CN111687856A - Method for acquiring linear operation path by photovoltaic cleaning robot - Google Patents
Method for acquiring linear operation path by photovoltaic cleaning robot Download PDFInfo
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- CN111687856A CN111687856A CN202010569680.4A CN202010569680A CN111687856A CN 111687856 A CN111687856 A CN 111687856A CN 202010569680 A CN202010569680 A CN 202010569680A CN 111687856 A CN111687856 A CN 111687856A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 99
- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000001514 detection method Methods 0.000 claims abstract description 49
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/10—Image acquisition
- G06V10/12—Details of acquisition arrangements; Constructional details thereof
- G06V10/14—Optical characteristics of the device performing the acquisition or on the illumination arrangements
- G06V10/141—Control of illumination
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
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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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Abstract
The invention relates to a method for acquiring a linear operation path by a photovoltaic cleaning robot, which comprises a machine body, wherein a cleaning device is fixedly arranged at the front end of the machine body, the photovoltaic cleaning robot cleans a photovoltaic array through the cleaning device, a photovoltaic panel shading detection device is arranged on the machine body and is used for detecting shading on the surface of the photovoltaic panel, further judging the surface type of the photovoltaic panel in front of the photovoltaic cleaning robot and forming detection data, and meanwhile, the detection data are sent to a main control system arranged on the machine body, and the main control system judges the placement mode of the photovoltaic array where the photovoltaic cleaning robot is located at present according to the detection data so as to acquire the linear operation path. The photovoltaic cleaning robot has the characteristics of small volume, high sensing frequency and easiness in installation, so that the photovoltaic cleaning robot has the characteristic of simple structure and can provide a faster and more accurate sensing effect.
Description
Technical Field
The embodiment of the invention relates to the technical field of cleaning robots, in particular to a method for acquiring a linear operation path by a photovoltaic cleaning robot.
Background
Solar photovoltaic has become an important power of energy revolution in the world as a renewable clean energy. The surface of the solar cell panel is easy to accumulate dirt such as wind sand, dust and the like, and if the solar cell panel is not timely cleaned scientifically and professionally, the generated power of the module is reduced by 40% -60% to the maximum extent, and the generated energy is reduced by 20% -30%. Therefore, the concept of improving the power generation capacity and the benefit of the power station by reasonably and scientifically cleaning the solar cell panel and carefully maintaining the components is accepted by the industry.
When the photovoltaic cleaning walking robot works, the process is basically full-automatic. At present, no mature movable detection mode exists in the market, and a specific sensing device or a fixing device is required to be added in a photovoltaic array for positioning so as to maintain the walking and cleaning of a machine on the photovoltaic array; and the relatively mature technology for automatically selecting the cleaning route is to clean the direction manually and then clean the photovoltaic panel along the N-shaped or Z-shaped path on the photovoltaic array which is vertically or horizontally distributed.
Such an automatic route planning is influenced by the placing mode and distribution of photovoltaic panels in the photovoltaic array, frequent in-situ rotation and line changing lead to low efficiency and reduced endurance time, and the machine needs to be slightly larger than a half of the short side of the photovoltaic panel, thus the whole volume of the machine is larger.
Disclosure of Invention
In view of the above problems in the prior art, a primary object of the present invention is to provide a method for a photovoltaic cleaning robot to obtain a linear working path, in which a photovoltaic panel shading detection apparatus is disposed right in front of a body of the photovoltaic cleaning robot, and the photovoltaic panel shading detection apparatus includes a high-speed camera module, and has the characteristics of small volume, high sensing frequency and easy installation, so that the photovoltaic cleaning robot can be ensured to have the characteristics of simple structure, and can also provide a fast and accurate sensing effect.
