CN116540707A - Path control method, electronic equipment and photovoltaic cleaning robot - Google Patents
Path control method, electronic equipment and photovoltaic cleaning robot Download PDFInfo
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- CN116540707A CN116540707A CN202310527957.0A CN202310527957A CN116540707A CN 116540707 A CN116540707 A CN 116540707A CN 202310527957 A CN202310527957 A CN 202310527957A CN 116540707 A CN116540707 A CN 116540707A
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
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- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
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- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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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
Abstract
The invention provides a path control method, electronic equipment and a photovoltaic cleaning robot, and relates to the technical field of robot control, wherein the method comprises the steps of acquiring image data comprising the boundary of a photovoltaic panel when the photovoltaic cleaning robot is positioned on the photovoltaic panel; according to the image data, the photovoltaic cleaning robot is adjusted to a preset gesture; acquiring posture data of the photovoltaic cleaning robot in a preset posture; determining the placing form of the photovoltaic panel according to the posture data; according to the placing form of the photovoltaic panel, determining the initial position and the preset path of the photovoltaic cleaning robot; and controlling the photovoltaic cleaning robot to move to an initial position, and starting operation according to a preset path. And determining the placing form of the photovoltaic panel through the matching of the image data and the gesture data, and finally determining the initial position and the path of the photovoltaic cleaning robot through the placing form of the photovoltaic panel. The photovoltaic cleaning robot has the advantages of low manufacturing cost and small operation amount, and can provide different working paths for photovoltaic panels in different placing modes.
Description
Technical Field
The present invention relates to the field of robot control technologies, and in particular, to a path control method, an electronic device, and a photovoltaic cleaning robot.
Background
Currently, for navigation control of a photovoltaic panel cleaning robot, there are two ways:
1. navigation mode using positioning + map. For example, the absolute position of the robot in the area can be determined by determining the position by using an ultra-wideband positioning system, the area is divided into grid maps, a planning path is set in the grid maps, and the robot cleans along the set planning path.
However, the control accuracy of such navigation modes is affected by the positioning system, which is costly; and map data need to be input in advance, and the workload required to be carried out in the earlier stage is large.
2. Navigation modes using SLAM (Simultaneous Localization and Mapping, instant localization and mapping). For example, a head-up binocular, wheel encoder, and SLAM are used, SLAM is constructed with a head-up binocular camera, and base positioning is performed with SLAM. Also for example, multi-angle monocular, wheel encoders and motion information are used. And (3) acquiring photovoltaic panel boundary information by semantic segmentation through a semantic SLAM technology, constructing a 2D map and realizing global positioning. All of the above can make up for the data in the absence of vision by the encoder.
However, in such a navigation mode, the amount of computation to construct tasks such as SLAM, image segmentation, multi-perception fusion, and the like is large, and the cost of a binocular camera or a plurality of monocular cameras as the main perception sensor is high.
Therefore, the current photovoltaic panel cleaning robot has high cost for navigation control and high calculation amount in the early preparation or navigation control.
Disclosure of Invention
The invention provides a path control method, electronic equipment and a photovoltaic cleaning robot, which are used for solving the defects of high cost and large operation of navigation control of the photovoltaic cleaning robot in the prior art.
The invention provides a path control method of a photovoltaic cleaning robot, which comprises the following steps: acquiring image data including a boundary of the photovoltaic panel when the photovoltaic cleaning robot is located at the photovoltaic panel; according to the image data, the photovoltaic cleaning robot is adjusted to a preset gesture; acquiring posture data of the photovoltaic cleaning robot in a preset posture; determining the placing form of the photovoltaic panel according to the posture data; according to the placing form of the photovoltaic panel, determining the initial position and the preset path of the photovoltaic cleaning robot; and controlling the photovoltaic cleaning robot to move to an initial position, and starting operation according to a preset path.
According to the path control method of the photovoltaic cleaning robot provided by the invention, the placing form of the photovoltaic panel is determined according to the attitude data, and the method comprises the following steps: determining the inclination angle of the placement of the photovoltaic panel according to the posture data; when the inclination angle is smaller than or equal to a first preset threshold value, the photovoltaic panel is judged to be horizontally placed; and when the inclination angle is larger than a first preset threshold value, judging that the photovoltaic panel is inclined.
According to the path control method of the photovoltaic cleaning robot provided by the invention, when the inclination angle is larger than the preset threshold value, the method further comprises the following steps: determining an oblique yaw angle according to the attitude data; when the inclined yaw angle is right angle, the photovoltaic panel is judged to be regularly inclined; and when the inclined yaw angle is not right angle, judging that the photovoltaic panel is irregularly inclined.
According to the path control method of the photovoltaic cleaning robot, gesture data comprise a Pitch angle Pitch and a Roll angle Roll of the photovoltaic cleaning robot; the inclination angle Slope is determined in the following manner:oblique Yaw angle Yaw slope The determination mode of (a) is as follows: />
According to the path control method of the photovoltaic cleaning robot, provided by the invention, the initial position and the preset path of the photovoltaic cleaning robot are determined according to the arrangement form of the photovoltaic panel, and the method comprises the following steps: if the photovoltaic panel is horizontally placed, the heights of all corners of the photovoltaic panel are the same; setting the corner closest to the photovoltaic cleaning robot as an initial position, wherein the preset path is an arc path parallel to the edge of the photovoltaic panel; if the photovoltaic panel is regularly inclined, the photovoltaic panel comprises at least one vertex angle; setting the nearest vertex angle to the photovoltaic cleaning robot as an initial position, wherein the preset path is an arc path from top to bottom line by line along the horizontal direction; if the photovoltaic panel is irregularly inclined, the photovoltaic panel comprises a lowest corner and other vertex angles except the lowest corner; the other vertex angle nearest to the photovoltaic cleaning machine is set as the initial position, and the preset path is an arc-shaped path parallel to the edge of the photovoltaic panel.
According to the path control method of the photovoltaic cleaning robot, provided by the invention, the photovoltaic cleaning robot is controlled to move to an initial position, and the operation is started according to a preset path, and the path control method comprises the following steps: monitoring a visual yaw angle of the photovoltaic cleaning robot during operation; the visual yaw angle is an included angle between the advancing direction of the photovoltaic cleaning robot and the linear texture of the photovoltaic panel; and when the visual yaw angle exceeds a second preset threshold value, performing differential adjustment on the left and right tracks of the photovoltaic cleaning robot according to the visual yaw angle.
