CN109696916A - A kind of method and apparatus of cleaning robot transfer - Google Patents
A kind of method and apparatus of cleaning robot transfer Download PDFInfo
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- CN109696916A CN109696916A CN201910163885.XA CN201910163885A CN109696916A CN 109696916 A CN109696916 A CN 109696916A CN 201910163885 A CN201910163885 A CN 201910163885A CN 109696916 A CN109696916 A CN 109696916A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 178
- 238000012546 transfer Methods 0.000 title claims abstract description 105
- 238000000034 method Methods 0.000 title claims abstract description 40
- 238000012216 screening Methods 0.000 claims description 44
- 238000012217 deletion Methods 0.000 claims description 29
- 230000037430 deletion Effects 0.000 claims description 29
- 230000004069 differentiation Effects 0.000 claims description 20
- 238000006073 displacement reaction Methods 0.000 claims description 9
- 230000009466 transformation Effects 0.000 claims description 8
- 230000008569 process Effects 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 20
- 238000005406 washing Methods 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
- H02S40/10—Cleaning arrangements
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
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Abstract
The invention discloses a kind of methods of cleaning robot transfer, comprising: control laser source moves along the x-axis and carries out laser scanning to target object, to obtain the coordinate of data point；According to the coordinate of data point, plane where cleaning robot is determined；Control transfer platform is moved to the matched position of plane where with cleaning robot, so that cleaning robot is moved to transfer platform；Control transfer platform drives cleaning robot to be moved to target position.The method of cleaning robot transfer provided by the invention can make cleaning robot realize automatic transfer, avoid cleaning robot and need the problem of manually being shifted in the process of work, improve cleaning efficiency.The invention also discloses a kind of equipment of cleaning robot transfer, can shift to cleaning robot.
Description
Technical field
The present invention relates to photovoltaic cleaning technique fields, more specifically to a kind of method of cleaning robot transfer.This
The equipment that invention further relates to a kind of cleaning robot transfer.
Background technique
Demand with society to clean energy resource is continuously increased, and photovoltaic application also deepens continuously and refines, from researching and developing to answering
Links, a variety of different types of photovoltaic apparatus are gradually applied in actual production manufacture.
Photovoltaic apparatus during use, needs to clean photovoltaic panel, generally using cleaning robot to photovoltaic
Plate is cleaned, but cleaning robot needs to be transported to next piece of photovoltaic to be cleaned after completing to photovoltaic panel cleaning
Plate, in the prior art, since cleaning robot can not be travelled directly by one piece of photovoltaic panel to another piece of photovoltaic panel to be cleaned,
Generally cleaning robot is shifted using artificial or other haulage equipments.
The method shifted manually to cleaning robot increases human cost, while also making the clear of cleaning robot
Efficiency reduction is washed, it can not continuous wash operation；During being shifted using haulage equipment to cleaning robot, cleaning machine
Device people needs by manually haulage equipment is moved to, equally increase human cost.
It is current this field skill in conclusion how to provide a kind of method that can be shifted automatically to cleaning robot
Art personnel's urgent problem to be solved.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of methods of cleaning robot transfer, it can be achieved that cleaning robot
Automatic transfer.
To achieve the goals above, the invention provides the following technical scheme:
A kind of method of cleaning robot transfer, comprising:
Control laser source moves along the x-axis and carries out laser scanning to target object, to obtain the coordinate of data point；
According to the coordinate of the data point, plane where the cleaning robot is determined；
Control transfer platform be moved to the matched position of plane where the cleaning robot so that the cleaning robot
People is moved to the transfer platform；
Controlling the transfer platform drives the cleaning robot to be moved to target position.
Preferably, the coordinate according to the data point determines that plane where the cleaning robot includes:
The data point is screened, determines fitting data point；
According to the fitting data point, plane where the cleaning robot is determined.
