CN206489451U - Positioner for solar panel sweeping robot - Google Patents
Positioner for solar panel sweeping robot Download PDFInfo
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- CN206489451U CN206489451U CN201720123266.4U CN201720123266U CN206489451U CN 206489451 U CN206489451 U CN 206489451U CN 201720123266 U CN201720123266 U CN 201720123266U CN 206489451 U CN206489451 U CN 206489451U
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- car body
- solar panel
- unit
- image collection
- positioner
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- 238000010408 sweeping Methods 0.000 title claims abstract description 29
- 238000004891 communication Methods 0.000 claims abstract description 10
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 238000004140 cleaning Methods 0.000 description 6
- 239000000428 dust Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000002803 fossil fuel Substances 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001172 regenerating effect Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000002834 transmittance Methods 0.000 description 1
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Abstract
The utility model provides a kind of positioner for solar panel sweeping robot, for obtaining real time position of the car body on the solar panel.Wherein described positioner includes image collection unit, frame recognition unit, latitude and longitude recognition unit, car body position computing unit, image collection unit position calculation unit, car body center position computing unit, GPS unit, panel judging unit, wireless communication unit and memory.
Description
Technical field
The utility model is related to sweeping robot field, and what more particularly to a kind of solar panel sweeping robot was used determines
Position device.
Background technology
In the case where fossil fuel is reduced increasingly, the mankind are turned into as a kind of solar energy of emerging regenerative resource
Using the important component of the energy, nearly ten years, application of solar energy technology all obtains fast development in countries in the world.Solar energy
Panel refers to that the photovoltaic effect (photovoltaic) for utilizing semi-conducting material to occur under illumination condition is straight by solar energy
Switch through the device for being changed to electric energy.Have sunshine place just can generate electricity, therefore solar panel suitable for from power large-scale electric generating station to
A variety of occasions such as small portable charger, are developed rapidly in recent years.
The working environment of solar panel can only be outdoor, and the greatest problem for influenceing its work is not wind and rain thunder and lightning, and
It is the dust accumulated throughout the year.Dust or other attachments are attached with solar panel, the light transmittance of panel plate can be influenceed, is hindered
Photoelectric efficiency, so that the efficiency that panel directly obtains sunlight can be had a strong impact on, reduces the energy absorption and conversion efficiency of panel, drop
Low generating efficiency.The solar panel of prior art can only periodically complete cleaning work by artificial in use, due to the sun
Energy panel area is larger, large-scale power station panel used at the same time is more, and dust can be accumulated, it is necessary to clean repeatedly repeatedly；Therefore
Human cost is very high, cleaning efficiency is low, cleaning effect is poor.In many occasions, in order to improve space availability ratio, solar panel
All it is to be set aloft using support, this just brings bigger difficulty and risk to cleaning work.The use of many solar panels
Family can only select not clear up to reduce disposal costs, can only so be forced to undertake electric energy loss caused by dust.So, just need
There is a new automatic cleaning equipment, solar panel is cleared up automatically.
In this regard, industry have developed a kind of new sweeping robot to carry out the cleaning of solar panel, it can specifically join
See the related content disclosed in Chinese patent application 201610836028.8.But with this sweeping robot in practice
Continue on, industry it has also been found that its need carry out new function research and development, to overcome the various problems actually encountered,
For example, the staff on the real time position for sweeping robot on solar panel, ground is can not be real
When know, it is unknown due to real time position, so also can not just monitor the instantaneous operating conditions of sweeping robot.Due to too
Positive energy panel is generally all that can set aloft, and therefore, even if sweeping robot breaks down, out of service or route is walked
Partially, staff can not also learn in time.
Therefore, it is necessory to develop a kind of new positioner for solar panel sweeping robot, come gram
Take defect of the prior art.
Utility model content
A purpose of the present utility model is there is provided a kind of positioner for solar panel sweeping robot,
The problem of can not in real time being positioned with solving existing sweeping robot, and then lead to not overall monitor working condition.