According to the path control method of the photovoltaic cleaning robot, provided by the invention, the photovoltaic cleaning robot is controlled to move to an initial position, and the operation is started according to a preset path, and the path control method comprises the following steps: monitoring real-time distance between an actual path of the photovoltaic cleaning robot and boundaries at two sides in the operation process; when the real-time distance exceeds a third preset threshold, the left and right tracks of the photovoltaic cleaning robot are controlled to rotate by a first preset angle in a differential mode, so that the photovoltaic cleaning robot can obliquely run until the real-time distance does not exceed the third preset threshold, and the left and right tracks of the photovoltaic cleaning robot are subjected to differential adjustment according to the visual yaw angle, so that the visual yaw angle does not exceed the second preset threshold.
According to the path control method of the photovoltaic cleaning robot, before the photovoltaic cleaning robot is adjusted to the preset gesture according to the image data, the path control method further comprises the following steps: acquiring the lag time fed back by a visual sensor and/or an inertial sensor of the photovoltaic cleaning robot; acquiring throttle-linear speed data and/or throttle-angular speed data of the photovoltaic cleaning robot; acquiring operation parameters of the photovoltaic cleaning robot based on the lag time, the accelerator-linear speed data and/or the accelerator-angular speed data; controlling the photovoltaic cleaning robot to move to an initial position and start working according to a preset path, comprising: and controlling the photovoltaic cleaning robot to move to an initial position according to the operation parameters, and starting operation according to a preset path.
The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the path control method of any one of the photovoltaic cleaning robots when executing the program.
The invention also provides a photovoltaic cleaning robot which comprises an image sensor, an inertial sensor, an anti-falling sensor, a robot body and the electronic equipment; wherein the image sensor is a depth camera; or the image sensor includes a monocular camera and a ranging assembly.
According to the path control method, the electronic equipment and the photovoltaic cleaning robot, the photovoltaic cleaning robot can be controlled to be in the preset gesture and obtain the corresponding gesture data by acquiring the image data comprising the boundary of the photovoltaic panel, the placement form of the photovoltaic panel can be determined by the gesture data of the photovoltaic cleaning robot in the preset gesture, and the initial position and the preset path of the photovoltaic cleaning robot are determined according to the placement form of the photovoltaic panel; and controlling the photovoltaic cleaning robot to move to an initial position, and starting operation according to a preset path. Therefore, the photovoltaic cleaning robot only needs to obtain the image data and the gesture data, and the sensor has a simple structure and can reduce the manufacturing cost; the preparation data in the early stage is less, the control process is simple, so that the operation amount is smaller, and the portability is stronger; and can also provide different working paths for the photovoltaic panels of different putting forms, the intelligent degree is high.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of an embodiment of a path control method of a photovoltaic cleaning robot according to the present invention;
FIG. 2 is a schematic coordinate diagram of the photovoltaic cleaning robot of the present invention;
FIG. 3 is a schematic view of the path of the photovoltaic cleaning robot of the present invention when the photovoltaic panel is laid flat;
FIG. 4 is a schematic view of the path of the photovoltaic cleaning robot of the present invention when the photovoltaic panels are regularly tilted;
FIG. 5 is a schematic view of the path of the photovoltaic cleaning robot of the present invention when the photovoltaic panels are irregularly tilted;
FIG. 6 is a schematic view of the visual yaw angle of the photovoltaic cleaning robot of the present invention;
FIG. 7 is a control schematic of visual yaw adjustment of the photovoltaic cleaning robot of the present invention;
FIG. 8 is a schematic view of the braking position and target direction of the photovoltaic cleaning robot of the present invention;
fig. 9 is a schematic structural view of an embodiment of the electronic device of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention provides a path control method of a photovoltaic cleaning robot, in the embodiment, the photovoltaic cleaning robot comprises: image sensor, inertial sensor, robot body and electronic equipment. The electronic device includes a memory and a processor operable to perform a path control method. Alternatively, the electronic device may be an operation panel provided in the photovoltaic cleaning robot.
The image sensor is a depth camera, or a monocular camera and a ranging assembly. If a monocular camera is used, 1 ultrasonic ranging or laser ranging is also needed to be matched for detecting whether an obstacle exists in front; if a depth camera is used, the depth data acquired by the depth camera itself is already able to identify the obstacle ahead, so no ranging assembly needs to be configured.
Inertial sensors (Inertial Measurement Unit, IMU), i.e. inertial measurement units, are mainly used for detecting and measuring acceleration and rotational movement. In this embodiment, the IMU may use a 6-axis IMU or a 9-axis IMU.
The 6-axis IMU comprises three single-axis accelerometers and three single-axis gyroscopes, wherein the accelerometers detect acceleration signals of the object in the carrier coordinate system in three independent axes, the gyroscopes detect angular velocity signals of the carrier relative to the navigation coordinate system, angular velocity and acceleration of the object in a three-dimensional space are measured, and the posture of the object is calculated according to the angular velocity and the acceleration.
The 9-axis IMU has three more single-axis magnetic field sensors than the 6-axis IMU, so that if the 9-axis IMU is used, it is also required to be far away from the region where the electromagnetic environment inside the photovoltaic cleaning robot is complex.
Alternatively, the image sensor is installed at a higher position in front of the robot, and the lens direction of the image sensor is horizontally forward. The IMU is fixed in a position where the vibration of the fuselage is small.
In some embodiments, the robot may further include 4 anti-drop sensors, and the 4 anti-drop sensors are disposed at the 4 corners of the robot, respectively, so that the safety of the robot may be further improved.
Referring to fig. 1, fig. 1 is a schematic flow chart of an embodiment of a path control method of a photovoltaic cleaning robot according to the present invention, in the embodiment, the path control method of the photovoltaic cleaning robot includes steps S110 to S160, and the steps are as follows:
s110: when the photovoltaic cleaning robot is located at the photovoltaic panel, image data including the boundary of the photovoltaic panel is acquired.
S120: and adjusting the photovoltaic cleaning robot to a preset posture according to the image data.
S130: and acquiring posture data of the photovoltaic cleaning robot in a preset posture.
S140: and determining the placing form of the photovoltaic panel according to the posture data.
S150: and determining the initial position and the preset path of the photovoltaic cleaning robot according to the placing form of the photovoltaic panel.
S160: and controlling the photovoltaic cleaning robot to move to an initial position, and starting operation according to a preset path.
