CN107544519A - Solar panel sweeping robot docking system and its method of plugging into - Google Patents
Solar panel sweeping robot docking system and its method of plugging into Download PDFInfo
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- CN107544519A CN107544519A CN201710981165.5A CN201710981165A CN107544519A CN 107544519 A CN107544519 A CN 107544519A CN 201710981165 A CN201710981165 A CN 201710981165A CN 107544519 A CN107544519 A CN 107544519A
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- 238000010408 sweeping Methods 0.000 title claims abstract description 40
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- 238000003032 molecular docking Methods 0.000 title claims abstract description 17
- 230000005540 biological transmission Effects 0.000 claims description 33
- 238000004891 communication Methods 0.000 claims description 23
- 238000005183 dynamical system Methods 0.000 claims description 18
- 230000004807 localization Effects 0.000 claims description 11
- 238000004140 cleaning Methods 0.000 description 7
- 239000000428 dust Substances 0.000 description 4
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Abstract
The invention discloses a kind of solar panel sweeping robot docking system and its method of plugging into, the docking system includes two or more solar panel, is spaced arrangement；Guide rail, one part are arranged at the edge of the solar panel；Connect and draw car, travel or stop on the guide rail；Robot, draw traveling or stopping or retrogressing on car in any solar panel and/or described connect；Wherein, described connect draws car for the robot on a solar panel to be transferred into another solar panel.
Description
Technical field
The present invention relates to fields such as solar panel sweeping robots, specially a kind of solar panel sweeping robot connects
Refute system and method.
Background technology
In the case where fossil fuel is reduced increasingly, turn into the mankind 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) that occurs under illumination condition using semi-conducting material 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
A variety of 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 accumulated throughout the year.Dust or other attachments are attached with solar panel, the light transmittance of panel plate can be influenceed, is hindered
Photoelectric efficiency, so as to have a strong impact on that panel directly obtains the efficiency of sunlight, the energy absorption and conversion efficiency of panel are reduced, dropped
Low generating efficiency.The solar panel of prior art can only rely on artificial periodically completion cleaning work 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 electric energy loss caused by undertaking dust.So, just need
There is a new automatic cleaning equipment, solar panel is cleared up automatically.
Solar panel sweeping robot is the equipment cleared up solar panel.Under normal circumstances, each area
The solar panel in domain is connected with each other, and is intervally arranged without larger, then i.e. configurable one on the solar panel in this region
Individual sweeping robot.If the area in the region is sufficiently large, then a region sweeping robot is rational.But ordinary circumstance
Under, the area of the solar panel in a region is comparatively smaller, and a sweeping robot is separately configured in a region, its
Cost and maintenance cost too expensive, therefore, in the case where reasonable disposition reduces cost, the solar panel in several regions is matched somebody with somebody
Put same sweeping robot.
But due to spaced between the solar panel of different zones, the sweeping robot can not be from a region too
It is positive can panel on the solar panel in another region.Therefore need to provide a docking system, enable sweeping robot
Effective safety from the solar panel from the solar panel in a region to another region, continue to complete cleaner
Make.
The content of the invention
The purpose of the present invention is：A kind of solar panel sweeping robot docking system is provided, can be by robot from one
It is transported on individual solar panel on another solar panel, meets sweeping robot multiple different and spaced
Worked on solar panel, solve sweeping robot in the prior art can only on one piece of solar panel operation technology
Problem.
Realizing the technical scheme of above-mentioned purpose is：A kind of solar panel sweeping robot docking system, including two with
Upper solar panel, it is spaced arrangement；Guide rail, one part are arranged at the edge of the solar panel；Connect and draw car,
Travel or stop on the guide rail；Robot, any solar panel and/or it is described connect draw on car advance stop or after
Move back；Wherein, described connect draws car for the robot on a solar panel to be transferred into another solar panel.
Described connect draws car and includes connecing and drawing car car body, on the guide rail；Main power system, it is assembled in described connect and draws car car
Body, and on the guide rail；Connect and draw panel, be fixed on the upper surface for scooping out car car body, described connect draws panel for holding
Carry the robot, described connect draws the upper surface of the upper surface of panel and the solar panel in the same plane；Connect and draw car
Control system, the main power system are connected to described connect and draw vehicle control；The dynamical system is used for according to the control
The instruction of system drives to specified location by described along the guide rail, and the specified location includes the first specified location and second and specified
Position, first specified location correspond to first position of the robot on solar panel, second specific bit
Put and correspond to the second place of the robot on solar panel, the first position is robot on solar panel
Wait " loaded " position set in advance, the second place be robot on solar panel it is set in advance complete unloading
Parked position afterwards.
