CN206541195U - Navigation system for solar panel sweeping robot - Google Patents
Navigation system for solar panel sweeping robot Download PDFInfo
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- CN206541195U CN206541195U CN201720123259.4U CN201720123259U CN206541195U CN 206541195 U CN206541195 U CN 206541195U CN 201720123259 U CN201720123259 U CN 201720123259U CN 206541195 U CN206541195 U CN 206541195U
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Abstract
The utility model provides a kind of navigation system for solar panel sweeping robot, wherein the solar panel sweeping robot includes car body and dynamical system, the car body is travelled or resident by the dynamical system on an at least solar panel.The navigation system includes path optimizing planning unit, positioner and control system.Wherein described path optimizing planning unit, in an external server, for calculating and planning the path optimizing that the sweeping robot is travelled on an at least solar panel；The positioner, on the car body, for obtaining real time position of the car body on the solar panel；The control system, in the car body, is respectively connecting to the path optimizing planning unit and the positioner, for sending an at least control instruction according to the real time position of the path optimizing and the car body.The dynamical system receives the control instruction of the control system.
Description
Technical field
The present invention relates to sweeping robot field, the navigation system that more particularly to a kind of solar panel sweeping robot is used
System.
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 is it has also been found that it needs the research and development of progress new function, 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.
Specifically, usual navigation track route of the sweeping robot on solar panel, is sent out according to path optimizing
Go out series of instructions control machine people to travel on panel.And all driving instructions are all pre-set, sweeping machine
People is according to the mechanical execute instruction of setting.And because sweeping robot can not be accurately positioned in real time on solar panel, therefore
Also just can not real-time navigation.Once in this way, there is foreign matter on solar panel where it, for example, the birds droppings of desiccation, may result in clear
Sweep robot and significantly deviate preset path, sweeping robot deviates behind setting path, it is possible to can be from solar panel where it
On fall, or there is exhibiting high surface product to be swept into.
Therefore, it is necessory to develop a kind of new navigation system for solar panel sweeping robot, come gram
Take defect of the prior art.
The content of the invention
It is an advantage of the invention to provide a kind of navigation system for solar panel sweeping robot, to solve
Certainly existing sweeping robot can not in real time location navigation the problem of.
To solve the above problems, the present invention provides a kind of navigation system for solar panel sweeping robot, wherein
The solar panel sweeping robot include car body and dynamical system, the car body by the dynamical system at least one too
It is positive to be travelled or resident on panel.The navigation system includes path optimizing planning unit, positioner and control system.Its
Described in path optimizing planning unit, in an external server, for calculating and planning the sweeping robot at least
The path optimizing travelled on one solar panel；The positioner, on the car body, for obtaining the car body at it
Real time position on the solar panel of place；The control system, in the car body, is respectively connecting to the path optimizing
Planning unit and the positioner, for sending an at least control according to the real time position of the path optimizing and the car body
System instruction.The dynamical system receives the control instruction of the control system.
Further, in different embodiments, an at least bridge is provided between the adjacent solar panel of any two of which
Plate.The navigation system also puts judging unit, gap bridge detection unit and headstock walking direction unit including bridge location.It is wherein described
Bridge location puts judging unit, for obtaining an at least vane position and the bridgehead position at the bridge plate two ends from the server；Institute
Gap bridge detection unit is stated, when the control instruction is instructed for the control car body by the gap bridge of a bridge plate, the car is detected
Whether body real time position matches with the bridgehead position of the bridge plate；If it is not, adjusting the car body position to the bridgehead position of the bridge plate；
If so, performing next step；And the headstock walking direction unit, judge the car body direct of travel and the vane position
It is whether consistent；If so, performing the instruction of passing a bridge；If it is not, it is consistent with the vane position to adjust the car body direct of travel, then
Perform the instruction of passing a bridge.
Further, in different embodiments, each of which solar panel is rectangle, and its edge can provided with four
Recognize frame；Warp and parallel perpendicular to one another, the warp and parallel formation one are additionally provided with each solar panel
Panel coordinate system.The positioner include an at least image collection unit, frame recognition unit, latitude and longitude recognition unit and
Car body position computing unit.Wherein described image collection unit, for obtaining image and/or figure around the car body in real time
Piece；The frame recognition unit, is connected to the image collection unit, for according to the image and/or picture and the car
The direct of travel of body recognizes the frame around the 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, the warp existed between the car body and the frame is recognized
Line number amount and parallel quantity；And the car body position computing unit, it is connected to the latitude and longitude recognition unit；For according to institute
State warp quantity and parallel quantity between car body and the frame and calculate seat of the car body where it on solar panel
Mark scope.
