CN115723134A - Positioning and carrying method of photovoltaic cleaning robot and carrying robot - Google Patents
Positioning and carrying method of photovoltaic cleaning robot and carrying robot Download PDFInfo
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- CN115723134A CN115723134A CN202211465110.6A CN202211465110A CN115723134A CN 115723134 A CN115723134 A CN 115723134A CN 202211465110 A CN202211465110 A CN 202211465110A CN 115723134 A CN115723134 A CN 115723134A
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- 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
Abstract
The invention belongs to the technical field of photovoltaics, and provides a positioning and carrying method of a photovoltaic cleaning robot, which comprises the following steps: when the photovoltaic cleaning robot is at the edge position of the photovoltaic panel, acquiring the relative position of the carrying robot and the photovoltaic cleaning robot; when the relative position of the carrying robot and the photovoltaic cleaning robot is within the grabbing range, carrying out visual positioning on the photovoltaic cleaning robot to obtain the grabbing point position on the photovoltaic cleaning robot; when a manipulator of the transfer robot is close to the grabbing point position, judging whether the manipulator grabs the grabbing point on the photovoltaic cleaning robot or not based on the grabbing identification sensing signal; when the manipulator grabs the grabbing point on the photovoltaic cleaning robot, the grabbing action is executed to carry the photovoltaic cleaning robot to the adjacent photovoltaic panel. When the photovoltaic cleaning robot is carried, the position of the photovoltaic cleaning robot and the edge position of the photovoltaic panel are accurately positioned, so that the photovoltaic cleaning robot is accurately carried and placed.
Description
Technical Field
The invention relates to the technical field of photovoltaics, in particular to a positioning and carrying method of a photovoltaic cleaning robot and a carrying robot.
Background
The photovoltaic module is a new energy device used for collecting solar energy, the working environment of the photovoltaic module is usually in the environment exposed in the field, and the sunlight is aligned in a flat or inclined mode, so that a thick ash layer is generated on the surface of the photovoltaic module in the long-time working process, and the lighting efficiency of the photovoltaic module is influenced.
At present, a part of photovoltaic power stations are provided with cleaning robots, the cleaning robots are divided into a single row for cleaning and a plurality of rows for cleaning, the single row cleaning robots can only fixedly clean one row of assemblies, the plurality of rows of cleaning robots can clean the plurality of rows of assemblies, after one row of assemblies is cleaned, the cleaning robots transport the next row of assemblies through a ferry vehicle, and then clean the next row of assemblies.
Because the intervals between the photovoltaic modules are different and the height positions of each row of photovoltaic modules are different, when the cleaning robot is conveyed from one row of photovoltaic modules to another row of photovoltaic modules, the problem that the cleaning robot cannot be accurately placed exists, and even the photovoltaic modules can be damaged.
Disclosure of Invention
The invention aims at solving the problem and provides a positioning and carrying method of a photovoltaic cleaning robot and a carrying robot.
In order to achieve the above object of the present invention, the present invention is achieved by the following techniques:
in one aspect, the invention provides a positioning and carrying method of a photovoltaic cleaning robot, which comprises the following steps:
when the photovoltaic cleaning robot is located at the edge position of a photovoltaic panel, acquiring the relative position of a carrying robot and the photovoltaic cleaning robot;
when the relative position of the carrying robot and the photovoltaic cleaning robot is within a grabbing range, carrying out visual positioning on the photovoltaic cleaning robot to obtain the grabbing point position on the photovoltaic cleaning robot;
when a manipulator of the carrying robot is close to the grabbing point position, judging whether the manipulator grabs the grabbing point on the photovoltaic cleaning robot or not based on grabbing identification sensing signals;
when the manipulator grabs the grabbing point on the photovoltaic cleaning robot, a grabbing action is executed to carry the photovoltaic cleaning robot to an adjacent photovoltaic panel.
In some embodiments, the acquiring the relative position of the handling robot and the photovoltaic cleaning robot when the photovoltaic cleaning robot is at the edge position of the photovoltaic panel includes:
when the photovoltaic cleaning robot is at the edge position of the photovoltaic panel, the photovoltaic cleaning robot stops running on the photovoltaic panel;
adjusting and acquiring the relative position between the carrying robot and the photovoltaic cleaning robot so as to enable the carrying robot and the photovoltaic cleaning robot to be in a grabbing range.
