WO2020094145A1 - 一种机器人调度方法 - Google Patents

一种机器人调度方法 Download PDF

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Publication number
WO2020094145A1
WO2020094145A1 PCT/CN2019/116914 CN2019116914W WO2020094145A1 WO 2020094145 A1 WO2020094145 A1 WO 2020094145A1 CN 2019116914 W CN2019116914 W CN 2019116914W WO 2020094145 A1 WO2020094145 A1 WO 2020094145A1
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WIPO (PCT)
Prior art keywords
robot
cleaning
area
connection
route
Prior art date
Application number
PCT/CN2019/116914
Other languages
English (en)
French (fr)
Inventor
路建乡
汪志祥
徐建荣
徐斐
Original Assignee
苏州瑞得恩光能科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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 US17/283,159 priority Critical patent/US20210341932A1/en
Priority to JP2021517824A priority patent/JP7183407B2/ja
Publication of WO2020094145A1 publication Critical patent/WO2020094145A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G67/00—Loading or unloading vehicles
    • B65G67/02—Loading or unloading land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
    • G01G19/02—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for weighing wheeled or rolling bodies, e.g. vehicles
    • G01G19/021—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for weighing wheeled or rolling bodies, e.g. vehicles having electrical weight-sensitive devices
    • 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
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • 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
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • 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
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G05D1/0297—Fleet control by controlling means in a control room
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24S—SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
    • F24S40/00—Safety or protection arrangements of solar heat collectors; Preventing malfunction of solar heat collectors
    • F24S40/20—Cleaning; Removing snow
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • 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
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
    • 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
    • Y02E10/40—Solar thermal energy, e.g. solar towers
    • 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 a robot scheduling method used in a solar panel cleaning system.
  • An object of the present invention is to provide a scheduling method for a robot in a solar panel cleaning system to solve the technical problem of the transfer and scheduling of a cleaning robot among multiple solar panel arrays.
  • the present invention provides a robot scheduling method, the robot includes a cleaning robot to perform cleaning operations on a cleaning area; and a connecting robot to carry the cleaning robot within the aisle area;
  • the robot scheduling method includes the following steps: a task generation step, generating at least one connection task instruction; a task issuance step, issuing the connection task instruction to the connection robot; a route planning step, planning the connection robot An optimized route; a travel control step to control the connection robot to travel along the optimized route; and a connection control step to control the connection robot to connect with a clean area.
  • a work area information acquisition step to obtain work area information; the work area includes a cleaning area and a passage area between two or more cleaning areas; the work area The information includes the map of the work area, the position and size of each cleaning area in the work area; the task information acquisition step to obtain work task information; the work task information includes the position, size and workable time of the clean area to be cleaned; and the robot
  • the number calculation step calculates the number of cleaning robots and connecting robots that need to be scheduled.
  • the step of calculating the number of robots includes the following steps: a cleaning robot speed acquisition step to obtain the traveling speed of the cleaning robot; a total area calculation step to calculate the total area to be cleaned according to the size of the cleaning area to be cleaned; The total man-hour calculation step is to calculate the total man-hours required for the cleaning robot to complete all cleaning tasks according to the total area of the cleaning area to be cleaned and the traveling speed of the cleaning robot; And the workable time calculates the number of cleaning robots that need to be scheduled.
  • the step of calculating the number of robots includes the steps of: acquiring a speed of a connecting robot, acquiring a traveling speed of the connecting robot; acquiring a position of a first connecting area, according to the work area map and the cleaning area to be cleaned The position and size of the first connection area of the cleaning area that needs to be cleaned; the total distance calculation step, based on the initial storage position of all the connecting robots and the position of the first connection area of the cleaning area that needs to be cleaned, Calculate the total distance that all connecting robots need to travel; in the step of calculating the number of connecting robots, calculate the number of connecting robots that need to be scheduled according to the total distance and the speed of the connecting robot.
  • the cleaning area is a solar panel or a solar panel array; and / or, the cleaning area includes a first connection area, which is an area outside a cleaning area adjacent to one side of the cleaning area; and a second connection The connection area is an area inside a cleaning area adjacent to one side of the cleaning area, and is disposed opposite to the first connection area.
  • a connection robot monitoring step which obtains in real time the position and load status of each connection robot, the load status includes a full load state and an empty load state
  • cleaning robot monitoring Steps to obtain the real-time operation progress of each cleaning robot in real time
  • connection robot search step when the operation progress of a cleaning robot in a cleaning area exceeds a preset threshold, search for the driving distance to the first connection area of the cleaning area A recent connecting robot in an empty state.
  • connection robot monitoring step includes the following steps: a channel area setting step, setting more than two channel areas to form a channel network for at least one robot to travel; a positioning point setting step in the channel network Set at least one anchor point uniformly; label setting step, set at least one readable tag at each anchor point; the readable tag stores anchor point information including the position and number of the anchor point where the readable tag is located; and the tag
  • the reading step the positioning point information of a readable tag is read and sent out by a connecting robot; the positioning point information obtaining step obtains the positioning point information of a readable tag sent by the connecting robot to obtain all Describe the position and number of the positioning point where the connecting robot is located.
  • the cleaning robot monitoring step includes the following steps: a sensor setting step, setting a weight sensor or a distance sensor on the connecting device of each connecting robot; a sensor data reading step, reading the weight of a connecting robot Sensor or distance sensor sensing data; load state judgment step, based on the weight sensor or the distance sensor sensing data to determine whether the connection robot is loaded with a cleaning robot, if so, the connection robot load state is full Status; if not, the load status of the connecting robot is the no-load status.
  • the search step of the connecting robot includes the following steps: a shortest travel distance calculation step, calculating the shortest travel distance between each no-load state connecting robot and the first connection area of the cleaning area; the shortest travel distance A comparison step, comparing the shortest travel distance of each no-load connection robot and the first connection area of the cleaning area; and a connection robot selection step, selecting the connection with the shortest travel distance and the no-load state Barge robot; wherein, the shortest travel distance is the distance corresponding to the shortest route of the first robot connection zone of the cleaning zone when the transfer robot travels in the passage area.
  • connection task instruction includes: starting point information, including the position of the starting point in the connection task, when a connection robot obtains a connection task instruction, the real-time position of the connection robot is set as the starting point; Point information, including the location of the stop point in the connection task, when the cleaning robot is located in a storage area, the stop point is located in the storage area; when the cleaning robot is located in a cleaning that has completed the cleaning operation When the upper surface of the zone is located, the stop point is located in the first connection zone of the cleaning zone; and end point information, including the position of the end point in the connection task, the end point being located in the first connection zone of a cleaning zone that needs to be cleaned Within the barge.
  • the route planning step includes: a route deduction step, deducing at least one feasible route in at least one passage area according to the positions of the start point and the end point, the feasible route passing through the stop point; a route comparison step , When the feasible route is more than two, compare the length of the feasible route; and the optimization route determination step, when the feasible route is one, the feasible route is the optimized route; when the feasible route is When there are more than two, the shortest feasible route is the optimized route.
  • connection control step specifically includes the steps of: approaching the cleaning area, and controlling the connection robot to travel to the first connection area of a cleaning area, the connection robot includes a connection platform and a bridge plate ;
  • the entrance and exit of the device faces the second docking zone;
  • the docking step controls the docking robot to extend a bridge to connect the upper surface of the docking platform and the upper surface of the cleaning zone;
  • the cleaning robot transfer step The cleaning robot is controlled to travel from the connection platform to the upper surface of the cleaning area, or to travel from the cleaning area to the upper surface of the cleaning area connection platform.
  • connection control step specifically includes the steps of: releasing the connection step, controlling the connection robot to retract the bridge plate, so that the upper surface of the connection platform is separated from the upper surface of the cleaning area; A readjustment step of the docking platform, controlling the docking robot to adjust the height and / or angle of the docking platform so that the height of the docking platform is reduced to a minimum and remains level; and the docking machine drives away , Control the connecting robot to leave the cleaning area.
  • the advantage of the present invention is to provide a robot scheduling method used in a solar panel cleaning system. According to the workload of the cleaning operation, an appropriate number of cleaning robots and connecting robots are scheduled. Complete the cleaning work on the solar panel or solar panel array, and use the connecting robot to transfer the cleaning robot between multiple solar panel arrays, which can complete the cleaning tasks of all solar panels and panel arrays in the shortest time.
  • FIG. 1 is a schematic diagram of a working area according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of the working state of the cleaning system according to an embodiment of the present invention.
  • FIG. 3 is a schematic structural diagram of a cleaning system according to an embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of a cleaning zone according to an embodiment of the present invention.
  • FIG. 5 is a schematic structural view of the connecting robot according to an embodiment of the present invention when the connecting platform is in a flat state;
  • FIG. 6 is a schematic structural view of the connecting robot according to an embodiment of the present invention when the connecting platform is tilted;
  • connection device 7 is a schematic structural view of the top of the connection device according to an embodiment of the present invention.
  • FIG. 8 is a schematic diagram of functional modules of electronic devices of a cleaning system according to an embodiment of the present invention.
  • FIG. 9 is a flowchart of a robot scheduling method according to an embodiment of the present invention.
  • FIG. 10 is a flowchart of the steps of calculating the number of cleaning robots according to an embodiment of the present invention.
  • 11 is a flowchart of the steps of calculating the number of connecting robots according to an embodiment of the present invention.
  • connection robot 12 is a flowchart of a part of the monitoring steps of the connection robot according to the embodiment of the present invention.
  • FIG. 13 is a flowchart of another part of the monitoring step of the connection robot according to the embodiment of the present invention.
  • connection robot 14 is a flowchart of the search steps of the connection robot according to an embodiment of the present invention.
  • FIG. 16 is a flowchart of a connection control step according to an embodiment of the present invention.
  • 100 working area 200 cleaning robot, 300 connecting robot, 400 data processing system, 500 cleaning area;
  • 601 through-beam sensor 601a transmitter, 601b receiver; 602 distance sensor, 603 tilt sensor,
  • 604 positioning device 605 electronic compass; 606 image sensor, 607 lighting device, 608 obstacle avoidance sensor.