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, car body solar energy where it
The relative position of coordinate range and the image collection unit and the car body on panel, calculates the image collection unit and exists
Coordinate range on the solar 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, car body solar energy face where it
Coordinate range on plate, calculates 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；The GPS unit, the GPS location position for obtaining the car body in real time；The panel judging unit, is connected to described
GPS unit, solar panel where judging the car body for the GPS location position according to the car body and panel distribution map
Information.
Further, in different embodiments, it also includes foreign matter recognition unit, in the external server,
It is connected to the image collection unit；For the foreign matter picture for contrasting the image around the car body Yu prestoring；If an image or
A part and a foreign matter picture match in picture, then judge there is foreign matter around the car body.
Further, in different embodiments, it also includes wireless communication unit, is connected to the control system, and
It is wirelessly connected to the external server；For realizing data exchange between the control system and the external server.
The invention has the advantages that there is provided a kind of navigation system for solar panel sweeping robot, it passes through positioning
The accurate region position that device positions its own car body where in solar energy in large area panel zone on solar panel in real time
Put so that it can carry out real-time navigation operation, so as to effectively plan its cleaning path optimizing on solar panel,
Enable it to the effective surface area for cleaning solar panel.
Brief description of the drawings
Fig. 1 is schematic diagram of the sweeping robot on solar panel in embodiment of the present invention；
Fig. 2 is the building-block of logic of the navigation system of sweeping robot in embodiment of the present invention.
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, path optimizing planning unit 21, positioner 22, control system 23, bridge location, which is put, to be sentenced
Disconnected unit 24, gap bridge detection unit 25, headstock walking direction unit 26, foreign matter recognition unit 27, wireless communication unit 28；
Image collection unit 221, frame recognition unit 222, latitude and longitude recognition unit 223, car body position computing unit
224, image collection unit position calculation unit 225, car body center position computing unit 226, GPS unit 227, panel judges
Unit 228, server 30.
Embodiment
The preferred embodiments of the present invention are introduced below with reference to Figure of description, it was demonstrated that the present invention can be implemented, it is described to implement
Example can make its technology contents more clear and readily appreciate to those of skill in the art's complete description present invention.This hair
Bright to be emerged from by many various forms of embodiments, protection scope of the present invention is not limited only to what is mentioned in text
Embodiment.
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 present invention is not limited
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 present invention is previously mentioned, such as " on ", " under ", "front", "rear", "left", "right", " interior ", " outer ", "
Sideways " etc., only it is the direction in accompanying drawing, is used only to the explanation and illustration present invention, rather than for limiting the protection of the present invention
Scope.
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 of the present invention, which provides one kind, is used for solar panel sweeping robot 100
（Hereinafter referred to as sweeping robot or robot）Navigation system.Wherein described solar panel sweeping robot 100 includes car
Body 10 and dynamical system, the car body 10 are travelled or resident by the dynamical system on an at least solar panel 200.
And each solar panel 200 is rectangle, its edge is provided with four recognizable frames 210；Each sun
Energy panel is provided with warp 211 and parallel 212 perpendicular to one another, one panel coordinates of warp 211 and the parallel 212 formation
System.And solar panel 200, its be generally all it is multiple be stitched together, and then form larger daylighting area.At adjacent two
An at least bridge plate 300 is generally provided between solar panel, for connecting two solar panels.
Further, refer to shown in Fig. 2, the navigation system include path optimizing planning unit 21, positioner 22,
Control system 23, bridge location put judging unit 24, gap bridge detection unit 25, headstock walking direction unit 26, foreign matter recognition unit 27
And wireless communication unit 28.
Wherein described path optimizing planning unit 21, for calculating and planning the sweeping robot in an at least solar energy
The path optimizing travelled on panel；It can be specifically provided in the server 30 of outside, but is not limited to.
The positioner 22, on the car body 10, for obtaining the car body 10 in residing solar panel
Real time position.It includes at least an image collection unit 221, frame recognition unit 222, latitude and longitude recognition unit 223, car body
Position calculation unit 224, image collection unit position calculation unit 225, car body center position computing unit 226, GPS unit
227 and panel judging unit 228.
