WO2019076004A1 - 太阳能面板清扫机器人直行判定装置及其判定方法 - Google Patents
太阳能面板清扫机器人直行判定装置及其判定方法 Download PDFInfo
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- WO2019076004A1 WO2019076004A1 PCT/CN2018/081990 CN2018081990W WO2019076004A1 WO 2019076004 A1 WO2019076004 A1 WO 2019076004A1 CN 2018081990 W CN2018081990 W CN 2018081990W WO 2019076004 A1 WO2019076004 A1 WO 2019076004A1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- the invention relates to the field of cleaning robots, and in particular to a straight line determining device used by a solar panel cleaning robot and a determining method thereof.
- a solar panel is a device that converts solar energy directly into electrical energy using photovoltaics that occur under the illumination of semiconductor materials. Solar panels can generate electricity in places where there is sunlight, so solar panels are suitable for a variety of applications, from large power stations to small portable chargers.
- the working environment of solar panels can only be outdoor, and the biggest problem affecting their work is not the wind and rain, but the dust accumulated all the year round. Dust or other attachments on the solar panel may affect the transmittance of the panel and impede the photoelectric efficiency, which will seriously affect the efficiency of the panel directly acquiring sunlight, reduce the energy absorption and conversion efficiency of the panel, and reduce the power generation efficiency.
- the solar panel can only be manually and regularly cleaned up. Due to the large area of the solar panel and the large number of panels used by the large power station, the dust will accumulate repeatedly and need to be repeatedly cleaned; therefore, the labor cost is high. The cleaning efficiency is low and the cleaning effect is poor.
- a plurality of solar panels are usually connected, which makes the overall area of the connected solar panels larger, thus making the power generation larger.
- the increase in the area of the solar panel may also make it possible to store various foreign objects thereon, and when the cleaning robot touches the foreign matter and cleans it, it may be due to the foreign matter.
- the presence of the planned walking route has a certain angular offset.
- the cleaning robot that has a deviation of the traveling angle will inevitably miss some of the areas to be cleaned of the solar panel, so that the cleaning of the entire solar panel area is not complete, and to some extent, affects the solar panel. Power generation efficiency.
- An object of the present invention is to provide a solar panel cleaning robot straight-line determining device for correcting a traveling angle deviation problem which is easy to occur when a cleaning robot travels on a solar panel, so that it can follow a planned straight traveling route. Walking, so that you can carry out a comprehensive sweep of the solar panels in which it is located.
- the present invention provides a solar panel cleaning robot straight-through determining device, wherein the solar panel cleaning robot includes a vehicle body that is driven or parked on at least one solar panel.
- the solar panel is rectangular, and has four border lines at its edges, and is provided with warp and weft lines perpendicular to each other, wherein the warp threads and the weft lines form a panel coordinate system.
- the determining device includes an image acquisition unit and an image analysis processing unit.
- the image acquisition unit collects surface image information of the solar panel in the traveling direction of the vehicle body, and transmits the collected image information to the image analysis processing unit, where the image information includes the solar energy The latitude and longitude information of the panel.
- the image analysis processing unit identifies forward extending straight line information in the image information, and then calculates an angle of each identified straight line in the current latitude and longitude coordinate system, and retains a qualified line, the qualified line One point is the difference between the Y coordinate of the starting point and the ending point of the line (the first threshold), and the other point is the difference between the X coordinate of the starting point and the ending point (the second threshold).
- the angle values of the qualified lines are sorted by size and the median value or the average value is taken, and the median value or a difference between the average value and a predetermined vertical line angle is calculated.
- the angle difference When the angle difference is within a preset threshold range, it is determined that the vehicle body is traveling in a straight line direction; if the angle difference value is greater than a boundary value of the threshold value range and is negative, determining the vehicle body Offset to the right, need to be corrected to the left; if the angle difference is greater than the boundary value of the threshold range and is positive, it is determined that the vehicle body is shifted to the left and needs to be corrected to the right.
- the image acquisition unit is disposed at a center position of the front portion of the vehicle body.
- the image acquisition unit includes, but is not limited to, a camera.
- the vehicle body is provided with a casing, the casing covers the image collecting unit, and the casing is provided with a window opening portion, and the image is collected.
- the unit collects surface image information of the solar panel in front of the unit through the window opening portion.
- the image acquired by the image acquisition unit is a trapezoidal area surrounded by warp and weft lines on the solar panel, and the trapezoidal area corresponds to a square area on the solar panel.
- the image analysis processing unit converts the image into a standard panel image and converts the trapezoidal region in the image into the The square area on the standard panel image.
- the image analysis processing unit identifies a forward-extending straight line in the square region in the image using a Hough transform algorithm to identify forward-extending straight line information in the image.
- the identified straight line is a Hough line.
- the mean value of the qualified lines is averaged by removing one of the maximum and one minimum of all the qualified line data, and then taking the average.
- the way in which the qualified line takes the median value is to sort the obtained angle data by size, and then take the intermediate order angle as the median value.
- the angle of the qualified line refers to an angle between the Hough line and the predetermined vertical line.
