CN106873587A - For the navigation system and its air navigation aid of solar panel sweeping robot - Google Patents
For the navigation system and its air navigation aid of solar panel sweeping robot Download PDFInfo
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- CN106873587A CN106873587A CN201710073586.8A CN201710073586A CN106873587A CN 106873587 A CN106873587 A CN 106873587A CN 201710073586 A CN201710073586 A CN 201710073586A CN 106873587 A CN106873587 A CN 106873587A
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- 238000010408 sweeping Methods 0.000 title claims abstract description 47
- 238000005183 dynamical system Methods 0.000 claims abstract description 12
- 238000000034 method Methods 0.000 claims description 9
- 238000004364 calculation method Methods 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 8
- 238000009826 distribution Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 5
- 238000005457 optimization Methods 0.000 claims description 4
- 238000009790 rate-determining step (RDS) Methods 0.000 claims description 4
- 238000004140 cleaning Methods 0.000 description 7
- 239000000428 dust Substances 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
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- 238000009825 accumulation Methods 0.000 description 1
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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
- G05D1/0231—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
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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
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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
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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
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- Automation & Control Theory (AREA)
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Abstract
The present invention provides a kind of navigation system and its air navigation aid for solar panel sweeping robot, wherein described solar panel sweeping robot includes car body and dynamical system, and the car body is travelled or resident by the dynamical system on an at least solar panel.The navigation system includes path optimizing planning unit, positioner and control system.Wherein described path optimizing planning unit, in an external server, for calculating and planning the path optimizing that the sweeping robot is travelled on an at least solar panel；The positioner, on the car body, for obtaining real time position of the car body on the solar panel；The control system, in the car body, is respectively connecting to the path optimizing planning unit and the positioner, for sending an at least control instruction according to the real time position of the path optimizing and the car body.The dynamical system receives the control instruction of the control system.
Description
Technical field
The present invention relates to sweeping robot field, the navigation system that more particularly to a kind of solar panel sweeping robot is used
System and its air navigation aid.
Background technology
In the case where fossil fuel is reduced increasingly, the mankind are turned into as a kind of solar energy of emerging regenerative resource
Using the important component of the energy, nearly ten years, Application of Solar Energy technology all obtains fast development in countries in the world.Solar energy
Panel refers to that the photovoltaic effect (photovoltaic) for utilizing semi-conducting material to occur under illumination condition is straight by solar energy
Switch through the device for being changed to electric energy.Have sunshine place just can generate electricity, therefore solar panel suitable for from power large-scale electric generating station to
Various occasions such as small portable charger, are developed rapidly in recent years.
The working environment of solar panel can only be outdoor, and the greatest problem for influenceing its work is not wind and rain thunder and lightning, and
It is the dust of long-term accumulation.Dust or other attachments are attached with solar panel, the light transmittance of panel plate can be influenceed, hindered
Photoelectric efficiency, so as to the efficiency of panel direct access sunlight can be had a strong impact on, reduces the energy absorption and conversion efficiency of panel, drop
Low generating efficiency.The solar panel of prior art can only periodically complete cleaning work by artificial in use, due to the sun
Energy panel area is larger, large-scale power station panel used at the same time is more, and dust can be accumulated, it is necessary to clean repeatedly repeatedly；Therefore
Human cost is very high, cleaning efficiency is low, cleaning effect is poor.In many occasions, in order to improve space availability ratio, solar panel
All it is to be set aloft using support, this just brings bigger difficulty and risk to cleaning work.The use of many solar panels
Family can only select not clear up to reduce disposal costs, can only so be forced to undertake electric energy loss caused by dust.So, just need
There is a new automatic cleaning equipment, solar panel is cleared up automatically.
In this regard, industry have developed a kind of new sweeping robot to carry out the cleaning of solar panel, can specifically join
See the related content disclosed in Chinese patent application 201610836028.8.But with this sweeping robot in practice
Continue on, industry is it has also been found that its research and development for needing to carry out new function overcomes the various problems for actually encountering.
For example, the real time position for sweeping robot on solar panel, the staff on ground is cannot be real
When know, it is unknown due to real time position, so also cannot just monitor the instantaneous operating conditions of sweeping robot.Due to too
Positive energy panel is generally all to set aloft, therefore, even if sweeping robot breaks down, out of service or route is walked
Partially, staff cannot also learn in time.
Specifically, usual navigation track route of the sweeping robot on solar panel, is sent out according to path optimizing
Go out series of instructions control robot to be travelled on panel.And all of driving instruction all pre-sets, sweeping machine
People is according to the mechanical execute instruction of setting.And can not be accurately positioned in real time on solar panel due to sweeping robot, therefore
Also just cannot real-time navigation.Once in this way, have foreign matter on solar panel where it, for example, the birds droppings of desiccation, may result in clear
Sweep robot and significantly deviate preset path, after sweeping robot deviates set path, it is possible to can be from solar panel where it
On fall, or there is the exhibiting high surface product can not to be swept into.