In some embodiments, the visually positioning the photovoltaic cleaning robot to obtain the position of the grabbing point on the photovoltaic cleaning robot includes:
and acquiring image data of the carrying robot and the photovoltaic cleaning robot within a grabbing range, and performing image analysis and coordinate conversion based on the image data to acquire the grabbing point position on the photovoltaic cleaning robot.
In some embodiments, when the manipulator of the transfer robot approaches the position of the grabbing point, the method for determining whether the manipulator grabs the grabbing point on the photovoltaic cleaning robot based on the grabbing identification sensing signal further includes:
when the manipulator of the transfer robot approaches the position of the grabbing point, whether the manipulator approaches the grabbing point is judged according to a proximity sensing signal on the manipulator;
and when the approach sensing signal is smaller than a preset approach signal threshold value, judging that the manipulator approaches the grabbing point.
In some embodiments, the determining whether the manipulator grabs the grabbing point on the photovoltaic cleaning robot based on the grabbing identification sensing signal when the manipulator of the transfer robot approaches the grabbing point position includes:
when a manipulator of the carrying robot is close to the grabbing point position, whether the manipulator grabs the grabbing point on the photovoltaic cleaning robot is judged through a pressure sensing signal on the manipulator;
and when the pressure sensing signal exceeds a preset pressure signal threshold value, judging that the manipulator grabs a grabbing point on the photovoltaic cleaning robot.
In some embodiments, the present invention also provides a transfer robot of a photovoltaic cleaning robot, including:
the position positioning module is used for acquiring the relative position of the carrying robot and the photovoltaic cleaning robot when the photovoltaic cleaning robot is at the edge position of a photovoltaic panel;
the visual positioning module is used for carrying out visual positioning on the photovoltaic cleaning robot when the relative position of the carrying robot and the photovoltaic cleaning robot is within a grabbing range so as to obtain the grabbing point position on the photovoltaic cleaning robot;
the grabbing judgment module is used for judging whether the manipulator grabs the grabbing point on the photovoltaic cleaning robot or not based on grabbing identification sensing signals when the manipulator of the carrying robot approaches the grabbing point position;
and the grabbing and carrying module is used for executing grabbing actions when the manipulator grabs the grabbing point on the photovoltaic cleaning robot so as to carry the photovoltaic cleaning robot to an adjacent photovoltaic panel.
In some embodiments, the position-location module comprises:
the controller is used for adjusting the relative position between the carrying robot and the photovoltaic cleaning robot after the photovoltaic cleaning robot stops running on the photovoltaic panel when the photovoltaic cleaning robot is at the edge position of the photovoltaic panel;
and the distance measuring unit is connected with the controller and used for acquiring the relative position between the carrying robot and the photovoltaic cleaning robot so as to enable the carrying robot and the photovoltaic cleaning robot to be in a grabbing range.
In some embodiments, the visual positioning module comprises:
and the visual camera is used for acquiring image data of the carrying robot and the photovoltaic cleaning robot in a grabbing range, and performing image analysis and coordinate conversion based on the image data so as to acquire the grabbing point position on the photovoltaic cleaning robot.
In some embodiments, the grab determination module includes:
the proximity sensor is arranged on one side of the manipulator, which faces to the grabbing point, and is used for judging whether the manipulator approaches to the grabbing point or not through the proximity sensing signal in the process that the manipulator of the carrying robot approaches to the grabbing point;
and the proximity signal processor is connected with the proximity sensor and used for judging that the manipulator is close to the grabbing point when the proximity sensing signal is smaller than a preset proximity signal threshold value.
In some embodiments, the grasping and handling module further comprises:
the pressure sensor is arranged at the holding position on the manipulator and used for judging whether the manipulator grabs the grabbing point on the photovoltaic cleaning robot or not according to the pressure sensing signal when the manipulator of the carrying robot is close to the grabbing point position;
and the pressure signal processor is connected with the pressure sensor and used for judging that the manipulator grabs the grabbing point on the photovoltaic cleaning robot when the pressure sensing signal exceeds a preset pressure signal threshold value.
