Robot positioning method and device, storage medium and electronic equipment

Abstract

The invention relates to a robot positioning method and device, a storage medium and electronic equipment. The robot is a photovoltaic cleaning robot, and the photovoltaic cleaning robot is used for moving on a photovoltaic panel to clean the photovoltaic panel; the photovoltaic cleaning robot is provided with a heating device, the heating device comprises a plurality of first heating devices arranged at intervals in the target direction, and the target direction is perpendicular to the moving direction of the photovoltaic cleaning robot on the photovoltaic panel. The method comprises the steps that in the process that the photovoltaic cleaning robot moves on the photovoltaic panel to clean accumulated snow on the photovoltaic panel, a first heating device in the heating device is controlled to heat; acquiring a first image of the photovoltaic panel; determining a hot cleaning area in the first image, wherein the hot cleaning area is an area, heated by the first heating device, on the photovoltaic panel; and positioning the photovoltaic cleaning robot according to the position information of the hot cleaning area.

Description

Technical Field

[0001] The present disclosure relates to the field of robot positioning, and in particular, to a robot positioning method, device, storage medium and electronic equipment. Background Art

[0002] With the development of photovoltaic cleaning robots, the positioning technology used to locate photovoltaic cleaning robots can help maintenance personnel remotely determine the operation status of photovoltaic robots. At the same time, it can clearly identify the fault location when the robot is abnormal, which is convenient for maintenance personnel to quickly locate it on site. However, in harsh environments (for example, extremely cold environments, snowy environments, etc.), the positioning sensors used to locate photovoltaic cleaning robots will be affected by bad weather, causing the positioning signals to be interfered with or lost, resulting in inaccurate positioning or even impossible positioning. Summary of the invention

[0003] The purpose of the present disclosure is to provide a robot positioning method, device, storage medium and electronic device.

[0004] In order to achieve the above-mentioned purpose, according to a first aspect of the present disclosure, a robot positioning method is provided, wherein the robot is a photovoltaic cleaning robot, and the photovoltaic cleaning robot is used to move on a photovoltaic panel to clean the photovoltaic panel; the photovoltaic cleaning robot is provided with a heating device, and the heating device includes a plurality of first heating devices arranged at intervals along a target direction, and the target direction is perpendicular to the moving direction of the photovoltaic cleaning robot on the photovoltaic panel; the method comprises: When the photovoltaic cleaning robot moves on the photovoltaic panel to clean the snow on the photovoltaic panel, the first heating element in the heating device is controlled to generate heat; Acquiring a first image of the photovoltaic panel; Determine a heat-cleared area in the first image, where the heat-cleared area is an area on the photovoltaic panel that has been heated by the first heating device; The photovoltaic cleaning robot is positioned according to the position information of the thermal cleaning area.

[0005] Optionally, the method further comprises: When it is determined that snow is accumulated on the photovoltaic panel and the thickness of the snow is greater than or equal to a first threshold, the photovoltaic cleaning robot is controlled to move on the photovoltaic panel to clean the snow on the photovoltaic panel.

[0006] Optionally, the thermal cleaning area includes a plurality of sub-areas, and the position information of the thermal cleaning area includes position information of a target corner point of a target sub-area; Positioning the photovoltaic cleaning robot according to the position information of the thermal cleaning area includes: Determining a target distance between the photovoltaic cleaning robot and the target corner point; Determine a target angle between a line connecting the photovoltaic cleaning robot and the target corner point and a target coordinate axis, wherein the target coordinate axis is a coordinate axis in a plane rectangular coordinate system established with the target corner point as an origin; The target position of the photovoltaic cleaning robot is determined according to the target distance, the target angle and the position information of the target corner point.

[0007] Optionally, determining the target position of the photovoltaic cleaning robot according to the target distance, the target angle and the position information of the target corner point includes: Determine the sine value and cosine value corresponding to the target angle; Determine the position coordinates of the photovoltaic cleaning robot in the plane rectangular coordinate system according to the target distance, the sine value and the cosine value; The target position of the photovoltaic cleaning robot is determined according to the position information of the target corner point and the position coordinates.

[0008] Optionally, the heating device further comprises a second heating device, wherein the second heating device is multiple, and each second heating device is arranged at a gap between two adjacent first heating devices; The method further comprises: Determine the cleaning times corresponding to the current cleaning of the photovoltaic cleaning robot; In response to determining that the cleaning times reach a preset times, the first heating element and the second heating element in the heating device are controlled to generate heat simultaneously.

[0009] Optionally, the preset number of times is determined by: In the case where snow is present on the photovoltaic panel, determining the thickness of the snow; If the snow thickness is greater than or equal to the first threshold, the preset number of times is determined according to the ratio between the snow thickness and the second threshold.