To solve the above problems, the utility model provides a kind of positioner for solar panel sweeping robot,
Wherein described solar panel sweeping robot includes car body, and it is travelled or resident on an at least solar panel；It is each too
Positive energy panel is rectangle, and its edge is provided with four recognizable frames；Warp perpendicular to one another is additionally provided with each solar panel
Line and parallel, the warp and the parallel one panel coordinate system of formation.The positioner includes an at least image collection list
Member, frame recognition unit, latitude and longitude recognition unit and car body position computing unit.Wherein described image collection unit is used for real
When obtain image and/or picture around the car body；The frame recognition unit, is connected to the image collection unit, uses
Frame around according to the direct of travel of the image and/or picture and the car body identification car body.The latitude and longitude
Recognition unit, is connected to the image collection unit；For the position according to the image and/or picture and the frame, know
The warp quantity and parallel quantity existed between not described car body and the frame.The car body position computing unit, is connected to
The latitude and longitude recognition unit；Described in being calculated according to the warp quantity between the car body and the frame and parallel quantity
Coordinate range of the car body on the solar panel.
Further, in different embodiments, wherein the positioner also includes the calculating of image collection unit position
Unit, is connected to the car body position computing unit, for the size according to the car body, the car body in a solar panel
On coordinate range and the relative position of the image collection unit and the car body calculate the image collection unit at this too
Coordinate range on positive energy panel.
Further, in different embodiments, wherein the positioner, which also includes car body center position, calculates single
Member, is connected to the car body position computing unit, for the size according to the car body, the car body in a solar panel
Coordinate range calculate the coordinate range of the car body central point on the solar panel.
Further, in different embodiments, wherein the positioner also includes GPS unit and panel judges single
Member, wherein the GPS unit is used for the GPS location position for obtaining the car body in real time, the panel judging unit is connected to institute
State GPS unit, for the GPS location position according to the car body and panel distribution map judge the car body residing for solar panel
Information.
Further, in different embodiments, wherein the positioner also includes wireless communication unit, it wirelessly connects
It is connected to a server；Wherein described wireless communication unit is used to the image around the car body being wirelessly transmitted to the service
Device；And/or, the location data of the car body is sent to the server.Wherein, the location data of the car body is included but not
It is limited to the information of solar panel residing for the car body, and/or, coordinate range of the car body on the solar panel, and/
Or, coordinate range of the image collection unit on the solar panel, and/or, the car body central point is in the solar energy
Coordinate range on panel.
Further, in different embodiments, wherein the positioner also include memory, for prestore it is each too
Positive warp sum and parallel sum that can be on panel, and/or, the size of the car body, and/or, the image collection unit with
The relative position of the car body, and/or, at least one side plate distribution map.
Further, in different embodiments, wherein the image collection unit is arranged above the car body top
Or on the lateral wall of the car body；The field-of-view angle of the image collection unit in the horizontal direction is 0-360 degree.Wherein described shadow
As collecting unit includes but is not limited to camera or image sensor.
Further, in different embodiments, wherein the positioner also includes mounting bracket, peace is fixed in its bottom
It is filled to the car body top；The image collection unit is attached at the top of the mounting bracket.
The utility model advantage is that it passes through there is provided a kind of positioner for solar panel sweeping robot
Warp and weft in GPS unit and solar panel where recognizing being arranged on around its car body, to determine itself car body
Accurate regional location where in solar energy in large area panel zone on solar panel so that operating personnel can be real-time
Know the real time position of sweeping robot.
Brief description of the drawings
Fig. 1 is schematic diagram of the sweeping robot on solar panel in the utility model embodiment；
Fig. 2 is the building-block of logic of the positioner of sweeping robot in the utility model embodiment；
Fig. 3 is the overall appearance schematic diagram of sweeping robot in the utility model embodiment.
Figure Detail number is as follows：
100 solar panel sweeping robots/sweeping robot/robot, 200 solar panels, frame 210, warp
211, parallel 212, bridge plate 300；
10 car bodies, 110 mounting brackets, 11 image collection units, frame recognition unit 12, latitude and longitude recognition unit 13, car
Body position computing unit 14, image collection unit position calculation unit 15, car body center position computing unit 16, GPS unit
17th, panel judging unit 18, wireless communication unit 19, memory 20 and server 30.