- the solar panel cleaning robot includes a vehicle body that travels or resides on at least one solar panel.
- the solar panel is rectangular, and has four border lines at its edges, and is provided with warp and weft lines perpendicular to each other, wherein the warp threads and the weft lines form a panel coordinate system.
- the straight line determination method includes an image acquisition step and an image analysis processing step. In the image capturing step, collecting image information of the solar panel surface in the traveling direction of the vehicle body, and transmitting the image information to the image analysis processing unit; wherein the collected image information includes The latitude and longitude line information of the panel.
- the image analysis processing unit recognizes the forward extended straight line information in the collected image information, and then calculates the angle of each identified straight line in the current latitude and longitude coordinate system.
- a qualified line is reserved, the point of the qualified line is the difference between the Y coordinate of the starting point and the ending point of the line (the first threshold), and the other point is the difference (the second threshold) of the X coordinate of the starting point and the ending point.
- the angle values of the qualified lines are sorted by size and the median value or the average value is taken, and the median value or the difference between the average value and the preset vertical line angle is calculated.
- angle difference when the angle difference is within a predetermined threshold range, it is determined that the vehicle body is traveling in a straight line direction; if the angle difference value is greater than a boundary value of the threshold value range and is negative, determining the The vehicle body is offset to the right and needs to be corrected to the left; if the angle difference is greater than the threshold value of the threshold range and is positive, it is determined that the vehicle body is shifted to the left and needs to be corrected to the right.
- the captured image is a trapezoidal region surrounded by warp and weft lines on the solar panel, and the trapezoidal region corresponds to one on the solar panel. Square area.
- the image analysis processing unit after receiving the acquired image, the image analysis processing unit converts the image perspective into a standard panel image, and the image is The trapezoidal area in the area is converted to a square area on the standard panel picture.
- the image analysis processing unit identifies a forward-extending straight line in a square region in the image by using a Hough transform algorithm to identify the image The straight line information that extends forward.
- the identified straight line is a Hough line.
- the mean line is averaged by removing one of the maximum values and a minimum value and then averaging.
- the way in which the qualified line takes the median value is to sort the obtained angle data by size, and then take the intermediate order angle as the median value.
- the angle of the qualified line refers to an angle between the Hough line and the predetermined vertical line.
- An advantage of the present invention is to provide a solar panel cleaning robot straight-line determining device and a determining method thereof, which are obtained by comparing a coordinate latitude and longitude line (ie, a qualified line) recognized in the collected image information with a preset vertical line.
- the angle difference is used to determine whether the vehicle body is traveling in a straight line direction. When the angle difference is within the set threshold range, it is determined that the vehicle body is traveling in a straight line direction; if the angle difference is greater than the threshold value and is negative, it is determined that the vehicle body is shifted to the right, and needs to Left correction; if the angle difference is greater than the threshold and is positive, it is determined that the vehicle body is shifted to the left and needs to be corrected to the right.
- the determining device and the determining method according to the present invention can effectively correct the traveling direction of the vehicle body on the solar panel on which it is located, so that it can travel straight according to a prescribed route, so that the solar panel can be fully effective.
- the cleaning further increases the power generation efficiency of the solar panel that has been cleaned to a certain extent.
- FIG. 1 is a schematic structural view of a cleaning robot according to an embodiment of the present invention, wherein it is located on a solar panel;
- Fig. 2 is a cross-sectional view of the cleaning robot shown in Fig. 1;
- a component When a component is described as being “on” another component, the component can be placed directly on the other component; an intermediate component can also be present, the component being placed on the intermediate component, And the intermediate part is placed on another part.
- a component When a component is described as “mounted to” or “connected to” another component, it can be understood as “directly” or “connected”, or a component is “mounted to” or “connected” through an intermediate component. To “another part.
- an embodiment of the present invention provides a solar panel cleaning robot straight-through determining device, wherein the solar panel cleaning robot 100 includes a vehicle body 10, and the vehicle body 10 is at least one.
- the solar panel 200 travels or resides.
- the solar panel 200 is rectangular, and has four border lines 210 at its edges, and is provided with warp threads 211 and weft lines 212 perpendicular to each other, wherein the warp threads 211 and the weft threads 212 form a panel coordinate system.
- the determining device includes an image collecting unit 12 and an image analyzing processing unit, wherein the image collecting unit collects the image information of the solar panel surface in the traveling direction of the vehicle body 10, and sends the image information to the image.
- the image analysis processing unit is described.
- the image information includes the warp 211 and the weft 212 information of the solar panel 200 in which it is located.
- the vehicle body 10 is provided with a casing 11 in which the image capturing unit 12 is housed, and the image collecting unit 12 is disposed at the front of the vehicle body 10. Center position.
- the housing 11 is provided with a window opening portion 110 through which the image capturing unit 12 collects surface image information of the solar panel 200 in front of it.
- the captured image is a trapezoidal region surrounded by latitude and longitude lines on the solar panel 200, the trapezoidal region corresponding to a square region on the solar panel 200.
- the image acquisition unit 12 includes a camera.
- the camera collects the surface image of the solar panel every set time.
