CN215912131U - Solar panel cleaning device and unmanned aerial vehicle internet of things layout system sprinkles - Google Patents
Solar panel cleaning device and unmanned aerial vehicle internet of things layout system sprinkles Download PDFInfo
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- CN215912131U CN215912131U CN202120574853.1U CN202120574853U CN215912131U CN 215912131 U CN215912131 U CN 215912131U CN 202120574853 U CN202120574853 U CN 202120574853U CN 215912131 U CN215912131 U CN 215912131U
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- Y02D30/00—Reducing energy consumption in communication networks
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Abstract
The utility model discloses a solar panel cleaning device and a sprinkling unmanned aerial vehicle Internet of things layout system, which comprises: the system comprises a solar panel cleaning device, a sprinkling unmanned aerial vehicle, an Internet of things cloud server and a terminal interaction device, wherein the solar panel cleaning device is arranged on a solar panel and used for shooting image data of the solar panel, receiving a sprinkling instruction, sprinkling and forwarding the cleaning instruction, sending the cleaning instruction to the sprinkling unmanned aerial vehicle or the solar panel cleaning device, sending the sprinkling instruction to the sprinkling unmanned aerial vehicle, analyzing and processing the image data based on the Internet of things cloud server, and monitoring the solar panel cleaning device and the sprinkling unmanned aerial vehicle; thing networking cloud server respectively with terminal interaction device, watering unmanned aerial vehicle, solar panel cleaning device wireless connection, watering unmanned aerial vehicle still with solar panel cleaning device wireless connection. The solar panel cleaning system does not need to replace old equipment, is strong in adaptability, convenient to maintain and low in power consumption, and achieves efficient solar panel cleaning operation through large data acquisition and analysis of the solar panel.
Description
Technical Field
The utility model belongs to the technical field of internet of things layout, and particularly relates to a solar panel cleaning device and a sprinkling unmanned aerial vehicle internet of things layout system.
Background
At present, the automation degree of part of solar panel cleaning devices is low, and part of large-scale solar panel systems based on the internet of things are in wired connection in a manner of burying wires at the ground, so that the method is high in cost and is not suitable for configuring the cleaning devices on formed old solar panels, namely the compatibility of old equipment is not high, and waste of the old equipment is easily caused if the system is replaced;
most of automatic cleaning devices equipped with the existing large-scale solar panel adopt a mode of laying water pipes or carrying water tanks on board to store water; large-scale laying water pipe needs comparatively complicated underground line planning, and board carries water storage device then has increased solar panel cleaning device's weight and need carry out the manual work and add water, causes the waste to manpower and materials resource. Meanwhile, stains on the solar panels cannot be effectively monitored, effective work flow cooperation is lacked among cleaning devices of the solar panels under the condition that no external large-scale waterwheel sprays water, and large data collection and analysis of large-scale solar panel system layout cannot be well achieved to a certain extent.
Disclosure of Invention
In order to overcome the defects and shortcomings in the prior art, the utility model provides the solar panel cleaning device and the unmanned water spraying machine internet of things layout system, the system is strong in adaptability, convenient to maintain and low in power consumption, and operation of efficiently cleaning the solar panel can be effectively carried out through large-scale solar panel data acquisition and analysis.
In order to achieve the purpose, the utility model adopts the following technical scheme:
the utility model provides a solar panel cleaning device and unmanned aerial vehicle thing networking layout system that sprinkles, includes: the solar panel cleaning device, the water spraying unmanned aerial vehicle, the Internet of things cloud server and the terminal interaction device are arranged on the solar panel;
the solar panel cleaning device is used for executing cleaning operation, the water spraying unmanned aerial vehicle is used for shooting image data of a solar panel, receiving a water spraying instruction, spraying water and forwarding the cleaning instruction, the Internet of things cloud server is used for sending the cleaning instruction to the water spraying unmanned aerial vehicle or the solar panel cleaning device, sending the water spraying instruction to the water spraying unmanned aerial vehicle, receiving the image data acquired by the water spraying unmanned aerial vehicle and analyzing and processing the image data, and the terminal interaction device is used for receiving an analysis processing result and the image data and monitoring the solar panel cleaning device and the water spraying unmanned aerial vehicle;
thing networking cloud server respectively with terminal interaction device, watering unmanned aerial vehicle, solar panel cleaning device wireless connection, watering unmanned aerial vehicle still with solar panel cleaning device wireless connection.
As a preferred technical solution, the solar panel cleaning apparatus includes: the cleaning control device is respectively in wireless connection with the water spraying unmanned aerial vehicle and the Internet of things cloud server;
the cleaning mechanism comprises a moving mechanism arranged on the solar panel, a moving motor used for driving the moving mechanism and coupled to the moving mechanism, and a cleaning part coupled to the moving mechanism;
the moving mechanism comprises a guide wheel arranged on a track formed by the plate edges of the solar panel, two side plates respectively arranged on the opposite sides of the solar panel, a support plate fixedly arranged between the two side plates and a sliding connecting piece for fixing the two side plates and the guide wheel;
the cleaning component is coupled in the direction in which the supporting plate is opposite to the solar panel, the supporting plate is perpendicular to the planes of the two side plates, and the cleaning control device is installed on any one side plate.
As a preferred technical solution, the cleaning mechanism is further provided with a rotating member coupled to the cleaning member and the support plate, and a rotating motor for driving the rotating member, the rotating motor is electrically connected to the rotating member, and the rotating member changes a cleaning action range of the cleaning member by adjusting a preset number of rotation times and a preset rotation angle.