In a preferred embodiment of the present invention, it is described connect to draw panel and connect including one draw side；Wherein, when described connect draws car traveling
During to specified location, described connect draws that side is parallel to be contacted with the edge of the solar panel；When described connect draws parking stall in described
During one specified location, the robot resides in described connect and drawn on panel after the first position traveling pre-determined distance；Work as institute
State to connect and draw parking stall when second specified location, the robot draws the parked position of panel and retreated to described from described connect
Behind two positions, reside on solar panel.
In a preferred embodiment of the present invention, the robot includes robot communication module；Described connect draws car including connecing
Draw car communication module, be connected to the robot communication module；Described connect draws car and the robot and draws car by described connect and lead to
Letter module realizes signal exchange with the robot communication module.
In a preferred embodiment of the present invention, the robot includes robot localization module, for obtaining the machine
The real-time coordinates of people；Described connect draws car and includes connecing and drawing car locating module, draws the real-time coordinates of car for obtaining described connect.
In a preferred embodiment of the present invention, the robot includes robot dynamical system；Robot control system, institute
State robot dynamical system, robot localization module, robot communication module and be connected to the robot control system；The machine
Device people control system is used for the real-time location coordinates that robot is obtained from the robot localization module, and passes through the machine
People's communication module to it is described connect to draw car and send to plug into instruct and confirm that described connect draws the feedback signal of car, and the control machine
The unlatching driving of people's dynamical system stops driving.
In a preferred embodiment of the present invention, the robot includes image sensor, located at the front end of the robot
With rear end and be connected to the robot control system, the image sensor is used for the shadow for obtaining robot front or behind
Picture, the image, which includes connecing, draws panel and the image at solar panel contact；Draw car hair when the robot receives described connect
During the signal for the arrival specified location sent, the robot control system connects the arrival for drawing panel according to judging the image
Whether position matches with specified location, if mismatching, the robot control system be used for it is described connect to draw car and send connect and draw face
Plate adjust instruction, if matching, the robot control system is used to draw car transmission beginning Load Signal to described connect, and controls institute
Robot dynamical system driving is stated to open.
In a preferred embodiment of the present invention, the guide rail is double guide rails, including the first rail body and parallel to the first rail body
The second rail body.
The second object of the present invention is：A kind of solar panel sweeping robot is provided to plug into method.
Realizing the technical scheme of the second purpose is：A kind of solar panel sweeping robot is plugged into method
Comprise the following steps, step S1）Robot waits to plug into a solar panel is first-class；Step S2）Connect and draw car along guide rail row
Sail to the specified location with solar panel where the robot and be resident；Step S3）The robot is from the solar energy
Described connect is advanced on panel to draw on car and be resident；Step S4）Described connect draws car and drives to another solar energy face along the guide rail
The specified location of plate；Step S5）The robot from it is described draw on car retreat on the solar panel and being resident.
In a preferred embodiment of the present invention, the step S1）Comprise the following steps：Step S11）The robot obtains
Real-time location coordinates and first position to itself, the first position are that the robot is advance on the solar panel
The wait " loaded " position of setting；Step S12）The robot is according to the real-time location coordinates of itself and first position selection traveling
Route, and drive to the first position along travel route and be resident；Step S13）The robot draws car transmission to described connect
Connect and draw instruction, described to connect the coordinate for drawing coordinate and the second place that instruction includes first position, the second place is robot
The parked position set in advance completed after unloading on solar panel.
In a preferred embodiment of the present invention, the step S2）Comprise the following steps, step S21）Described connect draws car reception
And connect described in handling and draw instruction, and to connecing the feedback signal of drawing instruction described in robot transmission；Step S22）Described connect is drawn
Car obtains the real-time location coordinates of itself, and confirms travel direction according to the coordinate of the first position of the robot and to be arrived
The coordinate of the first specified location reached；Step S23）Described connect draws car and drives to the first specified location according to the travel direction,
Described connect draws connecing for car and draws that side is parallel to be contacted with the edge of the solar panel of the first specified location；Step S24）Described connect is drawn
Car sends the first arriving signal to the robot.
In a preferred embodiment of the present invention, the step 3）Comprise the following steps, step 31）The robot receives simultaneously
Handle the first arriving signal；Step 32）The robot draws car transmission wait loading instruction to described connect, and connects and draw described in receiving
The wait of car loads the feedback signal of instruction；Step 33）The robot traveling pre-determined distance, connect described in arrival and draw connecing for car and draw
On panel and it is resident；Step 34）The robot draws car transmission loading completion signal to described connect.