- the frame may be taken every 500 milliseconds, but the specific setting time may be determined according to actual needs.
- the image acquisition unit 12 is preferably disposed on the vehicle body 10, but is not limited thereto. After receiving the collected image, the image analysis processing unit 12 converts the image into a standard panel image, and converts the trapezoidal region in the image into a square region on the standard panel image.
- the image analysis processing unit detects a forward extending straight line in a square region in the image by using a Hough transform algorithm, and the identified straight lines may also be referred to as a Hough line. Then, calculating the angle of each line recognized in the current latitude and longitude coordinate system, and retaining a qualified line, the point of the qualified line is the difference between the Y coordinate of the starting point and the ending point of the line (the first threshold), The other point is the difference between the X coordinates of the start point and the end point (second threshold).
- the first threshold may be 15, and the second threshold may be 10, but is not limited thereto, and may be specifically determined as needed.
- the angle values of the qualified lines are sorted by size and the median value or the average value is taken, and the median value or the difference between the average value and a preset vertical line angle is calculated.
- the pass line may be averaged by removing one of the maximum values and a minimum value and then averaging.
- the manner in which the qualifying line takes the median value is to sort the obtained angle data by size, and then take the angle of the intermediate order, that is, the median value.
- the angle of the qualifying line refers to the angle between the Hough line and the predetermined vertical line.
- the angle difference is calculated as:
- the calculated angle value is in the range [-45, 45].
- the angle difference is within a set threshold value, it is determined that the vehicle body 10 is traveling in a straight line direction; if the angle difference value is greater than a boundary value of the threshold value range and is a negative value, The vehicle body is shifted to the right and needs to be corrected to the left; if the angle difference is greater than the boundary value of the threshold range and is positive, it is determined that the vehicle body is shifted to the left and needs to be corrected to the right.
- the threshold value of the angular difference may be plus or minus 0.1 degrees. Specifically, when the angle difference is greater than -0.1 degrees and less than 0.1, it is determined that the traveling direction of the vehicle body 10 is a straight line; when the angle difference is greater than 0.1 degrees, it is determined that the direction of the vehicle body 10 is shifted to the left, and Corrected to the right; when the angle difference is less than -0.1 degrees, it is determined that the direction of the vehicle body 10 is shifted to the right and needs to be corrected to the left.
- another embodiment of the present invention provides a solar panel cleaning robot straight-through determination method, wherein the solar panel cleaning robot 100 includes a vehicle body 10 that travels on at least one solar panel 200 or Resident.
- the solar panel 200 is rectangular, and has four border lines at its edges, and is provided with warp threads 211 and weft threads 212 perpendicular to each other.
- the warp threads 211 and the weft threads 212 form a panel coordinate system, which includes image collection. Steps and image analysis processing steps.
- the image capturing step is to collect the solar panel surface image information of the vehicle body in the traveling direction, and send the image information to the image analysis processing unit 12, wherein the image information includes the panel in which the panel is located. Warp 211 and weft 212 information.
- the captured image is a trapezoidal region surrounded by warp and weft lines on the solar panel, and the trapezoidal region corresponds to a square region on the solar panel.
- the image analysis processing unit After receiving the collected image, the image analysis processing unit converts the image perspective into a standard panel image, and converts the trapezoidal region in the image into standard solar energy. The square area on the panel image.
- the image analysis processing unit detects a forward extending straight line in the square region in the image by using a Hough transform algorithm, and the recognized straight lines may also be referred to as a Hough line. Then calculating the angle of each line recognized in the current latitude and longitude coordinate system, and retaining a qualified line, the point of the qualified line is the difference between the Y coordinate of the starting point and the ending point of the line (the first threshold), and The other point is the difference between the X coordinates of the starting point and the ending point (second threshold).
- the first threshold may be 15, and the second threshold may be 10, but is not limited thereto, and may be specifically determined as needed.
- the angle values of the qualified lines are sorted by size and the median value or the average value is taken, and the median value or the difference between the average value and the preset vertical line angle is calculated.
- the pass line may be averaged by removing one of the maximum values and a minimum value and then averaging.
- the way in which the qualified line takes the median value is to sort the obtained angle data by size, and then take the intermediate order angle as the median value.
- the angle of the qualifying line refers to the angle between the Hough line and the predetermined vertical line.
- the angle difference is calculated as:
- the calculated angle value is in the range [-45, 45].
- the vehicle body is offset to the right and needs to be corrected to the left; if the angle difference is greater than the boundary value of the threshold range and is positive, it is determined that the vehicle body is shifted to the left and needs to be corrected to the right.
- the threshold may be plus or minus 0.1 degrees. Specifically, when the difference is greater than -0.1 degrees and less than 0.1, it is determined that the traveling direction of the vehicle body is a straight line; when the difference is greater than 0.1 degrees, it is determined that the direction of the vehicle body is shifted to the left, and needs to be corrected to the right; When the difference is less than -0.1 degrees, it is determined that the body direction is shifted to the right and needs to be corrected to the left.
