WO2018145631A1 - 用于太阳能面板清扫机器人的定位装置及其定位方法 - Google Patents

用于太阳能面板清扫机器人的定位装置及其定位方法 Download PDF

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Publication number
WO2018145631A1
WO2018145631A1 PCT/CN2018/075523 CN2018075523W WO2018145631A1 WO 2018145631 A1 WO2018145631 A1 WO 2018145631A1 CN 2018075523 W CN2018075523 W CN 2018075523W WO 2018145631 A1 WO2018145631 A1 WO 2018145631A1
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WO
WIPO (PCT)
Prior art keywords
vehicle body
solar panel
unit
positioning
image
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PCT/CN2018/075523
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English (en)
French (fr)
Inventor
彭芳
徐建荣
周峰
王佳庆
Original Assignee
苏州瑞得恩光能科技有限公司
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Application filed by 苏州瑞得恩光能科技有限公司 filed Critical 苏州瑞得恩光能科技有限公司
Priority to US16/485,179 priority Critical patent/US20200169215A1/en
Priority to ES18750852T priority patent/ES2927987T3/es
Priority to EP18750852.8A priority patent/EP3582055B1/en
Priority to JP2019543257A priority patent/JP6860180B2/ja
Publication of WO2018145631A1 publication Critical patent/WO2018145631A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
    • H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
    • H02S40/10—Cleaning arrangements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/13—Edge detection
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • 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

Definitions

  • the invention relates to the field of cleaning robots, in particular to a positioning device used by a solar panel cleaning robot and a positioning method thereof.
  • a solar panel is a device that converts solar energy directly into electrical energy using photovoltaics that occur under the illumination of semiconductor materials. Solar panels can generate electricity in places where there is sunlight, so solar panels are suitable for a variety of applications, from large power stations to small portable chargers.
  • the working environment of solar panels can only be outdoor, and the biggest problem affecting their work is not the wind and rain, but the dust accumulated all the year round. Dust or other attachments on the solar panel may affect the transmittance of the panel and impede the photoelectric efficiency, which will seriously affect the efficiency of the panel directly obtaining sunlight, reduce the energy absorption and conversion efficiency of the panel, and reduce the power generation efficiency.
  • the prior art solar panels can only rely on manual periodic cleaning work in use. Due to the large area of the solar panel and the large number of panels used by large power stations at the same time, the dust will accumulate repeatedly and need to be repeatedly cleaned; therefore, the labor cost is high, the cleaning efficiency is low, and the cleaning effect is poor.
  • the staff on the ground cannot be known in real time. Due to the unknown real-time location, it is impossible to monitor the real-time working state of the cleaning robot. Moreover, since the solar panels are usually placed at a high position, even if the cleaning robot malfunctions, stops running, or the route is deviated, the staff cannot know in time.
  • An object of the present invention is to provide a positioning device for a solar panel cleaning robot to solve the problem that the existing cleaning robot cannot be positioned in real time, thereby causing incomplete monitoring of the working state.
  • the present invention provides a positioning device for a solar panel cleaning robot, wherein the solar panel cleaning robot includes a vehicle body that travels or resides on at least one solar panel; each solar panel is rectangular. There are four identifiable borders at the edges thereof; each of the solar panels is further provided with warp and weft lines perpendicular to each other, and the warp threads and the weft lines form a panel coordinate system.
  • the positioning device includes at least one image capturing unit, a frame identifying unit, a latitude and longitude identifying unit, and a body position calculating unit.
  • the image acquisition unit is configured to acquire an image and/or a picture around the vehicle body in real time;
  • the frame recognition unit is connected to the image acquisition unit, and configured to be used according to the image and/or picture and the vehicle body.
  • the direction of travel identifies the border around the body.
  • the latitude and longitude line identifying unit is connected to the image capturing unit, and is configured to identify the number of warp threads and the number of weft lines existing between the vehicle body and the frame according to the position of the image and/or the picture and the frame.
  • the vehicle body position calculating unit is connected to the warp and weft recognizing unit, and is configured to calculate a coordinate range of the vehicle body on the solar panel according to the number of warp threads and the number of wefts between the vehicle body and the bezel.
  • the positioning device further includes an image capturing unit position calculating unit connected to the vehicle body position calculating unit, and the vehicle body is in a solar energy according to the size of the vehicle body a coordinate range on the panel and a relative position of the image capturing unit and the vehicle body, and calculating a coordinate range of the image capturing unit on the solar panel.
  • the positioning device further includes a vehicle body center point position calculating unit connected to the vehicle body position calculating unit, and the vehicle body is in accordance with the size of the vehicle body.
  • the coordinate range on the solar panel calculates the coordinate range of the center point of the vehicle body on the solar panel.
  • the positioning device further includes a GPS unit and a panel determining unit.
  • the GPS unit is configured to acquire a GPS positioning position of the vehicle body in real time;
  • the panel determining unit is connected to the GPS unit, and is configured to determine the vehicle body according to a GPS positioning position and a panel distribution map of the vehicle body. Information on solar panels.
  • the positioning device further includes a wireless communication unit that is wirelessly connected to a server.
  • the wireless communication unit is configured to wirelessly transmit an image around the vehicle body to the server; and/or send positioning data of the vehicle body to the server.
  • the positioning data of the vehicle body includes, but is not limited to, information of a solar panel on which the vehicle body is located, a coordinate range of the vehicle body on the solar panel, and a coordinate range of the image capturing unit on the solar panel. The coordinate range of the center point of the vehicle body on the solar panel.
  • the positioning device further includes a memory for pre-storing the total number of warp threads and the total number of wefts on each solar panel, and/or the size of the vehicle body, and/or the a relative position of the image capture unit to the vehicle body, and/or at least one panel profile.