Embodiment
Preferred embodiment of the present utility model is introduced below with reference to Figure of description, it was demonstrated that the utility model can be implemented,
The embodiment can make its technology contents more clear and just to those of skill in the art's complete description the utility model
In understanding.The utility model can be emerged from by many various forms of embodiments, protection domain of the present utility model
It is not limited only to the embodiment mentioned in text.
In the accompanying drawings, structure identical part is represented with same numbers label, everywhere the similar component of structure or function with
Like numeral label is represented.The size and thickness of each part shown in the drawings arbitrarily show that the utility model does not have
Limit the size and thickness of each component.In order that diagram is apparent, the appropriate thickness for exaggerating part in the place of some in accompanying drawing.
The direction term that the utility model is previously mentioned, such as " on ", " under ", "front", "rear", "left", "right", " interior ", "
Outside ", " side " etc., is only the direction in accompanying drawing, is used only to explanation and illustration the utility model, rather than for limiting this reality
With new protection domain.
When some parts be described as " " another part " on " when, the part can be placed directly within another part
On；There can also be an intermediate member, the part is placed on the intermediate member, and the intermediate member is placed in another part
On.When a part is described as " being attached to " or " being connected to " another part, the two can be understood as directly " installation " or
" connection ", or a part pass through indirect " being attached to " or " being connected to " another part of an intermediate member.
As shown in figure 1, one embodiment that the utility model is related to, which provides one kind, is used for solar panel sweeping machine
People 100（Hereinafter referred to as sweeping robot or robot）Positioner, wherein the solar panel sweeping robot 100 is wrapped
Car body 10 is included, is travelled on an at least solar panel 200 or resident.And each solar panel 200 is rectangle, its side
Provided with four recognizable frames 210 at edge；Each solar panel is provided with warp 211 and parallel 212 perpendicular to one another, described
Warp 211 and one panel coordinate system of formation of the parallel 212.And solar panel 200, it is generally all multiple splicings one
Rise, and then form larger daylighting area.An at least bridge plate 300 is generally provided between two adjacent solar panels, is used
In two solar panels of connection.
Further, refer to shown in Fig. 2, wherein the positioner includes image collection unit 11, frame identification list
Member 12, latitude and longitude recognition unit 13, car body position computing unit 14, image collection unit position calculation unit 15, car body center
Point position calculation unit 16, GPS unit 17, panel judging unit 18, wireless communication unit 19 and memory 20.
Wherein described image collection unit is arranged above the car body top or on the lateral wall of the car body.At one
In specific embodiment, refer to shown in Fig. 3, wherein being provided with a mounting bracket 110 on the top of the car body 10, the image is adopted
Collection unit 11 is attached to the top of mounting bracket 110.The field-of-view angle of wherein described image collection unit 11 in the horizontal direction
For 0-360 degree.The image collection unit includes but is not limited to camera or image sensor.
The image collection unit 11, for obtaining image and/or picture around the car body in real time.The frame is known
Other unit 12, is connected to the image collection unit 11；For the traveling side according to the image and/or picture and the car body
To the frame recognized around the car body.The latitude and longitude recognition unit 13, is connected to the image collection unit 11；For root
The warp existed between the car body 10 and the frame 210 is recognized according to the position of the image and/or picture and the frame
Quantity and parallel quantity.
Specifically, in a detailed embodiment, the image collection unit 11, the frame recognition unit 12 and
Cooperation between the latitude and longitude recognition unit 13, its be the picture of car body surrounding that the image collection unit 11 is collected or
It is image, 4 peripheral frames of solar panel residing for the car body can be explicitly shown.The identification of frame recognition unit 12 four sides
After frame, the frame that the latitude and longitude recognition unit 13 then can be respectively to identify recognizes that car body arrives its correspondence frame for four weeks as boundary
Between latitude and longitude quantity, and then realize positioning.