When the photovoltaic cleaning robot is located on the photovoltaic panel, the sensor on the photovoltaic cleaning robot starts to operate, and image data including the boundary of the photovoltaic panel can be obtained by the image sensor.
In order to adapt to the situation that a worker randomly places the robot, the photovoltaic cleaning robot of the embodiment can automatically adjust to the situation that the photovoltaic panel is in the visual field according to the situation in the visual field after the start, so that image data comprising the boundary of the photovoltaic panel is obtained.
The preset pose may include a pose in which the photovoltaic cleaning robot is parallel to the boundary of the photovoltaic panel and a pose in which the photovoltaic cleaning robot is not parallel to the boundary of the photovoltaic panel.
When the preset gesture is a gesture that the photovoltaic cleaning robot is parallel to the boundary of the photovoltaic panel, the photovoltaic cleaning robot is adjusted to be parallel to the boundary of the photovoltaic panel according to the image data, and at this time, it can be understood that the photovoltaic cleaning robot is kept parallel to the photovoltaic panel. In the state that the boundary of the photovoltaic cleaning robot and the photovoltaic panel are parallel, the gesture data obtained from the IMU can be used for identifying the placing mode of the photovoltaic panel. And determining the initial position and the preset path of the photovoltaic cleaning robot according to the placing form of the photovoltaic panel. And finally, the electronic equipment can control the photovoltaic cleaning robot to move to the initial position and control the photovoltaic cleaning robot to start working according to the preset path.
When the preset gesture is a gesture of the non-parallel boundary between the photovoltaic cleaning robot and the photovoltaic panel, the non-parallel gesture can be converted into a parallel gesture through image data, and then subsequent calculation is performed according to the parallel gesture. For example, the included angle (namely visual yaw angle) between the photovoltaic cleaning robot and the texture of the photovoltaic panel can be analyzed through the image at the time, and then the difference value is made between the included angle and the oblique yaw angle, so that the data when the boundary between the photovoltaic cleaning robot and the photovoltaic panel is parallel can be converted.
Alternatively, the photovoltaic panels may be laid in a manner including flat, regular diagonal, and irregular diagonal. Since sewage drops can be generated in the operation process of the photovoltaic cleaning robot, the purpose of determining the initial position and the preset path of the photovoltaic cleaning robot in this embodiment is: on one hand, the area which is cleaned is prevented from being polluted by sewage generated in the manual working process of the photovoltaic cleaning machine; on the other hand, the complete cleaning of the photovoltaic panel to be cleaned can be efficiently realized.
When the placement mode of the photovoltaic panel is identified as oblique placement, a higher position in the photovoltaic panel can be selected as an initial position, and in order to achieve the working efficiency, the preset path is a path which does not pass repeatedly, for example, an arc-shaped path, an N-shaped path, a Z-shaped path and the like.
Above, the invention provides a path control method of a photovoltaic cleaning robot, the photovoltaic cleaning robot only needs to obtain image data and attitude data, the sensor has a simple structure, and a single monocular or depth camera is adopted, so that the manufacturing cost can be reduced; the preparation data in the early stage is less, map data does not need to be input in advance, the control process is simple, SLAM does not need to be constructed, the operand is smaller, and the portability is stronger. And the method automatically recognizes the placing form of the photovoltaic panel, provides different working paths for the photovoltaic panels with different placing forms, avoids the cleaned area polluted by sewage generated in the manual working process of the photovoltaic cleaning robot, and has strong adaptability and high intelligent degree.
In some embodiments, the step of determining the placement form of the photovoltaic panel according to the posture data specifically includes:
determining the inclination angle of the placement of the photovoltaic panel according to the posture data; when the inclination angle is smaller than or equal to a first preset threshold value, the photovoltaic panel is judged to be horizontally placed; and when the inclination angle is larger than a first preset threshold value, judging that the photovoltaic panel is inclined. Optionally, the first preset threshold is 5 °.
In this embodiment, the inclination angle of the placement of the photovoltaic panel may be obtained from the posture data, and the determination of the inclination angle determines whether the photovoltaic panel is placed obliquely or horizontally.
In some embodiments, when the inclination angle is greater than the preset threshold, the step of determining that the photovoltaic panel is inclined further includes:
determining an oblique yaw angle according to the attitude data; when the inclined yaw angle is right angle, the photovoltaic panel is judged to be regularly inclined; and when the inclined yaw angle is not right angle, judging that the photovoltaic panel is irregularly inclined.
Alternatively, the tilt yaw angle may be allowed for an error, the error range being within 10 °. For example, when the tilt yaw angle is 80 to 100, it can be considered to be a right angle.
In the present embodiment, it is also possible to further determine whether the photovoltaic panel is placed obliquely or irregularly. It will be appreciated that since the photovoltaic panel is a rectangular structure, when the photovoltaic panel is regularly inclined, i.e. in the four corners of the photovoltaic panel, the heights of two angles are the same as a first height and the heights of the remaining two angles are the same as a second height, wherein the first height is greater than the second height.
Note that the height in this embodiment refers to a distance from the horizontal ground. It will be appreciated that when the photovoltaic panel is irregularly inclined, i.e. in the four corners of the photovoltaic panel, there are at least three different heights.
Optionally, the attitude data includes Pitch angle Pitch and Roll angle Roll of the photovoltaic cleaning robot; the inclination angle Slope is determined in the following manner:oblique Yaw angle Yaw slope The determination mode of (a) is as follows:
under the condition that the photovoltaic plate is obliquely placed, the pitch angle and the yaw angle are integrated into an oblique yaw angle, so that the direction of the photovoltaic cleaning robot on the oblique photovoltaic plate can be conveniently identified.
Referring to fig. 2, fig. 2 is a schematic coordinate diagram of the photovoltaic cleaning robot according to the present invention. In the case of a photovoltaic array being tilted, the photovoltaic cleaning robot may be in an up-down state toward the horizontal or the inclined plane when running. However, since the photovoltaic panel is placed obliquely rather than vertically, the pitch angle cannot be used directly for judgment. Therefore, in the present embodiment, a concept of a diagonal yaw angle is proposed, and the state of the robot is converted using a pitch angle and a roll angle.
