Robot positioning method, system, photovoltaic power station and terminal equipment

Abstract

The present invention discloses a robot positioning method, system, photovoltaic power station and terminal equipment. The robot positioning method comprises: when detecting that the robot is walking in a preset photovoltaic panel area, identifying the color blocks in the photovoltaic panel area, and determining the global coordinates based on the color blocks; determining the local coordinates according to the local grid network in the photovoltaic panel area; and walking according to the global coordinates and the local coordinates. The present invention can realize the precise positioning of the robot during walking.

Description

Technical Field

[0001] The present invention relates to the field of global positioning technology, and in particular to a robot positioning method, system, photovoltaic power station and terminal equipment. Background Art

[0002] Common global positioning methods on the market include:

[0003] 1. RTK (carrier phase differential) technology based on GPS. By deploying base stations locally, satellite observation values ​​and site coordinate information are transmitted to mobile stations through data links, and then most of the GPS positioning errors are eliminated through phase differentials to achieve centimeter-level positioning accuracy (encoders, inertial sensors, etc. are also used in motion control);

[0004] 2. Use multi-sensor fusion technologies such as GPS, 3D laser, depth camera, inertial sensor and encoder. The rough global positioning of GPS (meter level) plus environmental perception technology can achieve precise positioning of the mobile station (centimeter level).

[0005] However, the limitations of the above global positioning method are very obvious:

[0006] 1. The cost is high and the applicability to photovoltaic power stations is not strong. This is also the reason why the crawler robots used in distributed photovoltaic power stations are mostly semi-automatic.

[0007] 2. It is necessary to build maps or define global coordinates at each actual site. It is highly dependent on the scene and cannot be applied to various photovoltaic module scenarios. Summary of the invention

[0008] The main purpose of the present invention is to provide a robot positioning method, system, photovoltaic power station and terminal equipment, aiming to achieve accurate positioning of the robot during walking.

[0009] To achieve the above object, the present invention provides a robot positioning method, wherein the robot positioning method comprises:

[0010] When detecting that the robot is walking in a preset photovoltaic panel area, identifying a color block in the photovoltaic panel area, and determining a global coordinate based on the color block;

[0011] determining local coordinates based on a local grid network in the photovoltaic panel area;

[0012] The robot walking process is globally positioned according to the global coordinates and the local coordinates.

[0013] Optionally, after the step of walking according to the global coordinates and the local coordinates, the method further includes:

[0014] The global coordinates and the local coordinates are updated based on the color block, and the robot is controlled to walk according to the updated global coordinates and local coordinates until the photovoltaic component cleaning task during the walking process is completed.

[0015] Optionally, the step of identifying color blocks in the photovoltaic panel area includes:

[0016] The color blocks preset in the photovoltaic panel area are identified by the color sensor carried by the robot.

[0017] Optionally, the step of determining the global coordinates based on the color block includes:

[0018] According to the color block threshold RGB of the color block, the global coordinates of the corresponding position of the color block are determined through the color-coordinate dictionary built into the robot.

[0019] Optionally, the step of determining local coordinates according to a local grid network in the photovoltaic panel area comprises:

[0020] According to the local grid network in the photovoltaic panel area, combined with the multi-gyro encoder and the color sensor, the local coordinates of the area between the two components are determined by position estimation.

[0021] Optionally, before the step of updating the global coordinates and the local coordinates based on the color block, the method further includes:

[0022] Determine whether a color block different from the color block threshold RGB of the current color block is recognized. When a color block different from the color block threshold RGB of the current color block is recognized, update the global coordinates and the local coordinates based on the color block, and walk according to the updated global coordinates and local coordinates until the walking task is completed.

[0023] Optionally, the step of updating the global coordinates and the local coordinates based on the color block includes:

[0024] When the color block threshold RGB of the current color block is inconsistent with the color block threshold RGB of the previous color block, the global coordinates are updated based on the color block threshold RGB of the current color block, and the local coordinates are initialized to update the local coordinates.

[0025] Optionally, the robot positioning method further includes:

[0026] When the robot is in the photovoltaic panel area between the two color blocks, it walks according to a preset planned route and updates the current local coordinates in real time during the walking process.

