CN111993421B - Connection system and connection method - Google Patents
Connection system and connection method Download PDFInfo
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- CN111993421B CN111993421B CN202010800222.7A CN202010800222A CN111993421B CN 111993421 B CN111993421 B CN 111993421B CN 202010800222 A CN202010800222 A CN 202010800222A CN 111993421 B CN111993421 B CN 111993421B
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000003032 molecular docking Methods 0.000 claims abstract description 174
- 238000012546 transfer Methods 0.000 claims abstract description 68
- 238000003384 imaging method Methods 0.000 claims abstract description 58
- 230000008859 change Effects 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 3
- 238000004140 cleaning Methods 0.000 abstract description 61
- 238000003491 array Methods 0.000 abstract description 10
- 238000010586 diagram Methods 0.000 description 9
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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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 provides a connection system and a connection method, wherein the connection system comprises: the system comprises a working area, a panel array, a docking area, a tag, a docking vehicle and a cloud platform. The cleaning robot is transferred among the plurality of solar panel arrays by using the transfer trolley, the transfer trolley firstly performs primary positioning by using original data of the cloud platform, and acquires two-dimensional codes on panel array frames through a camera arranged on the transfer trolley; and then, comparing an imaging area and a positioning area of the two-dimensional code in the camera view field in real time, and continuously adjusting to enable the connection platform and the panel array to be on the same plane. In the connection method, the connection vehicle only needs to find the two-dimensional code, a cleaning robot does not need to be found, the height and the angle are adjusted in the connection area, and the cleaning robot can directly move to the connection platform of the connection robot without stopping after reaching the edge of the panel, so that the working efficiency of the connection vehicle can be greatly improved.
Description
Technical Field
The invention relates to the field of photovoltaic panels, in particular to a connection system and a connection method for connecting a cleaning robot between solar panels.
Background
With the decreasing of fossil fuels, solar energy, which is a new renewable energy source, has become an important component of energy sources used by human beings, and solar energy application technology has been rapidly developed in various countries in the world in the last decade.
Since the working environment of the solar panel can be only outdoors, the biggest problem affecting the work of the solar panel is not wind, rain and thunder, but dust, snow and the like accumulated all the year round. The solar panel is attached with dust or other attachments, can influence the luminousness of panel board, hinders photoelectric efficiency to can seriously influence the efficiency that the panel directly acquireed sunshine, reduce the energy absorption and the conversion efficiency of panel, reduce the generating efficiency.
Therefore, each photovoltaic power station needs to clean the surface of the solar panel, so that the efficiency of manual cleaning is obviously low and the risk is high. Correspondingly, the industry has developed solar panel cleaning machines people and has cleaned its surface, can effectual improvement clean efficiency, can not appear again the eminence and clean the operation and the personal safety hidden danger problem that exists. Meanwhile, a docking vehicle is developed, a cleaning robot can be transferred from one solar panel array to another solar panel array, and the cleaning robot is remotely dispatched and controlled by a server to efficiently complete cleaning work on different panel arrays.
However, when the docking vehicle approaches the photovoltaic array, the end face of the array needs to be accurately identified, and the docking precision of aligning the docking platform and the array is required to be controlled within +/-10 mm. In the prior art, a traditional indoor robot is in butt joint with fixing devices such as a goods shelf, and the butt joint state is judged by fusing various schemes such as laser radar, ultrasonic waves and vision. However, in an outdoor photovoltaic power station, on the premise of not modifying a photovoltaic support, due to factors such as diversity of the photovoltaic support and external environment change, accurate positioning cannot be achieved by using a sensor and traditional visual identification.
Therefore, there is a need for a docking system and a docking method for realizing accurate and stable docking between a docking vehicle and a docking platform, so that a cleaning robot can move between a photovoltaic panel array and the docking platform of the docking vehicle quickly and easily.
Disclosure of Invention
The invention aims to provide a docking system, which is used for solving the technical problems of poor docking accuracy and stability of a docking vehicle and a photovoltaic panel array and the problem of low efficiency of a robot for transferring and cleaning the docking vehicle.