The technical scheme of the invention is as follows:
the utility model provides a method that photovoltaic cleaning robot obtained straight line operation route, photovoltaic cleaning robot includes the fuselage, the front end of fuselage is fixed and is provided with cleaning device, photovoltaic cleaning robot cleans the operation to the photovoltaic array through cleaning device which characterized in that: be provided with photovoltaic panel shading detection device on the fuselage, photovoltaic panel shading detection device is used for detecting the shading on photovoltaic panel surface, and then judges the surface type of the photovoltaic panel in photovoltaic cleaning machines people the place ahead to form the testing data, the testing data includes: when the photovoltaic cleaning robot drives in parallel straight line to the long side of the photovoltaic panel in the photovoltaic array, the image shot by the photovoltaic panel shading detection device is the vertical image of the solar cell of the photovoltaic panel in the photovoltaic array, and the vertical image of the solar cell has three straight lines in the vertical direction and one straight line in the horizontal direction, wherein: the straight line in the vertical direction on the left side is a metal main grid line on the right side in the solar cell piece on the left side, the straight line in the vertical direction in the middle is a gap between two rows of solar cell pieces, the straight line in the vertical direction on the right side is a metal main grid line on the left side in the solar cell piece on the right side, and the straight line in the horizontal direction is a gap between two rows of solar cell pieces; when the photovoltaic cleaning robot drives the perpendicular straight line of photovoltaic panel long limit in the photovoltaic array relatively, the image that photovoltaic panel shading detection device shot is the solar wafer horizontal image of photovoltaic panel in the photovoltaic array, there are the straight line of a vertical direction and the straight line of three horizontal directions in the solar wafer horizontal image, wherein: the straight line in the vertical direction is a gap between two rows of solar cells, the straight line in the horizontal direction at the front side is a metal main grid line at the rear side in the solar cells at the front side, the straight line in the horizontal direction at the middle is a metal main grid line at the front side in the solar cells at the rear side, and the straight line in the horizontal direction at the rear side is a gap between two rows of solar cells;
and meanwhile, the detection data are sent to a main control system arranged on the machine body, and the main control system judges the placement mode of a photovoltaic array where the photovoltaic cleaning robot is located at present according to the detection data so as to obtain a linear operation path.
The surface types of the photovoltaic panel comprise out-of-bounds, seam crossing, vertical placement of the photovoltaic panel and transverse placement of the photovoltaic panel.
The photovoltaic panel in front of the photovoltaic cleaning robot is positioned at the edge of the photovoltaic array when out of bounds, and the photovoltaic panel falls off the photovoltaic array when the photovoltaic cleaning robot continues to walk forwards.
The photovoltaic panel that strides seam for photovoltaic cleaning machines people the place ahead is in the rear end edge of one photovoltaic panel in the photovoltaic array, is in the photovoltaic array simultaneously and adjacent rather than the front end edge of another photovoltaic panel that is located its place ahead, when photovoltaic cleaning machines people continues to walk forward, will stride from the gap between the two adjacent photovoltaic panels that are located its place ahead.
Photovoltaic panel shading detection device is in including exposure owner box and setting the brush of exposure owner bottom of the box portion, a plurality of mounting holes that exposure owner box set up through its lateral wall are fixed to be set up on the lateral wall of fuselage front end, the shape of exposure owner box is square, just the inside cavity that is provided with of exposure owner box, the top of exposure owner box is provided with camera subassembly, camera subassembly includes camera module, camera drive plate and height adjustment nylon post, camera module is fixed to be set up the lower surface of camera drive plate, the camera drive plate passes through height adjustment nylon post sets up the top of exposure owner box, just camera module runs through the first locating hole that exposure owner box top set up is located in the cavity of exposure owner box.
The bottom of exposure owner box lateral wall outside extension all around is provided with the installation department, the installation department with the brush cooperatees, exposure owner box passes through the installation department sets up the top of brush.
The installation department includes first mounting panel, second mounting panel, third mounting panel and fourth mounting panel, wherein: the first mounting panel is fixed to be set up on the lateral wall of exposure main box left side bottom, the second mounting panel is fixed to be set up on the lateral wall of exposure main box front side bottom, the third mounting panel is fixed to be set up on the lateral wall of exposure main box right side bottom, the fourth mounting panel is fixed to be set up the lateral wall of exposure main box rear side bottom.
The plane of the lower surface of the first mounting plate, the second mounting plate, the third mounting plate and the fourth mounting plate and the plane of the bottom of the exposure main box are the same plane, and the first mounting plate, the second mounting plate, the third mounting plate and the fourth mounting plate and the exposure main box are integrally formed.
The brush includes first brush, second brush, third brush and fourth brush, wherein: the first brush, the second brush, the third brush and the fourth brush are connected end to form a square structure with a square through hole in the middle; the first brush is positioned below the first mounting plate, and the outer side wall of the first brush is flush with the outer side wall of the first mounting plate; the second brush is positioned below the second mounting plate, and the outer side wall of the second brush is positioned on the outer side wall of the second mounting plate and is flush with the outer side wall of the second mounting plate; the third brush is positioned below the third mounting plate, and the outer side wall of the third brush is flush with the outer side wall of the third mounting plate; the fourth brush is located the below of fourth mounting panel, just the lateral wall of fourth brush is located the lateral wall parallel and level of fourth mounting panel.