In a preferred embodiment of the present invention, the step 31）In comprise the following steps, step 311）When the robot
After receiving first arriving signal, the robot obtains the image in front of robot, the image include connecing draw panel with
Image at solar panel contact；Step 312）The robot is handled the image and judges that described connect draws panel
Whether the first in-position matches with the first specified location, if mismatching, into step 313）If matching, into step
32）；Step 313）The robot draws car transmission position adjustment instruction to described connect；Step 314）Described connect draws car and receives institute
Rheme put after adjust instruction to it is described connect to draw the first of panel and reach position be adjusted, described connect is drawn the first of panel and is reached
Position matches with first specified location；Step 315）Described connect draws car weight newly to the first in-position of robot transmission
Signal, and return to step 311）.
In a preferred embodiment of the present invention, the step S4）Comprise the following steps, step S41）It is described connect draw car according to
The coordinate of the first position and the coordinate of the second place determine the coordinate of travel direction and the second specified location to be reached；
Step S42）Described connect draws car and drives to the second specified location according to the travel direction, and described connect draws connecing for car and draw that side is parallel to be connect
It is in harmony in the edge of the solar panel of the second specified location；Step S43）It is described connect to draw car and send to the robot second arrive
Up to signal.
In a preferred embodiment of the present invention, the step 5）Comprise the following steps, step 51）The robot receives simultaneously
Handle the second arriving signal；Step 52）The robot draws car transmission wait unloading command to described connect, and connects and draw described in receiving
The feedback signal of the wait unloading command of car；Step 53）The robot retreats pre-determined distance, draws the resident of panel from described connect
Position is retreated to the second place of the solar panel；Step 54）The robot draws car transmission unloading completion to described connect
Signal.
In a preferred embodiment of the present invention, the step 51）Also include step 511）When the robot receives
After second reaches signal, the robot obtains the image at robot rear, and the image, which includes connecing, to be drawn panel and connect with solar panel
It is in harmony the image at place；Step 512）The robot is handled the image and judges described to connect the second in-position for drawing panel
Whether matched with the second specified location, if mismatching, into step 513）If matching, into step 52）；Step 513）
The robot draws car transmission position adjustment instruction to described connect；Step 514）It is described connect to draw car and receive the position adjustment refer to
After order to it is described connect to draw the second of panel and reach position be adjusted, described connect is drawn the second in-position of panel and described the
Two specified locations match；Step 515）Described connect draws car weight newly to the signal of the second in-position of robot transmission, and return
Return step 511）.
It is an advantage of the invention that：The solar panel sweeping robot of the present invention is plugged into method and its system, rational rule
Sweeping robot is drawn from the solar panel in a region on the solar panel in another region, method of plugging into is effective
The transport efficacy for improving sweeping robot, it is simple in construction, plug into, transport safe and reliable, be effectively prevented when plugging into and damage
The situation of bad solar panel, and situation about overturning, further improve cleaning efficiency, reduce solar panel
Cleaning cost.
Brief description of the drawings
The present invention is further explained with reference to the accompanying drawings and examples.
Fig. 1 is the robot loading process schematic diagram of the embodiment of the present invention.
Fig. 2 is robot of embodiment of the present invention uninstall process schematic diagram.
Fig. 3 is that the embodiment of the present invention connects and draws parking stall in the structural representation on guide rail.
Fig. 4 is the module map of the robot of the embodiment of the present invention.
Fig. 5 is that the embodiment of the present invention connects the module map for drawing car.
Fig. 6 is the method and step flow chart of plugging into of the embodiment of the present invention.
Fig. 7 is step S1 in Fig. 6）Specific steps flow chart.
Fig. 8 is step S2 in Fig. 6）Specific steps flow chart.
Fig. 9 is step S3 in Fig. 6）Specific steps flow chart.
Figure 10 is step S31 in Fig. 9）Specific steps flow chart.
Figure 11 is step S4 in Fig. 6）Specific steps flow chart.
Figure 12 is step S5 in Fig. 6）Specific steps flow chart.
Figure 13 is step S51 in Figure 12）Specific steps flow chart.
Wherein,
1 solar panel；
2 robots；21 image sensors；
22 robot communication modules；23 robot localization modules；
24 robot control systems；25 robot dynamical systems
3 connect and draw car；31 connect and draw vehicle control；
32 main power systems；33 connect and draw car car body；
34 connect and draw panel；35 connect and draw car communication module；
36 connect and draw car locating module；341 first connect and draw side；
342 second connect and draw side；4 guide rails.