[0010] Optionally, the snow thickness is determined by: acquiring a second image of the photovoltaic panel; determining a snow covered area in the second image; Determine a target pixel point set corresponding to the snow thickness in the snow area, wherein the pixels in the target pixel point set are arranged adjacent to each other in sequence along the direction of the snow thickness; The thickness of snow accumulated on the photovoltaic panel is determined according to the number of pixels included in the target pixel set and a predetermined correspondence between the number of pixels and the thickness.

[0011] According to a second aspect of the present disclosure, a robot positioning device is provided, wherein the robot is a photovoltaic cleaning robot, and the photovoltaic cleaning robot is used to move on a photovoltaic panel to clean the photovoltaic panel; the photovoltaic cleaning robot is provided with a heating device, and the heating device includes a plurality of first heating devices arranged at intervals along a target direction, and the target direction is perpendicular to the moving direction of the photovoltaic cleaning robot on the photovoltaic panel; the device includes: A first control module is used to control the first heating element in the heating device to generate heat when the photovoltaic cleaning robot moves on the photovoltaic panel to clean the snow on the photovoltaic panel; A first acquisition module, used to acquire a first image of the photovoltaic panel; A first determining module is used to determine a heat-cleared area in the first image, where the heat-cleared area is an area on the photovoltaic panel that has been heated by the first heating device; A positioning module is used to position the photovoltaic cleaning robot according to the position information of the thermal cleaning area.

[0012] According to a third aspect of the present disclosure, a non-temporary computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method described in the first aspect of the present disclosure are implemented.

[0013] According to a fourth aspect of the present disclosure, there is provided an electronic device, including: a memory having a computer program stored thereon; A processor is used to execute the computer program in the memory to implement the steps of the method described in the first aspect of the present disclosure.

[0014] Through the above technical solution, a heating device is set on the photovoltaic cleaning robot, and the heating device includes a plurality of first heating devices arranged at intervals along the target direction, and the target direction is perpendicular to the moving direction of the photovoltaic cleaning robot on the photovoltaic panel. Based on this, when the photovoltaic cleaning robot moves on the photovoltaic panel to clean the snow on the photovoltaic panel, the first heating device in the heating device is controlled to heat up, so that the heat emitted by the first heating device melts the snow, and the characteristic boundary that can distinguish the heated area and the unheated area on the photovoltaic panel is constructed in combination with the movement of the photovoltaic cleaning robot. In addition, the first image of the photovoltaic panel is obtained, and the heat cleaning area in the first image is determined, that is, the area on the photovoltaic panel heated by the first heating device, and then the photovoltaic cleaning robot is positioned according to the position information of the heat cleaning area. In this way, the auxiliary positioning of the photovoltaic cleaning robot can be realized through the characteristic boundary constructed by the first heating device, so that the positioning of the photovoltaic cleaning robot no longer depends on the positioning sensor, so that even if the positioning sensor is disturbed or unable to work due to bad weather, the accurate positioning of the photovoltaic cleaning robot can still be achieved. In addition, by adding a heating device to the photovoltaic cleaning robot, it can assist the photovoltaic cleaning robot in cleaning the photovoltaic panels and quickly melt the snow on the photovoltaic panels, which is beneficial to improving the cleaning efficiency and preventing the accumulation of snow or ice formed by the snow from affecting the power generation of the photovoltaic panels.

[0015] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings: Figure 1 is a schematic diagram of the overall structure of the photovoltaic cleaning robot provided by the present disclosure; Figure 2 is a schematic diagram of a heating device on a photovoltaic cleaning robot provided by the present disclosure; Figure 3 is a schematic diagram of a first heating device on a photovoltaic cleaning robot provided by the present disclosure; Figure 4 is a flow chart of a robot positioning method provided according to an embodiment of the present disclosure; Figure 5 is an exemplary schematic diagram of a heat sweeping area in the present disclosure; Figure 6 is a block diagram of a robot positioning device provided according to an embodiment of the present disclosure; Figure 7 It is a block diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0017] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0018] It should be noted that all actions of acquiring signals, information or data in the present disclosure are carried out in compliance with the relevant data protection laws and policies of the country where the device is located and with the authorization given by the owner of the corresponding device.

[0019] At present, most photovoltaic power stations are located in remote areas with harsh natural environments and water resources shortages. They also occupy a huge area and have a small number of operation and maintenance personnel, which results in high costs and poor results for the existing manual or water truck cleaning of photovoltaic power stations. Therefore, using photovoltaic cleaning robots to clean photovoltaic power stations has gradually become a better solution. At present, with the development of photovoltaic cleaning robots, robot positioning technology has also developed. The positioning of robots is based on convenience. Maintenance personnel can remotely obtain the operation status of the robot through robot positioning, and identify the fault location when the robot stops abnormally. In addition, if manual on-site maintenance is required, it can also help maintenance personnel quickly locate on-site.