  • the image capturing unit is disposed above the top of the vehicle body or on the outer sidewall of the vehicle body; the image capturing unit has a viewing angle of 0 degrees to 360 degrees in the horizontal direction.
  • the image acquisition unit includes but is not limited to a camera or an image sensor.
  • the positioning device further includes a mounting bracket, the bottom of which is fixedly mounted to the top of the vehicle body; and the image capturing unit is mounted to the top of the mounting bracket.
  • another object of the present invention is to provide a positioning method for a solar panel cleaning robot, wherein the solar panel cleaning robot includes a vehicle body that travels or resides on at least one solar panel; each solar energy The panel is rectangular, and four identifiable borders are disposed at the edges thereof; each of the solar panels is provided with warp and weft lines perpendicular to each other, and the warp threads and the weft lines form a panel coordinate system.
  • the positioning method includes the following steps: an image capturing step of acquiring an image and/or a picture around the vehicle body in real time; a frame identifying step of identifying the image according to the image and/or picture and the traveling direction of the vehicle body a frame around the vehicle body; a latitude and longitude line recognizing step, identifying the number of warp threads and the number of weft lines existing between the car body and the frame according to the image and/or the picture and the position of the frame; and, a car
  • the body position calculating step calculates a coordinate range of the vehicle body on the solar panel according to the number of warp threads and the number of wefts between the vehicle body and the frame.
  • the positioning method further includes the following steps: an image capturing unit position calculating step, according to the size of the vehicle body, the coordinate range of the vehicle body on a solar panel, and the image Calculating a coordinate range of the image capturing unit on the solar panel by calculating a relative position of the capturing unit and the vehicle body.
  • the positioning method further includes the following steps: a vehicle body center point position calculation step, according to the size of the vehicle body, the coordinate range of the vehicle body on a solar panel, The coordinate range of the center point of the vehicle body on the solar panel.
  • the positioning method before the image capturing step, further includes the following steps: a GPS positioning step, acquiring a GPS positioning position of the vehicle body in real time; and a panel determining step, according to The GPS positioning position and the panel distribution map of the vehicle body determine information of the solar panel in which the vehicle body is located.
  • the positioning method further includes the following steps: an image transmitting step of wirelessly transmitting an image around the vehicle body to a server; and/or a positioning data transmitting step of the vehicle
  • the location data of the body is sent to the server.
  • the positioning data of the vehicle body includes, but is not limited to, information of a solar panel on which the vehicle body is located, a coordinate range of the vehicle body on the solar panel, and a coordinate range of the image capturing unit on the solar panel. The coordinate range of the center point of the vehicle body on the solar panel.
  • An advantage of the present invention is to provide a positioning device for a solar panel cleaning robot and a positioning method thereof, which can determine the body of the vehicle by GPS and the identified warp and weft lines disposed on the solar panel around the vehicle body.
  • the precise location of the solar panels on the large solar panel area allows the operator to know the real-time location of the cleaning robot in real time.
  • FIG. 1 is a schematic view of a cleaning robot on a solar panel according to an embodiment of the present invention
  • FIG. 2 is a logic structural diagram of a positioning device of a cleaning robot according to an embodiment of the present invention
  • FIG. 3 is a schematic view showing the overall appearance of a cleaning robot according to an embodiment of the present invention.
  • FIG. 4 is a flow chart showing steps of a method for positioning a solar panel cleaning robot according to an embodiment of the present invention
  • FIG. 5 is a schematic view showing the projection of the cleaning robot in the warp direction of the solar panel latitude and longitude coordinate system in the embodiment of the present invention
  • FIG. 6 is a schematic view showing the projection of the cleaning robot in the weft direction of the solar panel latitude and longitude coordinate system in the embodiment of the present invention.
  • a component When a component is described as being “on” another component, the component can be placed directly on the other component; an intermediate component can also be present, the component being placed on the intermediate component, And the intermediate part is placed on another part.
  • a component When a component is described as “mounted to” or “connected to” another component, it can be understood as “directly” or “connected”, or a component is “mounted to” or “connected” through an intermediate component. To “another part.
  • an embodiment of the present invention provides a positioning device for a cleaning robot 100 , wherein the cleaning robot 100 includes a vehicle body 10 on at least one solar panel 200 . Drive or park.
  • each of the solar panels 200 is rectangular, and four identifiable borders 210 are disposed at the edges thereof; each of the solar panels 200 is provided with a plurality of warp threads 211 and a plurality of weft threads 212 .
  • the warp 211 is perpendicular to the weft 212 such that the warp 211 and the weft 212 form a panel coordinate system.
  • a plurality of the solar panels 200 are typically spliced together to form a larger daylighting area.
  • the two solar panels are connected by providing at least one bridge 300 between adjacent two solar panels.
  • the positioning device includes an image capturing unit 11, a frame identifying unit 12, a latitude and longitude identifying unit 13, a body position calculating unit 14, an image capturing unit position calculating unit 15, and a The vehicle body center point position calculating unit 16, a GPS unit 17, a panel determining unit 18, a wireless communication unit 19, and a memory 20.
  • the image capturing unit 11 is disposed above the top of the vehicle body 10 or on the outer side wall of the vehicle body 10.
  • a mounting bracket 110 is disposed on the top of the vehicle body 10 , and the image capturing unit 11 is mounted to the top of the mounting bracket 110 .
  • the image capturing unit 11 has a viewing angle of 0 to 360 degrees in the horizontal direction.
  • the image acquisition unit 11 includes, but is not limited to, a camera or an image sensor.
  • the image capturing unit 11 is configured to acquire images and/or pictures around the vehicle body in real time.
  • the frame recognition unit 12 is connected to the image acquisition unit 11 for identifying a frame around the vehicle body 10 according to the image and/or picture and the traveling direction of the vehicle body 10.
  • the latitude and longitude line identifying unit 13 is connected to the image capturing unit 11 for identifying the warp 211 existing between the vehicle body 10 and the frame 210 according to the position of the image and/or the picture and the frame.
