CN111687859A - Method for acquiring optimal operation path by photovoltaic cleaning robot - Google Patents
Method for acquiring optimal operation path by photovoltaic cleaning robot Download PDFInfo
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- CN111687859A CN111687859A CN202010569688.0A CN202010569688A CN111687859A CN 111687859 A CN111687859 A CN 111687859A CN 202010569688 A CN202010569688 A CN 202010569688A CN 111687859 A CN111687859 A CN 111687859A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 114
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
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- G06N3/00—Computing arrangements based on biological models
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/10—Image acquisition
- G06V10/12—Details of acquisition arrangements; Constructional details thereof
- G06V10/14—Optical characteristics of the device performing the acquisition or on the illumination arrangements
- G06V10/141—Control of illumination
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- G06V20/10—Terrestrial scenes
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- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
- Y02E40/70—Smart grids as climate change mitigation technology in the energy generation sector
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S10/00—Systems supporting electrical power generation, transmission or distribution
- Y04S10/50—Systems or methods supporting the power network operation or management, involving a certain degree of interaction with the load-side end user applications
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Abstract
The invention relates to a method for acquiring an optimal operation path by a photovoltaic cleaning robot, which comprises a machine body, wherein a cleaning device is fixedly arranged at the front end of the machine body, the photovoltaic cleaning robot cleans a photovoltaic array through the cleaning device, the cleaning device is fixedly arranged at the lower part of the front end surface of the machine body, a photovoltaic panel detection assembly is arranged at the front side of the upper surface of the machine body, the photovoltaic panel detection assembly is used for detecting the surface characteristics of a photovoltaic panel in the photovoltaic array right in front of the photovoltaic cleaning robot, meanwhile, the surface characteristics of the photovoltaic panel are extracted through an algorithm, and then an optimal operation path is fitted according to the extracted surface characteristics of the photovoltaic panel and the state of the machine body of the photovoltaic cleaning robot. The invention can improve the automation degree of the photovoltaic cleaning robot, simplify the detection structure of the photovoltaic cleaning robot, and improve the applicability of the photovoltaic cleaning robot so as to achieve autonomous driving operation, save manpower and reduce the maintenance cost of a power station.
Description
Technical Field
The embodiment of the invention relates to the technical field of cleaning robots, in particular to a method for acquiring an optimal working path by a photovoltaic cleaning robot.
Background
Solar photovoltaic has become an important power of energy revolution in the world as a renewable clean energy. The surface of the solar cell panel is easy to accumulate dirt such as wind sand, dust and the like, and if the solar cell panel is not timely cleaned scientifically and professionally, the generated power of the module is reduced by 40% -60% to the maximum extent, and the generated energy is reduced by 20% -30%. Therefore, the concept of improving the power generation capacity and the benefit of the power station by reasonably and scientifically cleaning the solar cell panel and carefully maintaining the components is accepted by the industry.
When the photovoltaic cleaning walking robot works, the process is basically full-automatic. At present, no mature movable detection mode exists in the market, and a specific sensing device or a fixing device is required to be added in a photovoltaic array for positioning so as to maintain the walking and cleaning of a machine on the photovoltaic array; and the relatively mature technology for automatically selecting the cleaning route is to clean the direction manually and then clean the photovoltaic panel along the N-shaped or Z-shaped path on the photovoltaic array which is vertically or horizontally distributed.
Such an automatic route planning is influenced by the placing mode and distribution of photovoltaic panels in the photovoltaic array, frequent in-situ rotation and line changing lead to low efficiency and reduced endurance time, and the machine needs to be slightly larger than a half of the short side of the photovoltaic panel, thus the whole volume of the machine is larger.
Disclosure of Invention
In view of the foregoing problems in the prior art, a primary object of the present invention is to provide a method for acquiring an optimal operation path by a photovoltaic cleaning robot, which can improve the automation degree of the photovoltaic cleaning robot, simplify the detection structure of the photovoltaic cleaning robot, and improve the applicability of the photovoltaic cleaning robot, so as to achieve autonomous driving operation, save manpower, and reduce the maintenance cost of a power station.