As a preferable technical solution, the cleaning control device is further provided with a dust sensor for detecting the cleaning component, the dust sensor is arranged on a first side plate on which the cleaning control device is mounted, and the dust sensor is arranged on one side of the first side plate in the direction towards the cleaning component;
the cleaning control device judges whether to remove dust of the cleaning component according to the dust amount of the cleaning component detected by the dust sensor, when the dust amount of the cleaning component exceeds a preset dust threshold value of the cleaning component, the cleaning component on the supporting plate is driven by the guide wheel to move out of a cleaning area on the solar panel, and the rotating component rotates at a high speed to remove the dust.
Preferably, the cleaning member is an ultrasonic cleaner.
As a preferred technical scheme, at least one cleaning control device is arranged in a local area network area;
when a plurality of cleaning control devices are arranged, one cleaning control device is arranged as a data summarizing node, namely a father node cleaning control device, the other cleaning control devices are arranged as child node cleaning control devices, and the plurality of cleaning control devices are connected in a many-to-many mode through a local area network;
the father node cleaning control device comprises a first temperature and humidity sensor, a first rainwater sensor, a first main control board and a first wireless transmission module, wherein the first main control board is respectively connected with the first temperature and humidity sensor, the first rainwater sensor and the first wireless transmission module, and the first wireless transmission module is respectively in wireless connection with the sprinkling unmanned aerial vehicle and the Internet of things cloud server;
the first temperature and humidity sensor is used for detecting temperature and humidity data of the surrounding environment of the solar panel, the first rainwater sensor is used for detecting rainwater data, the first main control board is used for collecting data based on sub-nodes sent by the sub-node cleaning control device and collecting the collected temperature and humidity data and the rainwater data to obtain collected and summarized data, receiving cleaning instructions sent by an Internet of things cloud server or a sprinkling unmanned aerial vehicle to execute cleaning operation, forwarding the cleaning instructions to the sub-node cleaning control device, receiving cleaning completion instructions sent by the sub-node cleaning control device and collecting and sending the cleaning completion instructions to the Internet of things cloud server, and the first wireless transmission module is used for sending the collected and summarized data to the sprinkling unmanned aerial vehicle and the Internet of things cloud server;
the child node cleaning control device comprises a second temperature and humidity sensor, a second rainwater sensor, a second main control board and a second wireless transmission module, wherein the second main control board is respectively connected with the second temperature and humidity sensor, the second rainwater sensor and the second wireless transmission module, and the second wireless transmission module is respectively in wireless connection with the first wireless transmission module, the water sprinkling unmanned aerial vehicle and the Internet of things cloud server;
the second temperature and humidity sensor is used for detecting temperature and humidity data of the surrounding environment of the solar panel, the second rainwater sensor is used for detecting rainwater data, the second main control board is used for taking the collected temperature and humidity data and the rainwater data as child node collected data, receiving a cleaning instruction forwarded by the parent node cleaning control device to execute cleaning operation, and sending a cleaning completion instruction to the parent node cleaning control device, and the second wireless transmission module is used for forwarding the child node collected data to the parent node cleaning control device.
As a preferable technical solution, the first wireless transmission module is further provided with an antenna, the antenna is vertical to the horizontal plane and is arranged at the upper edge of the first wireless transmission module, and the antenna is used for sending data collected by the parent node cleaning control device.
As a preferred technical scheme, the water sprinkling unmanned aerial vehicle comprises a third wireless transmission module, an image acquisition device, a water sprinkling device and a third main control board;
the third wireless transmission module is used for receiving collected and summarized data and sending the collected and summarized data to the Internet of things cloud server through the communication base station, the image collecting device is used for collecting image data of a panel of the solar panel and the surrounding environment of the unmanned aerial vehicle, the watering device is used for receiving watering instructions to conduct watering operation, and the third main control board is used for controlling the flight of the watering unmanned aerial vehicle, executing image shooting and controlling the watering operation of the watering device;
the third main control board is respectively and electrically connected with a third wireless transmission module, an image acquisition device and a watering device, and the third wireless transmission module is respectively and wirelessly connected with the first wireless transmission module, the second wireless transmission module and the Internet of things cloud server.
As a preferred technical scheme, the image acquisition device comprises an infrared camera and a white light camera, and the third main control board is respectively connected with the infrared camera and the white light camera.
As a preferred technical scheme, the water sprinkling device is provided with a water storage device, the water storage device is further provided with a water level sensor arranged on one side of the water storage device, the water level sensor is used for measuring water level data of the water storage device and transmitting the water level data to the third main control board, and the water level sensor is electrically connected with the third main control board.
Compared with the prior art, the utility model has the following advantages and beneficial effects:
(1) according to the utility model, the solar panel, the cleaning device and the unmanned aerial vehicle are subjected to big data acquisition based on the Internet of things, the unmanned aerial vehicle and the solar panel are automatically cleaned in cooperation, the control is simple and reliable, and data is provided for a user in real time for analysis.
(2) According to the utility model, a water spraying unmanned aerial vehicle mode is adopted to supply clean water sources for the solar panel based on the Internet of things, and the old equipment is not required to be replaced to realize efficient cleaning operation, so that the compatibility is high.
(3) The utility model adopts the technical scheme of unmanned aerial vehicle water storage spraying, solves the problems that an onboard water storage device needs manual water adding and a large-scale watering cart needs manual on-site operation, and achieves the technical effect of saving human resources.
(4) According to the technical scheme, the solar panels are used for establishing the local area network in different areas to transmit data, and the data are transmitted to the cloud end by the specific father node cleaning control device in the area, the father node cleaning control device is used as the center to conduct summary transmission, so that the technical problem that the transmission power consumption of the whole system is increased due to the fact that all the solar panels need to be installed when the solar panels are remotely connected to the cloud end is solved, and the technical effect of reducing the power consumption is achieved.