[0027] To achieve the above object, the present invention further provides a robot positioning system, the robot positioning system comprising:

[0028] A first determination module is used to detect that the robot is walking in a preset photovoltaic panel area, identify a color block in the photovoltaic panel area, and determine the global coordinates based on the color block;

[0029] A second determination module is used to determine local coordinates according to a local grid network in the photovoltaic panel area;

[0030] A positioning module is used for walking according to the global coordinates and the local coordinates.

[0031] Among them, each functional module of the robot positioning system of the present invention implements the steps of the robot positioning method as described above when running.

[0032] To achieve the above-mentioned purpose, the present invention further provides a photovoltaic power station, which includes: a robot, a photovoltaic module and a color block.

[0033] Furthermore, the color block is located between two adjacent photovoltaic modules, or is evenly distributed at intervals of a plurality of the photovoltaic modules.

[0034] To achieve the above objectives, the present invention also provides a terminal device, which includes: a memory, a processor, and a robot positioning program stored in the memory and executable on the processor, and the robot positioning program, when executed by the processor, implements the steps of the robot positioning method as described above.

[0035] In addition, to achieve the above-mentioned purpose, the present invention also provides a computer program product, wherein the computer program product includes a computer program, and when the computer program is executed by a processor, the steps of the robot positioning method described above are implemented.

[0036] The present invention provides a robot positioning system, a photovoltaic power station, a terminal device and a computer program product. When a robot is detected walking in a preset photovoltaic panel area, the color blocks in the photovoltaic panel area are identified, and global coordinates are determined based on the color blocks; local coordinates are determined according to a local grid network in the photovoltaic panel area; and the robot walking process is globally positioned according to the global coordinates and the local coordinates.

[0037] Compared with the robot positioning method in the prior art, in the present invention, global coordinate positioning is achieved by color blocks pre-arranged on the photovoltaic module, and local coordinate positioning is achieved according to the grid network of the photovoltaic module. Therefore, the present invention can determine the global coordinates according to the color blocks, which can not only improve the accuracy of the robot when walking on the photovoltaic panel, but also save the robot positioning cost, and combine the global coordinates with the local coordinates to further improve the positioning accuracy of the robot during walking. On this basis, the present invention can improve the cleaning efficiency of the robot on the photovoltaic panel, and is generally applicable to various types of photovoltaic power station scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A schematic diagram of a first process flow of an embodiment of a robot positioning method of the present invention;

[0039] Figure 2 A schematic diagram of the arrangement of color blocks in a photovoltaic module according to an embodiment of a robot positioning method of the present invention;

[0040] Figure 3 A schematic diagram of a robot-mounted sensor according to an embodiment of a robot positioning method of the present invention;

[0041] Figure 4 A second flow chart of an embodiment of a robot positioning method of the present invention;

[0042] Figure 5 Schematic diagram of functional modules of an embodiment of a robot positioning system of the present invention.

[0043] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0044] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0045] Reference Figure 1 , Figure 1 Schematic diagram of the flow chart of the first embodiment of the robot positioning method of the present invention.

[0046] In this embodiment, an embodiment of a robot positioning method is provided. It should be noted that, although a logical order is shown in the flow chart, in some cases, the steps shown or described may be performed in a different order than that shown here.

[0047] Photovoltaic modules are commonly used in existing power stations to generate electricity. At present, the photovoltaic panels of photovoltaic modules are generally cleaned by semi-automatic crawler robots. However, this cleaning method requires high costs and is not applicable to multiple types of photovoltaic module scenarios. Therefore, in this embodiment, a fully automatic robot is used to automatically plan the robot's walking path based on a combination of global coordinates and local coordinates, so that the robot can perform cleaning tasks on the photovoltaic panels during walking.

[0048] The robot positioning method in this embodiment includes the following steps:

[0049] Step S10, when detecting that the robot is walking in a preset photovoltaic panel area, identifying a color block in the photovoltaic panel area, and determining a global coordinate based on the color block;

[0050] It should be noted that, in this embodiment, color blocks are arranged in advance in the photovoltaic component scene, such as Figure 2 As shown, the color of the color block can be selected in a variety of ways. The color block can be arranged between two photovoltaic modules or arranged at intervals of a fixed number of photovoltaic modules. At the same time, an integrated module using a simple color sensor can be placed under the robot (for example, near the front side / middle area), such as Figure 3 As shown, the color blocks in the photovoltaic component scene are identified.

