CN114906004A - Intelligence agricultural machinery is with trading power station control system - Google Patents
Intelligence agricultural machinery is with trading power station control system Download PDFInfo
- Publication number
- CN114906004A CN114906004A CN202210208693.8A CN202210208693A CN114906004A CN 114906004 A CN114906004 A CN 114906004A CN 202210208693 A CN202210208693 A CN 202210208693A CN 114906004 A CN114906004 A CN 114906004A
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- battery
- stacker crane
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- agricultural machinery
- cylinder
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- 230000033001 locomotion Effects 0.000 claims abstract description 24
- 230000009471 action Effects 0.000 claims abstract description 21
- 230000003993 interaction Effects 0.000 claims abstract description 5
- 238000001179 sorption measurement Methods 0.000 claims description 9
- 230000005674 electromagnetic induction Effects 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 230000007306 turnover Effects 0.000 claims description 2
- 238000012544 monitoring process Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000002485 combustion reaction Methods 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000013486 operation strategy Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/80—Exchanging energy storage elements, e.g. removable batteries
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
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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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention provides a battery replacement station control system for an intelligent agricultural machine, which is applied to battery charging, battery replacement and battery storage of the intelligent agricultural machine and comprises an upper computer system, wherein the upper computer system is used for performing man-machine interaction, operation recording, analysis and display; the motion control system is used for controlling the control cores of all the action devices; the servo system is used for driving the motor and accurately positioning the action; the manipulator is a mechanism for performing battery plugging operation; the stacker crane is a device for placing the battery into the charging cabinet; and the camera positioning system is used for determining the information of the position of the agricultural machinery. The full-automatic battery replacement system for the agricultural machinery battery replacement station has the advantages that the full-automatic battery replacement operation for the agricultural machinery battery replacement station is realized, the operation difficulty is simplified, the manpower is saved, the management efficiency is improved, and the problem of agricultural machinery endurance is solved.
Description
Technical Field
The invention relates to a power exchanging station, in particular to a power exchanging station applied to an intelligent agricultural robot.
Background
The intelligent battery replacement station is used for charging, replacing and storing batteries of the intelligent agricultural machinery, and is one of the development trends of the intellectualization of agricultural machinery.
At the present stage, green energy is the development direction of all novel power system driving forces at present, intelligent agricultural machinery is not exceptional, and compared with a mainstream internal combustion engine, electric driving has many advantages of convenience and advancement. The biggest shortcoming of electric drive at present is that the single carrying capacity is insufficient, and compared with intelligent agricultural machinery with a modular design, an unmanned intelligent battery replacement system has maturer feasibility and more convenient operability compared with a traditional internal combustion engine.
Disclosure of Invention
The invention aims to solve the technical problems and the defects in the prior art and provide an intelligent agricultural machine power station changing control system.
The invention realizes the purpose through the following technical scheme:
the invention relates to an intelligent control system of a battery replacement station for agricultural machinery, which comprises: the device comprises an upper computer system, a motion control system, a servo system, a manipulator, a stacker crane, a camera positioning system and a control loop;
furthermore, the upper computer system runs on a reliable industrial personal computer, which is the core of human-computer interaction, all operations are completed at the same time, and all results are displayed at the same time;
furthermore, the motion control system is provided with a GTS800 control board card and a matched circuit, and all motion instructions, motions of the truss and the automatic manipulator are controlled by the motion control system;
furthermore, the servo system is provided with servo drivers with different powers and servo motors with different powers, and the driven objects comprise six groups of servo motors, namely a truss X-axis motor, a truss Y-axis motor, a truss Z-axis motor, a conveyor belt motor, a stacker crane Y-axis motor and a ground rail motor;
further, the manipulator is provided with a 1# propulsion cylinder, a 2# propulsion cylinder and a vacuum adsorption 1;
furthermore, the stacker crane is provided with a range increasing valve 1, a range increasing valve 2, a turnover valve and a vacuum adsorption valve 2, the stacker crane is a device for placing the battery into a charging cabinet, the movement of the stacker crane is controlled by a servo system, the rest actions are pushed by a cylinder, after the battery enters the stacker crane, the stacker crane moves to a corresponding battery position, and then the battery is pushed into a battery bin by the cylinder;
furthermore, the camera positioning system is composed of a set of industrial cameras, a light source controller and a light source;
furthermore, the GTS800 control board card is inserted into the computer mainboard through a PCI-E interface, performs signal interaction with a lower system through a terminal board matched with the computer mainboard, and is connected with the servo driver, the field cylinder and the sensor through hard wiring;