Therefore, it is necessory to developing a kind of new navigation system for solar panel sweeping robot and its leading
Boat method overcomes defect of the prior art.
The content of the invention
It is an advantage of the invention to provide a kind of navigation system for solar panel sweeping robot, to solve
Certainly existing sweeping robot can not location navigation in real time problem.
To solve the above problems, the present invention provides a kind of navigation system for solar panel sweeping robot, wherein
The solar panel sweeping robot include car body and dynamical system, the car body by the dynamical system at least one too
It is positive to be travelled or resident on panel.The navigation system includes path optimizing planning unit, positioner and control system.Its
Described in path optimizing planning unit, in an external server, for calculating and planning the sweeping robot at least
The path optimizing travelled on one solar panel；The positioner, on the car body, for obtaining the car body at it
Real time position on the solar panel of place；The control system, in the car body, is respectively connecting to the path optimizing
Planning unit and the positioner, for sending an at least control according to the real time position of the path optimizing and the car body
System instruction.The dynamical system receives the control instruction of the control system.
Further, in different embodiments, it is provided with an at least bridge between the adjacent solar panel of any two of which
Plate.The navigation system also puts judging unit, gap bridge detection unit and headstock walking direction unit including bridge location.It is wherein described
Bridge location puts judging unit, the bridgehead position for obtaining an at least vane position and the bridge plate two ends from the server；Institute
Gap bridge detection unit is stated, when the control instruction is that the control car body is instructed by the gap bridge of a bridge plate, the car is detected
Whether body real time position matches with the bridgehead position of the bridge plate；If it is not, adjusting the bridgehead position of the car body position to the bridge plate；
If so, performing next step；And the headstock walking direction unit, judge the car body direct of travel and the vane position
It is whether consistent；If so, performing the instruction of passing a bridge；If it is not, it is consistent with the vane position to adjust the car body direct of travel, then
Perform the instruction of passing a bridge.
Further, in different embodiments, each of which solar panel is rectangle, and its edge is provided with four can
Identification frame；Warp and parallel perpendicular to one another is additionally provided with each solar panel, the warp and the parallel form one
Panel coordinate system.The positioner include an at least image collection unit, frame recognition unit, latitude and longitude recognition unit and
Car body position computing unit.Wherein described image collection unit, for obtaining image and/or figure around the car body in real time
Piece；The frame recognition unit, is connected to the image collection unit, for according to the image and/or picture and the car
The direct of travel of body recognizes the frame around the car body；The latitude and longitude recognition unit, is connected to the image collection unit；
For the position according to the image and/or picture and the frame, the warp existed between the car body and the frame is recognized
Line number amount and parallel quantity；And the car body position computing unit, it is connected to the latitude and longitude recognition unit；For according to institute
State the seat that warp quantity and parallel quantity between car body and the frame are calculated on car body solar panel where it
Mark scope.
Further, in different embodiments, wherein the positioner is also calculated including image collection unit position
Unit, is connected to the car body position computing unit, for the size according to the car body, car body solar energy where it
Coordinate range and the image collection unit and the relative position of the car body on panel, calculate the image collection unit and exist
Coordinate range on the solar panel.
Further, in different embodiments, wherein the positioner also includes that car body center position calculates list
Unit, is connected to the car body position computing unit, for the size according to the car body, car body solar energy face where it
Coordinate range on plate, calculates coordinate range of the car body central point on the solar panel.
Further, in different embodiments, wherein the positioner also includes that GPS unit and panel judge single
Unit；The GPS unit, the GPS location position for obtaining the car body in real time；The panel judging unit, is connected to described
GPS unit, solar panel where the car body is judged for the GPS location position according to the car body and panel distribution map
Information.
Further, in different embodiments, it also includes foreign matter recognition unit, in the external server,
It is connected to the image collection unit；For the foreign matter picture for contrasting the image around the car body with prestore；If an image or
A part and a foreign matter picture match in picture, then judge there is foreign matter around the car body.
Further, in different embodiments, it also includes wireless communication unit, is connected to the control system, and
It is wirelessly connected to the external server；For realizing data exchange between the control system and the external server.
Further, another embodiment of the invention provides a kind of navigation side for solar panel sweeping robot
Method, wherein the solar panel sweeping robot includes car body.The air navigation aid comprises the following steps：Path optimizing is calculated
Step, calculates and plans the path optimizing that the sweeping robot is travelled on an at least solar panel；Car body position is obtained
Step, obtains real time position of the car body on the solar panel；Control instruction issuing steps, according to the optimization road
The real time position of footpath and the car body sends an at least control instruction；And car body rate-determining steps, according to the control instruction control
Car body processed is travelled or resident on the solar panel.