The technical scheme of the invention is as follows:
the method for acquiring the optimal operation path by the photovoltaic cleaning robot comprises a machine body, wherein a cleaning device is fixedly arranged at the front end of the machine body, and the photovoltaic cleaning robot cleans a photovoltaic array through the cleaning device, and is characterized in that: the cleaning device is fixedly arranged on the lower portion of the front end face of the machine body, a photovoltaic panel detection assembly is arranged on the front side of the upper surface of the machine body and used for detecting surface features of a photovoltaic panel in a photovoltaic array in front of the photovoltaic cleaning robot, extracting the surface features of the photovoltaic panel simultaneously, and then fitting an optimal operation path according to the extracted surface features of the photovoltaic panel and the state of the machine body of the photovoltaic cleaning robot.
The plane of the photovoltaic panel detection assembly is located above the plane of the cleaning device.
The shape of fuselage is square, photovoltaic panel detection subassembly is fixed to be set up the upper surface of fuselage is close to one side of cleaning device.
The photovoltaic panel detection assembly comprises a fixing portion, the fixing portion is square, and a camera module and a plurality of light supplementing lamps are arranged on the front end face of the fixing portion.
The fixed part with the fuselage is integrated into one piece, and the fixed part is fixed the setting along its length direction and is in the fuselage is along width direction and lean on one side of cleaning device.
The front end face of the fixing part is square, and the camera module is fixedly arranged at the center of the front end face of the fixing part.
The camera module is a high-speed camera module.
The number of the light supplementing lamps is four, and the four light supplementing lamps are respectively and fixedly arranged at four corners of the front end face of the fixing portion.
The light supplement lamp is an infrared lamp.
The surface characteristics of the photovoltaic panel comprise boundary separation, seam crossing, vertical arrangement relative to the cell piece and transverse arrangement relative to the cell piece.
The invention has the following advantages and beneficial effects: the method for acquiring the optimal operation path by the photovoltaic cleaning robot comprises a body, wherein a cleaning device is fixedly arranged at the front end of the body, the photovoltaic cleaning robot cleans a photovoltaic array through the cleaning device, the cleaning device is fixedly arranged at the lower part of the front end face of the body, a photovoltaic panel detection assembly is arranged at the front side of the upper surface of the body and used for detecting the surface characteristics of a photovoltaic panel in the photovoltaic array in front of the photovoltaic cleaning robot, meanwhile, the surface characteristics of the photovoltaic panel are extracted through an algorithm, then an optimal operation path is fitted according to the extracted surface characteristics of the photovoltaic panel and the state of the body of the photovoltaic cleaning robot, and the design is adopted, namely, a camera module and a light supplement lamp are arranged on the front end face of a fixed part in the photovoltaic panel detection assembly, the camera module can shoot large-range photovoltaic panel surface images in front of the photovoltaic cleaning robot and extract surface characteristics of the photovoltaic panel surface images, and a relative path which needs to be tracked for maintaining linear operation of the photovoltaic cleaning robot is fitted, so that certain foresight is guaranteed, and the accuracy of path planning is also guaranteed.
Drawings
Fig. 1 is a schematic perspective view of a photovoltaic cleaning robot according to an embodiment of the present invention.
Fig. 2 is a schematic image diagram of the photovoltaic cleaning robot collected by the photovoltaic panel detection assembly when the solar cell of the photovoltaic panel is placed vertically according to the embodiment of the present invention.
Fig. 3 is a schematic diagram of the photovoltaic cleaning robot provided in the embodiment of the present invention after performing edge processing on an image acquired by the photovoltaic panel detection assembly when the solar cell of the photovoltaic panel is placed vertically.
Fig. 4 is a schematic diagram illustrating a region of interest of the photovoltaic cleaning robot after performing edge processing on an image acquired by the photovoltaic panel detection assembly when the solar cell of the photovoltaic panel is vertically placed.
Fig. 5 is a schematic diagram of the photovoltaic cleaning robot provided in the embodiment of the present invention, in which when a solar cell of a photovoltaic panel is placed vertically, an area of interest is selected to correspond to an original image after an edge processing is performed on an image acquired by a photovoltaic panel detection assembly.
Fig. 6 is a schematic view of the photovoltaic cleaning robot provided in the embodiment of the present invention after performing edge processing on an image acquired by the photovoltaic panel detection assembly when the solar cell of the photovoltaic panel is vertically placed, and performing perspective transformation on an area of interest.