[0020] However, photovoltaic cleaning robots operating in harsh environments (especially extremely cold and snowy environments) face many problems. First, in harsh environments, common positioning sensors, such as GPS (Global Positioning System), will be interfered with or lose their sensor signals, which will make it impossible to accurately locate the photovoltaic cleaning robot or the photovoltaic cleaning robot cannot be located. Secondly, due to the snow cover and the single environmental characteristics, sensors such as lidar or cameras are difficult to achieve local positioning and cannot provide reliable data for auxiliary positioning of photovoltaic cleaning robots. At this time, even if additional external features are added, they will fail in harsh environments, affecting positioning reliability and accuracy. Therefore, the positioning problem of photovoltaic cleaning robots in harsh environments remains unsolved.

[0021] In order to solve the above technical problems, the present disclosure provides a robot positioning method, device, storage medium and electronic device.

[0022] The robot positioning method provided in the present disclosure can be used to position a photovoltaic cleaning robot. The photovoltaic cleaning robot in the present disclosure is described below. The photovoltaic cleaning robot in the present disclosure can move on the photovoltaic panel, and the photovoltaic cleaning robot can be provided with a cleaning brush that can clean the photovoltaic panel. When the photovoltaic cleaning robot moves on the photovoltaic panel, the cleaning brush can be used to clean the photovoltaic panel. For example, the overall structure of the photovoltaic cleaning robot in the present disclosure can be as follows: Figure 1 As shown, A1 is a photovoltaic cleaning robot, and the photovoltaic cleaning robot A1 is provided with a cleaning brush A2.

[0023] The photovoltaic cleaning robot disclosed in the present invention is also provided with a heating device, which may include a plurality of first heating devices spaced apart along a target direction, wherein the target direction is perpendicular to the moving direction of the photovoltaic cleaning robot on the photovoltaic panel, that is, the moving direction of the photovoltaic cleaning robot when cleaning the photovoltaic panel. Figure 2 The top view of the photovoltaic cleaning robot, where the direction indicated by the arrow is the target direction (both directions are acceptable), the heating device on the photovoltaic cleaning robot can be as follows Figure 2 As shown in B.

[0024] The heating device on the photovoltaic cleaning robot can be composed of multiple heating devices. For example, Figure 2 A rectangular frame included in B in FIG. 1 may represent a heating device. The plurality of heating devices included in the heating device may include a plurality of first heating devices arranged at intervals, such as Figure 3 As shown in Figure 3 Taking the left part of the heating device in the middle as an example, the first heating device includes a set of heating devices pointed to by C, wherein each first heating device is spaced apart from other first heating devices. Optionally, the first heating device may include but is not limited to a heating wire, a heating plate, a heating resistor, and the like.

[0025] Based on the above introduction about the photovoltaic cleaning robot in the present disclosure, the robot positioning method provided by the present disclosure is described in detail below.

[0026] Figure 4 1 is a flow chart of a robot positioning method provided according to an embodiment of the present disclosure. The method provided by the present disclosure can be applied to electronic devices, such as photovoltaic cleaning robots, devices for monitoring photovoltaic cleaning robots, etc. Figure 4 As shown, the robot positioning method provided by the present disclosure may include steps 41 to 44.

[0027] In step 41, when the photovoltaic cleaning robot moves on the photovoltaic panel to clean the snow on the photovoltaic panel, the first heating element in the heating device is controlled to generate heat.

[0028] In step 42, a first image of the photovoltaic panel is acquired.

[0029] In step 43, a thermally swept region in the first image is determined.

[0030] The heat-cleaning area is an area on the photovoltaic panel that has been heated by the first heating device.

[0031] In step 44, the photovoltaic cleaning robot is positioned according to the position information of the thermal cleaning area.

[0032] Through the above technical solution, a heating device is set on the photovoltaic cleaning robot, and the heating device includes a plurality of first heating devices arranged at intervals along the target direction, and the target direction is perpendicular to the moving direction of the photovoltaic cleaning robot on the photovoltaic panel. Based on this, when the photovoltaic cleaning robot moves on the photovoltaic panel to clean the snow on the photovoltaic panel, the first heating device in the heating device is controlled to heat up, so that the heat emitted by the first heating device melts the snow, and the characteristic boundary that can distinguish the heated area and the unheated area on the photovoltaic panel is constructed in combination with the movement of the photovoltaic cleaning robot. In addition, the first image of the photovoltaic panel is obtained, and the heat cleaning area in the first image is determined, that is, the area on the photovoltaic panel heated by the first heating device, and then the photovoltaic cleaning robot is positioned according to the position information of the heat cleaning area. In this way, the auxiliary positioning of the photovoltaic cleaning robot can be realized through the characteristic boundary constructed by the first heating device, so that the positioning of the photovoltaic cleaning robot no longer depends on the positioning sensor, so that even if the positioning sensor is disturbed or unable to work due to bad weather, the accurate positioning of the photovoltaic cleaning robot can still be achieved. In addition, by adding a heating device to the photovoltaic cleaning robot, it can assist the photovoltaic cleaning robot in cleaning the photovoltaic panels and quickly melt the snow on the photovoltaic panels, which is beneficial to improving the cleaning efficiency and preventing the accumulation of snow or ice formed by the snow from affecting the power generation of the photovoltaic panels.