- the invention provides a solar panel cleaning robot straight-line determining device and a determining method thereof, which determine whether a vehicle body is determined by an angle difference between a coordinate latitude and longitude line and a preset vertical line recognized in the collected image information. Travel in a straight line. Wherein, when the angle difference is within a set threshold range, it is determined that the vehicle body is traveling in a straight line direction; if the angle difference is greater than a threshold value and is negative, determining that the vehicle body is shifted to the right It needs to be corrected to the left; if the angle difference is greater than the threshold and is positive, it is determined that the vehicle body is shifted to the left and needs to be corrected to the right.
- the determining device and the determining method according to the present invention can effectively correct the traveling direction of the vehicle body on the solar panel on which it is located, so that it can travel straight according to a prescribed route, so that the solar panel can be fully effective.
- the cleaning further increases the power generation efficiency of the solar panel that has been cleaned to a certain extent.
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Abstract
一种太阳能面板清扫机器人直行判定装置及其判定方法。判定装置包括一图像采集单元(12)和一图像识别处理单元，其中图像采集单元设置在太阳能面板清扫机器人的车体(10)上，用于采集车体行走路线上的太阳能面板的表面图像信息。图像识别处理单元用于处理图像信息，进而判断车体是否在太阳能面板按规划路线中的直线方向行进。
Description
本发明涉及清扫机器人领域，特别涉及一种太阳能面板清扫机器人使用的直行判定装置及其判定方法。
在化石燃料日趋减少的情况下，作为一种新兴的可再生能源的太阳能已成为人类使用能源的重要组成部分，近十年来，太阳能应用技术在世界各国都得到迅猛发展。太阳能面板是指利用半导体材料在光照条件下发生的光生伏特效应(photovoltaic)将太阳能直接转换为电能的器件。有太阳光的地方就能发电，因此太阳能面板适用于从大型发电站到小型便携式充电器等多种场合，近年来得到飞速发展。
太阳能面板的工作环境只能是户外，影响其工作的最大问题并不是风雨雷电，而是常年累积的灰尘。太阳能面板上附着有灰尘或其它附着物，会影响面板板的透光率，阻碍光电效率，从而会严重影响面板直接获取阳光的效率，降低面板的能量吸收和转换效率，降低发电效率。现有技术的太阳能面板在使用中只能依靠人工定期完成清理工作，由于太阳能面板面积较大、大型电站同时使用的面板较多，而灰尘会反复累积，需要反复清洗；因此人力成本很高、清理效率低、清理效果较差。在很多场合，为了提高空间利用率，太阳能面板都是利用支架设置在高处，这就给清理工作带来更大的难度和风险。很多太阳能面板的用户为了降低清理成本只能选择不清理，这样只能被迫承担灰尘导致的电能损耗。这样，就需要有一个新的自动清理设备，对太阳能面板进行自动 清理。
对此，业界开发出了一种新型的清扫机器人来进行太阳能面板的清洁，具体可参看中国专利申请201610836028.8号所揭示的相关内容。但随着这种清扫机器人在实际中的不断使用，业界也发现其需要进行新型功能的研发，来克服实际遇到的各种问题，
