CN117492438B - Positioning control method of photovoltaic cleaning machine and photovoltaic cleaning system - Google Patents
Positioning control method of photovoltaic cleaning machine and photovoltaic cleaning system Download PDFInfo
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- CN117492438B CN117492438B CN202311466558.4A CN202311466558A CN117492438B CN 117492438 B CN117492438 B CN 117492438B CN 202311466558 A CN202311466558 A CN 202311466558A CN 117492438 B CN117492438 B CN 117492438B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 111
- 238000000034 method Methods 0.000 title claims abstract description 26
- 241001417527 Pempheridae Species 0.000 claims abstract description 60
- 238000012216 screening Methods 0.000 claims description 11
- 238000012937 correction Methods 0.000 claims description 9
- 238000012545 processing Methods 0.000 claims description 8
- 238000010408 sweeping Methods 0.000 claims description 6
- 238000001125 extrusion Methods 0.000 abstract description 3
- 230000002000 scavenging effect Effects 0.000 description 5
- 238000009434 installation Methods 0.000 description 3
- 238000010248 power generation Methods 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
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Classifications
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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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Abstract
The application discloses a positioning control method of a photovoltaic cleaning machine and a photovoltaic cleaning system, wherein the method comprises the following steps: scanning the target photovoltaic module through a laser radar installed on the photovoltaic robot to obtain laser scanning data of the target photovoltaic module; determining an upper breakpoint and a lower breakpoint of the target photovoltaic module according to laser scanning data of the target photovoltaic module; calculating to obtain target position information of the photovoltaic sweeper according to laser scanning data of each position between an upper breakpoint and a lower breakpoint of the target photovoltaic module; and placing the photovoltaic cleaning machine on the surface of the target photovoltaic module according to the target position information so that the photovoltaic cleaning machine can start to execute cleaning operation from the target photovoltaic module. The application can accurately find the proper position for placing the photovoltaic cleaning machine and safely place the photovoltaic cleaning machine at the position, thereby avoiding the problems of collision, extrusion and the like of the photovoltaic cleaning machine and the photovoltaic assembly caused by improper placement and improving the safety of the photovoltaic system.
Description
Technical Field
The application relates to the technical field of photovoltaics, in particular to a positioning control method of a photovoltaic cleaning machine and a photovoltaic cleaning system.
Background
The photovoltaic array cleans and is a heavy and repeated labor work, at present, in order to improve the cleaning efficiency, the photovoltaic robot is used for controlling the photovoltaic cleaning machine to carry out various cleaning operations, if the photovoltaic cleaning machine is not placed at a proper position, the damage of the photovoltaic cleaning machine and the photovoltaic module can be possibly caused, the cleaning operation is not only hindered, the power generation efficiency of the photovoltaic module is influenced, and the normal operation of the photovoltaic power station is not facilitated.
Disclosure of Invention
In order to solve the technical problems, the application provides a positioning control method and device of a photovoltaic cleaning machine and a photovoltaic cleaning system.
Specifically, the technical scheme of the application is as follows:
In a first aspect, the present application provides a positioning control method of a photovoltaic cleaning machine, applied to a photovoltaic robot, the positioning control method comprising:
Scanning a target photovoltaic module through a laser radar installed on the photovoltaic robot to obtain laser scanning data of the target photovoltaic module;
Determining an upper breakpoint and a lower breakpoint of the target photovoltaic module according to the laser scanning data of the target photovoltaic module;
Calculating to obtain target position information of the photovoltaic sweeper according to laser scanning data of each position between an upper breakpoint and a lower breakpoint of the target photovoltaic module;
And placing the photovoltaic cleaning machine on the surface of the target photovoltaic module according to the target position information, so that the photovoltaic cleaning machine can start to execute cleaning operation from the target photovoltaic module.
In some embodiments, the determining the upper break point and the lower break point of the target photovoltaic module according to the laser scanning data of the target photovoltaic module includes:
Traversing laser scanning data of each scanning point in a first scanning interval and a second scanning interval, and calculating depth distances between adjacent scanning points in the first scanning interval and the second scanning interval;
and screening out scanning points, of which the depth distances between adjacent scanning points meet the preset depth distance condition, from the first scanning interval and the second scanning interval respectively as break points, wherein the break point positioned in the first scanning interval is used as the upper break point, and the break point positioned in the second scanning interval is used as the lower break point.
In some embodiments, the calculating, according to the laser scanning data of each position between the upper breakpoint and the lower breakpoint of the target photovoltaic module, the target position information of the photovoltaic sweeper includes:
performing straight line fitting according to laser scanning data of each scanning point between the upper breakpoint and the lower breakpoint of the target photovoltaic module to obtain a target straight line;
Calculating a pitch angle between the target straight line and a laser radar coordinate system y axis to obtain angle information in target position information of the photovoltaic sweeper;
calculating midpoint coordinates of the upper breakpoint and the lower breakpoint connecting line midpoint according to laser scanning data of the upper breakpoint and the lower breakpoint;
Obtaining coordinate position information in target position information of the photovoltaic cleaning machine according to the midpoint coordinate, the height of the photovoltaic cleaning machine and the offset distance of a guide wheel of the photovoltaic cleaning machine in the direction perpendicular to the trend direction of the photovoltaic array; the target position information is the positioning information of the photovoltaic cleaning machine on the target photovoltaic module.
