGND.The 1 of power supply chip U201
Pin connects one end of resistance R208 and capacitor C208, and the other end of resistance R208 connects GND, the other end connection of capacitor C208
GND.2 pins of power supply chip U201 connect 24V.The one of the 3 pins connection inductance L201 and capacitor C201 of power supply chip U201
End, the other end of inductance L201 connect 3V9, and one end of the other end connection resistance R201 of capacitor C201, resistance R201's is another
5 pins of end connection power supply chip U201.4 pins of power supply chip U201 connect GND.6 pins of power supply chip U201 connect
One end of resistance R205, R202 and R207, the other end of resistance R207 connect PC8_GPWR, the other end connection of resistance R202
The other end of 24V, resistance R205 connect GND.One end of the 7 pins connection capacitor C207 of power supply chip U201, capacitor C207's
The other end connects GND.One end of the 8 pins connection resistance R204 of power supply chip U201, the other end of resistance R204 connect resistance
One end of R203, R206 and R209, the other end of resistance R203 connect 3V9, and the other end of resistance R206 connects GND, resistance
One end of the other end connection capacitor C204 of R209, the other end of capacitor C204 connect 3V9.One end of capacitor C202 connects 24V,
The other end connects GND.One end of capacitor C203 connects 24V, and the other end connects GND.One end of capacitor C205 connects 3V9, another
End connection GND.One end of capacitor C206 connects 3V9, and the other end connects GND.1 pin of power supply chip U309 connects resistance R319
With one end of capacitor C309, the other end of resistance R319 connects GND, and the other end of capacitor C309 connects GND.Power supply chip U309
2 pins connect 24V.One end of the connection of 3 pins the inductance L301 and capacitor C301 of power supply chip U309, inductance L301's is another
One end of the other end connection resistance R311 of end connection VDD_3.3V, capacitor C301, the other end of resistance R311 connect power supply core
5 pins of piece U309.4 pins of power supply chip U309 connect GND.Power supply chip U309 6 pins connection resistance R312 and
One end of R317, the other end of resistance R312 connect 24V, and the other end of resistance R317 connects GND.Draw the 7 of power supply chip U309
Foot connects one end of capacitor C308, and the other end of capacitor C308 connects GND.8 pins of power supply chip U309 connect resistance R315
One end, one end of the other end connection resistance R313, R318 and R321 of resistance R315, the other end of resistance R313 connects VDD_
The other end of 3.3V, resistance R318 connect GND, and one end of the other end connection capacitor C305 of resistance R321, capacitor C305's is another
One end connects VDD_3.3V.One end of capacitor C303 connects 24V, and the other end connects GND.One end of capacitor C304 connects 24V, separately
One end connects GND.One end of capacitor C306 connects VDD_3.3V, and the other end connects GND.One end of capacitor C307 connects VDD_
3.3V, the other end connect GND.One end of the connection of 1 pin the resistance R330 and capacitor C323 of power supply chip U311, resistance R330's
The other end connects GND, and the other end of capacitor C323 connects GND.2 pins of power supply chip U311 connect VS24V.Power supply chip
One end of the connection of 3 pins the inductance L302 and capacitor C312 of U311, the other end of inductance L302 connect 5V0_SEN, capacitor C312
The other end connection resistance R322 one end, resistance R322 the other end connection power supply chip U311 5 pins.Power supply chip
4 pins of U311 connect GND.One end of the connection of 6 pins the resistance R323 and R326 of power supply chip U311, resistance R323's is another
The other end of end connection VS24V, resistance R326 connect GND.One end of the 7 pins connection capacitor C322 of power supply chip U311, electricity
The other end for holding C322 connects GND.One end of the 8 pins connection resistance R325 of power supply chip U311, the other end of resistance R325
One end of resistance R324, R327 and R331 are connected, the other end of resistance R324 connects 5V0_SEN, and the other end of resistance R327 connects
GND, one end of the other end connection capacitor C317 of resistance R331 are met, the other end of capacitor C317 connects 5V0_SEN.Capacitor C315
One end connect VS24V, the other end connect GND.One end of capacitor C316 connects VS24V, and the other end connects GND.Capacitor C318
One end connect 5V0_SEN, the other end connect GND.One end of capacitor C319 connects 5V0_SEN, and the other end connects GND.MOS
3 pins of the 1 pin connecting triode Q302 of effect pipe Q301,1 pin of triode Q302 connect GND, and the 2 of triode Q302
Pin connects one end of resistance R332, and the other end of resistance R332 connects PD2_SDEN.2 pins of metal-oxide-semiconductor field effect transistor Q301 connect
Meet 24V.3 pins of metal-oxide-semiconductor field effect transistor Q301 connect VS24V.One end of resistance R329 connects 24V, and the other end connects PD2_
SDEN.One end of magnetic bead LB301 connects GND, and the other end connects AGND.One end of magnetic bead LB302 connects VDD_3.3V, the other end
Connect A3.3V.The motor control module by port P105, P107, P301, P302, P305, vehicle-mounted relay U307,
U312, light coupling relay U105, U106, U302, U306, rectifier diode D301, D302, resistance R127, R129, R131,
R133, R301, R302, R306, R307 composition.1 pin of vehicle-mounted relay U307 connects Motor-.Vehicle-mounted relay U307's
2 pins connect Motor-.3 pins of vehicle-mounted relay U307 connect Motor-.4 pins of vehicle-mounted relay U307 connect VIN.
5 pins of vehicle-mounted relay U307 connect AGND.3 pins of the 6 pins connection light coupling relay U306 of vehicle-mounted relay U307.
7 pins of vehicle-mounted relay U307 connect AGND.The anode connection AGND of rectifier diode D302, cathode connect resistance R307's
One end, 6 pins of the other end connection vehicle-mounted relay U307 of resistance R307.1 pin of light coupling relay U306 connects resistance
One end of R306,1 pin and PC4_M2C of the other end connectivity port P305 of resistance R306, the 2 pins connection of port P305
OC1NOR.2 pins of light coupling relay U306 connect GND.4 pins of light coupling relay U306 connect VIN.Vehicle-mounted relay
1 pin of U312 connects Motor+.2 pins of vehicle-mounted relay U312 connect Motor+.3 pins of vehicle-mounted relay U312 connect
Meet Motor+.4 pins of vehicle-mounted relay U312 connect VIN.5 pins of vehicle-mounted relay U312 connect AGND.Vehicle-mounted relay
3 pins of the 6 pins connection light coupling relay U302 of device U312.7 pins of vehicle-mounted relay U312 connect AGND.Rectify two poles
The anode connection AGND of pipe D301, cathode connect one end of resistance R302, and the other end of resistance R302 connects vehicle-mounted relay
6 pins of U312.One end of the 1 pin connection resistance R301 of light coupling relay U302, the other end connectivity port of resistance R301
2 pins of 1 pin and PC3_M1C of P302, port P302 connect OC0NOR.2 pins of light coupling relay U302 connect GND.