  • a solar power plant is provided with a working area 100 including a plurality of solar panel arrays 101, and each solar panel array 101 has an inclination angle of 15 to 45 degrees to the horizontal plane Value, as far as possible to ensure that more sunlight directly hits the solar panel.
  • the tilt angle of all solar panels relative to the horizontal plane referred to as the panel tilt angle or tilt angle
  • the tilt angle of different solar panels may be different, Even the tilt angle of some panels is adjustable or variable.
  • each solar panel array 101 includes multiple solar panels 102 (referred to as panels) spliced together.
  • Multiple solar panel arrays 101 and / or multiple solar panels 102 may be arranged in a matrix, any two phases
  • a channel region 103 is formed between adjacent solar panel arrays 101 or solar panels 102.
  • a plurality of channel regions 103 that intersect with each other together form a crisscross channel network.
  • this embodiment provides a cleaning system including a cleaning robot 200, a connecting robot 300, and a data processing system 400.
  • the working area 100 is for the cleaning robot 200 and the connecting robot 300 to complete the solar panel cleaning operation. working area.
  • the cleaning robot 100 can complete the cleaning operation on the solar panel or the solar panel array, and can effectively clean every area on the panel or the panel array.
  • the connecting robot 300 can carry the cleaning robot 200 from the cleaning robot to the upper surface of a cleaning area 500 (a panel or a panel array to be cleaned), and from the upper surface of a cleaned panel array to another cleaning area 500 (The panel or panel array to be cleaned) the upper surface, or, from a cleaned cleaning area 500 upper surface to the cleaning robot storage place.
  • each cleaning zone 500 is a group of synthetic rectangular panel arrays, and the peripheral edges thereof are respectively defined as the upper end 501 of the cleaning zone, the lower end 502 of the cleaning zone, the left end 503 of the cleaning zone, and the cleaning zone Right side 504.
  • the cleaning robot 200 travels from the left end 503 of the cleaning zone or the right end 504 of the cleaning zone to the cleaning zone 500; similarly, when When a cleaning robot 200 is transferred from a cleaning zone 500 by a connecting robot 300, preferably, the cleaning robot 200 travels from the left end 503 of the cleaning zone or the right end 504 of the cleaning zone to the connecting robot 300.
  • each cleaning area 500 is provided with a first connection area 505 and a second connection area 506 opposite to each other.
  • the first connection area 505 and the second connection area 506 are respectively disposed in the cleaning area Both sides of the left end 503 or the right end 504 of the cleaning zone.
  • the first connection area 505 is an area outside the cleaning area 500 immediately adjacent to the right end 504 of the cleaning area
  • the second connection area 506 is an area inside the cleaning area adjacent to the right end 504 of the cleaning area.
  • the first connection area 505 and the second connection area 506 are immediately adjacent to the lower part of the right end 504 of the cleaning area.
  • the first is the partition estimation method. In a small area (the area can be freely defined), the natural environment of multiple panel arrays adjacent to each other is similar, so the pollution degree of the panels in this area is also similar. A solar panel is randomly selected to detect the degree of pollution and determine whether the panel needs to be cleaned; if the panel needs to be cleaned, all the panels in the area need to be cleaned. If the operation area of a certain power station occupies a large area, a large operation can be divided into multiple small operation areas, and sampling inspections are carried out in zones.
  • the second is the regular cleaning method, which regularly cleans all panel arrays in the working area according to the natural environment of the working area.
  • the operation area has large sand or heavy precipitation, and the attachments on the surface of the solar panel are heavy, it may need to be cleaned 1 to 2 times a day. If the operation area is small or has less precipitation, the solar panel attachments are less. It can be cleaned every 10 days.
  • Both of the above methods perform indifferent treatment on multiple solar panel arrays, which is relatively inaccurate, and there may be some cases where the surface of the panel is less attached and cleaned by the cleaning robot.
  • the third method is the separate detection method, which carefully detects the pollution degree of each panel array and determines which panel arrays or panels need to be cleaned. This method has higher accuracy but lower efficiency.
  • the data processing system 400 preferably a physical server or a cloud server, is connected to the cleaning robot 200 and / or the connecting robot 300 to realize the data exchange of the cleaning robot 200 and / or the connecting robot 300 to the cleaning robot 200
  • / or the connection robot 300 issues control instructions, and at the same time obtains feedback data from the cleaning robot 200 and / or connection robot 300, such as the real-time position coordinates of the above two robots, the image data collected by the two robots in real time, etc., so that the data
  • the processing system 400 can realize the real-time monitoring of the cleaning operation process of the cleaning robot 200, the movement of the docking robot 300 and the connection process, control the docking robot 300 to normally travel in the channel network of the work area 200, and control the docking robot 300 is docked with the solar panel array 101 in the clean area.
  • the data processing system 400 After the data processing system 400 obtains information on which solar panel arrays 101 need to be cleaned (certain panel numbers), combined with the time allowed for cleaning operations in the photovoltaic power plant, the number of connection robots 300 and cleaning robots 200 required for cleaning operations is estimated .
  • the data processing system 300 calls a connecting robot 300 to send the cleaning robot 200 to a certain panel array requiring cleaning processing, and the cleaning robot 200 performs a comprehensive cleaning operation on the panel array.
  • the data processing The system 400 calls a connecting robot 300 to carry the cleaning robot 200 from one cleaned panel array upper surface to another panel array upper surface that needs to be cleaned, or to a cleaning robot storage place.
  • the cleaning robot 200 is a product independently developed by the applicant. Please refer to the series of patents related to the solar panel cleaning robot applied by the applicant from 2016 to 2018. After the cleaning robot 200 is transported to a solar panel array, it can freely travel on the panel array, walk through every corner of the panel array, and complete the cleaning operation of the entire panel array during the travel, which will not be repeated here.
  • this embodiment provides a connection robot 300 including a car body 310, a connection device 320, an angle adjustment device 330, a height adjustment device 350, a travel device 360, and a travel control device 370.
  • the connection device 320 includes a connection platform 321 for placing the cleaning robot 200, and the connection platform 321 is rotatably connected to the top or upper half of the car body 310; the angle adjustment device 330 is used for Adjust the inclination angle of the connection platform 321, the height adjustment device 350 is used to adjust the height of the connection platform 321, the travel device 360 is a wheel or track, and the travel control device 370 is used to issue control commands to control the movement of the vehicle body and adjust the position of the vehicle body .
  • the connection device 320 includes a baffle 322 that protrudes at the edge of the connection platform 321 and is perpendicular to the connection platform 321;
  • the baffle 322 includes a left baffle 322a and a rear baffle connected in sequence 322b and the right baffle 322c are enclosed in a concave shape; an opening 323 is formed between the open end of the left baffle 322a and the open end of the right baffle 322c.
  • connection device 320 further includes an anti-collision component 324, preferably an anti-collision strip, which is provided on the inner side wall of the tailgate 322b; Anti-collision strip (not shown).
  • an anti-collision component 324 preferably an anti-collision strip, which is provided on the inner side wall of the tailgate 322b; Anti-collision strip (not shown).
  • the connecting device 320 further includes a bridge plate 327 and a first telescopic rod 328.
  • the bridge plate 327 is slidably mounted to the upper surface of the connecting platform 321; one end of the first telescopic rod 328 is connected to the lower surface of the connecting platform 321 and the other end Connected to the lower surface of the bridge 327.
  • the first telescopic rod 328 is a hydraulic telescopic rod or an electric telescopic rod.
  • the first telescopic rod 328 has a first telescopic rod rod controller 329. When the first telescopic rod rod controller 329 receives a command electrical signal, it can control the first telescopic rod The rod 328 adjusts its length.
  • the bridge plate 327 When the length of the first telescopic rod 328 is shortened to the shortest, the bridge plate 327 is located on the upper surface of the connecting platform 321; when the length of the first telescopic rod 328 is extended, the bridge plate 327 extends toward the entrance 323 a distance.
  • the first telescopic rod 328 extends a certain distance, and the bridge plate 327 extends toward the solar panel array 101 , So that the connection platform 321 is connected to the solar panel array 101, so that the cleaning robot 200 can smoothly travel from the connection platform 321 to the solar panel array 101 (ie, the cleaning area), or from the solar panel array 101 (ie, the cleaning area) to the connection Barge platform 321.
  • the length of the first telescopic rod 328 is minimized, and the bridge plate 327 is retracted to the upper surface of the connecting platform 321.
  • the data processing system 400 receives the feedback information from the connection robot 300, sends an action instruction to the cleaning robot 200, and controls the cleaning robot 200 from the connection platform of the first connection area 505 321 travels to the solar panel of the second connection area 506 (referred to as the upper plate), or from the solar panel of the second connection area 506 to the connection platform 321 (referred to as the lower plate) of the first connection area 505, thereby Complete the connection process.
  • the connecting robot 300 described in this embodiment further includes a circuit board (not shown), which is disposed in the car body 310. As shown in FIG. 13, a processor 340 is provided on the circuit board as a control device for connecting the robot 300.
  • the cleaning robot 200 is provided with a first wireless communication unit 201
  • the connecting robot 300 is provided with a second wireless communication unit 301
  • the data processing system 400 is provided with a third wireless communication unit 401.
  • the first wireless communication unit 201, the second wireless communication unit 301, and the third wireless communication unit 401 are wirelessly connected to each other, so that the cleaning robot 200 or the connecting robot 300 and the data processing system 400 can exchange data by wireless communication.
  • the data processing system 400 controls the connecting robot 300 to adjust its position and direction to travel to the right of the cleaning area 500
  • the first connection area 505 at the lower end makes the entrance 323 of the connection device 320 face the direction of the cleaning area 500.
  • the connecting platform 321 when the connecting robot 300 travels in the passage area 103, the connecting platform 321 is horizontally disposed on the top of the vehicle body 310, and the angle between the connecting platform 321 and the upper surface of the vehicle body 310 is 0 degrees. If the cleaning robot 200 is placed on the connection platform 321, it can be kept stable during transportation and will not slip.