Preferably, described that the data point is screened, determine that fitting includes: with data point
The Z coordinate standard for screening the data point is obtained, judges whether the Z coordinate of the data point meets the Z
The data point that Z coordinate does not meet the Z coordinate standard is rejected, obtains screening data point by coordinate standard；
The criterion distance for screening the data point is obtained, judges that the distance between adjacent described screening data point is
It is no to meet the criterion distance, the screening for not meeting the criterion distance is rejected with data point, obtains differentiation data point；
The Y-coordinate standard for screening the differentiation data point is obtained, the differentiation is judged according to the Y-coordinate standard
Whether meet the Y-coordinate standard with data point, the differentiation for not meeting the Y-coordinate standard is rejected with data point, or
The differentiation is separated with data point according to the Y-coordinate standard；Obtain deletion data point；
The deletion data point normal vector standard is obtained, judges whether described delete uses data point place plane normal vector
Meet the normal vector standard, the deletion for not meeting the normal vector standard is rejected with data point, obtains fitting number
Strong point.
Preferably, described according to the fitting data point, determine that plane where the cleaning robot includes:
S221: selected section fitting data point, and determine that pre- fitting is flat according to the coordinate of the fitting data point of selection
Face；
S222: judge whether that the fitting data point more than half is located at the pre- fit Plane；
S223: if so, determining that the pre- fit Plane is the fit Plane, if it is not, then reselecting partial fitting
With data point and return step S221.
Preferably, the determination pre- fit Plane is that the fit Plane includes: later
According to the coordinate for the fitting data point being located in the fit Plane, the plane of the fit Plane is determined
Shape and planar boundary, with plane where the determination cleaning robot.
Preferably, the control transfer platform is moved to includes: with the matched position of plane where the cleaning robot
The position of plane and angle information where obtaining the cleaning robot；
Obtain the information of the transfer platform position and angle；
Displacement and angular transformation that the transfer platform needs to carry out is calculated；
The transfer platform is controlled to be moved to and the cleaning robot place according to the displacement and the angular transformation
The matched position of plane.
Preferably, the transfer platform drives the cleaning robot to be moved to target position to include:
Obtain position and the angle information of the target position；
It controls the cleaning robot and the target position is moved to by the transfer platform.
A kind of equipment of cleaning robot transfer, comprising:
Laser aid for moving along the x axis, and carries out laser scanning；
Handling device, for the cleaning robot to be moved to target position；
Control device, for control the laser source move along the x-axis and to the target object carry out laser scanning, to obtain
The coordinate at access strong point；According to the coordinate of the data point, plane where the cleaning robot is determined；Transfer platform is controlled to move
Move to the matched position of plane where the cleaning robot so that the cleaning robot is moved to the transfer platform；
Controlling the transfer platform drives the cleaning robot to be moved to target position.
Preferably, the laser aid includes:
Laser source, for carrying out laser scanning surface；
Moving parts, for driving the laser source to move along the x-axis.
Preferably, the control device includes:
Screening part determines the fitting data point for screening to the data point；
Fitting unit, for determining plane where the cleaning robot according to the fitting data point.
The method of a kind of cleaning robot transfer provided by the invention, comprising: control laser source moves along the x-axis and to target
Object carries out laser scanning, to obtain the coordinate of data point；According to the coordinate of data point, plane where cleaning robot is determined；
Control transfer platform is moved to the matched position of plane where with cleaning robot, so as to be moved to transfer flat for cleaning robot
Platform；Control transfer platform drives cleaning robot to be moved to target position.
The method of cleaning robot transfer provided by the invention can make cleaning robot realize automatic transfer, avoid clear
It washes robot and needs the problem of manually being shifted in the process of work, improve cleaning efficiency.