The invention provides a docking system comprising: a working area divided into an operation area and a channel area; the panel array is positioned in the operation area and formed by splicing at least one photovoltaic panel; the connection area is positioned in the channel area and corresponds to a panel array; the label is provided with a recognizable two-dimensional code and is arranged on the side surface of the panel array facing the connection area; the connecting vehicle runs in the passage area; the cloud platform is connected with at least one transfer trolley in a wireless communication mode; the cloud platform is used for storing array information of the panel array, including the inclination angle and the height of the panel array; wherein, the car of plugging into includes: the bottom of the vehicle body is provided with wheels; a docking platform mounted to the vehicle body, the angle and/or height of which is adjustable; the camera is arranged on one side surface of the connection platform, and the central axis of the lens of the camera is perpendicular to the side surface; the docking plate is arranged on the side surface of the docking platform in a telescopic manner; when the transfer vehicle runs to a transfer area, the angle and/or the height of the transfer platform of the transfer vehicle are/is adjusted, so that the camera shoots the two-dimensional code on the label.
Further, when the transfer vehicle runs to a transfer zone, the transfer vehicle adjusts the position and the head orientation of the transfer vehicle, so that the center line of the rotating shaft is perpendicular to the plane where the label is located.
The docking vehicle further comprises an angle adjusting device which is connected to the docking platform and used for adjusting the inclination angle of the docking platform and the horizontal plane; and the height adjusting device is connected to the connection platform and used for adjusting the height of the connection platform.
Further, the information of the two-dimensional code includes: array number, component type, arrangement, array height and inclination angle.
Further, the label is arranged at the middle lower part of the frame at two sides of the panel array; when the rotating shaft of the connection platform is perpendicular to the label, the camera can shoot the image change of the label after the connection platform is inclined.
The invention also provides a connection method, which is applied to the connection system and comprises the following steps: a docking vehicle moves to a docking area of a panel array, a camera on the side of the docking vehicle faces the panel array, and an in-place instruction is issued to a cloud platform; acquiring array information of the panel array from the cloud platform, including a tilt angle and a height of the panel array; adjusting the height of the docking platform according to the array information, so that the two-dimensional codes on the labels on the side surface of the panel array facing one side of the docking area enter the visual field of a camera of the docking platform; a rectangular positioning area is preset in the vision field of the camera; shooting a picture in real time by using the camera to obtain an imaging area of the two-dimensional code in a camera view field; comparing an imaging area of the two-dimensional code in the camera view field with the positioning area in real time; adjusting the transfer vehicle in real time according to the comparison result, adjusting the position of the vehicle body and the direction of the vehicle head of the transfer vehicle, and adjusting the angle and the height of the transfer platform until the size and the position of the imaging area of the two-dimensional code in the camera view field are the same as those of the positioning area; and controlling the docking plate to extend, connected to the panel array.
Further, the step of adjusting the transfer vehicle in real time according to the comparison result comprises the following steps: judging whether the shape of the imaging area is rectangular or not; if not, adjusting the direction of the head of the transfer vehicle until the imaging area is rectangular; judging whether the inclination angle of the imaging area relative to the positioning area is 0; if not, adjusting the inclination angle of the connection platform until the inclination angle of the imaging area and the positioning area is 0; judging whether the sizes of the imaging area and the positioning area are the same or not; if not, adjusting the horizontal distance between the transfer trolley and the panel array until the sizes of the imaging area and the positioning area are the same; judging whether the width ranges of the imaging area and the positioning area are consistent or not; if not, controlling the transfer trolley to move forward or backward until the width ranges of the imaging area and the positioning area are consistent; and judging whether the height ranges of the imaging area and the positioning area are consistent, if not, adjusting the height of the docking platform until the height ranges of the imaging area and the positioning area are consistent.
Further, before the step of controlling the extension of the docking plate, the method further comprises the following steps: and reading the array information of the panel array from the two-dimensional code, wherein the array information comprises an array number, an array size and an included angle between the array and a horizontal plane.
Further, before the step of controlling the extension of the docking plate, the method further comprises the following steps: recording adjustment information of the transfer vehicle, including the height and angle of the transfer platform, and/or the position of the body of the transfer vehicle and the orientation of the head of the transfer vehicle; and uploading the adjustment information of the transfer vehicle to the cloud platform, and updating the array information.