furthermore, the servo motor is provided with an absolute value encoder, so that the truss, the conveyor belt and the stacker crane can be accurately positioned, and the plugging and pulling actions, the transportation process and the accuracy of the charging position are ensured;
furthermore, the front end of the control circuit of the 1# propulsion cylinder is provided with an electromagnetic valve, the tail end of the 1# propulsion cylinder is provided with an electromagnetic induction device, the electromagnetic valve directly sends a signal to an output point of a GTS800 terminal card to control the action of the cylinder, and the electromagnetic induction device is used for detecting the limit of the cylinder to ensure the motion amplitude of the manipulator;
furthermore, an electromagnetic valve is arranged at the front end of a control circuit of the 2# propulsion cylinder, and an electromagnetic induction device is arranged at the tail end of the 2# propulsion cylinder, wherein the electromagnetic valve directly sends a signal to an output point of a GTS800 terminal card to control the action of the cylinder, and the electromagnetic induction device is used for detecting the limit of the cylinder to ensure the motion amplitude of the manipulator;
further, a vacuum generator is arranged at the front end of the vacuum adsorption device, and when the vacuum generator acts, air between the sucker and the battery is sucked out, so that suction force is generated to pull out the battery;
furthermore, the action trigger of the industrial camera is determined by the position of the AGV, the AGV stops after scanning the two-dimensional code, the industrial camera shoots a picture at the top of the battery compartment, the picture is decoded and analyzed to obtain four vertex coordinates of an accurate image, the four vertex coordinates are fed back to the upper computer system for judgment, and information of the position of the agricultural machine is determined so as to carry out the next action;
furthermore, a control loop is the core of the whole system and mainly controls the accurate movement of a truss X-axis motor, a truss Y-axis motor, a truss Z-axis motor, a conveyor belt motor, a stacker crane Y-axis motor and a ground rail motor, and collects feedback signals of the X-axis front and back limit, the Y-axis left and right limit, the Z-axis up and down limit, the conveyor belt front and back limit, the stacker crane Y-axis up and down limit and the ground rail left and right limit of the truss, and in addition, the action of the mechanical arm and the action signal of the stacker crane are also sent out by the control loop.
Compared with the prior art, the invention has the beneficial effects that: through the full automatic operation of this system, simple and convenient the operation degree of difficulty, saved the manpower, increase the managerial efficiency, compensatied agricultural machinery continuation of the journey problem, this system passes through camera positioning system and servo's combination, has guaranteed motion control's accuracy, avoids the collision of manipulator and agricultural machinery simultaneously.
Drawings
FIG. 1 is a control system diagram of an intelligent battery replacement station for agricultural machinery;
FIG. 2 is a schematic flow chart of the control system of the intelligent battery replacement station for the agricultural machinery;
FIG. 3 is a wiring diagram of a motion control GTS800-A module system of the intelligent agricultural machine power conversion station control system;
FIG. 4 is a wiring diagram of a motion control GTS800-B module system of the power conversion station control system for the intelligent agricultural machinery;
FIG. 5 is an electrical diagram of a truss of the intelligent power station control system for the agricultural machinery, provided by the invention;
FIG. 6 is an electrical diagram of a stacker crane of the intelligent power station control system for the agricultural machine;
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The specific embodiments of the present invention will be described in detail with reference to fig. 1 to 6, but the technical solution is not limited thereto.
The invention will be further elucidated with reference to an embodiment shown in the drawing.
An intelligence agricultural machinery with trading power station control system, include: host computer system, motion control system, servo, manipulator, hacking machine, camera positioning system and control circuit, system's operation strategy is as follows:
(1) before changing the battery, whether the power supply and the emergency stop are normal or not, whether the battery bin is full of personnel or not and whether other agricultural machines are at the working position or not are checked, after all preparation work is finished, the agricultural machines are controlled to reach the working position, the upper computer is clicked and started, and the battery changing operation is started.
(2) And (3) sending a signal to the truss servo driver by the GTS800 terminal card according to the sequence of X, Y, Z axes, enabling the truss to control the camera to move above the agricultural machinery according to a set program, carrying out photographing and positioning, enabling the camera to return the position of the agricultural machinery to the upper computer, carrying out the action in the step (3) if the position is not accurate, and carrying out the step (4) if the position is accurate.
(3) And (5) finely adjusting the truss according to the camera feedback data, and repeating the step (2).
(4) The GTS800 terminal card sends signals to the truss servo driver according to the sequence of X, Y, Z axes, the truss moves to the side face of the agricultural machine according to position data fed back by the camera, the GTS800 terminal card controls the Y axis of the truss, the manipulator is inserted into the bottom of the battery, the cylinder 1 acts to enable the suction device to be close to the battery, the vacuum generator 1 on the manipulator acts to suck the battery tightly, the cylinder 2 acts to compress the battery tightly, and the action of the manipulator is completed.