(5) According to the utility model, the solar panel onboard rainwater sensor is adopted to detect the environmental rainwater condition of the solar panel, when the rainwater sensor detects rain, the unmanned aerial vehicle can be used for sprinkling without sprinkling, and the cleaning operation can be directly carried out, so that the technical effect of saving water resources by utilizing rainwater resources is achieved.
(6) According to the technical scheme, the robot characteristics on the solar panel are visually identified by adopting the onboard camera of the unmanned aerial vehicle, so that the technical problem that the solar panel cannot be accurately self-aimed and sprinkled due to GPS positioning drift is solved, and the technical effects of accurate sprinkling and water resource cost saving are achieved.
(7) According to the utility model, the technical scheme that the dust layer amount of the solar panel is visually identified by the onboard camera of the unmanned aerial vehicle and the cloud fitting cleaning period is matched is adopted, so that the technical problem of poor cleaning effect caused by uncertain cleaning period is solved, the cleaning period cannot be determined because the dust condition of the solar panel cannot be known, the cleaning effect is poor once the solar panel is cleaned blindly, and the waste of resources can be caused by continuously cleaning the solar panel which has less dust and does not need to be cleaned.
(8) According to the utility model, the unmanned aerial vehicle is adopted to spray the solar panels in the area one by taking the father node cleaning control device as the area center, the single area is sprayed and then is cleaned by matching the cloud end with the cleaning part, and meanwhile, the unmanned aerial vehicle goes to the next area, so that the processing time required by the mode of cleaning the on-board robot after all the solar panels are sprayed is reduced, the cleaning time of the solar panels is shortened, the technical effect of high cleaning efficiency is achieved, and the working efficiency of the solar panels is further improved.
Drawings
Fig. 1 is a schematic structural view of a solar panel cleaning device and a watering unmanned aerial vehicle internet of things layout system in embodiment 1 of the present invention;
fig. 2 is a schematic layout diagram of a solar panel cleaning device and a watering unmanned aerial vehicle internet of things layout system in embodiment 1 of the present invention;
FIG. 3 is an enlarged view of a portion of the cleaning control device at A in FIG. 2;
fig. 4 is a partially enlarged view of a node controller provided on the cleaning control apparatus in embodiment 1 of the present invention;
fig. 5 is a schematic view of a watering unmanned aerial vehicle in embodiment 1 of the present invention;
fig. 6 is an interactive flow diagram of the solar panel cleaning device and the unmanned sprinkler internet of things layout system in embodiment 1 of the present invention.
The system comprises a mobile motor 1, a rainwater sensor 2, a first rainwater sensor 201, a second rainwater sensor 202, a first main control board 3, a rotating motor 4, an antenna 5, a water storage device 6 and a dust sensor 7.
Detailed Description
In the description of the present disclosure, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing and simplifying the present disclosure, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present disclosure.
Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Also, the use of the terms "a," "an," or "the" and similar referents do not denote a limitation of quantity, but rather denote the presence of at least one. The word "comprising" or "comprises", and the like, means that the element or item appearing before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect.
In the description of the present disclosure, it is to be noted that the terms "mounted," "connected," and "connected" are to be construed broadly unless otherwise explicitly stated or limited. For example, the connection can be fixed, detachable or integrated; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present disclosure can be understood in specific instances by those of ordinary skill in the art. In addition, technical features involved in different embodiments of the present disclosure described below may be combined with each other as long as they do not conflict with each other.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model.
Examples
Example 1
As shown in fig. 1, the embodiment provides a solar panel cleaning device and a watering unmanned aerial vehicle internet of things layout system, the system comprises a solar panel cleaning device arranged on a solar panel, a watering unmanned aerial vehicle for shooting image data of the solar panel, receiving a watering instruction to spray water and forwarding the cleaning instruction, a internet of things cloud server for sending the cleaning instruction to the watering unmanned aerial vehicle or the solar panel cleaning device, sending the watering instruction to the watering unmanned aerial vehicle, receiving the image data collected by the watering unmanned aerial vehicle and carrying out analysis processing, and a terminal interaction device for receiving the analysis processing result and the image data and monitoring the solar panel cleaning device and the watering unmanned aerial vehicle;
in this embodiment, terminal interaction device is as the customer end, thing networking cloud server respectively with terminal interaction device, watering unmanned aerial vehicle, solar panel cleaning device wireless connection, watering unmanned aerial vehicle still with solar panel cleaning device wireless connection.
In this embodiment, solar panel cleaning device as set up the on-board robot on solar panel, this solar panel cleaning device includes: the cleaning mechanism and the cleaning control device are arranged at one end of the cleaning mechanism; during practical application, clean controlling means operates clean mechanism when receiving the clean instruction that is sent by thing networking cloud ware, clean controlling means respectively with watering unmanned aerial vehicle, thing networking cloud ware wireless connection.
In the embodiment, the cleaning mechanism comprises a moving mechanism arranged on the solar panel, a moving motor 1 used for driving the moving mechanism and coupled to the moving mechanism, and a cleaning part coupled to the moving mechanism;
in practical application, the moving mechanism comprises a guide wheel arranged on a track formed by the plate edge of the solar panel, two side plates respectively arranged on opposite edges of the solar panel, a support plate fixedly arranged between the two side plates, and a sliding connecting piece for fixing the two side plates and the guide wheel;
in this embodiment, the coupling of cleaning element is in the backup pad relative direction with solar panel, the backup pad all is perpendicular with both sides board place plane, clean controlling means installs on any curb plate, during practical application, the guide wheel sets up respectively in both sides board department, be close to moving motor 1 and be leading driving wheel, another is leading driving wheel from, drive leading driving wheel through moving motor 1, and then drive from the guide wheel, the guide wheel moves at solar panel edge, and then drive the cleaning element of coupling in the backup pad and realize cleaning element translational motion on solar panel, make cleaning element carry out cleaning operation in the different regions on solar panel, reach the mesh of cleaning.