例如，由于为了保证发电功率，通常都是若干太阳能面板相连设置，这就使得连在一起的太阳能面板的整体面积较大，因而使得其发电功率较大。但是，太阳能面板面积增大的同时也会使得其上存有各种异物的可能性很大，而当所述清扫机器人触碰到这些异物后并对其进行清扫后，可能会因所述异物的存在而使得其规划的行走路线发生一定角度的偏移。发生行进角度偏移的所述清扫机器人，则会不可避免的漏掉一些太阳能面板的待清扫区域，使得其对于整个太阳能面板区域的清扫不彻底，进而在一定程度上，影响所述太阳能面板的发电效率。
因此，确有必要来开发一种新型的太阳能面板清扫机器人直行判定装置及其判定方法，来克服现有技术中的缺陷。
发明内容
本发明的一个目的在于，提供一种太阳能面板清扫机器人直行判定装置，用以纠正清扫机器人在所处太阳能面板上行进时容易出现的行进角度偏移问题，使其能够一直按照规划的直行行进路线行走，从而能够对其所处的太阳能面板进行全面的无遗漏的清扫。
为解决上述问题，本发明提供一种太阳能面板清扫机器人直行判定装置，其中所述太阳能面板清扫机器人包括车体，所述车体在至少一太阳能面板上行 驶或驻留。所述太阳能面板为矩形，其边缘处设有四条边框线，其内设有彼此垂直的经线及纬线，其中所述经线及所述纬线形成一面板坐标系。所述判定装置包括一图像采集单元和一图像分析处理单元。所述图像采集单元采集所述车体行进方向上的所处太阳能面板的表面图像信息，并将采集的所述图像信息发送给所述图像分析处理单元，其中所述图像信息中包括所处太阳能面板的经纬线信息。所述图像分析处理单元识别所述图像信息中的向前延伸的直线信息，然后计算识别出的每一直线在当前所述经纬坐标系下的角度，并保留一合格线，所述合格线的一点为直线起始点与结束点的Y坐标之差(第一阈值)，而另一点为起始点与结束点的X坐标之差(第二阈值)。将所述合格线的角度值按大小排序并取其中位值或是平均值，计算所述中位值或是平均值与一预设垂直线角度的一差值。当角度差值在一预设的阙值范围时，则判定所述车体是在按直线方向行进；若是角度差值大于所述阙值范围的边界值并且为负，则判定所述车体向右偏移，需要向左纠正；若是角度差值大于所述阙值范围边界值并且为正，则判定所述车体向左偏移，需要向右纠正。
进一步的，在不同实施方式中，所述图像采集单元设置在所述车体前部的正中位置处。所述图像采集单元包括但不限于摄像头。
进一步的，在不同实施方式中，所述车体上设置有一壳体，所述壳体将所述图像采集单元罩设于其内，所述壳体上设置有一开窗部，所述图像采集单元通过所述开窗部采集其前方的太阳能面板的表面图像信息。
进一步的，在不同实施方式中，所述图像采集单元采集的图像为一被所述太阳能面板上的经、纬线包围的梯形区域，该梯形区域对应所述太阳能面板上的一个正方形区域。
进一步的，在不同实施方式中，所述图像分析处理单元在收到所采集到的图像后，会将该图像透视转换为一标准面板图片，并将所述图像中的梯形区域转换为所述标准面板图片上的正方形区域。
进一步的，在不同实施方式中，所述图像分析处理单元利用霍夫变换算法识别所述图像中的正方形区域中的向前延伸的直线，以识别所述图像中向前延伸的直线信息。其中，识别出的所述直线为霍夫线。
进一步的，在不同实施方式中，所述合格线取平均值的方式是除去全部合格线数据中一个最大值和一个最小值，然后取平均值。
进一步的，在不同实施方式中，所述合格线取中位值的方式是将获得的角度数据按大小排序，然后取中间顺序的角度即为所述中位值。
进一步的，在不同实施方式中，所述合格线的角度是指所述霍夫线和所述预设垂直线间的一夹角角度。
进一步的，本发明的又一个实施方式提供了一种太阳能面板清扫机器人直行判定方法。所述太阳能面板清扫机器人包括一车体，所述车体在至少一太阳能面板上行驶或驻留。所述太阳能面板为矩形，其边缘处设有四条边框线，其内设有彼此垂直的经线及纬线，其中所述经线及所述纬线形成一面板坐标系。所述直行判定方法包括图像采集步骤以及图像分析处理步骤。在所述图像采集步骤中，采集所述车体行进方向上的所处太阳能面板表面图像信息，并将所述图像信息发送给所述图像分析处理单元；其中，所采集得的图像信息中包括所处面板的经纬线信息。在所述图像分析处理步骤中，所述图像分析处理单元识别所采集得的图像信息中的向前延伸的直线信息，然后计算识别出的每一直线在当前所述经纬坐标系下的角度，并保留一合格线，所述合格线的一点为 直线起始点与结束点的Y坐标之差(第一阈值)，而另一点为起始点与结束点的X坐标之差(第二阈值)。将所述合格线的角度值按大小排序并取其中位值或是平均值，计算所述中位值或是平均值与预设垂直线角度的差值。其中当角度差值在一预设的阙值范围内时，则判定所述车体是在按直线方向行进；若是角度差值大于所述阙值范围的边界值并且为负，则判定所述车体向右偏移，需要向左纠正；若是角度差值大于所述阙值范围边界值并且为正，则判定所述车体向左偏移，需要向右纠正。
进一步的，在不同实施方式中，在所述图像采集步骤中，采集到的所述图像为被所述太阳能面板上的经、纬线包围的梯形区域，该梯形区域对应所述太阳能面板上的一个正方形区域。
进一步的，在不同实施方式中，在所述图像分析处理步骤中，所述图像分析处理单元在收到所采集到的图像后，将该图像透视转换为一标准面板图片，并将所述图像中的梯形区域转换为所述标准面板图片上的正方形区域。