Further, in different embodiments, it is provided with an at least bridge between the adjacent solar panel of any two of which
Plate；The air navigation aid also includes bridge position judgment step, obtains the end of the bridge position at an at least vane position and the bridge plate two ends
Put；Gap bridge detecting step, when the control instruction is that the control car body is instructed by the gap bridge of a bridge plate, detects the car
Whether body real time position matches with the bridgehead position of the bridge plate；If it is not, adjusting the bridgehead position of the car body position to the bridge plate；
If so, performing next step；And headstock walking direction step, judge whether are the car body direct of travel and the vane position
Unanimously；If so, performing the instruction of passing a bridge；If it is not, it is consistent with the vane position to adjust the car body direct of travel, then perform
The instruction of passing a bridge.
Further, in different embodiments, each of which solar panel is rectangle, and its edge is provided with four can
Identification frame；Each solar panel is provided with warp and parallel perpendicular to one another, and the warp and the parallel form one side
Plate coordinate system；The car body position obtaining step, specifically includes such as step under son：Image collection sub-step, obtains described in real time
Image and/or picture around car body；Frame recognizes sub-step, according to the traveling of the image and/or picture and the car body
Frame around car body described in direction discernment；Latitude and longitude recognize sub-step, according to the image and/or picture and the frame
The warp quantity and parallel quantity existed between car body described in location recognition and the frame；Car body position calculates sub-step, root
According to the warp quantity between the car body and the frame and the parallel quantity calculating car body on the solar panel
Coordinate range.
Further, in different embodiments, wherein the car body position obtaining step can also include following sub-step
Suddenly：Image collection unit position calculates sub-step, seat of the size, the car body according to the car body on a solar panel
Mark scope and the image collection unit calculate the image collection unit in the solar energy face with the relative position of the car body
Coordinate range on plate.
Further, in different embodiments, wherein the car body position obtaining step can also include following sub-step
Suddenly：Car body center position calculates sub-step, coordinate of the size, the car body according to the car body on a solar panel
Coordinate range of the car body central point on the solar panel described in range computation.
Further, in different embodiments, wherein in the car body position obtaining step, in image collection
Before step, also including following sub-step：GPS location sub-step, obtains the GPS location position of the car body in real time；Panel is sentenced
Disconnected sub-step, GPS location position and panel distribution map according to the car body judge the letter of solar panel where the car body
Breath.
Further, in different embodiments, wherein methods described, also comprises the following steps：Image forwarding step, will
Image around the car body is wirelessly transmitted to server；And/or, location data forwarding step, by the positioning number of the car body
According to transmission to the server；Wherein, the location data of the car body includes but is not limited to solar panel where the car body
Information, and/or, coordinate range of the car body on the solar panel, and/or, the image collection unit at this too
Coordinate range on positive energy panel, and/or coordinate range of the car body central point on the solar panel.
Further, in different embodiments, wherein methods described also comprises the following steps：Foreign matter identification step, uses
Image and the foreign matter picture for prestoring around the contrast car body；If a part and a foreign matter picture in an image or picture
Matching, then judge there is foreign matter around the car body.
The invention has the advantages that, there is provided a kind of navigation system and its navigation side for solar panel sweeping robot
Method, it passes through on the positioner solar panel where in the solar energy in large area panel zone that positions its own car body in real time
Accurate regional location so that it can carry out real-time navigation operation, so as to effectively plan it on solar panel
Clean path optimizing so that its surface area that can effectively clean solar panel.
Brief description of the drawings
Fig. 1 is schematic diagram of the sweeping robot on solar panel in embodiment of the present invention；
Fig. 2 is the building-block of logic of the navigation system of sweeping robot in embodiment of the present invention；
The step of Fig. 3 is in embodiment of the present invention for solar panel sweeping robot air navigation aid flow chart；
Fig. 4 is the flow chart of car body position obtaining step in air navigation aid shown in Fig. 3；
Fig. 5 is warp direction of the sweeping robot in its residing solar panel latitude and longitude coordinate-system in the embodiment of the present invention
Perspective view；
Fig. 6 is weft direction of the sweeping robot in its residing solar panel latitude and longitude coordinate-system in the embodiment of the present invention
Perspective view.
Figure Detail number is as follows：
100 solar panel sweeping robots/sweeping robot/robot, 200 solar panels, frame 210, warp 211,
Parallel 212, bridge plate 300；
10 car bodies, 110 mounting brackets, path optimizing planning unit 21, positioner 22, control system 23, bridge position judgment list
Unit 24, gap bridge detection unit 25, headstock walking direction unit 26, foreign matter recognition unit 27, wireless communication unit 28；
Image collection unit 221, frame recognition unit 222, latitude and longitude recognition unit 223, car body position computing unit 224, shadow
As collecting unit position calculation unit 225, car body center position computing unit 226, GPS unit 227, panel judging unit
228, server 30.