Embodiment
The explanation of following examples is with reference to additional schema, to illustrate the particular implementation that the present invention can be used to implementation
Example.The direction term that the present invention is previously mentioned, such as " on ", " under ", "front", "rear", "left", "right", " top ", " bottom " etc., only it is
With reference to the direction of annexed drawings.Therefore, the direction term used is to illustrate and understand the present invention, and is not used to limit this hair
It is bright.
Embodiment, as shown in Figures 1 to 3, a kind of solar panel sweeping robot docking system, including the two or more sun
Energy panel 1, robot 2, connect and draw car 3 and guide rail 4.Wherein, described connect draws car 3 for that will be located at a solar energy along guide rail 4
Robot 2 on panel 1 is transferred on another solar panel 1.
In the present embodiment, the solar panel 1 is spaced arrangement.Its arrangement is according to design is actually needed, such as
The arrangement of array, or random arrangement etc..
In the present embodiment, the part in the guide rail 4 is arranged at the edge of the solar panel 1.For simplification
Illustrate, the present embodiment provides a simple scheme, i.e. guide rail 4 includes the first guide section and the second guide section, and first is oriented to
Section corresponds to the edge of the solar panel, and is set with the sides aligned parallel of solar panel 1, and the second guide section is connected to the
Between one guide section.In the present embodiment, the stationarity drawn car 3 and travelled on guide rail 4 is connect in order to improve, the guide rail 4 is designed as
Double guide rails, including the first rail body and the second rail body parallel to the first rail body, the first rail body and the second rail body are provided with guide groove.
In the present embodiment, as shown in figure 5, described connect draws car 3 and advances or stop on the guide rail 4.Draw specifically, this connects
Car 3 includes connecing drawing vehicle control 31, main power system 32, connecing to draw car car body 33 and connect and draw panel 34.Wherein, it is described
Main power system 32 is assembled in the bottom for connecing and drawing car car body 33, and main power system 32 is arranged on guide rail 4, wherein, the active
Force system 32 is that concrete structure is prior art, main power system 32 can select main drive motor and as described in being connected to
The roller of main drive motor, the main drive motor are electrically connected to the control system, and the roller is installed on the guide rail 4
On.Main power system 32 includes a pair of front wheels and a pair of rear rollers, and a pair of front wheels are separately mounted to the first rail body and second
In guide groove on rail body, likewise, a pair of rear rollers are separately mounted in the guide groove on the first rail body and the second rail body.It is described to connect
Draw panel 34 and be arranged on the top for connecing and drawing car car body 33.Wherein, the main power system 32, which is connected to connect, draws vehicle control 31,
Described connect draws startup and stopping that vehicle control 31 is used to control main power system 32.The main power system 32 is used to drive
Described connect is drawn car car body and travelled on guide rail 4, and the robot 2 is delivered into specific bit according to the instruction of the control system
Put.This is repeated no more.
Wherein, the specified location includes the first specified location and the second specified location, and the first specified location corresponds to the
One position, the second specified location correspond to the second place, and the first position is robot presetting on solar panel
Wait " loaded " position, the second place be robot on solar panel it is set in advance complete unloading after resident position
Put..
Wherein, described connect draws the upper surface of the upper surface of panel 34 and the solar panel in the same plane, described
Connect to draw panel 34 and connect including one and draw side, when it is described connect draw car 3 and drive to specified location when, described connect draws that side is parallel to be contacted with described
The edge of solar panel；Wherein, when it is described connect draw car 3 and be located at first specified location when, the robot 2 is from described
After one position traveling pre-determined distance, reside in described connect and draw on panel 34；When described connect draws car 3 and be located at second specified location
When, the robot 2 draws the parked position of panel 34 and retreated to the second place from described connect, and resides in solar panel
1。
In the present embodiment, described connect draws car 3 and also includes connecing and drawing car locating module 35, connect and draw car communication module 36.Wherein, institute
State to connect and draw car locating module 35, connect and draw car communication module 36 and be all connected to the control system.Described connect draws car locating module 35
The real-time location coordinates for drawing car are connect for obtaining, described connect draws car communication module 36 for realizing signal exchange with robot 2.
In the present embodiment, as shown in figure 4, the robot 2 is in any solar panel 1 and/or described connects that to draw car 3 up
Enter, retreat or stop, wherein, the robot 2 includes image sensor 21, robot communication module 22, robot localization mould
Block 23, robot control system 24 and robot dynamical system 5.Wherein, the image sensor 21, robot communication module
22nd, robot localization module 23, robot dynamical system 5 are connected to robot control system 24.