In this embodiment, the cleaning control means is provided at one end of the moving mechanism, and the cleaning control means is provided with at least one, which is set as a parent node cleaning control means when one cleaning control means is provided.
As shown in fig. 2, when a plurality of cleaning control devices are arranged, in a local area network area, in this embodiment, 3 cleaning control devices are arranged as an example, one of the cleaning control devices is used as a data summarization node, i.e., a parent node cleaning control device, and the other cleaning control devices are used as child node cleaning control devices, the plurality of cleaning control devices can communicate with each other through a wireless transmission module to realize data interaction, and local area network connection is performed in a many-to-many manner within a data transmission distance range to transmit data, so that the data transmission has good stability, when a single solar panel cleaning device is abnormal or a wireless transmission module fails, a single node does not cause the whole system to be broken down, and the other child node cleaning control devices can quickly find out the serial number of the failed child node cleaning control device to give an alarm to a user.
As shown in fig. 3, the parent node cleaning control device includes a first temperature and humidity sensor for detecting temperature and humidity data of the surrounding environment of the solar panel, a first rainwater sensor 201 for detecting rainwater data, a first main control board 3 for collecting data based on child nodes sent by the child node cleaning control device and summarizing the collected temperature and humidity data and rainwater data to obtain collected and summarized data, receiving a cleaning instruction sent by the internet of things cloud server or the sprinkling unmanned aerial vehicle to execute cleaning operation, forwarding the cleaning instruction to the child node cleaning control device, receiving a cleaning completion instruction sent by the child node cleaning control device and summarizing the cleaning completion instruction and sending the cleaning completion instruction to the internet of things cloud server, and a first wireless transmission module for sending the collected and summarized data to the sprinkling unmanned aerial vehicle and the internet of things cloud server;
in this embodiment, the child node cleaning control device includes a second temperature and humidity sensor for detecting temperature and humidity data of the environment around the solar panel, a second rain sensor 202 for detecting rain data, a second main control board for taking the collected temperature and humidity data and rain data as child node collected data, receiving a cleaning instruction forwarded by the parent node cleaning control device to execute cleaning operation, and sending a cleaning completion instruction to the parent node cleaning control device, and a second wireless transmission module for forwarding the child node collected data to the parent node cleaning control device;
as shown in fig. 4, the first wireless transmission module and the second wireless transmission module both use wireless transmission modules with low power consumption modes, and the difference between the first wireless transmission module and the second wireless transmission module is that the first wireless transmission module is further provided with an antenna 5, the antenna 5 is perpendicular to the horizontal plane and is arranged at the upper edge part of the first wireless transmission module, and the father node cleaning control device collects data and then sends the data through the antenna 5, so that the overall transmission power consumption is reduced. In practical application, the first wireless transmission module and the second wireless transmission module both use an esp8266 module, and those skilled in the art may also use a bluetooth, RFID, or other communication module for substitution, which is not limited herein.
Specifically, the first wireless transmission module is connected with the Internet of things cloud server based on an MQTT protocol, the collected data of the child nodes sent by other child node cleaning control devices are collected, the collected data in the local area network where the first wireless transmission module is located are intensively forwarded to the Internet of things cloud server, the burden of a plurality of nodes on a cloud end due to access to the cloud end is avoided in a centralized forwarding mode, and meanwhile, the network layout is guaranteed to realize the monitoring and operation of a client on any solar panel cleaning device.
As shown in fig. 5, the unmanned water spraying machine comprises a third wireless transmission module, an image acquisition device, a water spraying device and a third main control board, wherein the third wireless transmission module is used for receiving and acquiring summarized data and sending the summarized data to the cloud server of the internet of things through the communication base station; the third main control board is respectively and electrically connected with the third wireless transmission module, the image acquisition device and the water spraying device.
In practical application, the image acquisition device adopts an infrared camera and a white light camera, the infrared camera shoots the solar panel to obtain a first image, the first image is used for detecting the temperature of the solar panel of the cloud server of the Internet of things, the white light camera shoots the solar panel to obtain a second image, and the second image is used for dust identification processing and light spot identification processing of the cloud server of the Internet of things;
wherein, thing networking cloud server discerns the second image, when discerning the facula, has abnormal conditions such as solar panel damage promptly, and thing networking cloud server sends tip information to terminal interaction device, and then sends out the police dispatch newspaper in order to remind manual processing to the user.
In this embodiment, this unmanned aerial vehicle that sprinkles still is equipped with and is used for outdoor barometer of deciding the height, a laser ranging sensor for assisting deciding the height to low latitude or in the unstable regional of atmospheric pressure, a light stream sensor for carrying out assistance-localization real-time in the less strong region of GPS signal, set up the ultrasonic wave module that is used for unmanned aerial vehicle each side to keep away the barrier around the unmanned aerial vehicle, and an inertial measurement device for gathering unmanned aerial vehicle's inertial parameter data on water, wherein inertial measurement device includes the accelerometer, the gyroscope, magnetometer, inertial parameter data include the acceleration value, unmanned aerial vehicle direction of motion, magnetic field intensity and direction.
In this embodiment, watering device including set up at the fixed stay mechanism of watering unmanned aerial vehicle bottom, with fixed stay mechanism fixed connection's water storage device 6, set up the watering switch part on water storage device 6, during the in-service use, 6 sides of water storage device are equipped with the interface that is used for water piping connection, and this interface is used for connecting at water storage department and supplys the water source, and water storage device 6 adopts the rectangle water tank, and the watering switch part is located the bottom of this rectangle water tank.