[0033] The robot positioning method provided by the present disclosure is described in more detail below in conjunction with specific implementations.

[0034] In step 41, when the photovoltaic cleaning robot moves on the photovoltaic panel to clean the snow on the photovoltaic panel, the first heating element in the heating device is controlled to generate heat.

[0035] The first heating device can be controlled to a target temperature, and the target temperature can be a temperature that can melt the snow. It should be noted that if the heating device includes other heating devices in addition to the first heating device, controlling the first heating device to heat is essentially controlling only the first heating device to heat, that is, simultaneously controlling the heating devices in the heating device other than the first heating device not to heat.

[0036] Optionally, the photovoltaic cleaning robot can clean snow when certain conditions are met. Accordingly, the method provided by the present disclosure may also include the following steps: When it is determined that snow is accumulated on the photovoltaic panel and the thickness of the snow is greater than or equal to the first threshold, the photovoltaic cleaning robot is controlled to move on the photovoltaic panel to clean the snow on the photovoltaic panel.

[0037] That is to say, when there is snow on the photovoltaic panel and the thickness of the snow reaches a certain thickness, the photovoltaic cleaning robot is controlled to move on the photovoltaic panel to clean the snow on the photovoltaic panel, and at the same time, the first heating device is controlled to generate heat.

[0038] Among them, by acquiring an image of the photovoltaic panel, it can be determined whether there is snow on the photovoltaic panel, and the thickness of the snow can be determined when there is snow on the photovoltaic panel.

[0039] Optionally, the photovoltaic cleaning robot may be provided with an image acquisition device for acquiring images of the photovoltaic panels. The image acquisition device may include but is not limited to a video camera, a still camera, a panoramic camera, etc. For example, the image acquisition device may be provided at Figure 1 In addition, the image captured by the image acquisition device can be sent to a processing unit for processing the image through a communication unit. The communication unit can include but is not limited to Ethernet, Wi-Fi (wireless communication technology), Bluetooth, etc.

[0040] Alternatively, snow depth can be determined by: acquiring a second image of the photovoltaic panel; determining snow accumulation areas in the second image; Determine a set of target pixel points corresponding to the snow thickness in the snow area; The thickness of snow accumulated on the photovoltaic panel is determined according to the number of pixels included in the target pixel set and the predetermined correspondence between the number of pixels and the thickness.

[0041] By performing image acquisition through the image acquisition device described above, an image of the photovoltaic panel, that is, the second image, can be obtained.

[0042] Based on the acquired second image, the snow area in the second image can be determined. The second image can be preprocessed first. The preprocessing can include but is not limited to denoising, filtering, image enhancement and other processing. For example, a Gaussian filter can be used to denoise and filter the image to eliminate noise in the image. For another example, the image can be enhanced by contrast enhancement technology to make the edge of the snow in the image clearer.

[0043] For the preprocessed image, the snow boundary can be determined by an edge detection algorithm. For example, the edge detection algorithm can use Sobel or Canny. After that, the area corresponding to the snow in the image, that is, the snow area, is determined by the connected region algorithm based on the snow boundary. Among them, based on the connected regions in the image, pixels with the same characteristics can be classified as objects of the same type, thereby forming an area composed of pixels. Among them, the same features can be the same (or similar) color, the same (or similar) grayscale value, etc. For example, the connected region algorithm can use a connected region marking method or a seed filling method. For example, the preprocessed image can be edge detected by the Sobel edge detection algorithm, and then the connected region marking algorithm is used to classify adjacent pixels with similar grayscale values ​​as objects of the same type, thereby obtaining a snow area composed of pixels of the same type.

[0044] Afterwards, according to the snow accumulation area, a target pixel point set corresponding to the snow thickness in the snow accumulation area is determined, wherein the pixel points in the target pixel point set are arranged adjacently in sequence along the direction of the snow thickness.

[0045] According to the snow area, the contour related to the snow thickness can be determined by an image recognition algorithm. For example, the image recognition algorithm can be an image segmentation algorithm, a contour area method, etc. Furthermore, based on the contour related to the snow thickness, a target pixel point set corresponding to the snow thickness can be determined, that is, a pixel point set related to the snow thickness can be extracted along the direction of the snow thickness as a target pixel point set. There can be multiple target pixel point sets. For example, the snow boundary can be divided at equal intervals in a direction perpendicular to the snow thickness, and a target pixel point set can be extracted, so that multiple target pixel point sets related to the snow thickness are obtained. Among them, a target pixel point set can characterize the thickness of the snow at that location.

[0046] After the target pixel point set is determined, the thickness of snow accumulated on the photovoltaic panel is determined according to the number of pixels included in the target pixel point set and a predetermined correspondence between the number of pixels and the thickness.