Further, the trolley of plugging into moves to a plugging zone of a panel array, and specifically includes: acquiring a traveling control instruction, including a terminal position and a recommended route of a carrying path of the transfer vehicle; travel along the recommended route to the destination location, the destination location being located at the docking zone.
The invention has the beneficial effects that: the invention provides a docking system and a docking method.A cleaning robot is transferred among a plurality of solar panel arrays by using a docking vehicle, the docking vehicle firstly carries out primary positioning by using original data of a cloud platform and acquires two-dimensional codes on panel array frames through a camera arranged on the docking vehicle; and then, comparing an imaging area and a positioning area of the two-dimensional code in the camera view field in real time, and continuously adjusting to enable the connection platform and the panel array to be on the same plane. According to the connection method, the connection vehicle only needs to find the two-dimensional code, the cleaning robot does not need to be found, the height and the angle only need to be adjusted in the connection area, and the cleaning robot can directly move to the connection platform of the connection robot without stopping after reaching the edge of the panel, so that the connection working efficiency can be greatly improved.
If the cloud platform pre-estimates that 20 minutes is needed for one cleaning robot to clean one panel array in advance, the cloud platform sends a control instruction after 15 minutes, controls one relatively close connection vehicle to drive to a connection area of the panel array within five minutes, adjusts the position and the posture of the connection vehicle, achieves butt joint of the connection platform and the panel array, and directly drives to the connection platform after the cleaning robot finishes cleaning work of the whole panel array.
Drawings
The technical solution and other advantages of the present invention will become apparent from the following detailed description of specific embodiments of the present invention, which is to be read in connection with the accompanying drawings.
FIG. 1 is a schematic diagram of an operating area provided in an embodiment of the present invention;
fig. 2 is a schematic diagram of a docking system according to an embodiment of the present invention.
Fig. 3 is a schematic plan view of a docking system according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of a tag provided in an embodiment of the present invention.
Fig. 5 is a cross-sectional view of a docking system according to an embodiment of the present invention.
Fig. 6 is a schematic view of a transfer vehicle according to an embodiment of the present invention.
Fig. 7 is a flowchart of a docking method according to an embodiment of the present invention.
Fig. 8 is a flowchart of step S8 of the docking method according to the embodiment of the present invention.
Fig. 9 is a schematic diagram of a positioning area image according to an embodiment of the present invention.
Fig. 10 is a schematic diagram of an imaging area image provided in embodiment 1 of the present invention.
Fig. 11 is a schematic diagram of an imaging area image provided in embodiment 2 of the present invention.
Fig. 12 is a schematic diagram of an imaging area image provided in embodiment 3 of the present invention.
Fig. 13 is a schematic diagram of an imaging area image provided in embodiment 4 of the present invention.
Fig. 14 is a schematic diagram of an imaging area image provided in embodiment 5 of the present invention.
A working area 10; a panel array 101; a docking zone 110;
a tag 120; a transfer trolley 300; a cloud platform 400;
a channel region 103; a working area 100; a cleaning robot 200;
a cleaning zone 500; a photovoltaic panel 102; a rectangular outer frame 121;
a two-dimensional code 122; a vehicle body 310; a docking platform 320;
a camera 340; a butt plate 321; an angle adjusting device 330;
a height adjustment device 350.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The following disclosure provides many different embodiments or examples for implementing different features of the invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or uses of other materials.
As shown in fig. 1, an operation area 100 is disposed in a solar power station, the operation area 100 includes a plurality of solar panel arrays 101 (arrays for short), an inclination angle between each solar panel array 101 and a horizontal plane is a certain angle value of 15 to 45 degrees, so as to ensure that sunlight is incident on the solar panels more. In most solar power stations, the tilt angle of all solar panels with respect to the horizontal (referred to as panel tilt angle or tilt angle) is the same; in some solar power stations, the tilt angles of different solar panels may differ, even though the tilt angles of some panels may be adjustable or variable.
With continued reference to fig. 1, each solar panel array 101 includes a plurality of solar panels 102 (referred to as panels) spliced together, the plurality of solar panel arrays 101 and/or the plurality of solar panels 102 may be arranged in a matrix, a channel area 103 is formed between any two adjacent solar panel arrays 101 or solar panels 102, and in this embodiment, the plurality of channel areas 103 cross-connected with each other together to form a crisscross channel network.