The camera driving board is square, the camera module is fixedly arranged on the lower surface of the camera driving board, four corners of the camera driving board are respectively fixedly connected with the top end of the exposure main box through the height adjusting nylon columns, and the height adjusting nylon columns are respectively connected with the top end of the exposure main box and the camera driving board through first fastening bolts.
The invention has the following advantages and beneficial effects: the photovoltaic cleaning robot comprises a robot body, a cleaning device is fixedly arranged at the front end of the robot body, the photovoltaic cleaning robot cleans a photovoltaic array through the cleaning device, a photovoltaic panel shading detection device is arranged on the robot body and is used for detecting shading on the surface of the photovoltaic panel, further judging the surface type of the photovoltaic panel in front of the photovoltaic cleaning robot and forming detection data, meanwhile, the detection data are sent to a main control system arranged on the robot body, the main control system judges the placement mode of the photovoltaic array where the photovoltaic cleaning robot is currently located according to the detection data so as to obtain a linear operation path, namely the main control system extracts the shading pattern characteristics of the photovoltaic panel according to the detection data and fits a linear relative path which needs to be tracked by the photovoltaic cleaning robot to maintain linear operation, therefore, a certain look-ahead is ensured, and the accuracy of path planning is also ensured.
Drawings
Fig. 1 is a schematic perspective view of a photovoltaic cleaning robot in one direction according to an embodiment of the present invention.
Fig. 2 is a schematic perspective view of a photovoltaic cleaning robot in another direction according to an embodiment of the present invention.
Fig. 3 is a schematic top view of a photovoltaic cleaning robot according to an embodiment of the present invention.
Fig. 4 is a schematic perspective view of a device for detecting shading of a photovoltaic panel in a photovoltaic cleaning robot according to an embodiment of the present invention.
Fig. 5 is an exploded schematic view of a device for detecting shading of a photovoltaic panel in a photovoltaic cleaning robot according to an embodiment of the present invention.
Fig. 6 is a schematic photograph of a shading of a photovoltaic panel when a cell sheet on a surface of the photovoltaic panel is laid horizontally according to an embodiment of the present invention.
Fig. 7 is a schematic view of a straight line fitting effect of a shading of a photovoltaic panel when a cell on a surface of the photovoltaic panel is horizontally placed according to an embodiment of the present invention.
Fig. 8 is a schematic photograph of a shading of a photovoltaic panel when a cell sheet on the surface of the photovoltaic panel provided by an embodiment of the present invention is placed vertically.
Fig. 9 is a schematic diagram of a straight line fitting effect of a shading of a photovoltaic panel when a cell on a surface of the photovoltaic panel is vertically placed according to an embodiment of the present invention.
Fig. 10 is a schematic photo of shading of a photovoltaic panel when the photovoltaic cleaning robot provided by the embodiment of the invention crosses a seam on the photovoltaic panel in a photovoltaic array.
Fig. 11 is a schematic view of a straight line effect of a shading of a photovoltaic panel when the photovoltaic cleaning robot provided by the embodiment of the present invention crosses a seam on the photovoltaic panel in a photovoltaic array.
Detailed Description
The invention will be further described with reference to the drawings and specific examples.
As shown in fig. 1 to 11: the method for acquiring the linear operation path for the photovoltaic cleaning robot comprises a body 100, a cleaning device 101 is fixedly arranged at the front end of the body 100, the photovoltaic cleaning robot cleans a photovoltaic array through the cleaning device 101, a photovoltaic panel shading detection device 300 is arranged on the body 100, the photovoltaic array is formed by arranging a plurality of photovoltaic panels, the photovoltaic panel shading detection device 300 is used for detecting shading on the surface of the photovoltaic panel, further judging the surface type of the photovoltaic panel in front of the photovoltaic cleaning robot and forming detection data, and the detection data comprises:
when the photovoltaic cleaning robot drives in parallel straight line to the long side of the photovoltaic panel in the photovoltaic array, the image shot by the photovoltaic panel shading detection device is the vertical image of the solar cell of the photovoltaic panel in the photovoltaic array, and the vertical image of the solar cell has three straight lines in the vertical direction and one straight line in the horizontal direction, wherein: the straight line in the vertical direction on the left side is a metal main grid line on the right side in the solar cell piece on the left side, the straight line in the vertical direction in the middle is a gap between two rows of solar cell pieces, the straight line in the vertical direction on the right side is a metal main grid line on the left side in the solar cell piece on the right side, and the straight line in the horizontal direction is a gap between two rows of solar cell pieces;
when the photovoltaic cleaning robot drives the perpendicular straight line of photovoltaic panel long limit in the photovoltaic array relatively, the image that photovoltaic panel shading detection device shot is the solar wafer horizontal image of photovoltaic panel in the photovoltaic array, there are the straight line of a vertical direction and the straight line of three horizontal directions in the solar wafer horizontal image, wherein: the straight line in the vertical direction is a gap between two rows of solar cells, the straight line in the horizontal direction at the front side is a metal main grid line at the rear side in the solar cells at the front side, the straight line in the horizontal direction at the middle is a metal main grid line at the front side in the solar cells at the rear side, and the straight line in the horizontal direction at the rear side is a gap between two rows of solar cells;
meanwhile, the detection data are sent to a main control system (not shown in the figure) arranged on the machine body 100, the main control system judges the placement mode of a photovoltaic array where the photovoltaic cleaning robot is located at present according to the detection data to obtain a linear operation path, and then continuous automatic control of cleaning operation is achieved.