4 pins of light coupling relay U302 connect VIN.One end of the 1 pin connection resistance R129 of light coupling relay U105, resistance R129
The other end connect VDD_3.3V.2 pins of the 2 pin connectivity port P105 of light coupling relay U105,1 pin of port P105
Connect GND.3 pins of light coupling relay U105 connect GND.One end of the 4 pins connection resistance R127 of light coupling relay U105
And the other end of PA12_XCKG1, resistance R127 connect VDD_3.3V.The 1 pin connection resistance R133's of light coupling relay U106
The other end of one end, resistance R133 connects VDD_3.3V.2 pins of the 2 pin connectivity port P107 of light coupling relay U106, end
1 pin of mouth P107 connects GND.3 pins of light coupling relay U106 connect GND.4 pins of light coupling relay U106 connect electricity
The other end of one end and PB0_XCKG2, resistance R131 for hindering R131 connects VDD_3.3V.1 pin of port P301 connects
2 pins of Motor-, port P301 connect Motor+.The sensor communication module by port P106, P109, P114,
P115, RS-485 transponder chip U102, U103, resistance R115, R119, R124, R126, R128, R130, capacitor C112,
C114 composition.1 pin of RS-485 transponder chip U102 connects PC11_U3RX.2 pins of RS-485 transponder chip U102
Connect PC12_4852C.3 pins of RS-485 transponder chip U102 connect PC12_4852C.RS-485 transponder chip U102
4 pins connect PC10_U3TX.5 pins of RS-485 transponder chip U102 connect GND.RS-485 transponder chip U102
6 pins connection 4852A, resistance R119 and R124 one end, one end of resistance R119 connects 4852B and RS-485 transceiver core
The other end of 7 pins of piece U102, resistance R124 connects VDD_3.3V.8 pins of RS-485 transponder chip U102 connect
The other end of one end of VDD_3.3V and capacitor C112, capacitor C112 connects GND.1 pin of RS-485 transponder chip U103
Connect PA10_U1RXS.2 pins of RS-485 transponder chip U103 connect PA11_4851C.RS-485 transponder chip U103
3 pins connect PA11_4851C.4 pins of RS-485 transponder chip U103 connect PA9_U1TXS.RS-485 transceiver core
5 pins of piece U103 connect GND.RS-485 transponder chip U103 6 pins connection 4851A, resistance R128 and R130 one
End, 7 pins of one end connection 4851B and RS-485 transponder chip U103 of resistance R128, the other end connection of resistance R130
VDD_3.3V.One end of the connection of 8 the pins VDD_3.3V and capacitor C114 of RS-485 transponder chip U103, capacitor C114's is another
One end connects GND.One end of resistance R115 connects 4852B, and the other end connects GND.One end of resistance R126 connects 4851B, separately
One end connects GND.1 pin of port P106 connects PA9_U1TXS.2 pins of port P106 connect PA9_U1TX.Port P106
3 pins connect PA9_U1TXU.1 pin of port P109 connects PA10_U1RXS.2 pins of port P109 connect PA10_
U1RX.3 pins of port P109 connect PA10_U1RXU.1 pin of port P114 connects 4851A.2 pins of port P114 connect
Meet 4851B.1 pin of port P115 connects 4852A.2 pins of port P115 connect 4852B.The network communication and GPS
Locating module shines two by GPRS+GPS transparent transmission module U202, TVS pipe array chip U204, SIM card holder U203, switch SW201
Pole pipe LED201, LED202, LED203, LED204, LED205, LED206, triode Q201, Q202, Q203, Q204, Q205,
Resistance R210, R211, R212, R213, R214, R215, capacitor C209, C210, C211, C212, C213, C214, C215, C216
It is formed with port P201, P202.1 pin of GPRS+GPS transparent transmission module U202 connects 3V9.GPRS+GPS transparent transmission module U202's
2 pins connect 3V9.3 pins of GPRS+GPS transparent transmission module U202 connect GND.4 pins of GPRS+GPS transparent transmission module U202 connect
Meet GND.5 pins of GPRS+GPS transparent transmission module U202 connect Reload.6 pins of GPRS+GPS transparent transmission module U202 connect
PC7_wake_up.9 pins of GPRS+GPS transparent transmission module U202 connect PC6_GRESET.GPRS+GPS transparent transmission module U202's
10 pins connect GPRS.11 pins of GPRS+GPS transparent transmission module U202 connect LINKA.The 12 of GPRS+GPS transparent transmission module U202
Pin connects LINKB.13 pins of GPRS+GPS transparent transmission module U202 connect DATA.Draw the 14 of GPRS+GPS transparent transmission module U202
Foot connects WORK.17 pins of GPRS+GPS transparent transmission module U202 connect GND.22 pins of GPRS+GPS transparent transmission module U202 connect
Meet SIM_VDD.23 pins of GPRS+GPS transparent transmission module U202 connect SIM_CLK.Draw the 24 of GPRS+GPS transparent transmission module U202
Foot connects SIM_DATA.25 pins of GPRS+GPS transparent transmission module U202 connect SIM_RST.GPRS+GPS transparent transmission module U202's
35 pins connect PA3_U2RXG.36 pins of GPRS+GPS transparent transmission module U202 connect PA2_U2TXG.GPRS+GPS transparent transmission mould
39 pins of block U202 connect GND.40 pins of GPRS+GPS transparent transmission module U202 connect GND.GPRS+GPS transparent transmission module
42 pins of U202 connect GND.43 pins of GPRS+GPS transparent transmission module U202 connect GND.GPRS+GPS transparent transmission module U202
45 pins connect GND.1 pin of TVS pipe array chip U204 connects SIM_DATA.2 pins of TVS pipe array chip U204
Connect GND.4 pins of TVS pipe array chip U204 connect SIM_CLK.5 pins of TVS pipe array chip U204 connect SIM_
RST.6 pins of TVS pipe array chip U204 connect SIM_VDD.1 pin of SIM card holder U203 connects SIM_DATA.SIM card
3 pins of seat U203 connect GND.4 pins of SIM card holder U203 connect SIM_CLK.5 pins of SIM card holder U203 connect SIM_
RST.One end of the connection of 6 the pins SIM_VDD and capacitor C216 of SIM card holder U203, the other end of capacitor C216 connect GND.Electricity
The one end for holding C209 connects 3V9, and the other end connects GND.One end of capacitor C210 connects 3V9, and the other end connects GND.Capacitor
One end of C211 connects 3V9, and the other end connects GND.One end of capacitor C212 connects 3V9, and the other end connects GND.Capacitor C213
One end connect PC6_GRESET, the other end connect GND.One end of capacitor C214 connects PC7_wake_up, other end connection
GND.One end of capacitor C215 connects Reload, and the other end connects GND.One end of switch SW201 connects Reload, and the other end connects
Meet GND.1 pin of triode Q201 connects GND.2 pins of triode Q201 connect WORK.3 pins of triode Q201 connect
The cathode of sending and receiving optical diode LED201, one end of the anode connection resistance R210 for diode (LED) 201 of giving out light, resistance R210's
The other end connects 3V9.1 pin of triode Q202 connects GND.2 pins of triode Q202 connect GPRS.Triode Q202's
3 pins connect the cathode of Light-emitting diode LED 202, one end of the anode connection resistance R211 for diode (LED) 202 of giving out light, resistance
The other end of R211 connects 3V9.1 pin of triode Q203 connects GND.2 pins of triode Q203 connect LINKA.Three poles
The cathode of the 3 pins connection Light-emitting diode LED 203 of pipe Q203, the anode connection resistance R212's for diode (LED) 203 of giving out light
The other end of one end, resistance R212 connects 3V9.1 pin of triode Q204 connects GND.2 pins of triode Q204 connect
LINKB.The cathode of the 3 pins connection Light-emitting diode LED 204 of triode Q204, the anode connection for diode (LED) 204 of giving out light
The other end of one end of resistance R213, resistance R213 connects 3V9.1 pin of triode Q205 connects GND.The 2 of triode Q205
Pin connects DATA.The cathode of the 3 pins connection Light-emitting diode LED 205 of triode Q205, is giving out light diode (LED) 205 just
Pole connects one end of resistance R214, and the other end of resistance R214 connects 3V9.The cathode of Light-emitting diode LED 206 connects GND, just
Pole connects one end of resistance R215, and the other end of resistance R215 connects 3V9.1 pin of port P201 connects PA3_U2RX.Port
2 pins of P201 connect PA3_U2RXG.1 pin of port P202 connects PA2_U2TX.2 pins of port P202 connect PA2_
U2TXG.The serial communication module is by USB-TTL chip U110, port USB_101, triode Q101, Q102, switch two
Pole pipe D101, crystal oscillator Y103, resistance R142, R144, R145, R146 and capacitor C116, C117, C118, C119, C120 composition.
