CN208191343U - A kind of wind-light storage fills integrated intelligent lawn maintenance system - Google Patents
A kind of wind-light storage fills integrated intelligent lawn maintenance system Download PDFInfo
- Publication number
- CN208191343U CN208191343U CN201820698308.1U CN201820698308U CN208191343U CN 208191343 U CN208191343 U CN 208191343U CN 201820698308 U CN201820698308 U CN 201820698308U CN 208191343 U CN208191343 U CN 208191343U
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- wind
- lawn maintenance
- maintenance system
- energy
- integrated intelligent
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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
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A20/00—Water conservation; Efficient water supply; Efficient water use
- Y02A20/108—Rainwater harvesting
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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
-
- 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 utility model relates to a kind of wind-light storages to fill integrated intelligent lawn maintenance system, including green room part, energized part, robot part and control section, green room part top is equipped with auto-tracking sun device, wind-driven generator and rain collector, and auto-tracking sun device drives steering engine cloud platform rotation using the shadow length of camera detection solar panels；Energized part is connected between green room part and robot part, to provide whole electric energy of system；Control section drives caterpillar type robot part independent navigation and path planning by various sensors, machine vision and camera detection signal, executes intelligent weeding, moisturizing is poured or pours the functions such as fertilising.Compared with prior art, the utility model can solve the problems such as lawn maintenance system energy utilization rate is low, energy consumption is high and intelligent and adaptability is not strong, intelligent environment protection, energy utilization rate are high, power is lower, Stability and adaptability is stronger, can undertake heavy lawn maintenance work.
Description
Technical field
The utility model relates to a kind of lawn maintenance devices, fill integrated intelligent lawn more particularly, to a kind of wind-light storage
Curing system.
Background technique
At this stage, new energy efficiently using pushing energy revolution quickly to advance, provide multiple forms of energy to complement each other just by solar energy, wind energy etc.
Be comply with development trend cleaning it is reproducible using mode.Wind-light storage fills combined generating system for turn of solar energy and wind energy
It changes, store and discharges, be capable of providing stable high-quality power output, the power out-put characteristic of system is greatly improved, increase electricity
Net is to the digestion capability of renewable energy, while it is unstable to alleviate the power grid because of caused by the fluctuation of electrical energy demands amount, enhancing electricity
The adaptability of net peak load shifting improves efficiency.
Wireless charging and high-efficiency energy-storage play a key effect to distributed energy is developed, existing radio power transmission form master
It is divided into short distance, intermediate range and remote transmission three categories.Short range transmissions are mainly realized by electromagnetic induction power transmission technology, electric
Magnetic induction transimission power is big, and transmission range is very short.And intermediate long range is to complete electric power using electromagnetic coupling resonance/radio-frequency technique
Transmission, transmission range is longer, is technology more mature at present, and safety is higher.Remote transmission passes through microwave/laser electricity
Power transmission technology realizes, which is still in the development phase, and safety and reliability still needs to demonstration and perfect, and beam energy
Partial loss is had in transmission process.Based on background above technology, intermediate range power transmission technology is a kind of great application potential
Radio Transmission Technology.Energy storage technology relates generally to storage, heat accumulation and hydrogen storage, and storage mainly includes energy-storage battery again.Storage at present
The generally existing specific energy of energy battery and specific power are lower, and cycle performance and high rate performance are poor, how to effectively improve energy-storage battery
Circulating ratio become the hot spot studied at present.
Intelligent lawn maintenance robot is increasingly becoming smart city green as intelligence manufacture and afforestation project crossing domain
The emphasis of intellectual development is innovated by the upgrading of several generations robot, is had begun to marketing, but need to carry out extensive city
There is also many critical bottlenecks for field metaplasia production.As energy utilization rate is too low, robot load-carrying is big and center of gravity is high and intelligent journey
It spends lower, leads to that the self energizing degree of equipment is low, power is larger, safety and stability is lower and the labour of lawn maintenance process
Power consumes excessive etc..By improving renewable energy utilization rate, mitigating robot self weight, reduce the center of gravity of equipment while passing through intelligence
Its overall performance of energy algorithm optimization, can push lawn maintenance robot marketization process.