In addition, can be shifted to cleaning robot the present invention also provides a kind of equipment of cleaning robot transfer.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is the flow diagram of the specific embodiment one of the method for cleaning robot provided by the present invention transfer；
Fig. 2 is the flow diagram of step S2 in Fig. 1；
Fig. 3 is the flow diagram of step S21 in Fig. 2；
Fig. 4 is the flow diagram of step S22 in Fig. 2；
Fig. 5 is the flow diagram of Fig. 1 step S3；
Fig. 6 is the flow diagram of Fig. 1 step S4；
Fig. 7 is the module diagram of the equipment of cleaning robot transfer；
Fig. 8 is the structural schematic diagram of the equipment of the transfer of cleaning robot shown in Fig. 7；
Fig. 9 is the structural schematic diagram of the specific embodiment two of handling device shown in Fig. 8；
Figure 10 is the equipment application of the transfer of cleaning robot shown in Fig. 8 in the structural schematic diagram of cleaning system.
In Fig. 1-10:
1 it is laser source, 2 be handling device, 3 be laser aid, 4 is control device.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Core of the invention is to provide a kind of method of cleaning robot transfer, may be implemented cleaning robot from turn
It moves, substitutes the process manually shifted.Another core of the invention is to provide a kind of method using the transfer of this cleaning robot
The equipment of cleaning robot transfer.
Fig. 1-10 is please referred to, Fig. 1 is the specific embodiment one of the method for cleaning robot provided by the present invention transfer
Flow diagram；Fig. 2 is the flow diagram of step S2 in Fig. 1；Fig. 3 is the flow diagram of step S21 in Fig. 2；Fig. 4 is figure
The flow diagram of step S22 in 2；Fig. 5 is the flow diagram of Fig. 1 step S3；Fig. 6 is the flow diagram of Fig. 1 step S4；
Fig. 7 is the module diagram of the equipment of cleaning robot transfer；Fig. 8 is the structure of the equipment of the transfer of cleaning robot shown in Fig. 7
Schematic diagram；Fig. 9 is the structural schematic diagram of the specific embodiment two of handling device shown in Fig. 8；Figure 10 is cleaning robot shown in Fig. 8
The equipment application of transfer is in the structural schematic diagram of cleaning system.
A kind of method of cleaning robot transfer provided by the invention includes:
Step S1: control laser source 1 moves along the x-axis and carries out laser scanning to target object, to obtain the seat of data point
Mark.
Step S2: according to the coordinate of data point, plane where cleaning robot is determined.
Step S3: control transfer platform is moved to the matched position of plane where with cleaning robot, so that cleaning robot
People is moved to transfer platform.
Step S4: control transfer platform drives cleaning robot to be moved to target position.
It in above-mentioned steps, needs to be illustrated, transfer platform is moved to matched with plane where cleaning robot
Position refers to: the EDGE CONTACT of plane where the edge and cleaning robot of transfer platform, and the table top of transfer platform and cleaning
Plane is overlapped where robot, so that cleaning robot be made to be automatically moved into transfer platform；Such as: cleaning robot can be can
The cleaning robot of automatic running, control cleaning robot automatic running to transfer platform.
In addition, during being scanned using laser to the ambient enviroment for including target object, laser irradiation in
After body surface, body surface reflects laser, according to the speed of reflection light and direction, available data point
Coordinate.
It, can be according to obtaining since laser source 1 can obtain a large amount of data point during carrying out laser scanning
The coordinate of data point determine fit Plane.
It determines that the process of fit Plane can be according to the coordinate of data point and brings data point coordinate into planar function, it can also
It is realized in a manner of through other fittings, determines that this will not be repeated here with specific reference to actual conditions.
On the basis of the above embodiments, according to the coordinate of data point, determine that plane where cleaning robot includes:
Step S21: screening data point, determines fitting data point.
Step S22: according to fitting data point, plane where cleaning robot is determined.
In above-mentioned steps, data point is screened, obtains fitting data point, mainly rejecting laser scanning is arrived not
Point on target object, specific judgment criteria can determines according to actual conditions, and this will not be repeated here.