1 pin of USB-TTL chip U110 connects GND.2 pins of USB-TTL chip U110 connect PA10_U1RXU.USB-TTL core
3 pins of piece U110 connect PA9_U1TXU.The one of the 4 pins connection VDD_3.3V and capacitor C118 of USB-TTL chip U110
End, 5 pins of the other end connection GND and port USB_101 of capacitor C118.The 5 pin connectivity ports of USB-TTL chip U110
3 pins of USB_101.2 pins of the 6 pin connectivity port USB_101 of USB-TTL chip U110.USB-TTL chip U110's
7 pins connect one end of capacitor C119 and crystal oscillator Y103, and the other end of capacitor C119 connects GND, and the other end of crystal oscillator Y103 connects
8 pins of USB-TTL chip U110 and one end of capacitor C120 are connect, the other end of capacitor C120 connects GND.USB-TTL chip
One end of the 13 pins connection resistance R144 of U110,2 pins of the other end connecting triode Q101 of resistance R144, triode
14 pins of the 1 pin connection USB-TTL chip U110 of Q101 and one end of resistance R146, the other end connection three of resistance R146
2 pins of pole pipe Q102,1 pin of triode Q102 connect VDD_3.3V, the 3 pins connection resistance R145's of triode Q102
One end.The other end of resistance R145 connects ARM_BOOT0, the cathode of the 3 pin connection switch diode D101 of triode Q101
With one end of resistance R142, the anode connection of switching diode D101The other end of resistance R142 connects VDD_
3.3V.16 pins of USB-TTL chip U110 connect VDD_3.3V.One end of capacitor C116 connects VDD_3.3V, and the other end connects
Meet GND.One end of capacitor C117 connects VDD_3.3V, and the other end connects GND.Self detection and alarm module are by reverse phase
Device chip U01, current sense amplifier U310, light coupling relay U304, U305, rectifier diode D303, D304, port
P303, resistance R303, R305, R308, R309 and capacitor C302 composition.1 pin of phase inverter chip U01 connects PA4_OC0.Instead
2 pins of phase device chip U01 connect OC0NOR.3 pins of phase inverter chip U01 connect PA5_OC1.The 4 of phase inverter chip U01
Pin connects OC1NOR.5 pins of phase inverter chip U01 connect PA6_OC2.6 pins of phase inverter chip U01 connect
OC2NOR.7 pins of phase inverter chip U01 connect GND.8 pins of phase inverter chip U01 connect OC3NOR.Phase inverter chip
9 pins of U01 connect PA7_OC3.14 pins of phase inverter chip U01 connect VDD_3.3V.The 1 of current sense amplifier U310
Pin connects VIN.2 pins of current sense amplifier U310 connect AGND.3 pins of current sense amplifier U310 connect
AGND.5 pins of current sense amplifier U310 connect PC1_ADCIN11.6 pins of current sense amplifier U310 connect
A3.3V.7 pins of current sense amplifier U310 connect AGND.8 pins of current sense amplifier U310 connect AMP+.Electricity
The one end for holding C302 connects A3.3V, and the other end connects AGND.The cathode of rectifier diode D303 connects A3.3V, anode connection
PC1_ADCIN11.The cathode of rectifier diode D304 connects PC1_ADCIN11, anode connection AGND.One end of resistance R308 connects
VIN is met, the other end connects PC0_ADCIN10.One end of resistance R309 connects PC0_ADCIN10, and the other end connects AGND.Optocoupler
One end of the 1 pin connection resistance R303 of relay U304, the other end of resistance R303 connect OC2NOR.Light coupling relay U304
2 pins connect GND.3 pins of light coupling relay U304 connect OC22.4 pins of light coupling relay U304 connect OC21.Light
One end of the 1 pin connection resistance R305 of coupling relay U305, the other end of resistance R305 connect OC3NOR.Light coupling relay
2 pins of U305 connect GND.3 pins of light coupling relay U305 connect OC32.4 pins of light coupling relay U305 connect
OC31.1 pin of port P303 connects OC21 and 24V.2 pins of port P303 connect OC22.3 pins of port P303 connect
OC31 and GND.4 pins of port P303 connect OC32.
As a preferred solution of the present invention: the MCU control module U101 is main control chip STM32L152R8T6, U104
For memory chip W25Q128FVSIG.
As a preferred solution of the present invention: the power module U308 be modular power source URB2424ZP-10WR3, U201,
U309, U311 be power supply chip MP2315GJ, Q301 be metal-oxide-semiconductor field effect transistor AO3401, Q302 be triode S8050, L201,
L301, L302 are winding power inductance SWPA4020S3R3.
As a preferred solution of the present invention: described motor control module U307, U312 are vehicle-mounted relay TRKP-L-S-
Z1-24VDC, U105, U106, U302, U306 are light coupling relay KAQY210, and D301, D302 are rectifier diode 1N4007.
As a preferred solution of the present invention: sensor communication module U102, U103 is RS-485 transponder chip
MAX3485EESA。
As a preferred solution of the present invention: the network communication and GPS positioning module U202 are GPRS+GPS transparent transmission module
USR-GM3P, U204 are TVS pipe array chip SMF05C, and Q201, Q202, Q203, Q204, Q205 are triode S8050.
As a preferred solution of the present invention: the serial communication module U110 is USB-TTL chip CH340G, Q101 tri-
Pole pipe S8050, Q102 are triode S8550, and D101 is switching diode 1N4148.
As a preferred solution of the present invention: self detection and alarm module U01 are phase inverter chip CD74AC04M,
U310 is current sense amplifier AD8210YRZ, and U304, U305 are light coupling relay KAQY210, and D303, D304 are rectification two
Pole pipe 1N4007.
The beneficial effects of the present invention are: can be freely set the fixed working time, can freely control sweeping robot is
One way cleaning or round-trip cleaning；Can effective monitoring environmental aspect, such as: wind-force wind speed, temperature and humidity etc.；It is able to detect certainly
The operating current and cell voltage of body；Occurs emergency event in operational process, such as suddenly strong wind weather can end automatically
It cleans and returns to parking stall；When failure can automatic alarm, enhance the automation of purging system, and parameters significantly
It can be set according to different needs, use low-power chip, energy consumption is greatly saved, can be realized the real-time of data
Transmission and in real time positioning, multiple functional, strong antijamming capability, the ability for adapting to environment is strong, and high reliablity, construction is simple, cost
It is lower, it is highly suitable for running in the environment of China's photovoltaic industry at this stage.