Fig. 7 is a schematic diagram of the photovoltaic cleaning robot provided in the embodiment of the present invention after performing edge processing on an image acquired by a photovoltaic panel detection assembly when a solar cell of the photovoltaic panel is vertically placed, and performing feature extraction on an area of interest.
Fig. 8 is an image schematic diagram of a starting operation direction determination basis of the photovoltaic cleaning robot on the photovoltaic panel in the photovoltaic array area according to the embodiment of the present invention.
Fig. 9 is a schematic diagram of a path fitted by the photovoltaic cleaning robot when a solar cell of a photovoltaic panel is placed vertically.
Fig. 10 is a schematic diagram of a path fitted by the photovoltaic cleaning robot when a solar cell of a photovoltaic panel is laid across according to the embodiment of the present invention.
Detailed Description
The invention will be further described with reference to the drawings and specific examples.
As shown in fig. 1 to 10: the method for acquiring the optimal operation path for the photovoltaic cleaning robot comprises a machine body 100, wherein a cleaning device 101 is fixedly arranged at the front end of the machine body 100, the photovoltaic cleaning robot cleans a photovoltaic array through the cleaning device 101, the cleaning device 101 is fixedly arranged at the lower part of the front end face of the machine body 100, a photovoltaic panel detection assembly is arranged on the front side of the upper surface of the machine body 100 and used for detecting the surface characteristics of a photovoltaic panel in the photovoltaic array right in front of the photovoltaic cleaning robot, meanwhile, the surface characteristics of the photovoltaic panel are extracted through an algorithm, and then an optimal operation path is fitted according to the extracted surface characteristics of the photovoltaic panel and the state of the machine body of the photovoltaic cleaning robot.
The plane of the photovoltaic panel detection assembly is located above the plane of the cleaning device 101. Through the design, the photovoltaic panel detection assembly is arranged above the cleaning device 101, so that the visual field of the photovoltaic panel detection assembly is wider, and the surface characteristics of the photovoltaic panel in the photovoltaic array which is wider in front of the photovoltaic cleaning robot can be acquired
The shape of fuselage 101 is square, photovoltaic panel detection component is fixed to be set up the upper surface of fuselage 100 is close to one side of cleaning device 101.
The photovoltaic panel detection assembly comprises a fixing portion 400, the fixing portion 400 is square, and a camera module 401 and a plurality of light supplement lamps 402 are arranged on the front end face of the fixing portion 400. Through the design, the front end face of the fixing part 400 in the photovoltaic panel detection assembly is provided with the camera module 401 and the light supplementing lamp, the surface image of the photovoltaic panel in the front of the photovoltaic cleaning robot can be shot through the camera module 401, the surface characteristics of the photovoltaic panel are extracted, the relative path which needs to be tracked when the photovoltaic cleaning robot maintains straight line operation is fitted, certain foresight is guaranteed, and the accuracy of path planning is also guaranteed.
The fixing portion 400 and the body 100 are integrally formed, and the fixing portion 400 is fixedly disposed along the length direction of the fixing portion on one side of the body 100 along the width direction and close to the cleaning device 101.
The front end surface of the fixing portion 400 is square, and the camera module 401 is fixedly disposed at the center of the front end surface of the fixing portion 400. The camera module 401 is a high-speed camera module. Through the design, the camera module 401 adopts a high-speed camera module, has the characteristics of small volume, easiness in installation, high sensing frequency, wide sensing range and the like, has a forward visual angle, can ensure a simple structure and can provide quick and multiple sensing effects.
The number of the light supplement lamps 402 is four, and the four light supplement lamps 402 are respectively and fixedly arranged at four corners of the front end face of the fixing portion 400. The fill light 402 is an infrared light. Through the design, the light supplement lamp also adopts the infrared lamp light supplement, so that the camera module 401 can be effectively ensured to normally shoot images at night, the photovoltaic cleaning robot can normally work at night, and the application time range of the photovoltaic cleaning robot is further expanded.