The method for acquiring the linear operation path by the photovoltaic cleaning robot comprises the steps of out-of-bounds operation, seam crossing, vertical arrangement of the photovoltaic panel and transverse arrangement of the photovoltaic panel.
The method for acquiring the linear working path by the photovoltaic cleaning robot comprises the following steps that a photovoltaic panel in front of the photovoltaic cleaning robot is located at the edge of a photovoltaic array, and the photovoltaic cleaning robot falls off the photovoltaic array when continuing to walk forwards.
According to the method for acquiring the linear working path by the photovoltaic cleaning robot, the seam crossing is that the photovoltaic panel in front of the photovoltaic cleaning robot is positioned at the rear end edge of one photovoltaic panel in the photovoltaic array, and is positioned at the front end edge of the other photovoltaic panel adjacent to the photovoltaic panel in the photovoltaic array and in front of the photovoltaic panel, and when the photovoltaic cleaning robot continues to walk forwards, the seam crossing is performed from the seam between the two adjacent photovoltaic panels in front of the photovoltaic cleaning robot.
The photovoltaic panel shading detection device 300 comprises an exposure main box 301 and a brush 302 arranged at the bottom of the exposure main box 301, the exposure main box 300 is fixedly arranged on the outer side wall of the front end of the machine body 100 through a plurality of mounting holes formed in the side wall of the exposure main box 300, specifically, a fixing groove 102 is formed in the middle position of the side wall of the front end of the machine body 100, the fixing groove 102 extends to the lower surface of the machine body 100, the photovoltaic panel shading detection device 300 is fixedly arranged in the fixing groove 102 through a plurality of mounting holes 320 formed in the side wall of the photovoltaic panel shading detection device 300, the exposure main box 301 is square, a cavity (not shown in the figure) is formed inside the exposure main box 301, a camera assembly is arranged at the top end of the exposure main box 301 and comprises a camera module 303, a camera driving board 304 and a height adjusting nylon column 305, the camera module 303 is fixedly arranged on the lower surface of the camera driving board 304, the camera driving board 304 is disposed above the top end of the main exposure box 301 through the height adjusting nylon column 305, and the camera module 303 penetrates through a first positioning hole 306 disposed at the top end of the main exposure box 301 and is located in a cavity of the main exposure box 301.
The shape of exposure owner box 301 is square, just the outside extension of lateral wall all around of the bottom of exposure owner box 301 is provided with the installation department, the installation department with brush 302 cooperatees, exposure owner box 301 passes through the installation department sets up the top of brush 302. Through the above design, the outer side wall around the bottom of the main exposure box 301 extends outwards to form a mounting part, and the mounting part is matched with the structure of the brush 302, so that the main exposure box 301 is arranged on the top of the brush 302 through the mounting part.