  • the connecting platform 321 when the connecting platform 321 is inclined, the height of the lowest part of the connecting platform 321 is greater than or equal to the lowest end of the solar panel or panel array in the working area 100 (such as the lower end 502 of the cleaning area); the connecting platform 321 The height of the highest point is less than or equal to the highest end of the solar panel or panel array in the working area 100 (such as the upper end of the cleaning area 501); ensure that during the connection process, the connection platform 321 can be on the left or right of the solar panel or panel array
  • the sides form an all-round docking (such as the left end 503 or the right end 504 of the cleaning area).
  • the height of the lowest part of the connecting platform 321 is substantially unchanged, and the height basically depends on the height of the top of the vehicle body 310.
  • the connection position between the connection platform 321 and the panel is located at the lower part of the right side of the panel or panel array, and the height requirement of the vehicle body 310 is relatively low. The lower the center of gravity of the vehicle body 310, the smoother the connection robot 300 will be in the process of carrying the cleaning robot, effectively preventing bumps and shaking caused by uneven road surfaces.
  • the connecting robot 300 is further provided with various data collection devices, which are used to collect various working data during the working process of the connecting robot 300.
  • the data collection device includes different kinds of sensors, including an on-beam sensor 601, a distance sensor 602, an inclination sensor 603, a positioning device 604, an electronic compass 605, an image sensor 606, a lighting device 607, an obstacle avoidance sensor 608, and so on.
  • the above sensors are wired or wirelessly connected to the processor 340, and the original working data collected during the operation of the connecting robot 300 is transmitted to the processor 340, and processed by the processor 340 to form pre-processed data, the original working data and / Or the pre-processed data is sent to the data processing system 400 through the wireless communication unit, so as to realize real-time monitoring of the operation process of the connecting robot 300 and real-time control of the traveling process and / or connecting process of the connecting robot 300.
  • the on-beam sensor 601 includes a transmitting end 601a and a receiving end 601b oppositely disposed on the inner walls of the left baffle 322a and the right baffle 322c of the connecting device 320, respectively.
  • the receiving end 601b is close to the entrance 323, and is respectively disposed on both sides of the entrance 323.
  • the through-beam sensor 601 is preferably a pair of through-beam infrared sensors. The infrared ray emitted from the transmitting end 601a is acquired by the receiving end 601b. When the infrared ray is blocked, the processor 340 can determine that an item passes through the entrance 323.
  • the through-beam sensor 601 can sense that the front end of the cleaning robot 200 travels to the connecting device 320; when a cleaning robot 200 is fully driven to the interior of the connection device 320, the infrared between the transmitting end 601a and the receiving end 601b is restored to an unobstructed state, and the on-beam sensor 601 can sense that the rear end of the cleaning robot 200 is also Proceed to the connection device 320.
  • the processor 340 can determine that the front end of a cleaning robot 200 travels to the connecting device 320 according to the real-time electrical signal of the on-beam sensor 601, or it can determine that the entire cleaning robot 200 is fully driven into the connecting device 320.
  • the distance sensor 602 is provided on the inner wall of the middle of the tailgate 322b of the connection device 320, and is opposite to the entrance 323.
  • the distance sensor 602 is preferably a reflective infrared sensor.
  • the reflective infrared sensor continuously emits infrared rays toward the entrance 323. If the reflected infrared rays can be received, it can be determined that the cleaning robot 200 is driving from the entrance 323 into the docking platform 321. Further, the distance between the front end of the cleaning robot 200 and the tailgate 322b of the connection device 320 can be obtained according to the time of the received infrared rays.
  • the distance sensor 602 (reflective infrared sensor) can determine that the cleaning robot 200 is traveling to the connection device 320, and can also determine the cleaning according to the time when the reflected infrared light is received
  • the processor 340 obtains the value of the distance, and can monitor the progress of the cleaning robot 200 into the connecting device 320 in real time, and determine whether the cleaning robot 200 is traveling into the connecting platform 321 as a whole .
  • the distance sensor 602 (reflective infrared sensor) can determine that the cleaning robot 200 is traveling in and out of the connection device 320, and at the same time can determine the front end of the cleaning robot 200 according to the time when the reflected infrared light is acquired
  • the distance from the tailgate 322b, and the processor 340 obtains the value of the distance, can monitor the progress of the cleaning robot 200 leaving the connecting device 320 in real time, and determine whether the cleaning robot 200 is driving out of the connecting platform 321 as a whole.
  • the inclination sensor 603 is preferably provided on the lower surface of the connection platform 321 (see FIG. 8) to measure the angle between the upper surface of the connection platform 321 and the horizontal plane in real time (referred to as the platform inclination angle), and transmit the angle value of the platform inclination angle to the processing ⁇ 340.
  • the inclination angle sensor 603 monitors the angle value of the inclination angle of the platform in real time and sends to The processor 340, when the angle value of the platform tilt angle of the real-time platform is the same as the angle value of the panel tilt angle, the processor 340 sends a stop command to the second telescopic rod controller 335, so that the second telescopic rod 332 stops extending, so that the platform The tilt angle is the same as the panel tilt angle.
  • the positioning device 604 is an RFID reader (RFID Reader), which is located inside or outside the car body 310, preferably at the bottom of the car body 310 or at the front end of the connecting platform 321, to obtain the car body 310 in the work area And the real-time position of the car body 310 is transmitted to the processor 340.
  • RFID Reader RFID Reader
  • a tag positioning solution is adopted, a recommended path is preset in the passage area 103, and the vehicle body 310 is controlled to travel along the recommended path, and a set of recognizable tags, such as RFID tags, is set at a certain distance on the recommended path
  • Each identifiable label stores the data such as the location coordinates of the label in the work area.
  • the RFID reader reads the preset RFID tag at the intersection or section, and the processor 340 obtains the real-time position of the connecting robot 300, and optionally transmits it To data processing system 400.
  • the positioning device 604 can also be a high-precision GPS positioning unit or a Beidou positioning unit, and can also obtain the real-time position of the connecting robot 300.
  • the electronic compass 605 is preferably installed inside or outside the vehicle body 310 to obtain the real-time traveling direction of the connecting robot 300, and is transmitted to the processor 340 for data processing and data analysis to determine whether the real-time traveling direction of the connecting robot 300 is Consistent with the preset direction, if the connecting robot 300 deviates from the preset direction, the processor 340 issues a control instruction to the vehicle body 310 to adjust the traveling direction of the vehicle body 310 in time.
  • the image sensor 606 and / or the lighting device 607 are provided at the front and / or rear of the vehicle body 310.
  • the image sensor 606 is used to collect real-time images and / or pictures in front of and / or behind the vehicle body 310 in real time, and Send to processor 340.
  • the image content collected by the image sensor 606 includes the feasible travel area in the passage area 103 at any moment is sent to the processor 340, and the processor 340 according to the vehicle body 310
  • Real-time travel speed calculates the predicted travel area covered by the car body 310 in the next period, compares the predicted travel area and feasible travel area at each moment in real time, and determines whether the car body 310 is still in the feasible travel area in the next period; if the predicted travel area exceeds the feasible area
  • the range of the entry area proves that an obstacle has appeared on the traveling route of the vehicle body 310, and the processor 340 needs to adjust the traveling direction of the vehicle body 310 in real time to prevent the vehicle body 310 from hitting the obstacle while traveling.
  • the content of the picture collected by the image sensor 606 may further include a frame of the solar panel and / or panel array, and the frame is displayed as a straight line of the frame in the picture.
  • the connecting robot 300 may refer to the position of the border straight line to adjust the traveling direction in real time during the traveling process, so that the connecting robot 300 travels along the straight line as much as possible.
  • the lighting device 607 is used to illuminate the passage area in front of and / or behind the vehicle body 310, so that the image sensor 606 can collect normally Images and / or pictures.
  • the image sensor 606 and / or the lighting device 607 may also be provided on the left and / or right side of the vehicle body 310 to collect real-time images of the left and / or right side of the vehicle body 310 in real time. Or pictures.
  • the image sensor 606 and / or the lighting device 607 may also be disposed on one side of the connection device 320, the camera of the image sensor 606 faces outward, and when the height and tilt angle of the connection platform 321 are adjusted to When the solar panels 102 coincide, the camera faces the solar panel 102.
  • the obstacle avoidance sensor 608 preferably an ultrasonic sensor, is provided at the front end and / or the rear end of the vehicle body 310.
  • the obstacle avoidance sensor 608 preferably an ultrasonic sensor, is provided at the front end and / or the rear end of the vehicle body 310.
  • the processor 340 obtains the sensing signal from the front or rear end obstacle avoidance sensor 608, It is determined that there is an obstacle on the front or rear of the vehicle body's traveling route that affects the driving, so that the processor 340 can adjust the traveling direction of the connecting robot 300 to avoid the obstacle.
  • the obstacle avoidance sensor 608 may also be provided on the left side and / or the right side of the vehicle body 310.
  • the invention provides a connection robot as a carrier of a cleaning robot, which transfers the cleaning robot in a passage area between a plurality of solar panel arrays, so that the cleaning robot can complete cleaning work on different solar panel arrays.
  • the height and tilt angle of the docking platform of the docking robot can be adjusted. Even when the height of the solar panel is large, the docking platform and the solar panel can be fully docked.
  • the present invention also provides a robot scheduling method, including the following steps S1 to S11.
  • the work area information acquisition step to obtain work area information;
  • the work area includes a cleaning area and a passage area between two or more clean areas;
  • the work area information includes a work area map, the location of each cleaning area within the work area And size.
  • S2 task information acquisition step, to obtain job task information; the job task information includes the position, size and workable time of the cleaning area to be cleaned.
  • the step of calculating the number of S3 robots includes the step of calculating the number of cleaning robots and the step of calculating the number of connecting robots, and calculates the number of cleaning robots and connecting robots that need to be scheduled.
  • the step of calculating the number of cleaning robots includes the following steps: S311 cleaning robot speed acquisition step to obtain the traveling speed of the cleaning robot; S312 total area calculation step to calculate the need based on the size of the cleaning area to be cleaned Total area to be cleaned; S313 total man-hour calculation step, according to the total area of the cleaning area to be cleaned and the travel speed of the cleaning robot, calculate the total man-hours required for the cleaning robot to complete all cleaning tasks; S314 cleaning robot number calculation Step: Calculate the number of cleaning robots to be dispatched based on the total man-hours and the workable time.