Fitting data point, which refers to, eliminates the not remaining data point after the point on target object, is used according to fitting
The coordinate fitting of data point obtains fit Plane, and fit Plane can be made closer to the plane of target object in reality.
On the basis of the above embodiments, data point is screened, determines that fitting includes: with data point
Step S211: the Z coordinate standard for being used for garbled data point is obtained, judges whether the Z coordinate of data point meets Z coordinate
The data point that Z coordinate does not meet Z coordinate standard is rejected, obtains screening data point by standard.
Step S212: obtaining the criterion distance for being used for garbled data point, judges the distance between adjacent screening data point
Whether meet criterion distance, the screening for not meeting criterion distance is rejected with data point, obtains differentiation data point.
Step S213: obtaining the Y-coordinate standard for screening differentiation data point, judges to distinguish according to Y-coordinate standard and use
Whether data point meets Y-coordinate standard, and the differentiation for not meeting Y-coordinate standard is rejected with data point, obtains fitting number
Strong point.
Step S214: obtaining deletion data point normal vector standard, judges that plane normal vector where deletion data point is
It is no to meet normal vector standard, the deletion for not meeting normal vector standard is rejected with data point, obtains fitting data point.
In above-mentioned steps, Z coordinate standard can be the numerical value having determined in advance, and when screening directly inputs, due to laser
The scanning range in source 1 is wider, therefore does not meet the data point of Z coordinate standard in data point comprising many Z coordinates, picks to it
It removes, obtains screening data point.
Using laser provided by the invention know method for distinguishing to plane where cleaning robot in photovoltaic cleaning system into
During row identification, criterion distance is 15mm to 25mm, it is preferred that criterion distance 20mm.
During judgement, to the distance between each screening data point and screening data point adjacent thereto into
Row calculates, and judges whether this distance meets criterion distance；Such as one of screening is judged with data point: being calculated first
This screening data point and the distance between consecutive points around it, if this distance meets criterion distance, data are used in this screening
Point does not need to reject, if there is the numerical value for not meeting criterion distance in this distance, this screening is undesirable with data point, needs
It rejects.
It needs to be illustrated, the speed that the distance between screening data point is moved along the x-axis with laser source 1, and
Distance dependent of the target object apart from laser source 1, therefore, criterion distance need determines according to actual conditions, and this will not be repeated here.
During carrying out laser scanning, the environment around target object can be scanned.In order to make fitting number
Strong point is more accurate, can be screened or be separated according to Y-coordinate of the Y-coordinate standard to differentiation data point.
It needs to be illustrated, when plane is given data where 2 platform of handling device, target object is cleaning robot
Plane where people judges whether differentiation data point meets Y-coordinate standard, will not meet Y-coordinate mark after obtaining Y-coordinate standard
Quasi- differentiation is rejected with data point, obtains deletion data point；When plane is unknown data where 2 platform of handling device, mesh
Marking object is plane where 2 platform of plane and handling device where cleaning robot, after obtaining Y-coordinate standard, according to Y-coordinate mark
Standard distinguishes differentiation with data point, obtains deletion data point, and deletion data point at this time includes two parts, a part
The deletion data point of plane where cleaning robot, a part are the deletion data of plane where 2 platform of handling device
Point.
Plane where deletion data point refers to: deletion data point is formed with point that is adjacent around it or being closer
Plane obtaining deleting with after data point, can determine object substantially since the distribution of deletion data point is very intensive
The approximate range of the normal vector of body plane.