The positioning and carrying method of the photovoltaic cleaning robot and the carrying robot provided by the invention at least have the following beneficial effects:
the invention provides an accurate positioning and grabbing method, which is used for accurately determining the position of a photovoltaic cleaning robot and the edge position of a photovoltaic panel when a manipulator of a carrying robot carries the photovoltaic cleaning robot so as to accurately carry and place the photovoltaic cleaning robot.
Drawings
The above features, technical features, advantages and implementations of a positioning and transfer method for a photovoltaic cleaning robot and a transfer robot will be further described in the following detailed description of preferred embodiments with reference to the accompanying drawings.
FIG. 1 is a schematic diagram of an embodiment of a method for positioning and handling a photovoltaic cleaning robot according to the present invention;
FIG. 2 is a schematic diagram of the positioning and carrying method of the photovoltaic cleaning robot and the application of the combination of the carrying robot in the invention;
fig. 3 is a schematic view of an embodiment of a positioning, handling and carrying robot of a photovoltaic cleaning robot according to the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
For the sake of simplicity, the drawings only schematically show the parts relevant to the present invention, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "one" means not only "only one" but also a case of "more than one".
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items and includes such combinations.
In addition, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not intended to indicate or imply relative importance.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.
In one embodiment, as shown in fig. 1, the present invention provides an embodiment of a positioning and handling method of a photovoltaic cleaning robot, including:
s101, when the photovoltaic cleaning robot is located at the edge of a photovoltaic panel, the relative position of the carrying robot and the photovoltaic cleaning robot is obtained.
Specifically, the manipulator of transfer robot docks the multistage direction link gear of photovoltaic cleaning robot. When the manipulator of the transfer robot transfers the photovoltaic cleaning robot, the position of the photovoltaic cleaning robot and the edge position of the photovoltaic panel need to be accurately determined, so that the photovoltaic cleaning robot can be accurately transferred and placed.
The invention provides a method for accurately determining the position of a photovoltaic cleaning robot and the edge position of a photovoltaic panel when a manipulator of the robot carries the photovoltaic cleaning robot.
In the present embodiment, the relative positions of the robot arms of the photovoltaic cleaning robot and the transfer robot are first determined.
S102, when the relative position of the carrying robot and the photovoltaic cleaning robot is within the grabbing range, carrying out visual positioning on the photovoltaic cleaning robot to obtain the grabbing point position on the photovoltaic cleaning robot.
In this embodiment, the visual positioning means: a three-dimensional Reconstruction (3D Reconstruction) technology is adopted, RGB images shot by a depth camera at different angles of an object can be reconstructed to form a three-dimensional model of the object by using related computer graphics and vision technologies. And then, acquiring the accurate position of the observation point by methods such as image analysis, coordinate conversion and the like.
S103, when the manipulator of the carrying robot is close to the grabbing point position, whether the manipulator grabs the grabbing point on the photovoltaic cleaning robot is judged based on the grabbing identification sensing signal.
In this embodiment, the capturing determination means: the proximity sensor is a device with the capability of sensing the approach of an object, and the proximity sensor recognizes the approach of the object by utilizing the sensitivity characteristic of a displacement sensor to the approaching object and outputs a corresponding switch signal.
Illustratively, in the process that the tail end grabber of the manipulator of the transfer robot is close to the grabbing point of the photovoltaic cleaning robot, the approach signal of the proximity sensor is continuously detected, the approach signal is not lost, meanwhile, the terminal grabber is close to the grabbing point, and whether the manipulator of the transfer robot is close to the grabbing point or not is judged through the proximity sensor.
S104, when the manipulator grabs the grabbing point on the photovoltaic cleaning robot, a grabbing action is executed to convey the photovoltaic cleaning robot to an adjacent photovoltaic panel.
In this embodiment, the present invention provides an accurate positioning and grabbing method, where the positioning includes: the method comprises four parts of position positioning, visual positioning, grabbing judgment and accurate grabbing. The method comprises the steps of firstly determining the relative positions of the two, then determining the accurate position, finally accurately positioning to a grabbing point, grabbing, moving and placing the photovoltaic cleaning robot. Through four step positioning methods make when carrying photovoltaic cleaning machines people more accurate and high-efficient in this embodiment.