Chinese patent CN201520407751.5 proposes that a kind of electric car of wind-light storage off-grid grid-connected power generation wirelessly generates electricity
System design, including the composition such as wind-light storage power generator, wireless power transmission device and wireless power reception device.Although the patent
Solar energy and wind energy can be utilized for power storage, regulated power is then exported by wireless power transmission device, for electric car
Charging.But solar energy, wind energy utilization efficiency are lower, and charging storage capacity is small and the time is longer；Compare patent
A kind of energy conservation and environmental protection solar-energy machine people design that CN201710793801.1 is proposed, including rack, movable motor and sliding
Solar panels, are arranged in the frame front of robot, lead to robot by part, front frame body, middle part frame body and rear portion frame body
Load-carrying is big and center of gravity is high, so that the power of equipment is excessive and stability and reliability are relatively low, zone migration ability is poor.
Utility model content
The purpose of this utility model is exactly to provide a kind of wind-light storage in order to overcome the problems of the above-mentioned prior art and fill
Integrated intelligence lawn maintenance system, can significantly improve energy utilization rate, reduce robot operating power and lifting system
Intelligence degree and stability, achieve the purpose that self energizing, intelligent environment protection, reproducible popularization.
The purpose of this utility model can be achieved through the following technical solutions:
A kind of wind-light storage fills integrated intelligent lawn maintenance system, comprising:
Green room part, the green room portion are fixed, and green room portion body is filled equipped with solar power generation
It sets, wind power generation plant and rain collector；
Energized part, including energy-storage battery, wireless charging device and battery, the energy-storage battery position are fixed,
Input terminal is connect by device for converting electric energy with device of solar generating and wind power generation plant, and output end passes through wireless charging Denso
It sets and is wirelessly connected with battery；
Robot part including walking mechanism and the weeding cutter being arranged in walking mechanism, pours water tank and spray head,
The pouring water tank is connect with rain collector and spray head respectively, and the battery is arranged in walking mechanism, is used for
The power resources of the robot part are provided；
Control section is connect, for controlling robot part and solar power generation with robot part and green room part
The movement of device.
Further, the device of solar generating be auto-tracking sun device, including solar panels, for changing
The rotating mechanism of solar panels angle and camera for shooting the shade that solar panels generate on object of reference, the control
System part is connect with rotating mechanism and camera respectively.
Further, the walking mechanism is crawler body.
Further, the system further includes the soil humidity sensor connecting with control section and soil nitrogen phosphorus potassium inspection
Survey sensor.
Further, the system further includes the height sensor connecting with control section.
Further, the weeding cutter includes the telescopic rod for adjusting edge height, the telescopic rod and control
System part connects.
Further, the system further includes that the liquid level sensor poured in water tank, the pouring water tank is arranged in
Channel between rain collector is equipped with electric switch, and the electric switch is connect with control section.
Further, the liquid level sensor includes water level display module and water level acquisition module, and the water level is aobvious
Show that module includes the LED array for indicating liquid level, the water level acquisition module output end is connect with control section, and is passed through
AD converter is connect with LED array.
Further, the wireless charging device includes transmitting terminal and receiving end, and the transmitting terminal is equipped with high frequency vibrating
Swing device.
Compared with prior art, the utility model has the advantage that
(1) combination, rainwater-collecting, intelligent weeding, moisturizing pouring and selectivity pouring fertilising composition intelligence are filled in wind light mutual complementing, storage
Energy lawn maintenance system, renewable energy utilization and intelligent control height are merged, and can replace complicated heavy lawn maintenance
Work, while energy utilization rate is improved, and then achieve the purpose that energy-saving and emission-reduction, push green energy resource development.
(2) device of solar generating be auto-tracking sun device, including solar panels, for changing solar panels angle
Rotating mechanism and camera for shooting the shade that solar panels generate on object of reference, control section respectively with rotating machine
Structure is connected with camera, automatically tracks sun angle, is conducive to the utilization efficiency for improving solar energy.
(3) rainwater-collecting is combined with Liquid level, and the rainwater of collection is used for lawn and is poured, and is improved water resource and is utilized
Rate, while by the collected signal of New Liquid Level Transducer, drive magnetic valve works after program is handled, and reaches accurate moisturizing
Effect.
(4) robot part and green room are partially separated, can not only make by wireless charging and the ingenious combination of efficient storage
Electricity generation system is more stable, and can reduce the load-carrying and center of gravity of robot part, greatly reduces the power of robot, improves
Its Stability and adaptability enhances zone migration ability.
(5) liquid level sensor, soil humidity sensor, N P and K detection sensor, small careless height sensor, camera shooting are utilized
Head, machine vision and laser sensor acquire multi-signal, after process control, driving Robot Selection execution moisturizing,
Pouring, fertilising and weeding function can replace the hand labor of Various Complex, and working efficiency, safety and reliability are higher.