  • the step of calculating the number of connection robots includes the following steps: S321 connection robot speed acquisition step to obtain the connection robot travel speed; S322 first connection zone position acquisition step according to the work area map And the position and size of the cleaning area to be cleaned, to obtain the position of the first connection area of the cleaning area to be cleaned; S323 total distance calculation step, according to the initial storage position of all connection robots and the cleaning area to be cleaned Calculate the total distance traveled by all connecting robots in the first connection area of S2; in the step of calculating the number of connecting robots in S324, calculate the number of connecting robots to be dispatched based on the total distance and the travel speed of the connecting robot.
  • step S4 includes the following steps S411 to S415.
  • S411 channel area setting step setting more than two channel areas to form a channel network for at least one robot to travel;
  • S412 positioning point setting step uniformly setting at least one positioning point in the channel network;
  • S413 label setting step at At least one readable tag is provided at each anchor point;
  • the readable tag stores anchor point information including the position and number of the anchor point where the readable tag is located;
  • S414 tag reading step anchor point information of a readable tag It is read by a connecting robot and sent out;
  • S415 positioning point information obtaining step obtaining positioning point information of a readable tag sent by the connecting robot to obtain the position of the positioning point where the connecting robot is located and Numbering.
  • step S5 further includes the following steps S521-S523, S521 sensor setting step, setting a weight sensor or a distance sensor on the connecting device of each connecting robot; S522 sensor data reading step, reading a Sensing data of the weight sensor or distance sensor of the barge robot; S523 load state judging step, judging whether the connecting robot is loaded with a cleaning robot based on the sensing data of the weight sensor or the distance sensor, if so, the connecting robot The load state of is the full load state; if not, the load state of the connecting robot is the no-load state.
  • the weight sensor can determine the weight value on the connection device and determine whether there is a cleaning robot on the connection device; the distance sensor is located on the inner wall of the middle of the rear baffle of the connection device, opposite to the entrance and exit, and the connection device is judged according to the sensing state Whether there is a cleaning robot on the computer.
  • Step S6 Searching for a connecting robot.
  • a cleaning robot's operation progress in a cleaning area exceeds a preset threshold, it searches for a connecting robot that is closest to the first connecting area of the cleaning area and is in an empty state. As shown in FIG.
  • the search step of the S6 connection robot includes the following steps: S61 shortest travel distance calculation step, calculating the shortest travel distance between each connection robot in the no-load state and the first connection area of the cleaning area; S62 The shortest travel distance comparison step compares the shortest travel distance of each no-load connection robot and the first connection area of the cleaning area; S63 connection robot selection step, selects the shortest travel distance is the smallest and is in no-load The connecting robot in the state; wherein, the shortest travel distance is the distance corresponding to the shortest route of the connecting robot traveling in the passage area to the first connecting area of the cleaning area.
  • the S7 task generation step generates at least one connection task instruction;
  • the connection task instruction includes starting point information, including the position of the starting point in the connection task, and when a connection robot obtains a connection task instruction, the connection robot's The real-time position is set as the starting point;
  • the stop point information including the position of the stop point in the connection task, when the cleaning robot is located in a storage area, the stop point is located in the storage area; when the cleaning When the robot is located on the upper surface of a cleaning area where cleaning operations have been completed, the stop point is located in the first connection area of the cleaning area; and / or, the end point information, including the position of the end point in the connection task, the end point Located in the first connection area of a cleaning area that needs to be cleaned.
  • S8 task release step issuing the connection task instruction to the connection robot
  • the route planning step includes an S91 route deduction step, deducing at least one channel area according to the positions of the starting point and the ending point A feasible route, the feasible route passes the stop point; S92 route comparison step, when the feasible route is more than two, compare the length of the feasible route; S93 optimization route determination step, when the feasible route When there is one, the feasible route is the optimized route; when there are more than two feasible routes, the shortest feasible route is the optimized route.