In one embodiment, the acquiring the relative position of the handling robot and the photovoltaic cleaning robot when the photovoltaic cleaning robot is at the edge position of the photovoltaic panel includes:
when the photovoltaic cleaning robot is at the edge position of the photovoltaic panel, the photovoltaic cleaning robot stops running on the photovoltaic panel;
adjusting and acquiring the relative position between the carrying robot and the photovoltaic cleaning robot so as to enable the carrying robot and the photovoltaic cleaning robot to be in a grabbing range.
Specifically, the method comprises the following steps of: the DSRC technology is adopted, and the DSRC refers to a wireless communication technology which is responsible for establishing bidirectional information transmission between a vehicle and supports public safety and private operation. DSRC technology can enable identification and two-way communication of moving objects in high-speed motion within a particular small area (typically tens of meters).
In the present embodiment, the relative coordinates of the two are determined by position location techniques, i.e., using DSRC techniques. Because the manipulator of the transfer robot and the photovoltaic cleaning robot are in a follow-up relationship, after the photovoltaic cleaning robot stops operating, the manipulator of the transfer robot is adjusted through the DSRC technology to be in a fixed nearest position with the photovoltaic cleaning robot, and the relative position is kept unchanged. This facilitates further position location.
In one embodiment, the visually positioning the photovoltaic cleaning robot to obtain a position of a grab point on the photovoltaic cleaning robot includes:
and acquiring image data of the carrying robot and the photovoltaic cleaning robot within a grabbing range, and performing image analysis and coordinate conversion based on the image data to acquire the grabbing point position on the photovoltaic cleaning robot.
In this embodiment, a depth camera is used to perform 3D reconstruction by using a visual positioning technique, so as to obtain an accurate coordinate point.
In one embodiment, when the manipulator of the transfer robot approaches the position of the grabbing point, the method for determining whether the manipulator grabs the grabbing point on the photovoltaic cleaning robot based on the grabbing identification sensing signal further includes:
when the manipulator of the transfer robot approaches the position of the grabbing point, whether the manipulator approaches the grabbing point is judged according to a proximity sensing signal on the manipulator;
and when the approach sensing signal is smaller than a preset approach signal threshold value, judging that the manipulator approaches the grabbing point.
Specifically, an arm of a manipulator of the transfer robot is provided with a proximity sensor and a pressure sensor, and the proximity sensor and the pressure sensor are used for generating a signal of the proximity sensor and a signal of the pressure sensor; and when the terminal grabber of the arm of the manipulator of the transfer robot is controlled to be close to the grabbing point, judging whether the terminal grabber of the arm of the manipulator of the transfer robot is close to the grabbing point or not according to the proximity sensing signal of the arm of the manipulator of the transfer robot.
In one embodiment, the determining whether the manipulator grabs the grabbing point on the photovoltaic cleaning robot based on the grabbing identification sensing signal when the manipulator of the transfer robot approaches the grabbing point position includes:
when a manipulator of the carrying robot is close to the grabbing point position, whether the manipulator grabs the grabbing point on the photovoltaic cleaning robot is judged through a pressure sensing signal on the manipulator;
and when the pressure sensing signal exceeds a preset pressure signal threshold value, judging that the manipulator grabs a grabbing point on the photovoltaic cleaning robot.
In this embodiment, when accurate capturing is implemented, a capacitive pressure sensor technology is used, and the capacitive pressure sensor is a pressure sensor that converts a measured pressure into an electric quantity in a certain relationship with the measured pressure and outputs the electric quantity. It generally uses circular metal film or metal-plated film as one electrode of capacitor, when the film is deformed by sensing pressure, the capacitance formed between the film and fixed electrode is changed, and the electric signal in a certain relation with voltage can be outputted by means of measuring circuit.