As shown in fig. 2, the present embodiment sets the tilt yaw angle to 0 ° in the case where the pitch angle is raised upward to the maximum and the roll angle is zero. The robot rotates leftwards from the inclined yaw angle of 0 DEG, namely the upward left area is the negative number of the inclined yaw angle; the right side area, which is rotated from 0 deg. to the right of the diagonal yaw angle, is the positive number of the diagonal yaw angle. The left horizontal direction is therefore-90 deg., and the right horizontal direction is 90 deg.. And down the incline is + -180 deg..
The inclined yaw angle can assist in judging the absolute direction of the photovoltaic cleaning robot on the inclined plane, and the inclined placement condition of the photovoltaic array can be identified by fitting the visual yaw angle. And when the photovoltaic panels are placed obliquely regularly, the oblique yaw angle can replace the yaw angle of the IMU and is more accurate.
In some embodiments, the step of determining the initial position and the preset path of the photovoltaic cleaning robot according to the placement form of the photovoltaic panel specifically includes:
if the photovoltaic panel is horizontally placed, the heights of all corners of the photovoltaic panel are the same; the corner nearest to the photovoltaic cleaning robot is set as an initial position, and the preset path is an arc path parallel to the edge of the photovoltaic panel.
If the photovoltaic panel is regularly inclined, the photovoltaic panel comprises at least one vertex angle; the vertex angle closest to the photovoltaic cleaning robot is set as an initial position, and the preset path is an arc-shaped path from top to bottom line by line along the horizontal direction.
If the photovoltaic panel is irregularly inclined, the photovoltaic panel comprises a lowest corner and other vertex angles except the lowest corner; the other vertex angle nearest to the photovoltaic cleaning machine is set as the initial position, and the preset path is an arc-shaped path parallel to the edge of the photovoltaic panel.
When the photovoltaic panel is rectangular, the edges of the photovoltaic panel may include long sides and short sides. The predetermined path may be an arcuate path along the long side of the photovoltaic panel or an arcuate path along the short side of the photovoltaic panel.
In some embodiments, multiple photovoltaic panels may be combined into a photovoltaic panel array. When the photovoltaic panel array is rectangular, the edges of the photovoltaic panel array include long sides and short sides. The predetermined path may thus be determined from the long sides of the array of photovoltaic panels.
Specifically, when the short sides of the photovoltaic panels form the long sides of the photovoltaic panel array, the preset path is an arched path along the short sides of the photovoltaic panels; when the long sides of the photovoltaic panels form the long sides of the photovoltaic panel array, the preset path is an arcuate path along the long sides of the photovoltaic panels.
As shown in fig. 2, the photovoltaic cleaning robot is placed on a photovoltaic panel array, the photovoltaic panel array is composed of 16 x 3 photovoltaic panels, the short sides of the photovoltaic panels are parallel to the horizontal (-90 degrees to 90 degrees) direction, the long sides of the photovoltaic panels are parallel to the vertical (+/-180 degrees to 0 degrees) direction, the long sides of the photovoltaic panel array are parallel to the horizontal (-90 degrees to 90 degrees) direction, and the short sides of the photovoltaic panel array are parallel to the vertical (+/-180 degrees to 0 degrees) direction, namely, the photovoltaic panel array in fig. 2 belongs to the case that the short sides of the photovoltaic panels compose the long sides of the photovoltaic panel array.
FIG. 3 is a schematic view of the path of the photovoltaic cleaning robot of the present invention when the photovoltaic panel is laid flat; FIG. 4 is a schematic view of the path of the photovoltaic cleaning robot of the present invention when the photovoltaic panels are regularly tilted; fig. 5 is a schematic view of the path of the photovoltaic cleaning robot of the present invention when the photovoltaic panel is irregularly inclined.
Referring to fig. 3, when the placement form of the photovoltaic panels is flat, the heights of each corner of the photovoltaic panels are the same; thus setting the corner closest to the current position of the photovoltaic cleaning robot as the initial position, a movement path of the photovoltaic cleaning robot from the current position to the initial position is shown in (a) of fig. 3; when the photovoltaic cleaning robot reaches the initial position, the operation is started along a preset path, wherein the preset path is an arc-shaped path along the short side of the photovoltaic panel, and the movement path of the photovoltaic cleaning robot from the initial position according to the preset path is shown in fig. 3 (b). The operation path can avoid suspending part of the photovoltaic cleaning robot and improve the cleaning effect.
It should be noted that, since the photovoltaic panel array is formed by combining a plurality of photovoltaic panels, the photovoltaic panel array needs to be kept flat, and thus the arrangement forms of different photovoltaic panels forming the same photovoltaic panel array are the same, and the arrangement forms of the photovoltaic panel array and the photovoltaic panels forming the photovoltaic panel array are also the same. Thus, without being particularly pointed out, it will be appreciated by those skilled in the art that the arrangement of individual photovoltaic panels corresponds to the arrangement of a component array of photovoltaic panels.
Referring to fig. 4, when the placement form of the photovoltaic panel is a regular oblique placement, the photovoltaic panel includes two highest vertex angles and two lowest corners, so that the vertex angle closest to the photovoltaic cleaning robot is set as an initial position, and fig. 4 (a) shows a movement path of the photovoltaic cleaning robot from the current position to the initial position; when the photovoltaic cleaning robot reaches the initial position, the operation starts along the preset path, which is an arcuate path from top to bottom line by line along the horizontal direction, and fig. 4 (b) shows a moving path of the photovoltaic cleaning robot from the initial position according to the preset path. This working path prevents the flow of sewage to the already cleaned area.
Referring to fig. 5, when the placement form of the photovoltaic panel is irregular inclined, the photovoltaic panel includes a lowermost corner and other vertex angles except the lowermost bottom angle, so that the other vertex angles closest to the photovoltaic cleaning robot are set as initial positions, and a moving path of the photovoltaic cleaning robot from the current position to the initial position is shown in fig. 5 (a); when the photovoltaic cleaning robot reaches the initial position, the operation is started along a preset path, the preset path is an arc path along the short side of the photovoltaic panel, and fig. 5 (b) shows a moving path of the photovoltaic cleaning robot from the initial position according to the preset path. The operation path avoids the sewage pollution to a certain extent to the cleaned area and also gives consideration to the cleaning efficiency.
In some embodiments, before controlling the photovoltaic cleaning robot to move to the initial position and start the operation according to the preset path, the method further comprises:
determining the size of the photovoltaic panel according to the image data; the short sides of the photovoltaic panel are determined according to the size of the photovoltaic panel.