Detailed description of the invention
The advantages of aforementioned aspect of the present invention, in the description from the following drawings to embodiment in conjunction with becoming better understood by
Understandable, intuitive is stronger.Wherein:
Fig. 1 is the general frame figure according to a kind of photovoltaic surface intelligence purging system control device of the embodiment of the present invention；
Fig. 2 is the MCU control module schematic diagram according to the embodiment of the present invention；
Fig. 3 is the power module schematic diagram according to the embodiment of the present invention；
Fig. 4 is the motor control module schematic diagram according to the embodiment of the present invention；
Fig. 5 is the sensor communication module principle figure according to the embodiment of the present invention；
Fig. 6 is the network communication and GPS positioning module schematic diagram according to the embodiment of the present invention；
Fig. 7 is the serial communication module schematic diagram according to the embodiment of the present invention；
Fig. 8 is according to self detection of the embodiment of the present invention and alarm module schematic diagram.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, technical solution in the embodiment of the present invention carry out it is clear, it is complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art do not make obtained every other under the premise of creative work
Embodiment shall fall within the protection scope of the present invention.
As shown in Figure 1, a kind of photovoltaic surface intelligence purging system control device of the embodiment of the present invention includes: MCU control
Module, power module, motor control module, sensor communication module, network communication and GPS positioning module, serial communication module,
Self detection and alarm module.
As shown in Fig. 2, MCU control module uses STM32L152R8T6 low-power chip, which uses 32 ARM-
Cortex-M3 kernel, minimum operation power consumption 9uA, the data of modules are analyzed and processed, and control the behaviour of all parts
Make, while partial information is uploaded to host computer by GPRS network communication, realizes the long-range monitoring of equipment, be further provided with simultaneously
Storage chip W25Q128FVSIG, each group of data is stored, and facilitates calling when needed.
As shown in figure 3, power module carries out pressure stabilizing by 24V power supply power supply, by URB2424ZP-10WR3 modular power source,
Stable 24V DC power supply is exported, then exports 3.3V, 5.0V and 3.9V voltage respectively by three road MP2315GJ power supply chips
To supply the power demand of entire control circuit modules.Wherein in the input terminal of 5V conversion circuit, pass through metal-oxide-semiconductor field effect transistor
AO3401 and triode S8050 and single-chip microcontroller pin are manually set whether power supply gives the road power supply power supply, realize artificial
It controls whether to power on, be of great significance to power consumption is reduced.
It is connected on port P105, P106 as shown in figure 4, two-way takes Cheng Kaiguan, by light coupling relay to single-chip microcomputer signal,
So that single-chip microcontroller judges whether sweeping robot reaches home, single-chip microcontroller is disposed, and sends a signal to another group of optocoupler relay
Device controls whether AUTOMOTIVE RELAY powers, since the operating current of motor is larger, so controlling electricity by AUTOMOTIVE RELAY
The operation conditions of motivation, so that control effect is stablized, structure is simple, securely and reliably.
As shown in figure 5, sensor communication module uses RS-485 communication modes, using the side of balance transmission and differential received
Formula, long transmission distance, speed are fast, strong antijamming capability, and the data that Temperature Humidity Sensor and air velocity transducer acquire are transmitted to control
Coremaking piece, then host computer is uploaded to by control chip, to achieve the purpose that monitor weather conditions.
As shown in fig. 6, network communication and GPS positioning module use GPRS+GPS transparent transmission module USR-GM3P, by GPRS net
Network communication and GPS positioning are combined into one, and structure is simple, easy to operate, will can effectively control the various information of chip transmission
Host computer is uploaded to GPS positioning information, can adapt to the weather conditions of all kinds of complexity, meanwhile, use 6 LED luminous two
Pole pipe can clearly come out all working status display of module, and high reliablity, cost is relatively low, while to each road of SIM card
Signal has done ESD protection, can greatly reduce interference, keeps the stability of information transmission.
As shown in fig. 7, serial communication module uses CH340G chip, it can be realized USB and turn TTL, be the debugging of control panel
Interface has been reserved in work, convenient and efficient.
As shown in figure 8, acquiring cell voltage using divider resistance in self detection and alarm module, AD8210RZ core is utilized
Piece carrys out collecting work electric current, connects light coupling relay by phase inverter to control buzzer, can be improved control force, controls core
Piece is uploaded to host computer, so that we can understand the fortune of terminal device in time by handling collected voltage and current data
Market condition, if it find that abnormal, control chip can give inverter signal, and phase inverter will enhance electric signal transmission to light coupling relay
Buzzer warning is controlled, to reach self detection and auto-alarm function, structure is simple, highly reliable.
In conclusion electric power source pair of module modules are powered, temperature and humidity in the control process that photovoltaic intelligent cleans
Weather conditions are transmitted to control chip by sensor communication module by sensor and wind sensor, self detection and alarm module
The operating parameter of equipment itself is transmitted to control chip, Cheng Kaiguan is taken and judges whether sweeping robot goes to work area edge, and
Information is transmitted to control chip, obtained various information is handled, analyzed by control chip, and obtained result is passed through network
Communication module is uploaded to host computer, and extremely whether the working condition and data of analyzing information control motor, need to not need to report
It is alert.Simultaneously the control device can low power operation, save the energy, working time, manner of cleaning up, Neng Goushe can be manually set
The time interval of locking equipment starting, can judge automatically environmental aspect if appropriate for work, and the design structure of control device is simple,
Highly reliable, cost is relatively low, is very suitable to the cleaning works of China's photovoltaic plant at this stage, realizes solar panel cleaning
What is worked is increasingly automated, saves cost, has liberated human resources significantly, the final maximization for realizing working efficiency.
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art,
It is still possible to modify the technical solutions described in the foregoing embodiments, or part of technical characteristic is carried out etc.
With replacement, all within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in this
Within the protection scope of invention.