[0047] Among them, through preliminary experiments, images of snow on photovoltaic panels under different snow thicknesses can be collected, and through the above-mentioned preprocessing, edge detection algorithm, connected region algorithm, and extraction of target pixel point sets, a pixel point set related to the snow thickness can be obtained, the number of pixels included in the pixel point set can be determined, and the snow thickness can be actually measured at the same time. Then, the actual thickness of the snow corresponding to each pixel point can be determined, and then the corresponding relationship between a single pixel point in the image and the thickness can be established, and then the corresponding relationship between the number of pixels and the thickness can be established.

[0048] Based on the above correspondence and the number of pixels included in the target pixel set, the actual thickness of the snow on the photovoltaic panel can be determined as the snow thickness. For example, if the number of pixels in the target pixel set is 100, and it is known that 100 pixels correspond to a thickness of 1 cm, then the snow thickness can be determined to be 1 cm.

[0049] For example, if there are multiple target pixel sets, the multiple target pixel sets can be fused, for example, taking the average value, median, etc. of the number of pixels contained in each target pixel set. Then, the snow thickness is determined by using the number of fused pixels and combining the above correspondence.

[0050] When it is determined that there is snow on the photovoltaic panel, after determining the snow thickness based on the above method, if it is determined that the snow thickness is greater than or equal to the first threshold, it can be determined that the photovoltaic panel needs snow removal, so that the photovoltaic cleaning robot can be controlled to move on the photovoltaic panel to clean the snow on the photovoltaic panel. The first threshold can be determined according to actual needs.

[0051] Optionally, when it is determined that the photovoltaic cleaning robot needs to move on the photovoltaic panels to clean the snow on the photovoltaic panels, since the first heating device needs to be controlled to generate heat to melt the snow in step 41, and considering that the first heating device may not be able to directly and instantly rise to the target temperature (the temperature that can melt the snow), the first heating device can be preheated before the photovoltaic cleaning robot starts to move. After the preheating is completed, the photovoltaic cleaning robot is controlled to move on the photovoltaic panels to ensure the snow melting effect.

[0052] Through step 41, the photovoltaic cleaning robot moves on the photovoltaic panel, and the first heating device generates heat at the same time, so that the snow on the area where the first heating device passes through the photovoltaic panel melts due to the heat. Based on this, the cleaning brush cleans the snow more thoroughly and the visual effect is cleaner. However, since the first heating device is arranged at intervals, the snow on the area passed through the interval is not heated, but is only cleaned by the cleaning brush without melting. There is a great difference in the cleaning effect between the snow being melted by heat and being cleaned at the same time and being cleaned without being heated. In this way, the characteristic boundary is constructed due to the difference in cleaning effect. Based on this, the area on the photovoltaic panel heated by the first heating device constitutes a hot cleaning area, which has a cleaning effect and visual effect that are completely different from those of the non-hot cleaning area.

[0053] In step 42, a first image of the photovoltaic panel is acquired. The image of the photovoltaic panel can be acquired as the first image by the image acquisition device described above.

[0054] In step 43, a thermally swept region in the first image is determined.

[0055] As mentioned above, there are obvious characteristic boundaries between the thermally cleaned area and the non-thermally cleaned area, so the thermally cleaned area can be identified by a simple image recognition algorithm. For example, the area with snow and the area without snow (or with little snow) in the image can be identified. The area without snow (or with little snow) is the thermally cleaned area.

[0056] In step 44, the photovoltaic cleaning robot is positioned according to the position information of the thermal cleaning area.

[0057] The photovoltaic cleaning robot can run at a certain speed, and the first heating device can be controlled to generate heat during the operation. Based on this, the thermal cleaning area can be partitioned and marked according to the heating time period of the first heating device, and multiple sub-areas of the thermal cleaning area can be obtained. Since the speed of the photovoltaic cleaning robot, the heating time period, the setting position of the first heating device, and the setting interval are all known, the position of the regional corner point of each sub-area can also be known. Figure 5 As shown, an exemplary image after the photovoltaic panel is cleaned is shown. The background pattern part represents the snow remaining on the photovoltaic panel due to lack of heat, and the blank part is the heat cleaning area formed by controlling the first heating device to heat during the movement of the photovoltaic cleaning robot. Among them, each blank area represents a sub-area, for example, L1, L3, and L5 are three sub-areas of the heat cleaning area. It can be seen from the figure that the photovoltaic cleaning robot has experienced three heating time periods, and each heating time period corresponds to a sub-area in a column of the figure.

[0058] In a possible implementation, step 44 may include the following steps: According to the location information of the thermal cleaning area, the photovoltaic cleaning robot is positioned, including: Determine the target distance between the photovoltaic cleaning robot and the target corner point; Determine the target angle between the line connecting the photovoltaic cleaning robot and the target corner point and the target coordinate axis; The target position of the photovoltaic cleaning robot is determined according to the target distance, target angle and position information of the target corner point.

[0059] The target coordinate axis is a coordinate axis in a plane rectangular coordinate system established with the target corner point as the origin.