As shown in fig. 2, in the normal operation of the solar power station, some solar panels or solar panel arrays 101 are stained with dust or dirt and need to be cleaned; each solar panel or solar panel array 101 that needs to be cleaned is the cleaning zone 500. The cleaning robot 200 can complete the cleaning operation on the solar panel or solar panel array 101, and can effectively clean each area on the panel or panel array 101.
After the docking vehicle 300 arrives at the docking station 110, and the position of the docking platform is adjusted, the cleaning robot 200 may be carried from the cleaning robot storage to the upper surface of one cleaning zone 500 (the panel or panel array 101 to be cleaned), from the upper surface of one panel array 101 to be cleaned to the upper surface of another cleaning zone 500 (the panel or panel array 101 to be cleaned), or from the upper surface of one cleaning zone 500 to be cleaned to the cleaning robot storage.
As shown in fig. 2 to 5, the present invention provides a docking system, including: work zone 10, panel array 101, docking zone 110, tags 120, docking cart 300, and cloud platform 400.
The work area 10 is divided into a work area 100 and a channel area 103.
The panel array 101 is located in the working area 100 and is formed by splicing at least one photovoltaic panel 102.
The docking area 110 is located in the channel area 103 and corresponds to a panel array 101.
The tag 120 is provided with a recognizable two-dimensional code 122, which is disposed on the side of the panel array 101 facing the docking area 110.
The label 120 further includes a rectangular outer frame 121; the two-dimensional code 122 is embedded in the rectangular outer frame 121, and the label 120 uses a black image with a white background.
The width of the outer frame of the rectangular outer frame 121 is 50mm, the height of the outer frame is 30mm, and the width and the height of the two-dimensional code 122 are both 20 mm.
The information of the two-dimensional code 122 includes: array number, component type, arrangement, array height and inclination angle.
The tag 120 is mounted at the middle lower part of the frame at both sides of the panel array 101; when the rotating shaft of the hopper of the docking vehicle 300 is perpendicular to the tag 120, and the docking platform is inclined, the camera 340 can shoot the image change of the tag 120.
The transfer trolley 300 travels in the passage zone 103.
The cloud platform 400 is connected with at least one docking vehicle 300 in a wireless communication manner; the cloud platform 400 is used to store array information of the panel array 101, which includes a tilt angle and a height of the panel array 101.
The cloud platform 400 also stores the specific position coordinates of the docking area 300, and when a certain panel array 101 needs to be cleaned, the cloud platform 400 sends the coordinates of the docking area 110 of the certain panel array 101 and recommends an appropriate route to the docking vehicle 300. After the transfer vehicle 300 arrives at the transfer area 300, a feedback signal is sent to the cloud platform 400. The cloud platform 400 then sends the tilt angle and height of the panel array 101 and the docking car begins to adjust in preparation for docking.
If the cloud platform 400 estimates that 20 minutes is required for one cleaning robot to clean one panel array 101 in advance, after 15 minutes, the cloud platform sends a control instruction, controls one relatively close docking vehicle 300 to drive to the docking area 110 of the panel array 101 within five minutes, adjusts the position and the posture of the docking vehicle 300, realizes docking of the docking platform 320 and the panel array 101, and directly drives to the docking platform 320 after the cleaning robot 200 finishes cleaning the whole panel array 101.
As shown in fig. 6, the docking cart 300 includes: the vehicle body 310, the docking platform 320, the camera 340, the docking plate 321, the angle adjusting device 330, and the height adjusting device 350.
The bottom of the vehicle body 310 is provided with wheels.
The docking platform 320 is mounted to the vehicle body 310, with its angle and/or height adjustable.
The camera 340 is disposed on a side surface of the docking platform 320, and a central axis of a lens of the camera 340 is perpendicular to the side surface.
The docking plate 321 is telescopically disposed at a side of the docking platform 320.
The angle adjusting device 330 is connected to the docking platform 320 for adjusting the tilt angle of the docking platform 320 with respect to the horizontal plane.
The height adjusting device 350 is connected to the docking platform 320 for adjusting the height of the docking platform 320.
When the docking vehicle 300 travels to a docking area 110, the angle and/or height of the docking platform 320 thereof is adjusted, so that the camera 340 captures the two-dimensional code 122 on the label 120.