The fixing and supporting mechanism in the embodiment adopts four fixing rods arranged at the bottom of the watering unmanned aerial vehicle, the four corners of the rectangle formed at the bottom extend downwards respectively, the water storage device 6 is fixed at the tail ends of the fixing rods through screws, a fixing sheet can be further added for stabilization, and the fixing and supporting mechanism can be fixed in other modes, such as welding and the like, and the fixing and supporting mechanism is not limited herein;
in this embodiment, the water storage device 6 is further provided with a water level sensor disposed on one side of the water storage device 6, the water level sensor is used for measuring water level data of the water storage device 6 and transmitting the water level data to the third main control board, wherein the water level sensor is electrically connected with the third main control board.
In this embodiment, the water spraying switch component adopts an electric valve for controlling the opening and closing states of the opening of the water storage device 6, wherein the electric valve is electrically connected with the third main control board.
During the in-service use, when unmanned aerial vehicle received the cleaning task who comes from thing networking cloud ware, judge whether need make up the water supply according to level sensor, when water level data surpassed first preset water level threshold value, it is enough to show the water in the water storage device 6, when water level data is less than preset water level threshold value, need to adopt water department to carry out the water supply, descend after watering unmanned aerial vehicle reaches appointed water department, open the interface that links to each other with the water pipe, it draws water to water storage device 6 and carries out the water supply to connect the water pipe, when the water level reaches the second and presets water level threshold value, stop drawing water, close the interface that the water pipe links to each other, continue to fly to spray the operation toward the destination.
In this embodiment, the terminal interaction device comprises a fifth wireless transmission module for receiving and forwarding data to realize interaction with the father node cleaning control device and the internet of things cloud server, a fourth main control board for receiving analysis data of the internet of things cloud server, sending an instruction for controlling the watering device and an instruction for controlling the cleaning mechanism, and a display for displaying the analysis data;
wherein, the analytic data include solar panel cleaning device data, watering unmanned aerial vehicle data, solar panel data, are convenient for detect solar panel cleaning device through looking over the analytic data.
During practical application, when the unusual circumstances appeared in thing networking cloud server, thing networking cloud server can't the automatic coordination unmanned aerial vehicle, clean mechanism carries out the watering, when clean operation, need terminal interaction device manual control, send the instruction of controlling watering device and the instruction of controlling clean mechanism to thing networking cloud server by terminal interaction device promptly for supplementary thing networking cloud server generates watering instruction and clean instruction, regard as the second way insurance with manual control, improve the stability of overall system operation.
When an emergency or special situation occurs, such as a GPS (global positioning system) abnormity and the like, the unmanned sprinkling machine needs to be manually controlled by a remote controller, the terminal interaction device in the embodiment further comprises the remote controller, the remote controller is wirelessly connected with the Internet of things cloud server, the terminal interaction device sends a manual control command of the unmanned aerial vehicle, the Internet of things cloud server switches the automatic flight mode into a manual control mode based on the manual control command of the unmanned aerial vehicle, and then the Internet of things cloud server forwards the flight command generated by the remote controller to the unmanned sprinkling machine, so that the manual control of the unmanned sprinkling machine is realized;
when watering unmanned aerial vehicle switches over to automatic flight mode from the manual control mode, terminal interaction device sends unmanned aerial vehicle automatic control instruction, and thing networking cloud server switches over the manual control mode into automatic flight mode based on unmanned aerial vehicle automatic control instruction, and watering unmanned aerial vehicle is by the third main control board formation flight instruction completion automatic flight.
In this embodiment, the first main control board 3 and the second main control board perform task scheduling through an onboard embedded system, and when in actual application, the embedded system adopts a freertos system;
in this embodiment, the internet of things cloud server is provided with a processor for analyzing and processing the acquired data, and a memory for storing the received data;
in practical application, the processor receives temperature and humidity data to monitor the temperature and humidity of the surrounding environment, monitors rainwater after receiving rainwater data, compares the rainwater data with a preset rainwater threshold according to the rainwater sensor 2, and if the rainwater data exceeds the preset rainwater threshold, the rainwater is deemed to be abundant, the unmanned aerial vehicle does not need to be sprinkled to sprinkle water, so that cleaning operation is directly performed, and a wet sweeping mode is realized;
if the rainwater data does not exceed the preset rainwater threshold value, the unmanned water sprinkling machine is required to sprinkle water, after the unmanned water sprinkling machine receives a water sprinkling instruction, the unmanned water sprinkling machine goes to a specified area based on a GPS signal, and because the GPS signal has a precision error, the unmanned water sprinkling machine is matched with a white-light camera of the unmanned water sprinkling machine to identify a solar panel and accurately hover above the solar panel, so that the effect of accurate water sprinkling is achieved, a switch part of a water sprinkling device is opened and lasts for a period of time to sprinkle the solar panel, and the solar panel goes to the next solar panel after water sprinkling is finished, wherein the opening time of the switch part adopts a preset value and can be set according to actual conditions;
during the in-service use, be a clean area with the clean controlling means place LAN of a father node, accomplish the operation of watering after watering to all solar panel in a clean area when watering unmanned aerial vehicle, forward the clean instruction that comes from thing networking cloud ware by watering unmanned aerial vehicle, the clean mechanism in this area begins the automatic preceding operation of watering unmanned aerial vehicle to next clean area of watering operation when the clean operation based on clean instruction, divide the region through watering unmanned aerial vehicle and carry out the operation of watering, unmanned aerial vehicle goes to next region when the clean mechanism carries out the operation of cleaning, the mode of handling through this kind of assembly line carries out clear mode again after spraying for whole, higher treatment effeciency has, the equal scavenging period of solar panel board has been reduced.