[0051] On this basis, when the robot walks on the photovoltaic panel and performs cleaning tasks during the walking process, it can identify the color blocks pre-arranged on the photovoltaic panel, and after identifying the color blocks, determine the current global coordinates based on the identified color blocks.

[0052] Step S20, determining local coordinates according to a local grid network in the photovoltaic panel area;

[0053] Step S30, performing global positioning of the robot during its walking process according to the global coordinates and the local coordinates.

[0054] It should be noted that, in this embodiment, Figure 2 As shown, each photovoltaic panel contains a regularly divided grid, so the robot can determine the local coordinates based on the local grid network in the photovoltaic panel area.

[0055] Furthermore, the robot will use the global coordinates based on the color block and the local coordinates based on the grid network to define the robot position to achieve the cleaning task on the photovoltaic module. In this embodiment, the coordinate system direction, position and local coordinate system retrieval value can be directly defined in the algorithm design stage, and can be used directly after the color blocks are arranged on site. In addition, the robot positioning is refined by combining the color block coordinates (absolute position coordinates) with the local grid coordinates (relative position coordinates), and there is no cumulative error of the inertial system. At the same time, the dependence on hardware such as encoders and inertial sensors is reduced, which not only saves costs but also improves the cleaning efficiency of the robot.

[0056] In this embodiment, when the robot walks on the photovoltaic panel and performs the cleaning task during the walking process, it can identify the color blocks pre-arranged on the photovoltaic panel, and after identifying the color blocks, determine the current global coordinates according to the identified color blocks. The robot can determine the local coordinates according to the local grid network in the photovoltaic panel area. Then, the robot will use the global coordinates based on the color blocks and the local coordinates based on the grid network to define the robot position to achieve the cleaning task on the photovoltaic module.

[0057] Compared with the robot positioning method in the prior art, in the present invention, global coordinate positioning is achieved by color blocks pre-arranged on the photovoltaic module, and local coordinate positioning is achieved according to the grid network of the photovoltaic module. Therefore, the present invention can achieve accurate robot positioning according to global coordinates and local coordinates, and improve the robot's walking efficiency. On this basis, the dependence on hardware is reduced, and the cost of cleaning photovoltaic modules is greatly reduced.

[0058] Based on the first embodiment of the robot positioning method of the present invention, a second embodiment of the robot positioning method of the present invention is proposed.

[0059] In this embodiment, after the above step S30, "globally positioning the robot during walking according to the global coordinates and the local coordinates", it also includes:

[0060] Step S40, updating the global coordinates and the local coordinates based on the color block, and controlling the robot to walk according to the updated global coordinates and local coordinates until the photovoltaic component cleaning task during the walking process is completed.

[0061] It should be noted that, in this embodiment, Figure 2 As shown, a photovoltaic module includes a plurality of photovoltaic panels, and blocks of different colors are arranged between any two photovoltaic panels.

[0062] On this basis, after the robot recognizes another color block that is different from the previous one, it will update the global coordinates and local coordinates according to the current color block, and will repeat the above operations during walking until the photovoltaic panel cleaning task is completed.

[0063] Furthermore, in the above step S10, “identifying color blocks in the photovoltaic panel area” may include:

[0064] Step S101 : identifying a preset color block in the photovoltaic panel area by using a color sensor carried by the robot.

[0065] It should be noted that, in this embodiment, Figure 3 As shown, in advance at the bottom of the robot, for example,

[0066] At least one color sensor is arranged at a side edge of the bottom of the robot, so that the robot can identify color blocks through the color sensor during walking.

[0067] Therefore, in this embodiment, the robot can achieve global coordinate positioning only by being equipped with at least one color sensor, which is generally applicable to various scenarios, greatly reduces the cleaning cost of photovoltaic components, and ensures the positioning accuracy of the robot.