Alternatively, the size of the photovoltaic panel may be determined by means of a photovoltaic cleaning robot rim ranging. Specifically, the image data captured by the image sensor can identify the left and right frames and the vertical distance from the robot. After the photovoltaic cleaning robot is placed on the photovoltaic panel, the photovoltaic cleaning robot rotates in four directions in the initialization process, and the width of one side of the photovoltaic panel can be obtained by adding the distances of the left frame and the right frame each time.
In some embodiments, during the traveling of the photovoltaic cleaning robot, a cause of yaw may occur due to a slip or the like. Yaw can be divided into visual yaw and path yaw. Therefore, the direction of the photovoltaic cleaning robot can be finely adjusted according to whether the visual feedback is parallel to the frame or not through the yaw rate differential of the left crawler belt and the right crawler belt, and the photovoltaic cleaning robot is ensured to run along the path.
Optionally, the step of controlling the photovoltaic cleaning robot to move to the initial position and start the operation according to the preset path specifically includes:
Monitoring a visual yaw angle of the photovoltaic cleaning robot during operation; the visual yaw angle is an included angle between the advancing direction of the photovoltaic cleaning robot and the linear texture of the photovoltaic panel; when the visual yaw angle exceeds a second preset threshold, differential adjustment is performed on the left and right tracks of the photovoltaic cleaning robot according to the visual yaw angle, so that accurate control of the shape and position path of the photovoltaic cleaning robot is realized.
Referring to fig. 6, fig. 6 is a schematic view of a visual yaw angle of the photovoltaic cleaning robot of the present invention. The visual yaw angle alpha is an included angle between the advancing direction of the photovoltaic cleaning robot and the linear texture of the photovoltaic panel, and is measured by an image sensor, and the value range of the visual yaw angle alpha is between-45 degrees and +45 degrees. The photovoltaic cleaning robot can be aligned with the photovoltaic panel through the visual yaw angle alpha, and the photovoltaic cleaning robot is guaranteed to advance along the photovoltaic panel.
Referring to fig. 7, fig. 7 is a schematic diagram illustrating control of visual yaw adjustment of the photovoltaic cleaning robot according to the present invention. Visual yaw adjustment of the photovoltaic cleaning robot is a set of closed loop control. When differential adjustment is carried out, the speed of the phase difference of the left crawler belt and the right crawler belt is adjusted in equal proportion according to the yaw angle by multiplying power, namely the differential degree is large when the yaw angle is large, and the rotation is faster; the yaw angle is small in phase differential and slower to rotate. The multiplying power is determined according to the change slope of the accelerator-angular speed and the hysteresis of the visual system feedback. The multiplying power is too large, so that the head can be turned over during adjustment, and the situation of left and right swing is forced; too small multiplying power can cause too slow adjustment and too long skew to cause too large offset with the frame.
As shown in fig. 7, when the yaw correction requirement is input, adjustment data of the left and right crawlers are calculated, respectively, wherein the adjustment manner of the left and right crawlers is:
left track = straight speed-yaw angle x magnification;
right track = straight speed + yaw angle x magnification.
And after the left crawler belt and the right crawler belt are regulated, a control signal is sent to control the photovoltaic cleaning robot to execute actions, and meanwhile, the photovoltaic cleaning robot continuously feeds back the visual yaw angle.
In some embodiments, the step of controlling the photovoltaic cleaning robot to move to the initial position and start the operation according to the preset path specifically includes:
monitoring real-time distance between an actual path of the photovoltaic cleaning robot and boundaries at two sides in the operation process; when the real-time distance exceeds a third preset threshold, the left and right tracks of the photovoltaic cleaning robot are controlled to rotate by a first preset angle in a differential mode, so that the photovoltaic cleaning robot can obliquely run until the real-time distance does not exceed the third preset threshold, and the left and right tracks of the photovoltaic cleaning robot are subjected to differential adjustment according to the visual yaw angle, so that the visual yaw angle does not exceed the second preset threshold.
In this embodiment, the photovoltaic cleaning robot is offset from the set path due to sideslip or yaw accumulation, that is, when the real-time distance between the actual path of the photovoltaic cleaning robot and the boundaries of two sides exceeds a third preset threshold, the left and right crawler is required to be adjusted to rotate by a first preset angle in a differential manner so that the photovoltaic cleaning robot can travel obliquely until the real-time distance does not exceed the third preset threshold, and then the visual yaw angle is adjusted by the differential.
It should be noted that, the first preset angle is a smaller angle, the first preset angle is large, the speed of the photovoltaic cleaning robot returning to the preset path is fast, but the twisting is obvious, and the shaking is possible; the first preset angle is small, the motion track of the photovoltaic cleaning robot is gentle and shaking does not easily occur, but the correction speed is slow. Therefore, a person skilled in the art can adjust the value range of the first preset angle according to the actual situation.
In order to better understand the design requirement of the first preset angle, the present embodiment also provides two value ranges: when the real-time distance exceeds the offset distance of the third preset threshold value by more than 50mm and not more than 200mm, the first preset angle is 10 degrees; when the real-time distance exceeds the offset distance of the third preset threshold value by more than 200mm, the first preset angle is 20 degrees.
In some embodiments, the step of adjusting the photovoltaic cleaning robot to a preset pose based on the image data further comprises:
acquiring the lag time fed back by a visual sensor and/or an inertial sensor of the photovoltaic cleaning robot; acquiring throttle-linear speed data and/or throttle-angular speed data of the photovoltaic cleaning robot; acquiring operation parameters of the photovoltaic cleaning robot based on the lag time, the accelerator-linear speed data and/or the accelerator-angular speed data; controlling the photovoltaic cleaning robot to move to an initial position and start working according to a preset path, comprising: and controlling the photovoltaic cleaning robot to move to an initial position according to the operation parameters, and starting operation according to a preset path.
In particular, the operating parameters of the photovoltaic cleaning robot may include several combinations of:
(1) Lag time and throttle-linear speed data fed back by the vision sensor;
(2) Lag time and throttle-angular velocity data fed back by the vision sensor;
(3) Lag time, throttle-linear speed data and throttle-angular speed data fed back by the vision sensor;
(4) Lag time and throttle-linear speed data fed back by the inertial sensor;
(5) Lag time and throttle-angular velocity data fed back by inertial sensors;
(6) Lag time, throttle-linear speed data and throttle-angular speed data fed back by the inertial sensor;
(7) Lag time and throttle-linear speed data fed back by the vision sensor and the inertial sensor respectively;
(8) Hysteresis time and throttle-angular velocity data fed back by the vision sensor and the inertial sensor, respectively;
(9) The lag time, throttle-linear velocity data and throttle-angular velocity data fed back by the vision sensor and the inertial sensor, respectively.