Wherein, the robot communication module 22 is used to draw car communication module 36 with connecing and communicated, to realize that signal is handed over
Change；The robot localization module 23 is used for the real-time location coordinates for obtaining the robot 2.
Wherein, the image sensor 21 is located at the front-end and back-end of the robot 2, and the image sensor is used to obtain
The image of the front and back of robot 2 is taken, the image, which includes connecing, draws panel 34 and the image at solar panel contact；The machine
Whether device people control system 24 connects according to judging the image draws the in-position of panel 34 and matches with specified location, if not
Matching, the robot control system 24 be used for it is described connect to draw car 3 and send connect and draw the adjust instruction of panel 34, if matching, described
Robot control system 24 is used to draw the transmission beginning Load Signal of car 3 to described connect, and controls the robot dynamical system 5 to open
It is dynamic.
Wherein, the robot control system 24 is used to obtain the real-time of robot 2 from the robot localization module 23
Position coordinates, and by the communication module of robot 2 to it is described connect to draw car 3 and send to plug into instruct and confirm that described connect draws car
3 feedback signal, and the control dynamical system of robot 2.When described connect draws panel 34 and solar panel success
Contact, described to connect that to draw the size of panel 34 be a definite value due in the present embodiment, solar panel and connecing draws between panel 34
Distance be a definite value in other words in a fixed scope, therefore, the present embodiment can pre-set a robot 2
Driven to from first position connect the pre-determined distance for drawing panel 34 and robot 2 from connect draw panel 34 to the second place it is default away from
From controlling operating range by control machine people dynamical system 25, formula operating range is consistent with pre-determined distance.
Wherein, the robot dynamical system 25 is arranged in robot car body bottom, to drive robot car body
Advance, retreat, the robot dynamical system 25 includes a near front wheel, an off-front wheel, a left rear wheel, an off hind wheel, a left drive
Dynamic motor, a right driving motor and two crawler belts.The near front wheel is arranged on the anterior left side of the car body bottom surface, including a near front wheel
Hub and a left front wheel shaft, left front wheel shaft are arranged at left front hub centre；Off-front wheel is arranged on the anterior right side of the car body bottom surface
Side, including an off-front wheel hub and a front right axle, front right axle are arranged at off-front wheel hub center；Left rear wheel is arranged on the car
The left side at body bottom surface rear portion, including a left back wheel hub and a left back wheel shaft, left back wheel hub are located on same straight line with left front wheel hub,
The left back wheel shaft is arranged at left back hub centre；Off hind wheel is arranged on the right side at the car body bottom surface rear portion, including a right side
Rear-wheel hub and an off hind wheel axle, off hind wheel hub is with off-front wheel hub on same straight line；The off hind wheel axle is arranged at off hind wheel
At hub center.The off hind wheel axle is directly connected to or is connected to the left back wheel shaft by a transmission device.Left driving motor, the right side
Motor is fixedly attached on robot car body by a fixing device, and power system is connected to by an at least wire, is led to
Cross an at least signal wire and be connected to robot control system 24.Left driving motor is directly connected to or is connected to by a transmission device
Left front wheel shaft, right driving motor are directly connected to or are connected to front right axle by a transmission device.Two crawler belts are all one flexible
Chain link a, wherein crawler belt is coated on outside the annular sidewall of left front wheel hub, left back wheel hub；Another crawler belt be coated on off-front wheel hub,
Outside the annular sidewall of off hind wheel hub.A crawler belt shell is provided with outside each crawler belt, to protect crawler belt and wheel hub, has been prevented
Debris enters in crawler belt or wheel hub, influences car body and normally advances.
In order to briefly describe, the present embodiment enumerates a connection modes.In specific plug into, when robot 2 from one too
It is positive can panel to another solar panel at when, its robot 2 drives into direction and to roll direction away from as shown in Figure 1.
The solar panel sweeping robot realized according to above-mentioned solar panel sweeping robot docking system connects
It is as follows to refute method, as shown in fig. 6, it specifically includes step S1）- step S5）.