The mounting portion includes a first mounting plate 337, a second mounting plate 338, a third mounting plate 339, and a fourth mounting plate (not shown in the figures), wherein:
the first mounting plate 337 is fixedly arranged on the outer side wall of the bottom of the left side of the exposure main box 301, the second mounting plate 338 is fixedly arranged on the outer side wall of the bottom of the front side of the exposure main box 301, the third mounting plate 339 is fixedly arranged on the outer side wall of the bottom of the right side of the exposure main box 301, and the fourth mounting plate is fixedly arranged on the outer side wall of the bottom of the rear side of the exposure main box 301;
the plane of the lower surfaces of the first mounting plate 337, the second mounting plate 338, the third mounting plate 339 and the fourth mounting plate is the same plane as the plane of the bottom of the exposure main box 301, and the first mounting plate 337, the second mounting plate 338, the third mounting plate 339 and the fourth mounting plate are integrally formed with the exposure main box 301. Through the above design, the plane of the lower surfaces of the first mounting plate 337, the second mounting plate 338, the third mounting plate 339 and the fourth mounting plate and the plane of the bottom of the exposure main box 301 are the same plane, so that the upper end of the hairbrush 302 can be tightly matched with the lower ends of the first mounting plate 337, the second mounting plate 338, the third mounting plate 339 and the fourth mounting plate, and the cavity in the exposure main box 301 can be in a relatively closed environment; meanwhile, because the first mounting plate 337, the second mounting plate 338, the third mounting plate 339 and the fourth mounting plate and the main exposure box 301 are integrally formed, the firmness of the mounting part, that is, the first mounting plate 337, the second mounting plate 338, the third mounting plate 339 and the fourth mounting plate, which are combined with the main exposure box 301 can be improved, and the service life of the main exposure box 301 can be prolonged.
The brush 302 comprises a first brush 311, a second brush 312, a third brush 313 and a fourth brush 314, and the first brush 311, the second brush 312, the third brush 313 and the fourth brush 314 are connected end to form a square structure with a through hole 315 in the middle; the first brush 311 is positioned below the first mounting plate 337, and the outer side wall of the first brush 311 is flush with the outer side wall of the first mounting plate 337; the second brush 312 is positioned below the second mounting plate 338, and the outer side wall of the second brush 312 is flush with the outer side wall of the second mounting plate 338; the third brush 313 is positioned below the third mounting plate 339, and the outer side wall of the third brush 313 is flush with the outer side wall of the third mounting plate 339; the fourth brush 314 is located below the fourth mounting plate, and the outer sidewall of the fourth brush 314 is flush with the outer sidewall of the fourth mounting plate. Through the above design, also be brush 302 by first brush 311, second brush 312, third brush 313 and fourth brush 314 end to end connection form, and the middle square structure that is through-hole 315 in the middle of forming, thereby it is inseparabler with the structure phase-match and the cooperation of exposure main box 301, and make things convenient for the maintenance in equipment and the later stage in earlier stage, still can improve first brush 311 simultaneously, second brush 312, the fastness that third brush 313 and fourth brush 314 combined together, and then improve fail safe nature, in order to prolong this brush 302 and photovoltaic cleaning machines people's life.
The camera driving board 304 is square, the camera module 303 is fixedly disposed on the lower surface of the camera driving board 304, four corners of the camera driving board 304 are fixedly connected to the top end of the main exposure box 301 through the height adjusting nylon columns 305, and the height adjusting nylon columns 305 are connected to the top end of the main exposure box 301 and the camera driving board 304 through the first fastening bolts 340. Through the above design, that is, the number of the height-adjusting nylon columns 305 is four, the height-adjusting nylon columns 305 are respectively located at four corners of the camera driving board 304, fixing holes are formed in the height-adjusting nylon columns 305, the lower ends of the height-adjusting nylon columns 305 are fixedly connected with the exposure main box 301 through fixing screws 315, and the firmness of the combination of the height-adjusting nylon columns 305 and the exposure main box 301 can be improved; meanwhile, the upper end of the height adjusting nylon column 305 is fixedly connected with the camera driving plate 304 through a fixing screw 315, so that the firmness of the combination of the height adjusting nylon column 305 and the camera driving plate 304 is improved; in addition, the distance between the camera driving board 304 and the top end of the exposure main box 301 can be adjusted through the four height adjusting nylon columns 305, so that the distance between the camera module 303 and the surface of the photovoltaic panel in the photovoltaic array where the body 100 is located can be adjusted, and the operation is convenient and rapid.
The above-mentioned shading detection device 300 for the photovoltaic panel further comprises a light supplementing lamp assembly, the number of the light supplementing lamp assembly is four, and four the light supplementing lamp assembly is respectively and fixedly arranged at the four corners at the top of the main exposure box 301, every the light supplementing lamp assembly comprises a light supplementing lamp drive plate 321 and a light supplementing lamp 317 arranged below the light supplementing lamp drive plate 321, the light supplementing lamp drive plate 321 is connected with the top end of the main exposure box 301 through a second fastening bolt 350, the upper end of the light supplementing lamp 317 is fixedly arranged in the light supplementing lamp drive plate 321, and the lower end of the light supplementing lamp 317 penetrates through a second positioning hole 322 arranged on the top end of the main exposure box 301, and the inside of the cavity of the main exposure box 301 extends.