[0068] Furthermore, in the above step S10, “determining the global coordinates based on the color block” may include:

[0069] Step S102 , according to the color block threshold RGB of the color block, the global coordinates of the corresponding position of the color block are determined through the color-coordinate dictionary built into the robot.

[0070] It should be noted that in this embodiment, it is necessary to preset the color-coordinate dictionary inside the robot, for example, the initial position is: white corresponds to the global coordinate (0, 0) or blue corresponds to the global coordinate (0, 1), etc., for example, blue combined with white corresponds to the global coordinate (1, 0) or green combined with blue corresponds to the global coordinate (1, 1), etc. It can be understood that different global horizontal and vertical coordinate values ​​can be defined according to color blocks of different colors. As for the color block threshold RGB, different RGB values ​​have their corresponding colors, for example, white (0, 0, 0), red (255, 0, 0), green (0, 255, 0), blue (0, 0, 255), black (255, 255, 255), etc.

[0071] Therefore, after the robot recognizes the color block through the color sensor, it will determine the global coordinates corresponding to the current threshold RGB from the color-coordinate dictionary according to the threshold RGB of the color block.

[0072] In this embodiment, when using walking path planning, global coordinates are used to determine whether the destination (station_node) has been reached; and global coordinates are used to correct motion deviations (deviations between the theoretical coordinates of path planning and the actual motion coordinates) in straight line / turn / spin motion control to achieve a better running trajectory.

[0073] Furthermore, in the above step S20, “determining local coordinates according to the local grid network in the photovoltaic panel area” may include:

[0074] Step S201, according to the local grid network in the photovoltaic panel area, combined with the multi-gyro encoder and the color sensor, the local coordinates of the area between the two components are determined by position estimation.

[0075] In order to achieve a more accurate robot positioning method, in this embodiment, while obtaining the global coordinates (absolute position coordinates) based on the color blocks, it is also necessary to determine the local coordinates (relative position coordinates) of the robot on each photovoltaic panel.

[0076] Specifically, for example, in an actual photovoltaic component scenario, the photovoltaic panel is composed of a regular blue array separated by white lines, on this basis, a local grid network is formed. Furthermore, the robot's multi-gyro encoder and color sensor determine the local coordinates of the area between the two components through position estimation. For example, when the robot reaches the center of the photovoltaic panel, the local coordinates at this time can be (0, 0). Then, when the robot starts walking on the current photovoltaic panel, the local coordinates are deduced based on the initial local coordinates (0, 0).

[0077] In this embodiment, after the robot recognizes another color block different from the previous one, it will update the global coordinates and local coordinates according to the current color block, and will repeat the above operations during the walking process until the photovoltaic module cleaning task is completed. After the robot recognizes the color block through the color sensor, it will determine the global coordinates corresponding to the current threshold RGB from the color-coordinate dictionary according to the threshold RGB of the color block. In order to achieve a more accurate robot positioning method, in this embodiment, while obtaining the global coordinates (absolute position coordinates) according to the color block, it is also necessary to determine the local coordinates (relative position coordinates) of the robot on each photovoltaic panel.

[0078] In the present invention, after the robot identifies the color block according to the color sensor, it determines the global coordinates corresponding to the current color block through the built-in color-coordinate dictionary, and determines the local coordinates according to the grid network on each photovoltaic panel. Therefore, the present invention can directly define the coordinate system direction, position and local coordinate system retrieval value in the algorithm design stage, and can be used directly after the color blocks are arranged on site, which is suitable for various positioning scenarios. In addition, the color block coordinates (absolute position coordinates) can be combined with the local grid coordinates (relative position coordinates) to refine the robot positioning, without the cumulative error of the inertial system, and at the same time reduce the dependence on hardware such as encoders and inertial sensors, which not only saves costs but also improves the cleaning efficiency of the robot.

[0079] Based on the first embodiment and the second embodiment of the robot positioning method of the present invention, a third embodiment of the robot positioning method of the present invention is proposed.

[0080] In this embodiment, before the above step S40, "updating the global coordinates and the local coordinates based on the color block", it also includes:

[0081] Step S50, determining whether a color block different from the color block threshold RGB of the current color block is identified, and when a color block different from the color block threshold RGB of the current color block is identified, updating the global coordinates and the local coordinates based on the color block, and walking according to the updated global coordinates and local coordinates until the walking task is completed.

