Rail-mounted robot anti-jamming detection method and device based on artificial intelligence

Abstract

The invention relates to the technical field of artificial intelligence, in particular to a rail-mounted robot anti-jamming detection method and device based on artificial intelligence. The method comprises the following steps of acquiring an ROI area image of a photovoltaic cell panel; obtaining a segmentation result graph of a ROI area by using a semantic segmentation network model; obtaining abinary image of an edge frame of the photovoltaic cell panel from the segmentation result image, and judging a first longitudinal edge frame, a first transverse edge frame and a second transverse edgeframe in the binary image; calculating the maximum gap width between the first transverse edge frame and the second transverse edge frame, and averaging the maximum gap width and the measured gap width to obtain the gap width; calculating a visual fall height, and averaging the visual fall height and the measured fall height to obtain a fall height; and when the gap width or the fall height is larger than a set threshold value, returning the rail-installed cleaning robot. According to the method and device, the problems that the robot is stuck due to too large gaps or too high fall, and the distance measurement of an infrared distance measurement sensor is inaccurate are solved, and the accuracy and reliability of a judgment result are improved.

Description

technical field [0001] The invention relates to the technical field of artificial intelligence, in particular to an artificial intelligence-based anti-jamming detection method and device for a track-type robot. Background technique [0002] At present, orbital cleaning robots are widely used in the cleaning of photovoltaic panels, which not only saves manpower and material resources, but also solves the problem that the position of photovoltaic panels is too high and difficult to clean manually. However, the looseness of the photovoltaic panels will lead to unevenness or large gaps between the photovoltaic panels. If the gap is too large, the cleaning robot will be stuck between the photovoltaic panels and it will be difficult to recover; if the drop height is too high, it will be difficult for the orbital cleaning robot to move. . [0003] In the prior art, the measurement of the height of the drop and the width of the gap mainly uses an infrared distance measuring sensor....

AI Technical Summary

Problems solved by technology

The infrared ranging sensor uses active infrared radiation to convert the distance according to the return time difference of the infrared light. Therefore, for transparent media, such as transparent films and glass on photovoltaic panels, the light cannot be reflected normally, resulting in ranging errors; Black objects on the edge of photovoltaic panels will absorb light and cause errors in distance measurement

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