Specific embodiment
The preferred embodiments of the present invention are introduced below with reference to Figure of description, it was demonstrated that the present invention can be implemented, the implementation
Example can make its technology contents more clear and readily appreciate to those of skill in the art's complete description present invention.This hair
Bright to be emerged from by the embodiment of many multi-forms, protection scope of the present invention is not limited only in text what is mentioned
Embodiment.
In the accompanying drawings, structure identical part represents with same numbers label, everywhere the similar component of structure or function with
Like numeral label is represented.The size and thickness of each part shown in the drawings are arbitrarily to show, the present invention is not limited
The size and thickness of each component.In order that diagram is apparent, the appropriate thickness for exaggerating part in some places in accompanying drawing.
The direction term that the present invention is previously mentioned, for example " on ", D score, "front", "rear", "left", "right", " interior ", " outward ", "
Side " etc., is only the direction in accompanying drawing, is used only to explain and illustrate the present invention, rather than for limiting protection of the invention
Scope.
When some parts be described as " " another part " on " when, the part can be placed directly within another part
On；Can also there is an intermediate member, the part is placed on the intermediate member, and the intermediate member is placed in another part
On.When a part is described as " being attached to " or " being connected to " another part, the two can be understood as directly " installation " or
" connection ", or a part is by indirect " being attached to " or " being connected to " another part of an intermediate member.
As shown in figure 1, one embodiment of the present invention provides one kind is used for solar panel sweeping robot 100
（Hereinafter referred to as sweeping robot or robot）Navigation system.Wherein described solar panel sweeping robot 100 includes car
Body 10 and dynamical system, the car body 10 are travelled or resident by the dynamical system on an at least solar panel 200.
And each solar panel 200 is rectangle, its edge is provided with four recognizable frames 210；Each sun
Energy panel is provided with warp 211 and parallel 212 perpendicular to one another, and the warp 211 and the parallel 212 form a panel coordinates
System.And solar panel 200, it is generally all that multiple is stitched together, and then forms larger daylighting area.At adjacent two
An at least bridge plate 300 is generally provided between solar panel, for connecting two solar panels.
Further, refer to shown in Fig. 2, the navigation system include path optimizing planning unit 21, positioner 22,
Control system 23, bridge location puts judging unit 24, gap bridge detection unit 25, headstock walking direction unit 26, foreign matter recognition unit 27
And wireless communication unit 28.
Wherein described path optimizing planning unit 21, for calculating and planning the sweeping robot in an at least solar energy
The path optimizing travelled on panel；It can be specifically provided in the server 30 of outside, but is not limited to.
The positioner 22, on the car body 10, for obtaining the car body 10 in residing solar panel
Real time position.It includes at least an image collection unit 221, frame recognition unit 222, latitude and longitude recognition unit 223, car body
Position calculation unit 224, image collection unit position calculation unit 225, car body center position computing unit 226, GPS unit
227 and panel judging unit 228.
Wherein described image collection unit 221, for obtaining image and/or picture around the car body in real time.Specifically
, as shown in figure 1, the image collection unit 221 can be arranged on the car body 10 by a mounting bracket 110, but
It is not limited to.And wherein described image collection unit 221 field-of-view angle in the horizontal direction is 0-360 degree.The image collection list
Unit 221 includes but is not limited to camera or image sensor.
The frame recognition unit 222, is connected to the image collection unit 221；For according to the image and/or figure
The direct of travel of piece and the car body recognizes the frame around the car body.The latitude and longitude recognition unit 223, is connected to described
Image collection unit 221；For car body 10 described in the location recognition according to the image and/or picture and the frame with it is described
The warp quantity and parallel quantity existed between frame 210.
Specifically, in a detailed embodiment, the image collection unit 221, the frame recognition unit 222 with
And the cooperation between the latitude and longitude recognition unit 223, it is the figure of the car body surrounding that the image collection unit 221 is collected
Piece or image, can be explicitly shown 4 peripheral frames of solar panel residing for the car body.The frame recognition unit 222 is known
After the frame of other four sides, the latitude and longitude recognition unit 223 can be then boundary with the frame for respectively identifying, it is right that identification car body arrives its in four weeks
The latitude and longitude quantity between frame is answered, and then realizes positioning.
But in some cases, because solar panel area is larger, position of the car body on residing solar panel
Put so that the picture or image of the car body surrounding that the image collection unit 221 is obtained, it is impossible to be explicitly shown the car body institute
Locate 4 peripheral frames of solar panel, may there was only at adjacent 2 frame at frame or 3.At this moment the frame recognition unit
222 after two frames for recognizing adjacent handing-over, and the latitude and longitude recognition unit 223 i.e. can be with identify two adjacent handing-over sides
Frame is boundary, recognizes the latitude and longitude quantity between two frames that the corresponding both sides of the car body 10 are identified to this, and then realizes determining
Position.