[0082] After the robot recognizes a color block through the color sensor, it needs to pre-judge that if the color block threshold RGB of the currently recognized color block is different from that of the previously recognized color block, it means that the robot is at the junction of each photovoltaic panel at this time. At the next moment, the robot will enter the next photovoltaic panel. At this time, the global coordinates and local coordinates need to be updated according to the currently recognized color block.

[0083] Furthermore, in step S40, “updating the global coordinates and the local coordinates based on the color block” may include:

[0084] Step S401 , when the color block threshold RGB of the current color block is inconsistent with the color block threshold RGB of the previous color block, the global coordinates are updated based on the color block threshold RGB of the current color block, and the local coordinates are initialized to update the local coordinates.

[0085] When the robot determines that the color block threshold RGB of the currently recognized color block is inconsistent with the color block threshold RGB of the color block recognized at the previous moment, the robot will update the global coordinates according to the color block threshold RGB of the currently recognized color block, and reset the local coordinates at this time to zero or adjust them to the initial value to update the local coordinates, where the initial value of the local coordinates can be set according to the actual situation without limitation.

[0086] Furthermore, the robot positioning method may further include:

[0087] Step S60, when the robot is in the photovoltaic panel area between the two color blocks, it walks according to the preset planned route and updates the current local coordinates in real time during the walking process.

[0088] After entering a photovoltaic panel, that is, the panel area between two color blocks, the robot will walk on the current photovoltaic panel according to the preset planning path, and update the local coordinates in real time according to the grid network in the photovoltaic panel. Therefore, in this embodiment, on the one hand, after identifying the color block, the robot updates the global coordinates and local coordinates according to the color block; on the other hand, when the robot walks in the panel area between the two color blocks, it updates the local coordinates in real time according to the grid network.

[0089] Specifically, for example, the update process of the robot's global coordinates and local coordinates is as follows: Figure 4 As shown in the figure, after the robot leaves the warehouse and starts walking, when it recognizes color block 1, it will update the global coordinates and local coordinates according to the RGB threshold of color block 1; after the robot enters the photovoltaic surface area between the two color blocks, it will update the current local coordinates according to the grid network of the photovoltaic panel surface when following the preset planning path; when it recognizes color block 2, it will update the current global coordinates and local coordinates according to the RGB threshold of color block 2. The above steps are repeated until the photovoltaic module cleaning task is completed.

[0090] In this embodiment, after the robot recognizes the color block through the color sensor, it is necessary to pre-judge that the color block threshold RGB of the currently recognized color block is different from that of the last recognized color block, which means that the robot is at the junction of each photovoltaic panel at this time. At the next moment, the robot will enter the next photovoltaic panel. At this time, it is necessary to update the global coordinates and local coordinates according to the currently recognized color block. When the robot determines that the color block threshold RGB of the currently recognized color block is inconsistent with the color block threshold RGB of the color block recognized at the last moment, the robot will update the global coordinates according to the color block threshold RGB of the currently recognized color block, and reset the local coordinates at this time to zero or adjust them to the initial value to update the local coordinates, wherein the initial value of the local coordinates can be set according to the actual situation and is not limited. After entering a photovoltaic panel, that is, the panel area between two color blocks, the robot will walk on the current photovoltaic panel according to the preset planning path, and update the local coordinates in real time according to the grid network in the photovoltaic panel.

[0091] In the present invention, after identifying the color block, the robot updates the global coordinates and local coordinates according to the color block; on the other hand, when the robot walks in the panel area between the two color blocks, the local coordinates are updated in real time according to the grid network. Therefore, when the present invention uses the color block to update the global coordinates, it will also use the grid network to determine the local coordinates, and combine the global coordinates and local coordinates to perform robot walking positioning, which can save costs and improve positioning accuracy. On this basis, the cleaning efficiency of photovoltaic modules is improved.

[0092] Furthermore, based on the first embodiment, the second embodiment and the third embodiment of the robot positioning method of the present invention, a fourth embodiment of the robot positioning method of the present invention is proposed.