Claims (8)
1. photovoltaic surface intelligence purging system control device, which is characterized in that including MCU control module, power module, motor control
Molding block, sensor communication module, network communication and GPS positioning module, serial communication module, self detection and alarm module；
The MCU control module is by main control chip U101, memory chip U104, resistance R101, R106, R108, R109, R110,
R111, R113, R117, R134, R136, capacitor C101, C102, C103, C104, C105, C106, C107,C109、
C110, C111, C113, C115, C121, crystal oscillator Y101, Y102, Light-emitting diode LED 101, switch SW101, port P102 group
At；One section of the 1 pin connection capacitor C109 and resistance R110 of the main control chip U101, the other end connection of capacitor C109
The other end of GND, resistance R110 connect VDD_3.3V；The 3 pins connection capacitor C105's and crystal oscillator Y101 of main control chip U101
One end, one end of the other end connection capacitor C106 of another termination GND of capacitor C105, crystal oscillator Y101, capacitor C106's is another
End connection GND；One end of the 4 pins connection resistance R109 of main control chip U101, the other end connect one end of capacitor C106, master control
One end of the connection of 5 pins the crystal oscillator Y102 and capacitor C111 of chip U101, the other end connection resistance R111 and electricity of crystal oscillator Y102
Hold one end of C110, the other end of capacitor C111 connects GND, capacitor C110 the other end connect GND, the other end of resistance R111
Connect 6 pins of main control chip U101；One end of one end connection crystal oscillator Y102 of resistance R113, the other end connect crystal oscillator Y102's
The other end；7 pins of main control chip U101 connect8 pins of main control chip U101 connect PC0_ADCIN10,
9 pins of main control chip U101 connect PC1_ADCIN11；10 pins of main control chip U101 connect PC2_CTL_CC；Master control core
11 pins of piece U101 connect PC3_M1C, and 12 pins of main control chip U101 connect GND, and 13 pins of main control chip U101 connect
A3.3V is met, 15 pins of main control chip U101 connect PA1_CTL_AM, and 16 pins of main control chip U101 connect PA2_U2TX,
17 pins of main control chip U101 connect PA3_U2RX, and 18 pins of main control chip U101 connect GND, and the 19 of main control chip U101
Pin connects VDD_3.3V, and 20 pins of main control chip U101 connect PA4_OC0, and 21 pins of main control chip U101 connect PA5_
22 pins of OC1, main control chip U101 connect PA6_OC2, and 23 pins of main control chip U101 connect PA7_OC3, main control chip
24 pins of U101 connect PC4_M2C, and 26 pins of main control chip U101 connect PB0_XCKG2, and the 27 of main control chip U101 are drawn
Foot connects PB1_XCKG3, one end of the 28 pins connection resistance R136 of main control chip U101, and the other end connects GND, main control chip
31 pins of U101 connect GND, and 32 pins of main control chip U101 connect VDD_3.3V；37 pins of main control chip U101 connect
PC6_GRESET；38 pins of main control chip U101 connect PC7_wake_up, and 39 pins of main control chip U101 connect PC8_
The cathode of the connection of 40 the pins PC9_LED and Light-emitting diode LED 101 of GPWR, main control chip U101, the anode of light emitting diode
It is connect with one end of resistance R101, the other end of resistance R101 connects VDD_3.3V, the 41 pins connection of main control chip U101
42 pins of PA8_CTL_SS, main control chip U101 connect PA9_U1TX, and 43 pins of main control chip U101 connect PA10_
44 pins of U1RX, main control chip U101 connect PA11_4851C, and 45 pins of main control chip U101 connect PA12_XCKG1, main
One end of the connection of 46 the pins SWDIO and resistance R106 of chip U101 are controlled, the other end of resistance R106 connects VDD_3.3V, master control
One end of the connection of 47 the pins SWCLK and resistance R108 of chip U101, the other end of resistance R108 connect GND, main control chip
50 pins of U101 connect PA15_XCKG4, and 51 pins of main control chip U101 connect PC10_U3TX, and the 52 of main control chip U101
Pin connects PC11_U3RX, and 53 pins of main control chip U101 connect PC12_4852C, the 54 pins connection of main control chip U101
55 pins of PD2_SDEN, main control chip U101 connect PB3_SPI1_SCK.56 pins of main control chip U101 connect PB4_
57 pins of SPI1_MISO, main control chip U101 connect PB5_SPI1_MOSI, and 58 pins of main control chip U101 connect PB6_
One end of the 60 pins connection resistance R134 of F_CS, main control chip U101, the other end of resistance R134 connect GND, main control chip
63 pins of U101 connect GND, and 64 pins of main control chip U101 connect VDD_3.3V, and 1 pin of port P102 connects VDD_
2 pins of 3.3V, port P102 connect SWDIO, and 3 pins of port P102 connect SWCLK, the 4 pins connection of port P102
One end of GND, resistance R117 connect VDD_3.3V, other end connectionOne end of capacitor C113 connectsThe other end connects GND；One end of switch SW101 connectsThe other end connects GND；Capacitor
One end of C101 connects VDD_3.3V, and the other end connects GND, and one end of capacitor C102 connects VDD_3.3V, other end connection
One end of GND, capacitor C103 connect VDD_3.3V, and the other end connects GND, and one end of capacitor C104 connects VDD_3.3V, another
One end of end connection GND, capacitor C121 connect VDD_3.3V, and the other end connects GND, and one end of capacitor C107 connects A3.3V, separately
One end connects GND, and one end of capacitor C108 connects A3.3V, and the other end connects GND, the 1 pin connection of memory chip U104
2 pins of PB6_F_CS, memory chip U104 connect PB4_SPI1_MISO, and 3 pins of memory chip U104 connect VDD_
4 pins of 3.3V, memory chip U104 connect GND, and 5 pins of memory chip U104 connect PB5_SPI1_MOSI, storage
6 pins of device chip U104 connect PB3_SPI1_SCK；7 pins of memory chip U104 connect VDD_3.3V, storage core
One end of the connection of 8 the pins VDD_3.3V and capacitor C115 of piece U104, the other end of capacitor C115 connect GND；
The power module is by port P304, modular power source U308, power supply chip U201, U309, U311, metal-oxide-semiconductor field effect transistor
Q301, triode Q302, electrolytic capacitor CP301, CP302, capacitor C201, C202, C203, C204, C205, C206, C207,
C208、C301、C303、C304、C305、C306、C307、C308、C309、C312、C315、C316、C317、C318、C319、
C322, C323, resistance R201, R202, R203, R204, R205, R206, R207, R208, R209, R304, R311, R312,
R313、R315、R317、R318、R319、R321、R322、R323、R324、R325、R326、R327、R329、R330、R331、
R332, inductance L201, L301, L302, magnetic bead LB301, LB302 composition；1 pin of port P304 connects AMP+ and resistance R304
One end, the other end of resistance R304 connects VIN, and 2 pins of port P304 connect AGND, and 2 pins of modular power source U308 connect
AGND is met, 3 pins of modular power source U308 connect AGND, and 14 pins of modular power source U308 connect 24V, modular power source U308's
16 pins connect GND, and 22 pins of modular power source U308 connect VIN, and 23 pins of modular power source U308 connect VIN, electrolysis electricity
Hold the anode connection 24V of CP301, cathode connects GND；The anode connection VIN of electrolytic capacitor CP302, cathode connect AGND, power supply
One end of the connection of 1 pin the resistance R208 and capacitor C208 of chip U201, the other end of resistance R208 connect GND, capacitor C208
The other end connect GND, 2 pins of power supply chip U201 connect 24V, the 3 pins connection inductance L201 of power supply chip U201 and
One end of capacitor C201, the other end of inductance L201 connect 3V9, one end of the other end connection resistance R201 of capacitor C201, electricity