Because the IMU takes time to read the pictures, measure the distance and output data, and the IMU reads serial data, data arrangement and output data, the read feedback has lag of tens to hundreds of milliseconds. If the data fed back by the sensor is directly used as judgment, the rotation or straight running exceeds the set value. Therefore, the feedback hysteresis quantity of rotation or straight running is judged according to the throttle, and the brake is advanced when the hysteresis quantity is reached, so that the rotation or straight running can be stopped at a set position/direction. Referring to fig. 8, fig. 8 is a schematic view of a braking position and a target direction of the photovoltaic cleaning robot according to the present invention.
And measuring accelerator-linear speed data, accelerator-angular speed data and feedback lag time through feedback of an image sensor and an IMU, calculating feedback lag amount when the vehicle rotates in place or runs at a fixed distance in a straight line, and braking in advance. The specific formula is as follows:
S d ＝S t -v×t delay ；
wherein S is d Is the angle or distance fed back by the sensor, S t Is the angle or straight distance of the actual rotation, v is the angular velocity or linear velocity corresponding to the throttle, t delay Is the feedback lag time.
When the image data is used, thenLag time for visual sensor feedback, lag time for inertial sensor feedback is required when attitude data is required. When the image data and the gesture data are needed to be used at the same time, for example, when the photovoltaic cleaning robot rotates, the vision sensor and the inertial sensor are used at the same time to judge whether the robot rotates to the target position, S corresponding to the lag time fed back by the vision sensor is calculated respectively d S corresponding to lag time of inertial sensor feedback d Then, judgment is made simultaneously, and as long as one of them reaches the setting, it is considered that it has arrived.
The above embodiments can be freely combined without collision, and in order to better explain the path control method of the photovoltaic cleaning robot of the present invention, specific examples are given below to further explain:
Step1: determining perceptual feedback parameters
The robot needs to determine the perceived feedback parameters (i.e., the working parameters) before first running. After one measurement and recording, it is not necessary to perform the measurement before each operation.
1) Feedback lag time of vision and IMU is obtained. Under the condition that the photovoltaic panel exists in the visual field, the yaw angle of the IMU is reset to zero, and the sensing system is stable in a static waiting mode. The robot is then commanded to quickly rotate to the left and record a start time while starting to monitor the visual yaw angle and IMU yaw angle data at high frequency, and record as an end time if the change is greater than a preset value (e.g., 1 °). This time difference is taken as the feedback lag time of the vision and IMU.
2) And acquiring throttle-linear speed data of the robot. There are photovoltaic panels in the field of view and the visual yaw angle is near 0 °, the IMU yaw angle is zeroed, and a fixed obstacle for calibration is placed. The robot performs forward and backward movement for a fixed time length with a preset step length (for example, 10%), obtains the forward and backward movement distance through manual ranging, visual ranging or ultrasonic/laser ranging, and calculates the linear running speed millimeter/second of the throttle by taking the average value.
3) And acquiring throttle-angular speed data of the robot. There are photovoltaic panels in the field of view and the visual yaw angle is near 0, the IMU yaw angle is zeroed. The robot performs left/right fixed-time rotation in a preset step length (for example, 10%), obtains a rotation angle through manual measurement, visual yaw angle change and IMU yaw angle change, and calculates the angular speed of the throttle.
Step2: and rotating until the photovoltaic panel exists in the visual field.
In order to adapt to the situation that the robot is placed at will by a worker, the worker is prevented from manually operating the robot to reach the designated direction of the designated position, and the workload of the worker is reduced. According to the invention, the photovoltaic panel can be automatically adjusted to be in a state that the photovoltaic panel is in the visual field and is kept parallel according to the condition in the visual field after the photovoltaic panel is started.
1) And standing and waiting for the sensing system to be stable, and then collecting visual ranging data. This step can prevent the collected data from including some of the motion data before rest, thereby affecting the accuracy of the data.
2) If there is no ranging data, the left hand rotation is continued while the vision and IMU data is detected. If either one of the left and right boundaries is recognized, the rotation is stopped. If the IMU yaw angle change accumulation reaches 720 degrees, namely, the IMU yaw angle change accumulation has been rotated for two circles, judging that the IMU yaw angle change accumulation is not on the photovoltaic panel array, stopping and reporting the misexit.
3) And after the static waiting sensing system is stable, performing yaw correction according to feedback of a visual yaw angle, so that the robot is parallel to the boundary of the photovoltaic panel.
Step3: and judging the posture of the photovoltaic array.
After the robot is parallel to the photovoltaic panel, the pose obtained from the IMU can identify the placing mode of the photovoltaic panel array.
1) And calculating the slope of the whole photovoltaic array, and judging whether the photovoltaic array is horizontally placed or obliquely placed. The Pitch angle Pitch and the Roll angle Roll of the robot are obtained from the IMU, and the overall inclination angle Slope of the robot can be calculated through the Pitch angle Pitch and the Roll angle Roll. The robot is in close contact with the photovoltaic panel, and thus can be considered as a tilt of the photovoltaic array.
2) And calculating the inclined yaw angle of the robot, and judging whether the photovoltaic array is regularly inclined parallel to the ground or irregularly inclined with one angle pointing to the ground. Calculating the inclined yaw angle at the moment, judging to be a regular inclined plane if the inclined yaw angle at the moment is a right angle, and judging to be an irregular inclined plane if the inclined yaw angle at the moment is not a right angle.
Step4: and rotating to obtain four-way data.
The robot rotates 90 degrees leftwards for 4 times, so that four-direction data including left and right edge distances, photovoltaic panel widths, forward edge distance lists, pitch angles, rolling angles, yaw angles and oblique yaw angles are obtained and used for path planning.
The left-right edge distance, the width of the photovoltaic panel and the forward edge distance list can be obtained through the image sensor, and the pitch angle, the rolling angle, the yaw angle and the oblique yaw angle can be obtained through the IMU.
1) Rotated 90 deg. to the left;
2) Correcting the visual yaw angle until the included angle between the visual yaw angle and the photovoltaic panel is 0+/-0.5 degrees;
3) Stand-by vision and lag time of IMU;
4) Beginning to collect visual ranging and IMU pose data
5) Repeating 1) -4) until four directions are collected.