That is, being to need first to identify institute for positioning of the car body on its residing solar panel
Locate the frame of solar panel, and using the frame that identifies as benchmark or boundary, then the frame being identified out with
The identification of the latitude and longitude between car body, so as to realize on residing solar panel, the panel coordinate system formed by its latitude and longitude
In positioning.Wherein as positioning datum or the frame quantity of the solar panel of positioning boundary, also it is not absolutely required to know
Do not go out the whole frame of surrounding, i.e., 4 frames, as long as identifying two frames of adjacent two handing-over, you can carry out follow-up warp
Parallel identification positioning.
The car body position computing unit 224, is connected to the latitude and longitude recognition unit 223；For according to the car body
Coordinate range of the car body on the solar panel is calculated with the warp quantity between the frame and parallel quantity.Institute
Image collection unit position calculation unit 225 is stated, the car body position computing unit 224 is connected to, for according to the car body
Coordinate range on a solar panel of size, the car body and the image collection unit 221 and the car body phase
To position, coordinate range of the image collection unit 221 on the solar panel is calculated.
The car body center position computing unit 226, is connected to the car body position computing unit 224, for basis
The coordinate range of the size of the car body, the car body on a solar panel calculates the car body central point in the solar energy
Coordinate range on panel.The GPS unit 227, the GPS location position for obtaining the car body in real time.The panel is sentenced
Disconnected unit 228, is connected to the GPS unit 227, judges for the GPS location position according to the car body and panel distribution map
The information of solar panel residing for the car body.
The control system 23, in the car body 10, be respectively connecting to the path optimizing planning unit 21 and
The positioner 22, for sending an at least control instruction according to the real time position of the path optimizing and the car body.Institute
State the control instruction that dynamical system receives the control system.
The bridge location puts judging unit 24, for obtaining an at least vane position and the bridge plate two from the server 30
The bridgehead position at end.The gap bridge detection unit 25, when the control instruction is the gap bridge that the control car body passes through a bridge plate
During instruction, detect whether the car body real time position matches with the bridgehead position of the bridge plate；If it is not, adjusting the car body position extremely
The bridgehead position of the bridge plate；If so, performing next step.The headstock walking direction unit 26, judges the car body traveling side
To whether consistent with the vane position；If so, performing the instruction of passing a bridge；If it is not, adjusting the car body direct of travel and institute
State vane position consistent, then perform the instruction of passing a bridge.
The foreign matter recognition unit 27, is connected to the image collection unit 221；For contrasting the shadow around the car body
Picture and the foreign matter picture for prestoring；If a part and a foreign matter picture match in an image or picture, the car body week is judged
Enclose and there is foreign matter.Wherein described foreign matter recognition unit can be provided in external server.
The wireless communication unit 28, is connected to the control system 23, and be wirelessly connected to the external server 30；
For realizing data exchange between the control system 23 and the server 30.
The external server 30 can also provide map or plan optimization path, the bridgehead position coordinate at bridge plate two ends
With bridge floor position, and storage foreign matter picture and realize foreign matter recognize.Specifically, wherein described foreign matter identification can be by institute
State foreign matter recognition unit to be arranged in the external server, foreign matter identification is carried out by the external server.
Further, another embodiment of the invention provides a kind of navigation side for solar panel sweeping robot
Method, wherein the solar panel sweeping robot includes car body.The air navigation aid comprises the following steps：S1：Path optimizing
Calculation procedure, S2：Car body position obtaining step, S3：Control instruction issuing steps, S4：Car body rate-determining steps, S5：Bridge location is put and is sentenced
Disconnected step, S6：Gap bridge detecting step, S7：Headstock walking direction step, S8：Foreign matter identification step, S9：Image forwarding step with
And S10：Location data forwarding step.
Wherein described path optimizing calculation procedure is to calculate and plan the sweeping robot in an at least solar panel
The path optimizing of upper traveling.The car body position obtaining step is the real-time position for obtaining the car body on the solar panel
Put.
Further, each of which solar panel is rectangle, and its edge is provided with four recognizable frames；Each sun
Energy panel is provided with warp and parallel perpendicular to one another, and the warp and the parallel form a panel coordinate system.And the car
Body position obtaining step, specifically includes following sub-step：S21：GPS location sub-step, S22：Panel judges sub-step, S23：Shadow
As collection sub-step, S24：Frame identification sub-step, S25：Latitude and longitude identification sub-step, S26：Car body position calculating sub-step,
S27：Image collection unit position calculates sub-step and S28：Car body center position calculates sub-step.
Wherein described GPS location sub-step, obtains the GPS location position of the car body in real time.The panel judges sub-step
Suddenly, GPS location position and panel distribution map according to the car body judges the information of solar panel residing for the car body.