Where target object is only cleaning robot when plane, obtains deleting with after data point, determine cleaning robot
The normal vector approximation of plane, then intends deletion data point and its deletion data point that is adjacent or being closer where people
It is combined into plane, the normal vector of this plane is compared with the approximate normal vector of plane where cleaning robot, if not meeting clear
The approximation of plane normal vector, then reject corresponding deletion with data point where washing robot.When target object is clear
Where 2 platform of plane and handling device where washing robot when plane, the approximation method of plane where respectively obtaining cleaning robot
The approximate normal vector of plane where 2 platform of vector sum handling device, then to plane deletion data point where cleaning robot
The normal vector of place plane is compared with the approximate normal vector numerical value of plane where cleaning robot, will not meet cleaning robot
The deletion of the approximation of plane normal vector is rejected with data point where people, the fitting data of plane where obtaining cleaning robot
Point；To flat where the normal vector and 2 platform of handling device of plane where the deletion data point of plane where 2 platform of handling device
The approximate normal vector numerical value in face compares, the deletion of the approximation of plane normal vector where not meeting 2 platform of handling device
It is rejected with data point, the fitting data point of plane where obtaining 2 platform of handling device.
On the basis of the above embodiments, according to fitting data point, determine that plane where cleaning robot includes:
Step S221: selected section fitting data point, and pre- intend is determined according to the coordinate of the fitting of selection data point
Close plane.
Step S222: judge whether that the fitting more than half is located at pre- fit Plane with data point.
Step S223: if so, determining that pre- fit Plane is fit Plane, if it is not, then reselecting partial fitting number
Strong point and return step S221.
It in above-mentioned steps, needs to be illustrated, the fitting of plane is used where fitting is cleaning robot with data point
The fitting data point of plane where 2 platform of data point or handling device.When target object be cleaning robot where plane and
Where 2 platform of handling device when plane, above-mentioned steps need to carry out twice, one being repeated after plane where obtaining cleaning robot
It is secondary, obtain plane where 2 platform of handling device.During determining fit Plane with data point according to fitting, need to select
One optimal planar is located at the fitting data point at least over half in fit Plane.
Determine include: after fit Plane according to the coordinate for the data point being located in fit Plane in fitting data point,
The flat shape and planar boundary of fit Plane are determined, to determine the outer boundary of cleaning robot place plane.
It can be counted by the coordinate to the data point being located in fit Plane, determine the number being located in fit Plane
The limiting figure of the coordinate at strong point, to fit boundary and the shape of target object.
On the basis of the above embodiments, control transfer platform is moved to and the matched position of plane where cleaning robot
Include:
Step S31: the position of plane and angle information where obtaining cleaning robot.
Step S32: the information of transfer platform position and angle is obtained.
Step S33: displacement and angular transformation that transfer platform needs to carry out is calculated.
Step S34: control transfer platform is moved to according to displacement and angular transformation and matches with plane where cleaning robot
Position.
In above-mentioned steps, the position of plane and angle information where cleaning robot can be obtained by fit Plane, and
And position and the angle information of transfer platform itself are obtained, transfer platform is calculated and is moved to and plane where cleaning robot
Matched position needs the displacement and rotation carried out, and control transfer platform is moved to and the matched position of plane where cleaning robot
It sets.Specifically, can be the position that transfer platform is first moved to co-planar where with cleaning robot, be then moved to clearly
The adjacent position of horizontal edge where washing robot, naturally it is also possible to be moved by other means, with specific reference to practical feelings
Condition determines.
On the basis of the above embodiments, transfer platform drives cleaning robot to be moved to target position and include:
Step S41: position and the angle information of target position are obtained.
Step S42: control cleaning robot is moved to target position by transfer platform.
In above-mentioned steps, cleaning robot is the cleaning device that can be automatically moved, and obtains the position letter of target position
After breath, and transfer platform has moved to the matched position of plane where with cleaning robot, then can control cleaning robot
Automatic running is to target position.
It needs to be illustrated, the method for cleaning robot transfer provided by the invention can be applied to cleaning robot
During being moved to transfer platform by photovoltaic panel, it also can be applied to cleaning robot by transfer platform and be moved to light to be cleaned
During lying prostrate plate.