  • the number and number of wefts 212 is connected to the image capturing unit 11 for identifying the warp 211 existing between the vehicle body 10 and the frame 210 according to the position of the image and/or the picture and the frame.
  • the cooperation between the image capturing unit 11, the frame identifying unit 12, and the warp and weft recognizing unit 13 enables the image capturing unit 11 to collect the car.
  • Pictures or images around the body 10 which can clearly show the frame 210 around the solar panel 200 where the vehicle body 10 is located.
  • the latitude and longitude line recognition unit 13 identifies the number of latitude and longitude lines from the periphery of the vehicle body 10 to its corresponding frame with the identified frame as the boundary. To achieve positioning.
  • the position of the vehicle body 10 is such that the picture or image around the vehicle body 10 obtained by the image capturing unit 11 cannot clearly display the vehicle body 10.
  • the frame 210 around the solar panel 200 may have only two adjacent borders or three borders.
  • the latitude and longitude line identification unit 13 can identify the corresponding body of the car body 10 with the two adjacent handover frames identified. The number of latitude and longitude lines between the two sides of the identified two borders is further achieved.
  • the positioning of the vehicle body 10 on the solar panel 200 where it is located it is necessary to first identify the frame of the solar panel 200 where the vehicle body 10 is located, and use the identified frame as a reference. Or the boundary, and then the identification of the identified latitude and longitude lines between the frame and the vehicle body, thereby realizing the positioning in the panel coordinate system formed by the latitude and longitude lines on the solar panel.
  • the positioning reference or the positioning limit of the number of the borders of the solar panel 200 it is not necessary to identify all the surrounding borders, that is, four borders, as long as the two adjacent borders are recognized, the subsequent warp and weft can be performed. Line recognition positioning.
  • the vehicle body position calculating unit 14 is connected to the warp and weft recognizing unit 13 for calculating the vehicle body 10 at the solar panel 200 according to the number of warp threads and the number of wefts between the vehicle body 10 and the bezel.
  • the image capturing unit position calculating unit 15 is connected to the vehicle body position calculating unit 14 for collecting, according to the size of the vehicle body 10, the coordinate range of the vehicle body 10 on a solar panel 200, and the image capturing.
  • the coordinate position of the image capturing unit 11 on the solar panel 200 is calculated by the relative position of the unit 11 and the vehicle body 10.
  • the vehicle body center point position calculating unit 16 is connected to the vehicle body position calculating unit 14 for calculating the vehicle according to the size of the vehicle body 10 and the coordinate range of the vehicle body 10 on a solar panel 200.
  • the center point of the body is the coordinate range on the solar panel.
  • the GPS unit 17 is configured to acquire the GPS positioning position of the vehicle body in real time.
  • the panel determining unit 18 is connected to the GPS unit 17 for determining information of the solar panel in which the vehicle body 10 is located according to the GPS positioning position and the panel distribution map of the vehicle body 10.
  • the wireless communication unit 19 is wirelessly connected to a server 30.
  • the wireless communication unit 19 is configured to wirelessly transmit images around the vehicle body 10 to the server 30; and/or transmit positioning data of the vehicle body 10 to the server 30.
  • the positioning data of the vehicle body 10 includes, but is not limited to, the information of the solar panel 200 where the vehicle body 10 is located, the coordinate range of the vehicle body 10 on the solar panel 200, and the image capturing unit 11 at the solar panel. At least one of information of a coordinate range on 200, a coordinate range of the vehicle body center point on the solar panel 200, and the like.
  • the wireless communication unit 19 is preferably a WIFI unit.
  • the memory 20 is configured to pre-store the total number of warp threads and the total number of wefts on each solar panel 200, the size of the vehicle body 10, the relative position of the image capturing unit 11 and the vehicle body 10, and at least one Solar panel distribution map.
  • the solar panel cleaning robot includes a vehicle body that travels or resides on at least one solar panel; each solar panel is rectangular, and four identifiable borders are disposed at an edge thereof; each solar panel is provided with vertical warps And a weft, the warp and the weft form a panel coordinate system.
  • the positioning method includes S1: GPS positioning step, S2: panel determination step, S3: image acquisition step, S4: frame recognition step, S5: latitude and longitude line recognition step, S6: vehicle body position calculation step, S7: image acquisition unit Position calculation step, S8: vehicle body center point position calculation step, S9: image transmission step, and S10: positioning data transmission step.
  • the GPS positioning step the GPS positioning position of the vehicle body is acquired in real time.
  • the panel determining step the information of the solar panel in which the vehicle body is located is determined according to the GPS positioning position and the panel distribution map of the vehicle body.
  • the vehicle body on the solar panel on which the vehicle body is located it is first necessary to identify the frame of the solar panel in which it is located; then, using the identified frame as a reference, the vehicle body and the identified frame are further identified. Between the latitude and longitude lines, thereby achieving positioning in the panel coordinate system formed by its latitude and longitude lines on the solar panel in which it is located.
  • the number of frames of the solar panel as the positioning reference or the positioning limit does not have to be 4, that is, it is not necessary to identify all four borders around the solar panel, as long as the two borders of the two adjacent intersections are recognized, that is, Subsequent latitude and longitude line identification can be performed.
  • the above identification positioning is divided into the following three steps: an image acquisition step, a frame recognition step, and a latitude and longitude line recognition step.
  • image capturing step images and/or pictures around the vehicle body are acquired in real time.
  • frame recognition step a frame around the vehicle body is identified based on the image and/or picture and the traveling direction of the vehicle body.
  • latitude and longitude line recognizing step the number of warp threads and the number of weft lines existing between the vehicle body and the bezel are identified according to the images and/or pictures and the position of the bezel.