It is to need first to identify residing solar energy face for positioning of the car body on its residing solar panel
The frame of plate, and using the frame that identifies as benchmark, then latitude and longitude between the frame and car body being identified out
Identification, so as to realize on residing solar panel, the positioning in the panel coordinate system formed by its latitude and longitude.Wherein as fixed
The frame quantity of the solar panel of position benchmark or positioning boundary, also it is not absolutely required to identify the frame that surrounding is whole,
I.e. 4 frames, as long as identifying two frames of adjacent two handing-over, you can carry out follow-up latitude and longitude identification positioning.
Specifically, above-mentioned identification positioning divide into three below sub-step：Image collection sub-step, frame identification sub-step
Rapid and latitude and longitude identification sub-step.Wherein described image collection sub-step, obtains the image and/or figure around the car body in real time
Piece.The frame recognizes sub-step, and the direct of travel according to the image and/or picture and the car body recognizes the car body week
The frame for enclosing.The latitude and longitude recognize sub-step, car described in the location recognition according to the image and/or picture and the frame
The warp quantity and parallel quantity existed between body and the frame.
Further, wherein image identification sub-step obtains the picture or image data of the car body surrounding, institute
Stating data includes the frame information of solar panel residing for car body.Frame identification sub-step is during identification obtains data
Frame information, and the frame that will identify that is used as the benchmark or boundary of follow-up identification latitude and longitude.And latitude and longitude identification
Step, then be on the basis of the frame for identifying or boundary, recognizes that the car body arrives the latitude and longitude of corresponding sides inframe for four weeks
Quantity, in this way, the car body is realized on residing solar panel, the positioning in the panel coordinate system formed by its latitude and longitude.
The car body position calculates sub-step, according to warp quantity and parallel quantity between the car body and the frame
Calculate coordinate range of the car body on the solar panel.The image collection unit position calculates sub-step, according to
The coordinate range and the image collection unit and the car body of the size of the car body, the car body on a solar panel
Relative position, calculate the coordinate range of the image collection unit on the solar panel.
Specifically, refer to Fig. 5, shown in 6, if it is that B, thickness are C that the length of the known car body is A, width；（Car body
Size）；The coordinate of the car body is（X, Y）, wherein, X1<X<X2（X1, X2 be solar panel on car body described in distance most
Near two are through line coordinates）, Y1<Y<Y2（Y1, Y2 are two nearest parallel coordinates of car body described in distance on solar panel）；I.e.
X1, X2, Y1 and Y2 define the car body where coordinate range, it is known that the image collection unit is relative to the car body
The height of top surface is H.
The known image collection unit the car body top surface project to two distances of short side of the car body for A1,
A2；Wherein, A2=A- A1；Known image collection unit projects to two distances on side long of the car body the car body top surface
It is B1, B2；Wherein, B2=B-B1.Three above known conditions is the relative position of the image collection unit and the car body.
If projection coordinate of the image collection unit on a solar panel is（X, y）, then
X1+（1+C/H）*（A- A1）< x <X2 -（1+C/H）* A1；
Y1+（1+C/H）*（B- B1）< y <Y2 -（1+C/H）* B1 .
The present embodiment preferred A1=A/2, B1=0（At car body front end center）；A1=A/2, B1=B/2（Car body center）Two
Prescription case.
The car body center position calculates sub-step, and the size, the car body according to the car body are in a solar energy face
Coordinate range on plate calculates coordinate range of the car body central point on the solar panel.
Specifically, set coordinate of the car body central point on a solar panel as（X0, y0）, then
X1+A/2< x0 <X2-A/2；
Y1+B/2< y 0<Y -B/2。
The control instruction issuing steps are to send at least one according to the real time position of the path optimizing and the car body
Control instruction.The car body rate-determining steps are to control car body to travel or stay on the solar panel according to the control instruction
Stay.
An at least bridge plate is provided between the adjacent solar panel of any two of which, the bridge position judgment step is to obtain
An at least vane position and the bridgehead position at the bridge plate two ends.The gap bridge detecting step is when the control instruction is control
When the car body is instructed by the gap bridge of a bridge plate, detect the car body real time position and the bridge plate bridgehead position whether
Match somebody with somebody；If it is not, adjusting the bridgehead position of the car body position to the bridge plate；If so, performing next step.The headstock walking direction
Step, judges whether the car body direct of travel is consistent with the vane position；If so, performing the instruction of passing a bridge；If it is not, adjusting
The whole car body direct of travel is consistent with the vane position, then performs the instruction of passing a bridge.