进一步的，在不同实施方式中，在所述图像分析处理步骤中，所述图像分析处理单元利用霍夫变换算法识别所述图像中的正方形区域中的向前延伸的直线，以识别所述图像中向前延伸的直线信息。其中，识别出的所述直线为霍夫线。
进一步的，在不同实施方式中，所述合格线取平均值的方式是除去其中的一个最大值和一个最小值，然后取平均值。
进一步的，在不同实施方式中，所述合格线取中位值的方式是将获得的角度数据按大小排序，然后取中间顺序的角度即为所述中位值。
进一步的，在不同实施方式中，所述合格线的角度是指所述霍夫线和所 述预设垂直线间的一夹角角度。
本发明优点在于，提供一种太阳能面板清扫机器人直行判定装置及其判定方法，其通过对采集到的图像信息中识别出的坐标经纬线(即合格线)与一预设的垂直线之间的角度差值来判定其车体是否在按直线方向行进。当角度差值在设定的阙值范围时，则判定所述车体是在按直线方向行进；若是角度差值大于阙值并且为负，则判定所述车体向右偏移，需要向左纠正；若是角度差值大于阙值并且为正，则判定所述车体向左偏移，需要向右纠正。
本发明涉及的所述判定装置以及判定方法，可以有效地纠正所述车体在所处太阳能面板上的行进方向，使得其能按照规定的路线直行行进，从而可以对所处太阳能面板进行全面有效的清扫，进而在一定程度上，提高被其清扫过的所述太阳能面板的发电效率。
图1为本发明实施例中清扫机器人的结构示意图，其中其位于太阳能面板上；
图2为图1所示的清扫机器人的剖视图。
图中部件编号如下：
太阳能面板清扫机器人100，太阳能面板200，边框线210，经线211，纬线212；车体10，壳体11，开窗部110，图像采集单元12。
以下参考说明书附图介绍本发明的优选实施例，证明本发明可以实施，所述实施例可以向本领域中的技术人员完整介绍本发明，使其技术内容更加清楚和便于理解。本发明可以通过许多不同形式的实施例来得以体现，本发明的 保护范围并非仅限于文中提到的实施例。
在附图中，结构相同的部件以相同数字标号表示，各处结构或功能相似的组件以相似数字标号表示。附图所示的每一部件的尺寸和厚度是任意示出的，本发明并没有限定每个组件的尺寸和厚度。为了使图示更清晰，附图中有些地方适当夸大了部件的厚度。
本发明所提到的方向用语，例如「上」、「下」、「前」、「后」、「左」、「右」、「内」、「外」、「侧面」等，仅是附图中的方向，只是用来解释和说明本发明，而不是用来限定本发明的保护范围。
当某些部件被描述为“在”另一部件“上”时，所述部件可以直接置于所述另一部件上；也可以存在一中间部件，所述部件置于所述中间部件上，且所述中间部件置于另一部件上。当一个部件被描述为“安装至”或“连接至”另一部件时，二者可以理解为直接“安装”或“连接”，或者一个部件通过一中间部件间接“安装至”、或“连接至”另一个部件。
如图1及图2所示，本发明涉及的一个实施例提供了一种太阳能面板清扫机器人直行判定装置，其中所述太阳能面板清扫机器人100包括一车体10，所述车体10在至少一太阳能面板200上行驶或驻留。所述太阳能面板200为矩形，其边缘处设有四条边框线210，其内设有彼此垂直的经线211及纬线212，其中所述经线211及所述纬线212形成一面板坐标系。
所述判定装置包括一图像采集单元12和一图像分析处理单元，其中所述图像采集单元采集所述车体10行进方向上的所处太阳能面板表面图像信息，并将所述图像信息发送给所述图像分析处理单元。所述图像信息中包括所处太阳能面板200的经线211及纬线212信息。
在一个实施方式中，所述车体10上设置有一壳体11，所述壳体11将所述图像采集单元12罩设于其内，所述图像采集单元12设置在车体10的前部正中位置。所述壳体11上设置有一开窗部110，所述图像采集单元12通过所述开窗部110采集其前方的太阳能面板200的表面图像信息。所述采集的图像为被所述太阳能面板200上的经纬线包围的梯形区域，该梯形区域对应所述太阳能面板200上的一个正方形区域。
具体的，所述图像采集单元12包括一摄像头。所述摄像头每隔设定时间采集所述太阳能面板的表面图像，具体可以是，每隔500毫秒取一帧图片，但不限于，具体设定时间可随实际需要而定。
所述图像采集单元12优选设置在所述车体10上，但不限于。所述图像分析处理单元12在收到所述采集到的图像后，会将该图像透视转换为一标准面板图片，将所述图像中的梯形区域转换为所述标准面板图片上的正方形区域。
进一步的，所述图像分析处理单元会利用霍夫变换算法检测所述图像中的正方形区域内的向前延伸的直线，识别出的这些直线也可称为霍夫线。然后，计算识别出的每一直线在当前所述经纬坐标系下的角度，并保留一合格线，所述合格线的一点为直线起始点与结束点的Y坐标之差(第一阈值)，而另一点为起始点与结束点的X坐标之差(第二阈值)。其中所述第一阙值可以是15，所述第二阙值可以是10，但不限于，具体可随需要而定。
进一步的，将所述合格线的角度值按大小排序并取其中位值或是平均值，计算所述中位值或是平均值与一预设的垂直线角度的差值。所述合格线取平均值的方式可以是除去其中的一个最大值和一个最小值，然后取平均值。所述合 格线取中位值的方式是将获得的角度数据按大小排序，然后取中间顺序的角度，即为所述中位值。所述合格线的角度是指所述霍夫线和所述预设垂直线间的夹角。所述角度差值的计算方式为：