In some embodiments, before calculating the pitch angle between the target line and the y-axis of the laser radar coordinate system to obtain the angular position information, the method further includes:
According to the laser scanning data of the upper breakpoint and the lower breakpoint, respectively calculating the distances between the upper breakpoint and the target straight line and between the lower breakpoint and the target straight line;
if the distances between the upper breakpoint and the lower breakpoint and the target straight line do not exceed the preset distance value, projecting the upper breakpoint and the lower breakpoint onto the target straight line, and correcting the target straight line by utilizing projection points corresponding to the upper breakpoint and the lower breakpoint on the target straight line;
if the distance between the upper break point or the lower break point and the target straight line exceeds a preset distance value, discarding the target straight line, and carrying out laser radar scanning on the target photovoltaic module again to obtain a new target straight line until the distances between the upper break point and the lower break point and the target straight line are within the preset distance value.
In some embodiments, the performing straight line fitting according to the laser scanning data of each scanning point between the upper breakpoint and the lower breakpoint of the target photovoltaic module, before obtaining the target straight line, further includes:
Calculating the distance between the upper breakpoint and the lower breakpoint according to the laser scanning data of the upper breakpoint and the lower breakpoint;
If the error value between the distance between the upper breakpoint and the lower breakpoint and the length of the target photovoltaic module is out of a preset error range, discarding the upper breakpoint and the lower breakpoint; and re-performing laser radar scanning on the target photovoltaic module until the error value is within the preset error range.
In a second aspect, the present application provides a photovoltaic cleaning system comprising a photovoltaic robot and a photovoltaic sweeper;
The photovoltaic robot is used for carrying out laser radar scanning on the target photovoltaic module before the photovoltaic sweeper executes sweeping operation, and determining target position information for placing the photovoltaic sweeper;
The photovoltaic robot is further used for placing the photovoltaic cleaning machine on the target photovoltaic module according to the target position information;
the photovoltaic cleaning machine is connected with the photovoltaic robot and used for executing cleaning operation from the target photovoltaic module under the control of the photovoltaic robot.
In some embodiments, the photovoltaic robot comprises a lidar, a processor, a robotic arm; the laser radar is arranged on the mechanical arm and used for scanning the target photovoltaic module to obtain laser scanning data of the target photovoltaic module; the processor is used for determining an upper breakpoint and a lower breakpoint of the target photovoltaic module according to the laser scanning data of the target photovoltaic module; the processor is further used for calculating and obtaining target position information of the photovoltaic sweeper according to laser scanning data of each position between the upper breakpoint and the lower breakpoint of the target photovoltaic module; and the mechanical arm is used for placing the photovoltaic sweeper on the surface of the target photovoltaic module according to the target position information so that the photovoltaic sweeper can start to execute sweeping operation from the target photovoltaic module.
In some embodiments, the processor comprises:
The computing unit is used for traversing the laser scanning data of each scanning point in the first scanning interval and the second scanning interval and computing the depth distance between adjacent scanning points in the first scanning interval and the second scanning interval;
And the screening unit is used for screening out scanning points, of which the depth distances between adjacent scanning points meet the preset distance condition, from the first scanning interval and the second scanning interval respectively as break points, wherein the break point positioned in the first scanning interval is used as the upper break point, and the break point positioned in the second scanning interval is used as the lower break point.
In some embodiments, the processor further comprises a fitting unit and a processing unit:
The fitting unit is used for performing straight line fitting according to the laser scanning data of each scanning point between the upper breakpoint and the lower breakpoint of the target photovoltaic module to obtain a target straight line;
The calculating unit is also used for calculating a pitch angle between the target straight line and a laser radar coordinate system y axis to obtain angle information in target position information of the photovoltaic sweeper;
The calculating unit is further used for calculating midpoint coordinates of the connecting line midpoints of the upper breakpoint and the lower breakpoint according to the laser scanning data of the upper breakpoint and the lower breakpoint;
The processing unit is used for obtaining coordinate position information in target position information of the photovoltaic cleaning machine according to the midpoint coordinate, the height of the photovoltaic cleaning machine and the offset distance of a guide wheel of the photovoltaic cleaning machine in the direction perpendicular to the trend direction of the photovoltaic array; and obtaining target position information according to the angle position information and the coordinate position information, wherein the target position information is positioning information of the photovoltaic cleaning machine on the target photovoltaic module.
In some embodiments, the calculating unit is further configured to calculate distances between the upper breakpoint and the lower breakpoint and the target straight line according to laser scan data of the upper breakpoint and the lower breakpoint, respectively;
the processor further comprises a correction unit, wherein the correction unit is used for projecting the upper breakpoint and the lower breakpoint onto the target straight line if the distances between the upper breakpoint and the lower breakpoint and the target straight line do not exceed preset distance values, and correcting the target straight line by utilizing projection points corresponding to the upper breakpoint and the lower breakpoint on the target straight line;
The correcting unit is further configured to discard the target straight line if the distance between the upper breakpoint or the lower breakpoint and the target straight line exceeds a preset distance value, and re-perform laser radar scanning on the target photovoltaic module until the distances between the upper breakpoint and the lower breakpoint and the target straight line are both within the preset distance value.