Detailed description of the invention
Fig. 1 is the overall system structure schematic diagram of the present embodiment；
Fig. 2 is the green room partial structure diagram of the present embodiment；
Fig. 3 is the energized part structural schematic diagram of the present embodiment；
Fig. 4 is the robot part structural schematic diagram of the present embodiment；
Fig. 5 is the control section structural schematic diagram of the present embodiment；
In figure: 1 is green room part；101 be auto-tracking sun device；102 be vertical axis aerogenerator；103 are
Groove type siphon rain collector；104 be steering engine holder；105 be solar panels；106 be camera；2 be energized part；
201 be energy-storage battery；202 be wireless charging device；203 be battery；204 be bearing plate；205 be inverter；206 be high frequency
Oscillator；3 be robot part；301 be weeding cutter；301a is weeding cutter telescopic rod；302 be machine chassis；302a is
Directive wheel；302b is thrust wheel；302c is driving wheel；302d is moping pulley；303 be pouring water tank；304 be selection type spray head；4
For control section；401 be program board；401a is driver；401b is energy supply battery；402 pour fertilising mould for selection type
Block；402a is soil humidity sensor；402b is soil nitrogen phosphorus potassium detection sensor；403 be independent navigation and path planning mould
Block；403a is machine vision module；403b is laser sensor；404 be intelligent weeding module；404a is height sensor；405
Module is poured for moisturizing；405a is solenoid valve；405b is liquid level sensor；406 be to automatically track solar module.
Specific embodiment
The utility model is described in detail in the following with reference to the drawings and specific embodiments.The present embodiment is with the utility model
Implemented premised on technical solution, the detailed implementation method and specific operation process are given, but the guarantor of the utility model
Shield range is not limited to the following embodiments.
Embodiment
A kind of wind-light storage fills integrated intelligent lawn maintenance system, as shown in Figure 1, including green room part 1, energy supply portion
Divide 2, robot part 3 and control section 4.
Such as Fig. 2, green room part 1 includes auto-tracking sun device 101, vertical axis aerogenerator 102, rainwater-collecting
Device 103, steering engine holder 104, solar panels 105 and camera 106.Auto-tracking sun device 101 is located at green room part 1
Top, camera 106 are mounted on 105 lower part of solar panels, and steering engine holder 104 passes through 105 turns of gear elongate support solar panels
It is dynamic.The shadow length that solar panels 105 are detected by camera 106, after program is handled, driving steering engine holder 104 is rotated,
Plumbness is kept with the sun in real time.Vertical axis aerogenerator 102 is distributed in around green room part 1, each for capturing
Direction has the wind energy of certain speed.Rain collector 103 is placed in 101 lower part of auto-tracking sun device, using several more
Side shape plate forms groove, installs siphoning installation in groove, is used to efficiently collect rainwater.
Such as Fig. 3, energized part 2 includes energy-storage battery 201, wireless charging device 202, battery 203, bearing plate 204, inverse
Become device 205, high frequency oscillator 206.Energy-storage battery 201, wireless charging device 202, inverter 205, high frequency oscillator 206 are uniformly distributed
It sets in 204 upside of bearing plate, the electric energy that auto-tracking sun device 101 and vertical axis aerogenerator 102 generate is through inverter
205 and high frequency oscillator 206 handle after, be all stored in energy-storage battery (201), will be electric using wireless charging device 202
It can be stored in battery 203, provide electric energy for robot part 3.
Such as Fig. 4, robot part 3 includes weeding cutter 301, machine chassis 302, pours water tank 303, selection type spray head
304.Machine chassis 302 is located at 3 bottom of robot part, is equipped with directive wheel 302a, thrust wheel 302b, driving wheel 302c, traction
302d is taken turns, weeding cutter 301 is vertically embedded on 302 plate of machine chassis, and it pours water tank 303 and is located at 3 rear end of robot part,
It is divided into rainwater area and fertilizer area, selection type spray head 304, which is mounted on, pours 303 upper rear end of water tank, pours according to control program execution
The movement such as filling or fertilising.Weeding cutter 301 drives intelligent 404 function of weeding module, by predetermined height according to height sensor 404a
Degree realizes weeding activities, if encountering barrier, more than the preset height of weeding cutter telescopic rod 301a, weeding cutter 301 is automatic
It retracts, avoiding obstacles.Machine chassis 302 is designed using crawler belt, by directive wheel 302a, thrust wheel 302b, driving wheel 302c, is dragged
Belt wheel 302d is connected with crawler belt, is facilitated robot part 3 and is moved with security and stability.Pour water tank 303 and selection type spray head 304
In conjunction with after control program processing, selection type spray head 304 being made to execute corresponding movement by detecting each sensor signal.