  • the image recognition step a picture or image data around the vehicle body is obtained, and the data includes frame information of a solar panel in which the vehicle body is located.
  • the frame recognition step is to identify the frame information in the acquired data, and use the identified frame as a reference or boundary for subsequently identifying the latitude and longitude lines.
  • the latitude and longitude line recognizing step the number of the latitude and longitude lines in the corresponding frame is recognized by using the identified frame as a reference or a limit, so that the solar energy of the vehicle body is realized.
  • the positioning in the panel coordinate system formed by its latitude and longitude lines.
  • a coordinate range of the vehicle body on the solar panel is calculated according to the number of warp threads and the number of wefts between the vehicle body and the frame.
  • the image capturing unit position calculating step the image capturing is calculated according to the size of the vehicle body, the coordinate range of the vehicle body on a solar panel, and the relative position of the image capturing unit and the vehicle body. The range of coordinates of the unit on the solar panel.
  • the length of the vehicle body is A
  • the width is B
  • the thickness is C
  • the coordinates of the vehicle body are (X, Y).
  • X1 ⁇ X ⁇ X2 (X1, X2 is the two warp coordinates closest to the car body on the solar panel)
  • Y1 ⁇ Y ⁇ Y2 (Y1, Y2 are the two closest to the car body on the solar panel
  • the latitude coordinates; that is, X1, X2, Y1, and Y2 enclose the coordinate range in which the vehicle body is located. It is known that the height of the image capturing unit relative to the top surface of the vehicle body is H.
  • the above three known conditions are the relative positions of the image capturing unit and the vehicle body.
  • the vehicle body center point position calculating step calculates a coordinate range of the vehicle body center point on the solar panel according to the size of the vehicle body and the coordinate range of the vehicle body on a solar panel.
  • the image around the vehicle body is wirelessly transmitted to the server.
  • the positioning data transmitting step the positioning data of the vehicle body is transmitted to the server.
  • the positioning data of the vehicle body includes, but is not limited to, information of a solar panel in which the vehicle body is located, and/or a coordinate range of the vehicle body on the solar panel, and/or the image capturing unit. The coordinate range on the solar panel, and/or the coordinate range of the vehicle body center point on the solar panel.