  • S10 traveling control step controlling the connecting robot to travel along the optimized route.
  • navigation technology is used to obtain the position of the connecting robot in real time, and the connecting robot is monitored to travel along the optimized route, or the recommended route, to a preset end point.
  • the tag positioning scheme described in the previous embodiment of this embodiment can realize tag positioning and navigation, and monitor whether the connecting robot deviates from the preset optimized route in real time. If there is a deviation, a correction instruction is issued in time to adjust the actual direction of travel of the connecting robot in time .
  • S11 connection control step controlling the connection robot to connect with a cleaning area.
  • connection control step specifically includes the following steps: S111 approaches the cleaning area, and controls the connection robot to travel to the first connection area of a cleaning area, and the connection robot includes a connection Platform and bridge plate; S112 connection platform initial adjustment step, controlling the connection robot to adjust the height and / or angle of the connection platform so that the upper surface of the connection platform is flush with the upper surface of the cleaning area , And make the entrance and exit of the connection device face the second connection area; S113 docking step, control the connection robot to extend the bridge, connect the upper surface of the connection platform and the upper surface of the cleaning area; S114 In the cleaning robot transfer step, the cleaning robot is controlled to travel from the docking platform to the upper surface of the cleaning zone, or to travel from the cleaning zone to the upper surface of the cleaning zone docking platform.
  • connection control step specifically includes the following steps: S115 releases the connection step, controls the connection robot to retract the bridge plate, so that the upper surface of the connection platform is separated from the upper surface of the cleaning area; S116 connection Platform adjustment step again, controlling the connection robot to adjust the height and / or angle of the connection platform, so that the height of the connection platform is reduced to the lowest position, and maintain a horizontal state; S117 connection machine drives away step, Control the docking robot to leave the cleaning area.
  • the invention provides a robot scheduling method used in a solar panel cleaning system, scheduling an appropriate number of cleaning robots and connecting robots according to the workload of the cleaning operation, and using the cleaning robot to complete the cleaning work on the solar panel or solar panel array, By using the transfer robot to transfer the cleaning robot between multiple solar panel arrays, all solar panel and panel array cleaning tasks can be completed in the shortest time.
  • the subject of the present invention can be manufactured and used in industry, and has industrial applicability.

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Abstract

一种机器人的调度方法，所述机器人包括清洁机器人，用以在清洁区上进行清洁作业；以及接驳机器人，用以在通道区内运载所述清洁机器人；所述机器人的调度方法包括任务生成步骤、任务发布步骤、路线规划步骤、行进控制步骤以及接驳控制步骤。

Description

一种机器人调度方法 技术领域
本发明涉及一种用于太阳能面板清洁系统中的机器人调度方法。
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。
由于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、积雪等。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，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。
因此，每个光伏电站都需要进行太阳能面板表面的清扫工作，很明显人工清扫效率低、风险大。相应的，业界开发出了太阳能面板清洁机器人对其进行表面清扫，即可有效的提高清扫效率，又不会出现高处清扫作业而存在的人身安全隐患问题。
技术问题
由于太阳能面板或面板阵列的摆放设置并不是一个整块设置，而是在一定区域内的多处设置，使得区域内不同位置的太阳能面板或面板阵列之间存在较大的空间间隔，而清洁机器人并不能直接跨越这些空间间隔在不同的太阳能面板上，如果在每一太阳能面板上均设置一个清洁机器人，不仅硬件成本太高，而且每个清洁机器人的使用效率太低，会形成较大的资源浪费。
技术解决方案
本发明的一个目的在于，提供一种用于太阳能面板清洁系统中的机器人的调度方法，用以解决清洁机器人在多个太阳能面板阵列之间转移和调度的技术问题。
为实现上述目的，本发明提供一种机器人的调度方法，所述机器人包括清洁机器人，用以在清洁区上进行清洁作业；以及接驳机器人，用以在通道区内运载所述清洁机器人；所述机器人的调度方法包括如下步骤：任务生成步骤，生成至少一接驳任务指令；任务发布步骤，发布所述接驳任务指令给所述接驳机器人；路线规划步骤，规划所述接驳机器人的优化路线；行进控制步骤，控制所述接驳机器人沿着所述优化路线行进；以及接驳控制步骤，控制所述接驳机器人与一清洁区接驳。
进一步地，在所述任务生成步骤之前，还包括如下步骤：作业区信息获取步骤， 获取作业区信息；所述作业区包括清洁区及两个以上清洁区之间的通道区；所述作业区信息包括作业区地图、作业区内每一清洁区的位置及尺寸；任务信息获取步骤，获取作业任务信息；所述作业任务信息包括需要被清洁的清洁区位置、尺寸及可作业时间；以及机器人数量计算步骤，计算需要被调度的清洁机器人和接驳机器人的数量。
进一步地，所述机器人数量计算步骤，包括如下步骤：清洁机器人速度获取步骤，获取清洁机器人的行进速度；总面积计算步骤，根据需要被清洁的清洁区的尺寸，计算需要被清洁的总面积；总工时计算步骤，根据需要被清洁的清洁区的总面积及清洁机器人的行进速度，计算在清洁机器人完成全部清洁任务所需的总工时；清洁机器人数量计算步骤，根据所述总工时及所述可作业时间计算需要被调度的清洁机器人数量。
进一步地，所述机器人数量计算步骤，包括如下步骤：接驳机器人速度获取步骤，获取接驳机器人行进速度；第一接驳区位置获取步骤，根据所述作业区地图和需要被清洁的清洁区的位置及尺寸，获取需要被清洁的清洁区的第一接驳区的位置；总距离计算步骤，根据所有接驳机器人的初始存放位置和需要被清洁的清洁区的第一接驳区位置，计算所有接驳机器人需要行进的总距离；接驳机器人数量计算步骤，根据所述总距离及所述接驳机器人行进速度计算需要被调度的接驳机器人数量。
进一步地，所述清洁区为太阳能面板或太阳能面板阵列；和/或，所述清洁区包括第一接驳区，其为一清洁区外部紧邻该清洁区一侧边的区域；以及第二接驳区，其为一清洁区内部紧邻该清洁区一侧边的区域，且与所述第一接驳区相对设置。
进一步地，在所述任务生成步骤之前，还包括如下步骤：接驳机器人监控步骤，实时获取每一接驳机器人的位置及负载状态，所述负载状态包括满载状态和空载状态；清洁机器人监控步骤，实时获取每一清洁机器人的实时作业进度；接驳机器人搜寻步骤，当一清洁机器人在一清洁区的作业进度超过一预设阈值时，搜寻与该清洁区的第一接驳区行驶距离最近且处于空载状态的一接驳机器人。
进一步地，所述接驳机器人监控步骤，包括如下步骤：通道区设置步骤，设置两个以上通道区，组成通道网络，用于供至少一机器人行进；定位点设置步骤，在所述通道网络中均匀设置至少一定位点；标签设置步骤，在每一定位点处设置至少一可读标签；所述可读标签存储有定位点信息包括该可读标签所处定位点的位置及编号；以及标签读取步骤，一可读标签的定位点信息被一接驳机器人读取并向外发送；定位点信息获取步骤，获取所述接驳机器人发送的一可读标签的定位点信息，以获取所述接驳机器人所处定位点 的位置及编号。