Compared with the prior art, the application has at least one of the following beneficial effects:
(1) The application can accurately find the proper position for placing the photovoltaic cleaning machine and safely place the photovoltaic cleaning machine at the position, thereby avoiding the problems of collision, extrusion and the like of the photovoltaic cleaning machine and the photovoltaic assembly caused by improper placement and improving the safety of the photovoltaic system.
(2) According to the application, the laser radar arranged on the photovoltaic robot is used for positioning the upper and lower edge positions (upper and lower break points) of the photovoltaic module, the accurate position for placing the photovoltaic cleaning machine can be calculated by utilizing laser scanning data, the scheme is easy to realize, and the calculation result is reliable.
(3) According to the application, the target straight line obtained by fitting the laser radar data is further verified, unreasonable target straight lines can be screened out, and the upper and lower break points of the photovoltaic module in the laser radar scanning data can be corrected, so that the accurate acquisition of the target position information of the photovoltaic sweeper relative to the photovoltaic module is facilitated.
Drawings
The above features, technical features, advantages and implementation of the present application will be further described in the following description of preferred embodiments with reference to the accompanying drawings in a clear and easily understood manner.
FIG. 1 is a flow chart of a method of positioning control of a photovoltaic sweeper in an embodiment of the present application;
FIG. 2 is a schematic diagram of a laser radar scan interval in an embodiment of the present application;
FIG. 3 is a schematic view of a coordinate system of a photovoltaic module according to an embodiment of the present application;
FIG. 4 is a schematic view of a photovoltaic robot in an embodiment of the present application;
fig. 5 is a schematic view of a robotic arm suspension sweeper in accordance with an embodiment of the present application.
Reference numerals illustrate:
laser radar 10, processor 20, robotic arm 30.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following description will explain the specific embodiments of the present application with reference to the accompanying drawings. It is evident that the drawings in the following description are only examples of the application, from which other drawings and other embodiments can be obtained by a person skilled in the art without inventive effort.
For simplicity of the drawing, only the parts relevant to the application are schematically shown in each drawing, and they do not represent the actual structure thereof as a product. Additionally, in order to simplify the drawing for ease of understanding, components having the same structure or function in some of the drawings are shown schematically with only one of them, or only one of them is labeled. Herein, "a" means not only "only this one" but also "more than one" case.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
In this context, it should be noted that the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, unless explicitly stated or limited otherwise; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.
In addition, in the description of the present application, the terms "first," "second," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.
In order to ensure the power generation efficiency of the photovoltaic module in the photovoltaic power station, the surface of the photovoltaic module needs to be cleaned regularly, and at present, a photovoltaic cleaning machine (hereinafter referred to as a cleaning machine) is used for executing cleaning operation, and the cleaning machine can travel on the surface of the photovoltaic module according to a set cleaning path and perform corresponding cleaning tasks.
Before the cleaning machine performs cleaning operation, the cleaning machine needs to be placed at a proper position of the photovoltaic module, and the cleaning machine is typically placed by a photovoltaic robot (hereinafter referred to as a robot). The photovoltaic module is installed in the photovoltaic support, and different photovoltaic supports are high different to the photovoltaic support itself has certain inclination, if the scavenging machine is placed and is selected improperly, for example, the angle of placement has the deviation, the height of placement is higher/lower etc. can lead to the scavenging machine to be lost down and smash photovoltaic module, or lead to scavenging machine and photovoltaic module to take place the extrusion, all lead to the fact the damage to scavenging machine itself and photovoltaic module, influence scavenging machine and photovoltaic module's life, be unfavorable for photovoltaic power plant's safe operation.
Based on the above, the embodiment of the application provides a positioning control method of a photovoltaic sweeper, which is applied to a photovoltaic robot, and the photovoltaic module is scanned through a laser radar installed on the photovoltaic robot, so that the upper edge position and the lower edge position (upper breakpoint and lower breakpoint) of the photovoltaic module are positioned, and the proper position for placing the sweeper is accurately calculated, and the risk of accidents is reduced.
Referring to the drawings, as shown in fig. 1, in one embodiment of the present application, a positioning control method for a photovoltaic cleaning machine includes the steps of:
s101, scanning the target photovoltaic module through a laser radar installed on the photovoltaic robot to obtain laser scanning data of the target photovoltaic module.
S102, determining an upper breakpoint and a lower breakpoint of the target photovoltaic module according to laser scanning data of the target photovoltaic module.
And S103, calculating to obtain the target position information of the photovoltaic sweeper according to the laser scanning data of each position between the upper breakpoint and the lower breakpoint of the target photovoltaic module.
And S104, placing the photovoltaic cleaning machine on the surface of the target photovoltaic module according to the target position information so that the photovoltaic cleaning machine can start to execute cleaning operation from the target photovoltaic module.
