CN111357468A - A full-automatic weeding robot for photovoltaic power plant - Google Patents
A full-automatic weeding robot for photovoltaic power plant Download PDFInfo
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- CN111357468A CN111357468A CN202010176977.4A CN202010176977A CN111357468A CN 111357468 A CN111357468 A CN 111357468A CN 202010176977 A CN202010176977 A CN 202010176977A CN 111357468 A CN111357468 A CN 111357468A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D43/00—Mowers combined with apparatus performing additional operations while mowing
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D43/00—Mowers combined with apparatus performing additional operations while mowing
- A01D43/06—Mowers combined with apparatus performing additional operations while mowing with means for collecting, gathering or loading mown material
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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
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
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Abstract
The invention relates to a full-automatic weeding robot for a photovoltaic power station, which realizes full-automatic weeding of the photovoltaic power station by the mutual matching of a central control module, a motion processing module, a weed identification module, a weeding module, a weed processing module and a power module.
Description
Technical Field
The invention relates to the technical field of photovoltaic power stations, in particular to a full-automatic weeding robot for a photovoltaic power station.
Background
With the large-scale application of photovoltaic power generation, the operation and maintenance problems of the centralized photovoltaic power station are more and more emphasized. In concentrated photovoltaic plants, except for plants built in desert areas, there is a constant growth of weeds (including short shrubs, small trees, etc.) in other plants. When the height of the weeds exceeds the lower edge of the photovoltaic module, the problem of shading sunlight exists, shadows are generated on the photovoltaic module, the power generation efficiency is seriously influenced, and meanwhile, heat is inevitably generated
The effect is to damage the photovoltaic module, reducing the lifetime of the photovoltaic module, and in more serious cases, especially in mountain power stations, may cause a fire.
Most of the prior weeding methods for power stations rely on manual weeding and adopt a method of manually operating a weeder. However, the method has low efficiency, and weeds grow out for too long, so that the economic benefit is seriously influenced along with higher and higher labor cost. There are also plants that use animal feeding, which depends on the animals to eat the grass, but animals are also selective to the grass and do not eat all varieties of grass. Originally, a chemical mode is adopted in a power station for weeding, the mode seriously pollutes the environment, and the mode is not feasible along with the improvement of the requirement of environmental protection. Especially, in mountain power stations, the walking on roads is inconvenient, and the manual weeding is difficult.
Disclosure of Invention
In view of this, the present invention aims to overcome the defects of the prior art, and provides a full-automatic weeding robot for a photovoltaic power station, so as to solve the problems of low efficiency and high labor cost caused by manual weeding in the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme:
a full-automatic weeding robot for photovoltaic power plant includes:
the central control module is in communication connection with a monitoring room of the photovoltaic power station through the communication module and sends the current position and state information of the robot to operation and maintenance personnel for observation;
the motion processing module is used for identifying topographic information of the photovoltaic power station and sending the topographic information to the central control module; the central control module is also used for controlling the self walking path and walking state according to the instruction of the central control module and feeding back the walking path and walking state to the central control module;
the weed identification module is used for identifying the characteristic information of weeds, calculating the influence degree of the weeds on the photovoltaic module according to the characteristic information and sending the calculation result to the central control module;
the weeding module is used for weeding according to the instruction of the central control module;
the weed treatment module is used for receiving weeds removed in the weeding process, and digging pits on site according to the instruction of the central control module or transporting the weeds to a preset place;
and the power module is used for providing energy.
Preferably, the motion processing module includes:
the system comprises an embedded processor, a terrain recognition device and a walking device, wherein the terrain recognition device and the walking device are connected with the embedded processor;
the terrain recognition apparatus includes: infrared sensors, laser sensors, and/or, graphic sensors;
the walking device is any one of the following items:
a multi-foot crawling type walking device, a crawler type walking device and a wheel drive type walking device.
Preferably, the walking state of the walking device at least comprises:
advance, stop, turn, retreat.
Preferably, the walking path of the walking device is pre-stored in the central control module.
Preferably, the walking device is driven by a motor, and the motor is connected with the embedded processor;
the embedded processor is used for controlling the walking path and the walking state of the walking device according to the instruction of the central control module, controlling the motor to operate according to the terrain information identified by the terrain identification device, preventing the robot from touching the photovoltaic module and avoiding various dangerous terrains.
Preferably, a base is arranged on the walking device;
the weeding module, the power module and the central control module are sequentially arranged on the base from front to back;
the weed identification module is disposed on the power module.