if(angle＞135)angle＝angle-180；
Else angle＞45？angle-90：angle；
计算得出的角度值在[-45，45]范围内。
当角度差值在一设定的阙值范围内时，则判定所述车体10是在按直线方向行进；若是角度差值大于所述阙值范围的边界值并且为负值，则判定所述车体向右偏移，需要向左纠正；若是角度差值大于所述阙值范围边界值并且为正值，则判定所述车体向左偏移，需要向右纠正。
在一个具体实施方式中，所述角度差值的阙值范围可以是正负0.1度。具体来说，当所述角度差值大于-0.1度且小于0.1时，判定车体10行进方向为直线；当所述角度差值大于0.1度时，判定车体10方向向左偏移，需要向右纠正；当所述角度差值小于-0.1度时，判定车体10方向向右偏移，需要向左纠正。
进一步的，本发明的又一个实施方式提供了一种太阳能面板清扫机器人直行判定方法，其中所述太阳能面板清扫机器人100包括一车体10，所述车体10在至少一太阳能面板200上行驶或驻留。所述太阳能面板200为矩形，其边缘处设有四条边框线，其内设有彼此垂直的经线211及纬线212，其中所述经线211及所述纬线212形成一面板坐标系，其包括图像采集步骤以及图像分析处理步骤。
所述图像采集步骤为采集所述车体行进方向上的所处太阳能面板表面图 像信息，并将所述图像信息发送给所述图像分析处理单元12，其中所述图像信息中包括所处面板的经线211及纬线212信息。
在所述图像采集步骤中，采集到的所述图像为被所述太阳能面板上的经、纬线包围的梯形区域，该梯形区域对应所述太阳能面板上的一个正方形区域。
在所述图像分析处理步骤中，所述图像分析处理单元在收到所述采集到的图像后，会将该图像透视转换为一标准面板图片，将所述图像中的梯形区域转换为标准太阳能面板图片上的正方形区域。
进一步的，所述图像分析处理单元会利用霍夫变换算法检测所述图像中的正方形区域中的向前延伸的直线，识别出的这些直线也可称为为霍夫线。然后计算识别出的每一直线在当前所述经纬坐标系下的角度，并保留一合格线，所述合格线的一点为直线起始点与结束点的Y坐标之差(第一阈值)，而另一点为起始点与结束点的X坐标之差(第二阈值)。其中所述第一阙值可以是15，所述第二阙值可以是10，但不限于，具体可随需要而定。
进一步的，将所述合格线的角度值按大小排序并取其中位值或是平均值，计算所述中位值或是平均值与预设垂直线角度的差值。所述合格线取平均值的方式可以是除去其中的一个最大值和一个最小值，然后取平均值。所述合格线取中位值的方式是将获得的角度数据按大小排序，然后取中间顺序的角度即为所述中位值。所述合格线的角度是指所述霍夫线和所述预设垂直线间的夹角。所述角度差值的计算方式为：
If(angle＞135)angle＝angle-180；
Else angle＞45？angle-90：angle；
计算得出的角度值在[-45，45]范围内。
当所述角度差值在设定的阙值范围时，则判定所述车体是在按直线方向行进；若是角度差值大于所述阙值范围的边界值并且为负值，则判定所述车体向右偏移，需要向左纠正；若是角度差值大于所述阙值范围边界值并且为正值，则判定所述车体向左偏移，需要向右纠正。
在一个具体实施方式中，所述阙值范围可以是正负0.1度。具体来说，当该差值大于-0.1度且小于0.1时，判定车体行进方向为直线；当该差值大于0.1度时，判定车体方向向左偏移，需要向右纠正；当该差值小于-0.1度时，判定车体方向向右偏移，需要向左纠正。
本发明提供了一种太阳能面板清扫机器人直行判定装置及其判定方法，其通过对采集到的图像信息中识别出的坐标经纬线与预设垂直线之间的角度差值来判定其车体是否在按直线方向行进。其中当所述角度差值在设定的阙值范围时，则判定所述车体是在按直线方向行进；若是角度差值大于阙值并且为负，则判定所述车体向右偏移，需要向左纠正；若是角度差值大于阙值并且为正，则判定所述车体向左偏移，需要向右纠正。
本发明涉及的所述判定装置以及判定方法，可以有效的纠正所述车体在所处太阳能面板上的行进方向，使得其能按照规定的路线直行行进，从而可以对所处太阳能面板进行全面有效的清扫，进而在一定程度上，提高被其清扫过的所述太阳能面板的发电效率。
以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。
Claims (16)
- 一种太阳能面板清扫机器人直行判定装置，其中所述太阳能面板清扫机器人包括一车体，在至少一太阳能面板上行驶或驻留；每一太阳能面板为一矩形，其边缘处设有四条可识别边框其内设有彼此垂直的经线及纬线，并且，所述经线及所述纬线形成一面板坐标系；其中，所述判定装置包括一图像采集单元和一图像分析处理单元，所述图像采集单元采集所述车体行进方向上的所处太阳能面板表面图像信息，并将所述图像信息发送给所述图像分析处理单元，其中所述图像信息中包括所处太阳能面板的经纬线信息；所述图像分析处理单元识别所述图像信息中的向前延伸的直线信息，然后计算识别出的每一直线在当前所述经纬坐标系下的角度，并保留其中识别出的所述直线开始点与结束点的Y坐标相差一第一阙值并且X坐标相差一第二阙值的线为合格线；将所述合格线的角度值按大小排序并取其中位值或是平均值，计算所述中位值或是平均值与预设垂直线角度的差值；当所述差值在一预设的阙值范围时，则判定所述车体是在按直线方向行进；若是所述差值大于所述阙值范围的边界值并且为负值，则判定所述车体向右偏移，需要向左纠正；若是所述差值大于所述阙值范围边界值并且为正值，则判定所述车体向左偏移，需要向右纠正。