Specifically, the laser radar is installed on the robot, and the photovoltaic module can be scanned according to a preset scanning angle, scanning frequency and resolution, for example, the scanning angle is 270 degrees, the scanning frequency is 10HZ, and the resolution is 0.2, and each position on the surface of the target photovoltaic module is scanned in a vertical plane, so that laser scanning data (three-dimensional coordinates of each position relative to the center of the laser radar) of each position on the photovoltaic module are obtained. The method comprises the steps of firstly determining the positions of the upper edge and the lower edge of a target photovoltaic module according to laser scanning data, namely an upper breakpoint and a lower breakpoint, and then calculating according to the laser scanning data of each position between the upper breakpoint and the lower breakpoint to obtain the target position information for placing the sweeper. The single-line laser radar has the advantages of simple structure, convenient use, high scanning speed and high resolution, and can be used for scanning the target photovoltaic component in some embodiments.
According to the embodiment, the photovoltaic module is scanned through the laser radar installed on the photovoltaic robot, the upper edge position and the lower edge position of the photovoltaic module can be accurately positioned, the target position information for placing the photovoltaic cleaning machine is calculated through the upper edge position and the lower edge position by using laser scanning data, the problems that the photovoltaic cleaning machine and the photovoltaic module collide and are extruded due to improper placement can be avoided, and the safety of the photovoltaic system is improved.
In one embodiment of the application, a positioning control method of a photovoltaic cleaning machine comprises the following steps:
S201, scanning the target photovoltaic module through a laser radar installed on the photovoltaic robot to obtain laser scanning data of the target photovoltaic module.
S202, traversing laser scanning data of each scanning point in the first scanning interval and the second scanning interval, and calculating depth distances between adjacent scanning points in the first scanning interval and the second scanning interval.
Specifically, because the position of the upper and lower break points needs to be determined, when screening laser scanning data, the laser scanning data is divided into two scanning sections, as shown in fig. 2, reference numeral 12 in the drawing is a laser radar scanning section, reference numeral 11 in the drawing is a scanning starting point, that is, the laser radar installation position is located in a vertically downward direction (90-degree position), the laser radar installation position is located in a-45-degree direction and a 225-degree direction during scanning, the sections from 90 degrees to 225 degrees are the first scanning section, and the sections from 90 degrees to-45 degrees are the second scanning section. And calculating the depth distance between any two adjacent scanning points in the two sections according to the laser scanning data of all the scanning points in the two sections.
S203, screening out scanning points with depth distances between adjacent scanning points meeting the preset depth distance condition from the first scanning interval and the second scanning interval as an upper break point and a lower break point.
Specifically, for one scan interval, it is assumed that a depth distance between one scan point and an adjacent scan point exceeds a threshold distance, and a depth distance between any two scan points between ten scan points adjacent to the point is also greater than the threshold distance, where the point is considered as a break point, a break point corresponding to a first scan interval is an upper break point, and a break point corresponding to a second scan interval is a lower break point.
Further, after the upper and lower break points are screened out, the method further comprises the following steps: calculating the distance between the upper break point and the lower break point according to the laser scanning data of the upper break point and the lower break point; if the error value between the distance between the upper break point and the lower break point and the length of the photovoltaic module is out of the preset error range, discarding the upper break point and the lower break point; and performing laser radar scanning on the target photovoltaic module again until the error value is within a preset error range.
Under ideal conditions, the distance between the upper and lower break points should be the same as the length of the photovoltaic module, and a certain error exists in the actual scanning process, so that a certain preset error range can be set, the upper and lower break points with overlarge errors are abandoned, and new upper and lower break points are redetermined, so that accurate target position information can be obtained.
S204, performing straight line fitting according to laser scanning data of each scanning point between the upper breakpoint and the lower breakpoint of the target photovoltaic module to obtain a target straight line.
Specifically, the straight line fitting can be realized through various straight line fitting algorithms, for example, a least square algorithm is adopted to fit each scanning point between the upper and lower break points into a straight line according to the scanning data intercepted between the upper and lower break points.
S205, calculating a pitch angle between the target straight line and a y axis of a laser radar coordinate system, and obtaining angle information.
Specifically, in order to obtain the optimal power generation amount, the photovoltaic brackets generally have a certain inclination angle, and the inclination angles of different photovoltaic brackets are different, so in order to accurately place the sweeper, the placement angle of the sweeper on the photovoltaic brackets needs to be calculated.
S206, calculating the midpoint coordinates of the upper breakpoint and the lower breakpoint connecting line midpoint according to the laser scanning data of the upper breakpoint and the lower breakpoint.
Specifically, the front end of the photovoltaic sweeper is provided with a guide wheel to avoid the photovoltaic sweeper from sliding down, and the sweeper can stably run on the surface of the photovoltaic module. If the placing position is proper, the positioning wheel of the photovoltaic cleaning machine can clamp the upper edge of the photovoltaic module and is flush with the upper edge of the photovoltaic module, and the cleaning machine is positioned in the middle of the photovoltaic module at the moment, so that after the upper break point and the lower break point are determined, the midpoint coordinate of the upper break point and the lower break point are needed to be calculated.
S207, obtaining coordinate position information according to the midpoint coordinates, the height of the photovoltaic sweeper and the offset distance of the photovoltaic sweeper guide wheel in the direction perpendicular to the trend direction of the photovoltaic array; and obtaining target position information according to the angle information and the coordinate position information.
And S208, placing the photovoltaic cleaning machine on the target photovoltaic assembly according to the target position information so that the photovoltaic cleaning machine can start to execute cleaning operation from the target photovoltaic assembly.