  • the invention provides a positioning device for a solar panel cleaning robot and a positioning method thereof, and determines a large-area solar panel of a vehicle body by using a GPS and identifying a warp and a weft line disposed on the solar panel around the vehicle body.
  • the precise location of the area on the solar panel in the area allows the operator to know the real-time position of the cleaning robot in real time.

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Abstract

一种用于太阳能面板清扫机器人（100）的定位装置及其定位方法。定位装置用于获取车体（10）在太阳能面板（200）上的实时位置。定位装置包括影像采集单元（11）、边框识别单元（12）、经纬线识别单元（13）、车体位置计算单元（14）、影像采集单元位置计算单元（15）、车体中心点位置计算单元（16）、GPS单元（17）、面板判断单元（18）、无线通信单元（19）以及存储器（20）。

Description

用于太阳能面板清扫机器人的定位装置及其定位方法 技术领域
本发明涉及清扫机器人领域，特别涉及一种太阳能面板清扫机器人使用的定位装置及其定位方法。
背景技术
在化石燃料日趋减少的情况下，作为一种新兴的可再生能源的太阳能已成为人类使用能源的重要组成部分，近十年来，太阳能应用技术在世界各国都得到迅猛发展。太阳能面板是指利用半导体材料在光照条件下发生的光生伏特效应(photovoltaic)将太阳能直接转换为电能的器件。有太阳光的地方就能发电，因此太阳能面板适用于从大型发电站到小型便携式充电器等多种场合，近年来得到飞速发展。
太阳能面板的工作环境只能是户外，影响其工作的最大问题并不是风雨雷电，而是常年累积的灰尘。太阳能面板上附着有灰尘或其它附着物，会影响面板板的透光率及阻碍光电效率，从而会严重影响面板直接获取阳光的效率，降低面板的能量吸收和转换效率，降低发电效率。现有技术的太阳能面板在使用中只能依靠人工定期完成清理工作。由于太阳能面板面积较大、大型电站同时使用的面板较多，而灰尘会反复累积，需要反复清洗；因此人力成本很高、清理效率低、清理效果较差。在很多场合，为了提高空间利用率，太阳能面板都是利用支架设置在高处，这就给清理工作带来更大的难度和风险。很多太阳能面板的用户为了降低清理成本只能选择不清理，这样只能被迫承担灰尘导致的电能损耗。这样，就需要有一个新的自动清理设备，对太阳能面板进行自动 清理。
对此，业界开发出了一种新型的清扫机器人来进行太阳能面板的清洁，具体可参看中国专利申请201610836028.8号所揭示的相关内容。但随着这种清扫机器人在实际中的不断使用，业界也发现其需要进行新型功能的研发，来克服实际遇到的各种问题，
例如，对于清扫机器人在太阳能面板上的实时位置，地面上的工作人员是无法实时获知的。由于实时位置的未知，故而也就无法监控到清扫机器人的实时工作状态。并且，由于太阳能面板通常都是会设置在高处，因此，即使清扫机器人发生故障、停止运行或者路线走偏，工作人员也无法及时得知。
因此，确有必要来开发一种新型的用于太阳能面板清扫机器人的定位装置，来克服现有技术中的缺陷。
发明内容
本发明的一个目的在于，提供一种用于太阳能面板清扫机器人的定位装置，以解决现有清扫机器人不能实时定位，进而导致无法全面监控工作状态的问题。
为解决上述问题，本发明提供一种用于太阳能面板清扫机器人的定位装置，其中所述太阳能面板清扫机器人包括车体，其在至少一太阳能面板上行驶或驻留；每一太阳能面板为矩形，其边缘处设有四条可识别边框；每一太阳能面板上还设有彼此垂直的经线及纬线，所述经线及所述纬线形成一面板坐标系。所述定位装置包括至少一影像采集单元、一边框识别单元、一经纬线识别单元以及一车体位置计算单元。所述影像采集单元用于实时获取所述车体周围的影像和/或图片；所述边框识别单元连接至所述影像采集单元，用于根据所 述影像和/或图片及所述车体的行进方向识别所述车体周围的边框。所述经纬线识别单元连接至所述影像采集单元，用于根据所述影像和/或图片及所述边框的位置，识别所述车体与所述边框之间存在的经线数量及纬线数量。所述车体位置计算单元连接至所述经纬线识别单元，用于根据所述车体与所述边框之间的经线数量及纬线数量计算所述车体在所述太阳能面板上的坐标范围。
进一步的，在不同实施方式中，所述定位装置还包括一影像采集单元位置计算单元，连接至所述车体位置计算单元，用于根据所述车体的尺寸、所述车体在一太阳能面板上的坐标范围及所述影像采集单元与所述车体的相对位置，计算所述影像采集单元在该太阳能面板上的坐标范围。
进一步的，在不同实施方式中，所述定位装置还包括一车体中心点位置计算单元，连接至所述车体位置计算单元，用于根据所述车体的尺寸、所述车体在一太阳能面板上的坐标范围，计算所述车体中心点在该太阳能面板上的坐标范围。
进一步的，在不同实施方式中，所述定位装置还包括一GPS单元和一面板判断单元。所述GPS单元用于实时获取所述车体的GPS定位位置；所述面板判断单元连接至所述GPS单元，用于根据所述车体的GPS定位位置及面板分布图判断所述车体所处太阳能面板的信息。
进一步的，在不同实施方式中，所述定位装置还包括一无线通信单元，其无线连接至一服务器。所述无线通信单元用于将所述车体周围的影像无线发送至所述服务器；和/或，将所述车体的定位数据发送至所述服务器。所述车体的定位数据包括但不限于所述车体所处太阳能面板的信息，所述车体在该太阳能面板上的坐标范围，所述影像采集单元在该太阳能面板上的坐标范围，所 述车体中心点在该太阳能面板上的坐标范围。
进一步的，在不同实施方式中，所述定位装置还包括一存储器，用于预存每一太阳能面板上的经线总数及纬线总数，和/或，所述车体的尺寸，和/或，所述影像采集单元与所述车体的相对位置，和/或，至少一面板分布图。
进一步的，在不同实施方式中，所述影像采集单元设置于所述车体顶部上方或所述车体的外侧壁上；所述影像采集单元在水平方向的视野角度为0度至360度。所述影像采集单元包括但不限于一摄像头或一影像传感器。