Preferably, the weed identification module comprises:
the image recognition device is used for recognizing the current weed type;
the laser ranging device is used for ranging and judging the current weed height and the distance between the current weed height and the photovoltaic module;
and the embedded processor is used for calculating whether the current weeds influence the power generation of the photovoltaic module or not according to the current weed types, the heights of the weeds, the distances between the weeds and the photovoltaic module and the longitude and latitude of the current photovoltaic power station, and sending the calculation result to the central control module.
Preferably, the weeding module comprises:
the mechanical arm and a cutting tool arranged at the tail end of the mechanical arm.
Preferably, the weed treatment module comprises:
weed receiving reservoir, compressor, pit and landfill device.
Preferably, the power module comprises: a fuel type power module, and a battery type power module;
the power module further includes: and the energy monitoring and protecting equipment is used for protecting the fuel type power module and the energy output safety of the battery type power module.
By adopting the technical scheme, the invention at least has the following beneficial effects:
through the technical scheme provided by the invention, a user can weed automatically and ceaselessly every day as required, the weeding problem of the existing photovoltaic power station is avoided, the operation and maintenance cost of the photovoltaic power station is reduced, the power generation efficiency is obviously improved, and meanwhile, the environmental protection is not influenced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic block diagram of a fully automatic weeding robot for a photovoltaic power plant according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a full-automatic weeding robot for a photovoltaic power station according to an embodiment of the present invention;
fig. 3 is a rear view of a fully automatic weeding robot for a photovoltaic power plant according to an embodiment of the present invention;
fig. 4 is a top view of a fully automatic weeding robot for a photovoltaic power station according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Referring to fig. 1, an embodiment of the present invention provides a full-automatic weeding robot for a photovoltaic power station, including:
the central control module 1 is in communication connection with a monitoring room of the photovoltaic power station through a communication module 7 and sends the current position and state information of the robot to operation and maintenance personnel for observation;
the motion processing module 2 is used for identifying topographic information of the photovoltaic power station and sending the topographic information to the central control module; the central control module is also used for controlling the self walking path and walking state according to the instruction of the central control module and feeding back the walking path and walking state to the central control module;
the weed identification module 3 is used for identifying the characteristic information of weeds, calculating the influence degree of the weeds on the photovoltaic module according to the characteristic information and sending the calculation result to the central control module;
the weeding module 4 is used for weeding according to the instruction of the central control module;
the weed treatment module 5 is used for receiving weeds removed in the weeding process, and digging pits on site according to the instruction of the central control module or transporting the weeds to a preset place;
and the power module 6 is used for providing energy.
The technical scheme provided by the invention can realize full-automatic weeding of the photovoltaic power station, and a user can weed continuously in a full-automatic manner every day according to needs by matching the central control module, the motion processing module, the weed identification module, the weeding module, the weed processing module and the power module, so that the weeding problem of the existing photovoltaic power station is avoided, the operation and maintenance cost of the photovoltaic power station is reduced, the power generation efficiency is obviously improved, and the environmental protection is not influenced.
It should be noted that the central control module takes an embedded processor as a core, and includes various control driving hardware and an antenna.
The central control module receives the information sent by all other modules, and then sends related commands to all the modules after operation and analysis. And simultaneously, the current position and the direction of the next movement or the processed items are positioned through the self-carried environment recognition and image processing of the module.
And the central control module sends commands of forward movement, stop, turning, backward movement and the like to the motion processing module according to the current state to control.
The central control module receives the identification data sent by the module, such as the position, the type and the height of the weeds, the influence degree on the power generation of the photovoltaic module and the like, and determines whether the weeds are required to be processed or not.
The central control module determines that the weeding module needs to be treated through the weed identification module, and controls the movement processing module to move to the position of the weed and command the weeding module to weed.
The central control module analyzes the state and initial setting of the weed treatment module after the weed treatment of the weed treatment module, and makes a related control command.
The central control module monitors the stored energy in the current power module in real time for the power module. And then calling back-office operation and maintenance personnel to add fuel or automatically operate to a preset charging position for charging according to different energy selections.
The central control module can also communicate with a monitoring room of the power station in real time according to the needs of the power station, and sends the current position, state and the like of the robot to operation and maintenance personnel for observation.
Preferably, the motion processing module 2 comprises:
the system comprises an embedded processor, a terrain recognition device and a walking device 21 which are connected with the embedded processor;
the terrain recognition apparatus includes: infrared sensors, laser sensors, and/or, graphic sensors;
the running gear 21 is any one of the following:
a multi-foot crawling type walking device, a crawler type walking device and a wheel drive type walking device.