Such as Fig. 5, control section 4 includes program board 401, selection type pouring fertilising module 402, independent navigation and path
Planning module 403, intelligent weeding module 404, moisturizing pour module 405, automatically track solar module 406.Program board 401
Positioned at the upper front end of robot part 3, driver 401a is located at the left side of its same level, energy supply with energy supply battery 401b
After battery 401b supplements the electric energy from battery 203, driver 401a is made to execute corresponding movement.Selection type pours fertilising mould
Block 402 handles soil humidity sensor 402a and soil nitrogen phosphorus potassium detection sensor 402b acquisition by program board 401
After humidity and N-P-K content signal, pouring or fertilising movement are executed.Independent navigation and path planning module 403 acquire machine view
The signal for feeling 403a and laser sensor 403b, by the edge detection operator and color segmentation algorithm in control program board 401
After processing, full-automatic route planning and independent navigation function are realized.Intelligent weeding module 404 mainly passes through height sensor 404a
It detects small natural plant height degree and executes weeding function after acquisition elevation information is handled.Moisturizing pours module 405 and uses level sensing
It after device 405b acquires signal, is handled by program board 401, control solenoid valve 405a executes moisturizing movement.It automatically tracks too
Formpiston block 406 detects the shadow length of solar panels 105 using camera 106, after the processing of program board 401, driving
Steering engine holder 104 rotates, and keeps it vertical with sun holding always.
Concrete operating principle are as follows: filled in integrated intelligent lawn maintenance system in wind-light storage, green room part 1 mainly mentions
For electric energy and water for irrigation and the weight of support whole system, by using auto-tracking sun device 101 efficiently using too
Positive energy, capturing wind energy and installation groove type siphon rain collector 103 using 102 multi-angle of vertical axis aerogenerator makes
Rain water-harvesting is in header tank, for system electricity consumption and pouring.Energized part 2 mainly stores up solar energy and the electric energy of wind energy transformation
The electric energy in energy-storage battery 201 is transmitted there are in sodium form double ion energy-storage battery, and by medium range radio power transmission technology
Into battery 203, this measure can significantly reduce the weight and center of gravity of robot part 3, reduce the power of equipment, enhancing is stablized
Property and safety.Robot part 3 mainly executes weeding, pouring and fertilizing functions, wet by height sensor 404a, soil
It spends sensor 402a and soil nitrogen phosphorus potassium detection sensor 402b and acquires signal, drive weeding cutter 301 or selective spray head 304
Execute corresponding movement.Control section 4 mainly acquires corresponding signal by various sensors or machine vision, camera,
After controlling code or the algorithm process in program board, drives corresponding executing agency to act, realize specific function.
When lawn, small natural plant height degree is more than 5cm, soil moisture and higher soil nutrient content, program board 401 passes through driving
Device 401a only drives weeding cutter to start weeding；When soil moisture is lower than 70%, when small natural plant height degree and suitable soil nutrient content,
Soil humidity sensor 402a detects signal, and after the processing of program board 401, driver 401a only drives the moisture signal
Dynamic selection type spray head 304, which is realized, pours function；When soil nutrient content is lower, when small natural plant height degree and suitable soil moisture, soil
Earth N P and K detection sensor 402b detects signal, which drives selection type spray head after the feedback of program board 401
304 execute fertilising movement.If small natural plant height degree is more than 5cm, when soil moisture is lower than 70% and lower soil nutrient content, three biographies
Sensor detects the signal of height, humidity and nutrient content simultaneously, handles by program board 401, makes driver 401a simultaneously
Weeding cutter and selection type spray head 304 is driven to work, timely weeding simultaneously supplements soil moisture and nutrient.
Claims (9)
1. a kind of wind-light storage fills integrated intelligent lawn maintenance system characterized by comprising
Green room part (1), green room part (1) position are fixed, and green room part (1) main body is sent out equipped with solar energy
Electric installation, wind power generation plant and rain collector (103)；
Energized part (2), including energy-storage battery (201), wireless charging device (202) and battery (203), the energy storage electricity
Pond (201) position is fixed, and input terminal is connect by device for converting electric energy with device of solar generating and wind power generation plant, defeated
Outlet is wirelessly connected by wireless charging device (202) and battery (203)；
Robot part (3) including walking mechanism and the weeding cutter (301) being arranged in walking mechanism, pours water tank
(303) it is connect respectively with rain collector (103) and spray head with spray head, the pouring water tank (303), the battery
(203) it is arranged in walking mechanism, the power resources for the robot part (3) being used to provide the described；
Control section (4) is connect with robot part (3) and green room part (1), for controlling robot part (3) and too
The movement of positive energy power generator.