进一步的，在不同实施方式中，所述定位装置还包括一安装支架，其底部固定安装至所述车体顶部；所述影像采集单元安装至所述安装支架的顶部。
进一步的，本发明的另一个目的在于提供一种用于太阳能面板清扫机器人的定位方法，其中所述太阳能面板清扫机器人包括一车体，其在至少一太阳能面板上行驶或驻留；每一太阳能面板为矩形，其边缘处设有四条可识别边框；每一太阳能面板上设有彼此垂直的经线及纬线，所述经线及所述纬线形成一面板坐标系。所述定位方法包括如下步骤：一影像采集步骤，实时获取所述车体周围的影像和/或图片；一边框识别步骤，根据所述影像和/或图片及所述车体的行进方向识别所述车体周围的边框；一经纬线识别步骤，根据所述影像和/或图片及所述边框的位置识别所述车体与所述边框之间存在的经线数量及纬线数量；以及，一车体位置计算步骤，根据所述车体与所述边框之间的经线数量及纬线数量计算所述车体在所述太阳能面板上的坐标范围。
进一步的，在不同实施方式中，所述定位方法还包括如下步骤：一影像采集单元位置计算步骤，根据所述车体的尺寸、所述车体在一太阳能面板上的坐标范围及所述影像采集单元与所述车体的相对位置，计算所述影像采集单元 在该太阳能面板上的坐标范围。
进一步的，在不同实施方式中，所述定位方法还包括如下步骤：一车体中心点位置计算步骤，根据所述车体的尺寸、所述车体在一太阳能面板上的坐标范围，计算所述车体中心点在该太阳能面板上的坐标范围。
进一步的，在不同实施方式中，在所述影像采集步骤之前，所述定位方法还包括如下步骤：一GPS定位步骤，实时获取所述车体的GPS定位位置；以及，一面板判断步骤，根据所述车体的GPS定位位置及面板分布图判断所述车体所处太阳能面板的信息。
进一步的，在不同实施方式中，所述定位方法还包括如下步骤：一影像发送步骤，将所述车体周围的影像无线发送至服务器；和/或，一定位数据发送步骤，将所述车体的定位数据发送至所述服务器。所述车体的定位数据包括但不限于所述车体所处太阳能面板的信息，所述车体在该太阳能面板上的坐标范围，所述影像采集单元在该太阳能面板上的坐标范围，所述车体中心点在该太阳能面板上的坐标范围。
本发明优点在于，提供一种用于太阳能面板清扫机器人的定位装置及其定位方法，可以通过GPS以及识别出的车体周围设置于所述太阳能面板上的经线和纬线，来确定自身车体在大面积太阳能面板区域中所处太阳能面板上的精确的区域位置，使得操作人员能够实时获知清扫机器人的实时位置。
附图说明
图1为本发明实施例中清扫机器人位于太阳能面板上的示意图；
图2为本发明实施例中清扫机器人的定位装置的逻辑结构图；
图3为本发明实施例中清扫机器人的整体外观示意图；
图4为本发明实施例中用于太阳能面板清扫机器人定位方法的步骤流程图；
图5为本发明实施例中清扫机器人在其所处太阳能面板经纬线坐标体系中的经线方向的投影示意图；
图6为本发明实施例中清扫机器人在其所处太阳能面板经纬线坐标体系中的纬线方向的投影示意图。
图中部件编号如下：
100清扫机器人，200太阳能面板，210边框，经211线，212纬线，300桥板；10车体，110安装支架，11影像采集单元，12边框识别单元，13经纬线识别单元，14车体位置计算单元，15影像采集单元位置计算单元，16车体中心点位置计算单元，17GPS单元，18面板判断单元，19无线通信单元，20存储器，以及30服务器。
具体实施方式
以下参考说明书附图介绍本发明的优选实施例，证明本发明可以实施，所述实施例可以向本领域中的技术人员完整介绍本发明，使其技术内容更加清楚和便于理解。本发明可以通过许多不同形式的实施例来得以体现，本发明的保护范围并非仅限于文中提到的实施例。
在附图中，结构相同的部件以相同数字标号表示，各处结构或功能相似的组件以相似数字标号表示。附图所示的每一部件的尺寸和厚度是任意示出的，本发明并没有限定每个组件的尺寸和厚度。为了使图示更清晰，附图中有些地方适当夸大了部件的厚度。
本发明所提到的方向用语，例如「上」、「下」、「前」、「后」、「左」、「右」、 「内」、「外」、「侧面」等，仅是附图中的方向，只是用来解释和说明本发明，而不是用来限定本发明的保护范围。
当某些部件被描述为“在”另一部件“上”时，所述部件可以直接置于所述另一部件上；也可以存在一中间部件，所述部件置于所述中间部件上，且所述中间部件置于另一部件上。当一个部件被描述为“安装至”或“连接至”另一部件时，二者可以理解为直接“安装”或“连接”，或者一个部件通过一中间部件间接“安装至”、或“连接至”另一个部件。
如图1所示，本发明涉及的一个实施例提供了一种用于清扫机器人100的定位装置，其中所述清扫机器人100包括一车体10，所述车体10在至少一太阳能面板200上行驶或驻留。如图1所示的，所述每一太阳能面板200为矩形，其边缘处设有四条可识别边框210；每一太阳能面板200上设有数条经线211及数条纬线212。所述经线211垂直于所述纬线212，使得所述经线211及所述纬线212形成一面板坐标系。通常将多个所述太阳能面板200拼接在一起以形成较大采光面积。通过在相邻的两个太阳能面板之间设置至少一桥板300以连接所述两个太阳能面板。
进一步的，请参阅图2，所述定位装置包括一影像采集单元11、一边框识别单元12、一经纬线识别单元13、一车体位置计算单元14、一影像采集单元位置计算单元15、一车体中心点位置计算单元16、一GPS单元17、一面板判断单元18、一无线通信单元19以及一存储器20。
所述影像采集单元11设置于所述车体10顶部上方或所述车体10的外侧壁上。在一个具体实施例中，请参阅图3，所述车体10顶部上设置有一安装支架110，所述影像采集单元11安装至所述安装支架110的顶部。所述影像采集 单元11在水平方向的视野角度为0度至360度。所述影像采集单元11包括但不限于一摄像头或一影像传感器。
所述影像采集单元11用于实时获取所述车体周围的影像和/或图片。所述边框识别单元12连接至所述影像采集单元11，用于根据所述影像和/或图片及所述车体10的行进方向以识别所述车体10周围的边框。所述经纬线识别单元13连接至所述影像采集单元11，用于根据所述影像和/或图片及所述边框的位置以识别所述车体10与所述边框210之间存在的经线211数量及纬线212数量。
具体的，在一个具体实施方式中，通过所述影像采集单元11、所述边框识别单元12以及所述经纬线识别单元13之间的配合，使得所述影像采集单元11可以采集到所述车体10四周的图片或是影像，该些图片或是影像能够明确显示所述车体10所处的太阳能面板200四周的边框210。所述边框识别单元12识别出四周的边框210后，所述经纬线识别单元13则会以所识别出的边框为界，识别所述车体10的四周到其对应边框之间的经纬线数量，进而实现定位。