Preferably, the walking state of the walking device 21 at least includes:
advance, stop, turn, retreat.
Preferably, the walking path of the walking device 21 is pre-stored in the central control module.
Preferably, the walking device 21 is driven by a motor, and the motor is connected with the embedded processor;
the embedded processor is used for controlling the walking path and the walking state of the walking device according to the instruction of the central control module, controlling the motor to operate according to the terrain information identified by the terrain identification device, preventing the robot from touching the photovoltaic module and avoiding various dangerous terrains.
It will be appreciated that the motion processing module is comprised of an embedded processor, terrain recognition device, motor, running gear, base, etc.
The terrain recognition device comprises sensors such as infrared or laser sensors, graphics sensors and the like;
the walking device can respectively select modes of multi-foot crawling, caterpillar band, wheel drive and the like according to the terrain of the power station.
The module processor receives the command sent by the central control module and completes the actions of advancing, stopping, turning, retreating and the like. In the processes, the processor of the module needs to control the motor to operate and check the state of the module to achieve smooth operation. Meanwhile, the operation of the motor is calculated and controlled through the terrain recognition device and the processor, so that the robot is prevented from touching the photovoltaic module, and various dangerous terrains are avoided.
Referring to fig. 2, 3 and 4, preferably, a base 22 is disposed on the walking device 21;
the weeding module 4, the power module 6 and the central control module 1 are sequentially arranged on the base 22 from front to back;
the weed identification module 3 is arranged on the power module 6.
Preferably, the weed identification module 3 comprises:
the image recognition device is used for recognizing the current weed type;
the laser ranging device is used for ranging and judging the current weed height and the distance between the current weed height and the photovoltaic module;
and the embedded processor is used for calculating whether the current weeds influence the power generation of the photovoltaic module or not according to the current weed types, the heights of the weeds, the distances between the weeds and the photovoltaic module and the longitude and latitude of the current photovoltaic power station, and sending the calculation result to the central control module.
It will be appreciated that the weed identification module is comprised of an embedded processor, an image recognition system, a laser ranging device, etc. Firstly, distinguishing the type of the current weed by an image recognition system, then judging the distance between the height of the current weed and a photovoltaic module by laser ranging, calculating whether the weed affects the power generation of the photovoltaic module or not by a processor through the longitude and latitude of the current power station, and if so, sending related data to a central control module; otherwise, no processing is performed.
Preferably, the weeding module 4 comprises:
a robot arm 41, and a cutting tool 42 provided at the end of the robot arm 41.
It will be appreciated that the weeding module is composed of a robot arm, a weeding apparatus (including a cutting implement), and the like.
The weeding module is controlled by the central control module to control the stretching of the mechanical arm and the action of the weeding tool.
Preferably, the weed treatment module 5 comprises:
weed receiving reservoir, compressor, pit and landfill device.
It will be appreciated that the weed management module receives the cleared weeds during the weeding process, then compresses them into a reservoir, and then excavates the pit in situ or transports them to a predetermined location as needed.
Preferably, the power module 6 comprises: a fuel type power module, and a battery type power module;
the power module 6 further comprises: and the energy monitoring and protecting equipment is used for protecting the fuel type power module and the energy output safety of the battery type power module.
It is understood that the power module may be used with different energy types, such as fuel, battery, etc. And simultaneously comprises energy monitoring and protecting equipment.
And (4) monitoring the current energy on line, and if a power battery is selected, providing a charge and discharge control circuit.
It can be understood that the technical scheme provided by the invention has three functions of searching, weeding and forage treatment:
1. searching: automatically searching weeds needing to be treated, and comprising path planning and weed identification.
The planning of weeding route at first, because every photovoltaic power plant construction is accomplished the back, photovoltaic module puts and the topography can be unchangeable basically, consequently can tentatively set up the parameter according to the topography of photovoltaic power plant, adopts different motion mode and walking orbit, and what the topography was gentler can be according to photovoltaic module one row ground look for weeds in proper order, and the complicated characteristics that can plan the route in advance according to the topography of topography, reducible robot's energy loss like this.
And then weed identification, wherein except for desert photovoltaic power stations, other power stations inevitably have weeds, but not all the weeds need to be removed, and only the weeds which influence the power generation of the photovoltaic modules need to be removed. The searching process is carried out according to a preset initial path, and weeds which can affect the power generation of the assembly are identified through visual identification and are continuously removed.