Specifically, as shown in fig. 3, the plane coordinate system of the photovoltaic array is defined as the width direction of the photovoltaic panel array being the X direction, the trend direction of the photovoltaic array being the Y direction, and the vertical photovoltaic panel face being the Z positive direction. It should be noted that, the laser radar coordinate system and the self-defined photovoltaic array plane coordinate system are both calibrated in advance based on the coordinate system of the robot on the ground. The determined positional information of the sweeper relative to the photovoltaic module is (x, z, pitch). Calculating the included angle between the straight line and the Y axis of the laser radar coordinate system through a straight line equation of the target straight line, namely the pitch angle; then, the coordinate of the midpoint p of the upper and lower breakpoint connection lines is obtained, and the coordinate of the midpoint p in the Z direction is subtracted from the height value of the sweeper to obtain the obtained Z; and adding the offset distance of the guide wheel of the sweeper to the coordinate of p in the X direction to obtain the required X. Thus, the target position information (x, z, pitch) is obtained, and the robot adjusts the angle, height, and lateral offset of the sweeper according to the position information and places the sweeper on the target photovoltaic module.
In this embodiment, the process of determining the upper and lower break points and calculating the target position information by using the laser scanning data is described in detail, the upper break point and the lower break point meeting the preset distance condition are found by dividing two scanning intervals and calculating the distance between the adjacent scanning points, and the angle information and the coordinate position information are calculated based on the upper and lower break points and the laser scanning data of each scanning point between the upper and lower break points, so as to obtain the target position information of the photovoltaic sweeper.
In an embodiment, on the basis of the foregoing embodiment, before calculating a pitch angle between the target line and a y-axis of the lidar coordinate system, the method further includes:
and respectively calculating the distance between the upper and lower break points and the target straight line according to the laser scanning data of the upper break point and the lower break point.
If the distance between the upper and lower break points and the target straight line does not exceed the preset distance value, the upper and lower break points are projected onto the target straight line, and the target straight line is corrected by using the projection points corresponding to the upper and lower break points on the target straight line.
If the distance between the upper and lower break points and the target straight line exceeds the preset distance value, discarding the target straight line, and carrying out laser radar scanning on the target photovoltaic module again until the distance between the upper and lower break points and the target straight line is within the preset distance value.
In this embodiment, after determining the upper breakpoint and the lower breakpoint, correction of the checksum of the fitted target straight line and the upper breakpoint and the lower breakpoint are further performed, when there is an error in fitting the target straight line, the upper breakpoint and the lower breakpoint are located outside the target straight line obtained after fitting, distances from the upper breakpoint and the lower breakpoint to the target straight line are calculated respectively, and whether the fitted target straight line is reasonable is determined: if one distance exceeds a preset distance value, indicating that the target straight line is an abnormal straight line and needing to be discarded; if the two distances do not exceed the preset distance value, the object straight line fitting is reasonable, but the positioning of the upper and lower break points is inaccurate, so that the upper and lower break points are respectively projected onto the object straight line to obtain projection points corresponding to the upper and lower break points, the two projection points replace the original upper and lower break points, and the correction of the upper and lower break points is realized, so that the object position information can be accurately calculated.
The application also discloses a photovoltaic cleaning system, which comprises a photovoltaic robot and a photovoltaic cleaning machine, wherein:
and the photovoltaic robot is used for carrying out laser radar scanning on the target photovoltaic module before the photovoltaic sweeper executes sweeping operation, and determining the target position information for placing the photovoltaic sweeper.
The photovoltaic robot is also used for placing the photovoltaic cleaning machine on the target photovoltaic module according to the target position information.
And the photovoltaic cleaning machine is connected with the photovoltaic robot and is used for executing cleaning operation from the target photovoltaic module under the control of the photovoltaic robot.
The photovoltaic cleaning system provided in this embodiment can scan the photovoltaic module through the laser radar installed on the photovoltaic robot before the photovoltaic cleaning machine executes cleaning operation, and then accurately calculate the suitable position for placing the photovoltaic cleaning machine, avoid placing improperly and lead to the damage of the cleaning machine and the photovoltaic module, and be favorable to the safe and stable operation of the photovoltaic power station.
In one embodiment, based on the previous embodiment, as shown in fig. 4, the photovoltaic robot includes a laser radar 10, a processor 20, and a mechanical arm 30, wherein:
The laser radar 10 is mounted on the mechanical arm 30, and is used for scanning the target photovoltaic module to obtain laser scanning data of the target photovoltaic module.
The processor 20 is configured to determine an upper break point and a lower break point of the target photovoltaic module according to the laser scanning data of the target photovoltaic module.
The processor 20 is further configured to calculate, according to laser scanning data of each position between the upper breakpoint and the lower breakpoint of the target photovoltaic module, target position information of the photovoltaic sweeper.
And the mechanical arm 30 is used for placing the photovoltaic cleaning machine on the surface of the target photovoltaic module according to the target position information so that the photovoltaic cleaning machine can start to perform cleaning operation from the target photovoltaic module.