Through the above design, also be provided with four light filling lamp subassemblies on the photovoltaic panel shading detection device 300, and every the light filling lamp subassembly all includes light filling lamp drive plate 321 and sets up the light filling lamp 317 of light filling lamp drive plate 321 below, light filling lamp drive plate 321 is connected with the top of exposing main box 301 through second fastening bolt 350, and the fixed setting in light filling lamp drive plate 321 in upper end of light filling lamp 317, and the lower extreme of light filling lamp 317 runs through to the inside extension of cavity to exposing main box 301 in the second locating hole 322 that sets up on the top of exposing main box 301 to reach the purpose of conveniently adjusting and later maintenance.
According to the method for acquiring the linear operation path by the photovoltaic cleaning robot, the photovoltaic panel shading detection device 300 is arranged right in front of the photovoltaic cleaning robot by adopting a 480P60 frame high-speed camera module and adopting a certain light supplementing mode to be placed right above a relatively closed space. In general, a predetermined global route plan is divided into two states of straight travel and turning during work. In the state of straight-line travel, a certain reference object is required to maintain straight-line travel of the machine, and there are roughly two cases, depending on the relative position to the photovoltaic panel, in which the machine travels straight in parallel with the long side of the photovoltaic panel in the photovoltaic array, and travels straight in perpendicular with the long side of the photovoltaic panel in the photovoltaic array.
The layout of the cells on the 300W photovoltaic panel is 6 × 10 array distribution, one cell is 156 × 156mm in size and comprises a gap in the parallel arrangement of two cells, and the parallel length of the two vertically placed cells is about 313-315 mm. In the case of maintaining each row of operation covering two rows of battery pieces, the center line of the photovoltaic cleaning robot should be maintained to overlap with the gap line in the juxtaposition of the two battery pieces, and the cleaning device should be slightly longer than the juxtaposition length of the two vertically placed battery pieces, so as to ensure the cleaning coverage rate.
As shown in fig. 8, in a situation where the long side of the photovoltaic panel in the photovoltaic array runs in a parallel straight line, an image taken by the photovoltaic panel shading detection apparatus (i.e., the camera module) is a vertically placed image of the solar cell of the photovoltaic panel in the photovoltaic array and forms detection data, and the main control system determines, according to the detection data, that the photovoltaic array where the photovoltaic cleaning robot is currently located is vertically placed. According to the surface characteristics of the solar cell, three vertical straight lines and one horizontal straight line can be obviously seen from a vertically placed image of the solar cell photographed right in front of the photovoltaic cleaning robot, as shown in fig. 8, the left vertical straight line is the right metal main grid line 120 in the left solar cell, the middle vertical straight line is a gap 130 between two rows of solar cells, the right vertical straight line is the left metal main grid line 120 in the right solar cell, and the horizontal straight line is the gap 130 between two rows of solar cells. In the case of maintaining two rows of solar cells covered by each row of photovoltaic panel, it is desirable that the image is distributed symmetrically, and the central line of the image is exactly overlapped with the gap 130 between the two rows of solar cells, i.e. the middle straight line in the vertical direction in the extracted straight line set (i.e. the three straight lines 140 in the vertical direction) is overlapped, and meanwhile, the extracted straight line 150 in the horizontal direction is the eliminated straight line after extraction, as shown in fig. 9. Namely, the three straight lines in the vertical direction are extracted, and the current locally expected straight line path can be obtained. When the photovoltaic cleaning robot encounters a seam crossing condition during cleaning operation, the camera cannot shoot a normal and complete solar cell, and a path extracted in a previous state is maintained, as shown in fig. 10 and 11, 111 is a gap between two adjacent photovoltaic panels, and 112 is a frame of the photovoltaic panel, and at this time, the photovoltaic cleaning robot can maintain the path extracted in the previous state to perform linear walking.
Because the gap-crossing distance is short and the intervals between the three straight lines in the vertical direction are the same, the method can be applied to the condition of incomplete extraction according to the characteristic, and the continuity of path planning is ensured, and the method specifically comprises the following steps: under the condition that the extraction of the straight line in the vertical direction on the left side fails, reversely deducing the position where the straight line in the vertical direction on the left side possibly appears according to the matching motion control state of the remaining two straight lines in the vertical direction; under the condition that the extraction of the straight line in the middle vertical direction fails, fitting a middle straight line if the interval between the two remaining straight lines meets the actual interval range; and under the condition that the extraction of the right straight line fails, reversely deducing the position of the right straight line according to the matching motion control state of the remaining two straight lines.