When the trolley 300 travels to a docking area 110, the trolley 300 adjusts its position and head orientation so that the center line of the rotation shaft is perpendicular to the plane of the tag 120.
The invention provides a docking system for docking a cleaning robot between solar panels, which transfers the cleaning robot between a plurality of solar panel arrays 101 by using a docking vehicle 300, firstly performs primary positioning by using original data of a cloud platform 400, and acquires a two-dimensional code 122 on a panel array frame through a camera 340 arranged on the docking vehicle 300; and then, continuously adjusting by comparing the imaging area and the positioning area of the two-dimensional code in the camera view field in real time, so that the connection platform and the panel array are on the same plane.
As shown in fig. 7, the present invention further provides a docking method performed by the docking vehicle 300, which is applied to the docking system, and includes the following steps S1 to S12.
S1, the cloud platform 400 receives a plurality of panel array 101 cleaning tasks and adjusts a certain number of docking vehicles and cleaning robots according to the workload. The cloud platform 400 sends a traveling connection instruction to the multiple connection vehicles 300, requests the connection vehicles 300 to travel to a certain designated position, and sends the cleaning robot to a certain panel array, or receives a connection instruction including the end position and the recommended route of the connection vehicle 300 in the next time period from each connection vehicle 300 which is taken by the cleaning robot from a certain panel array.
S2, the transfer vehicle 300 travels along the recommended route to the destination location, which is located in the transfer zone 110.
S3, after the docking cart 300 moves to the docking area 110 of the panel array 101, the camera 340 on the side faces the panel array 101, and issues an in-position command to a cloud platform 400.
S4, the cloud platform 400 receives the in-place command, and sends an array of information to the transfer cart 300. The docking cart 300 acquires array information of the panel array 101, including the inclination angle and the height of the panel array 101, from the cloud platform 400.
S5, the docking cart 300 adjusts the height and angle of the docking platform 320 according to the array information to make it consistent with the inclination angle of the panel array 101.
First, a primary adjustment is performed so that the two-dimensional code 122 on the label 120 on the side of the panel array 101 facing the docking area 110 enters the field of view of the camera 340 of the docking platform 320. A rectangular positioning area is preset in the field of view of the camera 340, and the positioning area is a standard image for comparison with a real-time image in the following steps.
When the docking platform 320 is initially adjusted, the side of the docking platform 320 facing the frame should be parallel to the frame. In a state where the side of the docking platform 320 facing the border is parallel to the border, it is necessary to keep a distance between the docking platform 320 and the border to be less than a preset threshold.
If the two-dimensional code 122 does not fall into the view field of the camera 340, the docking vehicle 300 continuously adjusts the head orientation and the vehicle body 310 position until the docking platform 320 and the panel array 101 are in the same plane (i.e., the two-dimensional code 122 falls into the view field of the camera 340);
s6, the transfer cart 300 takes a picture in real time by using the camera 340 to obtain an imaging area of the two-dimensional code 122 in the field of view of the camera 340.
S7, the transfer cart 300 compares the imaging area of the two-dimensional code 122 in the view of the camera 340 with the positioning area in real time, where a standard image of the positioning area is shown in fig. 9.
S8, the docking cart 300 adjusts the docking platform 320 in real time according to the comparison result, specifically adjusts the position of the cart body 310 and the head orientation thereof, and adjusts the angle and height of the docking platform 320 until the size and position of the imaging area of the two-dimensional code 122 in the view of the camera 340 are the same as the size and position of the positioning area.
In the execution process of the step S8, if the size and the position of the imaging area of the two-dimensional code 122 in the view field of the camera 340 are not identical to the size and the position of the positioning area no matter how the docking cart 300 and the docking platform 320 are adjusted, the process returns to the step S6, and the steps S6 to S8 are repeatedly executed for multiple times until the two are identical.
As shown in fig. 8, the step of adjusting the transfer cart 300 in real time according to the comparison result includes the following steps S801 to S805.
S801, judging whether the shape of the imaging area is rectangular or not; if not (as in the embodiment shown in fig. 10), the direction of the head of the transfer vehicle 300 is adjusted until the imaging area is rectangular, so that the edge of the transfer platform 320 of the transfer vehicle 300 facing the panel is parallel to the frame of the panel array, and the central axis of the camera is perpendicular to the frame of the panel array.