(5) The GTS800 terminal clamps the truss according to the sequence of X, Y, Z shafts, so that a manipulator acts to pull out an agricultural machine battery and place the agricultural machine battery into a conveyor belt, a cylinder 2 acts to loosen the battery, a vacuum generator 1 acts to destroy adsorption, the cylinder 1 acts to withdraw a suction device, the battery is placed into a conveying device, the cylinder 5 is lifted at the moment, a propelling device is turned up, and the battery can enter a stacker crane.
(6) The GTS800 terminal card sends a signal to the conveyor belt servo driver, so that the conveyor belt moves for a fixed distance, the battery is conveyed to the working area of the stacking device, and the air cylinder 5 is put down.
(7) According to the battery charging cabinet information fed back by the stacker computer, the GTS800 terminal card sends a signal to the stacker servo driver according to the sequence of the ground rail and the Y axis of the stacker, so that the stacker servo driver moves to an empty charging bin position, and the air cylinders 3 and 4 continuously act to push the battery into the empty charging bin position to charge the battery.
(8) The GTS800 terminal card sends a signal to a stacker crane servo driver according to the sequence of a ground rail and a stacker crane Y axis, so that the stacker crane reaches a fully charged battery bin, the cylinders 3 and 4 continuously push out to enable the vacuum generator 2 to contact the battery, the vacuum generator 2 moves to suck the battery tightly, and the cylinders 4 and 3 continuously return to pull out the battery.
(9) The GTS800 terminal clamp sends a signal to the stacker crane servo driver according to the sequence of the ground rail and the Y axis of the stacker crane, so that the stacker crane moves to the conveyor belt part, the vacuum generator 2 acts to stop adsorption, the battery is placed in the conveyor belt, and the air cylinder 5 is lifted.
(10) The GTS800 terminal card sends a signal to the conveyor belt servo driver to enable the conveyor belt to move for a fixed distance, the conveyor belt sends the battery back to the truss work area, and the air cylinder 5 is put down.
(11) The vacuum generator 1 on the manipulator acts to tightly suck the battery, and the cylinder 2 acts to tightly press the battery. The GTS800 terminal card sends a signal to a truss X, Y, Z shaft servo driver, the truss returns to the side face of the agricultural machine, the truss moves along the Y axis, the manipulator puts the battery into the agricultural machine, the cylinder 2 acts to loosen the battery, the vacuum generator 1 acts to destroy adsorption, the cylinder 1 acts to withdraw the suction device, and the battery is put into the agricultural machine.
(12) The GTS800 terminal card sends a signal to the truss X, Y, Z shaft servo driver, the truss returns to the initial position, the intelligent agricultural machine is controlled to leave the working area, and the electricity changing is completed.
(13) In the moving process, if the truss, the conveyor belt and the stacker crane touch any limit switch, all the equipment stops running and needs to be checked and repaired.
The invention provides an intelligent battery replacement station control system for agricultural machinery, which has the beneficial effects that:
through the full automatic operation of this system, simple and convenient the operation degree of difficulty, saved the manpower, increase the managerial efficiency, compensatied agricultural machinery continuation of the journey problem, this system passes through camera positioning system and servo's combination, has guaranteed motion control's accuracy, avoids the collision of manipulator and agricultural machinery simultaneously.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and should not be taken as limiting the scope of the present invention, which is intended to cover any modifications, equivalents, improvements, etc. within the spirit and scope of the present invention.
Claims (6)
1. The utility model provides an intelligence agricultural machinery is with trading power station control system, is applied to crops growth environment monitoring, its characterized in that: the stacking machine comprises an upper computer system, a motion control system, a servo system, a manipulator, a stacker crane, a camera positioning system and a control loop;
the upper computer system runs on a reliable industrial personal computer, which is the core of human-computer interaction, all operations are completed at the same time, and all results are displayed at the same time;
the motion control system is provided with a GTS800 control board card and a matched circuit, and all motion instructions, motions of the truss and the automatic manipulator are controlled by the motion control system;
the servo system is provided with servo drivers with different powers and servo motors with different powers, and driven objects comprise six groups of servo motors, namely a truss X-axis motor, a truss Y-axis motor, a truss Z-axis motor, a conveyor belt motor, a stacker crane Y-axis motor and a ground rail motor;
the manipulator is provided with a 1# propulsion cylinder, a 2# propulsion cylinder and a vacuum adsorption 1;
the stacker crane is provided with a range extending valve 1, a range extending valve 2, a turnover valve and a vacuum adsorption valve 2, the stacker crane is a device for placing batteries into a charging cabinet, the movement of the stacker crane is controlled by a servo system, the rest actions are pushed by a cylinder, after the batteries enter the stacker crane, the stacker crane moves to a corresponding battery position, and then the cylinder pushes the batteries into a battery bin;
the camera positioning system is composed of a set of industrial cameras, a light source controller and a light source.