Step S1）Robot 2 waits to plug into a solar panel is first-class；The step S1）Comprise the following steps：Step
S11）The robot gets real-time location coordinates and the first position of itself, and the first position is the robot at this
Wait " loaded " position set in advance on solar panel；Step S12）The robot is according to the real-time location coordinates of itself
Travel route is selected with first position, and drives to the first position along travel route and is resident；Step S13）The machine
People to it is described connect to draw car and send connect and draw instruction, it is described to meet the coordinate for drawing and instructing the coordinate and the second place that include first position, institute
State the second place and complete the parked position after unloading for robot is set in advance on solar panel.For example, define first
The coordinate of position is（X1, Y1）, the coordinate of the second place is（X2, Y2）, coordinate used is flat square seat in the present embodiment
Mark, the plane where plane where the coordinate is the upper surface of solar panel and connects the upper surface for drawing panel 34 is that coordinate is put down
Face.For convenience of explanation, in the present embodiment, Y-axis coordinate is driven into or rolled away from parallel to robot 2 where the edge of solar panel
Straight line, X-axis is then perpendicular to the Y-axis.
Step S2）Described connect draws car 3 and drives to the relative position with the " loaded " position along guide rail 4 and be resident, Yi Jijie
It is in harmony in the solar panel edge corresponding to the " loaded " position.The step S2）Comprise the following steps, as shown in figure 8, step
Rapid S21）It is described connect to draw car and receive and handle described connect draw instruction, and to connecing the feedback letter of drawing instruction described in robot transmission
Number；Step S22）It is described connect to draw car 3 and obtain connect and draw the real-time location coordinates this moment of car 3（X2, Y2）, and according to the robot 2
The coordinate of first position confirms the coordinate of travel direction and the first specified location to be reached；In this step, described first
The coordinate of specified location is（X1+a, Y1）, travelling vector is（X1+a-X2, Y1-Y2）.Step S23）Described connect draws car according to institute
State travel direction and drive to the first specified location, described connect draws connecing for car and draw that side is parallel to be contacted with the sun of the first specified location
The edge of energy panel；Step S24）Described connect draws car to the robot the first arriving signal of transmission.
Step S3）The robot 2 advances to described connect from the solar panel 1 and draws on car 3 and be resident；The step
Rapid 3）Comprise the following steps, as shown in figure 9, step 31）The robot receives and handles the first arriving signal；Step 311）
After the robot receives first arriving signal, the robot obtains the image in front of robot, the image bag
Include to connect and draw panel and the image at solar panel contact；Step 312）The robot is handled the image and judges institute
State and connect whether the first in-position for drawing panel matches with the first specified location, if mismatching, into step 313）If
Match somebody with somebody, then into step 32）；Step 313）The robot draws car transmission position adjustment instruction to described connect；Step 314）It is described
Connect draw car receive after position adjustment instruction to it is described connect to draw the first of panel and reach position be adjusted, draw described connect
First in-position of panel matches with first specified location；Step 315）Described connect draws car weight newly to the machine human hair
Send the signal of the first in-position, and return to step 311）.Step 32）The robot draws car transmission wait loading to described connect
Instruction, and the feedback signal for the wait loading instruction for drawing car is connect described in receiving；Step 33）The robot traveling pre-determined distance,
Connect described in arrival and draw connecing for car and draw on panel and be resident；Step 34）The robot draws car transmission loading completion letter to described connect
Number.
Step S4）Described connect draws the specified location that car 3 drives to another solar panel 1 along the guide rail 4；The step
S4）Comprise the following steps, as shown in figure 11, step S41）Described connect draws coordinate and second of the car according to the first position
The coordinate put determines the coordinate of travel direction and the second specified location to be reached, and it specifically determines method such as step 2）Institute
State；Step S42）Described connect draws car and drives to the second specified location according to the travel direction, and described connect draws connecing for car and draw side and put down
Row is contacted with the edge of the solar panel of the second specified location；Step S43）Described connect draws car and sends the to the robot
Two arriving signals.
Step S5）The robot 2 from it is described draw retreated on 3 on car on the solar panel 1 and being resident；The step
Rapid S5）Comprise the following steps, as shown in figure 12, step 51）The robot receives and handles the second arriving signal.Such as Figure 13
It is shown, the step 51）Also include：Step 511）After the robot, which receives, reaches signal to second, the robot obtains
The image at robot rear is taken, the image, which includes connecing, draws panel and the image at solar panel contact；Step 512）The machine
Device people is handled the image and judges that described connect is drawn the second in-position of panel and whether matched with the second specified location, if
Mismatch, then into step 513）If matching, into step 52）；Step 513）The robot draws car transmission to described connect
Position adjustment instructs；Step 514）It is described connect to draw car and receive described connect is drawn by the second of panel reached after position adjustment instruction
It is adjusted to position, described connect is drawn the second in-position of panel and is matched with second specified location；Step 515）Institute
State to connect and draw the signal that car weight newly sends the second in-position to the robot, and return to step 511）.Step 52）The machine
People draws car transmission wait unloading command to described connect, and the feedback signal for the wait unloading command for drawing car is connect described in receiving；Step
53）The robot retreats pre-determined distance, draws the parked position of panel from described connect and retreats to the second of the solar panel
Position；Step 54）The robot draws car transmission unloading completion signal to described connect.