In photovoltaic cleaning system, the method for the cleaning robot transfer that can be provided through the invention is to cleaning robot
It is shifted.During being identified using plane of the method provided by the invention to photovoltaic panel where cleaning robot,
Since cleaning robot is stopped to the marginal position of photovoltaic panel, the presence of cleaning robot will not influence laser scanning knot
Fruit.
It needs to be illustrated, in order to enable target object during scanning of laser source 1 to be scanned completely,
It can make between 180 ° to 200 ° of scanning range of laser, it is preferred that the scanning range of laser is 190 °, and sends out every 0.5 °
A scanning element is penetrated, and plane composed by single sweep operation point is parallel to the plane of Z axis and Y-axis composition.
It needs to be illustrated, X-axis mentioned in the present invention, Y-axis, Z axis are respectively positioned on the coordinate system where laser source 1
In, where target object is only cleaning robot when plane, plane where 2 platform of handling device is it is known that still carrying dress
The coordinate system of plane is coordinate system where mobile device where setting 2 platforms, and mobile device herein refers to can be by cleaning robot
People and handling device 2 carry out mobile mobile device simultaneously, therefore need to carry out the coordinate system of plane where 2 platform of handling device
Conversion, numerical value of the plane in laser coordinate system where obtaining 2 platform of handling device, conversion process needs true according to the actual situation
Fixed, this will not be repeated here.
In addition to the method for above-mentioned cleaning robot transfer, the present invention also provides clean disclosed in a kind of application above-described embodiment
The equipment of the cleaning robot transfer of the method for robot transfer, including for moving along the x axis, and carry out laser scanning
Laser aid 3, handling device 2 and control device 4 for cleaning robot to be moved to target position, control device 4 are used
It is moved along the x-axis in control laser source 1 and laser scanning is carried out to target object, to obtain the coordinate of data point；According to data point
Coordinate, determine plane where cleaning robot；Control transfer platform is moved to and the matched position of plane where cleaning robot
It sets, so that cleaning robot is moved to transfer platform；Control transfer platform drives cleaning robot to be moved to target position.This is clear
Washing the structure of other each sections of the equipment of robot transfer, refer to the prior art, and repeats no more herein.
Need to be illustrated, target object can be plane only where cleaning robot, be also possible to both include
Plane where cleaning robot also includes plane where 2 platform of handling device.
On the basis of the above embodiments, laser aid 3 includes laser source 1 for carrying out laser scanning surface and for driving
The moving parts that laser source 1 moves along the x-axis.
Moving parts can be guide rail slide block structure, be also possible to synchronizing wheel, synchronous band structure, with specific reference to actual conditions
It determines, this will not be repeated here.
On the basis of the above embodiments, control device 4 includes screening part and fitting unit, and screening part is used for logarithm
Strong point is screened, to obtain fitting data point；Fitting unit is used to determine cleaning robot institute with data point according to fitting
In plane.
Preferably, screening part includes Z coordinate screening unit, apart from screening unit, Y-coordinate screening unit and normal vector sieve
Menu member, Z coordinate screening unit judge whether the Z coordinate of data point meets Z coordinate standard, by Z for obtaining Z coordinate standard
The data point that coordinate does not meet Z coordinate standard is rejected, and screening data point is obtained；Apart from screening unit for obtaining distance mark
Standard, judges whether the distance between adjacent screening data point meets criterion distance, will not meet the screening number of criterion distance
Strong point is rejected, and differentiation data point is obtained；Y-coordinate screening unit judges area according to Y-coordinate standard for obtaining Y-coordinate standard
Divide and whether meet Y-coordinate standard with data point, the differentiation for not meeting Y-coordinate standard is rejected with data point, or is sat according to Y
Mark standard separates differentiation with data point；Obtain deletion data point；Normal vector screening unit is for obtaining deletion number
Strong point normal vector standard, judges whether plane normal vector where deletion data point meets normal vector standard, will not meet normal direction
The deletion of amount standard is rejected with data point, obtains fitting data point.