进一步地，所述清洁机器人监控步骤，包括如下步骤：传感器设置步骤，在每一接驳机器人的接驳装置上设置重量传感器或距离传感器；传感器数据读取步骤，读取一接驳机器人的重量传感器或距离传感器的感应数据；负载状态判断步骤，根据所述重量传感器或所述距离传感器的感应数据判断所述接驳机器人是否负载有清洁机器人，若是，所述接驳机器人的负载状态为满载状态；若否，所述接驳机器人的负载状态为空载状态。
进一步地，所述接驳机器人搜寻步骤，包括如下步骤：最短行驶距离计算步骤，计算每一空载状态的接驳机器人与所述清洁区的第一接驳区的最短行驶距离；最短行驶距离比较步骤，比较每一空载状态的接驳机器人与所述清洁区的第一接驳区的最短行驶距离；以及接驳机器人选择步骤，选择所述最短行驶距离最小且处于空载状态的接驳机器人；其中，所述最短行驶距离为接驳机器人在通道区内行驶至所述清洁区的第一接驳区的最短路线相应的距离。
进一步地，所述接驳任务指令包括：起点信息，包括接驳任务中起点的位置，当一接驳机器人获取一接驳任务指令时，该接驳机器人的实时位置被设置为起点；经停点信息，包括接驳任务中经停点的位置，当所述清洁机器人位于一仓储区时，所述经停点位于所述仓储区内；当所述清洁机器人位于已完成清洁作业的一清洁区上表面时，所述经停点位于所述清洁区的第一接驳区；以及终点信息，包括接驳任务中终点的位置，所述终点位于需要被清洁的一清洁区的第一接驳区内。
进一步地，所述路线规划步骤包括：路线推演步骤，根据所述起点及所述终点的位置在至少一通道区中推演至少一条可行路线，所述可行路线通过所述经停点；路线比较步骤，当所述可行路线为两条以上时，比较所述可行路线的长度；以及优化路线确定步骤，当所述可行路线为一条时，所述可行路线即为优化路线；当所述可行路线为两条以上时，最短的可行路线即为优化路线。
进一步地，所述接驳控制步骤，具体包括如下步骤：靠近清洁区步骤，控制所述接驳机器人行进至一清洁区的第一接驳区，所述接驳机器人包括接驳平台及桥板；接驳平台初次调整步骤，控制所述接驳机器人调整所述接驳平台的高度和/或角度，使得所述接驳平台的上表面与所述清洁区上表面平齐，且使接驳装置的出入口朝向所述第二接驳区；对接步骤，控制所述接驳机器人伸出一桥板，连接所述接驳平台的上表面与所述清洁区上表面；以及清洁机器人转移步骤，控制所述清洁机器人从所述接驳平台行进至所述清洁区 上表面，或者，从所述清洁区行进至所述清洁区接驳平台上表面。
进一步地，所述接驳控制步骤，具体包括如下步骤：解除对接步骤，控制所述接驳机器人收回所述桥板，使得所述接驳平台的上表面与所述清洁区上表面脱离；接驳平台再次调整步骤，控制所述接驳机器人调整所述接驳平台的高度和/或角度，使得所述接驳平台的高度降至最低处，且保持水平状态；以及接驳机器驶离步骤，控制所述接驳机器人离开所述清洁区。
有益效果
相较于习知技术，本发明的优点在于，提供一种用于太阳能面板清洁系统中的机器人调度方法，根据清洁作业的工作量，调度合适数量的清洁机器人和接驳机器人，利用清洁机器人在太阳能面板或太阳能面板阵列上完成清洁工作，利用接驳机器人在多个太阳能面板阵列之间转移清洁机器人，可以在最短时间内完成所有太阳能面板及面板阵列的清洁任务。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例所述作业区的示意图；
图2是本发明实施例所述清洁系统的作业状态示意图；
图3是本发明实施例所述清洁系统的结构示意图；
图4是本发明实施例所述清洁区的结构示意图；
图5是本发明实施例所述接驳机器人在接驳平台平置状态下的结构示意图；
图6是本发明实施例所述接驳机器人在接驳平台倾斜状态下的结构示意图；
图7是本发明实施例所述接驳装置顶部的结构示意图；
图8是本发明实施例所述清洁系统的电子器件的功能模块简图；
图9是本发明实施例所述的机器人的调度方法的流程图；
图10是本发明实施例所述清洁机器人数量计算步骤的流程图；
图11是本发明实施例所述接驳机器人数量计算步骤的流程图；
图12是本发明实施例所述接驳机器人监控步骤的一部分的流程图；
图13是本发明实施例所述接驳机器人监控步骤的另一部分的流程图；
图14是本发明实施例所述接驳机器人搜寻步骤的流程图；
图15是本发明实施例所述路线规划步骤的流程图；
图16是本发明实施例所述接驳控制步骤的流程图。
图中部件标识如下：
100作业区，200清洁机器人，300接驳机器人，400数据处理系统，500清洁区；
101太阳能面板阵列，102太阳能面板，103通道区，104定位点，路口105；
201第一无线通信单元，301第二无线通信单元，401第三无线通信单元；
310车体，320接驳装置，330角度调节装置，340处理器，350高度调节装置；
360行进装置，370行进控制装置；
321接驳平台，322挡板，322a左档板，322b后挡板，322c右挡板，323出入口；
324防撞部件，327桥板，328第一伸缩杆，329第一伸缩杆控制器；
501清洁区上端，502清洁区下端，503清洁区左侧端，504清洁区右侧端；
505第一接驳区，506第二接驳区；
601对射式传感器，601a发射端，601b接收端；602距离传感器，603倾角传感器，
604定位装置，605电子罗盘；606影像传感器，607照明装置，608避障传感器。
本发明的实施方式
以下参考说明书附图介绍本发明的优选实施例，用以举例证明本发明可以实施，这些实施例可以向本领域中的技术人员完整介绍本发明的技术内容，使得本发明的技术内容更加清楚和便于理解。然而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。当一个组件被描述为“连接至”另一组件时，二者可以理解为直接“连接”，或者一个组件通过一中间组件“连接至”另一个组件。
如图1所示，一太阳能电站内设有一作业区100，在该作业区内包括多个太阳能面板阵列101，每一太阳能面板阵列101与水平面的倾斜角为15～45度中的某一角度值，尽量保证阳光较多地直射至太阳能面板上。在大部分的太阳能电站中，所有太阳能面板相对于水平面的倾斜角(简称面板倾斜角或倾斜角)都是相同的；在某些太阳能电站中，不同太阳能面板的倾斜角可能会有所区别，甚至有些面板的倾斜角是可调节或可变化的。
如图1所示，每一太阳能面板阵列101包括多块拼接在一起的太阳能面板102(简称面板)，多个太阳能面板阵列101和/或多个太阳能面板102可以排列成矩阵，任意两个相邻的太阳能面板阵列101或太阳能面板102之间形成一通道区103，在本实施例中，多个彼此交叉连通的通道区103共同组成纵横交错的通道网络。
如图2～3所示，本实施例提供一种清洁系统，包括清洁机器人200、接驳机器人300以及数据处理系统400，作业区100为清洁机器人200、接驳机器人300完成太阳能面板清洁作业的工作区域。
太阳能电站在正常工作过程中，某些太阳能面板或太阳能面板阵列会沾附灰尘或污渍，需要被清洁处理；每一块需要被清洁处理的太阳能面板或太阳能面板阵列即为清洁区500。清洁机器人100可以在太阳能面板或太阳能面板阵列上完成清洁作业，可以有效清洁面板或面板阵列上的每一处区域。接驳机器人300可以将清洁机器人200从清洁机器人存放地运载至一清洁区500(需要被清洁的面板或面板阵列)上表面，从一个被清洁过的面板阵列上表面运载至另一个清洁区500(需要被清洁的面板或面板阵列)上表面，或者，从一个被清洁过的清洁区500上表面运载至清洁机器人存放地。
如图4所示，优选地，每一清洁区500为一组合成矩形的面板阵列，其四周边缘处分别被定义为清洁区上端501、清洁区下端502、清洁区左侧端503及清洁区右侧端504。
当一清洁机器人200被一接驳机器人300运载至一清洁区500时，优选地，清洁机器人200从清洁区左侧端503或清洁区右侧端504行驶至清洁区500上；类似地，当一清洁机器人200被一接驳机器人300从一清洁区500上转移时，优选地，清洁机器人200从清洁区左侧端503或清洁区右侧端504行驶至接驳机器人300上。
如图4所示，每一清洁区500设有彼此相对设置的第一接驳区505、第二接驳区506，第一接驳区505、第二接驳区506分别设于该清洁区左侧端503或该清洁区右侧端504的两侧。本实施例中，第一接驳区505为该清洁区500外部紧邻该清洁区右侧端504的区域，第二接驳区506为该清洁区内部紧邻该清洁区右侧端504的区域。优选地，第一接驳区505、第二接驳区506紧邻该清洁区右侧端504的下部。
判断光伏电站内有哪些太阳能面板阵列是否需要被清洁，常见的有如下几种方案。第一种是分区预估法，在一个小型区域(区域范围可以自由定义)内彼此相邻的多个面板阵列所处的自然环境是类似的，因此该区域内面板被污染程度也相近似，随机选取一太阳能面板，检测其污染程度，判断该面板是否需要清洁；如果该面板需要被清洁，则该 区域的所有面板都需要被清洁。若某一电站的作业区占地面积较大，可以将一个大型作业区分成多个小型作业区，分区进行抽样检测。第二种是定时清洁法，根据作业区所处自然环境的情况，定时对该作业区内所有面板阵列进行清洁。如果该作业区风沙较大或者降水较多，太阳能面板表面附着物较重，可能需要每天清洗1～2次，如果该作业区风沙较小或降水较少，太阳能面板附着物较少，可能每隔10天清洗一次也可以。以上两种方法都是对多个太阳能面板阵列进行无差别处理，相对来说精准度较差，可能存在有些面板表面附着物较少也被清洁机器人清洁处理的状况。第三种是分别检测法，认真检测每一个面板阵列的污染程度，判断哪些面板阵列或面板需要清洁，这种方法准确性比较高，但是效率较低。
如图3所示，数据处理系统400，优选物理服务器或云服务器，连接至清洁机器人200和/或接驳机器人300，实现清洁机器人200和/或接驳机器人300的数据交换，向清洁机器人200和/或接驳机器人300发布控制指令，同时从清洁机器人200和/或接驳机器人300获取反馈数据，如上述两种机器人的实时位置坐标、两种机器人实时采集的影像数据等，从而使得数据处理系统400可以实现对清洁机器人200的清洁作业过程、对接驳机器人300行进及接驳过程的实时监控，控制对接驳机器人300在作业区200的通道网络内正常行进，控制对接驳机器人300与清洁区的太阳能面板阵列101对接。
数据处理系统400获取哪些太阳能面板阵列101需要被清洁的信息(某些面板编号)之后，结合光伏电站内允许清洁作业的时间，估算出清洁作业所需的接驳机器人300和清洁机器人200的数量。数据处理系统300调用一接驳机器人300将清洁机器人200送到需要清洁处理的某一面板阵列上，清洁机器人200在该面板阵列上进行全面清洁作业，该面板阵列的清洁作业完成后，数据处理系统400调用一接驳机器人300将该清洁机器人200从一个被清洁过的面板阵列上表面运载至另一个需要被清洁的面板阵列上表面，或者，运载至清洁机器人存放地。
清洁机器人200为申请人自主研发的产品，参见申请人于2016年～2018年申请的一系列太阳能面板清扫机器人相关专利。清洁机器人200被运送至一太阳能面板阵列后，可以在面板阵列上自由行进，走遍该面板阵列的每一个角落，在行进中完成整个面板阵列的清洁作业，在此不做赘述。
如图5所示，本实施例提供一种接驳机器人300，包括车体310、接驳装置320、角度调节装置330、高度调节装置350、行进装置360及行进控制装置370。
如图5～6所示，接驳装置320包括一接驳平台321，用于放置清洁机器人200， 接驳平台321可转动式连接至车体310顶部或上半部；角度调节装置330用于调整接驳平台321的倾斜角度，高度调节装置350用于调整接驳平台321的高度，行进装置360为车轮或履带，行进控制装置370用于发出控制指令，控制车体移动及调整车体位置。
如图5～7所示，接驳装置320包括挡板322，突出于接驳平台321的边缘处，且垂直于接驳平台321；挡板322包括依次连接的左档板322a、后挡板322b及右挡板322c，围成凹字形；左档板322a的开放端与右挡板322c的开放端之间形成一出入口323。
接驳装置320还包括防撞部件324，优选一防撞条，设于后挡板322b的内侧壁；可选择地，左档板322a和/或右挡板322c的内侧壁也可以分别设置一防撞条(图未示)。