[0093] In this embodiment, a photovoltaic power station is provided, and the photovoltaic power station includes: a robot, a photovoltaic module, and a color block.

[0094] Furthermore, the color block is located between two adjacent photovoltaic modules, or is evenly distributed at intervals of a plurality of the photovoltaic modules.

[0095] In this embodiment, if Figure 2 As shown, the photovoltaic power station includes but is not limited to a robot, photovoltaic modules and color blocks, and in order to determine the local coordinates of the robot during walking based on each color block, the color block can be placed between two adjacent photovoltaic modules, or the color blocks can be evenly arranged with multiple photovoltaic modules spaced apart, and the colors of two adjacent color blocks are different.

[0096] In addition, the embodiment of the present invention also provides a robot positioning system, referring to Figure 5 , Figure 5 This is a schematic diagram of the functional modules of an embodiment of the robot positioning of the present invention. Figure 5 As shown, the robot positioning system of the present invention comprises:

[0097] A first determination module 10 is used to detect that the robot is walking in a preset photovoltaic panel area, identify a color block in the photovoltaic panel area, and determine the global coordinates based on the color block;

[0098] A second determination module 20, for determining local coordinates according to a local grid network in the photovoltaic panel area;

[0099] The positioning module 30 is used to perform global positioning of the robot during its walking process according to the global coordinates and the local coordinates.

[0100] Furthermore, the robot positioning system further includes:

[0101] An updating module is used to update the global coordinates and the local coordinates based on the color block, and control the robot to walk according to the updated global coordinates and local coordinates until the photovoltaic component cleaning task during the walking process is completed.

[0102] Furthermore, the first determining module 10 includes:

[0103] The recognition unit is used to recognize the color blocks preset in the photovoltaic panel area through the color sensor carried by the robot.

[0104] Furthermore, the first determining module 10 includes:

[0105] The global coordinate determination unit is used to determine the global coordinates of the corresponding position of the color block according to the color block threshold RGB of the color block through the color-coordinate dictionary built into the robot.

[0106] Furthermore, the second determining module includes:

[0107] The local coordinate determination unit is used to determine the local coordinates of the area between the two components through position estimation based on the local grid network in the photovoltaic panel area and in combination with the multi-gyro encoder and the color sensor.

[0108] Furthermore, the robot positioning system further includes:

[0109] The judgment module is used to judge whether a color block different from the color block threshold RGB of the current color block is recognized. When a color block different from the color block threshold RGB of the current color block is recognized, the global coordinates and the local coordinates are updated based on the color block, and walking is performed according to the updated global coordinates and local coordinates until the walking task is completed.

[0110] Furthermore, the update module includes:

[0111] The updating unit is used to update the global coordinates based on the color block threshold RGB of the current color block when the color block threshold RGB of the current color block is inconsistent with the color block threshold RGB of the previous color block, and initialize the local coordinates to update the local coordinates.

[0112] Furthermore, the robot positioning system further includes:

[0113] The positioning module is used to walk according to a preset planned route when the robot is in the photovoltaic panel area between two color blocks, and to update the current local coordinates in real time during the walking process.

[0114] The specific implementation of each functional module of the robot positioning system of the present invention is basically the same as the various embodiments of the robot positioning method described above, and will not be described in detail here.

[0115] In addition, an embodiment of the present invention further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps of the robot positioning method as described in any embodiment of the above robot positioning method are implemented.

[0116] The specific embodiments of the computer program product of the present invention are substantially the same as the embodiments of the robot positioning method described above, and are not described in detail herein.

[0117] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0118] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0119] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal device (which can be a robot, etc.) to execute the methods described in each embodiment of the present invention.