2. Weeding: the function is to cut off the weeds by the cutting tool.
3. Forage treatment: after the weeds are cut off, the problem of how to treat the weeds exists, and different treatment modes can be preset according to the requirements of the power station.
The first method is as follows: the cut pieces are not processed and are placed on the spot.
The weed drying device has the advantages that the weed drying device is convenient to process, and is not good in that weeds can fly away with wind after being dried, can be blown onto a photovoltaic module by the wind, and can also be stacked together, so that fire hazards exist.
The second method comprises the following steps: during the cutting process, the materials are collected, packed and then placed at a preset position
This has the advantage that the treated weeds can be used to raise animals, increasing the additional income of the plant, and undesirably increasing labor costs and energy consumption of the robot.
The third method comprises the following steps: during the cutting process, the weed is collected and packed, and once the robot collecting device is filled with weeds, the weed is buried on site.
The advantages are that no manpower is added in the whole weeding process, and no potential safety hazard exists.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims. The terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The term "plurality" means two or more unless expressly limited otherwise.
Claims (10)
1. A full-automatic weeding robot for photovoltaic power plant which characterized in that includes:
the central control module is in communication connection with a monitoring room of the photovoltaic power station through the communication module and sends the current position and state information of the robot to operation and maintenance personnel for observation;
the motion processing module is used for identifying topographic information of the photovoltaic power station and sending the topographic information to the central control module; the central control module is also used for controlling the self walking path and walking state according to the instruction of the central control module and feeding back the walking path and walking state to the central control module;
the weed identification module is used for identifying the characteristic information of weeds, calculating the influence degree of the weeds on the photovoltaic module according to the characteristic information and sending the calculation result to the central control module;
the weeding module is used for weeding according to the instruction of the central control module;
the weed treatment module is used for receiving weeds removed in the weeding process, and digging pits on site according to the instruction of the central control module or transporting the weeds to a preset place;
and the power module is used for providing energy.
2. The robot of claim 1, wherein the motion processing module comprises:
the system comprises an embedded processor, a terrain recognition device and a walking device, wherein the terrain recognition device and the walking device are connected with the embedded processor;
the terrain recognition apparatus includes: infrared sensors, laser sensors, and/or, graphic sensors;
the walking device is any one of the following items:
a multi-foot crawling type walking device, a crawler type walking device and a wheel drive type walking device.
3. The robot of claim 2,
the walking state of the walking device at least comprises:
advance, stop, turn, retreat.
4. The robot of claim 2,
the walking path of the walking device is pre-stored in the central control module.
5. The robot of claim 2,
the walking device is driven by a motor, and the motor is connected with the embedded processor;
the embedded processor is used for controlling the walking path and the walking state of the walking device according to the instruction of the central control module, controlling the motor to operate according to the terrain information identified by the terrain identification device, preventing the robot from touching the photovoltaic module and avoiding various dangerous terrains.
6. The robot of claim 2,
the traveling device is provided with a base;
the weeding module, the power module and the central control module are sequentially arranged on the base from front to back;
the weed identification module is disposed on the power module.
7. The robot of claim 1, wherein the weed identification module comprises:
the image recognition device is used for recognizing the current weed type;
the laser ranging device is used for ranging and judging the current weed height and the distance between the current weed height and the photovoltaic module;
and the embedded processor is used for calculating whether the current weeds influence the power generation of the photovoltaic module or not according to the current weed types, the heights of the weeds, the distances between the weeds and the photovoltaic module and the longitude and latitude of the current photovoltaic power station, and sending the calculation result to the central control module.
8. The robot of claim 1, wherein the weeding module comprises:
the mechanical arm and a cutting tool arranged at the tail end of the mechanical arm.
9. The robot of claim 1, wherein the weed handling module comprises:
weed receiving reservoir, compressor, pit and landfill device.
10. The robot of claim 1,
the power module includes: a fuel type power module, and a battery type power module;
the power module further includes: and the energy monitoring and protecting equipment is used for protecting the fuel type power module and the energy output safety of the battery type power module.
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| CN114677390A (en) * | 2022-04-19 | 2022-06-28 | 阳光电源股份有限公司 | Method and device for determining hot spot type, storage medium and hot spot analysis equipment |
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| CN114175914A (en) * | 2020-09-15 | 2022-03-15 | 苏州宝时得电动工具有限公司 | Automatic weeding device, method and storage medium |
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