Specifically, it is determined whether or not the end gripper of the arm of the manipulator of the transfer robot completely contacts the gripping point based on the pressure sensing signal of the arm of the manipulator of the transfer robot. And when the pressure sensing signal exceeds a preset signal threshold value, determining that the pressure sensing signal is completely contacted with the position of the grabbing point, and controlling a tail end grabber of an arm of a manipulator of the transfer robot to grab.
Illustratively, during the approach of the manipulator of the transfer robot to the gripping point, the pressure signal of the pressure sensor at the end of the manipulator of the transfer robot is read. When the mechanical arm of the transfer robot contacts with the grabbing point, the pressure sensor outputs corresponding pressure signals, and when the output signals exceed a set threshold value, the fact that the tail end of the mechanical arm of the transfer robot completely contacts with the grabbing point is determined, and then grabbing action is executed.
In this embodiment, the present invention provides an accurate positioning and grabbing method, where the positioning includes: the method comprises four parts of position positioning, visual positioning, grabbing judgment and accurate grabbing. The method comprises the steps of firstly determining the relative positions of the two, then determining the accurate position, finally accurately positioning to a grabbing point, grabbing, moving and placing the photovoltaic cleaning robot. Through four step positioning methods make when carrying photovoltaic cleaning machines people more accurate and high-efficient in this embodiment.
In one embodiment, the present invention also provides a transfer robot of a photovoltaic cleaning robot, including:
the position positioning module 101 is used for acquiring the relative position of the carrying robot and the photovoltaic cleaning robot when the photovoltaic cleaning robot is at the edge position of the photovoltaic panel.
In the embodiment, because the photovoltaic cleaning robot and the manipulator of the carrying robot are in a following relationship, after the photovoltaic cleaning robot stops running, the photovoltaic cleaning robot is adjusted through the DSRC technology to be in a fixed nearest position with the photovoltaic cleaning robot, and the relative position is kept unchanged. This facilitates further position location.
And the visual positioning module 102 is configured to perform visual positioning on the photovoltaic cleaning robot to acquire a position of a grabbing point on the photovoltaic cleaning robot when the relative position of the handling robot and the photovoltaic cleaning robot is within a grabbing range.
Specifically, the vision positioning module 102 includes a depth camera, and performs three-dimensional reconstruction on positions of the manipulator of the photovoltaic cleaning robot and the manipulator of the transfer robot by using the depth camera, and then obtains an accurate position of the photovoltaic cleaning robot by using methods such as image analysis and coordinate conversion, and positions the position of the grabbing point. And then controlling the tail end grabber of the mechanical arm to be close to the grabbing point of the photovoltaic cleaning robot.
In this embodiment, the visual positioning means: a three-dimensional Reconstruction (3D Reconstruction) technology is adopted, RGB images shot by a depth camera at different angles of an object can be reconstructed to form a three-dimensional model of the object by using related computer graphics and vision technologies. And then, acquiring the accurate position of the observation point by methods such as image analysis, coordinate conversion and the like.
And the grabbing judgment module 103 is used for judging whether the manipulator grabs the grabbing point on the photovoltaic cleaning robot or not based on the grabbing identification sensing signal when the manipulator of the carrying robot is close to the grabbing point position.
In this embodiment, the capturing determination means: the proximity sensor is a device with the capability of sensing the approach of an object, and the proximity sensor recognizes the approach of the object by utilizing the sensitivity characteristic of a displacement sensor to the approaching object and outputs a corresponding switch signal.
Illustratively, in the process that the tail end grabber of the manipulator of the transfer robot is close to the grabbing point of the photovoltaic cleaning robot, the approach signal of the proximity sensor is continuously detected, the approach signal is not lost, meanwhile, the terminal grabber is close to the grabbing point, and whether the manipulator of the transfer robot is close to the grabbing point or not is judged through the proximity sensor.
And the grabbing and carrying module 104 is used for executing grabbing actions when the manipulator grabs a grabbing point on the photovoltaic cleaning robot so as to carry the photovoltaic cleaning robot to an adjacent photovoltaic panel.