5 pins of the other end connection power supply chip U201 of R201 are hindered, 4 pins of power supply chip U201 connect GND, power supply chip U201
The connection of 6 pins resistance R205, R202 and R207 one end, the other end of resistance R207 connects PC8_GPWR, resistance R202's
The other end connects 24V, and the other end of resistance R205 connects GND, and 7 pins of power supply chip U201 connect one end of capacitor C207,
The other end of capacitor C207 connects GND, and one end of the 8 pins connection resistance R204 of power supply chip U201, resistance R204's is another
One end of end connection resistance R203, R206 and R209, the other end of resistance R203 connect 3V9, the other end connection of resistance R206
One end of the other end connection capacitor C204 of GND, resistance R209, the other end of capacitor C204 connect 3V9, one end of capacitor C202
24V is connected, the other end connects GND, and one end of capacitor C203 connects 24V, and the other end connects GND, one end connection of capacitor C205
3V9, the other end connect GND, and one end of capacitor C206 connects 3V9, and the other end connects GND, the 1 pin connection of power supply chip U309
One end of resistance R319 and capacitor C309, the other end of resistance R319 connect GND, and the other end of capacitor C309 connects GND, power supply
2 pins of chip U309 connect 24V, one end of the connection of 3 pins the inductance L301 and capacitor C301 of power supply chip U309, inductance
The other end of L301 connects VDD_3.3V, one end of the other end connection resistance R311 of capacitor C301, the other end of resistance R311
Connect 5 pins of power supply chip U309；4 pins of power supply chip U309 connect GND, and 6 pins of power supply chip U309 connect electricity
One end of R312 and R317 is hindered, the other end of resistance R312 connects 24V, and the other end of resistance R317 connects GND；Power supply chip
One end of the 7 pins connection capacitor C308 of U309, the other end of capacitor C308 connect GND；8 pins of power supply chip U309 connect
One end of resistance R315, one end of the other end connection resistance R313, R318 and R321 of resistance R315, the other end of resistance R313
VDD_3.3V is connected, the other end of resistance R318 connects GND, one end of the other end connection capacitor C305 of resistance R321, capacitor
The other end of C305 connects VDD_3.3V, and one end of capacitor C303 connects 24V, and the other end connects GND.One end of capacitor C304 connects
24V is met, the other end connects GND, and one end of capacitor C306 connects VDD_3.3V, and the other end connects GND；One end of capacitor C307 connects
VDD_3.3V is met, the other end connects GND；One end of the connection of 1 pin the resistance R330 and capacitor C323 of power supply chip U311, resistance
The other end of R330 connects GND, and the other end of capacitor C323 connects GND；2 pins of power supply chip U311 connect VS24V, power supply
One end of the connection of 3 pins the inductance L302 and capacitor C312 of chip U311, the other end of inductance L302 connect 5V0_SEN, capacitor
One end of the other end connection resistance R322 of C312,5 pins of the other end connection power supply chip U311 of resistance R322, power supply core
4 pins of piece U311 connect GND, and one end of the connection of 6 pins the resistance R323 and R326 of power supply chip U311, resistance R323's is another
One end connects VS24V, and the other end of resistance R326 connects GND, and 7 pins of power supply chip U311 connect one end of capacitor C322,
The other end of capacitor C322 connects GND, and one end of the 8 pins connection resistance R325 of power supply chip U311, resistance R325's is another
One end of end connection resistance R324, R327 and R331, the other end of resistance R324 connect 5V0_SEN, the other end of resistance R327
GND, one end of the other end connection capacitor C317 of resistance R331 are connected, the other end of capacitor C317 connects 5V0_SEN；Capacitor
One end of C315 connects VS24V, and the other end connects GND；One end of capacitor C316 connects VS24V, and the other end connects GND；Capacitor
One end of C318 connects 5V0_SEN, and the other end connects GND；One end of capacitor C319 connects 5V0_SEN, and the other end connects GND,
1 pin of 3 pins of the 1 pin connecting triode Q302 of metal-oxide-semiconductor field effect transistor Q301, triode Q302 connects GND, triode
One end of the 2 pins connection resistance R332 of Q302, the other end of resistance R332 connect PD2_SDEN；The 2 of metal-oxide-semiconductor field effect transistor Q301
Pin connects 24V, and 3 pins of metal-oxide-semiconductor field effect transistor Q301 connect VS24V, and one end of resistance R329 connects 24V, other end connection
PD2_SDEN；One end of magnetic bead LB301 connects GND, and the other end connects AGND, and one end of magnetic bead LB302 connects VDD_3.3V, separately
One end connects A3.3V, and the motor control module is by port P105, P107, P301, P302, P305, vehicle-mounted relay
U307, U312, light coupling relay U105, U106, U302, U306, rectifier diode D301, D302, resistance R127, R129,
R131, R133, R301, R302, R306, R307 composition；1 pin of vehicle-mounted relay U307 connects Motor-, vehicle-mounted relay
2 pins of U307 connect Motor-, and 3 pins of vehicle-mounted relay U307 connect Motor-, and 4 pins of vehicle-mounted relay U307 connect
VIN is met, 5 pins of vehicle-mounted relay U307 connect AGND, the 6 pins connection light coupling relay U306's of vehicle-mounted relay U307
3 pins；7 pins of vehicle-mounted relay U307 connect AGND, the anode connection AGND of rectifier diode D302, and cathode connects resistance
One end of R307,6 pins of the other end connection vehicle-mounted relay U307 of resistance R307；1 pin of light coupling relay U306 connects
One end of connecting resistance R306,1 pin and PC4_M2C of the other end connectivity port P305 of resistance R306,2 pins of port P305
Connect OC1NOR；2 pins of light coupling relay U306 connect GND, and 4 pins of light coupling relay U306 connect VIN；Vehicle-mounted relay
1 pin of device U312 connects Motor+, and 2 pins of vehicle-mounted relay U312 connect Motor+, 3 pins of vehicle-mounted relay U312
Motor+ is connected, 4 pins of vehicle-mounted relay U312 connect VIN；5 pins of vehicle-mounted relay U312 connect AGND, it is vehicle-mounted after
3 pins of the 6 pins connection light coupling relay U302 of electric appliance U312,7 pins of vehicle-mounted relay U312 connect AGND, rectification two
The anode connection AGND of pole pipe D301, cathode connect one end of resistance R302, and the other end of resistance R302 connects vehicle-mounted relay
6 pins of U312, one end of the 1 pin connection resistance R301 of light coupling relay U302, the other end connectivity port of resistance R301
1 pin and PC3_M1C of P302,2 pins of port P302 connect OC0NOR, and 2 pins of light coupling relay U302 connect GND,
4 pins of light coupling relay U302 connect VIN, one end of the 1 pin connection resistance R129 of light coupling relay U105, resistance R129
The other end connect VDD_3.3V, 2 pins of the 2 pin connectivity port P105 of light coupling relay U105,1 pin of port P105
GND is connected, 3 pins of light coupling relay U105 connect GND.One end of the 4 pins connection resistance R127 of light coupling relay U105
And the other end of PA12_XCKG1, resistance R127 connect VDD_3.3V, the 1 pin connection resistance R133's of light coupling relay U106
One end, the other end of resistance R133 connect VDD_3.3V, 2 pins of the 2 pin connectivity port P107 of light coupling relay U106, end