Preferably, fitting unit includes selecting unit, judging unit and definition unit, and selecting unit is quasi- for selected section
Data point is shared, and pre- fit Plane is determined according to the coordinate of the fitting of selection data point；Judging unit is for judging whether
It is located at pre- fit Plane more than the fitting of half data point；Definition unit is for determining fit Plane, if being more than the quasi- of half
It shares data point and is located at pre- fit Plane, it is determined that pre- fit Plane is fit Plane, if being no more than the fitting data of half
Point is located at pre- fit Plane, then communicates information to selecting unit and reselect partial fitting data point, and continue above-mentioned steps
Operation.
On the basis of the above embodiments, control device 4 includes information acquisition unit, computing unit and controller, information
The position of plane and angle information and transfer platform position and angle where acquiring unit is used to obtain cleaning robot
Information；Computing unit is used to be calculated displacement and angular transformation that transfer platform needs to carry out；Controller is for controlling transfer
Plane where platform is moved to cleaning robot according to displacement and angular transformation.
Meanwhile controller can also control the movement of moving parts and the movement of cleaning robot.
In another embodiment, laser aid 3 includes laser source 1 and the guide rail installed along the x axis and can edge
The sliding block of guide rail sliding, laser source 1 are fixedly connected with a slide block, and control device 4 is connect with laser aid 3, for controlling laser source 1
Movement and laser emission frequency.Handling device 2 can be realized the movement of multiple linear degrees of freedom and rotary freedom, can
To be respectively mounted corresponding driving element for driving handling device 2 to realize multivariant movement in each freedom degree, dress is carried
It sets 2 and is provided with transfer platform for placing cleaning robot, during handling device 2 is mobile or rotation, mobilization is flat
Platform is mobile or rotates；The movement of handling device 2 is controlled in order to facilitate control device 4, can be arranged in handling device 2 and use
In the sensor of the detection each freedom degree of handling device 2, the variable quantity of each freedom degree of handling device 2 can be fed back to control dress
4 are set, whether in place the adjustment that can be used for detection handling device 2, forms closed-loop control.
Handling device 2 can be the structure shown in Fig. 8 that can multiple degrees of freedom movement and rotate, and be also possible to shown in Fig. 9
Three-point support structure or other structures, but need to guarantee to realize the transfer of cleaning robot.
In addition, the method and apparatus of cleaning robot provided by the invention transfer can also be applied to photovoltaic panel or other set
In standby cleaning system, as shown in Figure 10, handling device 2 is set to the mobile device for movable cleaning robot, and moves
Dynamic equipment can place multiple cleaning robots simultaneously.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.All realities provided by the present invention
Any combination mode of example is applied in the protection scope of the invention, this will not be repeated here.
The method and apparatus of cleaning robot provided by the present invention transfer is described in detail above.It answers herein
With a specific example illustrates the principle and implementation of the invention, the explanation of above example is only intended to help to manage
Solve method and its core concept of the invention.It should be pointed out that for those skilled in the art, not departing from
, can be with several improvements and modifications are made to the present invention under the premise of the principle of the invention, these improvement and modification also fall into this hair
In bright scope of protection of the claims.
Claims (10)
1. a kind of method of cleaning robot transfer characterized by comprising
Control laser source (1) moves along the x-axis and carries out laser scanning to target object, to obtain the coordinate of data point；
According to the coordinate of the data point, plane where the cleaning robot is determined；
Control transfer platform be moved to the matched position of plane where the cleaning robot so that the cleaning robot moves
It moves to the transfer platform；
Controlling the transfer platform drives the cleaning robot to be moved to target position.
2. the method for cleaning robot according to claim 1 transfer, which is characterized in that described according to the data point
Coordinate determines that plane where the cleaning robot includes:
The data point is screened, determines fitting data point；
According to the fitting data point, plane where the cleaning robot is determined.