The foreign matter identification step is the foreign matter picture for contrasting the image around the car body with prestore；If an image
Or the part in picture and a foreign matter picture match, then judge there is foreign matter around the car body.The image forwarding step
It is that the image around the car body is wirelessly transmitted to server.The location data forwarding step is by the positioning of the car body
Data is activation is to the server.Wherein, the location data of the car body includes but is not limited to solar energy face where the car body
The information of plate, and/or, coordinate range of the car body on the solar panel, and/or, the image collection unit is at this
Coordinate range on solar panel, and/or coordinate range of the car body central point on the solar panel.
A kind of navigation system and its air navigation aid for solar panel sweeping robot that the present invention is provided, it passes through
Positioner positions accurate area of its own car body on place solar panel in solar energy in large area panel zone in real time
Domain position so that it can carry out real-time navigation operation, so as to effectively plan its cleaning optimization on solar panel
Path so that its surface area that can effectively clean solar panel.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
Member, under the premise without departing from the principles of the invention, can also make some improvements and modifications, and these improvements and modifications also should be regarded as
Protection scope of the present invention.
Claims (16)
1. a kind of navigation system for solar panel sweeping robot, wherein the solar panel sweeping robot includes
Car body and dynamical system, the car body are travelled or resident by the dynamical system on an at least solar panel；Its feature
It is that the navigation system includes
Path optimizing planning unit, in an external server, for calculating and planning the sweeping robot at least one
The path optimizing travelled on solar panel；
Positioner, in the car body, for obtaining the real time position on solar panel where the car body；
Control system, in the car body, is respectively connecting to the path optimizing planning unit, the positioner, is used for
Real time position according to the path optimizing and the car body sends an at least control instruction；
Wherein described dynamical system is used to receive the control instruction.
2. navigation system as claimed in claim 1, it is characterised in that
An at least bridge plate is provided between the adjacent solar panel of any two；
The navigation system also includes
Bridge location puts judging unit, the end of the bridge for obtaining an at least vane position and the bridge plate two ends from the external server
Position；
Gap bridge detection unit, when the control instruction is that the control car body is instructed by the gap bridge of a bridge plate, detection is described
Whether car body real time position matches with the bridgehead position of the bridge plate；If it is not, adjusting the car body position to the end of the bridge position of the bridge plate
Put；If so, performing next step；And
Headstock walking direction unit, judges whether the car body direct of travel is consistent with the vane position；If so, performing described
Pass a bridge and instruct；If it is not, it is consistent with the vane position to adjust the car body direct of travel, then perform the instruction of passing a bridge.
3. navigation system as claimed in claim 1, it is characterised in that each of which solar panel is rectangle, its edge
It is provided with four recognizable frames；It is additionally provided with warp and parallel perpendicular to one another on each solar panel, the warp and described
Parallel forms a panel coordinate system；The positioner includes
An at least image collection unit, for obtaining image and/or picture around the car body in real time；
Frame recognition unit, is connected to the image collection unit；For according to the image and/or picture and the car body
Direct of travel recognizes the frame around the car body；
Latitude and longitude recognition unit, is connected to the image collection unit；For according to the image and/or picture and the frame
Location recognition described in the warp quantity and parallel quantity that exist between car body and the frame；And
Car body position computing unit, is connected to the latitude and longitude recognition unit；For according between the car body and the frame
Warp quantity and parallel quantity, calculate the coordinate range on car body solar panel where it.
4. navigation system as claimed in claim 3, it is characterised in that the positioner also includes
Image collection unit position calculation unit, is connected to the car body position computing unit, for the chi according to the car body
The relative position of coordinate range and the image collection unit on very little, described car body solar panel where it and the car body
Put, calculate coordinate range of the image collection unit on the solar panel.
5. navigation system as claimed in claim 3, it is characterised in that the positioner also includes
Car body center position computing unit, is connected to the car body position computing unit, for the size according to the car body,
Coordinate range on car body solar panel where it, calculates seat of the car body central point on the solar panel
Mark scope.
6. navigation system as claimed in claim 3, it is characterised in that the positioner also includes
GPS unit, the GPS location position for obtaining the car body in real time；
Panel judging unit, is connected to the GPS unit, for the GPS location position according to the car body and panel distribution map
Judge the information of solar panel where the car body.
7. navigation system as claimed in claim 1, it is characterised in that also include
Foreign matter recognition unit, in the external server, is connected to the image collection unit；For contrasting the car body
The image and the foreign matter picture for prestoring of surrounding；If a part and a foreign matter picture match in an image or picture, judge institute
State and there is foreign matter around car body.
8. navigation system as claimed in claim 1, it is characterised in that also include
Wireless communication unit, is connected to the control system, and be wirelessly connected to the external server；For in the control
Data exchange is realized between system and the external server.
9. a kind of air navigation aid for solar panel sweeping robot, it is characterised in that
The solar panel sweeping robot includes car body；
The air navigation aid comprises the following steps：
Path optimizing calculation procedure, calculates and plans the optimization road that the sweeping robot is travelled on an at least solar panel
Footpath；
Car body position obtaining step, obtains the real time position on car body solar panel where it；
Control instruction issuing steps, the real time position according to the path optimizing and the car body sends an at least control instruction；
And
Car body rate-determining steps, control car body to be travelled on the solar panel or resident according to the control instruction.