But in some cases, because solar panel area is larger, position of the car body on residing solar panel
Put so that the picture or image for the car body surrounding that the image collection unit 11 is obtained, it is impossible to be explicitly shown the car body institute
Locate 4 peripheral frames of solar panel, may there was only at adjacent 2 frame at frame or 3.At this moment the frame recognition unit 12
After two frames of adjacent handing-over are recognized, the latitude and longitude recognition unit 13 be can using the two adjacent handing-over frames that identify as
Boundary, recognizes the latitude and longitude quantity between two frames that the corresponding both sides of the car body 10 are identified to this, and then realize positioning.
That is, being to need first to identify institute for positioning of the car body on its residing solar panel
Locate the frame of solar panel, and using the frame that identifies as benchmark or boundary, then the frame being identified out with
The identification of latitude and longitude between car body, so as to realize on residing solar panel, the panel coordinate system formed by its latitude and longitude
In positioning.Wherein as the frame quantity of positioning datum or the solar panel for positioning boundary, it also it is not absolutely required to know
Do not go out the whole frame of surrounding, i.e., 4 frames, as long as identifying two frames of adjacent two handing-over, you can carry out follow-up warp
Parallel identification positioning.
The car body position computing unit 14, is connected to the latitude and longitude recognition unit 13；For according to the car body with
Warp quantity and parallel quantity between the frame calculate coordinate range of the car body on the solar panel.It is described
Image collection unit position calculation unit 15, is connected to the car body position computing unit 14, for the chi according to the car body
Coordinate range and the image collection unit 11 and the relative position of the car body of very little, the described car body on a solar panel
Put, calculate coordinate range of the image collection unit 11 on the solar panel.
The car body center position computing unit 16, is connected to the car body position computing unit 14, for according to institute
State the coordinate range of the size, the car body of car body on a solar panel and calculate the car body central point in the solar energy face
Coordinate range on plate.The GPS unit 17, the GPS location position for obtaining the car body in real time.The panel judges single
Member 18, is connected to the GPS unit 17, the car is judged for the GPS location position according to the car body and panel distribution map
The information of solar panel residing for body.
The wireless communication unit 19, is wirelessly connected to a server 30.The wireless communication unit is used for the car
Image around body is wirelessly transmitted to the server 30；And/or, the location data of the car body is sent to the server
30.Wherein, the location data of the car body includes but is not limited to the information of solar panel residing for the car body, the car body and existed
Coordinate range, the car body of coordinate range, the image collection unit on the solar panel on the solar panel
At least one of coordinate range of the central point on the solar panel etc. information information.Wherein described radio communication unit
19, preferably WIFI units.
Further, the memory 20, for the sum of the warp on each solar panel and parallel sum, the institute of prestoring
State the size, the image collection unit and the relative position and an at least solar panel distribution map of the car body of car body.
A kind of positioner for solar panel sweeping robot that the utility model is provided, its by GPS and
The warp and weft being arranged on the solar panel of place around its car body are recognized, to determine itself car body in the large area sun
Accurate regional location where in energy panel zone on solar panel so that operating personnel can know sweeping machine in real time
The real time position of people.
Described above is only preferred embodiment of the present utility model, it is noted that for the common skill of the art
Art personnel, on the premise of the utility model principle is not departed from, can also make some improvements and modifications, these improvements and modifications
Also it should be regarded as protection domain of the present utility model.
Claims (9)
1. a kind of positioner for solar panel sweeping robot, it is characterised in that
The solar panel sweeping robot includes car body, is travelled on an at least solar panel or resident；
Each solar panel is rectangle, and its edge is provided with four recognizable frames；
Each solar panel is provided with warp and parallel perpendicular to one another, the warp and the parallel one panel coordinates of formation
System；
The positioner includes
An at least image collection unit, for obtaining image and/or picture around the car body in real time；
Frame recognition unit, is connected to the image collection unit；For according to the image and/or picture and the car body
Direct of travel recognizes the frame around the car body；
Latitude and longitude recognition unit, is connected to the image collection unit；For according to the image and/or picture and the frame
Position recognize the warp quantity and parallel quantity existed between the car body and the frame；And
Car body position computing unit, is connected to the latitude and longitude recognition unit；For according between the car body and the frame
Warp quantity and parallel quantity calculate the coordinate range of the car body on the solar panel.