Step5: and calculating cleaning path parameters and planning a cleaning path.
1) And judging whether the length and width two-side sizes of the photovoltaic panel are recognized. If only one side is identified, the photovoltaic array is considered a combination of rows.
2) The cleaning direction is identified. If the plane is the plane, the direction is parallel to the short side of the photovoltaic panel, and the furthest forward frame is farther; if the front frame is a regular inclined plane, the front frame is oriented to the horizontal running direction, and the farthest front frame is in a direction farther away; if the inclined plane is an irregular inclined plane, the inclined plane is the same as the plane;
3) The first row translation direction is identified. Which side of the cleaning direction is not provided with the photovoltaic panel, the photovoltaic panel translates to the other side;
4) An initialization movement direction is identified. The opposite direction of the cleaning direction is the first step direction of movement. The other two directions perpendicular to the cleaning direction are the second step direction in which the furthest forward frame is closer or the direction in which the photovoltaic panel is not identified is the movement.
5) One line of cleaning times was counted. If the cleaning mechanism of the photovoltaic cleaning robot is wider than the photovoltaic panel, cleaning one row once; if the cleaning mechanism of the photovoltaic cleaning robot is narrower than the photovoltaic panel, cleaning one row for a plurality of times, wherein the times are determined according to the ratio of the width of the photovoltaic panel to the width of the cleaning mechanism;
6) And calculating a line feed translation distance. If one row is cleaned once, the width of the photovoltaic panel is directly driven when the row is changed to the next row. If one row is cleaned for multiple times, calculating the translation distance of each time according to the cleaning times until one row is cleaned, and translating the width of one cleaning mechanism to span the next row;
7) And calculating the left and right edge distances of the first driving. If a row is washed once, the left-right edge distance is half the width of the photovoltaic panel. If the cleaning is performed multiple times, it is determined which side is the half of the cleaning mechanism and the other is the remaining width, depending on whether the first row is translated to the left or to the right.
Step6: to move to the initial position.
According to the planned initialized moving path, the robot rotates in two directions, aligns yaw angles, moves straight to the side and retreats to prevent falling to the distance of the front end of the robot. After the robot moves, the robot is arranged at the corner of the photovoltaic array, so that the situation that part of the area is not cleaned after the whole travel process is avoided.
Step7: and cleaning the first row and judging the row-changing direction.
After the initialization is completed, the rolling brush and the water system are started, the speed is set to be the cleaning speed, and cleaning is started according to the cleaning path.
The visual yaw angle and the distance between two sides are continuously monitored in the straight running process. If yaw occurs, differential adjustment of the left and right tracks is performed based on feedback. If the offset occurs, namely the distance between the robot and the photovoltaic panel is too close to one side and too far from the other side, the yaw angle is adjusted by differential speed according to the offset direction, so that the robot and the photovoltaic panel have 5-10 degrees of yaw, and then the robot and the photovoltaic panel are inclined until the offset distance is within a set threshold range, and the yaw angle is adjusted by differential speed.
After the first line cleaning is completed, the robot turns to the set direction, and whether the next line has a photovoltaic panel is judged. If the photovoltaic panel exists, the initialization is judged to be correct, and the process is continued according to the path. If the photovoltaic plate is not arranged, turning around to judge the other direction, and if the photovoltaic plate is arranged, changing the translation direction of the cleaning path and executing according to the new path; if the photovoltaic panel is not present, the photovoltaic array is judged to be a single row array, and the cleaning is considered to be completed.
Step8: the remaining rows are washed until the last row.
After the first line is cleaned, the robot cleans according to the cleaning path until the next line is found to have no photovoltaic panel after line feed steering, and the anti-falling sensor feeds back no photovoltaic panel after translation, and the cleaning task is considered to be completed.
Step9: and executing the ending action.
After the cleaning is finished, if no photovoltaic panel is judged through the anti-falling, the front end of the robot needs to be retracted to the anti-falling distance, the robot turns to the ending direction, the rolling brush and the water system of the cleaning mechanism are closed, the cleaning task is finished, and the next instruction of the remote controller is waited.
Above, in this embodiment, the size and the posture of the photovoltaic panel are obtained by combining a single monocular or depth camera with the IMU, and the arcuate cleaning path reasonably planned by combining the size of the self cleaning mechanism is adjusted according to visual feedback in the cleaning process, so that the robot is ensured to move along the cleaning path. The photovoltaic cleaning robot disclosed by the invention is low in cost, is more intelligent and more suitable for various types of photovoltaic panels than a navigation mode set by a single logic, and is smaller in operation amount and stronger in portability than a navigation mode set by SLAM. The size of the photovoltaic panel and the placing form of the photovoltaic array can be automatically identified in the process of initialization, the driving direction and the distance between the photovoltaic panel and the side frames at two sides can be ensured through visual feedback in the cleaning process, and the robot can be prevented from rotating or moving caused by slipping and automatically returns to the cleaning path.
The invention also provides an electronic device, referring to fig. 9, fig. 9 is a schematic structural diagram of an embodiment of the electronic device of the invention. In this embodiment, the electronic device may include a memory (memory) 920, a processor (processor) 910, and a computer program stored on the memory 920 and executable on the processor 910. The processor 910 implements the path control method of the photovoltaic cleaning robot provided by the above methods when executing the program.
Optionally, the electronic device may further comprise a communication bus 930 and a communication interface (Communications Interface) 940, wherein the processor 910, the communication interface 940, and the memory 920 perform communication with each other through the communication bus 930. The processor 910 may invoke logic instructions in the memory 920 to perform a path control method of the photovoltaic cleaning robot, the method comprising:
acquiring image data including a boundary of the photovoltaic panel when the photovoltaic cleaning robot is located at the photovoltaic panel; according to the image data, the photovoltaic cleaning robot is adjusted to a preset gesture; acquiring posture data of the photovoltaic cleaning robot in a preset posture; determining the placing form of the photovoltaic panel according to the posture data; according to the placing form of the photovoltaic panel, determining the initial position and the preset path of the photovoltaic cleaning robot; and controlling the photovoltaic cleaning robot to move to an initial position, and starting operation according to a preset path.
Further, the logic instructions in the memory 920 may be implemented in the form of software functional units and stored in a computer readable storage medium when sold or used as a stand alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The invention also provides a photovoltaic cleaning robot comprising: the system comprises an image sensor, an inertial sensor, a robot body and the electronic equipment; wherein the image sensor is a depth camera; or the image sensor includes a monocular camera and a ranging assembly.