As shown in fig. 6, in a situation where the vehicle travels vertically and linearly with respect to the long side of the photovoltaic panel in the photovoltaic array, an image taken by the shading detection device (i.e., the camera module) of the photovoltaic panel is a horizontally placed image of a cell of the photovoltaic panel in the photovoltaic array and forms detection data, and the main control system determines, according to the detection data, that the currently placed mode of the photovoltaic array where the photovoltaic cleaning robot is located is horizontally placed. According to the surface characteristics of the battery piece, an image shot right in front of the photovoltaic cleaning robot can obviously see one straight line in the vertical direction and three straight lines in the horizontal direction, wherein: the straight line in the vertical direction is a gap 170 between two rows of solar cells, the straight line in the horizontal direction at the front side is the metal main grid line 160 at the rear side in the solar cell at the front side, the straight line in the horizontal direction at the middle is the metal main grid line 160 at the front side in the solar cell at the rear side, and the straight line in the horizontal direction at the rear side is the gap 170 between two rows of solar cells. In the case of maintaining two rows of solar cells covered by each row of photovoltaic panel cleaning operation, it is desirable that the image is distributed in bilateral symmetry with two rows of solar cells, the center line of the image just overlaps the gap 170 between the two rows of solar cells, i.e. the extracted vertical straight line 180, and the three horizontal straight lines 150 are extracted and eliminated straight lines, as shown in fig. 7. Namely, the straight line 180 in the vertical direction is extracted to obtain the currently locally expected straight line path. When the slit-crossing condition is met in the operation, the camera module cannot shoot a normal and complete solar cell, and the path extracted in the previous state is maintained.
The method for acquiring the linear operation path by the photovoltaic cleaning robot provided by the embodiment of the invention has the following characteristics:
1. because only the high-speed camera module is adopted on the photovoltaic panel shading detection device 300, the photovoltaic panel shading detection device has the characteristics of small volume, high sensing frequency, easiness in installation and the like, the simple structure of the photovoltaic cleaning robot can be ensured, and a faster and more accurate sensing effect can be provided;
2. the photovoltaic panel shading detection device 300 adopts a high-speed camera module and a certain light supplementing mode to be placed right above a relatively closed space, so that the influence of the external environment on the shooting of the camera module is greatly reduced, and the stability of the shooting environment is ensured;
3. the characteristics of the shading image of the photovoltaic panel in front are extracted, and the relative path of the straight line to be tracked for maintaining the straight line operation of the photovoltaic cleaning robot is fitted, so that a certain look-ahead is ensured, and the accuracy of path planning is also ensured.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solution of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. The utility model provides a method that photovoltaic cleaning robot obtained straight line operation route, photovoltaic cleaning robot includes the fuselage, the front end of fuselage is fixed and is provided with cleaning device, photovoltaic cleaning robot cleans the operation to the photovoltaic array through cleaning device which characterized in that: be provided with photovoltaic panel shading detection device on the fuselage, photovoltaic panel shading detection device is used for detecting the shading on photovoltaic panel surface, and then judges the surface type of the photovoltaic panel in photovoltaic cleaning machines people the place ahead to form the testing data, the testing data includes:
when the photovoltaic cleaning robot drives in parallel straight line to the long side of the photovoltaic panel in the photovoltaic array, the image shot by the photovoltaic panel shading detection device is the vertical image of the solar cell of the photovoltaic panel in the photovoltaic array, and the vertical image of the solar cell has three straight lines in the vertical direction and one straight line in the horizontal direction, wherein: the straight line in the vertical direction on the left side is a metal main grid line on the right side in the solar cell piece on the left side, the straight line in the vertical direction in the middle is a gap between two rows of solar cell pieces, the straight line in the vertical direction on the right side is a metal main grid line on the left side in the solar cell piece on the right side, and the straight line in the horizontal direction is a gap between two rows of solar cell pieces;
when the photovoltaic cleaning robot drives the perpendicular straight line of photovoltaic panel long limit in the photovoltaic array relatively, the image that photovoltaic panel shading detection device shot is the solar wafer horizontal image of photovoltaic panel in the photovoltaic array, there are the straight line of a vertical direction and the straight line of three horizontal directions in the solar wafer horizontal image, wherein: the straight line in the vertical direction is a gap between two rows of solar cells, the straight line in the horizontal direction at the front side is a metal main grid line at the rear side in the solar cells at the front side, the straight line in the horizontal direction at the middle is a metal main grid line at the front side in the solar cells at the rear side, and the straight line in the horizontal direction at the rear side is a gap between two rows of solar cells;
and meanwhile, the detection data are sent to a main control system arranged on the machine body, and the main control system judges the placement mode of a photovoltaic array where the photovoltaic cleaning robot is located at present according to the detection data so as to obtain a linear operation path.