In this embodiment, when accurate capturing is implemented, a capacitive pressure sensor technology is used, and the capacitive pressure sensor is a pressure sensor that converts a measured pressure into an electric quantity in a certain relationship with the measured pressure and outputs the electric quantity. It generally uses circular metal film or metal-plated film as one electrode of capacitor, when the film is deformed by sensing pressure, the capacitance formed between the film and fixed electrode is changed, and the electric signal in a certain relation with voltage can be outputted by means of measuring circuit.
Illustratively, during the approach of the hand of the transfer robot to the gripping point, the pressure signal of the pressure sensor at the end of the hand of the transfer robot is read. When the mechanical arm of the transfer robot contacts with the grabbing point, the pressure sensor outputs corresponding pressure signals, and when the output signals exceed a set threshold value, the fact that the tail end of the mechanical arm of the transfer robot completely contacts with the grabbing point is determined, and then grabbing action is executed.
In this embodiment, the present invention provides an accurate positioning and grabbing method, where the positioning includes: the method comprises four parts of position positioning, visual positioning, grabbing judgment and accurate grabbing. The method comprises the steps of firstly determining the relative positions of the two, then determining the accurate position, finally accurately positioning to a grabbing point, grabbing, moving and placing the photovoltaic cleaning robot. Through four step positioning methods make when carrying photovoltaic cleaning machines people more accurate and high-efficient in this embodiment.
In the embodiment, the method for determining the relative position of the manipulator of the carrying robot in carrying the photovoltaic cleaning robot has the advantages of accurate position positioning, accurate positioning of the grabbing point, grabbing of the manipulator, carrying and placing of the photovoltaic cleaning machine.
In one embodiment, the position location module is configured to:
the controller is used for adjusting the relative position between the carrying robot and the photovoltaic cleaning robot after the photovoltaic cleaning robot stops running on the photovoltaic panel when the photovoltaic cleaning robot is at the edge position of the photovoltaic panel;
and the distance measuring unit is connected with the controller and used for acquiring the relative position between the carrying robot and the photovoltaic cleaning robot so as to enable the carrying robot and the photovoltaic cleaning robot to be in a grabbing range.
Specifically, the method comprises the following steps of: the DSRC technology is adopted, and the DSRC refers to a wireless communication technology which is responsible for establishing bidirectional information transmission between a vehicle and supports public safety and private operation. DSRC technology can enable identification and two-way communication of moving objects in high-speed motion within a specific small area (typically tens of meters).
In the present embodiment, the relative coordinates of the two are determined by position location techniques, i.e., using DSRC techniques. Because the manipulator of the transfer robot and the photovoltaic cleaning robot are in a follow-up relationship, after the photovoltaic cleaning robot stops operating, the manipulator of the transfer robot is adjusted through the DSRC technology to be in a fixed nearest position with the photovoltaic cleaning robot, and the relative position is kept unchanged. This facilitates further position location.
In one embodiment, the visual localization module comprises:
and the visual camera is used for acquiring image data of the carrying robot and the photovoltaic cleaning robot in a grabbing range, and performing image analysis and coordinate conversion based on the image data so as to acquire the grabbing point position on the photovoltaic cleaning robot.
In this embodiment, a depth camera (visual camera) is used to perform 3D reconstruction by using a visual positioning technique, so as to obtain an accurate coordinate point.
In one embodiment, the grab determination module includes:
the proximity sensor is arranged on one side of the manipulator, which faces to the grabbing point, and is used for judging whether the manipulator approaches to the grabbing point or not through the proximity sensing signal in the process that the manipulator of the carrying robot approaches to the grabbing point;
and the proximity signal processor is connected with the proximity sensor and used for judging that the manipulator is close to the grabbing point when the proximity sensing signal is smaller than a preset proximity signal threshold value.
In one embodiment, the grab handling module further comprises:
the pressure sensor is arranged at the holding position on the manipulator and used for judging whether the manipulator grabs the grabbing point on the photovoltaic cleaning robot or not according to the pressure sensing signal when the manipulator of the carrying robot is close to the grabbing point position;
and the pressure signal processor is connected with the pressure sensor and used for judging that the manipulator grabs the grabbing point on the photovoltaic cleaning robot when the pressure sensing signal exceeds a preset pressure signal threshold value.