In the embodiment, a father node cleaning control device and a plurality of child node cleaning control devices in a cleaning area keep information interaction among nodes, the child node cleaning control devices are interconnected, data transmission is realized through the father node cleaning control device and a user interaction device in a centralized mode, an unmanned aerial vehicle is in an internet of things layout which is interactively established with a user through an internet of things cloud server, each node can generate detection data for reporting the operation state of the node, the safety of other nodes is obtained through receiving the detection data of normal operation of other nodes, when in practical application, when a certain child node cannot transmit information to the father node cleaning control device due to reduction of the damaged communication distance of a second wireless transmission module, data forwarding is carried out through other adjacent child nodes, the detection data comprises abnormal information, and the father node cleaning control device forwards the information to the cloud server for reporting, the Internet of things cloud server judges whether abnormal information exists in the detection data or not, and when the abnormal information exists, the Internet of things cloud server sends prompt data to the terminal interaction device to remind a user of further manual detection, so that the fault early warning effect is achieved.
The solar panel cleaning device data comprises the dust deposition condition of a solar panel, the cleaning working state, the network connection state of the onboard robot, the power supply state of the onboard robot and the working state of a mobile motor; the power state of the on-board robot comprises the current electric quantity of the on-board robot and the charging state of the on-board robot, and the charging state of the on-board robot comprises charging and non-charging; the cleaning operation state includes a cleaning on state and a cleaning off state.
The water spraying unmanned aerial vehicle data comprise an unmanned aerial vehicle network connection state, the water storage amount of the water storage device 6, a power state of the unmanned aerial vehicle, an unmanned aerial vehicle flight state, an unmanned aerial vehicle navigation state and a situation perception state; the power state of the unmanned aerial vehicle comprises the current electric quantity of the unmanned aerial vehicle and the charging state of the unmanned aerial vehicle, and the charging state of the unmanned aerial vehicle comprises charging and non-charging; the flight state of the unmanned aerial vehicle comprises an RC state, an IMU state, a compass working state and a GPS signal state; the navigation state of the unmanned aerial vehicle is specifically according to a navigation mode actually adopted by the unmanned aerial vehicle; the situation perception state comprises a perception opening state and a perception closing state.
The situation awareness state is used for assisting the unmanned aerial vehicle to fly according to the image data of the surrounding environment of the unmanned aerial vehicle collected by the third main control board to match with watering operation, and during practical application, a situation awareness opening instruction and a situation awareness closing instruction can be sent through the terminal interaction device to be set to be opened or closed; unmanned aerial vehicle navigation mode includes manual mode, the intelligent mode of cruising, sends the intelligent mode of cruising through terminal interaction device and opens the instruction, the intelligent mode of cruising closes the instruction and switches the unmanned aerial vehicle navigation mode, is convenient for carry out manual control to unmanned aerial vehicle under emergency, improves unmanned aerial vehicle driving safety, reduces the loss that the unexpected condition caused.
In this embodiment, the solar panel data includes solar panel power generation efficiency, rated power, and model. In this embodiment, the number of days from the last cleaning of the target solar panel to the present time can be obtained from the time of recording the cleaning start instruction and the present time.
In the embodiment, the terminal interaction device is developed by adopting a QT development framework, and a user clicks a cleaning button to send a command for controlling a cleaning mechanism to adjust the cleaning work of the solar panel cleaning device; in practical application, the cleaning mode comprises a dry sweeping mode and a wet sweeping mode, wherein the wet sweeping mode needs to be matched with rainwater.
Particularly, thing networking unmanned aerial vehicle network relay layer directly utilizes the wireless transmission module of low-power consumption to carry out the task broadcast to solar panel cleaning device in the region during unmanned aerial vehicle cleaning operation, need not the user side and carries out signal transmission, realizes timely cleanness after the watering, realizes solar panel and the relayed operation in coordination of unmanned aerial vehicle network.
As shown in fig. 6, the principle and the working process of the solar panel cleaning device and the unmanned aerial vehicle internet of things layout system are as follows: when a user sends a cleaning start instruction at a terminal interaction device, data are sent to an internet of things cloud server through internet of things firmware of QT based on MQTT protocol, and then the internet of things cloud server sends a start instruction to a watering unmanned aerial vehicle end to realize automatic flight; after the unmanned aerial vehicle carries out the watering operation of a region in the process of flying and watering, a cleaning starting instruction is sent to the child node cleaning control device and the father node cleaning control device of the corresponding region. The cleaning device starts cleaning the row of boards after receiving the cleaning start command. When the unmanned aerial vehicle patrols at ordinary times, the dust amount on the solar panel is identified through vision at the end of the sprinkling unmanned aerial vehicle, data such as surface temperature are remotely transmitted to the cloud end through the Internet of things module, a user is provided to analyze the working condition of the solar panel, and a decision is made on whether cleaning is needed or not, the sub-node of the solar panel cleaning device is responsible for detecting the temperature and humidity of the surrounding environment, detecting the rainfall and self-checking each module of the solar panel cleaning device, and transmitting the data to a regional network transfer station through a low-power wireless transmission module, namely a father node cleaning control device, and transmitting the data to a network end in a centralized manner; and various accidents including damage of the solar panel cleaning device and damage of the wireless transmission module are warned and reported.