The surface characteristics of the photovoltaic panel comprise boundary separation, seam crossing, vertical arrangement relative to the cell piece, and transverse arrangement relative to the cell piece, wherein: the out-of-bound is that the photovoltaic panel in front of the photovoltaic cleaning robot is positioned at the edge of the photovoltaic array, and the photovoltaic cleaning robot falls off the photovoltaic array when continuing to walk forwards; the photovoltaic panel that strides seam for photovoltaic cleaning machines people the place ahead is in the rear end edge of one photovoltaic panel in the photovoltaic array, is in the photovoltaic array simultaneously and adjacent rather than the front end edge of another photovoltaic panel that is located its place ahead, when photovoltaic cleaning machines people continues to walk forward, will stride from the gap between the two adjacent photovoltaic panels that are located its place ahead.
According to the method for acquiring the optimal working path by the photovoltaic cleaning robot, disclosed by the embodiment of the invention, the high-speed infrared camera module with 1080P120 frames is adopted, and a certain infrared lamp light supplementing mode is adopted to be arranged right in front of the photovoltaic cleaning robot. In operation, the edge image of the picture is extracted by extracting the image of the photovoltaic panel in the photovoltaic array in front of the photovoltaic cleaning robot to perform traditional computer vision processing or deep learning, as shown in fig. 2.
By the positional relationship of the camera module 401 mounted on the photovoltaic cleaning robot, the region having a useful value in the image is roughly divided, and the other regions are not further processed. Such as a near view photovoltaic surface, is the region of interest because of the metal gridline features on the near view photovoltaic panel surface.
The interesting close-range area is subjected to perspective transformation, a trapezoidal area which is rectangular in real shape is selected, and therefore the trapezoidal area is projected to be rectangular, and the final projection result is similar to a bird's-eye view.
And (3) extracting a straight line or a line segment in the original edge image, namely a gap between a metal main grid line on the surface of the photovoltaic panel and a solar cell on the photovoltaic panel, from the ' bird ' eye view ' by a Hough transform method.
In the case of running in parallel and straight lines relative to the long side of the photovoltaic panel in the photovoltaic array, the image shot by the camera module 401 is a vertically placed image of the cell of the photovoltaic panel in the photovoltaic array, and the extracted straight line in the vertical direction comprises the metal main grid line of the solar cell, the gap between the solar cells and the long side frame of the photovoltaic panel; the extracted horizontal direction straight lines include gaps between solar cells of the photovoltaic panel and short side frames.
Under the condition that the vehicle runs vertically and linearly relative to the long side of the photovoltaic panel in the photovoltaic array, the image shot by the camera module 401 is a transverse image of the cell of the photovoltaic panel in the photovoltaic array, and the extracted vertical straight line comprises a gap and a short side frame between the solar cells of the photovoltaic panel; the extracted horizontal straight line comprises a metal main grid line of the solar cell, a gap between the solar cells and a long edge frame of the photovoltaic panel.
The size of the solar cell on the photovoltaic panel is 156mm, and the two metal main grid lines are positioned at the positions of 37mm of horizontal distance on two sides of the central line of the cell, so that the relative positions and the number of characteristic lines extracted corresponding to the vertical arrangement and the horizontal arrangement of the cell are greatly different. In the case of running in parallel straight lines with respect to the long sides of the photovoltaic panel in the photovoltaic array, the vertical direction straight lines are more than the horizontal direction straight lines, the interval between the vertical direction straight lines is about 40mm and about 72mm, and the interval between the horizontal direction straight lines is about 156 mm. In the case of running in parallel straight lines with respect to the long sides of the photovoltaic panel in the photovoltaic array, the vertical direction straight lines are more than the horizontal direction straight lines, the interval between the vertical direction straight lines is about 156mm, and the interval between the horizontal direction straight lines is about 40mm and 72 mm. Therefore, when the photovoltaic panel works in parallel or perpendicular to the long side of the photovoltaic panel in the photovoltaic array, the extracted characteristic straight lines have large difference, each row and each column of the battery pieces can be distinguished quickly, and the corresponding direction and position of each battery piece can be deduced because the layout of each battery piece is fixed.