These are only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
All any modification, equivalent and improvement made within principle etc., should be included in the scope of the protection.
Claims (16)
- A kind of 1. solar panel sweeping robot docking system, it is characterised in that includingTwo or more solar panel, it is spaced arrangement；Guide rail, one part are arranged at the edge of the solar panel；Connect and draw car, travel or stop on the guide rail；Robot, draw traveling or stopping or retrogressing on car in any solar panel and/or described connect；Wherein, described connect draws car for the robot on a solar panel to be transferred into another solar panel On.
- 2. solar panel sweeping robot docking system according to claim 1, it is characterised in that described connect draws car IncludingConnect and draw car car body, on the guide rail；Main power system, it is assembled in described connect and draws car car body, and on the guide rail；Connect and draw panel, be fixed on the upper surface for scooping out car car body, described connect draws panel for carrying the robot, described Connect and draw the upper surface of the upper surface of panel and the solar panel in the same plane；Connect and draw vehicle control, the main power system is connected to described connect and draws vehicle control；The dynamical system is used to drive to specified location along the guide rail by described according to the instruction of the control system, and this refers to Positioning is put including the first specified location and the second specified location, and first specified location corresponds to the robot in solar energy First position on panel, second specified location correspond to the second place of the robot on solar panel, institute It is set in advance wait " loaded " position of the robot on solar panel to state first position, and the second place is robot The parked position set in advance completed after unloading on solar panel.
- 3. solar panel sweeping robot docking system according to claim 2, it is characterised in that described connect draws panel Connect including one and draw side；Wherein, when the Jie Yin garages sail to specified location, described connect draws that side is parallel to be contacted with the solar energy The edge of panel；When it is described connect draw parking stall in first specified location when, the robot is from the first position traveling pre-determined distance Afterwards, described connect is resided in draw on panel；When it is described connect draw parking stall in second specified location when, the robot from it is described connect draw panel parked position retreat After to the second place, reside on solar panel.
- 4. solar panel sweeping robot docking system according to claim 2, it is characterised in thatThe robot includes robot communication module；Described connect draws car and includes connecing and drawing car communication module, is connected to the robot communication module；Described connect draws car and the robot and draws car communication module by described connect and realize signal with the robot communication module Exchange.
- 5. solar panel sweeping robot docking system according to claim 4, it is characterised in thatThe robot includesRobot localization module, for obtaining the real-time coordinates of the robot；Described connect is drawn car and includedConnect and draw car locating module, draw the real-time coordinates of car for obtaining described connect.
- 6. solar panel sweeping robot docking system according to claim 5, it is characterised in that the robot bag IncludeRobot dynamical system；Robot control system, the robot dynamical system, robot localization module, robot communication module are connected to described Robot control system；The robot control system is used for the real time position that robot is obtained from the robot localization module Coordinate, and by the robot communication module to it is described connect to draw car and send to plug into instruct and confirm that described connect draws the feedback of car Signal, and the unlatching driving or stopping driving of the control robot dynamical system.
- 7. solar panel sweeping robot docking system according to claim 6, it is characterised in thatThe robot includes image sensor, located at the front-end and back-end of the robot and is connected to the robot control System, the image sensor are used for the image for obtaining robot front or behind, and the image includes connecing drawing panel and solar energy Image at panel contact；It is described when the robot receives the signal of the arrival specified location for connecing and drawing car transmission Whether robot control system connects according to judging the image draws the in-position of panel and is matched with specified location, if not Match somebody with somebody, the robot control system be used for it is described connect to draw car and send connect and draw panel adjust instruction, if matching, the robot control System processed is used to draw car transmission beginning Load Signal to described connect, and controls the robot dynamical system driving to open.
- The docking system 8. solar panel sweeping robot according to claim 1 is plugged into, it is characterised in that the guide rail For double guide rails, including the first rail body and the second rail body parallel to the first rail body.
- A kind of method 9. solar panel sweeping robot is plugged into, it is characterised in that comprise the following steps,Step S1）Robot waits to plug into a solar panel is first-class；Step S2）Connect draw car along guide rail drive to the robot where solar panel specified location and be resident；Step S3）The robot advances to described connect from the solar panel and draws on car and be resident；Step S4）Described connect draws the specified location that car drives to another solar panel along the guide rail；Step S5）The robot from it is described draw on car retreat on the solar panel and being resident.
