CN106774346B - 用于太阳能面板清扫机器人的定位装置及其定位方法 - Google Patents

用于太阳能面板清扫机器人的定位装置及其定位方法 Download PDF

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Publication number
CN106774346B
CN106774346B CN201710073500.1A CN201710073500A CN106774346B CN 106774346 B CN106774346 B CN 106774346B CN 201710073500 A CN201710073500 A CN 201710073500A CN 106774346 B CN106774346 B CN 106774346B
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China
Prior art keywords
vehicle body
solar panel
unit
image acquisition
positioning
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CN201710073500.1A
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English (en)
Chinese (zh)
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CN106774346A (zh
Inventor
彭芳
徐建荣
周峰
王佳庆
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Suzhou Radiant Photovoltaic Technology Co Ltd
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Suzhou Radiant Photovoltaic Technology Co Ltd
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Priority to CN201710073500.1A priority Critical patent/CN106774346B/zh
Publication of CN106774346A publication Critical patent/CN106774346A/zh
Priority to US16/485,179 priority patent/US20200169215A1/en
Priority to EP18750852.8A priority patent/EP3582055B1/en
Priority to JP2019543257A priority patent/JP6860180B2/ja
Priority to PCT/CN2018/075523 priority patent/WO2018145631A1/zh
Priority to ES18750852T priority patent/ES2927987T3/es
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
    • H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
    • H02S40/10—Cleaning arrangements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/13—Edge detection
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Electromagnetism (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Navigation (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Studio Devices (AREA)
CN201710073500.1A 2017-02-10 2017-02-10 用于太阳能面板清扫机器人的定位装置及其定位方法 Active CN106774346B (zh)

Priority Applications (6)

Application Number Priority Date Filing Date Title
CN201710073500.1A CN106774346B (zh) 2017-02-10 2017-02-10 用于太阳能面板清扫机器人的定位装置及其定位方法
US16/485,179 US20200169215A1 (en) 2017-02-10 2018-02-07 Solar panel cleaning robot positioning device and positioning method thereof
EP18750852.8A EP3582055B1 (en) 2017-02-10 2018-02-07 Solar panel cleaning robot positioning device and positioning method thereof
JP2019543257A JP6860180B2 (ja) 2017-02-10 2018-02-07 太陽光パネル清掃ロボットの測位装置及びその測位方法
PCT/CN2018/075523 WO2018145631A1 (zh) 2017-02-10 2018-02-07 用于太阳能面板清扫机器人的定位装置及其定位方法
ES18750852T ES2927987T3 (es) 2017-02-10 2018-02-07 Dispositivo de posicionamiento de robot de limpieza de panel solar y método de posicionamiento asociado

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710073500.1A CN106774346B (zh) 2017-02-10 2017-02-10 用于太阳能面板清扫机器人的定位装置及其定位方法

Publications (2)

Publication Number Publication Date
CN106774346A CN106774346A (zh) 2017-05-31
CN106774346B true CN106774346B (zh) 2023-11-24

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Country Link
US (1) US20200169215A1 (enExample)
EP (1) EP3582055B1 (enExample)
JP (1) JP6860180B2 (enExample)
CN (1) CN106774346B (enExample)
ES (1) ES2927987T3 (enExample)
WO (1) WO2018145631A1 (enExample)

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* Cited by examiner, † Cited by third party
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CN106774346B (zh) * 2017-02-10 2023-11-24 苏州瑞得恩光能科技有限公司 用于太阳能面板清扫机器人的定位装置及其定位方法
CN107612503B (zh) * 2017-10-20 2023-07-25 苏州瑞得恩光能科技有限公司 太阳能面板故障检测方法及系统以及机器人
CN107553497B (zh) * 2017-10-20 2023-12-22 苏州瑞得恩光能科技有限公司 太阳能面板清扫机器人的边缘定位装置及其定位方法
US11638939B2 (en) * 2018-11-27 2023-05-02 Steam Tech, Llc Mobile panel cleaner
USD938114S1 (en) * 2019-03-22 2021-12-07 Sungrow Power Supply Co., Ltd. Intelligent cleaning robot
DE102020120030A1 (de) 2020-07-29 2022-02-03 Frenell Gmbh Solarfeld mit zwischen solarpanels verfahrbarem serviceroboter
CN112254657A (zh) * 2020-09-21 2021-01-22 河南颂达信息技术有限公司 一种基于视觉感知的智能清雪机器人调度方法
CN112381852A (zh) * 2020-11-11 2021-02-19 苏州瑞得恩光能科技有限公司 清洁机器人的定位方法及存储介质
CN112577545B (zh) * 2020-12-01 2022-09-13 合肥仁洁智能科技有限公司 光伏清扫装置的检测方法及光伏发电系统
CN113962929B (zh) * 2021-09-07 2024-10-22 湖南大学 光伏电池组件缺陷检测方法、系统及光伏电池组件生产线
CN114942635B (zh) * 2022-04-30 2024-12-24 苏州瑞得恩光能科技有限公司 一种机器人及其直线行进控制方法、数据处理设备
CN116232208A (zh) * 2023-02-01 2023-06-06 仁洁智能科技有限公司 清扫机器人的控制方法、装置和光伏清扫机器人

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KR20160033615A (ko) * 2014-09-16 2016-03-28 성균관대학교산학협력단 태양광 패널용 세척 로봇 및 이를 이용한 태양광 패널의 세척방법
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CN106774346B (zh) * 2017-02-10 2023-11-24 苏州瑞得恩光能科技有限公司 用于太阳能面板清扫机器人的定位装置及其定位方法
CN106873587B (zh) * 2017-02-10 2023-07-14 苏州瑞得恩光能科技有限公司 用于太阳能面板清扫机器人的导航系统及其导航方法
CN206541195U (zh) * 2017-02-10 2017-10-03 苏州瑞得恩光能科技有限公司 用于太阳能面板清扫机器人的导航系统

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US8726458B1 (en) * 2011-05-26 2014-05-20 Scott Reinhold Mahr Solar collector washing device
JP2015013281A (ja) * 2013-06-03 2015-01-22 シンフォニアテクノロジー株式会社 ソーラーパネル清掃装置
JP2015150492A (ja) * 2014-02-14 2015-08-24 株式会社タイトウトレーディング ソーラーパネル清掃機
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Also Published As

Publication number Publication date
JP6860180B2 (ja) 2021-04-14
EP3582055B1 (en) 2022-07-06
EP3582055A4 (en) 2020-12-16
US20200169215A1 (en) 2020-05-28
WO2018145631A1 (zh) 2018-08-16
CN106774346A (zh) 2017-05-31
JP2020507858A (ja) 2020-03-12
ES2927987T3 (es) 2022-11-14
EP3582055A1 (en) 2019-12-18

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