Through manual operation, the photovoltaic cleaning robot is placed at the edge of the photovoltaic array forwards, when the photovoltaic cleaning robot is powered on to start operation, the image shot by the camera module 401 is processed as shown in fig. 8, the current photovoltaic panel placement mode can be judged according to the distribution of the extracted linear characteristic values. When the photovoltaic panel solar cell sheet in the image is vertically placed, the photovoltaic panel can be judged to be placed in a mode that the long edge of the photovoltaic panel is vertically placed, and the photovoltaic array is vertically placed; when the photovoltaic panel solar cell sheet in the image is transversely placed, the photovoltaic panel placing mode can be judged to be that the long edge of the photovoltaic panel is transversely placed, and the photovoltaic array is transversely placed.
Because the great majority of the long sides of the existing photovoltaic array are transversely distributed, the constant transverse operation mode of the machine is set, and then the photovoltaic cleaning robot is set to be in a default transverse direction. The turning direction can be according to the battery piece distribution in first image, because at the relation of photovoltaic array edge, one side should not have the battery piece, consequently can be according to the battery piece distribution and incline to which side, judge that need turn to, the initial clean direction promptly.
According to the mechanical structure, for example, the cell layout is 6 × 10 array distribution on a 300W photovoltaic panel, the size of one cell is 156 × 156mm, the cell comprises a gap in the juxtaposition of two cells, and the juxtaposition length of the two cells is about 313-315 mm. If the length of the cleaning device is 340mm, the requirement of the length of the cleaning device is slightly larger than the parallel length of two battery pieces, two rows of battery pieces of a photovoltaic panel on the photovoltaic array can be cleaned in one row, and the photovoltaic cleaning robot moves forwards along the gap line of the two rows of battery pieces. Namely, when the long sides of the photovoltaic panels in the photovoltaic array are transversely arranged, namely the photovoltaic array is transversely distributed, one row of the photovoltaic panels has six rows of battery pieces, and the photovoltaic cleaning robot is required to operate three rows to fully cover one row of the photovoltaic panels in the photovoltaic array; when the long sides of the photovoltaic panels in the photovoltaic array are vertically arranged, namely the photovoltaic array is longitudinally distributed, one row of the photovoltaic panels has ten rows of battery pieces, and the photovoltaic cleaning robot is required to operate five rows to fully cover one row of the photovoltaic panels in the photovoltaic array.
When the photovoltaic cleaning robot starts to work transversely, the photovoltaic cleaning robot continues to shoot through the camera module 401 and performs the image processing, the range of the photovoltaic panel cell required to be cleaned in front can be extracted according to the distribution of the extracted linear characteristic values and the condition that the photovoltaic cleaning robot is in the first-line work, and an area is fitted in the center of the area, namely the expected path.
The photovoltaic cleaning robot continuously works and changes the climbing and turning at the end of the transverse edge, the climbing distance is the parallel length of two battery pieces, the transverse linear motion operation is maintained after turning, the next linear coverage is completed, and the minimum repeated coverage rate can be ensured until the whole photovoltaic array is covered by hundreds of percent.
As shown in fig. 2, the photovoltaic cleaning robot performs cleaning operation when the solar cell of the photovoltaic panel is vertically placed, that is, when the photovoltaic cleaning robot runs in parallel and straight lines relative to the long side of the photovoltaic panel in the photovoltaic array, the photovoltaic cleaning robot passes through the image collected by the camera module in the photovoltaic panel detection assembly.
As shown in fig. 3, when the photovoltaic cleaning robot performs a cleaning operation when the solar cell of the photovoltaic panel is vertically placed, that is, when the photovoltaic cleaning robot travels in a straight line parallel to the long side of the photovoltaic panel in the photovoltaic array, the photovoltaic cleaning robot passes through an image collected by a camera module in the photovoltaic panel detection assembly, and after the image passes through a Canny operator to extract a boundary, an obtained image has a white pixel as an edge point.
As shown in fig. 4, according to the position where the camera module in the photovoltaic panel detection assembly is installed, the taken picture is screened in a certain area, and an interesting valuable area is extracted, for example, a blue area in the picture is an interesting area.
As shown in fig. 5, the corresponding effect diagram of the valuable area of interest in the original image (i.e., fig. 2) is shown.
As shown in fig. 6, the image corresponding to the region of interest is a square, but due to the installation position and angle of the camera, the image is a trapezoidal region. And carrying out perspective transformation on the image to obtain a square area image which is scaled according to the actual plane.