- The method 10. solar panel sweeping robot according to claim 9 is plugged into, it is characterised in that the step Rapid S1）Comprise the following steps：Step S11）The robot gets real-time location coordinates and the first position of itself, and the first position is the machine Set in advance wait " loaded " position of the device people on the solar panel；Step S12）The robot selects travel route according to the real-time location coordinates of itself and first position, and along traveling road Line drives to the first position and is resident；Step S13）The robot to it is described connect to draw car and send connect and draw instruction, described connect is drawn instruction and includedThe coordinate of first position and the coordinate of the second place, the second place are that robot is preset on solar panel Completion unloading after parked position.
- The method 11. solar panel sweeping robot according to claim 10 is plugged into, it is characterised in that the step Rapid S2）Comprise the following steps,Step S21）It is described connect to draw car and receive and handle described connect draw instruction, and draw instruction to being connect described in robot transmission Feedback signal；Step S22）Described connect draws car and obtains the real-time location coordinates of itself, and the coordinate of the first position according to the robot Confirm the coordinate of travel direction and the first specified location to be reached；Step S23）Described connect draws car and drives to the first specified location according to the travel direction, and described connect draws connecing for car and draw side and put down Row is contacted with the edge of the solar panel of the first specified location；Step S24）Described connect draws car to the robot the first arriving signal of transmission.
- The method 12. solar panel sweeping robot according to claim 11 is plugged into, it is characterised in that the step Rapid 3）Comprise the following steps,Step 31）The robot receives and handles the first arriving signal；Step 32）The robot draws car transmission wait loading instruction to described connect, and the wait loading for drawing car is connect described in receiving The feedback signal of instruction；Step 33）The robot traveling pre-determined distance, connect described in arrival and draw connecing for car and draw on panel and be resident；Step 34）The robot draws car transmission loading completion signal to described connect.
- The method 13. solar panel sweeping robot according to claim 12 is plugged into, it is characterised in that the step Rapid 31）In comprise the following steps,Step 311）After the robot receives first arriving signal, the robot obtains the shadow in front of robot Picture, the image, which includes connecing, draws panel and the image at solar panel contact；Step 312）The robot image is handled and judge it is described connect draw panel the first in-position whether with First specified location matches, if mismatching, into step 313）If matching, into step 32）；Step 313）The robot draws car transmission position adjustment instruction to described connect；Step 314）It is described connect draw car receive after position adjustment instruction to it is described connect to draw the first of panel and reach position enter Row adjustment, described connect is set to draw the first in-position of panel and matched with first specified location；Step 315）Described connect draws the signal that car weight newly sends the first in-position to the robot, and return to step 311）.
- The method 14. solar panel sweeping robot according to claim 13 is plugged into, it is characterised in that the step Rapid S4）Comprise the following steps,Step S41）Described connect draws car and determines travel direction and institute according to the coordinate of the first position and the coordinate of the second place The coordinate for the second specified location to be reached；Step S42）Described connect draws car and drives to the second specified location according to the travel direction, and described connect draws connecing for car and draw side and put down Row is contacted with the edge of the solar panel of the second specified location；Step S43）Described connect draws car to the robot the second arriving signal of transmission.
- The method 15. solar panel sweeping robot according to claim 14 is plugged into, it is characterised in that the step Rapid 5）Comprise the following steps,Step 51）The robot receives and handles the second arriving signal；Step 52）The robot to it is described connect draw car send wait unloading command, and receive described in connect draw car etc. it is to be unloaded The feedback signal of instruction；Step 53）The robot retreats pre-determined distance, draws the parked position of panel from described connect and retreats to the solar energy face The second place of plate；Step 54）The robot draws car transmission unloading completion signal to described connect.
- The method 16. solar panel sweeping robot according to claim 15 is plugged into, it is characterised in that the step Rapid 51）Also includeStep 511）After the robot, which receives, reaches signal to second, the robot obtains the image at robot rear, The image, which includes connecing, draws panel and the image at solar panel contact；Step 512）The robot image is handled and judge it is described connect draw panel the second in-position whether with Second specified location matches, if mismatching, into step 513）If matching, into step 52）；Step 513）The robot draws car transmission position adjustment instruction to described connect；Step 514）It is described connect draw car receive after position adjustment instruction to it is described connect to draw the second of panel and reach position enter Row adjustment, described connect is set to draw the second in-position of panel and matched with second specified location；Step 515）Described connect draws the signal that car weight newly sends the second in-position to the robot, and return to step 511）.
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