2. The intelligent power station control system for the agricultural machinery as claimed in claim 1, wherein: the GTS800 control board card is inserted into a computer mainboard through a PCI-E interface, performs signal interaction with a lower system through a terminal board matched with the computer mainboard, and is connected with a servo driver, a field cylinder and a sensor through hard wiring.
3. The intelligent agricultural machinery trades power station control system with claim 1, characterized in that: the servo motor is provided with an absolute value encoder, so that accurate positioning of a truss, a conveyor belt and a stacker crane can be realized, and the accuracy of plugging and pulling actions, the transportation process and the charging position is ensured.
4. The intelligent agricultural machinery trades power station control system with claim 1, characterized in that: the front end of the 1# propulsion cylinder control circuit is provided with an electromagnetic valve, the tail end of the 1# propulsion cylinder is provided with an electromagnetic induction device, the electromagnetic valve directly sends a signal to an output point of a GTS800 terminal card to control the action of the cylinder, and the electromagnetic induction device is used for detecting the limit of the cylinder to ensure the motion amplitude of the manipulator;
the front end of the 2# propulsion cylinder control circuit is provided with an electromagnetic valve, the tail end of the 2# propulsion cylinder is provided with an electromagnetic induction device, the electromagnetic valve directly sends a signal to an output point of a GTS800 terminal card to control the action of the cylinder, and the electromagnetic induction device is used for detecting the limit of the cylinder to ensure the motion amplitude of the manipulator;
the vacuum generator is arranged at the front end of the vacuum adsorption device, and air between the sucker and the battery is sucked out under the action of the vacuum generator to generate suction force to pull out the battery.
5. The intelligent power station control system for the agricultural machinery as claimed in claim 1, wherein: the action trigger of the industrial camera is determined by the position of the AGV trolley, the AGV trolley stops after scanning the two-dimensional code, the industrial camera shoots a picture at the top of the battery compartment, the picture is decoded and analyzed to obtain four vertex coordinates of an accurate image, the four vertex coordinates are fed back to the upper computer system for judgment, and information of the position of the agricultural machine is determined to perform the next action.
6. The intelligent agricultural machinery trades power station control system with claim 1, characterized in that: the control circuit is the core of the whole system and mainly controls the accurate movement of a truss X-axis motor, a truss Y-axis motor, a truss Z-axis motor, a conveyor belt motor, a stacker crane Y-axis motor and a ground rail motor, and collects feedback signals of the X-axis front and back limit, the Y-axis left and right limit, the Z-axis up and down limit, the conveyor belt front and back limit, the stacker crane Y-axis up and down limit and the ground rail left and right limit of the truss, and in addition, the action of the mechanical arm and the action signal of the stacker crane are also sent by the control circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210208693.8A CN114906004A (en) | 2022-03-04 | 2022-03-04 | Intelligence agricultural machinery is with trading power station control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210208693.8A CN114906004A (en) | 2022-03-04 | 2022-03-04 | Intelligence agricultural machinery is with trading power station control system |
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| Publication Number | Publication Date |
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| CN114906004A true CN114906004A (en) | 2022-08-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210208693.8A Pending CN114906004A (en) | 2022-03-04 | 2022-03-04 | Intelligence agricultural machinery is with trading power station control system |
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| Country | Link |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115871610A (en) * | 2022-12-21 | 2023-03-31 | 安徽绿舟新能源智能装备有限公司 | Light card trades automation of power station and trades electric system |
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| US20150151723A1 (en) * | 2012-06-29 | 2015-06-04 | Shandong Luneng Intelligence Technology Co., Ltd | Battery replacement robot with mobile storage rack and battery replacement method |
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| CN212555898U (en) * | 2020-09-30 | 2021-02-19 | 北京长峰天通科技有限公司 | Trade electric system, multi-functional station of trading |
| CN213734654U (en) * | 2020-07-17 | 2021-07-20 | 蓝谷智慧(北京)能源科技有限公司 | Charging bin and battery replacing station with same |
| CN113370837A (en) * | 2021-07-20 | 2021-09-10 | 重庆峘能电动车科技有限公司 | Battery replacement system based on multi-axis linkage |
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2022
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| US20150151723A1 (en) * | 2012-06-29 | 2015-06-04 | Shandong Luneng Intelligence Technology Co., Ltd | Battery replacement robot with mobile storage rack and battery replacement method |
| CN103693024A (en) * | 2013-11-28 | 2014-04-02 | 西安航天精密机电研究所 | Fully-automatic battery replacement control system and method for electric vehicle |
| WO2015120753A1 (en) * | 2014-02-12 | 2015-08-20 | 韩磊 | Electric vehicle battery pack replacement system consisting of computers, internet, multiple robots |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115871610A (en) * | 2022-12-21 | 2023-03-31 | 安徽绿舟新能源智能装备有限公司 | Light card trades automation of power station and trades electric system |
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