S802, judging whether the inclination angle of the imaging area relative to the positioning area is 0; if not (as in the embodiment shown in fig. 11), the tilt angle of the docking platform 320 is adjusted until the tilt angle of the imaging area relative to the positioning area is 0, and the tilt angles of the imaging area and the positioning area relative to the horizontal plane are consistent.
S803, judging whether the sizes of the imaging area and the positioning area are the same or not; if not (as in the embodiment shown in fig. 12), the horizontal distance between the docking cart 300 and the panel array 101 is adjusted until the imaging area and the positioning area have the same size, that is, the length and the width of the imaging area and the positioning area are the same.
S804, judging whether the width ranges of the imaging area and the positioning area are consistent; if not (as in the embodiment shown in fig. 13), the transfer cart 300 is controlled to move forward or backward until the imaging area and the positioning area are consistent in width. The width range refers to the position of the imaging region or the positioning region in the width direction.
S805, determining whether the height ranges of the imaging area and the positioning area are consistent, if not (as in the embodiment shown in fig. 14), adjusting the height of the docking platform 320 until the height ranges of the imaging area and the positioning area are consistent. The height range refers to the position of the imaging area or the positioning area in the width direction. The technical effect of steps S804 to S805 is that the coverage of the imaging area and the positioning area are consistent, that is, the positions of the imaging area and the positioning area are completely consistent.
S9, the trolley 300 reads the array information of the panel array 101 from the two-dimensional code 122, including the array number, the array size, and the angle between the array and the horizontal plane.
S10, the transfer vehicle 300 records the adjustment information, including the height and angle of the transfer platform 320, and/or the position of the body 310 and the heading of the transfer vehicle 300.
S11, the transfer cart 300 uploads the adjustment information of the transfer cart 300 to the cloud platform 400, and the cloud platform 400 receives the adjustment information and updates the array information.
S12, the docking cart 300 controls the docking plate 321 to extend and connect to the panel array 101. After the docking is completed, the docking vehicle 300 sends a feedback signal to the cloud platform 400, and the cloud platform 400 is informed of the completion of the docking between the docking vehicle 300 and the panel array 101.
After the docking of the docking vehicle 300 and the panel array 101 is completed, if there is a cleaning robot 200 on the docking platform 320 of the docking vehicle 300, the cloud platform 400 issues a control command instructing the cleaning robot 200 to move from the docking platform 320 to the panel array. After the cleaning robot 200 travels onto the panel array 101, an in-place command is issued to the cloud platform 400. The cloud platform 400 sends a cleaning instruction to the cleaning robot 200, and the cleaning robot 200 receives the cleaning instruction and completes cleaning work in a specified time according to a given route in the panel array 101; the cloud platform 400 sends a next transfer instruction to the transfer vehicle 300, and the transfer vehicle 300 obtains the end position and the recommended route of the next time period from the transfer instruction. Then the docking vehicle 300 lowers the height of the docking platform 320, adjusts the angle of the docking platform 320 to be horizontal, returns to the driving state, travels to the end position of the next time interval according to the recommended route, where the end position may be a docking area of another panel array, and repeats the above steps S1-S12 to complete the next docking.
After the docking vehicle 300 is docked with the panel array 101, if the docking platform 320 of the docking vehicle 300 is empty, the cleaning robot 200 travels or stops on the panel array 101, and the cleaning robot 200 is instructed to travel from the docking platform 320 onto the panel array 101. After the cleaning robot 200 travels onto the docking platform 320, it sends an in-place command to the cloud platform 400.
The cloud platform 400 no longer issues instructions to the cleaning robot at this time, and the cleaning robot 200 is stationary on the docking platform 320. The cloud platform 400 sends a next transfer instruction to the transfer vehicle 300, and the transfer vehicle 300 obtains the end position and the recommended route of the next time period from the transfer instruction. This end position may be a docking area for another panel array, or may be a storage area or maintenance area for a cleaning robot.
The docking vehicle 300 lowers the height of the docking platform 320, adjusts the angle of the docking platform to be horizontal, returns to the driving state, moves to the end position of the next time interval according to the recommended route, repeats the steps S1-S12, and completes the next docking. After the height of the docking platform 320 is lowered and the angle is adjusted to be horizontal, the center of gravity of the entire docking vehicle 300 is lowered, ensuring stability and balance in the subsequent driving process.