接驳装置320还包括桥板327及第一伸缩杆328，桥板327可滑动式安装至接驳平台321上表面；第一伸缩杆328的一端连接至接驳平台321下表面，其另一端连接至桥板327下表面。第一伸缩杆328为液压伸缩杆或电力伸缩杆，第一伸缩杆328具有第一伸缩杆杆控制器329，当第一伸缩杆杆控制器329接收到指令电信号时，可以控制第一伸缩杆328调整其长度。当第一伸缩杆328长度缩至最短时，桥板327位于接驳平台321上表面；当第一伸缩杆328长度伸长时，桥板327向出入口323方向伸出一段距离。当接驳机器人300与太阳能面板阵列101距离最小，且接驳平台321的角度被调整到与太阳能面板阵列101一致时，第一伸缩杆328伸长一定距离，桥板327向太阳能面板阵列101延伸，使得接驳平台321连接至太阳能面板阵列101，从而方便清洁机器人200从接驳平台321顺利行进至太阳能面板阵列101(即清洁区)，或者从太阳能面板阵列101(即清洁区)行进至接驳平台321。清洁机器人200转移完成后，第一伸缩杆328长度缩至最短，桥板327收回至接驳平台321上表面。
接驳平台321的倾斜角度和高度调整完毕时，数据处理系统400收到接驳机器人300的反馈信息，向清洁机器人200发送行动指令，控制清洁机器人200从第一接驳区505的接驳平台321行驶至第二接驳区506的太阳能面板(简称上板)，或者，从第二接驳区506的太阳能面板行驶至第一接驳区505的接驳平台321(简称下板)，从而完成接驳过程。
本实施例所述接驳机器人300还包括一电路板(图未示)，设于车体310内。如图13所示，所述电路板上设有一处理器340，作为接驳机器人300的控制设备。
如图13所示，清洁机器人200设有第一无线通信单元201，接驳机器人300设有第二无线通信单元301，数据处理系统400设有第三无线通信单元401。第一无线通信单 元201、第二无线通信单元301分别与第三无线通信单元401彼此无线连接，使得清洁机器人200或接驳机器人300与数据处理系统400皆可以无线通信方式进行数据交换。
如图4所示，当接驳机器人300行进至一清洁区500(太阳能面板或面板阵列)附近时，数据处理系统400控制一接驳机器人300调整其位置和方向，行进至清洁区500右侧下端的第一接驳区505，且使得接驳装置320的出入口323正对清洁区500方向。
本实施例中，接驳机器人300在通道区103内行驶时，接驳平台321水平设置于车体310顶部，接驳平台321与车体310上表面的夹角为0度。如果接驳平台321上放置有清洁机器人200，则可以在运输过程中保持平稳，不会滑落。
本实施例中，当接驳平台321处于倾斜状态时，接驳平台321最低处的高度大于或等于作业区100内太阳能面板或面板阵列的最低端(如清洁区下端502)；接驳平台321最高处的高度小于或等于作业区100内太阳能面板或面板阵列的最高端(如清洁区上端501)；确保在接驳过程中，接驳平台321可以与太阳能面板或面板阵列的左侧或右侧形成全方位对接(如清洁区左侧端503或右侧端504)。
无论接驳平台321处于倾斜状态还是平置状态，接驳平台321最低处的高度大致不变，该高度基本取决于车体310顶部的高度。优选地，接驳平台321与面板的接驳位置位于面板或面板阵列的右侧的下部，对车体310的高度要求比较低。车体310重心越低，接驳机器人300在运载清洁机器人行进的过程中就会越平稳，有效防止路面不平造成的颠簸和晃动。
如图8所示，本实施例中，接驳机器人300还设有多种数据采集装置，用以采集接驳机器人300工作过程中的各种工作数据。所述数据采集装置包括不同种类的传感器，包括对射式传感器601、距离传感器602、倾角传感器603、定位装置604、电子罗盘605、影像传感器606、照明装置607以及避障传感器608，等等。上述各个传感器有线式或无线式连接至处理器340，接驳机器人300作业过程中采集的原始工作数据被传送至处理器340，经由处理器340处理后形成预处理数据，所述原始工作数据和/或所述预处理数据通过无线通信单元发送至数据处理系统400，以实现对接驳机器人300作业过程的实时监控和对接驳机器人300的行进过程和/或接驳过程进行实时控制。
如图5～7所示，对射式传感器601包括相对设置的发射端601a与接收端601b，分别设于接驳装置320的左档板322a、右挡板322c内侧壁上，发射端601a与接收端601b靠近出入口323，分别设置于出入口323两侧。对射式传感器601优选一对对射式红外传感 器，发射端601a发射出的红外线被接收端601b获取到，当红外线被挡住时，处理器340即可判断有物品通过出入口323。
当一清扫机器人200从外部行驶至接驳装置320的出入口时，发射端601a与接收端601b之间的红外线被遮挡，对射式传感器601可以感应到有清扫机器人200的前端行进至接驳装置320；当一清扫机器人200整体完全行驶到接驳装置320内部时，发射端601a与接收端601b之间的红外线恢复无遮挡状态，对射式传感器601可以感应到有清扫机器人200的后端也行进至接驳装置320。处理器340根据对射式传感器601的实时电信号，可以判断有一清扫机器人200的前端行进至接驳装置320，也可以判断有一清扫机器人200整体完全行驶到接驳装置320内。
距离传感器602设于接驳装置320的后挡板322b中部的内侧壁，与出入口323相对设置。距离传感器602优选一反射式红外传感器，该反射式红外传感器向出入口323方向持续发射出红外线，如能接收到反射回来的红外线，则可判断有清洁机器人200从出入口323驶入接驳平台321。进一步地，根据接收到的红外线的时间可以获取清洁机器人200前端与接驳装置320的后挡板322b之间的距离。
当一清扫机器人200从外部行驶至接驳装置320的出入口时，距离传感器602(反射式红外传感器)可判断有清扫机器人200行进至接驳装置320，同时可以根据接收到反射红外线的时间判断清扫机器人200前端与后挡板322b之间的距离，处理器340获取该距离的数值，即可实时监控清扫机器人200进入接驳装置320的进度，判断清洁机器人200是否整体行进至接驳平台321内。
当一清扫机器人200经过出入口行驶出接驳装置320时，距离传感器602(反射式红外传感器)可判断有清扫机器人200行进出接驳装置320，同时可以根据获取反射红外线的时间判断清扫机器人200前端与后挡板322b之间的距离，处理器340获取该距离的数值，即可实时监控清扫机器人200离开接驳装置320的进度，判断清洁机器人200是否整体行驶出接驳平台321。
倾角传感器603优选设于接驳平台321的下表面(参见图8)，用以实时测量接驳平台321上表面与水平面的夹角(简称平台倾角)，并将平台倾角的角度值传送至处理器340。若作业区100内所有太阳能面板的倾斜角各不相同或者有些面板的倾斜角是可变的，第二伸缩杆332每次伸长时，倾角传感器603实时监测平台倾斜角的角度值并发送至处理器340，当实时平台平台倾斜角的角度值与面板倾斜角的角度值相同时，处理器340发出停 止指令至第二伸缩杆控制器335，使得第二伸缩杆332停止伸长，使得平台倾斜角与面板倾斜角相同。
本实施例中，定位装置604为RFID阅读器(RFID Reader)，设于车体310内部或外部，优选设于车体310底部或接驳平台321前端，用以获取车体310在作业区内的实时位置，并将车体310的实时位置传送至处理器340。
本实施例采用标签定位的方案，在通道区103内预设一推荐路径，控制车体310沿着推荐路径行进，在所述推荐路径上每隔一定距离设置一组可识别标签，如RFID标签，每一可识别标签内存储该标签在作业区内的位置坐标等数据。当接驳机器人300行驶至某一路口或路段时，RFID阅读器读取到该路口或路段处预设的RFID标签，处理器340获取接驳机器人300的实时位置，可选择地，将其传送至数据处理系统400。在其他实施例中，定位装置604也可以为高精度的GPS定位单元或北斗定位单元，同样可以获取接驳机器人300的实时位置。
电子罗盘605优选设于车体310内部或外部，用以获取接驳机器人300的实时行进方向，并传送至处理器340进行数据处理和数据分析，用以判断接驳机器人300的实时行进方向是否与预设方向一致，如果接驳机器人300偏离预设方向，处理器340发出控制指令给车体310，及时调整车体310的行进方向。
优选地，影像传感器606和/或照明装置607设于车体310的前端和/或后端，影像传感器606用于实时采集车体310前方和/或后方的实时影像和或图片，并将其发送至处理器340。当接驳机器人300在作业区100的通道区103中行进时，影像传感器606采集的图片内容中包括任一时刻通道区103内可行进区域被发送至处理器340，处理器340根据车体310实时行进速度计算车体310下一时段覆盖的预计行进区域，实时对比每一时刻的预计行进区域与可行进区域，判断车体310下一时段是否还在可行进区域；若预计行进区域超出可行进区域范围，证明车体310的行进路线上出现了障碍物，处理器340需要实时调整车体310的行进方向，以防止车体310在行进中撞到障碍物。
在其他实施例中，影像传感器606采集的图片内容还可以包括太阳能面板和/或面板阵列的边框，该边框在图片中显示为一条边框直线。在其他实施例中，经过特定算法处理后，接驳机器人300可以参照该边框直线的位置在行进过程中实时调整行进方向，使得接驳机器人300尽量沿直线行进。
当接驳机器人300在光线较暗的环境下(如夜晚、阴天等)行进时，照明装置 607用于对车体310前方和/或后方的通道区进行照明，以便影像传感器606得以正常采集影像和或图片。在其他一些实施例中，影像传感器606和/或照明装置607也可以设于车体310的左侧和/或右侧，用于实时采集车体310左侧和/或右侧的实时影像和或图片。在其他一些实施例中，影像传感器606和/或照明装置607还可以设于接驳装置320的一侧，影像传感器606的摄像头朝向外侧，当接驳平台321的高度和倾斜角被调整到与太阳能面板102一致时，该摄像头正对太阳能面板102。
避障传感器608，优选超声波传感器，设于车体310的前端和/或后端在接驳机器人300行进过程中，当处理器340获取前端或后端的避障传感器608发出的感应信号时，可判断出车体行进路线上的前方或后方有障碍物影响行驶，从而使得处理器340可以调整接驳机器人300的行进方向，避开障碍物。在其他实施例中，避障传感器608也可以设于车体310的左侧和/或右侧。
本发明提供一种接驳机器人，作为清洁机器人的运载工具，在多个太阳能面板阵列之间的通道区中转移清洁机器人，使得清洁机器人得以在不同的太阳能面板阵列上完成清洁工作。在本实施例中，接驳机器人的接驳平台的高度和倾斜角度都可以调节，即使太阳能面板的高度较大的情况下，也可以使得接驳平台与太阳能面板全面对接。
如图9所示，基于前述的太阳能面板清洁系统，本发明还提供一种机器人的调度方法，包括如下步骤S1～S11。
S1作业区信息获取步骤，获取作业区信息；所述作业区包括清洁区及两个以上清洁区之间的通道区；所述作业区信息包括作业区地图、作业区内每一清洁区的位置及尺寸。
S2任务信息获取步骤，获取作业任务信息；所述作业任务信息包括需要被清洁的清洁区位置、尺寸及可作业时间。
S3机器人数量计算步骤，包括清洁机器人数量计算步骤和接驳机器人数量计算步骤，计算需要被调度的清洁机器人和接驳机器人的数量。
如图10所示，其中的清洁机器人数量计算步骤，包括如下步骤：S311清洁机器人速度获取步骤，获取清洁机器人的行进速度；S312总面积计算步骤，根据需要被清洁的清洁区的尺寸，计算需要被清洁的总面积；S313总工时计算步骤，根据需要被清洁的清洁区的总面积及清洁机器人的行进速度，计算在清洁机器人完成全部清洁任务所需的总工时；S314清洁机器人数量计算步骤，根据所述总工时及所述可作业时间计算需要被调度的 清洁机器人数量。
如图11所示，其中的接驳机器人数量计算步骤，包括如下步骤：S321接驳机器人速度获取步骤，获取接驳机器人行进速度；S322第一接驳区位置获取步骤，根据所述作业区地图和需要被清洁的清洁区的位置及尺寸，获取需要被清洁的清洁区的第一接驳区的位置；S323总距离计算步骤，根据所有接驳机器人的初始存放位置和需要被清洁的清洁区的第一接驳区位置，计算所有接驳机器人需要行进的总距离；S324接驳机器人数量计算步骤，根据所述总距离及所述接驳机器人行进速度计算需要被调度的接驳机器人数量。