2. a kind of wind-light storage according to claim 1 fills integrated intelligent lawn maintenance system, which is characterized in that described
Device of solar generating be auto-tracking sun device (101), including solar panels (105), for changing solar panels
(105) rotating mechanism of angle and the camera (106) for shooting the shade that solar panels (105) generate on object of reference,
The control section (4) is connect with rotating mechanism and camera (106) respectively.
3. a kind of wind-light storage according to claim 1 fills integrated intelligent lawn maintenance system, which is characterized in that described
Walking mechanism be crawler body.
4. a kind of wind-light storage according to claim 1 fills integrated intelligent lawn maintenance system, which is characterized in that described
System further include the soil humidity sensor (402a) being connect with control section (4) and soil nitrogen phosphorus potassium detection sensor
(402b)。
5. a kind of wind-light storage according to claim 1 fills integrated intelligent lawn maintenance system, which is characterized in that described
System further include the height sensor (404a) being connect with control section (4).
6. a kind of wind-light storage according to claim 5 fills integrated intelligent lawn maintenance system, which is characterized in that described
Weeding cutter (301) include telescopic rod for adjusting edge height, the telescopic rod is connect with control section (4).
7. a kind of wind-light storage according to claim 1 fills integrated intelligent lawn maintenance system, which is characterized in that described
System further include setting in the liquid level sensor (405b) poured in water tank (303), the pouring water tank (303) and rainwater
Channel between collection device (103) is equipped with electric switch, and the electric switch is connect with control section (4).
8. a kind of wind-light storage according to claim 7 fills integrated intelligent lawn maintenance system, which is characterized in that described
Liquid level sensor (405b) include water level display module and water level acquisition module, the water level display module includes being used for table
Show that the LED array of liquid level, the water level acquisition module output end are connect with control section (4), and passes through AD converter and LED
Array connection.
9. a kind of wind-light storage according to claim 1 fills integrated intelligent lawn maintenance system, which is characterized in that described
Wireless charging device (202) include transmitting terminal and receiving end, the transmitting terminal is equipped with high frequency oscillator (206).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820698308.1U CN208191343U (en) | 2018-05-11 | 2018-05-11 | A kind of wind-light storage fills integrated intelligent lawn maintenance system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820698308.1U CN208191343U (en) | 2018-05-11 | 2018-05-11 | A kind of wind-light storage fills integrated intelligent lawn maintenance system |
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| Publication Number | Publication Date |
|---|---|
| CN208191343U true CN208191343U (en) | 2018-12-07 |
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ID=64519456
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| CN201820698308.1U Expired - Fee Related CN208191343U (en) | 2018-05-11 | 2018-05-11 | A kind of wind-light storage fills integrated intelligent lawn maintenance system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108401648A (en) * | 2018-05-11 | 2018-08-17 | 上海电力学院 | A kind of wind-light storage fills integrated intelligent lawn maintenance system |
| CN110185085A (en) * | 2018-12-27 | 2019-08-30 | 贵州省山地农业机械研究所 | A kind of adjustable node solar rain collecting pool |
| CN110750111A (en) * | 2019-11-26 | 2020-02-04 | 桂林电子科技大学 | Solar automatic tracking device based on machine vision recognition |
| CN111010976A (en) * | 2020-01-03 | 2020-04-17 | 天台都领自动化技术有限公司 | Solar power supply mower |
-
2018
- 2018-05-11 CN CN201820698308.1U patent/CN208191343U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108401648A (en) * | 2018-05-11 | 2018-08-17 | 上海电力学院 | A kind of wind-light storage fills integrated intelligent lawn maintenance system |
| CN108401648B (en) * | 2018-05-11 | 2024-02-27 | 上海电力学院 | Wind-solar energy storage and charging integrated intelligent lawn maintenance system |
| CN110185085A (en) * | 2018-12-27 | 2019-08-30 | 贵州省山地农业机械研究所 | A kind of adjustable node solar rain collecting pool |
| CN110750111A (en) * | 2019-11-26 | 2020-02-04 | 桂林电子科技大学 | Solar automatic tracking device based on machine vision recognition |
| CN111010976A (en) * | 2020-01-03 | 2020-04-17 | 天台都领自动化技术有限公司 | Solar power supply mower |
| CN111010976B (en) * | 2020-01-03 | 2020-12-25 | 平阳杰诺电子科技有限公司 | Solar power supply mower |
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Granted publication date: 20181207 Termination date: 20190511 |