3. the method for cleaning robot transfer according to claim 2, which is characterized in that described to be carried out to the data point
Screening, determines that fitting includes: with data point
The Z coordinate standard for screening the data point is obtained, judges whether the Z coordinate of the data point meets the Z coordinate
The data point that Z coordinate does not meet the Z coordinate standard is rejected, obtains screening data point by standard；
The criterion distance for screening the data point is obtained, judges whether the adjacent screening is accorded with the distance between data point
The criterion distance is closed, the screening for not meeting the criterion distance is rejected with data point, obtains differentiation data point；
The Y-coordinate standard for screening the differentiation data point is obtained, the differentiation number is judged according to the Y-coordinate standard
Whether strong point meets the Y-coordinate standard, and the differentiation for not meeting the Y-coordinate standard is rejected with data point, or according to
The Y-coordinate standard separates the differentiation with data point；Obtain deletion data point；
The deletion data point normal vector standard is obtained, judges whether plane normal vector where the deletion data point meets
The deletion for not meeting the normal vector standard is rejected with data point, obtains fitting data point by the normal vector standard.
4. the method for cleaning robot transfer according to claim 2, which is characterized in that described according to the fitting number
Strong point determines that plane where the cleaning robot includes:
S221: selected section fitting data point, and pre- fit Plane is determined according to the coordinate of the fitting of selection data point；
S222: judge whether that the fitting data point more than half is located at the pre- fit Plane；
S223: if so, determining that the pre- fit Plane is the fit Plane, if it is not, then reselecting partial fitting number
Strong point and return step S221.
5. the method for cleaning robot transfer according to claim 4, which is characterized in that the determination pre- fitting is flat
Face is that the fit Plane includes: later
According to the coordinate for the fitting data point being located in the fit Plane, the flat shape of the fit Plane is determined
And planar boundary, with plane where the determination cleaning robot.
6. the method for cleaning robot transfer according to claim 1, which is characterized in that the control transfer platform is mobile
Include: to the matched position of plane where the cleaning robot
The position of plane and angle information where obtaining the cleaning robot；
Obtain the information of the transfer platform position and angle；
Displacement and angular transformation that the transfer platform needs to carry out is calculated；
The transfer platform is controlled to be moved to and plane where the cleaning robot according to the displacement and the angular transformation
Matched position.
7. the method for cleaning robot transfer according to claim 1, which is characterized in that described in the transfer platform drives
Cleaning robot is moved to target position
Obtain position and the angle information of the target position；
It controls the cleaning robot and the target position is moved to by the transfer platform.
8. a kind of equipment of cleaning robot transfer characterized by comprising
Laser aid (3) for moving along the x axis, and carries out laser scanning；
Handling device (2), for the cleaning robot to be moved to target position；
Control device (4), for control the laser source (1) move along the x-axis and to the target object carry out laser scanning, with
Obtain the coordinate of data point；According to the coordinate of the data point, plane where the cleaning robot is determined；Control transfer platform
Be moved to the matched position of plane where the cleaning robot so as to be moved to the transfer flat for the cleaning robot
Platform；Controlling the transfer platform drives the cleaning robot to be moved to target position.
9. the equipment of cleaning robot according to claim 8 transfer, which is characterized in that the laser aid (3) includes:
Laser source (1), for carrying out laser scanning surface；
Moving parts, for driving the laser source (1) to move along the x-axis.
10. the equipment of cleaning robot transfer according to claim 9, which is characterized in that control device (4) packet
It includes:
Screening part determines the fitting data point for screening to the data point；
Fitting unit, for determining plane where the cleaning robot according to the fitting data point.
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| CN201910163885.XA CN109696916A (en) | 2019-03-05 | 2019-03-05 | A kind of method and apparatus of cleaning robot transfer |
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| CN201910163885.XA CN109696916A (en) | 2019-03-05 | 2019-03-05 | A kind of method and apparatus of cleaning robot transfer |
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Application publication date: 20190430 |