[0060] As mentioned above, the thermal cleaning area includes multiple sub-areas, and accordingly, the location information of the thermal cleaning area includes location information of a target corner point of a target sub-area. The target sub-area can be selected from the sub-areas included in the thermal cleaning area according to demand, and the target corner point can be any corner point of the target sub-area.

[0061] The target distance between the photovoltaic cleaning robot and the target corner point can be determined by taking an image with the target corner point and based on the pixel points in the image through which the distance between the two passes. This is similar to the principle of determining thickness based on pixel points as described above and will not be repeated here. The target angle between the line connecting the photovoltaic cleaning robot and the target corner point and the target coordinate axis can also be determined through the above image. For example, the correspondence between the position of the corner point in the image and the angle can be pre-calibrated, and then the target angle is determined based on the target corner point in the image in combination with the correspondence.

[0062] Afterwards, the target position of the photovoltaic cleaning robot is determined according to the target distance, target angle and position information of the target corner point.

[0063] Optionally, the target position of the photovoltaic cleaning robot can be determined by: Determine the sine and cosine values ​​corresponding to the target angle; According to the target distance, sine value and cosine value, the position coordinates of the photovoltaic cleaning robot in the plane rectangular coordinate system are determined; According to the position information and position coordinates of the target corner point, the target position of the photovoltaic cleaning robot is determined.

[0064] A plane rectangular coordinate system is established with the target corner point as the origin, and the position coordinates of the photovoltaic cleaning robot in the plane rectangular coordinate system can be determined by combining the target distance and the target angle, and using the sine value and cosine value corresponding to the target angle. For example, the horizontal coordinate of the photovoltaic cleaning robot in the plane rectangular coordinate system can be the product of the target distance and the cosine value corresponding to the target angle, and the vertical coordinate of the photovoltaic cleaning robot in the plane rectangular coordinate system can be the product of the target distance and the sine value corresponding to the target angle.

[0065] In this way, the relative position of the photovoltaic cleaning robot and the target corner point is known, and combined with the position information of the target corner point (for example, the position of the target corner point on the photovoltaic panel), the current position of the photovoltaic cleaning robot on the photovoltaic panel can be determined as the target position of the photovoltaic cleaning robot.

[0066] Optionally, the heating device may further include a second heating device, wherein the second heating device is multiple, and each second heating device is arranged at a gap between two adjacent first heating devices. Figure 3 As shown in Figure 3 Taking the heating device on the left side as an example, the second heating device can be a heating device other than the first heating device, wherein each second heating device is arranged at the interval between two first heating devices. Optionally, the second heating device can include but is not limited to a heating wire, a heating plate, a heating resistor, etc.

[0067] Accordingly, the method provided by the present disclosure may further include the following steps: Determine the cleaning times corresponding to the current cleaning of the photovoltaic cleaning robot; In response to determining that the number of cleaning times reaches a preset number, the first heating element and the second heating element in the heating device are controlled to generate heat simultaneously.

[0068] The preset number of times can be determined in the following ways: In the case of snow accumulation on photovoltaic panels, determine the thickness of the snow; If the snow thickness is greater than or equal to the first threshold, the preset number of times is determined according to the ratio between the snow thickness and the second threshold.

[0069] The method for determining the thickness of snow has been given in the previous article and will not be repeated here.

[0070] When the snow thickness is greater than or equal to the first threshold, it indicates that the photovoltaic panel needs to be cleared of snow using a photovoltaic cleaning robot, and at this time, the total number of cleaning times can be determined as the preset number of times. The preset number of times can be determined by the ratio between the snow thickness and the second threshold, for example, the ratio is rounded up to obtain the preset number of times.

[0071] Based on the determined preset number of times, if it is determined that the cleaning number corresponding to the current cleaning of the photovoltaic cleaning robot reaches the preset number of times, the first heating device and the second heating device in the heating device are controlled to heat at the same time. In this way, the snow on the photovoltaic panel can be cleaned quickly and efficiently to ensure the cleaning effect.

[0072] For example, if the preset number of times is 4 times, when the photovoltaic cleaning robot cleans for the first 3 times, only the first heating device is controlled to heat up, and when the photovoltaic cleaning robot starts cleaning for the 4th time, the first heating device and the second heating device are controlled to heat up at the same time.

[0073] Therefore, when the photovoltaic cleaning robot cleans less than the preset number of times, only the first heating device is controlled to heat up, so as to locate the photovoltaic cleaning robot during the cleaning process. When the photovoltaic cleaning robot cleans to the preset number of times, the first heating device and the second heating device are controlled to heat up at the same time to ensure the cleaning effect. After the last cleaning is completed, the photovoltaic cleaning robot is controlled to return to the warehouse.