但在有些情况下，由于太阳能面板200的面积较大，所述车体10所处的位置使得所述影像采集单元11获得的车体10四周的图片或是影像不能明确显示所述车体10所处太阳能面板200四周的边框210，可能只有相邻的两处边框或是三处边框。这时，所述边框识别单元12在识别出相邻交接的两处边框后，所述经纬线识别单元13即可以以所识别出的两相邻交接边框为界，识别所述车体10相应的两边到所识别出的两边框之间的经纬线数量，进而实现定位。
也就是说，对于所述车体10在其所处太阳能面板200上的定位而言，是 需要先识别出所述车体10所处的太阳能面板200的边框，并以识别出的边框作为基准或是界限，然后再进行所识别出的边框与车体之间的经纬线的识别，从而实现在所处太阳能面板上，由其经纬线形成的面板坐标系中的定位。作为定位基准或是定位界限的太阳能面板200的边框数量，也并不一定需要识别出四周全部的边框，即4个边框，只要识别出相邻两交接的两个边框，即可进行后续的经纬线识别定位。
所述车体位置计算单元14连接至所述经纬线识别单元13，用于根据所述车体10与所述边框之间的经线数量及纬线数量计算所述车体10在所述太阳能面板200上的坐标范围。所述影像采集单元位置计算单元15连接至所述车体位置计算单元14，用于根据所述车体10的尺寸、所述车体10在一太阳能面板200上的坐标范围及所述影像采集单元11与所述车体10的相对位置，计算所述影像采集单元11在该太阳能面板200上的坐标范围。
所述车体中心点位置计算单元16连接至所述车体位置计算单元14，用于根据所述车体10的尺寸、所述车体10在一太阳能面板200上的坐标范围计算所述车体中心点在该太阳能面板上的坐标范围。所述GPS单元17用于实时获取所述车体的GPS定位位置。所述面板判断单元18连接至所述GPS单元17，用于根据所述车体10的GPS定位位置及面板分布图判断所述车体10所处太阳能面板的信息。
所述无线通信单元19无线连接至一服务器30。所述无线通信单元19用于将所述车体10周围的影像无线发送至所述服务器30；和/或，将所述车体10的定位数据发送至所述服务器30。所述车体10的定位数据包括但不限于所述车体10所处太阳能面板200的信息、所述车体10在该太阳能面板200上的 坐标范围、所述影像采集单元11在该太阳能面板200上的坐标范围、所述车体中心点在该太阳能面板200上的坐标范围等等信息中的至少一种信息。所述无线通讯单元19优选为WIFI单元。
进一步的，所述存储器20用于预存每一太阳能面板200上的经线总数及纬线总数、所述车体10的尺寸、所述影像采集单元11与所述车体10的相对位置，以及至少一太阳能面板分布图。
进一步的，本发明的又一个实施例提供了一种用于太阳能面板清扫机器人的定位方法。其中所述太阳能面板清扫机器人包括车体，在至少一太阳能面板上行驶或驻留；每一太阳能面板为矩形，其边缘处设有四条可识别边框；每一太阳能面板上设有彼此垂直的经线及纬线，所述经线及所述纬线形成一面板坐标系。
其中所述定位方法包括S1：GPS定位步骤、S2：面板判断步骤、S3：影像采集步骤、S4：边框识别步骤、S5：经纬线识别步骤、S6：车体位置计算步骤、S7：影像采集单元位置计算步骤、S8：车体中心点位置计算步骤、S9：影像发送步骤以及S10：定位数据发送步骤。
在所述GPS定位步骤中，实时获取所述车体的GPS定位位置。在所述面板判断步骤中，根据所述车体的GPS定位位置及面板分布图判断所述车体所处太阳能面板的信息。
对于所述车体在其所处太阳能面板上的定位而言，首先需要识别出所处太阳能面板的边框；然后，以识别出的边框作为基准，进一步识别所述车体与所识别出的边框之间的经纬线，从而实现在所处太阳能面板上由其经纬线形成的面板坐标系中的定位。作为定位基准或是定位界限的太阳能面板的边框数量 并不一定必须是4，即不一定需要识别出所述太阳能面板四周的全部四个边框，只要识别出相邻两交接的两个边框，即可进行后续的经纬线识别定位。
具体来讲，上述识别定位分成了以下三个步骤：影像采集步骤、边框识别步骤和经纬线识别步骤。在所述影像采集步骤中，实时获取所述车体周围的影像和/或图片。在所述边框识别步骤中，根据所述影像和/或图片及所述车体的行进方向识别所述车体周围的边框。在所述经纬线识别步骤中，根据所述影像和/或图片及所述边框的位置识别所述车体与所述边框之间存在的经线数量及纬线数量。
进一步的，在所述影像识别步骤中取得所述车体四周的图片或是影像数据，所述数据中包括车体所处太阳能面板的边框信息。所述边框识别步骤为识别获取数据中的边框信息，并将识别出的边框作为后续识别经纬线的基准或是界限。而在所述经纬线识别步骤中，则是以识别出的边框为基准或是界限，识别所述车体四周到对应边框内的经纬线的数量，如此，实现所述车体在所处太阳能面板上，由其经纬线形成的面板坐标系中的定位。
在所述车体位置计算步骤中，根据所述车体与所述边框之间的经线数量及纬线数量计算所述车体在所述太阳能面板上的坐标范围。在所述影像采集单元位置计算步骤中，根据所述车体的尺寸、所述车体在一太阳能面板上的坐标范围及所述影像采集单元与所述车体的相对位置计算所述影像采集单元在该太阳能面板上的坐标范围。
具体的，请参看图5、6所示，若已知所述车体的长度为A、宽度为B、厚度为C；(车体的尺寸)；所述车体的坐标为(X，Y)，其中，X1＜X＜X2(X1，X2为太阳能面板上距离所述车体最近的两经线坐标)，Y1＜Y＜Y2(Y1，Y2为 太阳能面板上距离所述车体最近的两纬线坐标)；即X1，X2，Y1以及Y2围成了所述车体所在的坐标范围，已知所述影像采集单元相对于所述车体顶面的高度为H。
已知所述影像采集单元在所述车体顶面的投影到所述车体两个短边的距离为A1、A2；其中，A2＝A-A1；已知影像采集单元在所述车体顶面的投影到所述车体两个长边的距离为B1、B2；其中，B2＝B-B1。以上三个已知条件为所述影像采集单元与所述车体的相对位置。
设所述影像采集单元在一太阳能面板上的的投影坐标为(x，y)，则
X1+(1+C/H)*(A-A1)＜x＜X2-(1+C/H)*A1；
Y1+(1+C/H)*(B-B1)＜y＜Y2-(1+C/H)*B1。
本实施例优选A1＝A/2，B1＝0(车体前端中心处)；A1＝A/2，B1＝B/2(车体中心处)的两组方案。