- 如权利要求1所述的判定装置，其中所述图像采集单元设置在所述车体前部的正中位置处。
- 如权利要求1所述的判定装置，其中所述车体上设置有壳体，所述壳体将所述图像采集单元罩设于其内，所述壳体上设置有开窗部，所述图像采集单元通过所述开窗部采集其前方的太阳能面板的表面图像信息。
- 如权利要求1所述的判定装置，其中所述图像采集单元采集的图像为被所述太阳能面板上的经纬线包围的梯形区域，该梯形区域对应所述太阳能面板上的一个正方形区域。
- 如权利要求4所述的判定装置，其中所述图像分析处理单元在收到所述 采集到的图像后，将所述图像透视转换为一标准面板图片，以将所述图像中的梯形区域转换为标准面板图片上的正方形区域。
- 如权利要求1所述的判定装置，其中所述图像分析处理单元利用霍夫变换算法识别所述图像中的正方形区域中的向前延伸的直线，以识别所述图像中向前延伸的直线信息识别出的所述直线为霍夫线。
- 如权利要求1所述的判定装置，其中所述合格线取平均值的方式是除去其中的一个最大值和一个最小值，然后取平均值。
- 如权利要求1所述的判定装置，其中所述合格线取中位值的方式是将获得的角度数据按大小排序，然后取中间顺序的角度即为所述中位值。
- 如权利要求6所述的判定装置，其中所述合格线的角度是指所述霍夫线和所述预设垂直线间的夹角。
- 一种太阳能面板清扫机器人直行判定方法，其中所述太阳能面板清扫机器人包括车体，所述车体在至少一太阳能面板上行驶或驻留；所述太阳能面板为矩形，其边缘处设有四条边框线，其内设有彼此垂直的经线及纬线，并且所述经线及所述纬线形成一面板坐标系；其中，所述判定方法包括一图像采集步骤以及一图像分析处理步骤；在所述图像采集步骤中，采集所述车体行进方向上的所处太阳能面板表面图像信息，并将所述图像信息发送给所述图像分析处理单元，其中所述图像信息中包括所处面板的经纬线信息；在所述图像分析处理步骤中，所述图像分析处理单元识别所述图像信息中的向前延伸的直线信息，然后计算识别出的每一直线在当前所述经纬坐标系下的角度，并保留其中识别出的所述直线开始点与结束点的Y坐标相差第一阙值并且X坐标相差第二阙值的线为合格线；将所述合格线的角度值按大小排序并取其中位值或是平均值，计算所述中位值或是平均值与预设垂直线角度的差值；其中当所述差值在一预设的阙值范围时，则判定所述车体是在按直线方向行进；若是所述差值大于所述阙值范围的边界值并且为负值，则判定所述车体向右偏移，需要向左纠正；若是所述差值大于所述阙值范围边界值并且为正值， 则判定所述车体向左偏移，需要向右纠正。
- 如权利要求10所述的判定方法，其中在所述图像采集步骤中，采集到的所述图像为被所述太阳能面板上的经纬线包围的梯形区域，该梯形区域对应所述太阳能面板上的一个正方形区域。
- 如权利要求11所述的判定方法，其中在所述图像分析处理步骤中，所述图像分析处理单元在收到所述采集到的图像后，将所述图像透视转换为标准面板图片，以将所述图像中的梯形区域转换为标准太阳能面板图片上的正方形区域。
- 如权利要求10所述的判定方法，其中在所述图像分析处理步骤中，所述图像分析处理单元识别所述图像中向前延伸的直线信息是利用霍夫变换算法检测所述图像中的正方形区域中的向前延伸的直线，而识别出的所述直线为霍夫线。
- 如权利要求10所述的判定方法，其中所述合格线取平均值的方式是除去其中的一个最大值和一个最小值，然后取平均值。
- 如权利要求10所述的判定方法，其中所述合格线取中位值的方式是将获得的角度数据按大小排序，然后取中间顺序的角度即为所述中位值。
- 如权利要求13所述的判定方法，其中所述合格线的角度是指所述霍夫线和所述预设垂直线间的夹角。
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| CN110362099B (zh) * | 2018-03-26 | 2022-08-09 | 科沃斯机器人股份有限公司 | 机器人清扫方法、装置、机器人及存储介质 |
| CN109213177B (zh) * | 2018-11-09 | 2022-01-11 | 苏州瑞得恩光能科技有限公司 | 机器人导航系统及导航方法 |
| CN109298715B (zh) * | 2018-11-09 | 2021-12-07 | 苏州瑞得恩光能科技有限公司 | 机器人行进控制系统及行进控制方法 |
| CN114905531A (zh) * | 2022-06-10 | 2022-08-16 | 苏州立天智能科技有限公司 | 一种光伏清扫机器人及清扫方法 |
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