2. The method of claim 1, wherein the surface types of the photovoltaic panel include out of bounds, across seams, vertical photovoltaic panel, and horizontal photovoltaic panel.
3. The method of claim 2, wherein the out-of-bounds is that a photovoltaic panel in front of the photovoltaic cleaning robot is at an edge of the photovoltaic array from which the photovoltaic cleaning robot will fall as it continues to walk forward.
4. The method for acquiring the straight line working path by the photovoltaic cleaning robot as claimed in claim 2, wherein the seam crossing is that the photovoltaic panel in front of the photovoltaic cleaning robot is positioned at the rear end edge of one photovoltaic panel in the photovoltaic array, and the front end edge of the other photovoltaic panel adjacent to the photovoltaic panel in front of the photovoltaic array is positioned at the front end edge of the other photovoltaic panel in front of the photovoltaic array, and when the photovoltaic cleaning robot continues to walk forwards, the seam crossing is performed from the seam between the two adjacent photovoltaic panels in front of the photovoltaic cleaning robot.
5. The method for acquiring the linear working path by the photovoltaic cleaning robot as claimed in any one of claims 1 to 4, wherein the photovoltaic panel shading detection device comprises a main exposure box and a brush arranged at the bottom of the main exposure box, the main exposure box is fixedly arranged on the outer side wall of the front end of the main body through a plurality of mounting holes arranged on the side wall of the main exposure box, the main exposure box is square in shape, a cavity is arranged inside the main exposure box, a camera assembly is arranged at the top end of the main exposure box, the camera assembly comprises a camera module, a camera driving board and a height-adjusting nylon column, the camera module is fixedly arranged on the lower surface of the camera driving board, the camera driving board is arranged above the top end of the main exposure box through the height-adjusting nylon column, and a first positioning hole arranged on the top end of the main exposure box and located in the cavity of the main exposure box through the height-adjusting nylon column .
6. The method for acquiring the linear working path by the photovoltaic cleaning robot as claimed in claim 5, wherein the outer side wall of the periphery of the bottom of the exposure main box extends outwards to form a mounting part, the mounting part is matched with the brush, and the exposure main box is arranged on the top of the brush through the mounting part.
7. The method of claim 6, wherein the mounting portion comprises a first mounting plate, a second mounting plate, a third mounting plate, and a fourth mounting plate, wherein:
the first mounting panel is fixed to be set up on the lateral wall of exposure main box left side bottom, the second mounting panel is fixed to be set up on the lateral wall of exposure main box front side bottom, the third mounting panel is fixed to be set up on the lateral wall of exposure main box right side bottom, the fourth mounting panel is fixed to be set up the lateral wall of exposure main box rear side bottom.
8. The method for acquiring the linear working path by the photovoltaic cleaning robot as claimed in claim 7, wherein the lower surfaces of the first, second, third and fourth mounting plates are located on the same plane as the bottom of the exposure main box, and the first, second, third and fourth mounting plates are integrally formed with the exposure main box.
9. The method of claim 8, wherein the brushes comprise a first brush, a second brush, a third brush, and a fourth brush, wherein:
the first brush, the second brush, the third brush and the fourth brush are connected end to form a square structure with a square through hole in the middle;
the first brush is positioned below the first mounting plate, and the outer side wall of the first brush is flush with the outer side wall of the first mounting plate;
the second brush is positioned below the second mounting plate, and the outer side wall of the second brush is positioned on the outer side wall of the second mounting plate and is flush with the outer side wall of the second mounting plate;
the third brush is positioned below the third mounting plate, and the outer side wall of the third brush is flush with the outer side wall of the third mounting plate;
the fourth brush is located the below of fourth mounting panel, just the lateral wall of fourth brush is located the lateral wall parallel and level of fourth mounting panel.
10. The method for acquiring the linear working path by the photovoltaic cleaning robot as claimed in claim 5, wherein the camera driving plate is square, the camera module is fixedly disposed on a lower surface of the camera driving plate, four corners of the camera driving plate are fixedly connected to a top end of the exposure main box by the height adjusting nylon columns, respectively, and the height adjusting nylon columns are connected to the top end of the exposure main box and the camera driving plate by first fastening bolts, respectively.
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