S4接驳机器人监控步骤，实时获取每一接驳机器人的位置及负载状态，所述负载状态包括满载状态和空载状态。如图12所示，步骤S4包括如下步骤S411～S415。S411通道区设置步骤，设置两个以上通道区，组成通道网络，用于供至少一机器人行进；S412定位点设置步骤，在所述通道网络中均匀设置至少一定位点；S413标签设置步骤，在每一定位点处设置至少一可读标签；所述可读标签存储有定位点信息包括该可读标签所处定位点的位置及编号；S414标签读取步骤，一可读标签的定位点信息被一接驳机器人读取并向外发送；S415定位点信息获取步骤，获取所述接驳机器人发送的一可读标签的定位点信息，以获取所述接驳机器人所处定位点的位置及编号。
S5清洁机器人监控步骤，实时获取每一清洁机器人的实时作业进度。如图13所示，步骤S5还包括如下步骤S521～S523，S521传感器设置步骤，在每一接驳机器人的接驳装置上设置重量传感器或距离传感器；S522传感器数据读取步骤，读取一接驳机器人的重量传感器或距离传感器的感应数据；S523负载状态判断步骤，根据所述重量传感器或所述距离传感器的感应数据判断所述接驳机器人是否负载有清洁机器人，若是，所述接驳机器人的负载状态为满载状态；若否，所述接驳机器人的负载状态为空载状态。重量传感器可以判断出接驳装置上的重量值，判断接驳装置上是否存在清洁机器人；距离传感器设于接驳装置后挡板中部的内侧壁，与出入口相对设置，根据感应状态判断接驳装置上是否存在清洁机器人。
S6接驳机器人搜寻步骤，当一清洁机器人在一清洁区的作业进度超过一预设阈值时，搜寻与该清洁区的第一接驳区行驶距离最近且处于空载状态的一接驳机器人。如图14所示，S6接驳机器人搜寻步骤包括如下步骤：S61最短行驶距离计算步骤，计算每一空载状态的接驳机器人与所述清洁区的第一接驳区的最短行驶距离；S62最短行驶距离比较步骤，比较每一空载状态的接驳机器人与所述清洁区的第一接驳区的最短行驶距离；S63接驳 机器人选择步骤，选择所述最短行驶距离最小且处于空载状态的接驳机器人；其中，所述最短行驶距离为接驳机器人在通道区内行驶至所述清洁区的第一接驳区的最短路线相应的距离。
S7任务生成步骤，生成至少一接驳任务指令；所述接驳任务指令包括起点信息，包括接驳任务中起点的位置，当一接驳机器人获取一接驳任务指令时，该接驳机器人的实时位置被设置为起点；经停点信息，包括接驳任务中经停点的位置，当所述清洁机器人位于一仓储区时，所述经停点位于所述仓储区内；当所述清洁机器人位于已完成清洁作业的一清洁区上表面时，所述经停点位于所述清洁区的第一接驳区；和/或，终点信息，包括接驳任务中终点的位置，所述终点位于需要被清洁的一清洁区的第一接驳区内。
S8任务发布步骤，发布所述接驳任务指令给所述接驳机器人；
S9路线规划步骤，规划所述接驳机器人的优化路线；如图15所示，所述路线规划步骤包括S91路线推演步骤，根据所述起点及所述终点的位置在至少一通道区中推演至少一条可行路线，所述可行路线通过所述经停点；S92路线比较步骤，当所述可行路线为两条以上时，比较所述可行路线的长度；S93优化路线确定步骤，当所述可行路线为一条时，所述可行路线即为优化路线；当所述可行路线为两条以上时，最短的可行路线即为优化路线。
S10行进控制步骤，控制所述接驳机器人沿着所述优化路线行进。本实施例利用导航技术实时获取所述接驳机器人的位置，监控所述接驳机器人沿着所述优化路线，或称推荐路线，行驶至预设的终点处。本实施例前文所述的标签定位的方案即可实现标签定位导航，实时监控接驳机器人是否偏离预设的优化路线，如有偏离，及时发出校偏指令，及时调整接驳机器人的实际行进方向。
S11接驳控制步骤，控制所述接驳机器人与一清洁区接驳。
如图16所示，所述接驳控制步骤，具体包括如下步骤：S111靠近清洁区步骤，控制所述接驳机器人行进至一清洁区的第一接驳区，所述接驳机器人包括接驳平台及桥板；S112接驳平台初次调整步骤，控制所述接驳机器人调整所述接驳平台的高度和/或角度，使得所述接驳平台的上表面与所述清洁区上表面平齐，且使接驳装置的出入口朝向所述第二接驳区；S113对接步骤，控制所述接驳机器人伸出桥板，连接所述接驳平台的上表面与所述清洁区上表面；S114清洁机器人转移步骤，控制所述清洁机器人从所述接驳平台行进至所述清洁区上表面，或者，从所述清洁区行进至所述清洁区接驳平台上表面。
进一步地，所述接驳控制步骤具体包括如下步骤：S115解除对接步骤，控制所述接驳机器人收回桥板，使得所述接驳平台的上表面与所述清洁区上表面脱离；S116接驳平台再次调整步骤，控制所述接驳机器人调整所述接驳平台的高度和/或角度，使得所述接驳平台的高度降至最低处，且保持水平状态；S117接驳机器驶离步骤，控制所述接驳机器人离开所述清洁区。
本发明提供一种用于太阳能面板清洁系统中的机器人调度方法，根据清洁作业的工作量，调度合适数量的清洁机器人和接驳机器人，利用清洁机器人在太阳能面板或太阳能面板阵列上完成清洁工作，利用接驳机器人在多个太阳能面板阵列之间转移清洁机器人，可以在最短时间内完成所有太阳能面板及面板阵列的清洁任务。
本发明已由上述相关实施例加以描述，然而上述实施例仅为实施本发明的范例。必需指出的是，已公开的实施例并未限制本发明的范围。相反地，包含于权利要求书的精神及范围的修改及均等设置均包括于本发明的范围内。
工业实用性
本发明的主体可以在工业中制造和使用，具备工业实用性。

Claims (13)

  1. 一种机器人调度方法，所述机器人包括：
    清洁机器人，用以在清洁区上进行清洁作业；以及
    接驳机器人，用以在通道区内运载所述清洁机器人；
    其中，包括如下步骤：
    任务生成步骤，生成至少一接驳任务指令；
    任务发布步骤，发布所述接驳任务指令给所述接驳机器人；
    路线规划步骤，规划所述接驳机器人的优化路线；
    行进控制步骤，控制所述接驳机器人沿着所述优化路线行进；以及
    接驳控制步骤，控制所述接驳机器人与一清洁区接驳。
  2. 如权利要求1所述的机器人调度方法，其中，
    在所述任务生成步骤之前，还包括如下步骤：
    作业区信息获取步骤，获取作业区信息；所述作业区包括清洁区及两个以上清洁区之间的通道区；所述作业区信息包括作业区地图、作业区内每一清洁区的位置及尺寸；
    任务信息获取步骤，获取作业任务信息；所述作业任务信息包括需要被清洁的清洁区位置、尺寸及可作业时间；以及
    机器人数量计算步骤，计算需要被调度的清洁机器人和接驳机器人的数量。
  3. 如权利要求2所述的机器人调度方法，其中，
    所述机器人数量计算步骤，包括如下步骤：
    清洁机器人速度获取步骤，获取清洁机器人的行进速度；
    总面积计算步骤，根据需要被清洁的清洁区的尺寸，计算需要被清洁的总面积；
    总工时计算步骤，根据需要被清洁的清洁区的总面积及清洁机器人的行进速度，计算在清洁机器人完成全部清洁任务所需的总工时；
    清洁机器人数量计算步骤，根据所述总工时及所述可作业时间计算需要被调度的清洁机器人数量。
  4. 如权利要求2所述的机器人调度方法，其中，
    所述机器人数量计算步骤，包括如下步骤：
    接驳机器人速度获取步骤，获取接驳机器人行进速度；
    第一接驳区位置获取步骤，根据所述作业区地图和需要被清洁的清洁区的位置及尺寸，获取需要被清洁的清洁区的第一接驳区的位置；
    总距离计算步骤，根据所有接驳机器人的初始存放位置和需要被清洁的清洁区的第一接驳区位置，计算所有接驳机器人需要行进的总距离；
    接驳机器人数量计算步骤，根据所述总距离及所述接驳机器人行进速度计算需要被调度的接驳机器人数量。
  5. 如权利要求1所述的机器人调度方法，其中，
    所述清洁区为太阳能面板或太阳能面板阵列；和/或，
    所述清洁区包括
    第一接驳区，其为一清洁区外部紧邻该清洁区一侧边的区域；以及
    第二接驳区，其为一清洁区内部紧邻该清洁区一侧边的区域，且与所述第一接驳区相对设置。
  6. 如权利要求1所述的机器人调度方法，其中，
    在所述任务生成步骤之前，还包括如下步骤：
    接驳机器人监控步骤，实时获取每一接驳机器人的位置及负载状态，所述负载状态包括满载状态和空载状态；
    清洁机器人监控步骤，实时获取每一清洁机器人的实时作业进度；
    接驳机器人搜寻步骤，当一清洁机器人在一清洁区的作业进度超过一预设阈值时，搜寻与该清洁区的第一接驳区行驶距离最近且处于空载状态的一接驳机器人。
  7. 如权利要求6所述的机器人调度方法，其中，
    所述接驳机器人监控步骤，包括如下步骤：
    通道区设置步骤，设置两个以上通道区，组成通道网络，用于供至少一机器人行进；
    定位点设置步骤，在所述通道网络中均匀设置至少一定位点；
    标签设置步骤，在每一定位点处设置至少一可读标签；所述可读标签存储有定位点信息包括该可读标签所处定位点的位置及编号；以及
    标签读取步骤，一可读标签的定位点信息被一接驳机器人读取并向外发送；
    定位点信息获取步骤，获取所述接驳机器人发送的一可读标签的定位点信息，以获取所述接驳机器人所处定位点的位置及编号。
  8. 如权利要求6所述的机器人调度方法，其中，
    所述清洁机器人监控步骤，包括如下步骤：
    传感器设置步骤，在每一接驳机器人的接驳装置上设置重量传感器或距离传感器；
    传感器数据读取步骤，读取一接驳机器人的重量传感器或距离传感器的感应数据；
    负载状态判断步骤，根据所述重量传感器或所述距离传感器的感应数据判断所述接驳机器人是否负载有清洁机器人，若是，所述接驳机器人的负载状态为满载状态；若否，所述接驳机器人的负载状态为空载状态。
  9. 如权利要求6所述的机器人调度方法，其中，
    所述接驳机器人搜寻步骤，包括如下步骤：
    最短行驶距离计算步骤，计算每一空载状态的接驳机器人与所述清洁区的第一接驳区的最短行驶距离；
    最短行驶距离比较步骤，比较每一空载状态的接驳机器人与所述清洁区的第一接驳区的最短行驶距离；以及
    接驳机器人选择步骤，选择所述最短行驶距离最小且处于空载状态的接驳机器人；
    其中，所述最短行驶距离为接驳机器人在通道区内行驶至所述清洁区的第一接驳区的最短路线相应的距离。
  10. 如权利要求1所述的机器人调度方法，其中，
    所述接驳任务指令包括：
    起点信息，包括接驳任务中起点的位置，当一接驳机器人获取一接驳任务指令时，该接驳机器人的实时位置被设置为起点；
    经停点信息，包括接驳任务中经停点的位置，当所述清洁机器人位于一仓储区时，所述经停点位于所述仓储区内；当所述清洁机器人位于已完成清洁作业的一清洁区上表面时，所述经停点位于所述清洁区的第一接驳区；以及
    终点信息，包括接驳任务中终点的位置，所述终点位于需要被清洁的一清洁区的第一接驳区内。
  11. 如权利要求10所述的机器人调度方法，其中，
    所述路线规划步骤包括：
    路线推演步骤，根据所述起点及所述终点的位置在至少一通道区中推演至少一条可行路线，所述可行路线通过所述经停点；
    路线比较步骤，当所述可行路线为两条以上时，比较所述可行路线的长度；以及
    优化路线确定步骤，当所述可行路线为一条时，所述可行路线即为优化路线；当所述可行路线为两条以上时，最短的可行路线即为优化路线。
  12. 如权利要求1所述的机器人调度方法，其中，
    所述接驳控制步骤，具体包括如下步骤：
    靠近清洁区步骤，控制所述接驳机器人行进至一清洁区的第一接驳区，所述接驳机器人包括接驳平台及桥板；
    接驳平台初次调整步骤，控制所述接驳机器人调整所述接驳平台的高度和/或角度，使得所述接驳平台的上表面与所述清洁区上表面平齐，且使接驳装置的出入口朝向所述第二接驳 区；
    对接步骤，控制所述接驳机器人伸出一桥板，连接所述接驳平台的上表面与所述清洁区上表面；以及
    清洁机器人转移步骤，控制所述清洁机器人从所述接驳平台行进至所述清洁区上表面，或者，从所述清洁区行进至所述清洁区接驳平台上表面。
  13. 如权利要求12所述的机器人调度方法，其中，
    所述接驳控制步骤，具体包括如下步骤：
    解除对接步骤，控制所述接驳机器人收回所述桥板，使得所述接驳平台的上表面与所述清洁区上表面脱离；
    接驳平台再次调整步骤，控制所述接驳机器人调整所述接驳平台的高度和/或角度，使得所述接驳平台的高度降至最低处，且保持水平状态；以及
    接驳机器驶离步骤，控制所述接驳机器人离开所述清洁区。
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