Specifically, before the cleaning machine executes cleaning operation, the cleaning machine needs to be placed at a proper position of the photovoltaic module, and the cleaning machine is generally carried by a mechanical arm arranged on the photovoltaic robot, as shown in fig. 5, the mechanical arm grabs the photovoltaic cleaning machine to be suspended at the tail end of the mechanical arm, and the robot drives the cleaning machine until the robot drives to a proper position in front of the target photovoltaic module, and then stops walking. The end of the mechanical arm is provided with the cleaning machine so that the cleaning machine is suspended above the photovoltaic module, and the mechanical arm can move up and down so as to place the cleaning machine at a proper position in the photovoltaic module.
Determination of the target position information is also required before the robot arm is placed in the sweeper. And scanning the target photovoltaic module in a vertical plane moved by the mechanical arm through a laser radar arranged on the mechanical arm to obtain laser scanning data of each scanning point on the photovoltaic module. The laser radar is arranged at the tail end of the mechanical arm, and the laser radar is arranged at the mounting position of the laser radar to ensure that the laser beam is not blocked.
And processing the laser scanning data by a processor, specifically, determining the positions of the upper edge and the lower edge of the target photovoltaic module according to the laser scanning data, namely an upper break point and a lower break point, and calculating according to the laser scanning data of each scanning point between the upper break point and the lower break point to obtain the target position information for placing the sweeper. The mechanical arm adjusts the height, the angle and the like of the sweeper according to the target position information, the sweeper is placed on the target photovoltaic module after the adjustment, the mechanical arm is lifted after the adjustment, and the tail end of the mechanical arm is suspended above the sweeper. The cleaning machine starts from the target photovoltaic module under the control of the photovoltaic robot, and performs cleaning operation according to the set cleaning path.
In one embodiment, the processor 20 includes:
The computing unit is used for traversing the laser scanning data of each scanning point in the first scanning interval and the second scanning interval and computing the depth distance between adjacent scanning points in the first scanning interval and the second scanning interval;
and the screening unit is used for screening out the scanning points, the distance between the adjacent scanning points of which meets the preset depth distance condition, from the first scanning interval and the second scanning interval respectively as the upper break point and the lower break point.
Specifically, the photovoltaic module is scanned according to a preset scanning angle, scanning frequency and resolution, for example, assuming that a single-line laser radar is adopted, the scanning angle is 270 degrees, the scanning frequency is 10HZ and the resolution is 0.2, and the target photovoltaic module is scanned in a vertical plane where the mechanical arm moves, so that laser scanning data of each scanning point on the photovoltaic module are obtained.
During laser scanning data processing, two scanning intervals are firstly divided and used for screening an upper breakpoint and a lower breakpoint respectively, for example, the upper breakpoint and the lower breakpoint are searched in a-45-degree direction and a 225-degree direction respectively from a vertical downward direction (90-degree position) of a laser radar installation position, the intervals of 90-225 degrees are a first scanning interval, and the intervals of 90-45 degrees are a second scanning interval. And calculating the depth distance between any two adjacent scanning points in the two sections according to the laser scanning data of all the scanning points in the two sections.
For one scanning interval, if a depth distance between one scanning point and an adjacent scanning point exceeds a threshold distance and a distance between any two scanning points between ten adjacent scanning points on the left and right of the point also exceeds the threshold distance, the point is considered to be a breakpoint, a breakpoint corresponding to the first scanning interval is an upper breakpoint, and a breakpoint corresponding to the second scanning interval is a lower breakpoint.
In one embodiment, the processor 20 further comprises a fitting unit and a processing unit:
And the fitting unit is used for performing straight line fitting according to the laser scanning data of each scanning point between the upper breakpoint and the lower breakpoint of the target photovoltaic module to obtain a target straight line.
And the calculating unit is also used for calculating the pitch angle between the target straight line and the y axis of the laser radar coordinate system to obtain angle information.
And the calculating unit is also used for calculating the midpoint coordinates of the midpoints of the connecting lines of the upper break point and the lower break point according to the laser scanning data of the upper break point and the lower break point.
The processing unit is used for obtaining coordinate position information according to the midpoint coordinate, the height of the photovoltaic cleaning machine and the offset distance of the photovoltaic cleaning machine guide wheel in the width direction of the photovoltaic array; and obtaining target position information according to the angle information and the coordinate position information.
Specifically, the width direction of the photovoltaic panel array is defined as the X direction, the trend direction of the photovoltaic array is the Y direction, and the vertical photovoltaic panel face is upward in the Z positive direction. It should be noted that, the laser radar coordinate system and the self-defined photovoltaic array plane coordinate system are both calibrated in advance based on the coordinate system of the robot on the ground. Since the robot is stopped before the sweeper is placed on the target photovoltaic module, the height (Z-direction offset), angle and lateral offset (X-direction offset) of the sweeper placed on the robot are determined.
Calculating the included angle between the straight line and the Y axis of the laser radar coordinate system through a straight line equation of the target straight line, namely the pitch angle; then, the coordinate of the midpoint p of the upper and lower breakpoint connection lines is obtained, and the coordinate of the midpoint p in the Z direction is subtracted from the height value of the sweeper, namely the obtained Z; and adding the offset distance of the guide wheel of the sweeper to the coordinate of p in the X direction to obtain the required X. Thus, the target position information (x, z, pitch) is obtained, and the robot adjusts the angle, height, and lateral offset of the sweeper according to the position information and places the sweeper on the target photovoltaic module.