[0074] Figure 6 is a block diagram of a robot positioning device provided according to an embodiment of the present disclosure. The robot is a photovoltaic cleaning robot, which is used to move on a photovoltaic panel to clean the photovoltaic panel; the photovoltaic cleaning robot is provided with a heating device, which includes a plurality of first heating devices arranged at intervals along a target direction, and the target direction is perpendicular to the moving direction of the photovoltaic cleaning robot on the photovoltaic panel. Figure 6 As shown, the device 50 comprises: The first control module 51 is used to control the first heating element in the heating device to generate heat when the photovoltaic cleaning robot moves on the photovoltaic panel to clean the snow on the photovoltaic panel; A first acquisition module 52, used to acquire a first image of the photovoltaic panel; A first determining module 53 is used to determine a heat-cleared area in the first image, where the heat-cleared area is an area on the photovoltaic panel that has been heated by the first heating device; The positioning module 54 is used to position the photovoltaic cleaning robot according to the position information of the thermal cleaning area.

[0075] Optionally, the device 50 further includes: The second control module is used to control the photovoltaic cleaning robot to move on the photovoltaic panel to clean the snow on the photovoltaic panel when it is determined that there is snow on the photovoltaic panel and the thickness of the snow is greater than or equal to a first threshold.

[0076] Optionally, the thermal cleaning area includes a plurality of sub-areas, and the position information of the thermal cleaning area includes position information of a target corner point of a target sub-area; The positioning module 54 includes: A first determination submodule is used to determine a target distance between the photovoltaic cleaning robot and the target corner point; A second determination submodule is used to determine a target angle between a line connecting the photovoltaic cleaning robot and the target corner point and a target coordinate axis, wherein the target coordinate axis is a coordinate axis in a plane rectangular coordinate system established with the target corner point as an origin; The third determination submodule is used to determine the target position of the photovoltaic cleaning robot according to the target distance, the target angle and the position information of the target corner point.

[0077] Optionally, the third determining submodule includes: A fourth determination submodule, used to determine the sine value and cosine value corresponding to the target angle; A fifth determination submodule, used to determine the position coordinates of the photovoltaic cleaning robot in the plane rectangular coordinate system according to the target distance, the sine value and the cosine value; The sixth determination submodule is used to determine the target position of the photovoltaic cleaning robot according to the position information of the target corner point and the position coordinates.

[0078] Optionally, the heating device further comprises a second heating device, wherein the second heating device is multiple, and each second heating device is arranged at a gap between two adjacent first heating devices; The device 50 further comprises: A second determination module is used to determine the number of cleaning times corresponding to the current cleaning of the photovoltaic cleaning robot; The third control module is used for controlling the first heating device and the second heating device in the heating device to generate heat simultaneously in response to determining that the cleaning times reach a preset times.

[0079] Optionally, the preset number of times is determined by the following modules: A third determination module is used to determine the thickness of snow when there is snow on the photovoltaic panel; The fourth determination module is used to determine a preset number of times according to a ratio between the snow thickness and a second threshold value if the snow thickness is greater than or equal to the first threshold value.

[0080] Optionally, the snow thickness is determined by the following modules: A second acquisition module, used to acquire a second image of the photovoltaic panel; a fifth determining module, configured to determine a snow covered area in the second image; A sixth determination module is used to determine a target pixel point set corresponding to the snow thickness in the snow area, wherein the pixels in the target pixel point set are arranged adjacent to each other in sequence along the direction of the snow thickness; The seventh determination module is used to determine the thickness of snow accumulated on the photovoltaic panel according to the number of pixels included in the target pixel set and the predetermined correspondence between the number of pixels and the thickness.

[0081] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0082] Figure 7 FIG. 7 is a block diagram of an electronic device 700 according to an exemplary embodiment. Figure 7 As shown, the electronic device 700 may include: a processor 701 , a memory 702 . The electronic device 700 may also include one or more of a multimedia component 703 , an input / output (I / O) interface 704 , and a communication component 705 .

[0083] The processor 701 is used to control the overall operation of the electronic device 700 to complete all or part of the steps in the above-mentioned robot positioning method. The memory 702 is used to store various types of data to support the operation of the electronic device 700. For example, these data may include instructions for any application or method used to operate on the electronic device 700, and application-related data, such as contact data, sent and received messages, pictures, audio, video, etc. The memory 702 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (Static Random Access Memory, referred to as SRAM), electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, referred to as EEPROM), erasable programmable read-only memory (Erasable Programmable Read-Only Memory, referred to as EPROM), programmable read-only memory (Programmable Read-Only Memory, referred to as PROM), read-only memory (Read-Only Memory, referred to as ROM), magnetic memory, flash memory, magnetic disk or optical disk. The multimedia component 703 may include a screen and an audio component. The screen may be, for example, a touch screen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may be further stored in the memory 702 or sent through the communication component 705. The audio component also includes at least one speaker for outputting audio signals. The I / O interface 704 provides an interface between the processor 701 and other interface modules, and the other interface modules may be keyboards, mice, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 705 is used for wired or wireless communication between the electronic device 700 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or a combination of one or more of them, is not limited here. Therefore, the corresponding communication component 705 may include: Wi-Fi module, Bluetooth module, NFC module, etc.