1 pin of mouth P107 connects GND, and 3 pins of light coupling relay U106 connect GND, and 4 pins of light coupling relay U106 connect electricity
The other end of one end and PB0_XCKG2, resistance R131 for hindering R131 connects VDD_3.3V；1 pin of port P301 connects
2 pins of Motor-, port P301 connect Motor+, the sensor communications module by port P106, P109, P114,
P115, RS-485 transponder chip U102, U103, resistance R115, R119, R124, R126, R128, R130, capacitor C112,
1 pin of C114 composition, RS-485 transponder chip U102 connects PC11_U3RX, 2 pins of RS-485 transponder chip U102
PC12_4852C is connected, 3 pins of RS-485 transponder chip U102 connect PC12_4852C, RS-485 transponder chip U102
4 pins connect PC10_U3TX, 5 pins of RS-485 transponder chip U102 connect GND, RS-485 transponder chip U102
6 pins connection 4852A, resistance R119 and R124 one end, one end of resistance R119 connects 4852B and RS-485 transceiver core
7 pins of piece U102, the other end of resistance R124 connect VDD_3.3V, the 8 pins connection of RS-485 transponder chip U102
The other end of one end of VDD_3.3V and capacitor C112, capacitor C112 connects GND, 1 pin of RS-485 transponder chip U103
PA10_U1RXS is connected, 2 pins of RS-485 transponder chip U103 connect PA11_4851C, RS-485 transponder chip U103
3 pins connect PA11_4851C.4 pins of RS-485 transponder chip U103 connect PA9_U1TXS.RS-485 transceiver core
5 pins of piece U103 connect GND, and the one of the 6 pins connection 4851A of RS-485 transponder chip U103, resistance R128 and R130
End, 7 pins of one end connection 4851B and RS-485 transponder chip U103 of resistance R128, the other end connection of resistance R130
One end of the connection of 8 the pins VDD_3.3V and capacitor C114 of VDD_3.3V, RS-485 transponder chip U103, capacitor C114's is another
One end connects GND, and one end of resistance R115 connects 4852B, and the other end connects GND, and one end of resistance R126 connects 4851B, separately
One end connects GND, and 1 pin of port P106 connects PA9_U1TXS, and 2 pins of port P106 connect PA9_U1TX, port P106
3 pins connect PA9_U1TXU, 1 pin of port P109 connects PA10_U1RXS, and 2 pins of port P109 connect PA10_
3 pins of U1RX, port P109 connect PA10_U1RXU, and 1 pin of port P114 connects 4851A, and 2 pins of port P114 connect
4851B is met, 1 pin of port P115 connects 4852A, and 2 pins of port P115 connect 4852B, the network communication and GPS
Locating module shines two by GPRS+GPS transparent transmission module U202, TVS pipe array chip U204, SIM card holder U203, switch SW201
Pole pipe LED201, LED202, LED203, LED204, LED205, LED206, triode Q201, Q202, Q203, Q204, Q205,
Resistance R210, R211, R212, R213, R214, R215, capacitor C209, C210, C211, C212, C213, C214, C215, C216
It is formed with port P201, P202,1 pin of GPRS+GPS transparent transmission module U202 connects 3V9, GPRS+GPS transparent transmission module U202's
2 pins connect 3V9, and 3 pins of GPRS+GPS transparent transmission module U202 connect GND, and 4 pins of GPRS+GPS transparent transmission module U202 connect
GND is met, 5 pins of GPRS+GPS transparent transmission module U202 connect Reload, the 6 pins connection of GPRS+GPS transparent transmission module U202
9 pins of PC7_wake_up, GPRS+GPS transparent transmission module U202 connect PC6_GRESET, GPRS+GPS transparent transmission module U202's
10 pins connect GPRS, and 11 pins of GPRS+GPS transparent transmission module U202 connect LINKA, and the 12 of GPRS+GPS transparent transmission module U202
Pin connects LINKB, and 13 pins of GPRS+GPS transparent transmission module U202 connect DATA.Draw the 14 of GPRS+GPS transparent transmission module U202
Foot connects WORK.17 pins of GPRS+GPS transparent transmission module U202 connect GND, and 22 pins of GPRS+GPS transparent transmission module U202 connect
SIM_VDD is met, 23 pins of GPRS+GPS transparent transmission module U202 connect SIM_CLK, and the 24 of GPRS+GPS transparent transmission module U202 are drawn
Foot connects SIM_DATA, and 25 pins of GPRS+GPS transparent transmission module U202 connect SIM_RST, GPRS+GPS transparent transmission module U202's
35 pins connect PA3_U2RXG, and 36 pins of GPRS+GPS transparent transmission module U202 connect PA2_U2TXG, GPRS+GPS transparent transmission mould
39 pins of block U202 connect GND, and 40 pins of GPRS+GPS transparent transmission module U202 connect GND, GPRS+GPS transparent transmission module
42 pins of U202 connect GND, and 43 pins of GPRS+GPS transparent transmission module U202 connect GND, GPRS+GPS transparent transmission module U202
45 pins connect GND, 1 pin of TVS pipe array chip U204 connects SIM_DATA, 2 pins of TVS pipe array chip U204
GND is connected, 4 pins of TVS pipe array chip U204 connect SIM_CLK, and 5 pins of TVS pipe array chip U204 connect SIM_
6 pins of RST, TVS pipe array chip U204 connect SIM_VDD, and 1 pin of SIM card holder U203 connects SIM_DATA, SIM card
3 pins of seat U203 connect GND, and 4 pins of SIM card holder U203 connect SIM_CLK, and 5 pins of SIM card holder U203 connect SIM_
One end of the connection of 6 the pins SIM_VDD and capacitor C216 of RST, SIM card holder U203, the other end of capacitor C216 connect GND；Electricity
The one end for holding C209 connects 3V9, and the other end connects GND, and one end of capacitor C210 connects 3V9, and the other end connects GND, capacitor
One end of C211 connects 3V9, and the other end connects GND, and one end of capacitor C212 connects 3V9, and the other end connects GND, capacitor C213
One end connect PC6_GRESET, the other end connects GND, and one end of capacitor C214 connects PC7_wake_up, other end connection
One end of GND, capacitor C215 connect Reload, and the other end connects GND, and one end of switch SW201 connects Reload, and the other end connects
GND is met, 1 pin of triode Q201 connects GND, and 2 pins of triode Q201 connect WORK, and 3 pins of triode Q201 connect
The cathode of sending and receiving optical diode LED201, one end of the anode connection resistance R210 for diode (LED) 201 of giving out light, resistance R210's
The other end connects 3V9；1 pin of triode Q202 connects GND, and 2 pins of triode Q202 connect GPRS, triode Q202's
3 pins connect the cathode of Light-emitting diode LED 202, one end of the anode connection resistance R211 for diode (LED) 202 of giving out light, resistance
The other end of R211 connects 3V9, and 1 pin of triode Q203 connects GND, and 2 pins of triode Q203 connect LINKA, three poles
The cathode of the 3 pins connection Light-emitting diode LED 203 of pipe Q203, the anode connection resistance R212's for diode (LED) 203 of giving out light
One end, the other end of resistance R212 connect 3V9, and 1 pin of triode Q204 connects GND, the 2 pins connection of triode Q204
The cathode of the 3 pins connection Light-emitting diode LED 204 of LINKB, triode Q204, the anode connection for diode (LED) 204 of giving out light
One end of resistance R213, the other end of resistance R213 connect 3V9, and 1 pin of triode Q205 connects GND, and the 2 of triode Q205
Pin connects DATA, and the cathode of the 3 pins connection Light-emitting diode LED 205 of triode Q205 is giving out light diode (LED) 205 just
Pole connects one end of resistance R214, and the other end of resistance R214 connects 3V9, and the cathode of Light-emitting diode LED 206 connects GND, just
Pole connects one end of resistance R215, and the other end of resistance R215 connects 3V9, and 1 pin of port P201 connects PA3_U2RX, port
2 pins of P201 connect PA3_U2RXG, and 1 pin of port P202 connects PA2_U2TX, and 2 pins of port P202 connect PA2_
U2TXG, the serial communication module is by USB-TTL chip U110, port USB_101, triode Q101, Q102, switch two