2. positioner as claimed in claim 1, it is characterised in that also include
Image collection unit position calculation unit, is connected to the car body position computing unit, for the chi according to the car body
Coordinate range and the image collection unit and the relative position meter of the car body of very little, the described car body on a solar panel
Calculate coordinate range of the image collection unit on the solar panel.
3. positioner as claimed in claim 1, it is characterised in that also include
Car body center position computing unit, is connected to the car body position computing unit, for the size according to the car body,
Coordinate range of the car body on a solar panel calculates coordinate model of the car body central point on the solar panel
Enclose.
4. positioner as claimed in claim 1, it is characterised in that also include
GPS unit, the GPS location position for obtaining the car body in real time；
Panel judging unit, is connected to the GPS unit, for the GPS location position according to the car body and panel distribution map
Judge the information of solar panel residing for the car body.
5. the positioner as any one of claim 1-4, it is characterised in that also include
Wireless communication unit, is wirelessly connected to a server；
The wireless communication unit is used for
Image around the car body is wirelessly transmitted to the server；And/or,
The location data of the car body is sent to the server；
Wherein, the location data of the car body includes
The information of solar panel residing for the car body, and/or,
Coordinate range of the car body on the solar panel, and/or,
Coordinate range of the image collection unit on the solar panel, and/or,
Coordinate range of the car body central point on the solar panel.
6. the positioner as any one of claim 1-4, it is characterised in that also include
Memory, for prestoring
Warp sum and parallel sum on each solar panel, and/or,
The size of the car body, and/or,
The image collection unit and the relative position of the car body, and/or,
At least one side plate distribution map.
7. positioner as claimed in claim 1, it is characterised in that
The image collection unit is arranged above the car body top or on the lateral wall of the car body；The image collection list
The field-of-view angle of member in the horizontal direction is 0-360 degree.
8. positioner as claimed in claim 7, it is characterised in that wherein described image collection unit includes camera or shadow
As one kind in sensor.
9. positioner as claimed in claim 1, it is characterised in that also include
Mounting bracket, its bottom is fixedly installed to the car body top；
The image collection unit is attached at the top of the mounting bracket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720123266.4U CN206489451U (en) | 2017-02-10 | 2017-02-10 | Positioner for solar panel sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720123266.4U CN206489451U (en) | 2017-02-10 | 2017-02-10 | Positioner for solar panel sweeping robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206489451U true CN206489451U (en) | 2017-09-12 |
Family
ID=59764499
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720123266.4U Withdrawn - After Issue CN206489451U (en) | 2017-02-10 | 2017-02-10 | Positioner for solar panel sweeping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206489451U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106774346A (en) * | 2017-02-10 | 2017-05-31 | 苏州瑞得恩光能科技有限公司 | For the positioner and its localization method of solar panel sweeping robot |
| CN107598927A (en) * | 2017-10-20 | 2018-01-19 | 苏州瑞得恩光能科技有限公司 | Solar panel sweeping robot straight trip decision maker and its decision method |
-
2017
- 2017-02-10 CN CN201720123266.4U patent/CN206489451U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106774346A (en) * | 2017-02-10 | 2017-05-31 | 苏州瑞得恩光能科技有限公司 | For the positioner and its localization method of solar panel sweeping robot |
| WO2018145631A1 (en) * | 2017-02-10 | 2018-08-16 | 苏州瑞得恩光能科技有限公司 | Solar panel cleaning robot positioning device and positioning method thereof |
| CN106774346B (en) * | 2017-02-10 | 2023-11-24 | 苏州瑞得恩光能科技有限公司 | Positioning device and positioning method for solar panel cleaning robot |
| CN107598927A (en) * | 2017-10-20 | 2018-01-19 | 苏州瑞得恩光能科技有限公司 | Solar panel sweeping robot straight trip decision maker and its decision method |
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Granted publication date: 20170912 Effective date of abandoning: 20231124 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20170912 Effective date of abandoning: 20231124 |