In this embodiment, the solar panel cleaning device and the water spraying unmanned aerial vehicle cooperatively perform cleaning work of the solar panel, wherein the cleaning control device on the solar panel cleaning device is used as a sensing and executing layer of the internet of things layout in the whole system, namely, the sensing and executing layer of the internet of things layout is formed by interconnection of child node cleaning control devices and centralized uploading of data by a parent node cleaning control device; the water sprinkling unmanned aerial vehicle is used as a network relay layer of the layout of the Internet of things in the whole system; in the interaction of the terminal interaction device with the solar panel cleaning device and the water spraying unmanned aerial vehicle, a communication base station playing a role in data interaction of a transfer station is used as a network layer of the layout of the Internet of things in the whole system; the terminal interaction device is used as an application layer of the layout of the Internet of things in the whole system, and a user triggers an operation instruction through a user interface to set and observe.
Example 2
In order to improve the cleaning efficiency, the technical solution of the embodiment 2 is the same as that of the embodiment 1 except for the following technical features: the cleaning mechanism is further provided with a rotating member coupled with the cleaning member and the supporting plate, respectively, and a rotating motor 4 for driving the rotating member. Wherein the rotating motor 4 is electrically connected to the rotating member.
In the embodiment, the rotating part is fixedly connected with the supporting part to realize coupling, the surface of the panel is cleaned by contacting with the surface of the panel of the solar panel to realize the cleaning effect, when the cleaning operation is carried out, the guide wheel moves in a translation way, and the cleaning part rotates while contacting with the solar panel by rotating the motor 4;
in practical application, the rotating motor 4 is arranged on the supporting part and connected with the rotating part, and when the rotating part performs cleaning work, the cleaning action range of the cleaning part is changed by adjusting the preset rotating frequency and the preset rotating angle, so that the aim of improving the cleaning efficiency of the area where the cleaning part is in contact with the solar panel is fulfilled, namely, the washing frequency of the cleaning area in the same time period is improved, and the number of times that the guide wheel needs to move in the cleaning operation process is reduced.
In this embodiment, cleaning element adopts the brush, when cleaning mechanism received the clean instruction of being forwarded by watering unmanned aerial vehicle, rotates motor 4 and makes the brush rotate through starting rotating element, and the leading wheel begins to remove under moving motor 1's drive, and then drives the brush and carry out the back and forth movement on solar panel, and the brush lasts the rotation under moving mechanism and rotating element's cooperation during, sets for leading wheel removal number of times based on the dust condition of thing networking cloud ware to second image recognition.
As shown in fig. 3, after the cleaning member is cleaned, the cleaning member is easy to accumulate dust, and in order to remove residual dirt and dust of the cleaning member, the cleaning control device is further provided with a dust sensor 7 for detecting the cleaning member, and the dust sensor 7 is arranged on a side plate on which the cleaning control device is mounted, specifically, the dust sensor 7 is arranged on one side of the side plate facing the direction of the brush and close to the horizontal position of the brush. In practical application, whether dust of the cleaning part is removed or not is judged according to the dust amount of the cleaning part detected by the dust sensor 7, when the dust amount of the cleaning part is too high and exceeds a preset dust threshold value of the cleaning part, dust removal treatment needs to be carried out on the brush, the cleaning control device controls the moving mechanism, the brush on the supporting plate is driven by the guide wheel to move to the outside of a cleaning area on the solar panel, and the rotating part rotates at a high speed to enable the brush to remove dust;
in the present embodiment, the dust removal process includes spin shaking and collision shaking;
in practical application, when the brush rotates and shakes off, the brush slides to an area which is not contacted with the solar panel along with the guide wheel to rotate and shake off dust at a high speed in a no-load manner.
When the collision is shaken off, the rotating part swings the brush in the area which is not in contact with the solar panel, and the dust which is infected by the brush is dropped through the collision with the supporting plate, thereby achieving the purpose of self-cleaning.
Example 3
The technical scheme of the embodiment 3 is the same as that of the embodiment 1 except for the following technical features: the cleaning component arranged on the solar panel adopts an ultrasonic cleaner.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (10)
1. The utility model provides a solar panel cleaning device and unmanned aerial vehicle thing networking layout system that sprinkles, a serial communication port, include: the solar panel cleaning device, the water spraying unmanned aerial vehicle, the Internet of things cloud server and the terminal interaction device are arranged on the solar panel;
the solar panel cleaning device is used for executing cleaning operation, the water spraying unmanned aerial vehicle is used for shooting image data of a solar panel, receiving a water spraying instruction, spraying water and forwarding the cleaning instruction, the Internet of things cloud server is used for sending the cleaning instruction to the water spraying unmanned aerial vehicle or the solar panel cleaning device, sending the water spraying instruction to the water spraying unmanned aerial vehicle, receiving the image data acquired by the water spraying unmanned aerial vehicle and analyzing and processing the image data, and the terminal interaction device is used for receiving an analysis processing result and the image data and monitoring the solar panel cleaning device and the water spraying unmanned aerial vehicle;
thing networking cloud server respectively with terminal interaction device, watering unmanned aerial vehicle, solar panel cleaning device wireless connection, watering unmanned aerial vehicle still with solar panel cleaning device wireless connection.
2. The solar panel cleaning device and unmanned aerial vehicle internet of things layout system that sprinkles of claim 1, wherein the solar panel cleaning device comprises: the cleaning control device is respectively in wireless connection with the water spraying unmanned aerial vehicle and the Internet of things cloud server;
the cleaning mechanism comprises a moving mechanism arranged on the solar panel, a moving motor used for driving the moving mechanism and coupled to the moving mechanism, and a cleaning part coupled to the moving mechanism;
the moving mechanism comprises a guide wheel arranged on a track formed by the plate edges of the solar panel, two side plates respectively arranged on the opposite sides of the solar panel, a support plate fixedly arranged between the two side plates and a sliding connecting piece for fixing the two side plates and the guide wheel;
the cleaning component is coupled in the direction in which the supporting plate is opposite to the solar panel, the supporting plate is perpendicular to the planes of the two side plates, and the cleaning control device is installed on any one side plate.