[0120] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A robot positioning method, characterized in that: The robot positioning method is applied to a robot, and the robot positioning method comprises: When the robot is detected walking in a preset photovoltaic panel area, a color block in the photovoltaic panel area is identified, and a global coordinate is determined based on the color block; and a local coordinate is determined according to a local grid network in the photovoltaic panel area; Performing global positioning of the robot during walking according to the global coordinates and the local coordinates; Wherein, the step of determining the global coordinates based on the color block includes: According to the color block threshold RGB of the color block, the global coordinates of the corresponding position of the color block are determined through the color-coordinate dictionary built into the robot; Wherein, the step of determining the local coordinates according to the local grid network in the photovoltaic panel area comprises: Determine the local coordinates of the area between the two components by position estimation based on the local grid network in the photovoltaic panel area and in combination with the multi-gyro encoder and the color sensor; Wherein, after the step of globally positioning the robot walking process according to the global coordinates and the local coordinates, the method further includes: The global coordinates and the local coordinates are updated based on the color block, and the robot is controlled to walk according to the updated global coordinates and the local coordinates until the photovoltaic component cleaning task during the walking process is completed; Wherein, before the step of updating the global coordinates and the local coordinates based on the color block, the method further includes: Determine whether a color block different from the color block threshold RGB of the current color block is identified, and when a color block different from the color block threshold RGB of the current color block is identified, update the global coordinates and the local coordinates based on the color block, and walk according to the updated global coordinates and local coordinates until the walking task is completed; Wherein, the step of updating the global coordinates and the local coordinates based on the color block includes: When the color block threshold RGB of the current color block is inconsistent with the color block threshold RGB of the previous color block, the global coordinates are updated based on the color block threshold RGB of the current color block, and the local coordinates are initialized to update the local coordinates.

2. The robot positioning method according to claim 1, characterized in that: The step of identifying the color blocks in the photovoltaic panel area comprises: The color blocks preset in the photovoltaic panel area are identified by the color sensor carried by the robot.

3. The robot positioning method according to claim 1, characterized in that: The robot positioning method further includes: When the robot is in the photovoltaic panel area between the two color blocks, it walks according to a preset planned route and updates the current local coordinates in real time during the walking process.

4. A robot positioning system, characterized in that: The robot positioning system comprises: A first determination module is used to detect that the robot is walking in a preset photovoltaic panel area, identify a color block in the photovoltaic panel area, and determine the global coordinates based on the color block; A second determination module is used to determine local coordinates according to a local grid network in the photovoltaic panel area; A positioning module, used for performing global positioning of the robot during walking according to the global coordinates and the local coordinates; Wherein, the first determining module further includes: A global coordinate determination unit, used to determine the global coordinates of the corresponding position of the color block according to the color block threshold RGB of the color block through the color-coordinate dictionary built into the robot; Wherein, the second determining module further includes: A local coordinate determination unit, for determining the local coordinates of the area between the two components by position estimation based on the local grid network in the photovoltaic panel area and in combination with a multi-gyro encoder and a color sensor; Wherein, the robot positioning system further includes: An updating module, used for updating the global coordinates and the local coordinates based on the color block, and controlling the robot to walk according to the updated global coordinates and local coordinates until the photovoltaic component cleaning task during the walking process is completed; Wherein, the robot positioning system further includes: A judgment module, used to judge whether a color block different from the color block threshold RGB of the current color block is identified, and when a color block different from the color block threshold RGB of the current color block is identified, the global coordinates and the local coordinates are updated based on the color block, and walking is performed according to the updated global coordinates and local coordinates until the walking task is completed; Wherein, the update module also includes: The updating unit is used to update the global coordinates based on the color block threshold RGB of the current color block when the color block threshold RGB of the current color block is inconsistent with the color block threshold RGB of the previous color block, and initialize the local coordinates to update the local coordinates.

5. A photovoltaic power station, characterized in that: The photovoltaic power station comprises: a robot, a photovoltaic module and a color block. A robot positioning program is stored on the robot. When the robot positioning program is executed by a processor, the steps of the robot positioning method according to any one of claims 1 to 3 are implemented.

6. The photovoltaic power station according to claim 5, characterized in that: The color blocks are located between two adjacent photovoltaic modules, or are evenly distributed at intervals between a plurality of the photovoltaic modules.

7. A terminal device, characterized in that: The terminal device includes a memory, a processor, and a robot positioning program stored in the memory and executable on the processor, and the robot positioning program, when executed by the processor, implements the steps of the robot positioning method according to any one of claims 1 to 3.

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