Of course, in the present invention, in the process of allocating tasks, the cloud platform needs to complete the task amount of the cleaning work as required, and plan the action time of each of the docking vehicles 300 and each of the cleaning robots 200 by using the orchestration method. For example, if it is known in advance that it takes 20 minutes for a cleaning robot 200 to clean a certain panel array, it is known that it takes about 1-2 minutes for a docking vehicle 300 to complete docking with a panel, the cloud platform sends a control instruction after 15 minutes from the start of the cleaning operation, controls a docking vehicle closer to the robot to travel to the docking area 110 of the panel array 101 within 3 minutes, and adjusts the position and posture of the docking vehicle 300 to realize docking between the docking platform 320 and the panel array 101, and after the cleaning robot 200 completes the cleaning operation of the entire panel array, the robot can directly travel to the docking platform 320 without stopping and then stops.
The invention provides a connection method for connecting cleaning robots among solar panels, which is characterized in that a connection vehicle 300 is used for transferring the cleaning robots among a plurality of solar panel arrays 101, the connection vehicle 300 firstly uses original data of a cloud platform 400 for primary positioning, and a camera 340 arranged on the connection vehicle 300 is used for acquiring two-dimensional codes 122 on panel array frames; and then, by comparing the imaging area and the positioning area of the two-dimensional code in the visual field of the camera 340 in real time and continuously adjusting, accurate positioning can be realized.
In the connection method, the connection vehicle 300 only needs to find the two-dimensional code 122, a cleaning robot does not need to be found, the height and the angle are adjusted in the connection area 110, and the cleaning robot 200 can directly move to the connection platform 320 of the connection vehicle 300 without stopping after reaching the edge of the panel, so that the connection working efficiency can be greatly improved.
In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
The present invention has been described in detail, and the principle and the implementation of the present invention are explained by applying specific examples, and the description of the above examples is only used to help understanding the technical scheme and the core idea of the present invention; those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A docking system, comprising:
a working area divided into an operation area and a channel area;
the panel array is positioned in the operation area and formed by splicing at least one photovoltaic panel;
the connection area is positioned in the channel area and corresponds to a panel array;
the label is provided with a recognizable two-dimensional code and is arranged on the side surface of the panel array facing the connection area;
the connecting vehicle runs in the passage area; and
the cloud platform is connected with at least one transfer trolley in a wireless communication mode; the cloud platform is used for storing
Array information of a panel array including a tilt angle and a height of the panel array;
wherein, the car of plugging into includes:
the bottom of the vehicle body is provided with wheels;
a docking platform mounted to the body, the docking platform being adjustable in angle and/or height, the docking platform including a shaft;
the camera is arranged on one side face of the connection platform, the central axis of the lens of the camera is perpendicular to the side face, and a rectangular positioning area is preset in the vision field of the camera; and
the docking plate is arranged on the side surface of the docking platform in a telescopic manner;
when the transfer vehicle runs to a transfer area, the angle and/or height of the transfer platform is adjusted,
enabling the camera to shoot the two-dimensional code on the label;
acquiring an imaging area of the two-dimensional code in a camera view field by using the camera;
and comparing the imaging area with the positioning area in real time, adjusting the position of the vehicle body and the direction of the vehicle head of the vehicle body according to a comparison result, and adjusting the angle and the height of the connection platform until the size and the position of the imaging area of the two-dimensional code in the camera view field are the same as those of the positioning area.
2. The docking system of claim 1,
when the vehicle is driven to a docking area,
the connecting vehicle adjusts the position and the direction of the vehicle head, so that the central line of the rotating shaft of the connecting platform and the label
The plane is vertical.
3. The docking system of claim 1,
the connection vehicle also comprises
The angle adjusting device is connected to the connection platform and used for adjusting the inclination angle of the connection platform and the horizontal plane; and
and the height adjusting device is connected to the connection platform and used for adjusting the height of the connection platform.
4. The docking system of claim 1,
the information of the two-dimensional code includes: array number, component type, arrangement, array height and inclination angle.