3. The solar panel cleaning device and unmanned aerial vehicle internet of things layout system as claimed in claim 2, wherein the cleaning mechanism is further provided with a rotating part coupled with the cleaning part and the support plate respectively, and a rotating motor for driving the rotating part, and the rotating motor is electrically connected with the rotating part.
4. The solar panel cleaning device and unmanned water spraying internet of things layout system as claimed in claim 3, wherein the cleaning control device is further provided with a dust sensor for detecting the cleaning component, the dust sensor is arranged on a first side plate for mounting the cleaning control device, and the dust sensor is arranged on one side of the first side plate facing the cleaning component.
5. The solar panel cleaning device and unmanned aerial vehicle internet of things layout system as claimed in claim 2, wherein the cleaning component is an ultrasonic cleaner.
6. The solar panel cleaning device and unmanned sprinkler internet of things layout system of claim 1, wherein at least one cleaning control device is provided in a local area network area;
when a plurality of cleaning control devices are arranged, one cleaning control device is arranged as a data summarizing node, namely a father node cleaning control device, the other cleaning control devices are arranged as child node cleaning control devices, and the plurality of cleaning control devices are connected in a many-to-many mode through a local area network;
the father node cleaning control device comprises a first temperature and humidity sensor, a first rainwater sensor, a first main control board and a first wireless transmission module, wherein the first main control board is respectively connected with the first temperature and humidity sensor, the first rainwater sensor and the first wireless transmission module, and the first wireless transmission module is respectively in wireless connection with the sprinkling unmanned aerial vehicle and the Internet of things cloud server;
the first temperature and humidity sensor is used for detecting temperature and humidity data of the surrounding environment of the solar panel, the first rainwater sensor is used for detecting rainwater data, the first main control board is used for collecting data based on sub-nodes sent by the sub-node cleaning control device and collecting the collected temperature and humidity data and the rainwater data to obtain collected and summarized data, receiving cleaning instructions sent by an Internet of things cloud server or a sprinkling unmanned aerial vehicle to execute cleaning operation, forwarding the cleaning instructions to the sub-node cleaning control device, receiving cleaning completion instructions sent by the sub-node cleaning control device and collecting and sending the cleaning completion instructions to the Internet of things cloud server, and the first wireless transmission module is used for sending the collected and summarized data to the sprinkling unmanned aerial vehicle and the Internet of things cloud server;
the child node cleaning control device comprises a second temperature and humidity sensor, a second rainwater sensor, a second main control board and a second wireless transmission module, wherein the second main control board is respectively connected with the second temperature and humidity sensor, the second rainwater sensor and the second wireless transmission module, and the second wireless transmission module is respectively in wireless connection with the first wireless transmission module, the water sprinkling unmanned aerial vehicle and the Internet of things cloud server;
the second temperature and humidity sensor is used for detecting temperature and humidity data of the surrounding environment of the solar panel, the second rainwater sensor is used for detecting rainwater data, the second main control board is used for taking the collected temperature and humidity data and the rainwater data as child node collected data, receiving a cleaning instruction forwarded by the parent node cleaning control device to execute cleaning operation, and sending a cleaning completion instruction to the parent node cleaning control device, and the second wireless transmission module is used for forwarding the child node collected data to the parent node cleaning control device.
7. The solar panel cleaning device and unmanned aerial vehicle internet of things layout system as claimed in claim 6, wherein the first wireless transmission module is further provided with an antenna, and the antenna is vertical to a horizontal plane and arranged at the upper edge part of the first wireless transmission module.
8. The solar panel cleaning device and unmanned water spraying vehicle internet of things layout system according to claim 1, wherein the unmanned water spraying vehicle comprises a third wireless transmission module, an image acquisition device, a water spraying device and a third main control board;
the third wireless transmission module is used for receiving collected and summarized data and sending the collected and summarized data to the Internet of things cloud server through the communication base station, the image collecting device is used for collecting image data of a panel of the solar panel and the surrounding environment of the unmanned aerial vehicle, the watering device is used for receiving watering instructions to conduct watering operation, and the third main control board is used for controlling the flight of the watering unmanned aerial vehicle, executing image shooting and controlling the watering operation of the watering device;
the third main control board is respectively and electrically connected with a third wireless transmission module, an image acquisition device and a watering device, and the third wireless transmission module is respectively and wirelessly connected with the first wireless transmission module, the second wireless transmission module and the Internet of things cloud server.
9. The solar panel cleaning device and unmanned aerial vehicle internet of things layout system as claimed in claim 8, wherein the image acquisition device comprises an infrared camera and a white light camera, and the third main control board is respectively connected with the infrared camera and the white light camera.
10. The solar panel cleaning device and unmanned water spraying internet of things layout system as claimed in claim 8, wherein the water spraying device is provided with a water storage device, the water storage device is further provided with a water level sensor arranged on one side of the water storage device, the water level sensor is used for measuring water level data of the water storage device and transmitting the water level data to the third main control board, and the water level sensor is electrically connected with the third main control board.
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| CN112995328A (en) * | 2021-03-22 | 2021-06-18 | 华南理工大学 | Solar panel cleaning device and unmanned aerial vehicle internet of things layout system sprinkles |
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| CN112995328B (en) * | 2021-03-22 | 2024-05-31 | 华南理工大学 | Solar panel cleaning device and unmanned aerial vehicle thing networking layout system that sprays |
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