Wherein described image collection unit 221, for obtaining image and/or picture around the car body in real time.Specifically
, as shown in figure 1, the image collection unit 221 can be arranged on by a mounting bracket 110 on the car body 10, but
It is not limited to.And the field-of-view angle of wherein described image collection unit 221 in the horizontal direction is 0-360 degree.The image collection list
Member 221 includes but is not limited to camera or image sensor.
The frame recognition unit 222, is connected to the image collection unit 221；For according to the image and/or figure
The direct of travel of piece and the car body recognizes the frame around the car body.The latitude and longitude recognition unit 223, is connected to described
Image collection unit 221；For according to the position of the image and/or picture and the frame recognize the car body 10 with it is described
The warp quantity and parallel quantity existed between frame 210.
Specifically, in a detailed embodiment, the image collection unit 221, the frame recognition unit 222 with
And the cooperation between the latitude and longitude recognition unit 223, it is the figure for the car body surrounding that the image collection unit 221 is collected
Piece or image, can be explicitly shown 4 peripheral frames of solar panel residing for the car body.The frame recognition unit 222 is known
After the frame of other four sides, the frame that the latitude and longitude recognition unit 223 then can be respectively to identify recognizes that car body arrives its in four weeks right as boundary
The latitude and longitude quantity between frame is answered, and then realizes 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 221 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
222 after two frames of adjacent handing-over are recognized, the latitude and longitude recognition unit 223 i.e. can be with identify two adjacent handing-over sides
Frame is 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 realization is fixed
Position.
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 224, is connected to the latitude and longitude recognition unit 223；For according to the car body
Warp quantity and parallel quantity between the frame calculate coordinate range of the car body on the solar panel.Institute
Image collection unit position calculation unit 225 is stated, the car body position computing unit 224 is connected to, for according to the car body
Coordinate range and the image collection unit 221 and the phase of the car body on a solar panel of size, the car body
To position, coordinate range of the image collection unit 221 on the solar panel is calculated.
The car body center position computing unit 226, is connected to the car body position computing unit 224, for basis
The coordinate range of the size of the car body, the car body on a solar panel calculates the car body central point in the solar energy
Coordinate range on panel.The GPS unit 227, the GPS location position for obtaining the car body in real time.The panel is sentenced
Disconnected unit 228, is connected to the GPS unit 227, judges for the GPS location position according to the car body and panel distribution map
The information of solar panel residing for the car body.
The control system 23, in the car body 10, be respectively connecting to the path optimizing planning unit 21 and
The positioner 22, for sending an at least control instruction according to the real time position of the path optimizing and the car body.Institute
State the control instruction that dynamical system receives the control system.
The bridge location puts judging unit 24, for obtaining an at least vane position and the bridge plate two from the server 30
The bridgehead position at end.The gap bridge detection unit 25, the gap bridge for passing through a bridge plate when the control instruction for the control car body
During instruction, detect whether the car body real time position matches with the bridgehead position of the bridge plate；If it is not, adjusting the car body position extremely
The bridgehead position of the bridge plate；If so, performing next step.The headstock walking direction unit 26, judges the car body traveling side
To whether consistent with the vane position；If so, performing the instruction of passing a bridge；If it is not, adjusting the car body direct of travel and institute
State vane position consistent, then perform the instruction of passing a bridge.
The foreign matter recognition unit 27, is connected to the image collection unit 221；For contrasting the shadow around the car body
As the foreign matter picture with prestoring；If a part and a foreign matter picture match in an image or picture, the car body week is judged
Enclose and there is foreign matter.Wherein described foreign matter recognition unit can be provided in external server.
The wireless communication unit 28, is connected to the control system 23, and be wirelessly connected to the external server 30；
For realizing data exchange between the control system 23 and the server 30.The external server 30 can also be provided
Map or plan optimization path, the bridgehead position coordinate at bridge plate two ends and bridge floor position, and store foreign matter picture and realize
Foreign matter is recognized.Specifically, wherein described foreign matter identification can be due to that the foreign matter recognition unit is arranged on the external service
In device, foreign matter identification is carried out by the external server.
A kind of navigation system for solar panel sweeping robot that the present invention is provided, it is real-time by positioner
The accurate regional location that its own car body is positioned where in solar energy in large area panel zone on solar panel so that its
Real-time navigation operation can be carried out, so as to effectively plan its cleaning path optimizing on solar panel so that its energy
The effective surface area for cleaning solar panel.
Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
Member, under the premise without departing from the principles of the invention, can also make some improvements and modifications, these improvements and modifications also should be regarded as
Protection scope of the present invention.
Claims (8)
1. a kind of navigation system for solar panel sweeping robot, wherein the solar panel sweeping robot includes
Car body and dynamical system, the car body are travelled or resident by the dynamical system on an at least solar panel；Its feature
It is, the navigation system includes
Path optimizing planning unit, in an external server, for calculating and planning the sweeping robot at least one
The path optimizing travelled on solar panel；
Positioner, in the car body, the real time position where for obtaining the car body on solar panel；Control system
System, in the car body, is respectively connecting to the path optimizing planning unit, the positioner, for according to described excellent
The real time position for changing path and the car body sends an at least control instruction；
Wherein described dynamical system is used to receive the control instruction.
2. navigation system as claimed in claim 1, it is characterised in that
An at least bridge plate is provided between the adjacent solar panel of any two；
The navigation system also includes
Bridge location puts judging unit, for obtaining an at least vane position and the end of the bridge at the bridge plate two ends from the external server
Position；
Gap bridge detection unit, when the control instruction is instructed for the control car body by the gap bridge of a bridge plate, detection is described
Whether car body real time position matches with the bridgehead position of the bridge plate；If it is not, adjusting the car body position to the end of the bridge position of the bridge plate
Put；If so, performing next step；And
Headstock walking direction unit, judges whether the car body direct of travel is consistent with the vane position；If so, performing described
Pass a bridge and instruct；If it is not, it is consistent with the vane position to adjust the car body direct of travel, then perform the instruction of passing a bridge.
3. navigation system as claimed in claim 1, it is characterised in that each of which solar panel is rectangle, its edge
Provided with four recognizable frames；It is additionally provided with warp and parallel perpendicular to one another on each solar panel, the warp and described
Parallel one panel coordinate system of formation；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 calculates single
Member, is connected to the latitude and longitude recognition unit；For according to the warp quantity and parallel number between the car body and the frame
Amount, calculates coordinate range of the car body where it on solar panel.
4. navigation system as claimed in claim 3, it is characterised in that the positioner also includes
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 of the car body of very little, the described car body where it on solar panel
Put, calculate coordinate range of the image collection unit on the solar panel.
5. navigation system as claimed in claim 3, it is characterised in that the positioner also includes
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 where it on solar panel, calculates seat of the car body central point on the solar panel
Mark scope.
6. navigation system as claimed in claim 3, it is characterised in that the positioner also includes
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
The information of solar panel where judging the car body.
7. navigation system as claimed in claim 3, it is characterised in that also include
Foreign matter recognition unit, in the external server, is connected to the image collection unit；For contrasting the car body
The image of surrounding and the foreign matter picture prestored；If a part and a foreign matter picture match in an image or picture, judge institute
State and there is foreign matter around car body.
8. navigation system as claimed in claim 1, it is characterised in that also include
Wireless communication unit, is connected to the control system, and be wirelessly connected to the external server；For in the control
Data exchange is realized between system and the external server.
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| CN201720123259.4U CN206541195U (en) | 2017-02-10 | 2017-02-10 | Navigation system for solar panel sweeping robot |
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| CN201720123259.4U CN206541195U (en) | 2017-02-10 | 2017-02-10 | Navigation system for solar panel sweeping robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108008723A (en) * | 2017-11-23 | 2018-05-08 | 浙江国自机器人技术有限公司 | Cleaning robot on cleaning air navigation aid, system and plate on a kind of plate |
| 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 |
| CN109298715A (en) * | 2018-11-09 | 2019-02-01 | 苏州瑞得恩光能科技有限公司 | Robot traveling control system and traveling control method |
-
2017
- 2017-02-10 CN CN201720123259.4U patent/CN206541195U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN108008723A (en) * | 2017-11-23 | 2018-05-08 | 浙江国自机器人技术有限公司 | Cleaning robot on cleaning air navigation aid, system and plate on a kind of plate |
| CN109298715A (en) * | 2018-11-09 | 2019-02-01 | 苏州瑞得恩光能科技有限公司 | Robot traveling control system and traveling control method |
| CN109298715B (en) * | 2018-11-09 | 2021-12-07 | 苏州瑞得恩光能科技有限公司 | Robot traveling control system and traveling control method |
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