[0084] In an exemplary embodiment, the electronic device 700 can be implemented by one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), controllers, microcontrollers, microprocessors or other electronic components to execute the above-mentioned robot positioning method.

[0085] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, and when the program instructions are executed by a processor, the steps of the above-mentioned robot positioning method are implemented. For example, the computer-readable storage medium can be the above-mentioned memory 702 including program instructions, and the above-mentioned program instructions can be executed by the processor 701 of the electronic device 700 to complete the above-mentioned robot positioning method.

[0086] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0087] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0088] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A robot positioning method, characterized in that: The robot is a photovoltaic cleaning robot, which is used to move on a photovoltaic panel to clean the photovoltaic panel; the photovoltaic cleaning robot is provided with a heating device, which includes a plurality of first heating devices arranged at intervals along a target direction, and the target direction is perpendicular to the moving direction of the photovoltaic cleaning robot on the photovoltaic panel; the method includes: When the photovoltaic cleaning robot moves on the photovoltaic panel to clean the snow on the photovoltaic panel, the first heating element in the heating device is controlled to generate heat; acquiring a first image of the photovoltaic panel; Determine a heat-cleared area in the first image, where the heat-cleared area is an area on the photovoltaic panel that has been heated by the first heating device; The photovoltaic cleaning robot is positioned according to the position information of the thermal cleaning area.

2. The method according to claim 1, characterized in that The method further comprises: When it is determined that snow is accumulated on the photovoltaic panel and the thickness of the snow is greater than or equal to a first threshold, the photovoltaic cleaning robot is controlled to move on the photovoltaic panel to clean the snow on the photovoltaic panel.

3. The method according to claim 1, characterized in that The heat cleaning area includes a plurality of sub-areas, and the position information of the heat cleaning area includes the position information of the target corner point of the target sub-area; Positioning the photovoltaic cleaning robot according to the position information of the thermal cleaning area includes: Determining a target distance between the photovoltaic cleaning robot and the target corner point; Determine a target angle between a line connecting the photovoltaic cleaning robot and the target corner point and a target coordinate axis, wherein the target coordinate axis is a coordinate axis in a plane rectangular coordinate system established with the target corner point as an origin; The target position of the photovoltaic cleaning robot is determined according to the target distance, the target angle and the position information of the target corner point.

4. The method according to claim 3, characterized in that Determining the target position of the photovoltaic cleaning robot according to the target distance, the target angle and the position information of the target corner point includes: Determine the sine value and cosine value corresponding to the target angle; Determine the position coordinates of the photovoltaic cleaning robot in the plane rectangular coordinate system according to the target distance, the sine value and the cosine value; The target position of the photovoltaic cleaning robot is determined according to the position information of the target corner point and the position coordinates.

5. The method according to claim 1, characterized in that The heating device further comprises a second heating device, wherein the second heating device is a plurality of second heating devices, and each second heating device is arranged at a gap between two adjacent first heating devices; The method further comprises: Determine the cleaning times corresponding to the current cleaning of the photovoltaic cleaning robot; In response to determining that the cleaning times reach a preset times, the first heating element and the second heating element in the heating device are controlled to generate heat simultaneously.

6. The method according to claim 5, characterized in that The preset number of times is determined by: In the case where snow is present on the photovoltaic panel, determining the thickness of the snow; If the snow thickness is greater than or equal to the first threshold, the preset number of times is determined according to the ratio between the snow thickness and the second threshold.

7. The method according to claim 2 or 6, characterized in that: The snow thickness is determined by: acquiring a second image of the photovoltaic panel; determining a snow covered area in the second image; Determine a target pixel point set corresponding to the snow thickness in the snow area, wherein the pixels in the target pixel point set are arranged adjacent to each other in sequence along the direction of the snow thickness; The thickness of snow accumulated on the photovoltaic panel is determined according to the number of pixels included in the target pixel set and a predetermined correspondence between the number of pixels and the thickness.

8. A robot positioning device, characterized in that: The robot is a photovoltaic cleaning robot, which is used to move on the photovoltaic panel to clean the photovoltaic panel; the photovoltaic cleaning robot is provided with a heating device, which includes a plurality of first heating devices arranged at intervals along a target direction, and the target direction is perpendicular to the moving direction of the photovoltaic cleaning robot on the photovoltaic panel; the device includes: A first control module is used to control the first heating element in the heating device to generate heat when the photovoltaic cleaning robot moves on the photovoltaic panel to clean the snow on the photovoltaic panel; A first acquisition module, used to acquire a first image of the photovoltaic panel; A first determining module is used to determine a heat-cleared area in the first image, where the heat-cleared area is an area on the photovoltaic panel that has been heated by the first heating device; A positioning module is used to position the photovoltaic cleaning robot according to the position information of the thermal cleaning area.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

10. An electronic device, characterized in that: include: a memory having a computer program stored thereon; A processor, configured to execute the computer program in the memory to implement the steps of the method according to any one of claims 1 to 7.

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