Illustratively, during the approach of the manipulator of the transfer robot to the gripping point, the pressure signal of the pressure sensor at the end of the manipulator of the transfer robot is read. When the mechanical arm of the transfer robot contacts with the grabbing point, the pressure sensor outputs corresponding pressure signals, and when the output signals exceed a set threshold value, the tail end of the mechanical arm of the transfer robot is determined to completely contact with the grabbing point, and then grabbing action is executed.
In this embodiment, the present invention provides an accurate positioning and grabbing method, where the positioning includes: the method comprises four parts of position positioning, visual positioning, grabbing judgment and accurate grabbing. The relative positions of the two are firstly determined, then the accurate position is determined, and finally the photovoltaic cleaning robot is precisely positioned to a grabbing point, grabbed, moved and placed. Through four step positioning methods make when carrying photovoltaic cleaning machines people more accurate and high-efficient in this embodiment.
The invention provides an accurate positioning and grabbing method, which is used for accurately determining the position of a photovoltaic cleaning robot and the edge position of a photovoltaic panel when a manipulator of a carrying robot carries the photovoltaic cleaning robot so as to accurately carry and place the photovoltaic cleaning robot.
Based on the above embodiments, the same parts as the method in this embodiment are not repeated.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of program modules is illustrated, and in practical applications, the above-described distribution of functions may be performed by different program modules, that is, the internal structure of the apparatus may be divided into different program units or modules to perform all or part of the above-described functions. Each program module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one processing unit, and the integrated unit may be implemented in a form of hardware, or may be implemented in a form of software program unit. In addition, the specific names of the program modules are only used for distinguishing the program modules from one another, and are not used for limiting the protection scope of the application.
In the foregoing embodiments, the descriptions of the respective embodiments have their respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or recited in detail in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely exemplary, and the division of the modules or units is merely an example of a logical division, and there may be other divisions when the actual implementation is performed, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and amendments can be made without departing from the principle of the present invention, and these modifications and amendments should also be considered as the protection scope of the present invention.
Claims (10)
1. A positioning and carrying method of a photovoltaic cleaning robot is characterized by comprising the following steps:
when the photovoltaic cleaning robot is located at the edge position of a photovoltaic panel, acquiring the relative position of a carrying robot and the photovoltaic cleaning robot;
when the relative position of the carrying robot and the photovoltaic cleaning robot is within a grabbing range, carrying out visual positioning on the photovoltaic cleaning robot to obtain the grabbing point position on the photovoltaic cleaning robot;
when a manipulator of the carrying robot is close to the grabbing point position, judging whether the manipulator grabs the grabbing point on the photovoltaic cleaning robot or not based on grabbing identification sensing signals;
when the manipulator grabs the grabbing points on the photovoltaic cleaning robot, grabbing actions are executed to convey the photovoltaic cleaning robot to the adjacent photovoltaic panels.
2. The method for positioning and carrying the photovoltaic cleaning robot according to claim 1, wherein the step of acquiring the relative position of the photovoltaic cleaning robot to the carrying robot when the photovoltaic cleaning robot is at the edge position of the photovoltaic panel comprises the steps of:
when the photovoltaic cleaning robot is at the edge position of the photovoltaic panel, the photovoltaic cleaning robot stops running on the photovoltaic panel;
adjusting and acquiring the relative position between the carrying robot and the photovoltaic cleaning robot so as to enable the carrying robot and the photovoltaic cleaning robot to be in a grabbing range.
3. The method for positioning and carrying the photovoltaic cleaning robot according to claim 1, wherein the visually positioning the photovoltaic cleaning robot to obtain the position of the grabbing point on the photovoltaic cleaning robot comprises:
and acquiring image data of the carrying robot and the photovoltaic cleaning robot within a grabbing range, and performing image analysis and coordinate conversion based on the image data to acquire the grabbing point position on the photovoltaic cleaning robot.
4. The method as claimed in claim 1, wherein when the manipulator of the handling robot approaches the position of the grabbing point, the method further comprises, before determining whether the manipulator grabs the grabbing point on the photovoltaic cleaning robot based on the grabbing recognition sensing signal:
when the manipulator of the transfer robot approaches the position of the grabbing point, whether the manipulator approaches the grabbing point is judged according to a proximity sensing signal on the manipulator;
and when the approach sensing signal is smaller than a preset approach signal threshold value, judging that the manipulator approaches the grabbing point.