In some embodiments, the photovoltaic cleaning robot may further include a fall-off prevention sensor, which may further improve the safety of the photovoltaic cleaning robot.
Above, the invention specifically discloses a path control method, an electronic device and a photovoltaic cleaning robot, wherein the path control method of the photovoltaic cleaning robot comprises the following steps: acquiring image data including a boundary of the photovoltaic panel when the photovoltaic cleaning robot is located at the photovoltaic panel; according to the image data, the photovoltaic cleaning robot is adjusted to a preset gesture; acquiring posture data of the photovoltaic cleaning robot in a preset posture; determining the placing form of the photovoltaic panel according to the posture data; according to the placing form of the photovoltaic panel, determining the initial position and the preset path of the photovoltaic cleaning robot; and controlling the photovoltaic cleaning robot to move to an initial position, and starting operation according to a preset path. Through the mode, the photovoltaic cleaning robot only needs to obtain the image data and the gesture data, and the sensor is simple in structure and can reduce the manufacturing cost; the preparation data in the early stage is less, the control process is simple, so that the operation amount is smaller, and the portability is stronger; and can also provide different working paths for the photovoltaic panels of different putting forms, the intelligent degree is high.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A path control method of a photovoltaic cleaning robot, comprising:
when a photovoltaic cleaning robot is located on a photovoltaic panel, acquiring image data including a boundary of the photovoltaic panel;
according to the image data, the photovoltaic cleaning robot is adjusted to a preset posture;
acquiring posture data of the photovoltaic cleaning robot in the preset posture;
determining the placing form of the photovoltaic panel according to the attitude data;
according to the placing form of the photovoltaic panel, determining the initial position and the preset path of the photovoltaic cleaning robot;
and controlling the photovoltaic cleaning robot to move to the initial position, and starting operation according to the preset path.
2. The path control method of a photovoltaic cleaning robot according to claim 1, wherein the determining the placement form of the photovoltaic panel according to the posture data includes:
determining the inclination angle of the placement of the photovoltaic panel according to the attitude data;
when the inclination angle is smaller than or equal to a first preset threshold value, the photovoltaic panel is judged to be horizontally placed;
and when the inclination angle is larger than the first preset threshold value, judging that the photovoltaic panel is inclined.
3. The method for controlling a path of a photovoltaic cleaning robot according to claim 2, wherein when the inclination angle is greater than the preset threshold value, after determining that the photovoltaic panel is inclined, further comprising:
determining an oblique yaw angle according to the attitude data;
when the inclined yaw angle is right angle, judging that the photovoltaic panel is regularly inclined; and when the inclined yaw angle is not right angle, judging that the photovoltaic panel is irregularly inclined.
4. A path control method of a photovoltaic cleaning robot according to claim 3, characterized in that the attitude data includes Pitch angle Pitch and Roll angle Roll of the photovoltaic cleaning robot;
the inclination angle Slope is determined in the following manner:
The inclined Yaw angle Yaw slope The determination mode of (a) is as follows:
5. the method for controlling the path of the photovoltaic cleaning robot according to claim 1, wherein the determining the initial position and the preset path of the photovoltaic cleaning robot according to the placement form of the photovoltaic panel comprises:
if the photovoltaic panel is horizontally placed, the heights of all corners of the photovoltaic panel are the same; setting the corner closest to the photovoltaic cleaning robot as the initial position, wherein the preset path is an arc path parallel to the edge of the photovoltaic panel;
if the photovoltaic panel is regularly inclined, the photovoltaic panel comprises at least one vertex angle; setting the nearest vertex angle to the photovoltaic cleaning robot as the initial position, wherein the preset path is an arc path from top to bottom line by line along the horizontal direction;
if the photovoltaic panel is irregularly inclined, the photovoltaic panel comprises a lowest corner and other vertex angles except the lowest corner; and setting other vertex angles closest to the photovoltaic cleaning machine as the initial positions, wherein the preset path is an arc-shaped path parallel to the edges of the photovoltaic panels.
6. The path control method of a photovoltaic cleaning robot according to claim 1, wherein the controlling the photovoltaic cleaning robot to move to the initial position and start the operation according to the preset path includes:
Monitoring a visual yaw angle of the photovoltaic cleaning robot during operation; the visual yaw angle is an included angle between the advancing direction of the photovoltaic cleaning robot and the photovoltaic panel linear texture;
and when the visual yaw angle exceeds a second preset threshold, performing differential adjustment on left and right tracks of the photovoltaic cleaning robot according to the visual yaw angle.
7. The path control method of a photovoltaic cleaning robot according to claim 6, wherein the controlling the photovoltaic cleaning robot to move to the initial position and start the operation according to the preset path includes:
monitoring the real-time distance between the actual path of the photovoltaic cleaning robot and the boundaries of the two sides in the operation process;
when the real-time distance exceeds a third preset threshold, controlling the left and right tracks of the photovoltaic cleaning robot to rotate at a first preset angle in a differential mode, enabling the photovoltaic cleaning robot to obliquely run until the real-time distance does not exceed the third preset threshold, and performing differential adjustment on the left and right tracks of the photovoltaic cleaning robot according to the visual yaw angle so that the visual yaw angle does not exceed the second preset threshold.
8. The method according to claim 1, wherein before the adjusting the photovoltaic cleaning robot to the preset pose according to the image data, further comprising:
acquiring the lag time fed back by a visual sensor and/or an inertial sensor of the photovoltaic cleaning robot;
acquiring throttle-linear speed data and/or throttle-angular speed data of the photovoltaic cleaning robot;
acquiring operation parameters of the photovoltaic cleaning robot based on the lag time, the accelerator-linear speed data and/or the accelerator-angular speed data;
the control of the photovoltaic cleaning robot to move to the initial position and start operation according to the preset path comprises the following steps:
and controlling the photovoltaic cleaning robot to move to the initial position according to the operation parameters, and starting operation according to the preset path.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the path control method of the photovoltaic cleaning robot according to any one of claims 1 to 8 when executing the computer program.
10. A photovoltaic cleaning robot, comprising: an image sensor, an inertial sensor, a robot body and the electronic device of claim 9;
wherein the image sensor is a depth camera; or the image sensor comprises a monocular camera and a ranging assembly.
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