As shown in fig. 7, feature extraction is performed on fig. 6, a hough transform method is used to extract straight lines or line segments in the original edge image, and some similar straight lines or line segments are filtered out, so that the effect shown in fig. 7 is obtained, and the green straight line is the extracted feature straight line.
As shown in fig. 8, the photovoltaic robot is manually placed forward at the edge of the photovoltaic array area 200, when the photovoltaic robot is powered on to start work, the blue area photovoltaic array can be seen on the right side through the first image taken by the camera module 401, and the initial work direction can be judged to be right. And when the photovoltaic panel solar cell piece in the image is transversely placed, the photovoltaic panel placing mode can be judged to be that the long edge of the photovoltaic panel is transversely placed, and the photovoltaic array is transversely placed.
As shown in fig. 9, the photovoltaic cleaning robot fits the path effect when the solar cells of the photovoltaic panel are vertically placed, the 201 area is the extracted different-row to-be-operated area, the 202 area is the same-row to-be-operated area, i.e., the area that moves forward, the dotted line 204 is the fit path extracted by the photovoltaic cleaning robot through the above operations, and the 203 area is the area that the photovoltaic cleaning robot has operated.
As shown in fig. 10, the path fitting effect is obtained when the solar cells of the photovoltaic panel are horizontally placed, wherein the 205 area is an extracted different-row waiting area, the 206 area is a same-row waiting area, i.e., an advancing area, the dotted line 208 is a fitted path extracted by the photovoltaic cleaning robot through the above operations, and the 207 area is an operated area of the photovoltaic cleaning robot.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solution of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. The method for acquiring the optimal operation path by the photovoltaic cleaning robot comprises a machine body, wherein a cleaning device is fixedly arranged at the front end of the machine body, and the photovoltaic cleaning robot cleans a photovoltaic array through the cleaning device, and is characterized in that: the cleaning device is fixedly arranged on the lower portion of the front end face of the machine body, a photovoltaic panel detection assembly is arranged on the front side of the upper surface of the machine body and used for detecting surface features of a photovoltaic panel in a photovoltaic array in front of the photovoltaic cleaning robot, extracting the surface features of the photovoltaic panel simultaneously, and then fitting an optimal operation path according to the extracted surface features of the photovoltaic panel and the state of the machine body of the photovoltaic cleaning robot.
2. The method for acquiring the optimal working path of the photovoltaic cleaning robot as recited in claim 1, wherein the photovoltaic panel detection assembly is located on a plane above a plane on which the sweeping device is located.
3. The method for acquiring the optimal working path by the photovoltaic cleaning robot as claimed in claim 2, wherein the body is square, and the photovoltaic panel detection assembly is fixedly arranged on one side of the upper surface of the body close to the sweeping device.
4. The method for acquiring the optimal working path of the photovoltaic cleaning robot as claimed in any one of claims 1 to 3, wherein the photovoltaic panel detection assembly comprises a fixed part, the fixed part is square, and a camera module and a plurality of light supplement lamps are arranged on the front end surface of the fixed part.
5. The method for acquiring the optimal working path by the photovoltaic cleaning robot as claimed in claim 4, wherein the fixing part is integrally formed with the body, and the fixing part is fixedly arranged on one side of the body, which is close to the sweeping device, in the width direction along the length direction of the fixing part.
6. The method for acquiring the optimal working path of the photovoltaic cleaning robot as recited in claim 4, wherein the front end surface of the fixing portion is square in shape, and the camera module is fixedly disposed at a center position of the front end surface of the fixing portion.
7. The method of claim 6, wherein the camera module is a high speed camera module.
8. The method for acquiring the optimal operation path by the photovoltaic cleaning robot as claimed in claim 4, wherein the number of the light supplement lamps is four, and the four light supplement lamps are respectively and fixedly arranged at four corners of the front end surface of the fixing portion.
9. The method for acquiring the optimal working path of the photovoltaic cleaning robot as recited in claim 8, wherein the supplementary lighting lamp is an infrared lamp.
10. The method of claim 1, wherein the surface features of the photovoltaic panel include out of bounds, across seams, on edge relative to the cell, and on edge relative to the cell.
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Application publication date: 20200922 |