In this embodiment, each structure and corresponding function in the processor are described, the processor firstly fits each scanning point between the upper and lower break points into a target straight line through a fitting unit, and a suitable angle (angle information) for placing the sweeper is obtained by calculating the included angle between the target straight line and the y axis of the radar coordinate system; and calculating the midpoint coordinates of the upper and lower breakpoint connecting lines through the coordinates of the upper and lower breakpoints, calculating offset coordinates (coordinate position information) of the sweeper according to the midpoint coordinates, the height of the sweeper and the transverse offset of the guide wheels of the sweeper, and combining the angle information and the coordinate position information to obtain the target position information for placing the sweeper.
In one embodiment, based on the above embodiment, the processor 20 further includes a correction unit:
And the calculating unit is also used for calculating the distance between the upper breakpoint and the target straight line respectively according to the laser scanning data of the upper breakpoint and the lower breakpoint.
And the correcting unit is used for projecting the upper and lower break points onto the target straight line if the distances between the upper and lower break points and the target straight line do not exceed the preset distance value, and correcting the target straight line by utilizing the projection points corresponding to the upper and lower break points on the target straight line.
And the correction unit is also used for discarding the target straight line if the distance between the upper and lower break points and the target straight line exceeds a preset distance value, and carrying out laser radar scanning on the target photovoltaic module again until the distance between the upper and lower break points and the target straight line is within the preset distance value.
According to the embodiment, aiming at the situation that a fitting error possibly occurs in straight line fitting, a correction unit is further arranged and used for correcting the upper and lower break points of the checksum of the fitting target straight line, and the target position information can be calculated more accurately.
It should be noted that, the embodiments of the photovoltaic cleaning system provided by the application and the embodiments of the positioning control method of the photovoltaic cleaning machine provided by the application are based on the same inventive concept, and can achieve the same technical effects. Thus, for further details of embodiments of the photovoltaic cleaning system, reference may be made to the description of the embodiments of the positioning control method of the photovoltaic cleaning machine described above.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
It should be noted that the above embodiments can be freely combined as needed. The foregoing is merely a preferred embodiment of the present application and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present application, which are intended to be comprehended within the scope of the present application.
Claims (7)
1. The positioning control method of the photovoltaic cleaning machine is characterized by being applied to a photovoltaic robot, and comprises the following steps of:
Scanning a target photovoltaic module through a laser radar installed on the photovoltaic robot to obtain laser scanning data of the target photovoltaic module;
Determining an upper breakpoint and a lower breakpoint of the target photovoltaic module according to the laser scanning data of the target photovoltaic module;
Calculating to obtain target position information of the photovoltaic sweeper according to laser scanning data of each position between an upper breakpoint and a lower breakpoint of the target photovoltaic module;
Placing the photovoltaic sweeper on the surface of the target photovoltaic module according to the target position information so that the photovoltaic sweeper can start to execute sweeping operation from the target photovoltaic module;
the determining the upper break point and the lower break point of the target photovoltaic module according to the laser scanning data of the target photovoltaic module comprises the following steps:
Traversing laser scanning data of each scanning point in a first scanning interval and a second scanning interval, and calculating depth distances between adjacent scanning points in the first scanning interval and the second scanning interval;
and screening out scanning points, of which the depth distances between adjacent scanning points meet the preset depth distance condition, from the first scanning interval and the second scanning interval respectively as break points, wherein the break point positioned in the first scanning interval is used as the upper break point, and the break point positioned in the second scanning interval is used as the lower break point.
2. The method for controlling the positioning of the photovoltaic cleaner according to claim 1, wherein the calculating the target position information of the photovoltaic cleaner according to the laser scanning data of each position between the upper break point and the lower break point of the target photovoltaic assembly comprises:
performing straight line fitting according to laser scanning data of each scanning point between the upper breakpoint and the lower breakpoint of the target photovoltaic module to obtain a target straight line;
Calculating a pitch angle between the target straight line and a laser radar coordinate system y axis to obtain angle information in target position information of the photovoltaic sweeper; calculating midpoint coordinates of the upper breakpoint and the lower breakpoint connecting line midpoint according to laser scanning data of the upper breakpoint and the lower breakpoint;
Obtaining coordinate position information in target position information of the photovoltaic cleaning machine according to the midpoint coordinate, the height of the photovoltaic cleaning machine and the offset distance of a guide wheel of the photovoltaic cleaning machine in the direction perpendicular to the trend direction of the photovoltaic array; the target position information is the positioning information of the photovoltaic cleaning machine on the target photovoltaic module.
3. The method for positioning and controlling a photovoltaic cleaner according to claim 2, wherein the calculating the pitch angle between the target line and the y-axis of the laser radar coordinate system, before obtaining the angular position information, further comprises:
According to the laser scanning data of the upper breakpoint and the lower breakpoint, respectively calculating the distances between the upper breakpoint and the target straight line and between the lower breakpoint and the target straight line;
if the distances between the upper breakpoint and the lower breakpoint and the target straight line do not exceed the preset distance value, projecting the upper breakpoint and the lower breakpoint onto the target straight line, and correcting the target straight line by utilizing projection points corresponding to the upper breakpoint and the lower breakpoint on the target straight line;
if the distance between the upper break point or the lower break point and the target straight line exceeds a preset distance value, discarding the target straight line, and carrying out laser radar scanning on the target photovoltaic module again to obtain a new target straight line until the distances between the upper break point and the lower break point and the target straight line are within the preset distance value.