Pole pipe D101, crystal oscillator Y103, resistance R142, R144, R145, R146 and capacitor C116, C117, C118, C119, C120 composition,
1 pin of USB-TTL chip U110 connects GND, and 2 pins of USB-TTL chip U110 connect PA10_U1RXU, USB-TTL core
3 pins of piece U110 connect PA9_U1TXU, and 4 pins of USB-TTL chip U110 connect the one of VDD_3.3V and capacitor C118
End, 5 pins of the other end connection GND and port USB_101 of capacitor C118, the 5 pin connectivity ports of USB-TTL chip U110
3 pins of USB_101,2 pins of the 6 pin connectivity port USB_101 of USB-TTL chip U110, USB-TTL chip U110's
7 pins connect one end of capacitor C119 and crystal oscillator Y103, and the other end of capacitor C119 connects GND, and the other end of crystal oscillator Y103 connects
8 pins of USB-TTL chip U110 and one end of capacitor C120 are connect, the other end of capacitor C120 connects GND, USB-TTL chip
One end of the 13 pins connection resistance R144 of U110,2 pins of the other end connecting triode Q101 of resistance R144, triode
14 pins of the 1 pin connection USB-TTL chip U110 of Q101 and one end of resistance R146, the other end connection three of resistance R146
2 pins of pole pipe Q102,1 pin of triode Q102 connect VDD_3.3V, the 3 pins connection resistance R145's of triode Q102
The other end of one end, resistance R145 connects ARM_BOOT0, the cathode of the 3 pin connection switch diode D101 of triode Q101
With one end of resistance R142, the anode connection of switching diode D101The other end of resistance R142 connects VDD_
16 pins of 3.3V, USB-TTL chip U110 connect VDD_3.3V, and one end of capacitor C116 connects VDD_3.3V, and the other end connects
GND is met, one end of capacitor C117 connects VDD_3.3V, and the other end connects GND, self detection and alarm module are by reverse phase
Device chip U01, current sense amplifier U310, light coupling relay U304, U305, rectifier diode D303, D304, port
P303, resistance R303, R305, R308, R309 and capacitor C302 composition, 1 pin of phase inverter chip U01 connect PA4_OC0, instead
2 pins of phase device chip U01 connect OC0NOR, and 3 pins of phase inverter chip U01 connect PA5_OC1, and the 4 of phase inverter chip U01
Pin connects OC1NOR, and 5 pins of phase inverter chip U01 connect PA6_OC2, the 6 pins connection of phase inverter chip U01
7 pins of OC2NOR, phase inverter chip U01 connect GND, and 8 pins of phase inverter chip U01 connect OC3NOR, phase inverter chip
9 pins of U01 connect PA7_OC3, and 14 pins of phase inverter chip U01 connect VDD_3.3V, and the 1 of current sense amplifier U310
Pin connects VIN, and 2 pins of current sense amplifier U310 connect AGND, the 3 pins connection of current sense amplifier U310
5 pins of AGND, current sense amplifier U310 connect PC1_ADCIN11, the 6 pins connection of current sense amplifier U310
7 pins of A3.3V, current sense amplifier U310 connect AGND, and 8 pins of current sense amplifier U310 connect AMP+, electricity
The one end for holding C302 connects A3.3V, and the other end connects AGND, and the cathode of rectifier diode D303 connects A3.3V, anode connection
The cathode of PC1_ADCIN11, rectifier diode D304 connect PC1_ADCIN11, and one end of anode connection AGND, resistance R308 connect
VIN is met, the other end connects PC0_ADCIN10, and one end of resistance R309 connects PC0_ADCIN10, and the other end connects AGND, optocoupler
One end of the 1 pin connection resistance R303 of relay U304, the other end of resistance R303 connect OC2NOR, light coupling relay U304
2 pins connect GND, 3 pins of light coupling relay U304 connect OC22, and 4 pins of light coupling relay U304 connect OC21, light
One end of the 1 pin connection resistance R305 of coupling relay U305, the other end of resistance R305 connect OC3NOR, light coupling relay
2 pins of U305 connect GND, and 3 pins of light coupling relay U305 connect OC32, the 4 pins connection of light coupling relay U305
1 pin of OC31, port P303 connect OC21 and 24V, and 2 pins of port P303 connect OC22, the 3 pins connection of port P303
4 pins of OC31 and GND, port P303 connect OC32.
2. the photovoltaic surface intelligence purging system control device according to requiring 1, which is characterized in that the MCU controls mould
Block U101 is main control chip STM32L152R8T6, and U104 is memory chip W25Q128FVSIG.
3. the photovoltaic surface intelligence purging system control device according to requiring 1, which is characterized in that the power module
U308 is modular power source URB2424ZP-10WR3, and U201, U309, U311 are power supply chip MP2315GJ, and Q301 is MOS effects
Should pipe AO3401, Q302 is triode S8050, and L201, L301, L302 are winding power inductance SWPA4020S3R3.
4. the photovoltaic surface intelligence purging system control device according to requiring 1, which is characterized in that the motor control mould
Block U307, U312 are vehicle-mounted relay TRKP-L-S-Z1-24VDC, and U105, U106, U302, U306 are light coupling relay
KAQY210, D301, D302 are rectifier diode 1N4007.
5. the photovoltaic surface intelligence purging system control device according to requiring 1, which is characterized in that the sensor
Communication module U102, U103 are RS-485 transponder chip MAX3485EESA.
6. the photovoltaic surface intelligence purging system control device according to requiring 1, which is characterized in that the network communication and
GPS positioning module U202 be GPRS+GPS transparent transmission module USR-GM3P, U204 be TVS pipe array chip SMF05C, Q201,
Q202, Q203, Q204, Q205 are triode S8050.
7. the photovoltaic surface intelligence purging system control device according to requiring 1, which is characterized in that the serial communication module
U110 is USB-TTL chip CH340G, and Q101 is triode S8050, and Q102 is triode S8550, and D101 is switching diode
1N4148。
8. the photovoltaic surface intelligence purging system control device according to requiring 1, which is characterized in that self described detection and
Alarm module U01 is phase inverter chip CD74AC04M, and U310 is current sense amplifier AD8210YRZ, and U304, U305 are light
Coupling relay KAQY210, D303, D304 are rectifier diode 1N4007.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910460576.9A CN110125125A (en) | 2019-05-30 | 2019-05-30 | Photovoltaic surface intelligence purging system control device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910460576.9A CN110125125A (en) | 2019-05-30 | 2019-05-30 | Photovoltaic surface intelligence purging system control device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112600508A (en) * | 2020-12-02 | 2021-04-02 | 厦门蓝旭科技有限公司 | Photovoltaic cleaning robot control system |
| CN113290007A (en) * | 2021-05-25 | 2021-08-24 | 上海易则智能科技有限公司 | Cleaning method, device and system for photovoltaic module and storage medium |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105149253A (en) * | 2015-06-24 | 2015-12-16 | 中国科学院合肥物质科学研究院 | Solar cell panel cleaning device and system |
| CN210647650U (en) * | 2019-05-30 | 2020-06-02 | 沈阳航空航天大学 | Photovoltaic surface intelligent cleaning system control device |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105149253A (en) * | 2015-06-24 | 2015-12-16 | 中国科学院合肥物质科学研究院 | Solar cell panel cleaning device and system |
| CN210647650U (en) * | 2019-05-30 | 2020-06-02 | 沈阳航空航天大学 | Photovoltaic surface intelligent cleaning system control device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112600508A (en) * | 2020-12-02 | 2021-04-02 | 厦门蓝旭科技有限公司 | Photovoltaic cleaning robot control system |
| CN113290007A (en) * | 2021-05-25 | 2021-08-24 | 上海易则智能科技有限公司 | Cleaning method, device and system for photovoltaic module and storage medium |
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