5. The method for positioning and carrying the photovoltaic cleaning robot according to any one of claims 1 to 4, wherein the step of judging whether the manipulator grabs the grabbing point on the photovoltaic cleaning robot based on the grabbing recognition sensing signal when the manipulator of the carrying robot approaches the grabbing point position comprises:
when a manipulator of the carrying robot is close to the grabbing point position, whether the manipulator grabs the grabbing point on the photovoltaic cleaning robot is judged through a pressure sensing signal on the manipulator;
and when the pressure sensing signal exceeds a preset pressure signal threshold value, judging that the manipulator grabs a grabbing point on the photovoltaic cleaning robot.
6. A transfer robot of photovoltaic cleaning robot, characterized by comprising:
the position positioning module is used for acquiring the relative position of the carrying robot and the photovoltaic cleaning robot when the photovoltaic cleaning robot is at the edge position of a photovoltaic panel;
the visual positioning module is used for carrying out visual positioning on the photovoltaic cleaning robot when the relative position of the carrying robot and the photovoltaic cleaning robot is within a grabbing range so as to obtain the grabbing point position on the photovoltaic cleaning robot;
the grabbing judgment module is used for judging whether the manipulator grabs the grabbing point on the photovoltaic cleaning robot or not based on grabbing identification sensing signals when the manipulator of the carrying robot approaches the grabbing point position;
and the grabbing and carrying module is used for executing grabbing actions when the manipulator grabs the grabbing point on the photovoltaic cleaning robot so as to carry the photovoltaic cleaning robot to an adjacent photovoltaic panel.
7. A transfer robot of a photovoltaic cleaning robot as claimed in claim 6, wherein the position locating module comprises:
the controller is used for adjusting the relative position between the carrying robot and the photovoltaic cleaning robot after the photovoltaic cleaning robot stops running on the photovoltaic panel when the photovoltaic cleaning robot is at the edge position of the photovoltaic panel;
and the distance measuring unit is connected with the controller and used for acquiring the relative position between the carrying robot and the photovoltaic cleaning robot so as to enable the carrying robot and the photovoltaic cleaning robot to be in a grabbing range.
8. A transfer robot of a photovoltaic washing robot as claimed in claim 7, characterized in that the visual positioning module comprises:
and the visual camera is used for acquiring image data of the carrying robot and the photovoltaic cleaning robot in a grabbing range, and performing image analysis and coordinate conversion based on the image data so as to acquire the grabbing point position on the photovoltaic cleaning robot.
9. The transfer robot of a photovoltaic cleaning robot according to claim 8, wherein the grasp judgment module includes:
the proximity sensor is arranged on one side of the manipulator, which faces to the grabbing point, and is used for judging whether the manipulator approaches to the grabbing point or not through the proximity sensing signal in the process that the manipulator of the carrying robot approaches to the grabbing point;
and the proximity signal processor is connected with the proximity sensor and used for judging that the manipulator is close to the grabbing point when the proximity sensing signal is smaller than a preset proximity signal threshold value.
10. The transfer robot of a photovoltaic washing robot according to any one of claims 6 to 9, wherein the grasping transfer module further comprises:
the pressure sensor is arranged at the holding position on the manipulator and used for judging whether the manipulator grabs the grabbing point on the photovoltaic cleaning robot or not according to the pressure sensing signal when the manipulator of the carrying robot is close to the grabbing point position;
and the pressure signal processor is connected with the pressure sensor and used for judging that the manipulator grabs the grabbing point on the photovoltaic cleaning robot when the pressure sensing signal exceeds a preset pressure signal threshold value.
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| CN116540707A (en) * | 2023-05-11 | 2023-08-04 | 凌度(广东)智能科技发展有限公司 | Path control method, electronic equipment and photovoltaic cleaning robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116540707A (en) * | 2023-05-11 | 2023-08-04 | 凌度(广东)智能科技发展有限公司 | Path control method, electronic equipment and photovoltaic cleaning robot |
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