5. The docking system of claim 1,
the labels are arranged at the middle lower part of the frames at two sides of the panel array;
when the rotating shaft of the connection platform is perpendicular to the label, the image change of the label can be shot by the camera after the connection platform is inclined.
6. A connection method is characterized in that,
the method comprises the following steps:
a docking vehicle moves to a docking area of a panel array, a camera on the side of the docking vehicle faces the panel array, and an in-place instruction is issued to a cloud platform;
acquiring array information of the panel array from the cloud platform, including a tilt angle and a height of the panel array;
adjusting the height of the docking platform according to the array information, so that the two-dimensional codes on the labels on the side surface of the panel array facing one side of the docking area enter the visual field of a camera of the docking platform; a rectangular positioning area is preset in the vision field of the camera;
shooting a picture in real time by using the camera to obtain an imaging area of the two-dimensional code in a camera view field;
comparing an imaging area of the two-dimensional code in the camera view field with the positioning area in real time; adjusting the connection platform in real time according to the comparison result, adjusting the position of the vehicle body and the direction of the vehicle head of the connection platform, and adjusting the angle and the height of the connection platform until the size and the position of the imaging area of the two-dimensional code in the camera view field are the same as the size and the position of the positioning area; and
the control butt plate is extended and connected to the panel array.
7. The docking method of claim 6,
the step of adjusting the transfer vehicle in real time according to the comparison result comprises the following steps:
judging whether the shape of the imaging area is rectangular or not; if not, adjusting the direction of the head of the transfer vehicle until the imaging area is rectangular;
judging whether the inclination angle of the imaging area relative to the positioning area is 0; if not, adjusting the inclination angle of the connection platform until the inclination angle of the imaging area and the positioning area is 0;
judging whether the sizes of the imaging area and the positioning area are the same or not; if not, adjusting the horizontal distance between the transfer trolley and the panel array until the sizes of the imaging area and the positioning area are the same;
judging whether the width ranges of the imaging area and the positioning area are consistent or not; if not, controlling the transfer trolley to move forward or backward until the width ranges of the imaging area and the positioning area are consistent;
and judging whether the height ranges of the imaging area and the positioning area are consistent, if not, adjusting the height of the docking platform until the height ranges of the imaging area and the positioning area are consistent.
8. The docking method of claim 6,
before the step of controlling the extension of the butt plate, the method further comprises the following steps:
and reading the array information of the panel array from the two-dimensional code, wherein the array information comprises an array number, an array size and an included angle between the array and a horizontal plane.
9. The docking method of claim 6,
before the step of controlling the extension of the butt plate, the method further comprises the following steps:
recording adjustment information of the transfer vehicle, including the height and angle of the transfer platform, and/or the position of the body of the transfer vehicle and the orientation of the head of the transfer vehicle; and
and uploading the adjustment information of the transfer vehicle to the cloud platform, and updating the array information.
10. The docking method of claim 6,
the car of plugging into advances to a connection district of panel array, specifically includes:
acquiring a traveling control instruction, including a terminal position and a recommended route of a carrying path of the transfer vehicle; travel along the recommended route to the destination location, the destination location being located at the docking zone.
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| JP2016128150A (en) * | 2015-01-09 | 2016-07-14 | 中村 弘 | Solar panel washing device |
| KR102051046B1 (en) * | 2017-11-21 | 2019-12-02 | 유진기술 주식회사 | Following system for solar panel cleaning robot of mobile robot and method thereof |
| CN109379037B (en) * | 2018-05-28 | 2024-01-23 | 苏州瑞得恩光能科技有限公司 | Connection robot and cleaning system |
| CN108767933A (en) * | 2018-07-30 | 2018-11-06 | 杭州迦智科技有限公司 | A kind of control method and its device, storage medium and charging equipment for charging |
| CN109375623A (en) * | 2018-11-09 | 2019-02-22 | 苏州瑞得恩光能科技有限公司 | One kind is plugged into method |
| CN110147110A (en) * | 2019-06-28 | 2019-08-20 | 天合光能股份有限公司 | A kind of photovoltaic industry AGV Mechatronic control system and photovoltaic industry AGV |
| CN110991207B (en) * | 2019-11-19 | 2021-04-27 | 山东大学 | Unmanned aerial vehicle accurate landing method integrating H pattern recognition and Apriltag two-dimensional code recognition |
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