10. air navigation aid as claimed in claim 9, it is characterised in that
An at least bridge plate is provided between the adjacent solar panel of any two；
The air navigation aid also includes
Bridge position judgment step, obtains the bridgehead position at an at least vane position and the bridge plate two ends；
Gap bridge detecting step, when the control instruction is that the control car body is instructed by the gap bridge of a bridge plate, detection is described
Whether car body real time position matches with the bridgehead position of the bridge plate；If it is not, adjusting the car body position to the end of the bridge position of the bridge plate
Put；If so, performing next step；And
Headstock walking direction step, judges whether the car body direct of travel is consistent with the vane position；If so, performing described
Pass a bridge and instruct；If it is not, it is consistent with the vane position to adjust the car body direct of travel, then perform the instruction of passing a bridge.
11. air navigation aids as claimed in claim 9, it is characterised in that
Each solar panel is rectangle, and its edge is provided with four recognizable frames；
Each solar panel is provided with warp and parallel perpendicular to one another, and the warp and the parallel form a panel coordinates
System；
The car body position obtaining step, specifically includes following sub-step：
Image collection sub-step, obtains the image and/or picture around the car body in real time；
Frame recognizes sub-step, and the direct of travel according to the image and/or picture and the car body is recognized around the car body
Frame；
Latitude and longitude recognize sub-step, car body described in the location recognition according to the image and/or picture and the frame with it is described
The warp quantity and parallel quantity existed between frame；
Car body position calculates sub-step, according to the warp quantity between the car body and the frame and parallel quantity are calculated
Coordinate range of the car body on the solar panel.
12. air navigation aids as claimed in claim 11, it is characterised in that
The car body position obtaining step can also include following sub-step：
Image collection unit position calculates sub-step, and the size, the car body according to the car body are on a solar panel
Coordinate range and the image collection unit calculate the image collection unit in the solar energy with the relative position of the car body
Coordinate range on panel.
13. air navigation aids as claimed in claim 11, it is characterised in that
The car body position obtaining step can also include following sub-step：
Car body center position calculates sub-step, seat of the size, the car body according to the car body on a solar panel
Coordinate range of the car body central point on the solar panel described in mark range computation.
14. air navigation aids as claimed in claim 11, it is characterised in that
In the car body position obtaining step, before the image collection sub-step, also including following sub-step：
GPS location sub-step, obtains the GPS location position of the car body in real time；
Panel judges sub-step, and the GPS location position and panel distribution map according to the car body judge the sun where the car body
The information of energy panel.
15. air navigation aids as claimed in claim 11, also comprise the following steps：
Image forwarding step, server is wirelessly transmitted to by the image around the car body；And/or,
Location data forwarding step, the location data of the car body is sent to the server；
Wherein, the location data of the car body is included but is not limited to
The information of solar panel where the car body, and/or,
Coordinate range of the car body on the solar panel, and/or,
Coordinate range of the image collection unit on the solar panel, and/or,
Coordinate range of the car body central point on the solar panel.
16. air navigation aids as claimed in claim 11, it is characterised in that also comprise the following steps：
Foreign matter identification step, for the foreign matter picture for contrasting the image around the car body with prestore；If in an image or picture
A part and a foreign matter picture match, then judge there is foreign matter around the car body.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710073586.8A CN106873587B (en) | 2017-02-10 | 2017-02-10 | Navigation system for solar panel cleaning robot and navigation method thereof |
| PCT/CN2018/075524 WO2018145632A1 (en) | 2017-02-10 | 2018-02-07 | Navigation system for solar panel cleaning robot and navigation method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710073586.8A CN106873587B (en) | 2017-02-10 | 2017-02-10 | Navigation system for solar panel cleaning robot and navigation method thereof |
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| CN106873587B CN106873587B (en) | 2023-07-14 |
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| CN (1) | CN106873587B (en) |
| WO (1) | WO2018145632A1 (en) |
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| CN107612503A (en) * | 2017-10-20 | 2018-01-19 | 苏州瑞得恩光能科技有限公司 | Solar panel Fault detection method and system and robot |
| CN107748565A (en) * | 2017-11-23 | 2018-03-02 | 浙江国自机器人技术有限公司 | Cleaning robot on cleaning method and plate on a kind of plate of autonomous |
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| WO2018145631A1 (en) * | 2017-02-10 | 2018-08-16 | 苏州瑞得恩光能科技有限公司 | Solar panel cleaning robot positioning device and positioning method thereof |
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| WO2018145632A1 (en) | 2018-08-16 |
| CN106873587B (en) | 2023-07-14 |
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