所述车体中心点位置计算步骤，根据所述车体的尺寸、所述车体在一太阳能面板上的坐标范围计算所述车体中心点在该太阳能面板上的坐标范围。
具体地，设所述车体中心点在一太阳能面板上的坐标为(x0，y0)，则
X1+A/2＜x0＜X2-A/2；
Y1+B/2＜y0＜Y-B/2。
在所述影像发送步骤中，将所述车体周围的影像无线发送至服务器。在所述定位数据发送步骤中，将所述车体的定位数据发送至所述服务器。其中，所述车体的定位数据包括但不限于所述车体所处太阳能面板的信息，和/或，所述车体在该太阳能面板上的坐标范围，和/或，所述影像采集单元在该太阳能面板上的坐标范围，和/或，所述车体中心点在该太阳能面板上的坐标范围。
本发明提供的一种用于太阳能面板清扫机器人的定位装置及其定位方法，通过GPS以及识别其车体周围的设置在所在太阳能面板上的经线和纬线，来确定自身车体在大面积太阳能面板区域中所在太阳能面板上的精确的区域位置，使得操作人员能够实时获知清扫机器人的实时位置。
以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。

Claims (13)

  1. 一种用于太阳能面板清扫机器人的定位装置，其中，
    所述太阳能面板清扫机器人包括一车体，所述车体在至少一太阳能面板上行驶或驻留；
    每一太阳能面板为矩形，其边缘处设有四条可识别边框；
    每一太阳能面板上设有彼此垂直的经线及纬线，所述经线及所述纬线形成一面板坐标系；
    所述定位装置包括：
    至少一影像采集单元，用于实时获取所述车体周围的影像和/或图片；
    一边框识别单元，连接至所述影像采集单元，用于根据所述影像和/或图片及所述车体的行进方向识别所述车体周围的边框；
    一经纬线识别单元，连接至所述影像采集单元，用于根据所述影像和/或图片及所述边框的位置识别所述车体与所述边框之间存在的经线数量及纬线数量；以及，
    一车体位置计算单元，连接至所述经纬线识别单元，用于根据所述车体与所述边框之间的经线数量及纬线数量计算所述车体在所述太阳能面板上的坐标范围。
  2. 如权利要求1所述的定位装置，还包括：
    一影像采集单元位置计算单元，连接至所述车体位置计算单元，用于根据所述车体的尺寸、所述车体在一太阳能面板上的坐标范围及所述影像采集单元与所述车体的相对位置计算所述影像采集单元在该太阳能面板上的坐标范围。
  3. 如权利要求1所述的定位装置，还包括：
    一车体中心点位置计算单元，连接至所述车体位置计算单元，用于根据所述车体的尺寸、所述车体在一太阳能面板上的坐标范围计算所述车体中心点在该太阳能面板上的坐标范围。
  4. 如权利要求1所述的定位装置，还包括：
    一GPS单元，用于实时获取所述车体的GPS定位位置；以及，
    一面板判断单元，连接至所述GPS单元，用于根据所述车体的GPS定位位置及 面板分布图判断所述车体所处太阳能面板的信息。
  5. 如权利要求1至4中任一项所述的定位装置，还包括：
    无线通信单元，无线连接至一服务器；
    所述无线通信单元用于将所述车体周围的影像无线发送至所述服务器；和/或，
    将所述车体的定位数据发送至所述服务器；
    其中，所述车体的定位数据包括：
    所述车体所处太阳能面板的信息，
    所述车体在该太阳能面板上的坐标范围，
    所述影像采集单元在该太阳能面板上的坐标范围，
    所述车体中心点在该太阳能面板上的坐标范围。
  6. 如权利要求1至4中任一项所述的定位装置，还包括：
    一存储器，用于预存：
    每一太阳能面板上的经线总数及纬线总数，和/或，
    所述车体的尺寸，和/或，
    所述影像采集单元与所述车体的相对位置，和/或，
    至少一面板分布图。
  7. 如权利要求1所述的定位装置，其中，
    所述影像采集单元设置于所述车体顶部上方或所述车体的外侧壁上；所述影像采集单元在水平方向的视野角度为0度至360度。
  8. 如权利要求1所述的定位装置，还包括：
    一安装支架，其底部固定安装至所述车体顶部；
    其中，所述影像采集单元安装至所述安装支架顶部。
  9. 一种用于太阳能面板清扫机器人的定位方法，其中，
    所述太阳能面板清扫机器人包括一车体，在至少一太阳能面板上行驶或驻留；
    每一太阳能面板为矩形，其边缘处设有四条可识别边框；
    每一太阳能面板上设有彼此垂直的经线及纬线，所述经线及所述纬线形成一面板坐标系；
    所述定位方法包括如下步骤：
    影像采集步骤，实时获取所述车体周围的影像和/或图片；
    边框识别步骤，根据所述影像和/或图片及所述车体的行进方向识别所述车体周围的边框；
    经纬线识别步骤，根据所述影像和/或图片及所述边框的位置识别所述车体与所述边框之间存在的经线数量及纬线数量；
    车体位置计算步骤，根据所述车体与所述边框之间的经线数量及纬线数量计算所述车体在所述太阳能面板上的坐标范围。
  10. 如权利要求9所述的定位方法，还包括如下步骤：
    影像采集单元位置计算步骤，根据所述车体的尺寸、所述车体在一太阳能面板上的坐标范围及所述影像采集单元与所述车体的相对位置，计算所述影像采集单元在该太阳能面板上的坐标范围。
  11. 如权利要求9所述的定位方法，还包括如下步骤：
    车体中心点位置计算步骤，根据所述车体的尺寸、所述车体在一太阳能面板上的坐标范围，计算所述车体中心点在该太阳能面板上的坐标范围。
  12. 如权利要求9所述的定位方法，其中，在所述影像采集步骤之前，还包括如下步骤：
    GPS定位步骤，实时获取所述车体的GPS定位位置；
    面板判断步骤，根据所述车体的GPS定位位置及面板分布图判断所述车体所处太阳能面板的信息。
  13. 如权利要求9至12中任一项所述的定位方法，还包括如下步骤：
    影像发送步骤，将所述车体周围的影像无线发送至服务器；和/或，
    定位数据发送步骤，将所述车体的定位数据发送至所述服务器；
    其中，所述车体的定位数据包括：
    所述车体所处太阳能面板的信息，
    所述车体在该太阳能面板上的坐标范围，
    所述影像采集单元在该太阳能面板上的坐标范围，
    所述车体中心点在该太阳能面板上的坐标范围。
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