Navigation method, system and cleaning robot

Abstract

The invention discloses a navigation method of a cleaning robot. The method includes the steps that: an environment image and the panel surface image of a photovoltaic panel are acquired, and the position information of the cleaning robot is determined; whether the cleaning robot moves along a preset movement path is judged according to the position information and a coordinate line, a fixed included angle is formed between the coordinate line and the moving direction of the cleaning robot; and if the cleaning robot does not move along the preset movement path, the current moving direction ofthe cleaning robot is adjusted, so that the adjusted cleaning robot can move along the preset movement path. According to the navigation method provided by the invention, the environmental image and the panel surface image of the photovoltaic panel are acquired; when the panel surface of the photovoltaic panel has no identifiable reference objects, the cleaning robot can identify a reference object from a surrounding environment, and therefore, a navigation basis can be provided for the cleaning robot, and the cleaning robot can perform cleaning operation on a photovoltaic assembly of which the panel has no clear features. The invention also provides a navigation system and a cleaning robot which have the same advantages as the method.

Description

technical field [0001] The invention relates to the technical field of intelligent robots, and more specifically, relates to a navigation method, a system and a cleaning robot. Background technique [0002] With the increasing shortage of oil and the increasing awareness of environmental protection, the proportion of people's demand for renewable and clean energy continues to increase, and the application of various photovoltaic devices is becoming more and more extensive. Photovoltaic equipment usually includes photovoltaic panels installed on the roof of buildings, workshops and other areas, and photovoltaic panels are exposed to the external environment, which is prone to dust accumulation. [0003] At present, there are cleaning robots on the market that can clean up accumulated dust, which are similar to common sweeping robots. During use, the cleaning robot is placed on the surface of the photovoltaic panel, and it cleans the walking area during the walking process. I...

AI Technical Summary

Problems solved by technology

[0004] However, on the one hand, the panels of some photovoltaic modules may not have obvious characteristic inherent textures; on the other hand, even if the panels of photovoltaic modules have inherent textures, the cleaning robot may move to the area where the inherent textures are missing

Therefore, in actual use, the cleaning robot often has the problem of being unable to recognize the reference object from the board surface, and then loses the navigation basis, resulting in the cleaning robot being unable to plan the walking path

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