4. The positioning control method of a photovoltaic cleaner according to claim 2, wherein the performing straight line fitting according to the laser scanning data of each scanning point between the upper breakpoint and the lower breakpoint of the target photovoltaic module, before obtaining the target straight line, further comprises:
Calculating the distance between the upper breakpoint and the lower breakpoint according to the laser scanning data of the upper breakpoint and the lower breakpoint;
If the error value between the distance between the upper breakpoint and the lower breakpoint and the length of the target photovoltaic module is out of a preset error range, discarding the upper breakpoint and the lower breakpoint; and re-performing laser radar scanning on the target photovoltaic module until the error value is within the preset error range.
5. The photovoltaic cleaning system is characterized by comprising a photovoltaic robot and a photovoltaic cleaning machine;
The photovoltaic robot is used for carrying out laser radar scanning on the target photovoltaic module before the photovoltaic sweeper executes sweeping operation, and determining target position information for placing the photovoltaic sweeper;
The photovoltaic robot is further used for placing the photovoltaic cleaning machine on the target photovoltaic module according to the target position information;
The photovoltaic cleaning machine is connected with the photovoltaic robot and used for executing cleaning operation from the target photovoltaic module under the control of the photovoltaic robot;
The photovoltaic robot comprises a laser radar, a processor and a mechanical arm;
the laser radar is arranged on the mechanical arm and used for scanning the target photovoltaic module to obtain laser scanning data of the target photovoltaic module;
the processor is used for determining an upper breakpoint and a lower breakpoint of the target photovoltaic module according to the laser scanning data of the target photovoltaic module;
The processor is further used for calculating and obtaining target position information of the photovoltaic sweeper according to laser scanning data of each position between the upper breakpoint and the lower breakpoint of the target photovoltaic module;
The mechanical arm is used for placing the photovoltaic sweeper on the surface of the target photovoltaic module according to the target position information so that the photovoltaic sweeper can start to execute sweeping operation from the target photovoltaic module;
The processor comprises:
The computing unit is used for traversing the laser scanning data of each scanning point in the first scanning interval and the second scanning interval and computing the depth distance between adjacent scanning points in the first scanning interval and the second scanning interval;
And the screening unit is used for screening out scanning points, of which the depth distances between adjacent scanning points meet the preset distance condition, from the first scanning interval and the second scanning interval respectively as break points, wherein the break point positioned in the first scanning interval is used as the upper break point, and the break point positioned in the second scanning interval is used as the lower break point.
6. The photovoltaic cleaning system of claim 5, wherein the processor further comprises a fitting unit and a processing unit:
The fitting unit is used for performing straight line fitting according to the laser scanning data of each scanning point between the upper breakpoint and the lower breakpoint of the target photovoltaic module to obtain a target straight line;
the calculating unit is also used for calculating a pitch angle between the target straight line and a laser radar coordinate system y axis to obtain angle information in target position information of the photovoltaic sweeper; the calculating unit is further used for calculating midpoint coordinates of the connecting line midpoints of the upper breakpoint and the lower breakpoint according to the laser scanning data of the upper breakpoint and the lower breakpoint;
The processing unit is used for obtaining coordinate position information in target position information of the photovoltaic cleaning machine according to the midpoint coordinate, the height of the photovoltaic cleaning machine and the offset distance of a guide wheel of the photovoltaic cleaning machine in the direction perpendicular to the trend direction of the photovoltaic array; the target position information is the positioning information of the photovoltaic cleaning machine on the target photovoltaic module.
7. A photovoltaic cleaning system according to claim 6, wherein,
The calculating unit is further used for calculating distances between the upper breakpoint and the target straight line and between the lower breakpoint respectively according to the laser scanning data of the upper breakpoint and the lower breakpoint;
the processor further comprises a correction unit, wherein the correction unit is used for projecting the upper breakpoint and the lower breakpoint onto the target straight line if the distances between the upper breakpoint and the lower breakpoint and the target straight line do not exceed preset distance values, and correcting the target straight line by utilizing projection points corresponding to the upper breakpoint and the lower breakpoint on the target straight line;
The correcting unit is further configured to discard the target straight line if the distance between the upper breakpoint or the lower breakpoint and the target straight line exceeds a preset distance value, and re-perform laser radar scanning on the target photovoltaic module until the distances between the upper breakpoint and the lower breakpoint and the target straight line are both within the preset distance value.
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| CN115847408A (en) * | 2022-12-01 | 2023-03-28 | 南京陆洁太智机器人科技有限公司 | Intelligent identification and pose adjustment method for operation and maintenance robot |
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| US20150349706A1 (en) * | 2014-06-03 | 2015-12-03 | Sunpower Corporation | Solar module cleaner |
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| CN115940785A (en) * | 2022-12-26 | 2023-04-07 | 湖州丽天智能科技有限公司 | Operation control method and device of photovoltaic sweeper |
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